WO2021122828A3 - Verfahren zum erfassen wenigstens eines verkehrsteilnehmers - Google Patents

Verfahren zum erfassen wenigstens eines verkehrsteilnehmers Download PDF

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Publication number
WO2021122828A3
WO2021122828A3 PCT/EP2020/086540 EP2020086540W WO2021122828A3 WO 2021122828 A3 WO2021122828 A3 WO 2021122828A3 EP 2020086540 W EP2020086540 W EP 2020086540W WO 2021122828 A3 WO2021122828 A3 WO 2021122828A3
Authority
WO
WIPO (PCT)
Prior art keywords
radar
road user
detected
detecting
radiation
Prior art date
Application number
PCT/EP2020/086540
Other languages
English (en)
French (fr)
Other versions
WO2021122828A2 (de
Inventor
Michael Lehning
Original Assignee
S.M.S. Smart Microwave Sensors 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 S.M.S. Smart Microwave Sensors Gmbh filed Critical S.M.S. Smart Microwave Sensors Gmbh
Priority to EP20829905.7A priority Critical patent/EP4078230A2/de
Priority to JP2022535905A priority patent/JP2023519061A/ja
Priority to CN202080087799.6A priority patent/CN114829972A/zh
Priority to US17/787,024 priority patent/US20230008876A1/en
Priority to KR1020227022756A priority patent/KR20220110543A/ko
Publication of WO2021122828A2 publication Critical patent/WO2021122828A2/de
Publication of WO2021122828A3 publication Critical patent/WO2021122828A3/de

Links

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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/44—Monopulse radar, i.e. simultaneous lobing
    • G01S13/4454—Monopulse radar, i.e. simultaneous lobing phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—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
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • 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
    • G01S7/356—Receivers involving particularities of FFT processing
    • 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
    • G01S7/358—Receivers using I/Q processing
    • 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
    • G01S7/4026—Antenna boresight
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • 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
    • G01S13/343—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 using sawtooth modulation

Landscapes

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

Abstract

Die Erfindung betrifft ein Verfahren zum Erfassen wenigstens eines Verkehrsteilnehmers auf einem Verkehrsweg mittels eines Radarsensors und eines optischen Detektors, wobei bei dem Verfahren Radarstrahlung von wenigstens einem Radar-Sender des Radarsensors ausgesendet und von dem wenigstens einen Verkehrsteilnehmer reflektiert wird, die reflektierte Radarstrahlung mittels wenigstens eines Radar-Empfängers des Radarsensors detektiert wird, die detektierte Radarstrahlung derart ausgewertet wird, dass zumindest ein Abstand und eine Radialgeschwindigkeit des wenigstens einen Verkehrsteilnehmers relativ zu dem Radarsensor bestimmt wird, ein optisches Bild des wenigstens einen Verkehrsteilnehmers mittels des optischen Detektors detektiert wird, und das optische Bild ausgewertet wird, wobei wenigstens ein Parameter des wenigstens einen Verkehrsteilnehmers sowohl aus der detektierten Radarstrahlung als auch aus dem optischen Bild bestimmt wird.
PCT/EP2020/086540 2019-12-18 2020-12-16 Verfahren zum erfassen wenigstens eines verkehrsteilnehmers WO2021122828A2 (de)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP20829905.7A EP4078230A2 (de) 2019-12-18 2020-12-16 Verfahren zum erfassen wenigstens eines verkehrsteilnehmers
JP2022535905A JP2023519061A (ja) 2019-12-18 2020-12-16 少なくとも１つの交通参加者を検出する方法
CN202080087799.6A CN114829972A (zh) 2019-12-18 2020-12-16 用于检测至少一个交通参与者的方法
US17/787,024 US20230008876A1 (en) 2019-12-18 2020-12-16 Method for detecting at least one road user
KR1020227022756A KR20220110543A (ko) 2019-12-18 2020-12-16 적어도 하나의 도로 사용자를 검출하는 방법

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019134985.0 2019-12-18
DE102019134985.0A DE102019134985B4 (de) 2019-12-18 2019-12-18 Verfahren zum Erfassen wenigstens eines Verkehrsteilnehmers

Publications (2)

Publication Number Publication Date
WO2021122828A2 WO2021122828A2 (de) 2021-06-24
WO2021122828A3 true WO2021122828A3 (de) 2021-08-12

Family

ID=74095834

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2020/086540 WO2021122828A2 (de) 2019-12-18 2020-12-16 Verfahren zum erfassen wenigstens eines verkehrsteilnehmers

Country Status (7)

Country Link
US (1) US20230008876A1 (de)
EP (1) EP4078230A2 (de)
JP (1) JP2023519061A (de)
KR (1) KR20220110543A (de)
CN (1) CN114829972A (de)
DE (1) DE102019134985B4 (de)
WO (1) WO2021122828A2 (de)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3252501A1 (de) * 2016-06-03 2017-12-06 Autoliv Development AB Verbesserte objekterkennung und bewegungsstatusschätzung für ein fahrzeugumgebungserkennungssystem

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012008350A1 (de) 2012-04-19 2013-10-24 S.M.S Smart Microwave Sensors Gmbh Verfahren und Vorrichtung zur Abstimmung von Abstand und Radialgeschwindigkeit eines Objekts mittels Radarsignalen
DE102013206707A1 (de) 2013-04-15 2014-10-16 Robert Bosch Gmbh Verfahren zur Überprüfung eines Umfelderfassungssystems eines Fahrzeugs
DE102017105783B4 (de) 2017-03-17 2020-06-10 S.M.S Smart Microwave Sensors Gmbh Verfahren zum Bestimmen eines Abstandes und einer Geschwindigkeit eines Objektes
DE102018205879A1 (de) 2018-04-18 2019-10-24 Volkswagen Aktiengesellschaft Verfahren, Vorrichtung und computerlesbares Speichermedium mit Instruktionen zur Verarbeitung von Sensordaten

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3252501A1 (de) * 2016-06-03 2017-12-06 Autoliv Development AB Verbesserte objekterkennung und bewegungsstatusschätzung für ein fahrzeugumgebungserkennungssystem

Also Published As

Publication number Publication date
JP2023519061A (ja) 2023-05-10
DE102019134985A1 (de) 2021-06-24
EP4078230A2 (de) 2022-10-26
US20230008876A1 (en) 2023-01-12
WO2021122828A2 (de) 2021-06-24
KR20220110543A (ko) 2022-08-08
CN114829972A (zh) 2022-07-29
DE102019134985B4 (de) 2022-06-09

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