WO2002044750A1 - Impuls-radarverfahren sowie impuls-radarsensor und system - Google Patents

Impuls-radarverfahren sowie impuls-radarsensor und system Download PDF

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Publication number
WO2002044750A1
WO2002044750A1 PCT/DE2001/003932 DE0103932W WO0244750A1 WO 2002044750 A1 WO2002044750 A1 WO 2002044750A1 DE 0103932 W DE0103932 W DE 0103932W WO 0244750 A1 WO0244750 A1 WO 0244750A1
Authority
WO
WIPO (PCT)
Prior art keywords
radar
time
time slot
time slots
radar sensor
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/DE2001/003932
Other languages
German (de)
English (en)
French (fr)
Inventor
Karl-Heinz Richter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to US10/433,350 priority Critical patent/US6888491B2/en
Priority to EP01998845A priority patent/EP1342101A1/de
Priority to JP2002546241A priority patent/JP4102666B2/ja
Publication of WO2002044750A1 publication Critical patent/WO2002044750A1/de
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • 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
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • 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
    • G01S13/22—Systems for measuring distance only using transmission of interrupted, pulse modulated waves using irregular pulse repetition frequency
    • 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
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0231—Avoidance by polarisation multiplex
    • 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
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0235—Avoidance by time multiplex
    • 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
    • G01S7/40—Means for monitoring or calibrating
    • 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
    • G01S13/0209—Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
    • 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
    • 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
    • G01S13/88—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

Definitions

  • Pulse radar method as well as pulse radar sensor and system
  • the invention is based on a pulse radar method, in particular for motor vehicles, in which interference signals are observed.
  • the cause of this interference is the high bandwidth of the radar pulses from the SRR. Broadband is necessary in principle in order to ensure a spatial resolution of the radar sensors.
  • a radar sensor transmits at least one radar pulse and receives the echo signal (s). This measurement function is used for the actual obstacle detection. The second measuring function is used for location detection d. H. the radar sensor observes the electromagnetic environment during the remaining time slots of the time frame. On the basis of the interference signals occurring per time slot, it is observed whether a respective time slot is free of interference or not. A decision is then made as to whether the radar sensor should continue to transmit and receive in this time slot or switch to one of the other time slots in the time frame.
  • the average interference emission is reduced. This reduces the electromagnetic pollution.
  • a radar sensor and possibly further radar sensors discard his / her measurements if interference occurs in the time slot (s) used for the transmission and reception mode. This leads to reliable measurements.
  • radar sensors randomly search for little disturbed or undisturbed time slots and maintain such time slots until interference occurs there.
  • Radar sensors belonging to a common system or vehicle, particularly if they are arranged adjacent, are advantageously precontrolled according to claim 8 in such a way that they occupy different time slots within the time frame. A complex search for undisturbed time slots is then unnecessary.
  • Claim 11 shows an advantageous embodiment of a
  • Pulse radar sensor in particular for carrying out the method according to the invention, with which a simple change of a time slot for the transmission and reception of the radar pulses is possible. All that is required is a reversal depending on an evaluated signal.
  • Claim 12 shows how an evaluation of radar pulses with respect to interference can be carried out in a simple manner.
  • Claims 14 to 16 show measures which effectively reduce mutual interference from radar sensors.
  • the simultaneous use of different time slots for different radar sensors and the use of different polarizations results in a high level of immunity to interference within a system.
  • FIG. 1 shows a basic structure of a radar sensor for performing the method according to the invention
  • FIG. 2 shows the staggered use of time slots by different radar sensors
  • Figure 3 shows the mutual interference of radar sensors of two vehicles.
  • a microwave carrier oscillator 2 generates a carrier frequency in the radar sensor 1.
  • trigger pulse-controlled fast switches 3 and 4 in particular diode switches, the continuous signal of the carrier oscillator 2
  • the vibration packet formed via the switch 3 is emitted via an antenna 5. After reflection on a possible obstacle, parts of this signal are collected by the receiving antenna 6 and fed to a mixer 7.
  • This mixer 7 mixes the vibration packet formed via the switch 4 with the received signal.
  • the mixer 7 provides an output signal 8 when the received and the scanning signal coincide (via switch 4). With the help of a controllable pulse delay 9, the sampling pulse is compared to the
  • the pulse delay 9 is controlled by a control voltage 14. The size of the
  • Delay is determined by the known relationship between the two sizes.
  • the output signal 8 of the mixer 7 is passed to a control unit 13 via a bandpass amplifier 12.
  • the control unit 13 evaluates this echo signal.
  • the delay time at which the mixer 7 delivers an output signal is then equal to the transit time of the waves between the radar sensor 1 and the obstacle. From the known propagation speed of the electromagnetic waves and the measured time, the distance of the obstacle is determined.
  • the control unit 13 which can be a microprocessor, supplies trigger pulses 18 which, after appropriate preparation, are passed to the switches 3 and 4 as their trigger signals 10 and 11.
  • the trigger pulses 18 are passed on the one hand via a pulse port 15 and a pulse shaper 16 to the switch 3 and on the other hand via the pulse delay 9 and pulse shaper 17 to the switch 4.
  • a time frame 20 is specified in accordance with FIG. 2, which is shown in FIG.
  • Time slots 21, 22, 23, 24 is divided. After the first time frame 20 has elapsed, another time frame begins again with the time slot 21.
  • the time frame 20 specifies the cycle time of the measurements.
  • Evaluating echoes corresponds to one of these time slots, e.g. B. Time slot 21.
  • the monitoring phase ie the time of the remaining time slots 22, 23, 24 within the time frame 20, is used to observe interference which is caused in particular by other radar sensors and allows one or more other radar sensors to carry out their measurements without being disturbed.
  • a measurement phase (time slot) and three monitoring phases (remaining time slots) for each radar sensor were assumed as an example. This means that four different radar sensors 401, 402 as well as 411 and 412 can be operated without interference. As shown in FIG. 2, their measurement phases are accommodated in different time slots 21, ..., 24. Any integer ratios of monitoring and measuring phases are of course possible.
  • Absolute speed of a vehicle can be and the higher the relative speed change, the shorter a time frame 20 must be).
  • the specification of the time frame 20 and the time slots 21,..., 24 is determined by the control unit 13 through the repetition frequency of the trigger pulses 18 or through the pulse gate 15.
  • the pulse gate 15 realized for example by an AND circuit which receives 18 gate signals 19 from the control unit in addition to the trigger pulses, the trigger pulses can be forwarded or suppressed and thus the measurement phase can be switched on or off - suppression or transmission of the radar pulses.
  • the impulse gate 15 can also be an integral part of the control unit 13, or by internal ones
  • Signal linkage can be implemented within the microprocessor.
  • Each radar sensor is designed so that interference can be detected.
  • the scanning function of the radar sensor is constantly in operation (triggering of switch 4 in every time slot).
  • control unit 13 can be supplied with an interface signal 30 in order to ensure that the radar sensors of this system all have their measurement phase in different time slots and do not interfere with one another.
  • the interference from other radar sensors is expressed by impulses, the temporal distribution of which is random.
  • the mixed output signal 8 is monitored for amplitudes that exceed a certain threshold. If this happens with a certain frequency, it is assumed that another radar sensor is transmitting in this phase. The observing radar sensor will avoid this area as a measurement phase.
  • echo and shock pulses occur simultaneously. If the number of pulses is approximately constant, it can be assumed that there are no interference signals. If the number of impulses fluctuates and is high, then there is a high likelihood of fault impulses. The measurement must then be discarded and restarted after an agreed time.
  • the interference signal is observed in a measurement cycle and the interference areas are determined, then it can be predicted which time slots may not be used by the radar sensors involved.
  • the observing radar sensor can synchronize to a free time slot in the next measuring cycle, e.g. B. time slot 21 and keep this in the further measurements.
  • a threshold value decider is necessary to detect whether there are faults in the other time slots of the time frame. If several radar sensors are disturbed, the measurement in both radar sensors is rejected.
  • the radar sensors again detect free time slots. To avoid the next free Time slot is used again by several radar sensors, the sensors begin to transmit in a free time slot at random.
  • the measurement and monitoring function of the radar sensors can be controlled in a central control device or in the radar sensor itself.
  • a processor (control device 13) in the radar sensor is necessary for this.
  • neighboring sensors can be triggered (pre-controlled) by a common control device so that they use different time slots.
  • This common control device can
  • antennas of different polarization with different radar sensors that are susceptible to interference, in particular antennas with 45 ° polarization for mutual purposes Decoupling.
  • This method assumes that there is no effective polarization rotation due to the installation of the sensors behind the bumpers or other panels. The rotation of the polarization would reduce the suppression again.
  • the simultaneous use of the time slot method and the 45 ° polarization results in a very high level of interference resistance for the system.
  • FIG. 3 shows schematically the interference with two vehicles 40 and 41, each with two sensors 401 and 402 or 411 and 412.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
PCT/DE2001/003932 2000-12-01 2001-10-13 Impuls-radarverfahren sowie impuls-radarsensor und system Ceased WO2002044750A1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US10/433,350 US6888491B2 (en) 2000-12-01 2001-10-13 Pulse-radar method and pulse-radar sensor and system
EP01998845A EP1342101A1 (de) 2000-12-01 2001-10-13 Impuls-radarverfahren sowie impuls-radarsensor und system
JP2002546241A JP4102666B2 (ja) 2000-12-01 2001-10-13 パルスレーダ法ならびにパルスレーダセンサおよびシステム

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10059673A DE10059673A1 (de) 2000-12-01 2000-12-01 Impuls-Radarverfahren sowie Impuls-Radarsensor und System
DE10059673.8 2000-12-01

Publications (1)

Publication Number Publication Date
WO2002044750A1 true WO2002044750A1 (de) 2002-06-06

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US (1) US6888491B2 (https=)
EP (1) EP1342101A1 (https=)
JP (1) JP4102666B2 (https=)
DE (1) DE10059673A1 (https=)
WO (1) WO2002044750A1 (https=)

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DE10059673A1 (de) 2002-06-06
JP2004529317A (ja) 2004-09-24

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