WO2021115984A1 - Système radar et procédé de fonctionnement d'un système radar - Google Patents

Système radar et procédé de fonctionnement d'un système radar Download PDF

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Publication number
WO2021115984A1
WO2021115984A1 PCT/EP2020/084805 EP2020084805W WO2021115984A1 WO 2021115984 A1 WO2021115984 A1 WO 2021115984A1 EP 2020084805 W EP2020084805 W EP 2020084805W WO 2021115984 A1 WO2021115984 A1 WO 2021115984A1
Authority
WO
WIPO (PCT)
Prior art keywords
receiving
antennas
antenna group
receiving antenna
transmitting
Prior art date
Application number
PCT/EP2020/084805
Other languages
German (de)
English (en)
Inventor
Christian Sturm
Yoke Leen SIT
Original Assignee
Valeo Schalter Und Sensoren 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 Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Publication of WO2021115984A1 publication Critical patent/WO2021115984A1/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
    • G01S13/88—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
    • G01S13/003—Bistatic radar systems; Multistatic radar systems
    • 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
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • 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
    • 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
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • 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
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • G01S7/032—Constructional details for solid-state radar subsystems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
    • H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q13/00—Waveguide horns or mouths; Slot antennas; Leaky-waveguide antennas; Equivalent structures causing radiation along the transmission path of a guided wave
    • H01Q13/20—Non-resonant leaky-waveguide or transmission-line antennas; Equivalent structures causing radiation along the transmission path of a guided wave
    • H01Q13/206—Microstrip transmission line antennas
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/0006—Particular feeding systems
    • 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
    • H01Q21/12—Parallel arrangements of substantially straight elongated conductive units

Definitions

  • the invention relates to a radar system with
  • At least one antenna electronics unit with which the transmitting antennas and the receiving antennas are connected for signaling via antenna leads.
  • the invention also relates to a method for operating a radar system in which
  • - Radar signals are sent into a surveillance area of the radar system with a plurality of transmitting antennas
  • a radar device which comprises a monolithically integrated circuit with a transmitter section and a receiver section.
  • the transmitting section comprises a plurality of transmitting devices, while the receiving section comprises a plurality of receiving devices.
  • a control device is designed to control the transmitting devices and receiver devices.
  • the radar device also has an evaluation device which evaluates radar signals output by the receiver devices, for example in order to detect objects.
  • the invention is based on the object of designing a radar system and a method of the type mentioned above, with which the performance of the radar system can be improved, in particular with regard to the range and / or the resolution. Disclosure of the invention
  • the invention is achieved in the radar system according to the invention in that at least some of the antennas are arranged in antenna groups,
  • a transmission phase center distance between at least two of the phase centers tren of the transmission antennas within a transmission antenna group is smaller than a transmission group distance between transmission group centers of adjacent transmission antenna groups.
  • the transmission antennas are arranged in transmission antenna groups.
  • the transmission antenna groups are arranged at a correspondingly larger distance from one another than the transmission antennas of a transmission antenna group with one another. In this way, the lengths of the antenna feed lines required can be reduced overall. In this way, the overall performance of the radar system can be improved.
  • the angular resolution of the radar system is determined by the geometric extent of the distribution of the antennas.
  • the length of the antenna feed lines affects the performance of the radar system. The shorter the antenna feed lines, the lower the line losses, which improves the performance of the radar system.
  • the antennas can be arranged distributed over a correspondingly large area without the length of the antenna feed lines having to be significantly increased.
  • At least some of the receiving antennas can be arranged in a central receiving antenna group with at least two receiving antennas.
  • at least one further part of the receiving antennas can be in at least one outer receiving antenna group, in particular in at least two outer receiving antennas.
  • antenna groups each with at least two receiving antennas.
  • at least two of the at least two outer receiving antenna groups can additionally or alternatively be arranged on opposite sides of the central receiving antenna group.
  • a plurality of receiving antennas are arranged in a certain way in groups to be extended over an area.
  • directions of objects can be determined in several spatial directions, in particular as azimuth and elevation.
  • a regular virtual array can be realized with which a reduction in the side lobe level, that is to say the side lobe level, of the radar signals is achieved.
  • a high-resolution radar system a so-called HD radar system
  • a so-called HD radar system with a large number of transmission and reception channels, in particular with 12 transmission antennas and 16 reception antennas or more
  • objects can be detected within a large detection area, both in terms of direction and range.
  • the transmission power of the transmission antennas can be increased so that the maximum achievable detection range can be increased.
  • the invention made possible an efficient design of the antennas, which has a direct positive effect on the performance of the radar system in terms of the achievable detection range.
  • the radar system in particular the HD radar system, can advantageously be operated according to a MIMO method. In this way, high angular resolutions can be achieved.
  • a large number of virtual channels can be achieved by geometrically folding the positions of transmitting antennas and receiving antennas, in particular of their phase centers.
  • the distances between transmitting antennas and receiving antennas are divided so that the shortest possible antenna leads between the at least one antenna electronics unit and the transmitting antennas and between the at least one antenna electronics unit and the receiving antennas can be implemented. In this way, the losses in the antenna feed lines can be reduced.
  • all transmission antennas that are assigned to a common antenna electronics unit can be arranged in a transmission antenna group with smaller distances, in particular a transmission phase center distance, from one another than the transmission antenna group from one another.
  • a transmission phase center distance can also be referred to as the “base distance”.
  • Each transmission antenna group can advantageously be assigned to its own antenna electronics unit. In this way, several antenna electronics units can be arranged in a distributed manner. The respective antenna feed lines can be kept short accordingly.
  • Some of the receiving antennas can be arranged in at least one central receiving antenna group.
  • the distance between the reception phase centers of the reception antennas of the central reception antenna group can be a corresponding multiple of the transmission phase center distance.
  • the central receiving antenna group can be arranged linearly. In this way, it can be used to determine a first direction angle, in particular an azimuth.
  • further receiving antennas especially in outer antenna groups, can be arranged flat.
  • a second directional angle, in particular the elevation, can be determined with the aid of the outer receiving antenna group.
  • the radar system can be used to determine the azimuth. Essentially, the recipients catching antennas of the central receiving antenna group are used. With the receiving antennas of the outer receiving antenna groups, so-called “virtual sparse arrays” can be implemented with which the elevation can be determined.
  • the radar signals can be generated with the at least one antenna electronics unit, which signals can be transmitted with the transmitting antennas.
  • the echo signals can advantageously be processed at least in part with the at least one antenna electronics unit. In this way, the signal processing can take place relatively close to the corresponding transmitting antennas and receiving antennas.
  • the antenna feed lines can be kept short accordingly, whereby the line losses are correspondingly reduced.
  • the at least one antenna electronics unit can advantageously be connected to a particular electronic control and evaluation device of the radar system.
  • a particular electronic control and evaluation device of the radar system With the control and evaluation device, corresponding object information, in particular distances, directions and / or speeds of detected target objects relative to the radar system, can be determined from the transmitted signals and the received signals.
  • antenna electronics units and the control and evaluation device can be combined.
  • the antenna electronics units and / or the control and evaluation device can be implemented using software and / or hardware.
  • the phase centers of antennas can advantageously define the spatial position of the antennas.
  • the phase centers are usually spatially in the center of an antenna array, in particular a linear array.
  • An antenna array comprises several individual elements, in particular individual radiators or individual receiving elements.
  • the transmission group center of an antenna group can advantageously define the spatial position of this antenna group.
  • the transmission group centers are usually spatially in the center of a group of several antennas, in particular antenna arrays.
  • the broadcasting group centers can advantageously be located in the center around an arrangement of phase centers of several antennas.
  • the invention can be used in a radar system of a vehicle, in particular a motor vehicle.
  • the invention can advantageously be used in a land vehicle, in particular a passenger car, a truck, a bus, a motorcycle or the like, an aircraft and / or a watercraft.
  • the invention can also be used in vehicles that can be operated autonomously or at least partially autonomously.
  • the invention is not limited to vehicles. It can also be used with radar systems in stationary operation.
  • the radar system can advantageously be connected to or part of at least one electronic control device of the vehicle, in particular a driver assistance system and / or chassis control and / or a driver information device and / or a parking assistance system and / or gesture recognition or the like. In this way, the vehicle can be operated autonomously or partially autonomously.
  • the radar system can be used to detect stationary or moving objects, in particular vehicles, people, animals, plants, obstacles, uneven road surfaces, in particular potholes or stones, road boundaries, traffic signs, open spaces, in particular special parking spaces, precipitation or the like.
  • -at least one transmitting antenna be constructed as a linear array with a plurality of individual radiators, which are arranged along a transmitting antenna axis of the transmitting antenna,
  • - And / or at least one receiving antenna can be constructed as a linear array with a plurality of individual receiving elements which are arranged along a receiving antenna axis of the receiving antenna. In this way, the directional effect of the antennas can be improved.
  • At least some of the transmitting antenna axes and / or at least some of the receiving antenna axes can be parallel run ver to each other and / or perpendicular to at least one antenna orientation axis. In this way, a uniform polarization can be achieved.
  • At least two, in particular all, transmitting antennas can be constructed identically and / or at least two, in particular all, receiving antennas can be constructed identically.
  • homogeneous radiation characteristics can be achieved for the transmitting antennas.
  • homogeneous reception characteristics can be achieved for the reception antennas.
  • the radar system can have several antenna electronics units and each of the antenna electronics units can be connected to at least one transmitting antenna and at least one receiving antenna via corresponding antenna feed lines.
  • an antenna electronics unit, at least one transmitting antenna and at least one receiving antenna can be implemented as a unit. In this way, correspondingly short antenna leads can be made possible.
  • a central receiving antenna group and at least one outer receiving antenna group can advantageously not be connected to the same antenna electronics unit.
  • the respective antenna electronics units can be arranged spatially closer to the corresponding receiving antenna groups. In this way, the corresponding lengths of connecting lines can be further reduced.
  • the transmitting antennas in particular special transmitting antenna groups, and the receiving antennas, in particular receiving antenna groups, can be arranged in spatially opposite areas relative to the at least one antenna electronics unit. In this way, mutual interference for the transmitting and receiving antennas can be reduced.
  • the antenna electronics units can in particular be arranged equidistantly along an antenna electronics orientation axis. In this way, the antenna electronics units can be arranged in a uniformly distributed manner.
  • the transmitting antennas and the receiving antennas can be arranged on opposite sides of the antenna electronics orientation axis. In this way, mutual interference between the transmitting and receiving antennas can be reduced while at the same time reducing the length of the antenna feed lines.
  • At least two, in particular all, transmission antenna groups can have the same number of transmission antennas.
  • the transmitter side of the radar system can be set up more homogeneously. In this way, a more homogeneous emission of radar signals can also be made possible.
  • the radar system can have fewer transmitting antennas than receiving antennas. In this way, power consumption can be reduced.
  • the ratio of the number of transmitting antennas to receiving antennas can advantageously be 3 to 4. It has been shown that this ratio has a favorable effect on the performance of the radar system.
  • - And / or a transmission phase center distance between adjacent phase centers of transmission antennas within a transmission antenna group can be half the wavelength of the radar signals
  • - And / or a transmission group distance between transmission group centers of at least two, in particular of all, adjacent transmission antenna groups can be the product of the number of transmission antennas per transmission antenna group, the number of reception antennas of a central reception antenna group and half the wavelength of the radar signals.
  • a regular virtual array can be implemented. Regular virtual arrays have the advantage that they realize a correspondingly low side lobe level for the Ra darsignalen.
  • the transmission phase center distances between adjacent transmission antennas can be identical to at least one, in particular all, transmission antenna groups. In this way, the transmission side of the radar system can be structured more homogeneously.
  • - and / or receiving phase center distances between two receiving phase centers of adjacent receiving antennas of a central receiving antenna group can be the product of the number of transmitting antennas per transmitting antenna group and half the wavelength of the radar signals.
  • At least two outer receiving antenna groups in particular two outer receiving antenna groups arranged on opposite sides of the zentra len receiving antenna group, with regard to the arrangement of their receiving antennas, in particular their receiving phase centers, can be identical relative to one another. In this way, the Winkelauf solution of the radar system can be further improved. In a further advantageous embodiment can
  • At least one receiving phase center of at least one outer receiving antenna group cannot be arranged on the receiving antenna orientation axis of the central receiving antenna group
  • At least one outer receiving antenna group can be arranged on opposite sides of the receiving antenna orientation axis of the central receiving antenna group
  • At least one outer receiving antenna group can be arranged at the same distance from the receiving antenna orientation axis of the central receiving antenna group.
  • the area along which the corresponding receiving antennas are distributed can be enlarged and / or filled more evenly with receiving antennas.
  • the angular resolution can thus be further improved.
  • several receiving phase centers of at least one outer receiving antenna group can be arranged alternately on opposite sides of an imaginary axis which runs parallel to the receiving antenna orientation axis. In this way, the area on which the reception phase centers are located can be filled more evenly.
  • At least one receiving phase center of at least one outer receiving antenna group can be arranged at a distance from the receiving antenna orientation axis of the central receiving antenna group that is twice as large as a distance from at least one other receiving phase center of at least one outer receiving antenna group to the receiving antenna orientation axis of the central receiving antenna group.
  • At least two, in particular all, adjacent receiving phase centers at least one outer receiving antenna group be arranged at the same distance in the direction of the receiving antenna orientation axis of the central receiving antenna group to the respectively neighboring receiving phase center
  • At least one outer receiving antenna group can be arranged at a distance in the direction of the receiving antenna orientation axis of the central receiving antenna group to the respective neighboring receiving phase centers, which is the product of the number of transmitting antennas per transmitting antenna group and is a transmit phase center distance,
  • At least one outer receiving antenna group can be arranged at a distance in the direction of the receiving antenna orientation axis of the central receiving antenna group to the respective neighboring receiving phase centers, which is the product of the number of transmitting antennas per transmitting antenna group and half the wave length of the radar signals.
  • the receiving antennas of the at least one outer receiving antenna group can be arranged more evenly distributed when viewed in the direction of the receiving antenna orientation axis. In this way, the reception characteristics can be further improved.
  • - and / or a distance in the direction of the receiving antenna orientation axis of a receiving phase center of at least one outer receiving antenna group, which is closest to the central receiving antenna group, to a receiving phase center of the central receiving antenna group, which is closest to the at least one outer receiving antenna group, can be the product of the number of transmitting antennas per transmitting antenna group, the number of receiving antennas of the central receiving antenna group and half the wavelength of the Ra darsignale
  • - and / or a distance in the direction of the receiving antenna orientation axis of a receiving phase center of at least one outer receiving antenna group, which is closest to the central receiving antenna group, to a receiving phase center of the central receiving antenna group, which is closest to the at least one outer receiving antenna group, can be the product of the number of transmitting antennas per transmitting antenna group, the number of receiving antennas of the central receiving antenna group and a transmitting phase center distance plus the product of the number of transmitting antennas per transmitting antenna group with a transmitting phase center distance
  • - and / or a distance in the direction of the receiving antenna orientation axis of a receiving phase center of at least one outer receiving antenna group, which is closest to the central receiving antenna group, to a receiving phase center of the central receiving antenna group, which is closest to the at least one outer receiving antenna group can be the product of the number of transmitting antennas per transmitting antenna group, the number of receiving antennas of the central receiving antenna group and half the wavelength of the Ra darsignale plus the product of the number of transmitting antennas per transmitting antenna group with a transmission phase center distance.
  • An angle measurement in particular a measurement of the elevation, perpendicular to the angle measurement, a measurement of the azimuth, which is carried out with the receiving antennas of the central receiving antenna group, can thus be improved.
  • the radar signals are sent out by transmitting antennas, which are arranged in transmitting antenna groups, and the echoes are received with receiving antennas who are arranged in receiving antenna groups,
  • a virtual array can be realized from at least one geometric folding of the positions of the transmitting antennas and the receiving antennas,
  • a low side lobe level can be implemented in the Ra darsignalen.
  • the positions of the transmitting antennas can advantageously be specified by corresponding transmitting phase centers and / or the positions of the receiving antennas by corresponding receiving phase centers. In this way, the positions of two-dimensional antennas, in particular antenna arrays, can be better defined.
  • the radar signals can be emitted using a beamforming method and / or a beam steering method. In this way, the transmission power and / or the detection range of the radar system can be improved.
  • two or more transmitting antennas can emit phase-coherent radar signals.
  • the transmitting antennas can be controlled in a phase-coherent manner in a beamforming mode. This results in a four-fold increase in the transmission power in the main maximum of the Ra darsignale even with the combination of two transmitting antennas.
  • the transmission power is made up of twice the transmission power plus a gain from the reference height.
  • the field strength is added. A doubling of the field strength corresponds to the multiplication of the transmission power.
  • the gain corresponds to the square of the number of transmit antennas used.
  • the combination of three transmission antennas in particular increases the profit by a factor of 9.
  • a switchover between a beamforming mode with an increased range and a classic MIMO operation with an increased angular resolution can advantageously be carried out.
  • the range can be increased or, alternatively, the resolution improved as required.
  • FIG. 1 is a front view of a motor vehicle with a driver assistance system and a Ml MO radar system for monitoring a monitoring area in the direction of travel in front of the motor vehicle;
  • FIG. 2 shows a side view of the motor vehicle from FIG. 1;
  • FIG. 3 shows a plan view of the motor vehicle from FIGS. 1 and 2;
  • FIG. 4 shows a front view of the antennas and the antenna electronics units of the radar system from FIGS. 1 to 3 viewed from the monitoring area;
  • FIG. 5 shows an arrangement, not true to scale, of the transmission phase centers of the transmission antennas of the radar system corresponding to the front view from FIG. 4;
  • FIG. 6 shows an arrangement, not true to scale, of the receiving phase centers of the receiving antennas of the radar system corresponding to the front view from FIG. 4;
  • FIG. 7 shows a representation of a virtual array which is determined by means of geometric folding of the positions of the transmission phase centers and the reception phase centers in accordance with the representations from FIGS. 5 and 6.
  • a motor vehicle 10 is shown in the form of a passenger car in front of the view.
  • Figure 2 shows the motor vehicle 10 in a side view.
  • Figure 3 the motor vehicle 10 is shown in a plan view.
  • the motor vehicle 10 has a radar system 12.
  • the radar system 12 is arranged in the front bumper of the motor vehicle 10, for example. With the Ra darsystem 12, a monitoring area 14 in the direction of travel 16 in front of the motor vehicle 10 can be monitored for objects 18.
  • the radar system 12 can also be arranged elsewhere on the motor vehicle 10 and oriented differently. With the radar system 12, distances r and directions, for example in the form of the azimuth cp and the elevation Q, of objects 18 relative to the motor vehicle 10 or to the radar system 12 can be determined.
  • the objects 18 can be stationary or moving objects, for example other vehicles, people, animals, plants, obstacles, uneven road surfaces, for example potholes or stones, lane boundaries, traffic signs, open spaces, for example parking spaces, precipitation or the like.
  • the x-axis extends in the direction of a vehicle longitudinal axis of the motor vehicle 10
  • the y-axis extends along a vehicle transverse axis
  • the z-axis extends upwardly perpendicular to the x-y plane.
  • the motor vehicle 10 is operationally located on a horizontal roadway
  • the x-axis and the y-axis extend spatially horizontally and the z-axis spatially vertically.
  • the radar system 12 is designed as a frequency-modulated continuous wave radar in the form of a high-resolution (HD) MI MO radar system. Frequency-modulated continuous wave radars are also referred to in specialist circles as FMCW (Frequency modulated continuous wave) radars.
  • FMCW Frequency modulated continuous wave
  • objects 18 can be detected in large ranges with a large angular resolution, for example with regard to azimuth Q and elevation cp.
  • the radar system 12 is connected to a driver assistance system 20. With the driver assistance system 20, the motor vehicle 10 can be operated autonomously or partially autonomously.
  • the radar system 12 comprises a MIMO array 22 and a control and evaluation device 24.
  • the MIMO array 22 has, for example, four antenna electronics units 26, for example in the form of electronic chips.
  • the Antennenelektronikeinhei th 26 are arranged side by side on the same level equidistant along an antenna electronics orientation axis 66.
  • the antenna electronics orientation axis runs, for example, parallel to the y-axis.
  • Each antenna electronics unit 26 is assigned three transmitting antennas 28 and four receiving antennas 30.
  • the transmitting antennas 28 and the receiving antennas 30 are each designed as linear arrays.
  • Each transmitting antenna 28 has a plurality of individual radiators 32, which are linear in the direction of a respective transmitting antenna axis 34 are arranged.
  • each receiving antenna 30 has a plurality of individual receiving elements 36.
  • the individual receiving elements 36 of each receiving antenna 30 are arranged along a respective receiving antenna axis 38.
  • the transmitting antenna axes 34 of all transmitting antennas 28 and the receiving antenna axis 38 of all receiving antennas 30 are arranged parallel to each other and parallel to the z-axis.
  • Each transmitting antenna 28 and each receiving antenna 30 is connected to the respective antenna electronics unit 26 via a corresponding antenna feed line 40.
  • Each transmission antenna 28 has a corresponding transmission phase center 42, which represents the respective transmission antenna 28.
  • Each receiving antenna 30 accordingly has a receiving phase center 44 which represents the corresponding receiving antenna 30.
  • the three transmitting antennas 28, which belong to the same antenna electronics unit 26, are arranged as a transmitting antenna group 46.
  • Each transmission antenna group 46 is represented by a transmission group center 48, which is geometrically located between the respective transmission phase centers 42, for example.
  • the transmission phase centers 42 of all transmission antennas 28 are arranged on the same transmission antenna orientation axis 50.
  • the transmission antenna orientation axis 50 runs, for example, parallel to the y-axis in the same plane in which the antenna electronics orientation axis 66 is also located.
  • respective radar signals 52 can be sent rich 14 in the monitoring area.
  • the echoes 54 of the radar signals 52 which are reflected on an object 18 and sent back to the radar system 12, can be received with the receiving antennas 30.
  • the distance r, the azimuth cp and the elevation Q of the corresponding target of the object 18 relative to the radar system 12 can be determined from the radar signals 52 and the echoes 54 with the aid of the control and evaluation device 24
  • the transmission antenna orientation axis 50 and thus also the transmission antennas 28 are located, for example, spatially above the antenna electronics units 26.
  • the receiving antennas 30 are located, for example, spatially below the respective antenna electronics units 26.
  • the four receiving antennas 30, which are assigned to the two inner antenna electronics units 26, are grouped as a central receiving antenna group 56.
  • the reception phase centers 44 of the central reception antenna group 56 are arranged equidistantly along a reception antenna orientation axis 58.
  • the reception antenna orientation axis 58 runs, for example, parallel to the transmission antenna orientation axis 50, that is to say parallel to the y-axis.
  • the reception antenna orientation axis 58 lies in the same plane as the antenna electronics orientation axis 66 and the transmission antenna orientation axis 50.
  • Two outer receiving antenna groups 60a and 60b are arranged on opposite sides of the central receiving antenna group 56, on the left and right in FIGS. 4 and 6.
  • the outer receiving antenna groups 60a and 60b are identical with regard to the arrangement of their respective receiving phase centers 44.
  • Each outer receiving antenna group 60a and 60b comprises four receiving antennas 30 with corresponding receiving phase centers 44.
  • Two of the receiving phase centers 44 of an outer receiving antenna group 60a and 60b are arranged above the receiving antenna orientation axis 58 in FIG.
  • the two other receiving phase centers 44 of the respective outer receiving antenna groups 60 a are arranged below the receiving antenna orientation axis 58.
  • the receiving phase centers 44 of the outer receiving antenna groups 60a and 60b are alternately on opposite sides of the receiving antenna orientation axis 58, not on the receiving antenna orientation axis 58, is arranged.
  • the transmission phase center distances d1 between adjacent transmission antennas 28 of all transmission antenna groups 46 are identical.
  • the amounts of the send Phase center spacings d1 correspond to half the wavelength l of the radar signals 52.
  • d1 l / 2.
  • Receiving phase center distances d3 in each case between receiving phase centers 44 of adjacent receiving antennas 30 of the central receiving antenna group 56 are identical.
  • the two receiving phase centers 44 which are located on the side facing away from the central receiving antenna group 56 on opposite sides of the receiving antenna orientation axis 58, are arranged at the same distance d4 from the receiving antenna orientation axis 58.
  • the two receiving phase centers 44 of the left outer receiving antenna group 60a which are located on opposite sides of the receiving antenna orientation axis 58 on the side facing the central receiving antenna group 56, are arranged at the same distance d5 from the receiving antenna orientation axis 58.
  • the two receiving phase centers 44 which are located on the side facing the central receiving antenna group 56 on opposite sides of the receiving antenna orientation axis 58, are arranged at the same distance d4 from the receiving antenna orientation axis 58.
  • the two receiving phase centers 44 of the right outer receiving antenna group 60b which are located on opposite sides of the receiving antenna orientation axis 58 on the side facing away from the central receiving antenna group 56, are arranged at the same distance d5 from the receiving antenna orientation axis 58.
  • the neighboring receiving phase centers 44 of the two outer receiving antenna groups 60a and 60b are arranged at the same distance d5 in the direction of the receiving antenna orientation axis 58 from the respectively neighboring receiving phase center 44 as the receiving phase centers 44 of the central receiving antenna group 56.
  • a distance d6 in the direction of the receiving antenna orientation axis 58 of the receiving phase center 44 of the left outer receiving antenna group 60a, which is closest to the central receiving antenna group 56, to the receiving phase center 44 of the central receiving antenna group 56, which is the left outer receiving antenna group 60a on is smaller than a distance 61 in the direction of the receiving antenna orientation axis 58 of the receiving phase center 44 of the right outer receiving antenna group 60b, which is closest to the receiving phase center 44 of the central receiving antenna group 56 on the opposite side of the central receiving antenna group 56 which is closest to the right outer receiving antenna group 60b.
  • the distance d6 is the product of the number N of transmitting antennas 28 per transmitting antenna group 46, the number K of receiving antennas in the central receiving antenna group 56 and the transmission phase center distance d1.
  • a distance d7 in the direction of the receiving antenna orientation axis 58 of the receiving phase center 44 of the right outer receiving antenna group 60b, which is closest to the central receiving antenna group 56, to the receiving phase center 44 of the central receiving antenna group 56, which is the right outer receiving antenna group 60b on is the product of the number N of transmitting antennas 28 per transmitting antenna group 46, the number K of receiving antennas of the central receiving antenna group 56 and the transmitting phase center distance d1 plus N * d1.
  • a virtual array 62 is generated from a geometric convolution of the positions of the transmission phase centers 42 and the reception phase centers 44.
  • the virtual array 62 is shown in FIG. 7 in relation to the corresponding transmit phase centers 42 and the receive phase centers 44.
  • the coordinates in the corresponding y-z plane are normalized with respect to the wavelength l of the radar signals 52.
  • the transmission antenna groups 46 are indicated as black squares.
  • the receiving phase centers 44 are indicated as black triangles.
  • a central virtual sub-array 62a When the positions of the transmitting phase centers 42 and the receiving phase centers 44 of the central receiving antenna group 56 are folded, a central virtual sub-array 62a is realized.
  • the central virtual sub-array 62a is indicated in FIG. 7 as an elongated square frame.
  • the central virtual sub-array 62 has a total of 96 elements which are arranged next to one another along the transmission antenna orientation axis 50.
  • the number of elements of the regular virtual sub-array 62a is determined from the product of the number of transmitting antennas 28 involved, namely 12, by way of example, and the number K of receiving antennas 30 of the central receiving antenna group 56, namely 8 by way of example.
  • a virtual sparse sub-array 62b results from the transmitting antennas 28 and the receiving antennas 30 of the outer receiving antenna groups 60a and 60b.
  • the ele ments 64 of the virtual sparse sub-array 62b are arranged in a two-dimensionally distributed manner above and below the central virtual array 62a. In FIG. 7, the elements 64 are indicated as an elongated square frame.
  • the sparse sub-array 64 has a total of 96 elements 64, for example.
  • the number of elements 64 of the sparse sub-array Arrays 62b corresponds to the product of the number of transmitting antennas 28 involved, for example 12, and the participating receiving antennas 30 of the outer receiving antenna groups 60a and 60b, for example 8.
  • the elevation cp can be determined using the sparse sub-array 62b.
  • the special arrangement according to the invention of the transmitting antennas 28 and the receiving antennas 30 enables a flat arrangement of elements of a virtual array 62 to be achieved.
  • the lengths of the antenna feed lines 40 can be limited to a relatively small amount. Due to the correspondingly short antenna leads 40, corresponding de line losses are reduced overall. Since the signals between the antenna electronics units 26, the transmitting antennas 28 and the respective receiving antennas 30 are high-frequency signals, the line loss can thereby be reduced by a considerable amount, which is usually about 1 dB per cm of line length.
  • the inventive arrangement of the transmitting antennas 28, the receiving antennas 30 and the respective antenna electronics units 26 keeps the line losses low and increases the overall performance of the radar system 12.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Security & Cryptography (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention a trait à un système radar (12) et à un procédé de fonctionnement d'un système radar (12). Le système radar (12) comprend une pluralité d'antennes d'émission (28) au moyen desquelles des signaux radar peuvent être envoyés à une zone de surveillance du système radar (12), une pluralité d'antennes de réception (30), au moyen desquelles des échos provenant de signaux radar (52) réfléchis dans la zone de surveillance peuvent être reçus, et au moins une unité électronique d'antenne (26), à laquelle les antennes d'émission (28) et les antennes de réception (30) sont connectées au moyen de signaux par l'intermédiaire de lignes d'alimentation d'antenne (40). Au moins certaines antennes parmi les antennes (28, 30) sont agencées en groupes d'antennes (46,56, 60a, 60b). Des centres de phase respectifs (42, 44) d'au moins certaines antennes parmi les antennes (28, 30) sont disposés le long d'au moins un axe d'orientation d'antenne (50, 58). Au moins certaines antennes parmi les antennes d'émission (28), dont les centres de phase (42) se trouvent sur le même axe d'orientation d'antenne (50) d'émission, sont agencées en une pluralité de groupes d'antennes d'émission (46) comprenant chacun au moins deux antennes d'émission (28). Une distance de centre de phase d'émission entre au moins deux des centres de phase (42) des antennes d'émission (28) à l'intérieur d'un groupe d'antennes d'émission (46) est inférieure à une distance de groupe d'émission entre des centres de groupe d'émission (48) de groupes d'antennes d'émission (46) adjacents.
PCT/EP2020/084805 2019-12-13 2020-12-07 Système radar et procédé de fonctionnement d'un système radar WO2021115984A1 (fr)

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DE102022101752A1 (de) 2022-01-26 2023-07-27 Valeo Schalter Und Sensoren Gmbh Verfahren zum Betreiben eines Radarsystems für ein Fahrzeug, Radarsystem und Fahrzeug
DE102022101753A1 (de) 2022-01-26 2023-07-27 Valeo Schalter Und Sensoren Gmbh Radarsystem für ein Fahrzeug, Fahrzeug und Verfahren zum Betreiben eines Radarsystems
DE102022204952A1 (de) 2022-05-18 2023-11-23 Zf Friedrichshafen Ag Radarsensor, insbesondere MIMO-Radarsensor, für automatisiert betreibbare Fahrzeuge

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DE102009032115A1 (de) * 2008-07-02 2010-01-07 Adc Automotive Distance Control Systems Gmbh Radarsystem mit breitem Erfassungsbereich und Mitteln zur Vermeidung von Mehrdeutigkeiten bei der Winkelmessung
US20160146931A1 (en) * 2014-11-21 2016-05-26 Texas Instruments Incorporated Techniques for high arrival angle resolution using multiple nano-radars
DE102016203160A1 (de) * 2016-02-29 2017-08-31 Robert Bosch Gmbh Radarsystem, umfassend eine Antennenanordnung zum Senden und Empfangen elektromagnetischer Strahlung
DE102018200751A1 (de) 2018-01-18 2019-07-18 Robert Bosch Gmbh Radarvorrichtung und Verfahren zum Betreiben einer Radarvorrichtung

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009032115A1 (de) * 2008-07-02 2010-01-07 Adc Automotive Distance Control Systems Gmbh Radarsystem mit breitem Erfassungsbereich und Mitteln zur Vermeidung von Mehrdeutigkeiten bei der Winkelmessung
US20160146931A1 (en) * 2014-11-21 2016-05-26 Texas Instruments Incorporated Techniques for high arrival angle resolution using multiple nano-radars
DE102016203160A1 (de) * 2016-02-29 2017-08-31 Robert Bosch Gmbh Radarsystem, umfassend eine Antennenanordnung zum Senden und Empfangen elektromagnetischer Strahlung
DE102018200751A1 (de) 2018-01-18 2019-07-18 Robert Bosch Gmbh Radarvorrichtung und Verfahren zum Betreiben einer Radarvorrichtung

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