JP6893581B2 - 少なくとも1つの受信信号を評価する場合の干渉の影響を低減するための方法およびレーダセンサ - Google Patents
少なくとも1つの受信信号を評価する場合の干渉の影響を低減するための方法およびレーダセンサ Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
- G01S7/038—Feedthrough nulling circuits
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93272—Sensor installation details in the back of the vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93275—Sensor installation details in the bumper area
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
Claims (15)
- 車両に設置されたレーダセンサ(1)の少なくとも1つの受信信号(5)を評価する場合に干渉の影響を低減する方法において、
所定の動作状況で所定の送信信号を送信し、二重に、または二重以上反射された部分信号(5)を受信し、所定の動作状況で受信した信号(5)を、干渉スペクトル(r1、r2、r3、r4)を決定するために記憶し、信号を評価する場合に干渉スペクトル(r1、r2、r3、r4)を考慮に入れることによって干渉(7,9)の影響を低減し、
前記所定の動作状況が、車両の停止状態であり、前記車両の停止状態には信号機の前での車両の停止状態が含まれ、
複数の信号サイクル(26)にわたって前記所定の送信信号からの受信信号(5)の平均値をとり、
一定の頻度で発生する干渉パターンでは、決定されるべき干渉スペクトル(r1、r2、r3、r4)において、前記一定の頻度よりも低い頻度で発生する干渉パターンの場合に対して、より大きい重み付けにより考慮される
ことを特徴とする方法。 - 請求項1に記載の方法において、
前記レーダセンサ(1)のそれぞれの受信チャネルについて方法を別々に実施する方法。 - 請求項1または2に記載の方法において、
前記レーダセンサ(1)を、車体部分(2)の後方に配置する方法。 - 請求項3に記載の方法において、
前記車体部分(2)の後方は、塗装した車体部分(2)の後方が含まれる方法。 - 請求項3または請求項4に記載の方法において、
前記車体部分(2)の後方は、プラスチックにより製造した車体部分(2)の後方が含まれる方法。 - 請求項1〜5までのいずれか一項に記載の方法において、
前記干渉(7,9)が、車体部分(2)とセンサレードーム(4)との間の多重反射(6,7)によって生じる受信信号(5)である方法。 - 請求項1〜6までのいずれか一項に記載の方法において、
前記所定の送信信号が、正確に所定の信号形状および信号出力を有する信号である方法。 - 請求項1〜7までのいずれか一項に記載の方法において、
前記レーダセンサ(1)のそれぞれの受信チャネルについて方法を別々に実施する方法。 - 請求項1から8までのいずれか一項に記載の方法において、
平均した信号をそれまでの補正信号に加算する方法。 - 車両に設置されたレーダセンサ(1)の少なくとも1つの受信信号(5)を評価する場合に干渉(r1,r2,r3,r4)の影響を低減するための装置を有するレーダセンサ(1)において、
少なくとも1つの所定の動作状況を検出する手段(10,21,22)が設けられており、少なくとも1つの所定の動作状況が生じていることを検出した場合に所定の送信信号を送信する送信装置が設けられており、二重に、または二重以上反射された部分信号(5)を受信する受信装置(3,11,12,13,14)が設けられており、少なくとも1つの干渉スペクトル(r1,r2,r3,r4)が記憶されている手段(15)であって、所定の動作状況に対して受信した信号(5)が干渉スペクトル(r1,r2,r3,r4)を決定するために記憶される手段(15)が設けられており、少なくとも1つの干渉スペクトル(r1,r2,r3,r4)を考慮することによって干渉(r1,r2,r3,r4)の影響を低減する少なくとも1つの計算手段(15)が設けられ、
少なくとも1つの所定の動作状況を検出するための手段(10)が、レーダセンサ(1)に信号を供給するために設けられており、
該信号が、車両の停止状態(v=0)を表すか、または
車両のために有効な赤信号の検出を示し、
前記信号が、車両内の走行方向に向いたビデオカメラによって生成され、
所定の送信信号(23)の送信、および
受信信号(5)の平均化(24,25,26)が開始され、複数の信号サイクル(26)にわたって前記所定の送信信号からの受信信号(5)の平均値をとり、
一定の頻度で発生する干渉パターンでは、決定されるべき干渉スペクトル(r1、r2、r3、r4)において、前記一定の頻度よりも低い頻度で発生する干渉パターンの場合に対して、より大きい重み付けにより考慮される
ことを特徴とするレーダセンサ(1)。 - 請求項10に記載のレーダセンサ(1)において、
該レーダセンサ(1)が複数の受信チャネル(3)を有し、前記干渉スペクトル(r1、r2、r3、r4)がそれぞれのチャネルについて別々に検出され、かつ/または別々に記憶され、かつ/または別々に考慮されるレーダセンサ(1)。 - 請求項11に記載のレーダセンサ(1)において、
複数のそれぞれの受信チャネル(3)のために固有の干渉スペクトル(r1、r2、r3、r4)を記憶する別個のメモリ装置または共通のメモリ装置の別個の領域が設けられているレーダセンサ(1)。 - 請求項10〜12までのいずれか一項に記載のレーダセンサ(1)において、
該レーダセンサ(1)が、車体部分(2)の後方に配置されているレーダセンサ(1)。 - 請求項13に記載のレーダセンサ(1)において、
前記車体部分(2)の後方は、塗装した車体部分(2)の後方が含まれるレーダセンサ(1)。 - 請求項13または請求項14に記載のレーダセンサ(1)において、
前記車体部分(2)の後方は、プラスチックにより製造した車体部分(2)の後方が含まれるレーダセンサ(1)。
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DE102017216867.6A DE102017216867A1 (de) | 2017-09-25 | 2017-09-25 | Verfahren und Radarsensor zur Reduktion des Einflusses von Störungen bei der Auswertung mindestens eines Empfangssignals |
DE102017216867.6 | 2017-09-25 | ||
PCT/EP2018/073700 WO2019057480A1 (de) | 2017-09-25 | 2018-09-04 | Verfahren und radarsensor zur reduktion des einflusses von störungen bei der auswertung mindestens eines empfangssignals |
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EP (1) | EP3688488A1 (ja) |
JP (1) | JP6893581B2 (ja) |
KR (1) | KR102613256B1 (ja) |
CN (1) | CN111133335A (ja) |
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2017
- 2017-09-25 DE DE102017216867.6A patent/DE102017216867A1/de active Pending
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2018
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- 2018-09-04 KR KR1020207011753A patent/KR102613256B1/ko active IP Right Grant
- 2018-09-04 JP JP2020517112A patent/JP6893581B2/ja active Active
- 2018-09-04 CN CN201880062267.XA patent/CN111133335A/zh active Pending
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- 2018-09-04 EP EP18765426.4A patent/EP3688488A1/de active Pending
- 2018-09-04 WO PCT/EP2018/073700 patent/WO2019057480A1/de unknown
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EP3688488A1 (de) | 2020-08-05 |
CN111133335A (zh) | 2020-05-08 |
WO2019057480A1 (de) | 2019-03-28 |
DE102017216867A1 (de) | 2019-03-28 |
MX2020003024A (es) | 2020-07-22 |
US11269053B2 (en) | 2022-03-08 |
KR102613256B1 (ko) | 2023-12-14 |
JP2020535408A (ja) | 2020-12-03 |
KR20200060445A (ko) | 2020-05-29 |
US20200217926A1 (en) | 2020-07-09 |
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