WO2011054573A1 - Système d'antennes planaires pour un dispositif de détection radar - Google Patents

Système d'antennes planaires pour un dispositif de détection radar 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
Authority
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)
English (en)
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/fr

Links

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.

Landscapes

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

Abstract

L'invention concerne un système d'antennes planaires (15) destiné à un dispositif de détection radar et comportant plusieurs fentes d'antenne (15a, 15b) orientées verticalement et disposées parallèlement les unes aux autres dans un plan, qui présentent chacune au moins deux éléments d'antenne (16a, 16b) alimentés en ligne, en particulier des éléments plaques, les centres de phase des fentes d'antenne étant disposés sur une droite (g) perpendiculaire aux fentes d'antenne. La ou les premières fentes d'antenne (15a) sont divisées en deux sous-fentes (15a', 15a ») non reliées l'une à l'autre qui présentent chacune le même nombre d'éléments d'antenne (16a) et un capteur de signaux séparé (17a', 17a »), les capteurs de signaux séparés (17a', 17a ») des sous-fentes (15a', 15a ») étant chacun disposés aux extrémités opposées de la ou des premières fentes d'antenne (15a).
PCT/EP2010/063423 2009-11-06 2010-09-14 Système d'antennes planaires pour un dispositif de détection radar WO2011054573A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009046491.3 2009-11-06
DE102009046491A DE102009046491A1 (de) 2009-11-06 2009-11-06 Planare Antenneneinrichtung für eine Radarsensorvorrichtung

Publications (1)

Publication Number Publication Date
WO2011054573A1 true WO2011054573A1 (fr) 2011-05-12

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Family Applications (1)

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PCT/EP2010/063423 WO2011054573A1 (fr) 2009-11-06 2010-09-14 Système d'antennes planaires pour un dispositif de détection radar

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DE (1) DE102009046491A1 (fr)
WO (1) WO2011054573A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013209530A1 (de) 2013-05-23 2014-11-27 Robert Bosch Gmbh Bestimmung eines elevations-dejustagewinkels eines radarsensors eines kraftfahrzeugs
JP6608073B2 (ja) * 2016-12-26 2019-11-20 三菱電機株式会社 レーダ装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0733913A2 (fr) * 1995-03-23 1996-09-25 Honda Giken Kogyo Kabushiki Kaisha Module radar et appareil d'antenne
DE10256524A1 (de) 2002-12-04 2004-07-01 Robert Bosch Gmbh Einrichtung zur Messung von Winkelpositionen
DE102004039743A1 (de) 2004-08-17 2006-02-23 Robert Bosch Gmbh Antennenstruktur mit Patch-Elementen
FR2903195A1 (fr) * 1992-04-06 2008-01-04 Gerard Bony Dispositif pour la detection, l'identification et la localisation de brouilleurs

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2903195A1 (fr) * 1992-04-06 2008-01-04 Gerard Bony Dispositif pour la detection, l'identification et la localisation de brouilleurs
EP0733913A2 (fr) * 1995-03-23 1996-09-25 Honda Giken Kogyo Kabushiki Kaisha Module radar et appareil d'antenne
DE10256524A1 (de) 2002-12-04 2004-07-01 Robert Bosch Gmbh Einrichtung zur Messung von Winkelpositionen
DE102004039743A1 (de) 2004-08-17 2006-02-23 Robert Bosch Gmbh Antennenstruktur mit Patch-Elementen

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
"Adaptive Fahrgeschwindigkeitsregelung ACC", 2002, ROBERT BOSCH GMBH
STRUCKMAN K A: "Resolution of low elevation radar targets and images using a shifted array correlation technique", 19890626; 19890626 - 19890630, 26 June 1989 (1989-06-26), pages 1736 - 1739, XP010080623 *

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