WO2008071476A1 - Procédé de détection de l'erreur d'orientation verticale d'un détecteur radar - Google Patents

Procédé de détection de l'erreur d'orientation verticale d'un détecteur radar Download PDF

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Publication number
WO2008071476A1
WO2008071476A1 PCT/EP2007/060939 EP2007060939W WO2008071476A1 WO 2008071476 A1 WO2008071476 A1 WO 2008071476A1 EP 2007060939 W EP2007060939 W EP 2007060939W WO 2008071476 A1 WO2008071476 A1 WO 2008071476A1
Authority
WO
WIPO (PCT)
Prior art keywords
signature
vehicle
radar sensor
radar
vertical misalignment
Prior art date
Application number
PCT/EP2007/060939
Other languages
German (de)
English (en)
Inventor
Martin Randler
Thilo Leineweber
Ruediger Jordan
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
Publication of WO2008071476A1 publication Critical patent/WO2008071476A1/fr

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
    • 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
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • 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
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
    • 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
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
    • 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
    • G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
    • 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
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • 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
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
    • 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
    • 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
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
    • G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation

Definitions

  • the invention relates to a method for detecting a vertical misalignment of
  • Radiation characteristic of a radar sensor of a control system for a motor vehicle in particular a distance, and / or vehicle speed control system.
  • the present invention also relates to a computer program and a
  • Speed and distance control of a vehicle which represents a combination of two individual procedures.
  • the two individual methods are chosen such that one method has its advantages in the areas in which the other method works disadvantageously, so that the weaknesses of one method can be compensated by the strengths of the other method.
  • Combination can be decided with great certainty whether a maladjustment is present, which can be eliminated with suitable tracking measures or such an extreme misalignment is present that the system must be switched off.
  • the method resulting from this document is only suitable for vertical misalignment detection and / or correction if the radar sensor allows the elevation angle of the reflecting objects to be measured. Radar sensors with this additional function are expensive and are rarely used in vehicles.
  • a vertical misalignment can lead to incorrect horizontal angles, as the antenna pattern used on average essentially corresponds to 0 ° vertical misalignment. If the vertical misalignment angle differs from 0 °, the antenna pattern deviates strongly from the ideal antenna pattern used and is therefore only valid to a limited extent.
  • the basic idea of the invention is the consideration of the backscattering behavior of various
  • the backscatter cross section of an object describes how much radar power is reflected by the object.
  • the received power of the radar radiation reflected at an object is determined, then distance dependencies and horizontal angle dependencies of the received power are determined by means of the known per se Radar equation compensated and it is assigned to the received power so processed signature, the signature is compared with a similar object associated and stored in a memory device signature and from the comparison, the size and the direction of the vertical misalignment is determined.
  • a bridge is selected as the stationary object, which is underrun by a vehicle carrying the radar sensor.
  • a vehicle can also be selected, which is arranged in front of the vehicle that carries the radar sensor. Both objects are relatively common in road traffic, so that a detection of a vertical misalignment of the radiation characteristic of the radar sensor and optionally a compensation can be made practically in almost any driving situation.
  • FIG. 1 schematically shows a perspective view of a vehicle equipped with a radar sensor, driving under a bridge-shaped object passing vehicle, in which the inventive method is used;
  • Fig. 2 shows schematically the remindstreuquerrough on a bridge in each case a vertically adjusted and a vertically misaligned sensor and
  • Fig. 3 shows the remindstreuquerwolf on a vehicle of a vertically adjusted and a vertical misaligned sensor.
  • a vehicle 100 is shown schematically, which passes under a bridge-like object 150.
  • the vehicle 100 has a radar sensor 120 whose longitudinal axis 105 substantially coincides with the direction of travel of the vehicle 100.
  • the radar sensor 120 has a sector-shaped sensor sight area formed by the straight lines 122, 124, which define the left and right edges of the sensor sight area, as shown in FIG.
  • the radar sensor 120 is a so-called environment sensor whose viewing area is arranged substantially in a horizontal plane.
  • This signature 220 is preferably determined from an averaging of a plurality of measurements of the backscatter cross section at such objects, that is to say bridges, for example, and stored in a memory unit, for example a control device of the vehicle 100.
  • This averaging is, so to speak, a comparative signature for such objects, with which the measured signature 210 is compared.
  • the measured signature 210 deviates significantly from the comparison signature 220, indicating a vertical misalignment of the radar sensor 120.
  • the magnitude of the vertical misalignment can also be determined from a quantitative evaluation of the deviation.
  • FIG. 3 schematically shows the signature of the radar radiation on a stationary vehicle over the distance of the sensor 120 from the vehicle.
  • the signature of a vehicle has a different characteristic.
  • Comparative signature also here means that a plurality of signatures, which were determined in the manner described, are averaged and thus a comparison signature.
  • the control unit of the vehicle 100 is now first a check instead of which object it is, which is possible for example by pattern recognition.
  • the pattern of the signature is recognized. If the object is fixed, for example a bridge or a vehicle, the measured signature is compared with a comparison signature stored in the memory and, if there is a deviation, a vertical misalignment of the sensor 120 is closed and / or the size of the vertical misalignment is determined and, if appropriate, the
  • Sensor 120 readjusted, in which case only a mechanical readjustment is possible. As a rule, the system is switched off if the vertical misalignment is too great.
  • the method described above can be implemented, for example, as a computer program on a computing device, in particular a control unit of an internal combustion engine, and run there.
  • the program code may be stored on a machine-readable medium that the controller may read.

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

L'invention concerne un procédé de détection d'une erreur d'orientation verticale d'une caractéristique d'émission d'un détecteur radar dans un système de contrôle de véhicules automobiles, en particulier dans système de détection de la vitesse de roulage et/ou de détection adaptative de la vitesse de roulage. Le procédé est caractérisé par les étapes qui consistent à déterminer la puissance de réception de rayonnement radar réfléchi par un objet ; compenser la dépendance vis-à-vis de la distance et la dépendance vis-à-vis de l'angle horizontal conformément à l'équation du radar ; associer une signature à la puissance de réception ainsi traitée ; comparer la signature à une signature associée à un objet similaire et conservé dans un dispositif de mémoire ; et déterminer à partir de la comparaison la valeur et la direction de l'erreur d'orientation verticale du détecteur radar.
PCT/EP2007/060939 2006-12-11 2007-10-15 Procédé de détection de l'erreur d'orientation verticale d'un détecteur radar WO2008071476A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006058303.5 2006-12-11
DE102006058303A DE102006058303A1 (de) 2006-12-11 2006-12-11 Verfahren zur Erkennung einer vertikalen Fehlausrichtung eines Radarsensors

Publications (1)

Publication Number Publication Date
WO2008071476A1 true WO2008071476A1 (fr) 2008-06-19

Family

ID=38924840

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2007/060939 WO2008071476A1 (fr) 2006-12-11 2007-10-15 Procédé de détection de l'erreur d'orientation verticale d'un détecteur radar

Country Status (2)

Country Link
DE (1) DE102006058303A1 (fr)
WO (1) WO2008071476A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107735692A (zh) * 2015-06-01 2018-02-23 罗伯特·博世有限公司 用于对车辆进行定位的方法和设备

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012003877A1 (de) 2011-10-15 2013-04-18 S.M.S Smart Microwave Sensors Gmbh Radarsystem für ein Straßenfahrzeug mit verbesserten Kalibriermöglichkeiten
US20160223649A1 (en) * 2015-01-30 2016-08-04 Robert Bosch Gmbh Systems and methods for radar vertical misalignment detection

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19650863C1 (de) * 1996-12-07 1998-04-16 Bosch Gmbh Robert Verfahren und Vorrichtung zur Erkennung einer vertikalen Dejustierung eines Abstandssensors
WO2001011385A1 (fr) * 1999-08-10 2001-02-15 Robert Bosch Gmbh Procede et dispositif permettant de determiner une erreur d'angle d'elevation d'un capteur radar a plusieurs faisceaux
DE10019182A1 (de) * 2000-04-17 2001-10-25 Bosch Gmbh Robert Verfahren und Vorrichtung zum Ermitteln einer Fehlausrichtung der Strahlungscharakteristik eines Sensors zur Geschwindigkeits- und Abstandsregelung eines Fahrzeugs
US20020189875A1 (en) * 2000-12-27 2002-12-19 Hisateru Asanuma Pavement detector and vertical axial shift detector of on board radar

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19650863C1 (de) * 1996-12-07 1998-04-16 Bosch Gmbh Robert Verfahren und Vorrichtung zur Erkennung einer vertikalen Dejustierung eines Abstandssensors
WO2001011385A1 (fr) * 1999-08-10 2001-02-15 Robert Bosch Gmbh Procede et dispositif permettant de determiner une erreur d'angle d'elevation d'un capteur radar a plusieurs faisceaux
DE10019182A1 (de) * 2000-04-17 2001-10-25 Bosch Gmbh Robert Verfahren und Vorrichtung zum Ermitteln einer Fehlausrichtung der Strahlungscharakteristik eines Sensors zur Geschwindigkeits- und Abstandsregelung eines Fahrzeugs
US20020189875A1 (en) * 2000-12-27 2002-12-19 Hisateru Asanuma Pavement detector and vertical axial shift detector of on board radar

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107735692A (zh) * 2015-06-01 2018-02-23 罗伯特·博世有限公司 用于对车辆进行定位的方法和设备
CN107735692B (zh) * 2015-06-01 2022-01-14 罗伯特·博世有限公司 用于对车辆进行定位的方法和设备

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Publication number Publication date
DE102006058303A1 (de) 2008-06-12

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