LU100130B1 - Direction of Arrival Estimation with Automotive Spread Radar Systems - Google Patents

Direction of Arrival Estimation with Automotive Spread Radar Systems Download PDF

Info

Publication number
LU100130B1
LU100130B1 LU100130A LU100130A LU100130B1 LU 100130 B1 LU100130 B1 LU 100130B1 LU 100130 A LU100130 A LU 100130A LU 100130 A LU100130 A LU 100130A LU 100130 B1 LU100130 B1 LU 100130B1
Authority
LU
Luxembourg
Prior art keywords
trxk
transceiver antenna
antenna units
gates
range
Prior art date
Application number
LU100130A
Other languages
German (de)
Inventor
Udo Schröder
Hans Peter Beise
Thomas Stifter
Original Assignee
Iee Sa
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Iee Sa filed Critical Iee Sa
Priority to LU100130A priority Critical patent/LU100130B1/en
Priority to CN201780075774.2A priority patent/CN110062892B/en
Priority to EP17808520.5A priority patent/EP3552040B1/en
Priority to PCT/EP2017/081867 priority patent/WO2018104468A1/en
Priority to US16/466,187 priority patent/US10884113B2/en
Application granted granted Critical
Publication of LU100130B1 publication Critical patent/LU100130B1/en

Links

Classifications

    • 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
    • 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
    • G01S13/003—Bistatic radar systems; Multistatic radar systems
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/18—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein range gates are used
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/325—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of coded signals, e.g. P.S.K. signals
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • G01S2013/466—Indirect determination of position data by Trilateration, i.e. two antennas or two sensors determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the antennas or sensors, the position data of the target is determined
    • 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

Landscapes

  • 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)

Abstract

A method of direction of arrival estimation with an automotive spread radar system (10) is proposed. The automotive spread radar system (10) comprises a plurality of at least two transceiver antenna units (TRXk), which are configured to work in a MIMO configuration, wherein the transceiver antenna units (TRXk) are arranged at a priori known positions. The automotive spread radar system is configured to determine, for each transceiver unit antenna unit (TRxk) of the plurality of transceiver antenna units (TRxk), a range of a target (28) reflecting radar waves that have been transmitted by at least the specific transceiver antenna unit (TRxk) by reading out a plurality of range gates (12) assigned to a specific transceiver antenna unit(TRxk). The method comprises steps of by each specific one of the plurality of transceiver antenna units (TRxk), determining a range of a target (28) occurring in one of separated angular directions (ak) lying within an angular range at least from radar waves that have been transmitted by the specific transceiver antenna unit (TRxk) and have been reflected by the target (28), for each one of the plurality of transceiver antenna units (TRxk), reading out the plurality of range gates (12), determining a pattern of occupied range gates (12) from the read-out range gates of the plurality of transceiver unit antenna units (TRxk), and estimating a direction of arrival (dk) based on relating the determined pattern of occupied range gates (12) to a plurality of expected patterns of occupied range gates (12) for targets occurring in the separated angular directions (ak), the plurality of expected patterns of occupied range gates (12) being predetermined from the a priori known positions of the plurality of transceiver unit antenna units (TRxk).

Description

Direction of Arrival Estimation with Automotive Spread Radar Systems
Technical field [0001] The invention generally relates to a method of direction of arrival estimation with an automotive spread radar system, an automotive spread radar system configured for estimating a direction of arrival, and a software module for controlling automatic execution of the method.
Background of the Invention [0002] It is known in the art to employ radar technology, in particular in the millimeter wave range between 75 and 81 GHz, in exterior automotive applications such as driver assistance systems for providing improved safety by facilitating an optimized reaction of a driver of a vehicle with appropriate warnings or even by automatically taking over control of the vehicle, for instance in collision avoidance systems.
[0003] In automotive radar applications one challenge is to determine the Direction of Arrival (DoA) of incoming radar waves which were transmitted towards and were reflected by targets. Common realizations deal with large patch antennas and beamforming algorithms. However, future demands are directed towards multiple small antennas mounted spread over a vehicle for providing multi-functionalities (compare Fig. 1).
[0004] By way of example, patent application EP2 105 758A2 describes a direction of arrival estimation apparatus that has a signal vector generation unit operable to generate a signal vector v composed of N baseband signals Vi to vn from arriving signals received from a target by N sensors. The direction of arrival estimation apparatus includes a Hankel matrix generation unit operable to preferentially set an order of a column of a matrix at a natural number M where 1 £ M and Μ £ (N - 1)/2 and generate an (N - Μ) X M matrix Rf1, Rf2, Rb1, or Rb2 from elements v-i to vN-i of the signal vector. The direction of arrival estimation apparatus also includes an estimation unit operable to generate a matrix R using the matrices Rfi, Rf2, Rbi, or Rb2, divide the matrix R into two submatrices Ri and R2 by R = [Ri|R2]r, and estimate a direction of arrival of the arriving signal based on the submatrices Ri and R2. In order to perform DoA estimation, use of phase information is required that is included in the submatrices Ri and R2.
[0005] Patent US 8,994,581 B1 describes a method of DoA estimation, in which a vehicle is configured with a radar system used to aid in vehicle guidance. The method could include an array of antennas formed by a plurality of antennas configured to receive a radar signal. The array of antennas has a respective spacing between the given antenna and an adjacent antenna; however, the plurality of spacings includes at least two different spacings. A portion of the method may be performed by a processor configured to calculate a detection channel, based on a difference between differential phases associated with two antenna pairs in the array. The processor may also calculate an unambiguous angle based on the detection channel and the plurality of antenna spacings. Additionally, the processor may control the radar unit based on the calculated unambiguous angle.
[0006] In order to use the described conventional DoA estimation methods it is therefore mandatory to ensure a synchronization of the antennas on the scale of the carrier frequency, which in case of an exemplary carrier frequency of 100 GHz means a synchronization on the scale of picoseconds (10'12 s) or, for light, even on the scale of attoseconds (10‘18 s).
[0007] Further, a displacement of the antennas by multiple wavelengths leads to ambiguity in angular reconstruction when performed with conventional DBF.
Object of the invention [0008] It is therefore desirable to provide a method and a radar system that is capable of estimating a direction of arrival without the need of ensuring a synchronization of antennas on the scale of a radar carrier frequency.
General Description of the Invention [0009] In one aspect of the present invention, the object is achieved by a method of direction of arrival estimation with an automotive spread radar system. The automotive spread radar system comprises a plurality of at least two transceiver antenna units, which are configured to work in a multiple-input and multiple-output (ΜΙΜΟ) configuration. The transceiver antenna units are arranged at a priori known positions. The radar system is configured to determine, for each specific transceiver antenna unit of the plurality of transceiver antenna units, a range of a target reflecting radar waves that have been transmitted by at least the specific transceiver antenna unit by reading out a plurality of range gates that are assigned to the specific transceiver antenna unit.
[0010] The method comprises steps of for each specific one of the plurality of transceiver antenna units, determining a range of a target occurring in one of separated angular directions lying within an angular range that is arranged about a common direction at least from radar waves that have been transmitted by the specific transceiver antenna unit and have been reflected by the target, by reading out range gates out of the plurality of range gates of the specific transceiver antenna unit, determining a pattern of occupied range gates from the read-out range gates of the plurality of transceiver unit antenna units, and estimating a direction of arrival based on relating the determined pattern of occupied range gates to a plurality of expected patterns of occupied range gates for targets occurring in the separated angular directions, the plurality of expected patterns of occupied range gates being predetermined from the a priori known positions of the plurality of transceiver unit antenna units.
[0011] The proposed solution is an adaption of beamforming techniques to a larger baseline given by the locations of the plurality of transceiver antenna units. Each transceiver antenna unit has the possibility to separate the surrounding space coarsely but uniquely in angular regions of a size that depends on a size of the transceiver antenna unit. In that unique angular range, a displacement of the transceiver antenna units is utilized to refine an angular resolution based on a time-of-flight profile of the transceiver antenna units.
[0012] By that, a synchronization on the scale of the radar carrier frequency can beneficially be omitted in the proposed method of direction of arrival estimation. The invention is based on the insight to utilize patterns of occupied range gates that are created by mutually shifted range gate allocations of the individual transceiver antenna units instead of a phase information of the incoming wave, as is the basis for conventional digital beamforming (DBF).
[0013] The method can be executed in a particularly simple manner for targets occurring in a far distance to the transceiver antenna units, i.e. in their “far field”.
[0014] The term “automotive”, as used in this application, shall particularly be understood to encompass an application for a vehicle such as, but not limited to, passenger cars, trucks and buses. The phrase “being configured to”, as used in this application, shall in particular be understood as being specifically programmed, laid out, furnished or arranged.
[0015] The range discrimination of the radar may be regulated by the so-called range gates. This means that the received echo signal is sampled and the range information is decoded from the received signal in the different range gates by one of the different decoding techniques known in the field.
[0016] Preferably, a quantity of separated angular directions is equal to the quantity of transceiver antenna units in the plurality of transceiver antenna units. Also preferably, the separated angular directions are evenly spread within the angular range.
[0017] In preferred embodiments of the method, the step of determining, for each specific one of the plurality of transceiver antenna units, a range of a target includes determining a range of a target from radar waves that have been transmitted by the specific transceiver antenna unit and at least another one of the plurality of transceiver antenna units and have been reflected by the target, by reading out range gates out of the plurality of range gates of the specific transceiver antenna unit and of the at least one another transceiver antenna units. By receiving and decoding reflected radar waves that have been transmitted by another transceiver antenna unit, additional independent information can be obtained that can enable discriminating target configurations that would otherwise be ambiguous. It is emphasized that the additional independent information is solely range-based, and not phase-based.
[0018] Preferably, prior to the step of determining a range of the target occurring in one of separated angular directions, a step of merging consecutive range gates of each plurality of range gates into packages of a predetermined number of range gates is executed for all transceiver antenna units. By reducing resolution in range, a spatial regime of unambiguity of target detection can beneficially be enlarged.
[0019] In preferred embodiments of the method, the step of estimating a direction of arrival includes solving the linear equation system
Rfim A t wherein t denotes a vector that represents occurring targets detected in the separated angular directions, Rgm represents a vector comprising results from reading out the plurality of range gates. A is a matrix that is calculated from the a priori known positions and represents a linear mapping, by which vector t is transformed into vector RSm· [0020] In this way, the evaluation of data read out of the plurality of range gates based on relating the determined pattern of occupied range gates to a plurality of expected patterns of occupied range gates for targets occurring in the separated angular directions can be formalized and efficiently be executed by applying well-known methods of solving linear equations systems.
[0021] In another aspect of the invention, an automotive spread radar system for direction of arrival estimation is provided that comprises a plurality of at least two transceiver antenna units, which are configured to work in a multiple-input and multiple-output (ΜΙΜΟ) configuration, wherein the transceiver antenna units are arranged at a priori known positions. The automotive spread radar system further includes, for each specific transceiver antenna unit of the plurality of transceiver antenna units, a plurality of range gates that is configured to indicate a range of a target reflecting radar waves that have been transmitted by at least the specific transceiver antenna unit.
[0022] Furthermore, the automotive spread radar system comprises an evaluation and control unit. The evaluation and control unit is configured for reading out the plurality of range gates for all transceiver antenna units and for determining a pattern of occupied range gates from the read-out range gates of the plurality of transceiver unit antenna units. Moreover, the evaluation and control unit is configured for estimating a direction of arrival based on relating the determined pattern of occupied range gates to a plurality of expected patterns of occupied range gates for targets occurring in the separated angular directions, the plurality of expected patterns of occupied range gates being predetermined from the a priori known positions of the plurality of transceiver unit antenna units. The benefits described before in context with the method of direction of arrival estimation applied to the full extent.
[0023] In particular, in ΜΙΜΟ configurations each transceiver antenna unit is understood to be able to transmit radar waves in an independent manner that represent mutually orthogonal codes. Each transceiver antenna unit is further understood to be able to receive radar waves that have been transmitted by itself and any of the other transceiver antenna units and that have been reflected by an object without any cross talk disturbance. These embodiments provide the benefits of ΜΙΜΟ radar configurations regarding enlarged size of virtual aperture, improved spatial resolution and less sensitivity to interference signals, as is well known in the art.
[0024] The direction of arrival can be estimated in a particularly simple manner if the plurality of transceiver antenna units is arranged at the a priori known positions to form a one-dimensional linear array.
[0025] In preferred embodiments of the automotive spread radar system, the a priori known positions of the plurality of transceiver antenna units are arranged at a front region of a vehicle. In this way, the automotive spread radar system can beneficially be employed to provide information that can be used in driver assistance systems such as collision warning systems and lane change assistance systems.
[0026] Preferably, the evaluation and control unit comprises a processor unit and a digital data memory unit to which the processor unit has data access. In this way, the estimation of a direction of arrival can be performed within the automotive spread radar system to ensure a fast and undisturbed signal processing and evaluation.
[0027] Preferably, the automotive spread radar system comprises modulation means to operate the plurality of at least two transceiver antenna units in a phase-modulated continuous wave (PMCW) mode.
[0028] Using PMCW as a modulation technique, in particular for a ΜΙΜΟ radar system, can facilitate providing orthogonal waveforms to transmitting antennas of the transceiver antenna units by enabling the use of binary symbols.
[0029] In yet another aspect of the invention, a software module for controlling an automatic execution of steps of an embodiment of the method disclosed herein is provided.
[0030] The method steps to be conducted are converted into a program code of the software module, wherein the program code is implementable in a digital memory unit of the automotive spread radar system and is executable by a processor unit of the automotive spread radar system. Preferably, the digital memory unit and/or processor unit may be a digital memory unit and/or a processing unit of the evaluation and control unit of the automotive spread radar system. The processor unit may, alternatively or supplementary, be another processor unit that is especially assigned to execute at least some of the method steps.
[0031] The software module can enable a robust and reliable execution of the method and can allow for a fast modification of method steps.
[0032] These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter.
[0033] It should be pointed out that the features and measures detailed individually in the above-mentioned description can be combined with one another in any technically meaningful manner and show further embodiments of the invention. The description characterizes and specifies the invention in particular in connection with the figures.
Brief Description of the Drawings [0034] Further details and advantages of the present invention will be apparent from the following detailed description of not limiting embodiments with reference to the attached drawing, wherein:
Fig. 1 illustrates a possible embodiment of the automotive spread radar system in accordance with the invention in a state of being installed in a vehicle,
Fig. 2 schematically shows the plurality of transceiver antenna units of the automotive spread radar system pursuant to Fig. 1,
Fig. 3 shows a phase-modulated continuous wave for operating the transceiver antenna units pursuant to Fig. 2,
Fig. 4 shows a sequence to be transmitted by the transceiver antenna units, coded by a Hadamard matrix,
Fig. 5 illustrates separated directions of arrival arranged within an angular range of ± a about a common angular direction φ,
Fig. 6 shows an example of contents of the plurality range gates of the plurality of transceiver antenna units pursuant to Fig. 2 with targets occurring within the angular range φ ± a,
Fig. 7 illustrates a determined pattern of occupied range gates for a fixed direction of arrival,
Fig. 8 shows the plurality of range gates of the plurality of transceiver antenna units after merging consecutive range gates of each plurality of range gates into packages of a predetermined number of range gates,
Fig. 9 schematically illustrates a situation of determining the range of the occurring target in different ones of separated angular directions of arrival,
Fig. 10 schematically shows the occurring target in relation to range cells of two transceiver antenna units,
Fig. 11 schematically shows a situation of two transceiver antenna units detecting a two-target configuration,
Fig. 12 schematically shows a discrimination of the two possible two-target configurations by range-based decoded information derived from cross talk between transceiver antenna units,
Fig. 13 illustrates a plurality of range gates of transceiver antenna units decoding their own radar signal as well as the radar signals transmitted by the other transceiver antenna units reflected by a target, and
Fig. 14 is a schematic layout of a signal processing unit of the automotive spread radar system.
Description of Preferred Embodiments [0035] Fig. 1 shows a possible embodiment of an automotive spread radar system 10 for direction of arrival estimation of radar waves reflected by a target 28 in accordance with the invention. The automotive spread radar system 10 is installed in a vehicle 26 formed by a passenger car to provide information that is to be used as an input for a collision avoidance system of the vehicle 26. The automotive spread radar system 10 comprises a plurality of N = 4 transceiver antenna units TRxk, k = 1 - N, that are arranged at a priori known positions at a front region of the vehicle 26.
[0036] Fig. 2 schematically illustrates the plurality of N = 4 transceiver antenna units TRx^ k = 1 - N, of the automotive spread radar system 10 pursuant to Fig. 1. In Fig. 2, the transceiver antenna units TRxk are shown to be arranged at a priori known positions to form a one-dimensioned linear array 24, wherein the transceiver antenna units TRxk are evenly spaced by a distance d, for example 0.5 m. For reasons of simplicity of the considerations to follow, this arrangement differs from the arrangement shown in Fig. 1. However, those skilled in the art will appreciate that similar geometrical considerations apply.
[0037] In this specific embodiment, the transceiver antenna units TRxk are identically designed. Each transceiver antenna unit TRxk includes a plurality of n = 4 patches. In other embodiments, the number of patches may be different for some or for all of the transceiver antenna units TRxi<.
[0038] The plurality of transceiver antenna units TRxk is configured to work in a multiple-input and multiple-output (ΜΙΜΟ) configuration. The individual transceiver antenna units TRxk transmit orthogonal codes, i.e. each transceiver antenna unit TRxk can decode its own echo and the echoes generated by other transceiver antenna units TRxk without cross talk disturbances. To this end, the automotive spread radar system 10 comprises modulation means to operate the plurality of transceiver antenna units TRxk in a phase-modulated continuous wave (PMCW) mode.
[0039] In this embodiment, PMCW is based on bi-phase modulation, which means <p(t) = 0° or <p(t) = 180° for an emitted signal u(t) = A cos(/t + The phase code c = (ck) e {-l,l}Lc, which is meant to be sent out could be property chosen, for example as an Almost Perfect Auto-Correlation Sequence (APAS) or a Maximum Length-Sequence (m-sequence), depending on the requirements. The phase can then be modelled via
with chirp duration Tc Tcand code length Lc. A potential phase-modulated radar waveform is illustrated in Fig. 3.
[0040] For the PMCW automotive spread radar system 10 the ΜΙΜΟ concept can be realized via Hadamard coding to provide orthogonal signals. This per se known technique is called Outer Code ΜΙΜΟ Concept. For that purpose one has to take a matrix from the Walsh-Hadamard family (exists for all lengths multiple of 2 from 4 to 664) in which all rows are orthogonal. The length of needed outer code is equal to the number of transceiver antenna units TRxk. For this specific embodiment with four transceiver antenna units TRxr, one Hadamard matrix is given by
[0041] Then the sequence S, which is sent out will be coded (multiplied) by such Hadamard matrices as shown in Fig. 4.
[0042] For each specific transceiver antenna unitTRxk of the plurality of transceiver antenna units TRxk, the automotive spread radar system 10 includes a plurality of range gates 12 that are configured to indicate a range of a target 28 reflecting radar waves that have been transmitted by the specific transceiver antenna unit TRXm as well as radar waves that have been transmitted by all other transceiver antenna unitTRXk, k =1 - N, k#m, of the plurality of transceiver antenna unit TRXk. The number of range gates is L.
[0043] The approach to obtain additional information for DoA is based on an allocation of the different range gates 12 of the transceiver antenna units TRxk.
[0044] In the following, an embodiment of a method of direction of arrival estimation with an automotive spread radar system in accordance with the invention will be described.
[0045] Each of the transceiver antenna units TRxk determines a range of an occurring target 28 in one of separated angular directions of arrival dk lying within an angular range of ± a that is arranged about a common direction φ (uniqueness
bin φ ± a). The separated angular directions of arrival dk correspond to angles ak of value (Fig. 5):
[0046] For each one of the plurality of transceiver antenna units TRxk, the received signal is decoded in a first step for the received radar wave that has been transmitted by itself, and the plurality of range gates 12 is read out (Fig. 6).
[0047] For a fixed angular direction of arrival dk adknd a fixed target 28 located in this angular direction of arrival dk, the occupied range gates 12 of the individual transceiver antenna units TRxt< are mutually shifted (Fig. 7):
Left side delay 5lk (if ak < φ) in terms of range resolution units (denoted by r) of transceiver antenna units TRxjio TRxJ+1:
Right side delay Srk (if ak > φ) in terms of range resolution units r of transceiver antenna units TRxj to TRxj+i:
[0048] Thus, the maximum delay between adjacent transceiver antenna units TRxk is range gates 12.
[0049] In another step of the method, a pattern of occupied range gates 12 from the read-out range gates of the plurality of transceiver unit antenna units TRxk is determined. As illustrated in Fig. 7, the pattern shows as a mutual shifting of occupied range gates 12 among the plurality of transceiver unit antenna units TRxk.
[0050] A direction of arrival dk is estimated based on relating the determined pattern of occupied range gates 12 to a plurality of expected patterns of occupied range gates 12 for targets occurring in the separated angular directions ak. The
plurality of expected patterns of occupied range gates 12 has been predetermined from the a priori known positions of the plurality of transceiver unit antenna units TRxr.
[0051] For obtaining unambiguity, prior to the step of determining a range of the occurring target 28, a step of merging consecutive range gates 12 of each plurality of range gates 12 into packages of a predetermined number of range gates 12 is executed for all transceiver antenna units TRxk. The merging is illustrated in Fig. 8. [0052] Then, for transceiver antenna unit TRxt a target 28 which is detected in angular direction corresponding to an angle ak, k < and a distance
| =:RSm(l,l), j e {0,..., I- ZV} is detected as a target 28 in range
for the other transceiver antenna units TRxb Z > 1, as illustrated in Fig. 8.
[0053] Accordingly, the range gates 12 are occupied for targets 28 in the direction corresponding to angle ak,
[0054] The former range resolution decreases from r to sin(«j) d on the finer angular grid. The finer angle resolution requires additional computational effort of O (n( ZVL)2 j, wherein 0 denotes the Landau symbol.
[0055] An important observation can be made at this point: A higher angular resolution by transceiver antenna units TRxk will reduce the loss in range resolution in the refined angular grid, but at the same time will increase the computational costs.
[0056] For example, the considered PMCW automotive spread radar system 10 with parameters n = 4, Z\Z = 4, d = 0.5m, R = 0.01m, L = 1000 will increase the separation in 16 angular directions (from 4 directions). The range resolution on the finer angular grid is reduced to 0.1 m and the finer angle resolution requires an additional computational effort of 0(4 - 4002) = 0(640 000) operations, which is in the range of standard processing.
[0057] The step of relating the determined pattern of occupied range gates 12 to a plurality of expected patterns of occupied range gates 12 for targets occurring in the separated angular directions ak can formally be described as a linear mapping.
The linear mapping takes place from the space of all possible target configurations to the resulting range gate occupations for the different transceiver antenna units TRxk and can be described by the following equation:
wherein t denotes a vector that represents occurring targets detected in the separated angular directions ak, and t(j, fe) has a value of 1 if there is a target 28 occurring in angular direction ak and distance in [/ · Sm, (/ + 1)- 5m] from transceiver antenna unitTRxi, and a value of 0 else. RSm represents a vector comprising results from reading out the plurality of range gates 12, and A is a matrix that is calculated from the a priori known positions and that represents a linear mapping, by which vector t is transformed to vector R5m. The step of estimating a direction of arrival dk is then carried out by solving the above linear equation system.
[0058] In many cases, the matrix A is a sparse matrix, i.e. the number of non-zero matrix elements is small compared to the total number of matrix elements, and the well-known methods of numerically solving linear equations systems with sparse matrices can beneficially be applied.
[0059] In general, the matrix A is not a square matrix. Well-known methods for solving linear equation systems represented by such matrices may be applied, such as compressed sensing, provided that known method-specific prerequisites are met.
[0060] Depending on actual parameters, for instance a range value, of a scenario of detecting a target and estimating a direction of arrival of radar waves reflected by the target, different matrices A may be employed for relating the determined pattern of occupied range gates 12 to a plurality of expected patterns of occupied range gates 12.
[0061] With reference to Fig. 1, the automotive spread radar system 10 comprises an evaluation and control unit 16 that is configured for reading out the plurality of range gates 12 for all transceiver antenna units TRxr, determining a pattern of occupied range gates 12 from the read-out range gates of the plurality of transceiver unit antenna units (TRxk), and estimating a direction of arrival dk based on relating the determined pattern of occupied range gates 12 to a plurality of expected patterns of occupied range gates 12 for targets occurring in the separated angular directions ak, the plurality of expected patterns of occupied range gates 12 being predetermined from the a priori known positions of the plurality of transceiver unit antenna units TRxk.
[0062] In particular, the evaluation and control unit 16 is configured for relating the determined pattern of occupied range gates 12 to the plurality of expected patterns by solving the above-described linear equation system R5m = A t.
[0063] The evaluation and control unit 16 can be located at any place within the vehicle 26 that appears suitable to those skilled in the art.
[0064] In order to be able to execute these steps, the evaluation and control unit 16 is equipped with a processor unit and a digital data memory unit to which the processor unit has data access, and a signal processing unit 18 (Fig. 14) whose function will be described later on. Values of elements of matrix A reside in the digital data memory unit. The evaluation and control unit 16 is furnished with a software module. Method steps to be conducted are converted into a program code of the software module. The program code is implemented in the digital data memory unit of the evaluation and control unit and is executable by the processor unit of the evaluation and control unit.
[0065] In the cases of targets 28 occurring in the far field of the transceiver antenna units TRxk considered up to now, a range of the occurring target 28 is determined by each one of the plurality of transceiver antenna units TRxk in the same one of separated angular directions corresponding to angle ak lying within the angular range φ ± a.
[0066] In case of targets 28 occurring in the near field of the transceiver antenna units TRxk, a range of the occurring target 28 can be determined by each one of the plurality of transceiver antenna units TRxk in different ones of separated angular directions corresponding to angles ak lying within the angular range φ ± a. The situation is illustrated in Fig. 9, for the sake of clarity only for two transceiver antenna units TRxi, TRx2.
[0067] When at transceiver antenna units TRx1 and TRx2 range gate 2r1( and range gate 2r2 show a peak, respectively, then the target 28 is located at wherein
and coordinates are as shown in Fig. 9.
[0068] For these cases, the mapping matrix A has to be adjusted accordingly. [0069] A target 28 located at
will generate range gate peaks in
at transceiver antenna units TRxlt TRx2, respectively.
[0070] The number of cells 14 to decode is immediately linked with the coarseness of the grid (the size of the cells 14, compare Fig. 10). To reduce the complexity of the problem and achieve unambiguity one can increase the size of the cells 14 by merging range gates as described before. As in all angular decoding techniques, there is a trade-off between resolution and unambiguity which needs to be decided on.
[0071] As presented before, an incoherent processing is unable to distinguish between target configurations like those illustrated in Fig. 11 (triangles A-ι, A2 versus crosses Bi, B2). However, a coherent processing regarding range resolution yields uniqueness of the target configuration.
[0072] To achieve this, for each one of the plurality of transceiver antenna units TRxk, a received signal from radar waves reflected by the targets is decoded not only for the received radar wave that has been transmitted by a specific transceiver antenna unitTRxm, but also for the radar waves that have been transmitted by the balance of the plurality of transceiver antenna units TRXk, k =1 -N, k # m, and the plurality of range gates 12 is read out [0073] A plurality of range gates of the transceiver antenna units TRxk after decoding their own radar signal as well as the radar signals that have been transmitted by the other transceiver antenna units TRXk, k =1 - N, k # m, and have been reflected by a target is illustrated in Fig. 13. Herein, an occupied range gate R(i,j,k) symbolizes a radar wave that has been transmitted by transceiver antenna units TRxk, has been decoded by transceiver antenna units TRXj, and has been received in a time slot corresponding to a distance of i times the range resolution r.
[0074] The range information one can get out of a complete ΜΙΜΟ concept is given in the table below.
[0075] The cross talks of the transceiver antenna units TRxk deliver further information (rows 2 and 3 of table), which can be used to discriminate the different target configurations. Again, it is emphasized that this information is solely range-based, and not phase-based.
[0076] The additional information gained from decoding the mutual signals corresponds to distance separations by ellipses (here specified by constants Ci, c2), as is illustrated in Fig. 12.
[0077] Signals received by the transceiver antenna units TRxi< are processed by the signal processing unit 18 that forms part of the automotive spread radar
system 10. The signal processing unit 18 is known perse and described herein for the sake of completeness.
[0078] The layout of the signal processing unit 18 is illustrated in Fig. 14. Correlators 20 will perform ranging, similar as in a global positioning system (GPS). The number of parallel correlators 20 is equal to sequence length Lc to provide the range processing in one step. The coherent accumulator 22 will increase the signal-to-noise ratio (SNR) via M accumulations, and at least a Fast Fourier Transform (FFT) to extract the Doppler information will be performed.
[0079] At the receiver side a multiplication of a signal v with each row of the Hadamard matrix Hd is necessary to distinguish between each transmitter (after correlation, see sketch below).
[0080] Design parameters of the automotive spread radar system 10 are:
Total Dwell time
Range resolution
Unambiguous range
Velocity resolution with wavelength Ac of the carrier frequency
Processing gain
[0081] While the invention has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive; the invention is not limited to the disclosed embodiments.
[0082] Other variations to be disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an" does not exclude a plurality, which is meant to express a quantity of at least two. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting scope.
List of Reference Symbols 10 automotive spread radar system 12 range gate 14 cell 16 evaluation and control unit 18 signal processing unit 20 correlator 22 accumulator 24 linear array 26 vehicle 28 target d distance dk angular directions of arrival ctk angle φ common direction TRxk transceiver antenna unit

Claims (10)

1. Verfahren zum Schätzen der Einfallsrichtung bei einem verteilten Radarsystem (10) für ein Kraftfahrzeug, wobei das verteilte Radarsystem (10) für ein Kraftfahrzeug eine Vielzahl von mindestens zwei Sendeempfänger-Antenneneinheiten (TRxk) aufweist, die dafür ausgelegt sind, in einer MIMO-Konfiguration (ΜΙΜΟ = Multiple-Input Multiple-Output) zu arbeiten, wobei die Sendeempfänger-Antenneneinheiten (TRxk) an a priori bekannten Positionen angeordnet sind und das verteilte Radarsystem für ein Kraftfahrzeug dafür ausgelegt ist, für jede spezifische Sendeempfänger-Antenneneinheit (TRxk) der mehreren Sendeempfänger-Antenneneinheiten (TRxk) einen Bereich eines Ziels (28), das Radarwellen reflektiert, die von mindestens der spezifischen Sendeempfänger-Antenneneinheit (TRxk) übertragen worden sind, durch Auslesen von mehreren Bereichsgattern (12), die der spezifischen Sendeempfänger-Antenneneinheit (TRxk) zugeordnet sind, zu bestimmen, wobei das Verfahren die folgenden Schritte aufweist: für jede spezifische der mehreren Sendeempfänger-Antenneneinheiten (TRxk) Bestimmen eines Bereichs eines Ziels (28), das in einer von getrennten Winkelrichtungen (ak) vorkommt, die innerhalb eines Winkelbereichs liegen, der um eine gemeinsame Richtung (φ) zumindest von Radarwellen, die von der spezifischen Sendeempfänger-Antenneneinheit (TRxk) übertragen und von dem Ziel (28) reflektiert worden sind, angeordnet ist, durch Auslesen von Bereichsgattern von den mehreren Bereichsgattern (12) der spezifischen Sendeempfänger-Antenneneinheit (TRxk), Bestimmen eines Musters von belegten Bereichsgattern (12) aus den ausgelesenen Bereichsgattern der mehreren Sendeempfänger-Antenneneinheiten (TRxk), und Schätzen einer Einfallsrichtung (dk) basierend auf dem Zuordnen des bestimmten Musters von belegten Bereichsgattern (12) zu mehreren erwarteten Mustern von belegten Bereichsgattern (12) für Ziele, die in den getrennten Winkelrichtungen (ak) auftreten, wobei die mehreren erwarteten Muster von belegten Bereichsgattern (12) anhand der a priori bekannten Positionen der mehreren Sendeempfänger-Antenneneinheiten (TRxk) vorbestimmt werden.A method of estimating the direction of incidence in a distributed radar system (10) for a motor vehicle, the distributed radar system (10) for a motor vehicle having a plurality of at least two transceiver antenna units (TRxk) adapted to be mounted in a MIMO. Multiple input-multiple-output configuration, where the transceiver antenna units (TRxk) are located at a priori known positions and the distributed radar system for a motor vehicle is designed for each specific transceiver antenna unit (TRxk) a plurality of transceiver antenna units (TRxk), a portion of a target (28) that reflects radar waves transmitted from at least the specific transceiver antenna unit (TRxk) by reading a plurality of range gates (12) belonging to the specific transceiver antenna unit (12). TRxk), the method being the following step e: for each specific one of the plurality of transceiver antenna units (TRxk), determining a region of a target (28) that is in one of separate angular directions (ak) that are within an angular range that is at least about a common direction (φ) Radar waves transmitted from the specific transceiver antenna unit (TRxk) and reflected by the target (28) are arranged by reading out range gratings from the plural range gratings (12) of the specific transceiver antenna unit (TRxk), determining a pattern estimating an arrival direction (dk) based on assigning the determined pattern of occupied area gates (12) to a plurality of expected patterns of occupied area gates (12) for assigned area gates (12) from the read area gates of the plurality of transceiver antenna units (TRxk) Targets that occur in the separate angular directions (ak), the several expected eten pattern of occupied area gates (12) on the basis of the a priori known positions of the plurality of transceiver antenna units (TRxk) are predetermined. 2. Verfahren nach Anspruch 1, wobei der Schritt des Bestimmens, für jede spezifische (TRxi) der mehreren Sendeempfänger-Antenneneinheiten (TRxk), eines Bereichs eines Ziels (28) das Bestimmen eines Bereichs eines Ziels (28) von Radarwellen umfasst, die von der spezifischen Sendeempfänger-Antenneneinheit fiRx^ und mindestens einer weiteren (TRx2) der mehreren Sendeempfänger-Antenneneinheiten (TRxk) übertragen und von dem Ziel (28) reflektiert worden sind, durch Auslesen von Bereichsgattern von den mehreren Bereichsgattern (12) der spezifischen Sendeempfänger-Antenneneinheit (TRxi) und der mindestens einen weiteren Sendeempfänger-Antenneneinheiten (TRx2).The method of claim 1, wherein the step of determining, for each specific (TRxi) of the plurality of transceiver antenna units (TRxk), a portion of a target (28) comprises determining an area of a target (28) of radar waves generated by the specific transceiver antenna unit fiRx ^ and at least one other (TRx2) of the plurality of transceiver antenna units (TRxk) and reflected from the target (28) by reading range gates from the plurality of range gates (12) of the specific transceiver antenna unit (TRxi) and the at least one further transceiver antenna units (TRx2). 3. Verfahren nach Anspruch 1 oder 2, wobei vor dem Schritt des Bestimmens eines Bereichs des Ziels (28), das in einer von getrennten Winkelrichtungen (ak) auftritt, ein Schritt des Zusammenführens von aufeinanderfolgenden Bereichsgattern (12) von jeder Vielzahl von Bereichsgattern (12) zu Paketen einer vorbestimmten Zahl von Bereichsgattern (12) für alle Sendeempfänger-Antenneneinheiten (TRxk) ausgeführt wird.A method according to claim 1 or 2, wherein before the step of determining a region of the target (28) which occurs in one of separate angular directions (ak), a step of merging successive region gates (12) of each plurality of region gates ( 12) to packets of a predetermined number of range gates (12) for all transceiver antenna units (TRxk). 4. Verfahren nach einem der vorhergehenden Ansprüche, wobei der Schritt des Schätzens einer Einfallsrichtung (dk) das Lösen des linearen Gleichungssystems Röm ~ A ’ t umfasst, wobei t einen Vektor bezeichnet, der auftretende Ziele (28) darstellt, die in den getrennten Winkelrichtungen (ak) erkannt werden, Röm einen Vektor darstellt, der Ergebnisse des Auslesens der mehreren Bereichsgatter (12) aufweist, und A eine Matrix ist, die aus den a priori bekannten Positionen und den getrennten Winkelrichtungen (ak) berechnet wird, wobei A eine lineare Abbildung darstellt, durch die der Vektor t in den Vektor RSm transformiert wird.A method according to any one of the preceding claims, wherein the step of estimating an incident direction (dk) comprises solving the linear system of equations Ro ~ A 't, where t denotes a vector representing targets (28) occurring in the separate angular directions (ak), Röm represents a vector having results of reading out the plurality of range gates (12), and A is a matrix calculated from the a priori known positions and the separate angular directions (ak), where A is a linear one Illustration represents, by which the vector t is transformed into the vector RSm. 5. Verteiltes Radarsystem (10) für ein Kraftfahrzeug zum Schätzen der Einfallsrichtung, aufweisend: eine Vielzahl von mindestens zwei Sendeempfänger-Antenneneinheiten (TRxk), die dafür ausgelegt sind, in einer MIMO-Konfiguration (ΜΙΜΟ = Multiple-Input Multiple-Output) zu arbeiten, wobei die Sendeempfänger-Antenneneinheiten (TRxk) an a priori bekannten Positionen angeordnet sind, für jede spezifische Sendeempfänger-Antenneneinheit (TRxk) der mehreren Sendeempfänger-Antenneneinheiten (TRxk) mehrere Bereichsgatter (12), die dafür ausgelegt sind, einen Bereich eines Ziels (28) anzuzeigen, das Radarwellen reflektiert, die von der mindestens einen spezifischen Sendeempfänger-Antenneneinheit (TRxk) übertragen worden sind, eine Auswerte- und Steuereinheit (16), die dafür ausgelegt ist, - die mehreren Bereichsgatter (12) für alle Sendeempfänger-Antenneneinheiten (TRxk) auszulesen, ein Muster von belegten Bereichsgattern (12) aus den ausgelesenen Bereichsgattern der mehreren Sendeempfänger-Antenneneinheiten (TRxk) zu bestimmen, und eine Einfallsrichtung (dk) basierend auf der Zuordnung des bestimmten Musters von belegten Bereichsgattern (12) zu mehreren erwarteten Mustern von belegten Bereichsgattern (12) für Ziele zu schätzen, die in den getrennten Winkelrichtungen (ak) auftreten, wobei die mehreren erwarteten Muster von belegten Bereichsgattern (12) anhand der a priori bekannten Positionen der mehreren Sendeempfänger-Antenneneinheiten (TRxk) vorbestimmt werden.A distributed vehicle radar system (10) for estimating the direction of incidence, comprising: a plurality of at least two transceiver antenna units (TRxk) configured to be in a multiple-input multiple-output (MIMO) configuration operate, wherein the transceiver antenna units (TRxk) are arranged at a priori known positions, for each specific transceiver antenna unit (TRxk) of the plurality of transceiver antenna units (TRxk) a plurality of area gates (12) designed to cover an area of a destination (28) which reflects radar waves transmitted by the at least one specific transceiver antenna unit (TRxk), an evaluation and control unit (16) designed to provide - the plurality of range gates (12) for all transceivers - Antenna units (TRxk), a pattern of occupied area gates (12) from the read-out area gates of the several Se receiver directional antenna units (TRxk) and to estimate an incident direction (dk) based on the assignment of the particular pattern of occupied area gates (12) to multiple expected patterns of occupied area gates (12) for destinations in the separate angular directions (ak ), wherein the plurality of expected patterns of occupied area gates (12) are predetermined based on the a priori known positions of the plurality of transceiver antenna units (TRxk). 6. Verteiltes Radarsystem (10) für ein Kraftfahrzeug nach Anspruch 5, wobei die mehreren Sendeempfänger-Antenneneinheiten (TRxk) an den a priori bekannten Positionen angeordnet sind, um eine eindimensionale lineare Antennengruppe (24) zu bilden.A distributed automotive radar system (10) according to claim 5, wherein the plurality of transceiver antenna units (TRxk) are arranged at the a priori known positions to form a one-dimensional linear antenna array (24). 7. Verteiltes Radarsystem (10) für ein Kraftfahrzeug nach Anspruch 5 oder 6, wobei die a priori bekannten Positionen der mehreren Sendeempfänger-Antenneneinheiten (TRxk) in einem Frontbereich eines Fahrzeugs (26) angeordnet sind.A distributed vehicle radar system (10) according to claim 5 or 6, wherein the a priori known positions of the plurality of transceiver antenna units (TRxk) are arranged in a front area of a vehicle (26). 8. Verteiltes Radarsystem (10) für ein Kraftfahrzeug nach einem der Ansprüche 5 bis 7, wobei die Auswerte- und Steuereinheit (5) eine Prozessoreinheit und eine digitale Datenspeichereinheit aufweist, auf die die Prozessoreinheit Datenzugriff hat.8. Distributed radar system (10) for a motor vehicle according to one of claims 5 to 7, wherein the evaluation and control unit (5) comprises a processor unit and a digital data storage unit to which the processor unit has data access. 9. Verteiltes Radarsystem (10) für ein Kraftfahrzeug nach einem der Ansprüche 5 bis 8, ferner aufweisend Modulationsmittel zum Betreiben der Vielzahl von mindestens zwei Sendeempfänger-Antenneneinheiten (TRxk) in einem phasenmodulierten kontinuierlichen Wellenmodus.A distributed automotive radar system (10) according to any of claims 5 to 8, further comprising modulation means for operating said plurality of at least two transceiver antenna units (TRxk) in a phase modulated continuous wave mode. 10. Softwaremodul zum Steuern einer automatischen Ausführung von Schritten des Verfahrens nach einem der Ansprüche 1 bis 4, wobei auszuführende Verfahrensschritte in einen Programmcode des Softwaremoduls umgewandelt werden, wobei der Programmcode in einer digitalen Datenspeichereinheit des verteilten Radarsystems (10) für ein Kraftfahrzeug oder einer separaten Steuereinheit implementierbar und von einer Prozessoreinheit des verteilten Radarsystems (10) für ein Kraftfahrzeug oder eine separate Steuereinheit ausführbar ist.A software module for controlling automatic execution of steps of the method according to any one of claims 1 to 4, wherein process steps to be executed are converted into a program code of the software module, the program code in a digital data storage unit of the distributed radar system (10) for a motor vehicle or a separate Implementable control unit and executable by a processor unit of the distributed radar system (10) for a motor vehicle or a separate control unit.
LU100130A 2016-12-08 2017-03-02 Direction of Arrival Estimation with Automotive Spread Radar Systems LU100130B1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
LU100130A LU100130B1 (en) 2017-03-02 2017-03-02 Direction of Arrival Estimation with Automotive Spread Radar Systems
CN201780075774.2A CN110062892B (en) 2016-12-08 2017-12-07 Estimation of the direction of arrival for an automotive extended radar system
EP17808520.5A EP3552040B1 (en) 2016-12-08 2017-12-07 Direction of arrival estimation for automotive spread radar systems
PCT/EP2017/081867 WO2018104468A1 (en) 2016-12-08 2017-12-07 Direction of arrival estimation for automotive spread radar systems
US16/466,187 US10884113B2 (en) 2016-12-08 2017-12-07 Direction of arrival estimation for automotive spread radar systems

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
LU100130A LU100130B1 (en) 2017-03-02 2017-03-02 Direction of Arrival Estimation with Automotive Spread Radar Systems

Publications (1)

Publication Number Publication Date
LU100130B1 true LU100130B1 (en) 2018-09-07

Family

ID=59009721

Family Applications (1)

Application Number Title Priority Date Filing Date
LU100130A LU100130B1 (en) 2016-12-08 2017-03-02 Direction of Arrival Estimation with Automotive Spread Radar Systems

Country Status (1)

Country Link
LU (1) LU100130B1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022072485A1 (en) * 2020-09-30 2022-04-07 Aurora Operations, Inc. Distributed radar antenna array aperture
US11899127B2 (en) 2020-09-30 2024-02-13 Aurora Operations, Inc. Virtual antenna array with distributed aperture

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004017268A1 (en) * 2004-04-07 2005-11-03 Siemens Ag Vehicle object position determination procedure uses signals from radar modules with different beamwidths including monopulse and triangulation
EP2667219A1 (en) * 2012-05-25 2013-11-27 Robert Bosch Gmbh Detection of radar objects with a radar sensor of a motor vehicle
US20150198704A1 (en) * 2014-01-16 2015-07-16 Robert Bosch Gmbh Antenna Array, Radar System, Vehicle And Method
US9575160B1 (en) * 2016-04-25 2017-02-21 Uhnder, Inc. Vehicular radar sensing system utilizing high rate true random number generator

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004017268A1 (en) * 2004-04-07 2005-11-03 Siemens Ag Vehicle object position determination procedure uses signals from radar modules with different beamwidths including monopulse and triangulation
EP2667219A1 (en) * 2012-05-25 2013-11-27 Robert Bosch Gmbh Detection of radar objects with a radar sensor of a motor vehicle
US20150198704A1 (en) * 2014-01-16 2015-07-16 Robert Bosch Gmbh Antenna Array, Radar System, Vehicle And Method
US9575160B1 (en) * 2016-04-25 2017-02-21 Uhnder, Inc. Vehicular radar sensing system utilizing high rate true random number generator

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
XIAOLI LIU: "Joint estimation of angle and Doppler frequency in MIMO radar", INTELLIGENT CONTROL AND INFORMATION PROCESSING (ICICIP), 2013 FOURTH INTERNATIONAL CONFERENCE ON, IEEE, 9 June 2013 (2013-06-09), pages 231 - 235, XP032441733, ISBN: 978-1-4673-6248-1, DOI: 10.1109/ICICIP.2013.6568073 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022072485A1 (en) * 2020-09-30 2022-04-07 Aurora Operations, Inc. Distributed radar antenna array aperture
US11762079B2 (en) 2020-09-30 2023-09-19 Aurora Operations, Inc. Distributed radar antenna array aperture
US11899127B2 (en) 2020-09-30 2024-02-13 Aurora Operations, Inc. Virtual antenna array with distributed aperture

Similar Documents

Publication Publication Date Title
US10884113B2 (en) Direction of arrival estimation for automotive spread radar systems
US11874395B2 (en) Radar processing chain for frequency-modulated continuous wave radar systems
CN107076832B (en) MIMO radar device for decoupled determination of the pitch angle and azimuth angle of an object and method for operating a MIMO radar device
Roos et al. Radar sensors for autonomous driving: Modulation schemes and interference mitigation
EP3589970B1 (en) Method and system for obtaining an adaptive angle-doppler ambiguity function in mimo radars
EP3471210B1 (en) Radar apparatus
Gamba Radar signal processing for autonomous driving
CN109917340B (en) MIMO radar waveform modulation and demodulation method
CN106855620B (en) Residual cancellation for automated vehicle MIMO radar
CN110100188A (en) Time and Frequency Synchronization for extension radar system
DE102019125973A1 (en) Radar device
US11789143B2 (en) Radar apparatus, system, and method of generating angle of arrival (AoA) information
LU100130B1 (en) Direction of Arrival Estimation with Automotive Spread Radar Systems
Zhou et al. A BSS-based space–time multi-channel algorithm for complex-jamming suppression
CN114114164A (en) Multi-mode radar for resolving spatial ambiguity
EP3480624B1 (en) Detection of parking row orientation
Fischer et al. Adaptive super-resolution with a synthetic aperture antenna
Nagesh et al. Sequence optimisation for compressed sensing CDMA MIMO radar via mutual coherence minimisation
Park et al. Novel multiplexing scheme for resolving the velocity ambiguity problem in MIMO FMCW radar using MPSK code
US20240168148A1 (en) Super-Resolution MIMO Sparse Array Automotive Radar Based on Forward and Backward Hankel Matrix Completion
KR20150146288A (en) Method and apparatus for processing radar signal
Hassanien et al. Resolving Target Ambiguities in Automotive Radar Using DDMA Techniques
US20230038738A1 (en) Method for determining angle information
LU100106B1 (en) Time and Frequency Synchronization for Spread Radar Systems
Heidenreich et al. Computational aspects of maximum likelihood DOA estimation of two targets with applications to automotive radar

Legal Events

Date Code Title Description
FG Patent granted

Effective date: 20180907