WO2013045232A1 - Dispositif à radar et procédé pour produire une caractéristique de groupe d'un radar - Google Patents

Dispositif à radar et procédé pour produire une caractéristique de groupe d'un radar Download PDF

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Publication number
WO2013045232A1
WO2013045232A1 PCT/EP2012/067247 EP2012067247W WO2013045232A1 WO 2013045232 A1 WO2013045232 A1 WO 2013045232A1 EP 2012067247 W EP2012067247 W EP 2012067247W WO 2013045232 A1 WO2013045232 A1 WO 2013045232A1
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WO
WIPO (PCT)
Prior art keywords
radar
signals
array
antennas
transmission
Prior art date
Application number
PCT/EP2012/067247
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German (de)
English (en)
Inventor
Marlene Harter
Andreas Ziroff
Original Assignee
Siemens Aktiengesellschaft
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 Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2013045232A1 publication Critical patent/WO2013045232A1/fr

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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
    • G01S13/003—Bistatic radar systems; Multistatic radar systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q25/00—Antennas or antenna systems providing at least two radiating patterns

Definitions

  • the invention relates to a radar device having at least two antenna arrays and to an evaluation unit, by means of which beamforming can be carried out, in which a main beam of a group characteristic of the antenna arrays can be pivoted.
  • the invention also includes a method for generating a predetermined group characteristic of a radar, wherein the main beam of the group characteristic is pivotable.
  • a radar device provision can also be made to carry out an angle measurement in azimuth or elevation for individual measured objects.
  • the angle determination is carried out using a plurality of receiving antennas, which are arranged spatially offset from one another.
  • Such an angle-resolving radar is also called an imaging radar.
  • the angle-dependent detection of a test object can be made possible by digital beamforming (DBF radar - Digital Beamforming Radar).
  • DBF radar - Digital Beamforming Radar digital beamforming Radar
  • the received signals of a group of technicians ⁇ NEN can be shifted from each other in time by an evaluation unit and optionally also then scaled to then summed to a beamforming signal to the ⁇ .
  • a resultant beam-forming signal is a direction-dependent Dämp ⁇ Fung, which results from the array factor of the antenna array is then produced for the information contained in the received signals signals of individual measurement objects.
  • Another name is Group Factor.
  • a main beam or a main lobe is formed, which has a Indicates preferential direction. Signals of a measurement object of this preferred direction are attenuated slightly in the beamforming signal ssenmä ⁇ SSIG, while for signals of measurement objects from a different solid angle results in a greater damping.
  • a solid angle range in an environment of the radar device can be scanned for measured objects. This then gives an image of the environment.
  • a two-dimensionally imaging radar is made possible by providing a plurality of transmitters and a plurality of receivers. This can be a
  • Beamforming be performed in which an orientation of a main beam of the group characteristic pivots independently in two different spatial directions and thus a Two-dimensional mapping of a scenario to be measured can be generated .
  • the radar device comprises at least one transmission array, which has a plurality of transmission antennas, by means of which in each case a radar transmission signal can be transmitted from ⁇ .
  • the erfindungsge ⁇ Permitted radar device comprises at least a reception array having a plurality of receiving antennas.
  • the Empfangsan- antennas are each adapted such that an emitted from we ⁇ sammlungs one of the transmitting antennas radar transmit ⁇ signal can be received and (after reflection by a measuring object in a vicinity of the radar unit) provided as a received signal.
  • the invention he ⁇ modern radar apparatus further on an evaluation ⁇ unit.
  • beam shaping is possible both on the transmitter side and on the receiver side.
  • a transmitting beamforming can be formed with a pivotable transmitting main beam (transmitting-side beamforming).
  • receiving beamforming may be performed with one
  • pivotable receiving main beam are formed (receiving side beamforming).
  • the main transmission beam and the main reception beam are pivotable in two different spatial directions. This then results in the desired effect that a resulting main beam can be formed by the superimposition of a transmission group characteristic of the transmit array and a receive group characteristic of the receive array, which points in a desired spatial direction.
  • the main beam of the group characteristic of the entire radar device is arbitrary in two spatial directions. orientable. As a result, only those reflected radar transmission signals of a measurement object that are located in this spatial direction are contained in the associated beamforming signal.
  • By appropriate geometric interpretation of the sender array and the receive array can be achieved here that fault location signals are kept below a predeterminable threshold due to side lobes of the group characteristics.
  • a Radarab ⁇ keying is formed with a group of characteristic in which a main beam is pivotable in two different directions in space.
  • a plurality of radar transmission signals are emitted by means of a corresponding number of transmission antennas.
  • a plurality of reception signals are received by means of a corresponding number of reception antennas.
  • At least one beamforming signal according ei ⁇ ner predetermined characteristic group is then formed by combining at least two of the received signals. This can optionally be substituted by a phase shift (delay time Ver ⁇ ) of a received signal in proportion optionally adjusted by a scaling of the received signals prior to additive superposition of the reception signals to a reception signal and walls ⁇ ren.
  • Corresponding algorithms for beam shaping are known per se from the prior art.
  • the radar device and method according to the invention have the advantage that the saudimensio ⁇ nal imaging radar with an angle measurement in both azimuth and elevation is not provided by a receiver with correspondingly more complex hardware but by a combination of a transmission Array and a receive array. For this purpose, it has been found that a suitable
  • Transmit array can be found ⁇ riding with a much lower hardware cost.
  • the resulting Arrangement also operate with a lower control effort.
  • Sun provides approximately one embodiment of the method according to the invention to send out at least some of the radar transmission signals after ei ⁇ nem time division multiplexing sequentially. Thus, in this embodiment, it is sufficient to activate one at the antennas of the transmitting array and ⁇ td disable subsequent again.
  • the hardware management of the method required for the implementation of this training is very kos ⁇ -effectively and easy to control.
  • the method it is provided to transmit at least some of the radar transmission signals at the same time according to a frequency division multiplexing method.
  • the radar transmission signals of the individual antennas can be distinguished by their frequency spectra. This embodiment has the advantage that a location of a measuring ⁇ object using the different transmission antennas is the same time.
  • each radar transmission signal of a transmitting antenna By the radar transmission signals of the individual antennas are emitted temporally and / or spectrally separated, resulting in each radar transmission signal of a transmitting antenna, a plurality of received signals, namely in each case one received signal per receiving antenna.
  • n transmit antennas are used and their signals are received in each case with m receive antennas, this results in n times m receive signals.
  • These can be subsequently combined to form many beamforming signals, each of which can correspond to a group characteristic with differently aligned principal ray. Accordingly, one embodiment of the inventive method, thereby to produce a total two-dimensional scanning of a Conversely ⁇ environment of the radar system within a predetermined Jardin- kelber Eich.
  • this embodiment results in a two-dimensional mapping of measurement objects in the solid angle region of the environment.
  • a distance measurement is additionally performed on the basis of the radar transmission signals and the received signals. This is possible, for example, by running-time measurement of the radar transmission signals, by means of which a time duration between the transmission of the radar transmission signal and the reception of the corresponding reception signal reflected by a measurement object in the surroundings is measured.
  • an embodiment of the radar device provides that a group characteristic of the transmit array describing the transmit main beam is formed by digital beam shaping by the evaluation unit during transmit beamforming.
  • the group characteristic is formed on the basis of received signals which have been received to radar transmission ⁇ signals of different transmitting antennas by means of the receiving antennas.
  • the actual beamforming does not take place in this embodiment, during the transmission of the radar send signals ⁇ out, but in retrospect by combining the received signals.
  • This embodiment has the advantage that initially are after receiving the reception signals ⁇ all the information available to form randomly oriented group characteristics. By means of digital beamforming, the information that is currently needed can then be extracted. Another advantage of this embodiment is that no mechanical pivoting of the transmitting antennas is necessary.
  • the receive main beam of the group characteristic of the receive array can also be formed by digital beamforming on the basis of receive signals, which, however, must have been received by means of different receive antennas. Again this results in the
  • the setting of a certain orientation of the main reception beam of the group characteristic can be done afterwards, since in the individual (unprocessed) receive signals, the direction information for forming a plurality of differently oriented main beams are included.
  • the mechanical pivoting of the antennas is unnecessary.
  • the main beam of the transmitting array is aligned by means of ei ⁇ nes phase-shifting or a Rotman lens.
  • a transmit array and also a receive array can be operated particularly efficiently if at least some of their respective antennas are arranged in a straight row along an extension direction of the respective array.
  • the respective antennas can be arranged linearly, ie equidistant, or else non-linear.
  • a transmit array and a receive array are arranged in the following manner: in an L-shape, a T. - Shape, as a cross or as a rectangle.
  • the transmit array and the receive array in the To arrange manner in relation to each other that the two arrays are decoupled from each other and yet form a compact arrangement.
  • the radar device is not dedicated to any particular type of signal.
  • FMCW Frequency Modulated Continuous Wave
  • one embodiment of the radar device provides that at least one transmit array and at least one receive array have the same number of antennas. It is assumed that the antennas have the same or similar individual characteristics. Otherwise, the uniform resolution can be achieved even with two different occupied arrays.
  • the invention includes developments of the method according to the invention, which correspond to the described developments of the radar device according to the invention. These developments of the radar device according to the invention and of the method according to the invention are therefore not described again here.
  • Figure 1 is a schematic representation of an arrangement of
  • Antenna arrays of a radar device according to a
  • FIG. 2 is a block diagram of the radar apparatus of FIG. 1 and FIG. 1
  • FIG. 3 shows possible further arrangements of antenna arrays of radar devices according to other embodiments of the radar device according to the invention.
  • FIG. 1 shows a radar device 10. It may be a radar device, such as may be installed in a motor vehicle, medical device or industrial manufacturing facility. Thus, the radar device 10 applies excluded to be carried by a motor vehicle from in which it is ⁇ building is to locate preceding or following motor vehicles to detect a pedestrian or cyclist or estimate also, for example, the height of a plane passing through a road bridge , The radar device 10 can be also be integrally beispiels- ⁇ placed at one end of a conveyor belt for mining.
  • a suitable design of the radar device 10 can be ⁇ light in a rail vehicle ⁇ be detected from an electric locomotive from a catenary and to move a corresponding current-pickup to the catenary out.
  • Ra represents ⁇ device 10, for example on a
  • Assembly line can be located.
  • the radar device 10 may of course also be designed to locate aircraft in an airspace.
  • the radar device 10 has two antenna arrays, one of which is a transmit array SA and one a receive array EA.
  • the transmit array SA comprises a plurality m of transmit antennas 12, 14. These are each connected to a transmitting unit SEI to SEn. In FIG. 1, only three are shown by the transmitting antennas 12, 14 and the transmitting units SEI to SEn. Possible further elements are symbolically indicated by ellipsis.
  • the antennas may, for example, be patch antennas or horn antennas.
  • the transmitting antenna 12, 14 of the transmitting array SA are arranged side by side in a ge ⁇ straight row.
  • the receiving antennas 16, 18 of the receiving array EA are also arranged in a straight row.
  • the row of transmitting antennas 12, 14 and the row of receiving antennas 16, 18 are arranged at right angles to each other in an L-shape.
  • the transmission array SA and the reception array EA have the same polarization, so that transmission signals of the transmission array SA can be received by the reception array EA.
  • an evaluation unit AE By an evaluation unit AE, a digital Strahlfor ⁇ mung is performed both at the transmitting end and the receiving end.
  • the individual transmit antennas 12, 14 of the transmit array SA are operated either individually or in groups one after the other or else all in parallel in time by means of a drive logic AL.
  • the receiving units EE1 to EEm which receive and process the signals of the receiving antennas 16, 18 of the receiving array EA are always operated in parallel.
  • the radar device 10 provides a two-dimensional imaging Ra ⁇ dar in a predetermined solid angle range 20 ready.
  • the orthogonal arrangement shown in FIGURE 1 of the transmitting array SA and reception array EA is aligned therewith in the digi ⁇ talen beam forming a main beam or a main beam of an array factor along two spatial direc- gene within the solid angle region 20 and thereby the space region 20 scanned two-dimensionally.
  • the evaluation unit AE also determines a distance from measurement objects located in the solid angle range 20 to the radar device 10.
  • a three-dimensional illustration of a scenario within the Jardinwinkelbe ⁇ Reich 20 results overall by the signal processing of the evaluation unit AE.
  • the transmission units SEI to SEn are controlled sequentially by the control logic AL.
  • a radar transmission signal is emitted via the first transmission unit SEI and the transmission antenna 12 connected thereto.
  • the transmission signal is received by each receive antennas 16, 18 of the receive array EA and the Emp ⁇ catching units EE1 to EEm each receive a received signal and forwarded to the evaluation unit AE.
  • the received signals can be scanned for example by means of an analog-to-digital converter and stored as digital signals in the evaluation unit AE.
  • a measurement by means of a transmitting unit can in this case, for example, within less than 1 ms, z. B. 100 ys, are performed.
  • the measurement time is in particular ⁇ sondere on the hardware dependent.
  • the radar measurement is performed with the transmitting unit SE2 in the same way.
  • the measured values of parallel ⁇ be exaggerated m receiver units EE1 to EEm thus available per transmission unit in a memory of the evaluation unit AE available.
  • the measured values obtained in this way can be evaluated by the evaluation unit AE on the basis of algorithms known per se for digital beamforming. Examples of suitable algorithms are a delay-and-sum algorithm, a maximum likelihood algorithm and a MUSIC algorithm (MUSIC Multiple Signal Classification).
  • the radar device 10 With the radar device 10, with appropriate algorithms for the reflection of the radar transmission signals by a plurality of measurement objects, these can be distinguished from one another. Furthermore, the radar device 10 makes it possible to provide different antenna spacings for the transmitting and also for the receiving array, as a result of which targeted suppression of interfering antenna secondary lobes can also be achieved. At the same time thereby an improved angular resolution can be achieved.
  • the transmission units SEI to SEn can thus be switched in pairs and groups or alternately, which enables active beam shaping during the transmission of a radar transmission signal. This active
  • Beamforming allows additional focusing of the transmit signal to various measurement ranges of interest, such as a near or far range.
  • This adaptive beamforming can also be used to suppress or hide interfering antenna secondary lobes, so-called sidelobes.
  • the channels can also be switched during a single continuous ramp (Einrampen compiler), that the thus formed radar transmit signal is emitted zeitab ⁇ cut, from the different transmitting units SEI to SEn. This results in a frequency-dependent channel multiplexing.
  • a mögli ⁇ cher structure of the radar device 10 is explained below by way of example.
  • a linear frequency-modulated signal can be generated by a voltage-controlled oscillator VCO.
  • the oscillator VCO is modulated by a synthesizer or modulator MOD.
  • the generated by the oscillator VCO radar transmission signal is first emitted from egg ⁇ ner first transmission antenna 12 of the transmit array SA. If an object to be measured is located in an environment of the radar device 10 in the space angle area 20, the transmission
  • a distance of the measuring object to the radar device 10 and a speed of the measuring object are determined after filtering by means of a respective filter FI of the receiving units EE1 to EEm.
  • the angular determination and Ge ⁇ schwindtechniksab case are carried out by digital processing of the evaluation unit AE.
  • the Evaluation is carried out using the signals of a plurality of receiving units EE1 to EEm and on the basis of signals that result in the radar transmission signals of multiple transmit antennas 12, 14.
  • reception side receives in parallel predominantly with all, but with at least two receiving channels, can (as already described) also parallel on the transmitting side, ie time ⁇ equal over several transmitting antennas 12, 14, or sequentially be sent.
  • the transmission units SEI to SEn can be controlled via the control logic AL.
  • the radar device 10 can be exchanged via a communication interface Da ⁇ th between the control logic AL, the modulator MOD and the evaluation unit AE.
  • FIG. 3 which other arrangements of transmitting antennas and receiving antennas have proved favorable in addition to the arrangement shown in FIG.
  • the L-shape of FIG. 1 is again shown in FIG. 3 as arrangement a).
  • each of the arrays transmit array SA and receive array EA
  • the vertically arranged array may be either the transmit array SA or the receive array EA, which is indicated in FIG. 3 by the designation SA / EA.
  • Entspre ⁇ accordingly provides the horizontally disposed array represents the recom- fangs array EA and the transmit array SA.
  • a main beam of the array factor of the vertically disposed arrays in a spatial direction 22 can be pivoted, which is defined by the longitudinal axis of the vertically disposed ⁇ arrays.
  • a main beam of the array factor may be pivoted in one direction in space 24th
  • a straight transmit array and a straight receive array are formed into a T-shape. ordered, wherein the horizontally oriented array above or (as shown) may be arranged below the vertically aligned Ar rays.
  • the antenna group factor of an L or T array is equal to that of a fully populated antenna array. So you take isotropic radiator as Antennenelemen ⁇ te, so can achieve the same resolution with fewer antenna elements, in other words.
  • one of the two linear arrays is divided in the middle. This allows the two arrays to be arranged in a cross.
  • both arrays are divided into two sub-arrays and the four sub-arrays thus obtained are arranged in a rectangle.
  • the two arrays (SA transmit array and receiver array EA) Müs ⁇ sen not be arranged perpendicular to each other.
  • a transmission array SA 'and a reception array EA' can have any desired orientation between 0 ° and 180 °, which is favorable for the respective application.
  • the orientation of the transmitting array SA 'and the receiving array EA' is different. It can also be provided to arrange the transmit antennas and / or the receive antennas respectively into two- or three-dimensional structures, such as a matrix or a cubic lattice.
  • the hardware offers a high degree of flexibility and can be used for various applications without high development costs. Due to the ver ⁇ comparatively small number of hardware components and their low complexity, in particular the transmission-side elements, the radar device described can be realized very cost effective and space-saving.
  • the device is particularly suitable for the re ⁇ alization, for example, as a cost planar circuitry ⁇ (eg., In microstrip line technology or coplanar technology). But the manufacture of so-called monolithic microwave circuit (MMIC - mono lythic Microwave Integrated Circuit) with integrated assistants ⁇ nen is possible.

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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)

Abstract

L'invention concerne un dispositif à radar et un procédé pour produire une caractéristique de groupe d'un radar. Concernant un radar d'imagerie, on sait faire pivoter les rayons principaux d'une caractéristique de groupe pour former une image bidimensionnelle d'un scénario. Pour cela un nombre suffisamment grand de récepteurs doit alors être fourni. Ceci signifie des moyens relativement importants en matière de matériel et de coûts. L'invention vise à réduire les moyens importants en matériel pour la mise à disposition d'un radar produisant des images bidimensionnelles. A cet effet, dans le dispositif à radar (10) selon l'invention, un radar produisant des images bidimensionnelles est rendu possible par la fourniture de plusieurs émetteurs (12, 14) et de plusieurs récepteurs (16, 18). Ainsi, on peut exécuter un beamforming, lors duquel une orientation d'un rayon principal peut être pivotée indépendamment dans deux directions différentes de l'espace à l'intérieur d'un intervalle d'angle stérique (20) prédéterminé. Par le procédé selon l'invention, une pluralité de signaux radar sont émis au moyen d'un nombre correspondant d'antennes d'émission (12, 14). Pour chacun de ces signaux radar émis, une pluralité de signaux de réception sont captés au moyen d'un nombre correspondant d'antennes de réception (16, 18). En combinant les signaux captés, au moins un signal de beamforming est formé avec une caractéristique de groupe prédéterminée.
PCT/EP2012/067247 2011-09-29 2012-09-05 Dispositif à radar et procédé pour produire une caractéristique de groupe d'un radar WO2013045232A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011083756A DE102011083756A1 (de) 2011-09-29 2011-09-29 Radar-Vorrichtung und Verfahren zum Erzeugen einer Gruppencharakteristik eines Radars
DE102011083756.6 2011-09-29

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WO2013045232A1 true WO2013045232A1 (fr) 2013-04-04

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WO2018130364A1 (fr) * 2017-01-11 2018-07-19 Astyx Gmbh Capteur radar avec balayage de faisceau bidimensionnel et une structure en forme de l, u ou t pour le montage dans une zone du radiateur avant d'une automobile
WO2018145687A1 (fr) * 2017-02-09 2018-08-16 Dronefence GmbH Dispositif, et procédé, de détection d'engins volants comprenant un système de caméra stéréoscopique et un scanner haute fréquence
CN109814103A (zh) * 2019-01-31 2019-05-28 厦门精益远达智能科技有限公司 一种基于雷达的超高监控方法、装置、设备和存储介质
CN111381213A (zh) * 2018-12-26 2020-07-07 瑞萨电子株式会社 电子设备、雷达设备和雷达控制方法
WO2021009359A1 (fr) * 2019-07-18 2021-01-21 Thales Systéme de détection d'objets longue portée
CN112313526A (zh) * 2018-06-21 2021-02-02 罗伯特·博世有限公司 用于分析处理雷达信号的设备和方法
US20210373141A1 (en) * 2020-06-01 2021-12-02 General Radar Corporation Phased array front-end devices
US11650286B2 (en) 2017-01-24 2023-05-16 Arbe Robotics Ltd. Method for separating targets and clutter from noise, in radar signals
US11808881B2 (en) 2018-07-19 2023-11-07 Arbe Robotics Ltd. Apparatus and method of two-stage signal processing in a radar system
US11811142B2 (en) 2018-09-05 2023-11-07 Arbe Robotics Ltd. Skewed MIMO antenna array for use in automotive imaging radar
US11852747B2 (en) 2018-07-19 2023-12-26 Arbe Robotics Ltd. Apparatus and method of eliminating settling time delays in a radar system
US11921195B2 (en) 2018-07-19 2024-03-05 Arbe Robotics Ltd. Apparatus and method of RF built in self-test (RFBIST) in a radar system

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DE102014118031A1 (de) * 2014-12-05 2016-06-09 Astyx Gmbh Radarsensor, Radarsensor-System sowie Verfahren zur Bestimmung der Position eines Objekts mit horizontaler und vertikaler digitaler Strahlformung zur Vermessung von punkt- und flächenförmig reflektierenden Objekten
EP3244231A1 (fr) * 2016-05-12 2017-11-15 HENSOLDT Sensors GmbH Systeme d'antenne mimo et procede d'imagerie radar tridimensionnelle
EP3309523B1 (fr) * 2016-10-17 2020-03-11 VEGA Grieshaber KG Jauge destinée à déterminer une topologie d'une surface de matériau de remplissage
IL250381A0 (en) * 2017-01-31 2017-03-30 Arbe Robotics Ltd A compact array of radar antennas with high horizontal and vertical resolution
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WO2018130364A1 (fr) * 2017-01-11 2018-07-19 Astyx Gmbh Capteur radar avec balayage de faisceau bidimensionnel et une structure en forme de l, u ou t pour le montage dans une zone du radiateur avant d'une automobile
US11740349B2 (en) 2017-01-11 2023-08-29 Cruise Munich Gmbh Radar sensor having a two-dimensional beam scan and L-, U- or T- shaped structure for mounting in the region of the front radiator of an automobile
CN110235021A (zh) * 2017-01-11 2019-09-13 阿斯泰克斯有限责任公司 用于安装在汽车中的前端散热器的区域中的具有二维的射束扫描和l、u或t形结构的雷达传感器
JP2020506836A (ja) * 2017-01-11 2020-03-05 アスティックス ゲーエムベーハー 自動車のフロントラジエータ領域に取り付けるための二次元ビーム走査およびｌ、ｕ、ｔ形構造を有するレーダセンサ
JP7139334B2 (ja) 2017-01-11 2022-09-20 アスティックス ゲーエムベーハー 自動車のフロントラジエータ領域に取り付けるための二次元ビーム走査およびｌ、ｕ、ｔ形構造を有するレーダセンサ
US11650286B2 (en) 2017-01-24 2023-05-16 Arbe Robotics Ltd. Method for separating targets and clutter from noise, in radar signals
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CN112313526A (zh) * 2018-06-21 2021-02-02 罗伯特·博世有限公司 用于分析处理雷达信号的设备和方法
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