WO2023041327A2 - Radarsystem und verfahren unter verwendung eines virtuellen sensors - Google Patents
Radarsystem und verfahren unter verwendung eines virtuellen sensors Download PDFInfo
- Publication number
- WO2023041327A2 WO2023041327A2 PCT/EP2022/074237 EP2022074237W WO2023041327A2 WO 2023041327 A2 WO2023041327 A2 WO 2023041327A2 EP 2022074237 W EP2022074237 W EP 2022074237W WO 2023041327 A2 WO2023041327 A2 WO 2023041327A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- radar
- sensor
- sensors
- radar sensor
- virtual
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000005259 measurement Methods 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims description 20
- 238000011156 evaluation Methods 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 description 7
- 238000003491 array Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 5
- 239000010453 quartz Substances 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000001427 coherent effect Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/003—Bistatic radar systems; Multistatic radar systems
-
- 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
- G01S13/87—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
- 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
- G01S7/40—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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
- G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation
Definitions
- the present invention relates to a radar system that uses a virtual sensor to detect an elevation angle of a target.
- the invention relates to a radar system, which enables a calibration and/or misalignment detection of radar sensors of the radar system by means of a virtual sensor.
- the invention relates to a method for detecting the elevation angle of the target and/or for calibration and/or for misalignment detection using the virtual sensor.
- radar sensors are used to detect a target's distance, speed, and angle relative to the sensor.
- the azimuth angle which describes the angle to the target in the horizontal plane
- the elevation angle which describes the angle to the target in the vertical plane, i.e. along the height
- individual radar sensors emit a signal that is reflected by the target.
- the reflected signal is received and evaluated by the same radar sensor.
- the reflected signal is picked up by a second radar sensor that is spatially separated from the first radar sensor. The distance, speed, or angle of the target is then determined based on the known distance between the sensors.
- MIMO Multiple-Input-Multiple-Output
- Radar systems are known in which three radar sensors are used to detect both the azimuth angle and the elevation angle.
- the sensor data is either processed individually in each sensor by an independent target evaluation and then the identified identical targets of the multiple sensors are merged in a central control unit or an external computing device (also cloud computing). Or the sensor data are merged at the object level or at the location level in a central control unit.
- no additional target angle information is obtained from the combination of the sensors, but rather each sensor contributes its individually measured target angle information/data.
- a weighting of the reliability information of the individual sensors is often taken into account here.
- a radar system with at least three radar sensors is disclosed.
- the radar sensors are designed and arranged in such a way that their fields of view overlap.
- the radar sensors are connected to one another in a phase-coherent manner so that the phase differences of the antennas of the sensors can be evaluated together.
- the sensors are synchronized with one another by means of clock synchronization and/or high-frequency synchronization, for example via a common local oscillator, a quartz clock, a bus clock or the like.
- the at least three radar sensors thus form a phase-coherent, cooperative sensor network.
- a first radar sensor and a second radar sensor are arranged at a distance from one another.
- the radar sensors can be arranged in separate modules. Alternatively, the radar sensors can also be arranged at a distance from one another in a common housing.
- the first radar sensor and the second radar sensor are arranged at the same height on a common horizontal plane.
- the first radar sensor and the second radar sensor can be arranged in any plane and at any angle to the horizontal. Only the installation angles and positions of the at least three radar sensors need to be known.
- the first radar sensor and the second radar sensor form a virtual sensor through bistatic measurement using MIMO (Multiple-Input-Multiple-Output).
- a “virtual sensor” means an imaginary sensor that is synthesized from the combination of two real sensors. To generate a virtual sensor between the two real sensors, MIMO is used between the sensors. Both sensors send and receive the signal of the other sensor. This creates a virtual aperture over the two sensors, with the virtual sensor in the middle. Further radar sensors can be involved in the formation of the virtual sensor. The complete virtual aperture may be sparse. Provision can therefore be made to use only measurement path combinations of transmitting antennas and receiving antennas that belong to the virtual sensor.
- These measurement path combinations always represent bistatic measurements, ie one of the two sensors transmits and the other sensor receives and vice versa. Since the individual radar sensors can have multiple transmitting antennas and receiving antennas, there can also be multiple bistatic combinations that belong to the virtual sensor. The bistatic measuring paths belonging to the virtual sensor can then be evaluated in a known manner (as with a conventional radar sensor) - e.g. B. for detecting an azimuth angle of a target.
- a first solution according to the invention provides that at least a third radar sensor is arranged offset to the virtual sensor in order to detect an elevation angle.
- the arrangement of the radar sensors is such that the third radar sensor and the virtual sensor have different antenna positions in the vertical direction, ie with respect to the elevation.
- the antennas can be offset by different positioning of the sensors, but also only by an offset of the antennas within the sensors.
- the at least one third radar sensor can be offset in height from the virtual sensor.
- the at least one third radar sensor can be arranged rotated relative to the plane between the first radar sensor and the second radar sensor. The antennas of the sensors are offset in height due to the rotation, especially if they are the same radar sensors.
- the at least one third radar sensor can be rotated through 180° and arranged at the same height.
- An elevation angle of a target is detected by means of the virtual sensor and the at least one third sensor.
- the data from the virtual sensor and the data from the at least one third radar sensor are evaluated together in a phase-coherent manner in order to detect the elevation angle of the target.
- the joint evaluation can be based on raw data, e.g. B. time signals, spectra, etc., which take place at least three radar sensors.
- the evaluation of the raw data takes place in a manner known per se, analogously to an evaluation of individual sensors, with the difference that all data of the radar system are evaluated together in a phase-coherent manner, as if it were a single sensor.
- the joint evaluation can be based on at least partially pre-processed data.
- the multi-level evaluation of the pre-processed data is possible if the complex amplitude values of the radar sensors and the virtual sensor can be used. This allows the data to be calculated on different levels, e.g. by 2D-FFT (two-dimensional Fast Fourier Transformation), CFAR (constant false alarm rate) or by angle evaluation.
- the calculation steps carried out in each case take place in a manner known per se, analogously to those in the case of an evaluation of individual sensors. Calculation steps that have already taken place (e.g. 2D-FFT) can be left out.
- An exception is the coherent calculation based on already calculated target angles from the radar sensors.
- each of the radar sensors - and thus also the virtual sensor - supplies the complex-valued amplitude in addition to the angle after the angle evaluation.
- This type of evaluation corresponds to a new angle calculation.
- the angle calculations can be carried out with less effort each time, since the approximate azimuth angle and/or the approximate elevation angle can already be roughly calculated by the radar sensors and the phase-coherent joint evaluation only has to be carried out in a narrow angular range around the angle that has already been roughly calculated.
- the radar sensors and the virtual sensor work together in a phase-coherent manner in order to record the elevation angle as well as the azimuth angle.
- This makes it possible, even with radar sensors that only have a one-dimensional antenna arrangement and are therefore only able to measure a target angle in one plane (typically the azimuth angle). detect both the azimuth angle and the elevation angle in a second plane.
- the radar sensors already have a two-dimensional antenna arrangement with which the target angles can be recorded in two planes (i.e. the azimuth angle and the elevation angle), the radar sensors working in a phase-coherent network and the virtual sensor can provide the angular resolution in the second plane, i.e. typically for the elevation angle, improve.
- a second solution according to the invention provides that the third radar sensor is arranged at the location of the virtual sensor, therefore in the middle between the first radar sensor and the second radar sensor.
- the arrangement of the radar sensors is such that the third radar sensor and the virtual sensor have overlapping antenna positions in the vertical direction, ie with respect to elevation.
- Phase synchronization is carried out by overlapping the antenna channels of the virtual sensor and the at least one third radar sensor.
- the received phase information of at least one of the overlapping antenna channels of the virtual sensor and the phase information of at least one of the overlapping antenna channels of the at least one third radar sensor are compared.
- the phase information of the virtual sensor and the phase information of the at least one third radar sensor are evaluated together in a phase-coherent manner.
- phase synchronization allows each of the radar sensors to be calibrated. In the ideal case, the phase values of the overlapping channels then match during operation. Otherwise, the phases can be readjusted by taking the difference. If more than one antenna channel overlaps, misalignment can also be detected and/or corrected depending on the number and the positions of the overlapping elements.
- phase offset and phase gradient for the type of maladjustment.
- a phase offset is constant for all overlapping antenna channels and indicates an error in the assembly or the arrangement of the sensors with regard to the spatial directions.
- a phase gradient changes between several overlapping antenna channels and indicates an error caused by tilting or rotating the sensors in the direction of azimuth or elevation.
- the joint evaluation can be based on Raw data from the sensors are based and alternatively or additionally use pre-processed data.
- the advantage of the virtual sensor is that the memory and computing effort is reduced because measurement path combinations that are not required can be processed separately or discarded.
- the radar sensors can all be of the same design. Alternatively, the radar sensors can be designed differently from one another. In particular, the third radar sensor can differ from the first radar sensor and from the second radar sensor. However, the first radar sensor and the second radar sensor can also differ.
- the elevation angle can be detected as a function of the distance to the target.
- the improvement in the elevation resolution through the combined evaluation is advantageous above all at greater distances to the target in order to detect small obstacles at an early stage. In the close-up range, an evaluation with poorer resolution is sufficient.
- the radar system therefore does not have to evaluate all data from all sensors at the same time, but can carry out a joint or separate evaluation, e.g. depending on the distance to the target.
- the calculation of the elevation angle (and the azimuth angle) using the virtual sensor in the radar system is preferably carried out in an electronic control unit of the radar sensors of the radar system.
- the elevation angle (and the azimuth angle) can also be calculated in the central control unit.
- the computer program is set up to carry out each step of the method, in particular when it is carried out on a control device. It enables the method to be implemented in a conventional electronic control unit without making structural changes to it must. For this purpose, it is stored on the machine-readable storage medium.
- the electronic control unit is obtained, which is set up to detect the elevation angle of a target and/or to carry out a calibration and/or a misalignment detection of radar sensors. As described above, it can be an electronic control unit of a radar sensor or a central electronic control unit or an external computing device, in particular in the context of cloud computing.
- the radar system is preferably used in a motor vehicle.
- the radar sensors are preferably arranged at the front and optionally at the rear of the vehicle.
- the radar system and in particular the generation of the virtual sensor are not tied to a vehicle axis or a specific alignment.
- the radar system can be applied to all relevant field of view levels in the vehicle.
- FIGS. 1a to f show schematic representations of different configurations of the radar system according to the invention.
- FIG. 2 shows a schematic representation of a first exemplary embodiment of the radar system according to the invention.
- FIG. 3 shows a schematic representation of a second exemplary embodiment of the radar system according to the invention.
- FIG. 4 shows a schematic representation of a third exemplary embodiment of the radar system according to the invention.
- FIG. 5 shows a flow chart of an exemplary embodiment of the method according to the invention.
- FIGS 1 a - f show different arrangements of a first radar sensor 1, a second radar sensor 2 and a third radar sensor 3 in the assembly of the radar system according to the invention.
- the radar sensors 1, 2, 3 each have an antenna array 10-13, 20-23, 30-33 with which radar signals can be transmitted and received.
- the radar sensors 1, 2, 3 can be of the same design or different. For this purpose, reference is made to the individual exemplary embodiments. All radar sensors 1, 2, 3 are connected to one another by means of MIMO (multiple input multiple output) and can receive and evaluate the radar signal from the other radar sensors 1, 2, 3 in each case.
- MIMO multiple input multiple output
- the radar sensors 1, 2, 3 are phase-coherently coupled to one another, so that the phase differences of the antenna arrays 10-13, 20-23, 30-33 of each radar sensor 1, 2, 3 can be evaluated together. These couplings are shown as arrows in FIGS. 1a-f.
- the first radar sensor 1 and the second radar sensor 2 carry out a bistatic measurement using MIMO.
- the first radar sensor 1 and the second radar sensor 2 are synchronized with one another by means of clock synchronization and high-frequency synchronization. As a result, a virtual aperture 4 is formed, which encompasses the area of the integrated radar sensors 1, 2.
- the third radar sensor 3 acts as a master, which emits a radar signal with a cycle (clock).
- the clock is generated, for example, by a local oscillator, a quartz clock or a bus clock.
- the radar signal from the third radar sensor 3 is received by the two radar sensors 1 , 2 .
- Radar sensors 1, 2 act as slaves and emit a radar signal that is phase-coherent with the radar signal of third radar sensor 3.
- the third radar sensor 3 is arranged in a higher position than the other two radar sensors 1, 2.
- the antenna array 30 of the third sensor 3 is thus arranged in the vertical direction above the antenna array 10 of the first radar sensor 1 and the antenna array 20 of the second radar sensor 2 and the virtual aperture 4 .
- it can also be provided to arrange the third radar sensor 3 underneath.
- all of the radar sensors 1, 2, 3 and all of their antenna arrays 10, 20, 30 are identical educated.
- the exemplary embodiment according to FIG. 1b differs from the exemplary embodiment according to FIG a third antenna array 30, each of which is different from one another.
- the first radar sensor 1 and/or the second radar sensor 2 are repeaters, for example.
- two of the radar sensors 1, 2, 3 can also be of the same design and only one can differ.
- all radar sensors 1, 2, 3 are at the same level and are of identical design.
- the third radar sensor 3, which is located in the middle of the other two radar sensors 1, 2, is rotated through 180°.
- the antenna array 30 of the third sensor is also arranged at a different height than the antenna arrays 10, 20 of the other two radar sensors 1, 2.
- FIG. 1d shows an arrangement in which the first radar sensor 1 and the third radar sensor 3 are arranged at the same height and are of identical design.
- the second radar sensor 2 is arranged above the other two radar sensors 1, 3 and also differs structurally from the other two radar sensors 1, 3, above all by a different antenna array 22.
- the third radar sensor 3 is arranged in an edge position.
- the virtual aperture 4 is formed by the first radar sensor 1 and the second radar sensor 2 .
- all radar sensors 1, 2, 3 are arranged at different heights and are designed differently from one another with different antenna arrays 11, 22, 30.
- the third radar sensor 3 is located in the middle of the other two radar sensors 1, 2.
- the virtual aperture 4 is formed by the first radar sensor 1 and the second radar sensor 2.
- the third sensor has antenna positions that overlap with a virtual sensor (not shown here).
- the virtual sensor creates a redundancy with respect to the third radar sensor 3.
- a central control device 5 is provided, which is connected to the radar sensors 1, 2, 3 in each case.
- the radar sensors 1, 2, 3 are referred to here as satellite sensors and act as quasi-slaves.
- the central control device uses a local oscillator (or alternatively using a quartz clock or a bus clock), the central control device generates a common phase/frequency reference signal as a clock for the coherent processing.
- the radar sensors 1, 2, 3 are phase-coherently synchronized via the common phase/frequency reference signal.
- the arrangement of the radar sensors 1, 2, 3 is analogous to the exemplary embodiment according to FIG. 1c, but is not limited to this.
- the arrangements of the radar sensors 1, 2, 3 according to FIGS. 1a-f can also be mirrored.
- Radar sensors 1, 2, 3 and virtual aperture 4, which is formed by first radar sensor 1 and the second radar sensor, are shown in FIGS. 2 to 4, as already described with reference to FIG.
- the radar sensors 1, 2, 3 are arranged here according to the exemplary embodiment from FIG. 1a, ie the third radar sensor 3 is arranged in the middle of the other two radar sensors 1, 2 and at a height above them.
- the detection of the elevation angle is not limited to this arrangement, however, and any other arrangement of the radar sensors 1, 2, 3, in particular any arrangement shown in FIGS. 1b-f, including the arrangement of the third radar sensor 3 in an edge position, can be used become.
- the signals evaluated in each case depend on the arrangement of the radar sensors 1, 2, 3.
- the clock can be obtained from one of the radar sensors 1, 2, 3, in particular from the third radar sensor 3 acting as the master, or from a central control unit 5, as in Exemplary embodiment described for Figure 1 f, are specified.
- a virtual sensor 6 is also shown in FIGS. 2 to 4, which is formed by the bistatic measurement of the real first radar sensor 1 and the real second radar sensor 2 using MIMO.
- the virtual sensor 6 is in the Center of the virtual aperture 4 of the two radar sensors 1, 2 formed.
- the virtual sensor 6 correspondingly has a virtual antenna array 60 or 63 .
- the data from the virtual sensor 6 formed from the bistatic measurement is combined with the data from the real third radar sensor 3, which carries out a monostatic measurement.
- the third radar sensor 3 is offset in height with respect to the virtual sensor 6--in this example, the third radar sensor 3 is above the virtual sensor 6, in other examples that are not shown it is below.
- the virtual sensor 6 and the third radar sensor 3 in turn form a virtual aperture 7.
- the radar sensors 1, 2, 3 each have one-dimensional antenna arrays 10, 20, 30.
- the virtual aperture 7 extends in the elevation direction and includes the sensor surface of the one-dimensional antenna array 30 of the third radar sensor 3 and the virtual antenna array 60 of the virtual sensor 6.
- the radar sensors 1, 2, 3 each have a two-dimensional antenna array 13, 23, 33.
- the combined evaluation of the bistatic measurement via the virtual sensor 6 and the monostatic measurement via the real third radar sensor 3 improves the resolution when detecting the elevation angle.
- the antenna array 33 of the real third radar sensor 3 and the virtual antenna array 63 of the virtual sensor 6 do not overlap. The best possible resolution is thus achieved when recording the elevation angle.
- the third exemplary embodiment according to FIG. 4 there is an overlap 8 of the antenna array 33 of the real third radar sensor 3 with the virtual antenna array 63 of the virtual sensor 6.
- an additional phase calibration of the third radar sensor 3 and the virtual sensor 6 can take place—and thus indirectly also of the two real radar sensors 1, 2 - to be carried out.
- a correction value for the phase can be determined by comparing the measurements of the overlapping measurement channels mentioned .
- This correction value can also be applied to the non-overlapping antenna channels of the respective sensor 3, 6.
- an error in the assembly or arrangement of the radar sensors 1, 2, 3 can also be determined by comparison with a static target.
- the raw data, ie time signals, spectra etc., for example, from the third radar sensor 3 and the virtual sensor 6 can be evaluated.
- pre-processed data are evaluated, as shown in FIG.
- the radar sensors 1, 2, 3 carry out a measurement 100.
- Each radar sensor 1, 2, 3 records a large number of detections, for example a distance, a relative speed, an azimuth angle, an area and possibly also an elevation angle of targets.
- the detections of the first radar sensor 1 are denoted by 101 in FIG. 5, the detections of the second radar sensor 2 are denoted by 102 and the detections of the third radar sensor 3 are denoted by 103.
- a virtual sensor 6 is formed 104 by bistatic measurement of the first radar sensor 1 and the second radar sensor 2 using MIMO.
- the detections 101, 102 of the first radar sensor 1 and the second radar sensor 2 linked via the virtual sensor 6 are compared with the detections 103 of the third radar sensor 3 compared 105. In this case, individual detections can be offset against one another, which reduces the required data rate between the sensors 3, 6.
- the spatial positions of the detections 101, 102, 103 and the relevant areas of the detections 101, 102, 103 for the sensors 3, 6 are compared with one another. If the detections 101, 102, 103 do not match, a misalignment is recognized and/or corrected 106. If there is sufficient match, joint processing 107 is carried out by offsetting the complex amplitudes of the detections 101, 102, 103 with one another.
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)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202280062152.7A CN117940798A (zh) | 2021-09-14 | 2022-08-31 | 使用虚拟传感器的雷达系统和方法 |
KR1020247011614A KR20240055085A (ko) | 2021-09-14 | 2022-08-31 | 가상 센서를 사용하는 레이더 시스템 및 방법 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102021210121.6A DE102021210121A1 (de) | 2021-09-14 | 2021-09-14 | Radarsystem und Verfahren unter Verwendung eines virtuellen Sensors |
DE102021210121.6 | 2021-09-14 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2023041327A2 true WO2023041327A2 (de) | 2023-03-23 |
WO2023041327A3 WO2023041327A3 (de) | 2023-06-22 |
Family
ID=83361171
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2022/074237 WO2023041327A2 (de) | 2021-09-14 | 2022-08-31 | Radarsystem und verfahren unter verwendung eines virtuellen sensors |
Country Status (4)
Country | Link |
---|---|
KR (1) | KR20240055085A (de) |
CN (1) | CN117940798A (de) |
DE (1) | DE102021210121A1 (de) |
WO (1) | WO2023041327A2 (de) |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016224900A1 (de) * | 2016-12-14 | 2018-06-14 | Robert Bosch Gmbh | MIMO-Radarsensor für Kraftfahrzeuge |
US11656325B2 (en) * | 2017-12-19 | 2023-05-23 | The Board Of Trustees Of The Leland Stanford Junior University | Methods and apparatus to realize scalable antenna arrays with large aperture |
DE102019201138A1 (de) * | 2019-01-30 | 2020-07-30 | Zf Friedrichshafen Ag | Sensorsystem zum Detektieren eines Objekts in einer Umgebung eines Fahrzeugs |
DE102019112078A1 (de) * | 2019-05-09 | 2020-11-12 | Robert Bosch Gmbh | Kohärentes, multistatisches Radarsystem, insbesondere zur Verwendung in einem Fahrzeug |
DE102019219649A1 (de) * | 2019-12-16 | 2021-06-17 | Robert Bosch Gmbh | Kooperatives Radarsensorsystem mit winkelauflösenden Radarsensoren |
-
2021
- 2021-09-14 DE DE102021210121.6A patent/DE102021210121A1/de active Pending
-
2022
- 2022-08-31 WO PCT/EP2022/074237 patent/WO2023041327A2/de active Application Filing
- 2022-08-31 CN CN202280062152.7A patent/CN117940798A/zh active Pending
- 2022-08-31 KR KR1020247011614A patent/KR20240055085A/ko unknown
Also Published As
Publication number | Publication date |
---|---|
CN117940798A (zh) | 2024-04-26 |
DE102021210121A1 (de) | 2023-03-16 |
WO2023041327A3 (de) | 2023-06-22 |
KR20240055085A (ko) | 2024-04-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE102016220735B4 (de) | Vorrichtung zum Schätzen des Ankunftswinkels und Vorrichtung zur Strahlenbündelung | |
EP1637902B1 (de) | Verfahren und Vorrichtung zur interferometrischen Radarmessung | |
EP3803454B1 (de) | Synthetik-apertur-radarverfahren und synthetik-apertur-radarvorrichtung | |
DE102017221047A1 (de) | Radarvorrichtung und fehlerkorrekturverfahren dafür | |
WO2012136494A1 (de) | Verfahren zum bestimmen eines korrekturwerts für die messung eines zielwinkels mit einem radargerät, fahrerassistenzsystem und kraftfahrzeug | |
DE102018210070A1 (de) | Verfahren zur Kalibrierung eines MIMO-Radarsensors für Kraftfahrzeuge | |
EP3143712A1 (de) | Verfahren zur kalibrierung eines mimo-radarsensors für kraftfahrzeuge | |
EP2405281A1 (de) | Verfahren und Vorrichtung zur Bestimmung der Position und Orientierung eines mobilen Senders | |
DE102020115709B3 (de) | Automobilradaranordnung und verfahren zur objektdetektion durch ein fahrzeugradar | |
DE102019204604A1 (de) | Verfahren zum Ermitteln einer Dejustage eines Radarsensors | |
DE19730306C2 (de) | Verfahren zur Synchronisation von Navigationsmeßdaten mit SAR-Radardaten und Einrichtung zur Durchführung dieses Verfahrens | |
DE102018215359A1 (de) | Radarvorrichtung für ein fahrzeug und verfahren zum schätzen eines winkels unter verwendung derselben | |
EP4211490A1 (de) | Verfahren, radarsystem und fahrzeug zur signalverarbeitung von radarsignalen | |
WO2003001233A1 (de) | Verfahren zum passiven bestimmen von zieldaten | |
DE102019211722B3 (de) | Kraftfahrzeug und Verfahren zum Betrieb von Radarsensoren in einem Kraftfahrzeug | |
DE102018200765A1 (de) | FMCW-Radarsensor | |
WO2023041327A2 (de) | Radarsystem und verfahren unter verwendung eines virtuellen sensors | |
DE102020109611A1 (de) | Radarsystem mit balancing der empfangskanäle über mehrere radar-chips | |
DE102019114876B4 (de) | Radarantennenanordnung für ein Fahrzeug, umfassend zumindest ein Fahrzeugbauteil, und Fahrzeug | |
EP3966593A1 (de) | Kohärentes, multistatisches radarsystem, insbesondere zur verwendung in einem fahrzeug | |
DE102020211745A1 (de) | Verfahren zur Auswertung von Radarsignalen in einem Radarsystem mit mehreren Sensoreinheiten | |
DE112019005851T5 (de) | Radarvorrichtung, fahrzeug und objektpositionserfassungsverfahren | |
DE2125675C3 (de) | Bord-Schrägsicht-Kohärentradar mit synthetischer Antenne und Festzeichen-Dopplerkompensation | |
WO2023110255A1 (de) | Verfahren und steuergerät zum erkennen von fehlerbehafteten antennensignalen eines radarsensors mit mehreren antennen | |
DE102016012513B3 (de) | Verfahren und Vorrichtung zur Ermittlung einer Bewegungsrichtung und Geschwindigkeit von einem bewegten Emitter |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 22772878 Country of ref document: EP Kind code of ref document: A2 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 202280062152.7 Country of ref document: CN |
|
ENP | Entry into the national phase |
Ref document number: 20247011614 Country of ref document: KR Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2022772878 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2022772878 Country of ref document: EP Effective date: 20240415 |