WO2011054573A1 - Planar antenna apparatus for a radar sensor device - Google Patents

Planar antenna apparatus for a radar sensor device Download PDF

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Publication number
WO2011054573A1
WO2011054573A1 PCT/EP2010/063423 EP2010063423W WO2011054573A1 WO 2011054573 A1 WO2011054573 A1 WO 2011054573A1 EP 2010063423 W EP2010063423 W EP 2010063423W WO 2011054573 A1 WO2011054573 A1 WO 2011054573A1
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WO
WIPO (PCT)
Prior art keywords
antenna
columns
radar sensor
sub
sensor device
Prior art date
Application number
PCT/EP2010/063423
Other languages
German (de)
French (fr)
Inventor
Volker Gross
Goetz Kuehnle
Andre Treptow
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 WO2011054573A1 publication Critical patent/WO2011054573A1/en

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • H01Q21/061—Two dimensional planar arrays
    • H01Q21/065—Patch antenna array
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • H01Q21/08—Arrays of individually energised antenna units similarly polarised and spaced apart the units being spaced along or adjacent to a rectilinear path
    • 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
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/44—Monopulse radar, i.e. simultaneous lobing
    • G01S13/4454—Monopulse radar, i.e. simultaneous lobing phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement
    • 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
    • G01S2013/9321—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
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles

Definitions

  • the invention relates to a planar antenna device for a Radarsensorvor- direction with a plurality of vertically aligned and arranged in a plane parallel to each other antenna columns, each having at least two line-powered antenna elements, in particular patch elements, wherein the phase centers of the antenna columns on a vertical line to the antenna columns are arranged.
  • the invention relates to a radar sensor device and a device, in particular a driver assistance system of a motor vehicle.
  • radar sensors are increasingly being used to detect the traffic environment in the context of driver assistance systems, for example for radar-assisted distance control (Adaptive Cruise Control Systems / ACC).
  • Adaptive Cruise Control Systems / ACC Such a cruise control system is known for example from Robert Bosch GmbH, "Adaptive cruise control ACC", yellow series, edition 2002, technical briefing.
  • An important measure of the radar sensors with the application area in the automotive sector is in addition to the distance and the speed of the angle of objects.
  • both the horizontal and the vertical angle of importance The horizontal angle is used to estimate the lateral offset and thus track assignment.
  • the vertical angle is important to distinguish between objects that are traversable, traversable or approachable. Objects can thus be classified as relevant or irrelevant obstacles.
  • planar antenna devices or patch antennas are particularly suitable for use in the aforementioned radar sensors.
  • antennas In such antennas is a planar array of radiating resonators (antenna elements or patch elements / patches), which are each assigned a defined amplitude and phase.
  • the superimposition of the radiation patterns of the individual patch elements gives the resulting radiation pattern of the antenna, with the lines, the characteristic of the azimuth and the columns responsible for the characteristic of the elevation.
  • the antenna elements are usually arranged in vertically oriented antenna columns.
  • Synchronous measurement of the horizontal and vertical object angles is often achieved in planar antenna devices by two-dimensional antenna arrays with great hardware and computational effort.
  • DE 102 56 524 A1 discloses a device for measuring angular positions using radar pulses and overlapping beam characteristics of at least two antenna elements.
  • a planar antenna device for a radar sensor device with a plurality of vertically aligned antenna columns which are arranged parallel to one another and each have at least two line-fed antenna elements, in particular patch elements, the phase centers of the antenna columns being connected to the antenna array. are arranged at least a first of the antenna columns in two unconnected sub-columns, each having the same number of antenna elements and a separate signal tap, wherein the separate signal taps of the sub-columns respectively arranged at opposite ends of the at least one first antenna column are.
  • the vertical angle estimation is done, so to speak, via a local offset. This is achieved by splitting one of the antenna columns into two sub-structures or sub-columns. Since these are not connected by a line miteiander, the elevation angle can be determined via a phase comparison of the received signals of these two sub-columns. Each of the subcolumns is tapped individually. As a result, the phase offset occurring at the sub-columns can be evaluated, which depends only on the elevation angle of objects.
  • the at least one first antenna column can advantageously be used both for elevation estimation and also for estimating the azimuthal angle.
  • the two signal tapping points of the subcolumns need to be added, for example in a control unit of the radar sensor device.
  • Sonach is in the planar antenna device according to the invention only one additional channel, d. H. the further signal tap on the sub-columns needed to perform in addition to the known azimuthal angle estimation and an estimate of the elevation angle.
  • the phase centers of the antenna columns are arranged on a straight line perpendicular to the antenna columns.
  • the phase center of the antenna columns is understood to mean their electronic reference point.
  • the antenna columns may each have the same number of line-fed antenna elements, each having a constant distance from one another in the vertical direction. It is advantageous if the signal sum of the signal taps of the sub-columns of the at least one first antenna column has an elevation angle of zero degrees and the vertical distance of the sub-columns of a first antenna column is equal to the wavelength of the carrier frequency in air. Thus, the first antenna column can also be used for azimuth estimation. By adding the signal taps, exactly the same elevation behavior is achieved as with the other antenna columns.
  • an elevation angle or an estimated value of the elevation angle of at least one object detected by the radar sensor device can be determined.
  • a radar sensor device is specified.
  • a radar sensor for example, a long-range radar sensor (LRR), a mid-range radar sensor (MRR) or a short-range radar sensor (SRR) come into consideration.
  • LRR long-range radar sensor
  • MRR mid-range radar sensor
  • SRR short-range radar sensor
  • a device, in particular a driver assistance system of a motor vehicle is specified in claim 7.
  • Figure 1 is a schematic representation of the essential components of a
  • Figure 2 is a schematic representation of a planar according to the invention
  • a motor vehicle 10 shown in FIG. 1 with an adaptive cruise control device 11 as a driver assistance system has as an object detection sensor a radar sensor device 12 mounted on the front end of the motor vehicle 10, in whose housing a control device 14 of the adaptive cruise control device 11 is accommodated.
  • the radar sensor device 12 is used to detect objects in an environment of the motor vehicle 10.
  • the radar sensor device 12 is connected to the control device 14.
  • the control device 14 is connected via a data bus 16 (CAN, MOST, or the like) to an electronic drive control unit 18, a brake system control unit 20 and to an HMI control unit 22 of a human / machine interface.
  • the control unit 14 and the HMI control unit 22 may also be integrated in a control device of the adaptive cruise control device 12, in particular in a common housing.
  • the radar sensor device 12 uses a multi-beam radar to measure the distances, relative speeds and azimuth angles of objects located in front of the motor vehicle 10, which reflect radar waves.
  • the raw data received at regular time intervals, for example every 10 ms, are evaluated in the control device 14 in order to identify and track individual objects and, in particular, to recognize a vehicle driving directly ahead on its own lane and to select it as the target object.
  • the radar sensor device 12 has a planar antenna device 15 according to the invention (see FIG. 2) with which a vertical angle of detected objects can also be determined or estimated.
  • FIG. 2 shows in more detail the planar antenna device 15 according to the invention for the radar sensor device 12.
  • the planar antenna device 15 has a vertically oriented first antenna column 15a and two further vertically oriented antenna columns 15b, which each have six line-fed antenna elements 16a, 16b or patch elements and which are arranged in a plane parallel to one another.
  • the phase centers of the antenna columns 15a, 15b are arranged on a straight line g perpendicular to the antenna columns 15a, 15b.
  • the antenna gaps 15a, 15b each have the same number of line-fed antenna elements 16a, 16b, each of which has a constant distance Ae to each other in the vertical direction.
  • the first antenna column 15a is subdivided into two sub-columns 15a ', 15a ", which are not connected to each other via a line and which respectively have three or the same number of antenna elements 16a and a separate signal tap 17a', 17a", wherein the separate signal taps 17a ', 17a "of the sub-columns 15a', 15a” as shown in Figure 2 are arranged respectively at opposite ends of the first antenna gaps 15a.
  • the antenna columns 15b each have a signal tap 17b.
  • the feeding of the antenna columns 15a, 15b at the signal taps 17a ', 17a ", 17b takes place via a component, not shown, which is designed as an MMIC (JV
  • MMIC JV
  • the signal sum of the signal taps 17a ', 17a "of the sub-columns 15a', 15a" of the first antenna column 15a has an elevation angle of zero degrees.
  • the vertical distance Aeconomt of the sub-columns 15a ', 15a "of the first antenna column 15a to each other corresponds to the wavelength of the carrier frequency in air. Due to the phase difference of the two sub-columns 15a', 15a" of the first antenna column 15a, an elevation angle or an estimate of the elevation angle is at least one of the radar sensor device 12 detected object determinable.
  • the distance of the centers of the sub-columns 15a ', 15a "from one another or their local offset is designated by ⁇ in Figure 2.
  • the distance ⁇ also corresponds to the effort which would be necessary for a shift or a shift in order to produce the two sub-columns 15a'. , 15a "on top of each other.

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  • Radar Systems Or Details Thereof (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)

Abstract

The invention relates to a planar antenna apparatus (15) for a radar sensor device having a plurality of vertically aligned antenna gaps (15a, 15b) arranged parallel to one another in a plane, which each have at least two line-fed antenna elements (16a, 16b), in particular patch elements, wherein the phase centers of the antenna gaps are arranged on a line that is perpendicular to the antenna gaps (g). According to the invention, the at least one first of the antenna gaps (15a) is divided into two sub-gaps (15', 15a") which are not connected to one another, each having the same number of antenna elements (16a) and each having a separate signal pickup (17a', 17a"), wherein the separate signal pickups (17a', 17a") of the sub-gaps (15a', 15a") are each arranged on opposite ends of the at least one first antenna gap (15a).

Description

Beschreibung  description
Planare Antenneneinrichtung für eine Radarsensorvorrichtung Planar antenna device for a radar sensor device
Die Erfindung betrifft eine planare Antenneneinrichtung für eine Radarsensorvor- richtung mit mehreren vertikal ausgerichteten und in einer Ebene parallel zueinander angeordneten Antennenspalten, welche jeweils wenigstens zwei liniengespeiste Antennenelemente, insbesondere Patch-Elemente, aufweisen, wobei die Phasenzentren der Antennenspalten auf einer zu den Antennenspalten senkrechten Geraden angeordnet sind. Darüber hinaus betrifft die Erfindung eine Ra- darsensorvorrichtung und eine Vorrichtung, insbesondere ein Fahrerassistenzsystem eines Kraftfahrzeugs. The invention relates to a planar antenna device for a Radarsensorvor- direction with a plurality of vertically aligned and arranged in a plane parallel to each other antenna columns, each having at least two line-powered antenna elements, in particular patch elements, wherein the phase centers of the antenna columns on a vertical line to the antenna columns are arranged. Moreover, the invention relates to a radar sensor device and a device, in particular a driver assistance system of a motor vehicle.
Stand der Technik In Kraftfahrzeugen werden zunehmend Radarsensoren zur Erfassung des Verkehrsumfelds im Rahmen von Fahrerassistenzsystemen eingesetzt, beispielsweise zur radargestützten Abstandsregelung (Adaptive Cruise Control-Systeme / ACC). Ein derartiges Fahrgeschwindigkeitsregelungssystem ist beispielsweise aus Robert Bosch GmbH, "Adaptive Fahrgeschwindigkeitsregelung ACC", Gelbe Reihe, Ausgabe 2002, Technische Unterrichtung, bekannt. Eine wichtige Messgröße der Radarsensoren mit dem Einsatzgebiet im Kraftfahrzeugbereich ist neben der Entfernung und der Geschwindigkeit auch der Winkel von Objekten. Hierbei ist sowohl der horizontale als auch der vertikale Winkel von Bedeutung. Der horizontale Winkel wird zur Schätzung des Querversatzes und damit zur Spurzuordnung verwendet. Der vertikale Winkel ist wichtig, um eine Unterscheidung zwischen Objekten, die überfahrbar, unterfahrbar oder gegenfahrbar sind, durchzuführen. Objekte können somit als relevante oder nicht relevante Hindernisse eingestuft werden. Dies ist insbesondere auch bei Sicherheitsanwendungen von hoher Bedeutung, um Fehlauslösungen aufgrund metallischer Gegens- tände (z. B. Dosen, Kanaldeckel usw.) zu vermeiden. Derartige Radarsensoren weisen in der Regel aus Kostengründen keine Möglichkeit zur direkten Messung von Objekthöhen bzw. Elevationswinkeln auf. Bekannte Radarsensoren mit Elevationsschätzung realisieren dies beispielsweise durch eine mechanische Schwenkung oder indirekt über eine zeitliche Auswertung des Rückstreuverhaltens von Objekten. PRIOR ART In motor vehicles, radar sensors are increasingly being used to detect the traffic environment in the context of driver assistance systems, for example for radar-assisted distance control (Adaptive Cruise Control Systems / ACC). Such a cruise control system is known for example from Robert Bosch GmbH, "Adaptive cruise control ACC", yellow series, edition 2002, technical briefing. An important measure of the radar sensors with the application area in the automotive sector is in addition to the distance and the speed of the angle of objects. Here, both the horizontal and the vertical angle of importance. The horizontal angle is used to estimate the lateral offset and thus track assignment. The vertical angle is important to distinguish between objects that are traversable, traversable or approachable. Objects can thus be classified as relevant or irrelevant obstacles. This is particularly important in safety applications, in order to avoid false triggering due to metallic objects (eg cans, manhole covers, etc.). As a rule, such radar sensors have no possibility for the direct measurement of object heights or elevation angles for cost reasons. Known radar sensors with elevation estimation realize this, for example, by a mechanical pivoting or indirectly via a temporal evaluation of the backscattering behavior of objects.
Wegen ihrer flachen Bauform und leichten Herstellbarkeit, beispielsweise im Ätzverfahren, eignen sich sogenannte planare Antenneneinrichtungen oder Patch- Antennen für den Einsatz in den vorstehend genannten Radarsensoren besonders. Bei derartigen Antennen handelt es sich um eine flächige Anordnung von strahlenden Resonatoren (Antennenelemente bzw. Patch-Elemente / Patches), die jeweils mit definierter Amplitude und Phase belegt sind. Die Überlagerung der Strahlungsdiagramme der einzelnen Patch-Elemente ergibt das resultierende Strahlungsdiagramm der Antenne, wobei die Zeilen, die Charakteristik des Azimuts und die Spalten für die Charakteristik der Elevation verantwortlich sind. Die Antennenelemente werden üblicherweise in vertikal ausgerichteten Antennenspalten angeordnet. Because of their flat design and ease of manufacture, for example in the etching process, so-called planar antenna devices or patch antennas are particularly suitable for use in the aforementioned radar sensors. In such antennas is a planar array of radiating resonators (antenna elements or patch elements / patches), which are each assigned a defined amplitude and phase. The superimposition of the radiation patterns of the individual patch elements gives the resulting radiation pattern of the antenna, with the lines, the characteristic of the azimuth and the columns responsible for the characteristic of the elevation. The antenna elements are usually arranged in vertically oriented antenna columns.
Eine synchrone Messung der horizontalen und vertikalen Objektwinkel wird bei planaren Antenneneinrichtungen oft durch zweidimensionale Antennenarrays mit großem Hardware- und Rechenaufwand erreicht. Synchronous measurement of the horizontal and vertical object angles is often achieved in planar antenna devices by two-dimensional antenna arrays with great hardware and computational effort.
In der DE 10 2004 039 743 A1 ist eine Antennenstruktur mit Patch-Elementen angegeben. DE 10 2004 039 743 A1 specifies an antenna structure with patch elements.
Aus der DE 102 56 524 A1 ist eine Einrichtung zur Messung von Winkelpositionen unter Verwendung von Radarpulsen und sich überlappenden Strahlcharakteristiken mindestens zweier Antennenelemente bekannt. DE 102 56 524 A1 discloses a device for measuring angular positions using radar pulses and overlapping beam characteristics of at least two antenna elements.
Offenbarung der Erfindung Disclosure of the invention
Erfindungsgemäß wird eine planare Antenneneinrichtung für eine Radarsensorvorrichtung vorgeschlagen mit mehreren vertikal ausgerichteten und in einer Ebene parallel zueinander angeordneten Antennenspalten, welche jeweils wenigstens zwei liniengespeiste Antennenelemente, insbesondere Patch-Elemente, aufweisen, wobei die Phasenzentren der Antennenspalten auf einer zu den An- tennenspalten senkrechten Geraden angeordnet sind, wobei wenigstens eine erste der Antennenspalten in zwei nicht miteinander verbundene Subspalten aufgeteilt ist, welche jeweils dieselbe Anzahl an Antennenelementen und jeweils einen separaten Signalabgriff aufweisen, wobei die separaten Signalabgriffe der Subspalten jeweils an abgewandten Enden der wenigstens einen ersten Antennenspalte angeordnet sind. According to the invention, a planar antenna device for a radar sensor device is proposed with a plurality of vertically aligned antenna columns which are arranged parallel to one another and each have at least two line-fed antenna elements, in particular patch elements, the phase centers of the antenna columns being connected to the antenna array. are arranged at least a first of the antenna columns in two unconnected sub-columns, each having the same number of antenna elements and a separate signal tap, wherein the separate signal taps of the sub-columns respectively arranged at opposite ends of the at least one first antenna column are.
Durch diese Maßnahmen wird eine einfache Möglichkeit zur direkten Messung von Vertikalwinkeln eines Objekts mit herkömmlichen, geringfügig modifizierten planaren Antennen bereitgestellt. Die vertikale Winkelschätzung erfolgt sozusagen über einen örtlichen Versatz. Dies wird durch die Aufspaltung einer der Antennenspalten in zwei Substrukturen bzw. Subspalten erreicht. Da diese nicht durch eine Leitung miteiander verbunden sind, kann der Elevationswinkel über einen Phasenvergleich der Empfangssignale dieser beiden Subspalten bestimmt werden. Jede der Subspalten wird einzeln abgegriffen. Dadurch kann der an den Subspalten auftretende Phasenversatz ausgewertet werden, welcher lediglich von dem Elevationswinkel von Objekten abhängig ist. Die wenigstens eine erste Antennenspalte kann in vorteilhafter Weise sowohl zur Elevationsschätzung als auch weiterhin zur Schätzung des azimutalen Winkels genutzt werden. Zur Schätzung des Azimutwinkels müssen lediglich die beiden Signalabgriffspunkte der Subspalten beispielsweise in einem Steuergerät der Radarsensorvorrichtung addiert werden. Sonach ist bei der erfindungsgemäßen planaren Antenneneinrichtung nur ein zusätzlicher Kanal, d. h. der weitere Signalabgriff an den Subspalten vonnöten, um neben der bekannten azimutalen Winkelschätzung auch eine Schätzung des Elevationswinkels durchzuführen. Die Phasenzentren der Antennenspalten sind auf einer zu den Antennenspalten senkrechten Geraden angeordnet. Unter Phasenzentrum der Antennenspalten wird deren elektronischer Referenzpunkt verstanden. Somit ist sinnvollhafter Weise eine aufwandsneutrale Bestimmung des Justagewinkels in Elevationsrichtung sowie eine Klassifikation von Objekten hinsichtlich Über- bzw. Unterfahrbarkeit möglich. These measures provide an easy way to directly measure vertical angles of an object with conventional, slightly modified planar antennas. The vertical angle estimation is done, so to speak, via a local offset. This is achieved by splitting one of the antenna columns into two sub-structures or sub-columns. Since these are not connected by a line miteiander, the elevation angle can be determined via a phase comparison of the received signals of these two sub-columns. Each of the subcolumns is tapped individually. As a result, the phase offset occurring at the sub-columns can be evaluated, which depends only on the elevation angle of objects. The at least one first antenna column can advantageously be used both for elevation estimation and also for estimating the azimuthal angle. To estimate the azimuth angle, only the two signal tapping points of the subcolumns need to be added, for example in a control unit of the radar sensor device. Sonach is in the planar antenna device according to the invention only one additional channel, d. H. the further signal tap on the sub-columns needed to perform in addition to the known azimuthal angle estimation and an estimate of the elevation angle. The phase centers of the antenna columns are arranged on a straight line perpendicular to the antenna columns. The phase center of the antenna columns is understood to mean their electronic reference point. Thus, an effort-neutral determination of the adjustment angle in the elevation direction as well as a classification of objects with regard to over- or under-rideability is meaningfully possible.
Die Antennenspalten können jeweils dieselbe Anzahl von liniengespeisten Antennenelementen aufweisen, welche jeweils in vertikaler Richtung einen konstanten Abstand zueinander aufweisen. Vorteilhaft ist es, wenn die Signalsumme der Signalabgriffe der Subspalten der wenigstens einen ersten Antennenspalte einen Elevationswinkel von null Grad aufweist und der vertikale Abstand der Subspalten einer ersten Antennenspalte zueinander gleich der Wellenlänge der Trägerfrequenz in Luft ist. Somit kann die erste Antennenspalte auch zur azimutalen Schätzung verwendet werden. Durch die Addition der Signalabgriffe wird exakt dasselbe Elevationsverhalten wie bei den übrigen Antennenspalten erzielt. The antenna columns may each have the same number of line-fed antenna elements, each having a constant distance from one another in the vertical direction. It is advantageous if the signal sum of the signal taps of the sub-columns of the at least one first antenna column has an elevation angle of zero degrees and the vertical distance of the sub-columns of a first antenna column is equal to the wavelength of the carrier frequency in air. Thus, the first antenna column can also be used for azimuth estimation. By adding the signal taps, exactly the same elevation behavior is achieved as with the other antenna columns.
Durch den Phasenunterschied zwischen den beiden Subspalten der wenigstens einen ersten Antennenspalte ist ein Elevationswinkel oder ein Schätzwert des Elevationswinkels wenigstens eines von der Radarsensorvorrichtung erfassten Objekts bestimmbar. Due to the phase difference between the two sub-columns of the at least one first antenna column, an elevation angle or an estimated value of the elevation angle of at least one object detected by the radar sensor device can be determined.
In Anspruch 6 ist eine Radarsensorvorrichtung angegeben. Als Radarsensor kommen beispielsweise ein Long-Range-Radarsensor (LRR), ein Mid-Range- Radarsensor (MRR) oder ein Short-Range-Radarsensor (SRR) in Betracht. In claim 6, a radar sensor device is specified. As a radar sensor, for example, a long-range radar sensor (LRR), a mid-range radar sensor (MRR) or a short-range radar sensor (SRR) come into consideration.
Eine Vorrichtung, insbesondere ein Fahrerassistenzsystem eines Kraftfahrzeugs ist in Anspruch 7 angegeben. A device, in particular a driver assistance system of a motor vehicle is specified in claim 7.
Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den Unteransprüchen. Nachfolgend ist anhand der Zeichnung ein Ausführungsbeispiel der Erfindung prinzipmäßig beschrieben. Advantageous embodiments and modifications of the invention will become apparent from the dependent claims. An exemplary embodiment of the invention is described in principle below with reference to the drawing.
Es zeigen: Show it:
Figur 1 eine schematische Darstellung der wesentlichen Komponenten eines Figure 1 is a schematic representation of the essential components of a
Fahrerassistenzsystems bzw. einer adaptiven Geschwindigkeitsregelvorrichtung in einem Kraftfahrzeug; und  Driver assistance system or an adaptive cruise control device in a motor vehicle; and
Figur 2 eine schematische Darstellung einer erfindungsgemäßen planaren Figure 2 is a schematic representation of a planar according to the invention
Antenneneinrichtung.  Antenna device.
Beschreibung von Ausführungsbeispielen Ein in Figur 1 gezeigtes Kraftfahrzeug 10 mit einer adaptiven Geschwindigkeitsregelvorrichtung 1 1 als Fahrerassistenzsystem weist als Objektdetektionssensor eine an der Frontpartie des Kraftfahrzeugs 10 angebrachte Radarsensorvorrichtung 12 auf, in deren Gehäuse auch eine Steuereinrichtung 14 der adaptiven Geschwindigkeitsregelvorrichtung 1 1 untergebracht ist. Die Radarsensorvorrichtung 12 dient der Detektion von Objekten in einem Umfeld des Kraftfahrzeugs 10. Die Radarsensorvorrichtung 12 ist mit der Steuereinrichtung 14 verbunden. Die Steuereinrichtung 14 ist über einen Datenbus 16 (CAN, MOST, oder dergleichen) mit einer elektronischen Antriebs-Steuereinheit 18, einer Bremssystem- Steuereinheit 20 sowie mit einer HMI-Steuereinheit 22 einer Mensch-/Maschine- Schnittstelle verbunden. In weiteren, nicht dargestellten Ausführungsbeispielen können die Steuereinheit 14 und die HMI-Steuereinheit 22 auch in einer Steuereinrichtung der adaptiven Geschwindigkeitsregelvorrichtung 12, insbesondere in einem gemeinsamen Gehäuse integriert sein. Description of exemplary embodiments A motor vehicle 10 shown in FIG. 1 with an adaptive cruise control device 11 as a driver assistance system has as an object detection sensor a radar sensor device 12 mounted on the front end of the motor vehicle 10, in whose housing a control device 14 of the adaptive cruise control device 11 is accommodated. The radar sensor device 12 is used to detect objects in an environment of the motor vehicle 10. The radar sensor device 12 is connected to the control device 14. The control device 14 is connected via a data bus 16 (CAN, MOST, or the like) to an electronic drive control unit 18, a brake system control unit 20 and to an HMI control unit 22 of a human / machine interface. In further embodiments, not shown, the control unit 14 and the HMI control unit 22 may also be integrated in a control device of the adaptive cruise control device 12, in particular in a common housing.
Die Radarsensorvorrichtung 12 misst mit Hilfe eines Mehrstrahlradars die Abstände, Relativgeschwindigkeiten und Azimutwinkel von vor dem Kraftfahrzeug 10 befindlichen Objekten, welche Radarwellen reflektieren. Die in regelmäßigen Zeitabständen, beispielsweise alle 10 ms, empfangenen Rohdaten werden in der Steuereinrichtung 14 ausgewertet, um einzelne Objekte zu identifizieren und zu verfolgen und um insbesondere ein unmittelbar auf der eigenen Fahrspur vorausfahrendes Fahrzeug zu erkennen und als Zielobjekt auszuwählen. The radar sensor device 12 uses a multi-beam radar to measure the distances, relative speeds and azimuth angles of objects located in front of the motor vehicle 10, which reflect radar waves. The raw data received at regular time intervals, for example every 10 ms, are evaluated in the control device 14 in order to identify and track individual objects and, in particular, to recognize a vehicle driving directly ahead on its own lane and to select it as the target object.
Wie weiter aus Figur 1 ersichtlich, weist die Radarsensorvorrichtung 12 eine erfindungsgemäße planare Antenneneinrichtung 15 (siehe Figur 2) auf, mit welcher auch ein vertikaler Winkel von erfassten Objekten bestimmt bzw. geschätzt werden kann. As can be seen further from FIG. 1, the radar sensor device 12 has a planar antenna device 15 according to the invention (see FIG. 2) with which a vertical angle of detected objects can also be determined or estimated.
In Figur 2 ist die erfindungsgemäße planare Antenneneinrichtung 15 für die Ra- darsensorvorrichtung 12 näher dargestellt. Wie aus Figur 2 ersichtlich, weist die planare Antenneneinrichung 15 eine vertikal ausgerichtete erste Antennenspalte 15a und zwei weitere vertikal ausgerichtete Antennenspalten 15b auf, welche jeweils sechs liniengespeiste Antennenelemente 16a, 16b bzw. Patch-Elemente aufweisen und welche in einer Ebene parallel zueinander angeordnet sind. Die Phasenzentren der Antennenspalten 15a, 15b sind auf einer zu den Antennenspalten 15a, 15b senkrechten Geraden g angeordnet. Die Antennenspalten 15a, 15b weisen jeweils dieselbe Anzahl von liniengespeisten Antennenelementen 16a, 16b auf, welche jeweils in vertikaler Richtung einen konstanten Abstand Aer zueinander aufweisen. FIG. 2 shows in more detail the planar antenna device 15 according to the invention for the radar sensor device 12. As can be seen from FIG. 2, the planar antenna device 15 has a vertically oriented first antenna column 15a and two further vertically oriented antenna columns 15b, which each have six line-fed antenna elements 16a, 16b or patch elements and which are arranged in a plane parallel to one another. The phase centers of the antenna columns 15a, 15b are arranged on a straight line g perpendicular to the antenna columns 15a, 15b. The antenna gaps 15a, 15b each have the same number of line-fed antenna elements 16a, 16b, each of which has a constant distance Ae to each other in the vertical direction.
Die erste Antennenspalte 15a ist in zwei Subspalten 15a', 15a" aufgeteilt, welche nicht über eine Leitung miteinander verbunden sind und welche jeweils drei bzw. dieselbe Anzahl an Antennenelementen 16a und jeweils einen separaten Signalabgriff 17a', 17a" aufweisen, wobei die separaten Signalabgriffe 17a', 17a" der Subspalten 15a', 15a" wie aus Figur 2 ersichtlich jeweils an abgewandten Enden der ersten Antennenspalte 15a angeordnet sind. Die Antennenspalten 15b weisen jeweils einen Signalabgriff 17b auf. The first antenna column 15a is subdivided into two sub-columns 15a ', 15a ", which are not connected to each other via a line and which respectively have three or the same number of antenna elements 16a and a separate signal tap 17a', 17a", wherein the separate signal taps 17a ', 17a "of the sub-columns 15a', 15a" as shown in Figure 2 are arranged respectively at opposite ends of the first antenna gaps 15a. The antenna columns 15b each have a signal tap 17b.
Die Speisung der Antennenspalten 15a, 15b an den Signalabgriffen 17a', 17a", 17b erfolgt über einen nicht dargestellten Baustein, welcher als MMIC (JV|ono- lithic JV crowave Integrated Circuit) ausgebildet und Teil der Radarsensorvorrichtung 12 bzw. der Steuereinrichtung 14 oder damit verbunden sein kann. The feeding of the antenna columns 15a, 15b at the signal taps 17a ', 17a ", 17b takes place via a component, not shown, which is designed as an MMIC (JV | onolithic JV crowave Integrated Circuit) and part of the radar sensor device 12 or the control device 14 or associated with it.
Die Signalsumme der Signalabgriffe 17a', 17a" der Subspalten 15a', 15a" der ersten Antennenspalte 15a weist einen Elevationswinkel von null Grad auf. Der vertikale Abstand AeLuft der Subspalten 15a', 15a" der ersten Antennenspalte 15a zueinander entspricht der Wellenlänge der Trägerfrequenz in Luft. Durch den Phasenunterschied der beiden Subspalten 15a', 15a" der ersten Antennenspalte 15a ist ein Elevationswinkel oder ein Schätzwert des Elevationswinkels wenigstens eines von der Radarsensorvorrichtung 12 erfassten Objekts bestimmbar. The signal sum of the signal taps 17a ', 17a "of the sub-columns 15a', 15a" of the first antenna column 15a has an elevation angle of zero degrees. The vertical distance AeAuft of the sub-columns 15a ', 15a "of the first antenna column 15a to each other corresponds to the wavelength of the carrier frequency in air. Due to the phase difference of the two sub-columns 15a', 15a" of the first antenna column 15a, an elevation angle or an estimate of the elevation angle is at least one of the radar sensor device 12 detected object determinable.
Der Abstand der Mittelpunkte der Subspalten 15a', 15a" zueinander bzw. deren örtlicher Versatz ist in Figur 2 mit Δ bezeichnet. Der Abstand Δ entspricht dabei auch dem Aufwand der für einen Shift bzw. eine Verschiebung notwendig wäre, um die beiden Subspalten 15a', 15a" übereinander zu legen. The distance of the centers of the sub-columns 15a ', 15a "from one another or their local offset is designated by Δ in Figure 2. The distance Δ also corresponds to the effort which would be necessary for a shift or a shift in order to produce the two sub-columns 15a'. , 15a "on top of each other.
Der Steuervektor a für die Übertragungseigenschaft der planaren Antenneneinrichtung 15 ergibt sich zu: a = , wobei n die Anzahl der Abstände Aer
Figure imgf000009_0001
The control vector a for the transmission characteristic of the planar antenna device 15 results in: a =, where n is the number of distances Aer
Figure imgf000009_0001
von miteinander verbundenen Antennenelementen 16a der beiden Subspalten 15a', 15a" innerhalb des örtlichen Versatzes Δ und cp der Einfallswinkel in Eleva- tion ist. of interconnected antenna elements 16a of the two sub-columns 15a ', 15a "within the local offset Δ and cp is the angle of incidence in elevation.

Claims

Ansprüche claims
1 . Planare Antenneneinrichtung (15) für eine Radarsensorvorrichtung (12) mit mehreren vertikal ausgerichteten und in einer Ebene parallel zueinander angeordneten Antennenspalten (15a, 15b), welche jeweils wenigstens zwei li- niengespeiste Antennenelemente (16a, 16b), insbesondere Patch-Elemente, aufweisen, wobei die Phasenzentren der Antennenspalten (15a, 15b) auf einer zu den Antennenspalten (15a, 15b) senkrechten Geraden (g) angeordnet sind, dadurch gekennzeichnet, dass wenigstens eine erste der Antennenspalten (15a) in zwei nicht miteinander verbundene Subspalten (15a', 15a") aufgeteilt ist, welche jeweils dieselbe Anzahl an Antennenelementen (16a) und jeweils einen separaten Signalabgriff (17a', 17a") aufweisen, wobei die separaten Signalabgriffe (17a', 17a") der Subspalten (15a', 15a") jeweils an abgewandten Enden der wenigstens einen ersten Antennenspalte (15a) angeordnet sind. 1 . Planar antenna device (15) for a radar sensor device (12) with a plurality of vertically oriented antenna columns (15a, 15b) arranged parallel to each other in a plane, each having at least two line-fed antenna elements (16a, 16b), in particular patch elements, the phase centers of the antenna columns (15a, 15b) being arranged on a straight line (g) perpendicular to the antenna columns (15a, 15b), characterized in that at least a first of the antenna columns (15a) is divided into two sub-columns (15a ', 15a ") each having the same number of antenna elements (16a) and each having a separate signal tap (17a ', 17a"), the separate signal taps (17a', 17a ") of the sub-columns (15a ', 15a") each at opposite ends of the at least one first antenna gaps (15 a) are arranged.
2. Planare Antenneneinrichtung nach Anspruch 1 , dadurch gekennzeichnet, dass die Antennenspalten (15a, 15b) jeweils dieselbe Anzahl von liniengespeisten Antennenelementen (16a, 16b) aufweisen, welche jeweils in vertikaler Richtung einen konstanten Abstand (Aer) zueinander aufweisen. 2. Planar antenna device according to claim 1, characterized in that the antenna columns (15a, 15b) each have the same number of line-fed antenna elements (16a, 16b), each having a constant distance (Aer) to each other in the vertical direction.
3. Planare Antenneneinrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Signalsumme der Signalabgriffe (17a', 17a") der Subspalten (15a', 15a") der wenigstens einen ersten Antennenspalte (15a) einen Ele- vationswinkel von null Grad aufweist. 3. Planar antenna device according to claim 1 or 2, characterized in that the signal sum of the signal taps (17a ', 17a ") of the sub-columns (15a', 15a") of the at least one first antenna column (15a) has an angle of elevation of zero degrees ,
4. Planare Antenneneinrichtung nach Anspruch 1 , 2 oder 3, dadurch gekennzeichnet, dass der vertikale Abstand (AeLuft) der Subspalten (15a', 15a") der wenigstens einen ersten Antennenspalte (15a) zueinander der Wellenlänge der Trägerfrequenz in Luft entspricht. 4. Planar antenna device according to claim 1, 2 or 3, characterized in that the vertical distance (AeLuft) of the sub-columns (15a ', 15a ") of the at least one first antenna column (15a) to each other corresponds to the wavelength of the carrier frequency in air.
5. Planare Antenneneinrichtung nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass durch den Phasenunterschied zwischen den beiden Subspalten (15a', 15a") der wenigstens einen ersten Antennenspalte (15a) ein Elevationswinkel oder ein Schätzwert des Elevationswinkels wenigstens eines von der Radarsensorvorrichtung (12) erfassten Objekts bestimmbar ist. 5. Planar antenna device according to one of claims 1 to 4, characterized in that by the phase difference between the two sub-columns (15a ', 15a ") of the at least one first antenna column (15a) an elevation angle or an estimated value of the elevation angle at least one of the radar sensor device (12) detected object is determinable.
6. Radarsensorvorrichtung (12) mit wenigstens einer planaren Antenneneinrichtung (15) gemäß einem der Ansprüche 1 bis 5. 6. radar sensor device (12) with at least one planar antenna device (15) according to one of claims 1 to 5.
7. Vorrichtung, insbesondere Fahrerassistenzsystem (1 1 ) eines Kraftfahrzeugs (10) mit wenigstens einer Radarsensorvorrichtung (12) gemäß Anspruch 6 zur Detektion von Objekten in einem Umfeld des Kraftfahrzeugs (10), und einer Steuereinrichtung (14), welche mit der wenigstens einen Radarsensorvorrichtung (12) verbunden ist. 7. Device, in particular driver assistance system (1 1) of a motor vehicle (10) with at least one radar sensor device (12) according to claim 6 for the detection of objects in an environment of the motor vehicle (10), and a control device (14), which with the at least one Radar sensor device (12) is connected.
PCT/EP2010/063423 2009-11-06 2010-09-14 Planar antenna apparatus for a radar sensor device WO2011054573A1 (en)

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