WO2020165160A1 - Inhibition des réflexions dans les radars à modulation de phase - Google Patents

Inhibition des réflexions dans les radars à modulation de phase Download PDF

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Publication number
WO2020165160A1
WO2020165160A1 PCT/EP2020/053455 EP2020053455W WO2020165160A1 WO 2020165160 A1 WO2020165160 A1 WO 2020165160A1 EP 2020053455 W EP2020053455 W EP 2020053455W WO 2020165160 A1 WO2020165160 A1 WO 2020165160A1
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WO
WIPO (PCT)
Prior art keywords
shift
sampling times
phase
radar
vehicle
Prior art date
Application number
PCT/EP2020/053455
Other languages
German (de)
English (en)
Inventor
Jonathan Bechter
Original Assignee
Zf Friedrichshafen Ag
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 Zf Friedrichshafen Ag filed Critical Zf Friedrichshafen Ag
Publication of WO2020165160A1 publication Critical patent/WO2020165160A1/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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/325—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of coded signals, e.g. P.S.K. signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers

Definitions

  • the present disclosure relates to a method and a radar system for suppressing reflections in phase modulated radars.
  • Radar technology (“Radio Detection and Ranging”) refers to devices, processes and systems for locating and recognizing objects on the basis of electromagnetic waves in the radio frequency range.
  • the radar sends an electromagnetic signal and receives echoes from objects.
  • Radar technology can be used, for example, to determine a position by evaluating transit times and, taking into account frequency signal changes (Doppler effect), the relative speed of an object.
  • Radar technology is used in a vehicle, for example. Vehicles use radar signals to determine the position and speed of objects such as other road users or obstacles.
  • the invention is based on the object of providing a radar system or a corresponding antenna module in which the behavior of the radar system is optimized.
  • the exemplary embodiments show a device which comprises a processor which is designed to correlate a phase code with a received radar signal sampled according to sampling times and to determine a shift in sampling times in such a way that a correlation performance is minimized in a predetermined distance range.
  • the processor can, for example, be a computing unit such as a central processing unit (CPU) that executes program instructions.
  • the received radar signal can be generated, for example, by phase-modulated continuous line radar technology.
  • phase-modulated continuous wave technology phase encodings (often + -180 °) are modulated onto a high-frequency signal, transmitted and correlated with the code used in the receiver.
  • the correlation has a maximum at those points where the shift of the reference code corresponds to the signal propagation time to a target and thus to the distance. With other shifts, however, the correlation result could not be zero, but proportional to the amplitude of the maximum, see e.g. m-sequences ("Maximum Length Sequences"), so that interference occurs over the entire distance range. This interference can prevent the detection of targets with a small radar backscatter cross-section or at a great distance.
  • the FMCW radar has a similar problem (suppression of reflections from the bumper), which is solved using a high-pass filter. This is not possible with the PMCWRadar because there is no connection between the base band frequency and the signal propagation time
  • the sampling times are shifted so that they fall on the zero crossings of a received radar signal with a certain signal propagation time.
  • Individual sequences can consist of approx. 256 or approx. 512 sampling points, for example.
  • Shifting the sampling times in such a way that a correlation power is minimized in a predetermined distance range results in an optimized shift.
  • This optimization of the sampling times is preferably carried out in a calibration phase of the sensor. After the calibration, the optimized shift in the sampling times is saved and used for subsequent measurements.
  • the shift in the sampling times is optimized in such a way that a correlation performance is minimized in the predetermined distance range, the sampling times fall to the zero crossings of the digitized receiving radar signal, so that interference in a receiving radar signal can be suppressed.
  • the predetermined distance range is preferably selected in such a way that it does not contain any reflections from objects (), except for reflections from an interfering object.
  • the distance range can be determined by the processor or manually, with knowledge of the environment during the calibration process, can be specified.
  • the processor is preferably designed to minimize the shift in sampling times within a transmission pulse duration.
  • the device further comprises an analog-digital converter, the analog-digital converter converting the phase code into a digital signal.
  • the device comprises an analog-digital converter, the analog-digital converter being designed to sample the received radar signal with the shift in sampling times.
  • the processor is preferably designed to determine the correlation performance on the basis of a correlation between the digitized received radar signal and the digitized phase code.
  • this can also be carried out in a single measurement with greater computational effort. If the signal is sampled in compliance with the sampling theorem (usually given), this can be represented for the entire time range. In this way, after calculating additional points in time, the most favorable sampling grid can be selected.
  • the received radar signal is preferably generated by means of phase-modulated continuous line radar technology.
  • the exemplary embodiments also disclose a vehicle that comprises a device, the device comprising a processor which is designed to correlate a phase code with a sampled received radar signal according to sampling times and to determine a shift in sampling times in such a way that a correlation performance is minimized in a predetermined distance range.
  • the vehicle can be, for example, a car, a A truck, an electric vehicle, or the like.
  • the device according to the invention can be used in an assistance system of such a vehicle.
  • the vehicle can in particular be an autonomous or partially autonomous vehicle.
  • the exemplary embodiments also disclose a method in which a phase code is correlated with a sampled received radar signal according to sampling times and a shift in sampling times is determined so that a correlation performance is minimized in a predetermined distance range.
  • Fig. 1 shows an envelope of a phase-encoded waveform of a PMCW radar in a time domain
  • Fig. 2 is a block diagram showing an exemplary configuration of a radar system according to the invention.
  • FIG. 3 shows an exemplary block diagram of the phase code generated by the PN generator
  • FIG. 4 shows exemplary sampling times of the analog-to-digital converter 208, which digitally converts a demodulated received radar signal
  • Fig. 5 shows a flow chart of a process for determining the optimal shift in sampling times
  • Figure 6 shows how the distance range is selected for calibration
  • FIG. 7 is a block diagram schematically showing the configuration of a vehicle having a radar system according to an embodiment of the present invention.
  • phase-encoded waveform shows an envelope curve of a phase-encoded waveform of a PMCW radar in a time domain.
  • the phase-encoded waveform has seven sub-areas S1, S2, S3, S4, S5, S6 and S7. Each sub-area S1, S2, S3, S4, S5, S6 and S7 is assigned a corresponding phase code (0, 1). If the phase code is 0 (S1, S4, S6, S7), the phase-coded wave is transmitted with a phase of 0 ° and is the Phase code 1 (S2, S3, S5), the phase-coded wave is sent out with a phase of 180 °.
  • the sub-areas (“pulses”) S1, S2, S3, S4, S5, S6 and S7 have the same transmission pulse duration T, the sub-areas being based on a base signal (not shown in FIG. 1), which has a high frequency and an amplitude of 150mV to -150 mV has to be modulated.
  • the transitions between 0 and 1 do not have a rectangular shape due to the band limitation, but follow a sine-like curve.
  • the band limit is z. B. required due to frequency regulations or can arise from the bandwidth of the antennas. An additional safety spectrum can be used to ensure that the band limitation has a sinusoidal profile.
  • Fig. 2 is a block diagram showing an exemplary configuration of a radar system according to the invention.
  • the radar system 200 comprises a radar control unit 201, a PN generator 202, a modulator 203, a transmitting antenna 204, an analog-to-digital converter (ADC) 205, a generator 206, a correlator 207, an analog-to-digital converter ( ADC) 208, an amplifier 209, a demodulator 210 and a receiving antenna 21 1 and a delay element 212.
  • the radar system 200 here is a phase-modulated continuous wave (PMCW) radar system (phase-modulated continuous wave radar). In PMCW radar, phase encodings, as shown in FIG.
  • PMCW phase-modulated continuous wave
  • a correlator 207 is shown, but alternatively several parallel correlators can also be provided in order to correlate several distances at the same time.
  • the PN generator 202 generates a phase code (reference code) which is forwarded to the modulator 203.
  • the modulator 203 also receives a base signal having a high frequency from the generator 206 and mixes the signal with the phase code.
  • the mixed signal (phase-coded waveform) is transmitted to the transmission antenna 204 to transmit the mixed signal (phase-coded waveform) to an object (target).
  • the transmitted radar signal is reflected by the object and received by the receiving antenna 21 1.
  • the received signal is demodulated with the signal from generator 206 at demodulator 210 and amplified by amplifier 209.
  • the demodulated signal is scanned by the analog-to-digital converter 208 at different sampling times (A1, ..., A4 in FIG. 4).
  • the sampling times of the analog-digital converter 208 are determined by the radar control unit 201 via a shift parameter d and possibly with knowledge of the phase code.
  • the process for determining the displacement parameter d is explained in more detail under the description of FIG. 5.
  • the further analog-digital converter 205 converts the phase code into a digital signal.
  • the delay element 212 ver shifts the digitized phase code in time, the radar control unit 201 specifying the size of the time shift At.
  • the sampled demodulated signal is correlated with the time-shifted ⁇ At) digitized phase code. The correlation has a maximum at those points where the shift of the phase code (reference code) corresponds to the signal propagation time to a target.
  • the present embodiment is not limited to a specific number of antennas.
  • An antenna arrangement with antenna arrays with a plurality of transmitting and receiving antennas is preferably used.
  • FIG. 3 shows an exemplary block diagram of the phase code generated by the PN generator 202.
  • the phase code is a binary code that consists of a sequence of 1 and 0. In this embodiment the phase code is "0110100".
  • the embodiment is not limited to the phase code, but a different configuration of the phase code can be used, such as, for example, Braker code, Frank code or other codes which are known to those skilled in the art.
  • a phase encoded waveform has seven pulses S1, S2, S3, S4, S5, S6 and S7, with each pulse S1, S2, S3, S4, S5, S6 and S7 having a corresponding phase code (0, 1) assigned. If the phase code is 0 (S1, S4, S6, S7), the phase-coded wave is transmitted with a phase of 0 ° and if the phase code is 1 (S2, S3, S5), the phase-coded wave is transmitted with a phase of 180 °.
  • the pulses S1, S2, S3, S4, S5, S6 and S7 have the same transmission pulse duration T, the Operabe rich on a base signal (not shown in Figure 1), which has a floch frequency and an amplitude of 150mV to -150 mV , be modulated.
  • the transitions between 0 and 1 due to the band limitation are not rectangular, but follow a sine-like curve.
  • the phase-encoded waveform is shown with Sampling times A1, A2, A3, A4, A5 and A6 scanned. In the exemplary embodiment of FIG. 4, however, the sampling times A1, A2, A3 and A4 are selected with knowledge of the phase code so that the sampling times are as spaced from one another as the zero crossings of the previously known phase code.
  • sampling times A1, A2, A3 and A4 are placed in the zero crossings of the signal curve by optimizing the shift parameter (d in FIG. 2) (cf. step 51 in FIG. 5 or FIG. 6). Because the sampling times A1, A2, A3 and A4 are placed in the zero crossings of the signal curve, the received power or the correlation power can be reduced (cf. FIG. 6).
  • the sampling times A5 and A6 do not fall on zero crossings, so that their correlation performance fluctuates only slightly due to a shift in the sampling times. As a result, their correlation performance increases significantly (up to approx. 6 dB) relative to the interference object.
  • sampling times A1 to A6 are selected to be equidistant in accordance with a sampling rate, the sampling rate corresponding to the frequency with which the phase code is modulated onto the baseband signal.
  • FIG. 5 shows a flowchart of a process for determining the optimal shift of the sampling times, as is carried out by the radar control unit 201 in FIG. 2 in a calibration phase.
  • a distance range [At 1 , At 2 ] is selected.
  • the selected distance range [D ⁇ 1 , D ⁇ 2 ] is preferably selected so that in the distance range [D ⁇ , D ⁇ ] no objects or objects with little reflection are included, except for the object (object of no interest) where the distance is given, as shown in Fig. 6 and be written.
  • step S51 the optimal shift (5 opt ) of the sampling times is determined.
  • the shift is determined using the following equation: where T is the transmission pulse duration, de [0, G [is the shift of the sampling times within the shift range [0, G [, J A A t f l 2
  • sampling rate is chosen to be higher than the pulse frequency of the phase code. If, for example, the sampling rate is chosen so that it corresponds to ten times the pulse frequency of the phase code, then correlation powers for ten different displacement parameters d can be determined with one measurement. If the signal is sampled in compliance with the sampling theorem, which is usually the case, this can be represented for the entire time range. In this way, after calculating additional points in time, the most favorable scanning grid can be selected.
  • FIG. 6 shows how the distance range [At 1 At 2 ] is selected in step 50 of FIG. 5 for calibration.
  • PMCW radar Phase-Modulated Continuous Wave
  • phase encodings (often + -180 °) are modulated onto a high-frequency signal, transmitted and correlated with the code used in the receiver.
  • the correlation f has a maximum at those points where the shift of the reference code corresponds to the signal transit time or distance to a target.
  • a signal maximum can be seen at a distance which corresponds to a reflection of an interfering object such as a bumper of the vehicle equipped with the radar sensor, which is always at the same distance.
  • the correlation amplitude / is not zero, but rather proportional to the amplitude of the maximum (see, for example, m-sequences or “Maximum Length Sequences”), so that interference occurs over the entire distance range.
  • These disturbances can prevent the detection of target objects with little reflection (ie with a small radar backscatter cross section or at a great distance).
  • the sampling times are therefore as in FIG. 5 described shifted so that they fall on the zero crossings of the receiving radar signal of the interfering object.
  • the method can achieve a suppression Af of the received radar signal of approximately 5 dB.
  • the power of the interfering object which is noticeable over the entire distance range, suppresses the signal-to-noise ratio of a reflection from a target object (SNR1).
  • SNR1 signal-to-noise ratio of a reflection of a target object
  • SNR2 signal-to-noise ratio of a reflection of a target object
  • SNR2 Signal-to-noise ratio
  • SNR1 signal-to-noise ratio
  • the distance range [At 1 , At 2 ] is preferably selected so that the distance range [At 1 At 2 ] does not contain any objects or objects with low reflection, except for the reflection signal of the interfering object (object of no interest) Distance is given (e.g. bumper that is always at the same distance).
  • FIG. 7 is a block diagram schematically showing the configuration of a vehicle having a radar system according to an embodiment of the present invention.
  • the vehicle according to this exemplary embodiment is controlled by a human driver or is a vehicle which can operate in road traffic wholly or partially without the influence of a human driver.
  • the vehicle's control system takes over the role of the driver either completely or largely.
  • Autonomous (or semi-autonomous) vehicles can use various sensors to perceive their surroundings, determine their position and that of other road users from the information obtained, and use the vehicle's control system and navigation software to navigate to the destination and act accordingly in road traffic.
  • the vehicle 600 includes a radar system 200 and a central control unit 610 (ECU 4).
  • Radar data are recorded by the radar system 200 and, for example, transmitted to the central control unit 610 (ECU 4). Furthermore, the optimal shift (ö opt ) of the sampling times is determined (see FIG. 5).
  • the bumper of the vehicle in front of the radar system 200 can generate a high level of reflection of a radar signal. Since the bumper of the vehicle is usually not an object of interest, the reflected Ra darsignal of the bumper can cause a large disturbance. These interferences can prevent the detection of targets with a small radar backscatter cross-section or at a great distance. To suppress this interference, the sampling times are shifted so that they fall on the zero crossings of the demodulated receiving radar signal that is generated by the bumper.
  • the central control unit 610 (ECU 4) is designed to receive the radar data from the radar system 200 and to process the radar data.
  • the radar data include information such as the time shift between the transmitted and received radar beams and the Doppler frequency. Based on the time shift, a distance between the vehicle 600 and an object is determined and a relative movement is determined by the Doppler frequency.
  • the vehicle 600 further comprises several electronic components which are connected to one another via a vehicle communication network 613.
  • the vehicle communication network 613 can, for example, be a standard vehicle communication network built into the vehicle, such as a CAN bus (controller area network), a LIN bus (local interconnect network), an Ethernet-based LAN bus (local area network), a MOST Bus, an LVDS bus or the like.
  • the vehicle 600 further comprises a control unit 601 (ECU 1) which controls a steering system.
  • the steering system refers to the components that enable directional control of the vehicle. chen.
  • the vehicle 600 further includes a control unit 602 (ECU 2) that controls a braking system.
  • the braking system refers to the components that enable the vehicle to brake.
  • the vehicle 600 further includes a control unit 603 (ECU 3) that controls a drive train.
  • the drive train refers to the drive components of the vehicle.
  • the powertrain may include an engine, a transmission, a drive / propeller shaft, a differential, and a final drive.
  • the control units 601, 602 and 603 can furthermore receive vehicle operating parameters from the vehicle subsystems mentioned above, which these record by means of one or more vehicle sensors.
  • Vehicle sensors are preferably those sensors that detect a state of the vehicle or a state of vehicle parts, in particular their state of motion.
  • the sensors may include a vehicle speed sensor, a yaw rate sensor, an acceleration sensor, a steering wheel angle sensor, a vehicle load sensor, temperature sensors, pressure sensors, and the like.
  • sensors can also be arranged along the brake line in order to output signals which indicate the brake fluid pressure at various points along the hydraulic brake line. Other sensors in the vicinity of the wheel can be provided which detect the wheel speed and the brake pressure applied to the wheel.
  • the central control unit 610 controls one or more vehicle subsystems while the vehicle 600 is being operated, namely the braking system 602, the steering system 601 and the drive system 603.
  • the control unit 610 can, for example, via the vehicle communication network 613 with the corresponding control units 601, 602 and 603 communicate.
  • the vehicle 600 further includes one or more sensors 606 that are designed for environmental monitoring.
  • the further sensor units 606 can be, for example, a lidar system, ultrasonic sensors, ToF cameras or other units. Data from a distance and speed measurement are recorded by these additional sensor units 606 and transmitted to the central control unit 610, for example. Based on the data from these sensors 606, a distance between the vehicle 600 and one or more objects is determined.
  • the vehicle 600 further comprises a GPS / position sensor unit 607.
  • the GPS / position sensor unit 607 enables the absolute position of the autonomous vehicle 600 to be determined with respect to a geodetic reference system (earth coordinates).
  • the position sensor can, for example, be a gyro sensor or the like that reacts to accelerations, rotational movements or changes in position.
  • the functionality described in this description can be implemented as an integrated circuit logic, for example on a chip. Unless otherwise specified, the functionality described can also be implemented using software. Insofar as the embodiments described above are implemented at least in part with the aid of software-controlled processors, a computer program for providing such a software control and a corresponding storage medium is also regarded as aspects of the present disclosure.

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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)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un dispositif (200) comprenant un processeur (201) qui est conçu pour corréler un code de phase avec un signal radar reçu (S) échantillonné selon des instants d'échantillonnage (A1, A2, A3, A4) et pour déterminer un décalage (δ opt ) des instants d'échantillonnage (A1, A2, A3, A4) de telle sorte qu'une puissance de corrélation (|/ƒ(δ)(Δt)|2) dans une plage de distance prédéterminée ([Δt 1,Δt 2]) soit réduite au minimum.
PCT/EP2020/053455 2019-02-13 2020-02-11 Inhibition des réflexions dans les radars à modulation de phase WO2020165160A1 (fr)

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Application Number Priority Date Filing Date Title
DE102019201843.2 2019-02-13
DE102019201843.2A DE102019201843A1 (de) 2019-02-13 2019-02-13 Unterdrückung von Reflexionen in phasenmodulierten Radaren

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Citations (3)

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Publication number Priority date Publication date Assignee Title
US5731782A (en) * 1989-03-03 1998-03-24 Gec-Marconi Limited Ranging systems
US20070165488A1 (en) * 2003-03-25 2007-07-19 Chester Wildey Method and apparatus for spread spectrum distance and velocity profile measurement
DE102007037864A1 (de) * 2007-04-23 2008-10-30 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung der Relativgeschwindigkeit von Objekten

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5731782A (en) * 1989-03-03 1998-03-24 Gec-Marconi Limited Ranging systems
US20070165488A1 (en) * 2003-03-25 2007-07-19 Chester Wildey Method and apparatus for spread spectrum distance and velocity profile measurement
DE102007037864A1 (de) * 2007-04-23 2008-10-30 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung der Relativgeschwindigkeit von Objekten

Non-Patent Citations (2)

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Title
LEVANON NADAV: "Creating sidelobe-free range zone around detected radar target", 2014 IEEE 28TH CONVENTION OF ELECTRICAL & ELECTRONICS ENGINEERS IN ISRAEL (IEEEI), IEEE, 3 December 2014 (2014-12-03), pages 1 - 5, XP032719122, DOI: 10.1109/EEEI.2014.7005837 *
ROHLING H: "Mismatched filter design for pulse compression", 19900507; 19900507 - 19900510, 7 May 1990 (1990-05-07), pages 253 - 257, XP010007488 *

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