DE10303587A1 - Angle-resolving location device for motor vehicles has multi-beam radar sensor, evaluation device has device that filters amplitudes with at least one amplitude received in preceding measurement cycle - Google Patents
Angle-resolving location device for motor vehicles has multi-beam radar sensor, evaluation device has device that filters amplitudes with at least one amplitude received in preceding measurement cycle Download PDFInfo
- Publication number
- DE10303587A1 DE10303587A1 DE10303587A DE10303587A DE10303587A1 DE 10303587 A1 DE10303587 A1 DE 10303587A1 DE 10303587 A DE10303587 A DE 10303587A DE 10303587 A DE10303587 A DE 10303587A DE 10303587 A1 DE10303587 A1 DE 10303587A1
- Authority
- DE
- Germany
- Prior art keywords
- radar
- amplitudes
- angle
- frequency
- amplitude
- Prior art date
- Legal status (The legal status 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 status listed.)
- Ceased
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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
- G01S13/48—Indirect determination of position data using multiple beams at emission or reception
-
- 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
- G01S13/02—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
- G01S13/345—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 triangular modulation
-
- 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
- G01S2013/9321—Velocity regulation, e.g. cruise 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
- G01S13/88—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
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
-
- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the 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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
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
Stand der TechnikState of technology
Die Erfindung betrifft Winkelauflösendes Ortungsgerät für den Einbau in Kraftfahrzeuge, mit einem Mehrstrahlradarsensor zur Ortung von Objekten in der Umgebung des Fahrzeugs in aufeinanderfolgenden Meßzyklen und einer Auswerteeinrichtung, die anhand der Amplituden der vom Mehrstrahlradarsensor empfangenen Radarechos die Richtungswinkel der georteten Objekte bestimmt.The invention relates to angular position finder for installation in motor vehicles, with a multi-beam radar sensor for locating Objects in the vicinity of the vehicle in successive measurement cycles and an evaluation device, which is based on the amplitudes of the Multi-beam radar sensor received radar echoes the directional angle of the located objects.
Aus
Bei einem statischen Mehrstrahlradar liegt die optische Achse des Radarsystems in Bezug auf das Fahrzeug fest. Sie ist vorzugsweise parallel zur Längsachse des Fahrzeugs. Diese optische Achse bildet dann zweckmäßigerweise die Bezugsachse für die Bestimmung der Richtungswinkel. Das Mehrstrahlradarsystem weist mehrere Empfangselemente auf, die ihr Empfindlichkeitsmaximum jeweils bei einer anderen Empfangsrichtung haben und die somit zusammen einen gewissen Winkelbereich abdecken. Da die Empfindlichkeitsbereiche der Empfangselemente einander überlappen, erhält man von einem einzelnen Radarobjekt Radarechos in mehreren Kanälen, d.h., in mehreren Empfangselementen. Für ein idealisiertes, annähernd punktförmiges Radarobjekt bei einem gegebenen Richtungswinkel besteht zwischen den in den verschiedenen Kanälen empfangenen Signalen eine charakteristische Phasen- und Amplitudenbeziehung. Durch die Laufzeitunterschiede der Radarechos vom Radarobjekt zu den verschiedenen Empfangselementen ergibt sich eine Phasendifferenz, die proportional zum Richtungswinkel und zum Abstand der Empfangselemente in der Richtung rechtwinklig zur optischen Achse und umgekehrt proportional zur Wellenlänge der Radarwellen ist. Die Amplitudenverhältnisse zwischen den empfangenen Signalen sind vom Richtungswinkel und von den Empfindlichkeitskurven der Empfangselemente abhängig und lassen sich für die interessierenden Richtungswinkel vorab experimentell bestimmen und in einem Referenzantennendiagramm festhalten. So ist es möglich, durch Auswertung der Phasenbeziehungen oder durch Auswertung der Amplitudenbeziehungen oder auch durch eine Kombination beider Auswertungsverfahren (Auswertung der komplexen Amplituden) den Richtungswinkel eines georteten Radarobjektes zu bestimmen.With a static multi-beam radar is the optical axis of the radar system in relation to the vehicle firmly. It is preferably parallel to the longitudinal axis of the vehicle. This the optical axis then expediently forms the reference axis for the Determination of the direction angle. The multi-beam radar system has several receiving elements that each have their maximum sensitivity in a different direction of reception and thus together cover a certain angular range. Because the sensitivity ranges the receiving elements overlap each other, receives one detects radar echoes from a single radar object in several channels, i.e. in several receiving elements. For a idealized, approximate punctate Radar object at a given directional angle exists between in the different channels received signals a characteristic phase and amplitude relationship. Due to the transit time differences of the radar echoes from the radar object the different receiving elements result in a phase difference, which are proportional to the directional angle and the distance of the receiving elements in the direction perpendicular to the optical axis and inversely proportional to the wavelength the radar waves is. The amplitude relationships between the received Signals are from the directional angle and the sensitivity curves dependent on the receiving elements and can be for experimentally determine the directional angles of interest beforehand and record it in a reference antenna diagram. So it is possible through Evaluation of the phase relationships or by evaluating the amplitude relationships or also by a combination of both evaluation methods (evaluation of the complex amplitudes) the directional angle of a located radar object to determine.
Die in den verschiedenen Kanälen empfangenen Hochfrequenzsignale werden durch Mischen mit einer Referenzfrequenz, unter Erhaltung der Phasen- und Amplitudenbeziehungen, in Niederfrequenzsignale umgewandelt, die sich in einer Auswertungselektronik auswerten lassen. Beispielsweise können die Niederfrequenzsignale mit Analog/Digital-Umsetzern digitalisiert und dann digital weiterverarbeitet werden. Zunächst wird für jeden Strahl des Mehrstrahlradars, d.h., für jedes der von den verschiedenen Empfangselementen erhaltenen Niederfrequenzsignale, ein Frequenzspektrum aufgenommen. Jedes Radarobjekt zeichnet sich im Spektrum in der Form eines Peaks ab, dessen Lage von der Dopplerverschiebung und damit von der Relativgeschwindigkeit des Objekts abhängig ist. Wenn die Sendefrequenz des Radarsystems moduliert wird, wie beispielsweise bei einem FMCW-Radar (Frequency Modulated Continuous Wave), ist die Lage der Peaks auch von der Laufzeit abhängig. wenn das gesendete Signal abwechselnd mit steigender und fallender Rampe moduliert wird, läßt sich aus dem Frequenzabstand der bei den verschiedenen Rampen erhaltenen Peaks der Abstand des Objekts und aus dem Mittelwert der Peak-Frequenzen die Relativgeschwindigkeit des Objekts berechnen. Mehrdeutigkeiten der empfangenen Signale bei gleichzeitiger Ortung mehrerer Objekte lassen sich dadurch beseitigen, daß bei der Frequenzmodulation die Rampensteigungen variiert werden. Zusammengehörige Peak-Paare lassen sich dann daran erkennen, daß die bei unterschiedlichen Rampensteigungen erhaltenen Relativgeschwindigkeiten und Objektabstände übereinstimmen. Durch Wiederholung der Radarmessungen in aufeinanderfolgenden Meßzyklen lassen sich die Bewegungen der Objekte verfolgen.The received in the different channels Radio frequency signals are generated by mixing with a reference frequency, while maintaining the phase and amplitude relationships, in low-frequency signals converted, which can be evaluated in evaluation electronics. For example the low-frequency signals are digitized with analog / digital converters and then digitally processed. First, for each beam of the multi-beam radar, i.e. for each of the low-frequency signals received by the various receiving elements, recorded a frequency spectrum. Every radar object stands out in the spectrum in the form of a peak, the position of which depends on the Doppler shift and thus depends on the relative speed of the object. If the transmission frequency of the radar system is modulated, such as on an FMCW radar (Frequency Modulated Continuous Wave), the location of the peaks is too depending on the term. if the transmitted signal alternates with rising and falling Ramp is modulated from the frequency spacing of those obtained with the different ramps Peaks the distance of the object and from the mean of the peak frequencies calculate the relative speed of the object. ambiguities of the received signals with simultaneous location of several objects can be eliminated by using frequency modulation the ramp slopes can be varied. Associated peak pairs can then be recognized by the fact that the different Ramp slopes obtained relative speeds and object distances match. By repeating the radar measurements in successive measurement cycles the movements of the objects can be tracked.
Reale Radarobjekte, insbesondere ausgedehnte Objekte wie beispielsweise LKWs, weisen jedoch zumeist mehrere Reflexionszentren auf, deren Radarechos sich in den verschiedenen Empfangselementen überlagern und miteinander interferieren. Hierdurch kann die Genauigkeit und Zuverlässigkeit der Winkelbestimmung beeinträchtigt werden.Real radar objects, in particular extensive objects such as trucks, however, mostly show several reflection centers, whose radar echoes can be found in the different Overlay receiving elements and interfere with each other. This allows the accuracy and Reliability of Angle determination affected become.
Vorteile der ErfindungAdvantages of invention
Aufgabe der Erfindung ist es, ein Ortungsgerät anzugeben, das gegenüber den bei realen Radarobjekten auftretenden Störeffekten robuster ist.The object of the invention is a Ortungsge advises to state that it is more robust against the interference effects that occur with real radar objects.
Diese Aufgabe wird bei einem Verfahren der eingangs genannten Art dadurch gelöst, daß die Auswerteeinrichtung eine Filtereinrichtung enthält, die die Amplituden mit mindestens einer in einem vorausge gangenen Meßzyklus empfangenen Amplitude filtert.This task is done in a process of the type mentioned in that the evaluation device a Contains filter device, which the amplitudes with at least one in a previous measuring cycle received amplitude filters.
Diese Lösung beruht auf der Beobachtung, daß durch die Filterung der für ein bestimmtes Objekt gemessenen Amplituden mit den Amplituden, die in vorausgegangenen Meßzyklen für dasselbe Objekt gemessen wurden, Signalverzerrungen und Interferenzeffekte deutlich gemindert werden können, so daß eine genauere und verläßlichere Winkelmessung ermöglicht wird.This solution is based on the observation that through filtering the for a certain object measured amplitudes with the amplitudes, those in previous measurement cycles for the same Object were measured, signal distortion and interference effects can be significantly reduced so that one more accurate and reliable Angle measurement enables becomes.
Vorteilhafte Ausgestaltungen der Erfindung ergeben sich aus den Unteransprüchen.Advantageous embodiments of the Invention result from the subclaims.
Für die Filterung wird jeweils mindestens ein Amplitudenwert aus einem vorausgegangenen Meßzyklus benötigt, doch kann die Filterung wahlweise auch auf der Grundlage der Ergebnisse mehrerer vorausgegangener Meßzyklen erfolgen, so daß die erhaltenen Amplitudenwerte noch stabiler werden. In einer Ausführungsform ist die Filtereinrichtung ein FIR-Filter, bei dem das Resultat der Filterprozedur von einer endlichen Auszahl vorausgegangener Meßergebnisse abhängig ist. In einer anderen Ausführungsform ist die Filtereinrichtung ein IIR-Filter, bei dem das Resultat einer Filterprozedur iterativ in die Filterprozedur für einen nachfolgenden Meßzyklus einfließt. Im Ergebnis führt dies dazu, daß die zeitlich weiter zurückliegenden Meßergebnisse mit nach und nach abnehmenden Gewichten in die Filterung eingehen.For the filtering is at least one amplitude value from each previous measuring cycle needed however, filtering can optionally be based on the results several previous measurement cycles take place so that the obtained amplitude values become even more stable. In one embodiment the filter device is a FIR filter, in which the result of the Filter procedure from a finite number of previous measurement results dependent is. In another embodiment the filter device is an IIR filter, in which the result of a Filter procedure flows iteratively into the filter procedure for a subsequent measuring cycle. As a result does this that the further back in time Measurement results enter the filtering with gradually decreasing weights.
Zeichnungdrawing
Ein Ausführungsbeispiel der Erfindung ist in den Zeichnungen dargestellt und in der nachfolgenden Beschreibung näher erläutert.An embodiment of the invention is shown in the drawings and in the description below explained in more detail.
Es zeigen:Show it:
Beschreibung des Ausführungsbeispielsdescription of the embodiment
In
In
Das Objekt
Die von den Empfangselementen
Zu dem Mehrstrahlradarsensor
Die Frequenzen der Niederfrequenzsignale am
Ausgang der Mischer
Die Niederfrequenzsignale NFr, NFm
und NFl werden in einem Analog/Digital-Umsetzer
In einem ersten Funktionsblock
In einem Normierungsblock
In der Filtereinrichtung
Gemäß einem ersten Ausführungsbeispiel ist
die Filtereinrichtung
Analog ist in modifizierten Ausführungsformen
auch die Filterung über
eine andere Zahl n von Meßzyklen
möglich:
Gemäß einer anderen Ausführungsform
ist die Filtereinrichtung
Hier ist β ein Gewichtsfaktor, der größer als
0 und kleiner als 1 ist, beispielsweise β = 0,25, und A'(t – 1) ist
der gefilterte Amplitudenwert, der in der Filterprozedur für den vorangegangenen
Meßzyklus
als Resultat erhalten wurde. Bei dieser Ausführungsform werden im Speicher
Natürlich kann die Filtereinrichtung
In jedem Fall werden durch die Filterprozedur
Störeffekte
und Ausreißer,
die durch Signalüberlagerungen
an den Empfangselementen
In einem weiteren Funktionsblock
Die drei gefilterten Amplitudenwerte
A'r(fmax), A'm(fmax)
und A'l(fmax) bei der Meßfrequeunz fmax werden
dann in einem Funktionsblock
Die theoretische Amplitude ARm für den mittleren
Kanal wird in
Die drei in entsprechender Liniendarstellung eingezeichneten
waagerechten Geraden in
Zur weiteren Steigerung der Genauigkeit ist es auch möglich, die oben für die Frequenz fmax beschriebene Prozedur für einige Nachbarfrequenzen zu wiederholen und dann als endgültiges Resultat für den Richtungswinkel denjenigen Winkel auszugeben, der bei der Frequenz gemessen wurde, bei der das Minimum der Abweichungsfunktion am kleinsten ist.To further increase the accuracy, it is also possible to repeat the procedure described above for the frequency f max for a few neighboring frequencies and then to output as the final result for the directional angle the angle that was measured at the frequency at which the minimum of the deviation function on is smallest.
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10303587A DE10303587A1 (en) | 2003-01-30 | 2003-01-30 | Angle-resolving location device for motor vehicles has multi-beam radar sensor, evaluation device has device that filters amplitudes with at least one amplitude received in preceding measurement cycle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10303587A DE10303587A1 (en) | 2003-01-30 | 2003-01-30 | Angle-resolving location device for motor vehicles has multi-beam radar sensor, evaluation device has device that filters amplitudes with at least one amplitude received in preceding measurement cycle |
Publications (1)
Publication Number | Publication Date |
---|---|
DE10303587A1 true DE10303587A1 (en) | 2004-08-12 |
Family
ID=32695043
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE10303587A Ceased DE10303587A1 (en) | 2003-01-30 | 2003-01-30 | Angle-resolving location device for motor vehicles has multi-beam radar sensor, evaluation device has device that filters amplitudes with at least one amplitude received in preceding measurement cycle |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE10303587A1 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006007173A1 (en) * | 2006-02-08 | 2007-08-09 | Valeo Schalter Und Sensoren Gmbh | Vehicle environment recognition system, in particular for the detection of objects coming to the side of the vehicle and / or approaching intersection traffic, and method therefor |
WO2010012801A1 (en) | 2008-07-31 | 2010-02-04 | Mitsubishi Electric Information Technology Centre Europe B.V. | Automotive radar with composite multi-slope fm chirp waveform |
DE102007058241B4 (en) | 2007-12-04 | 2022-07-07 | Robert Bosch Gmbh | Evaluation method, in particular for a driver assistance system of a motor vehicle, for object detection using a radar sensor |
US11885874B2 (en) * | 2018-12-19 | 2024-01-30 | Semiconductor Components Industries, Llc | Acoustic distance measuring circuit and method for low frequency modulated (LFM) chirp signals |
CN112313528B (en) * | 2018-06-21 | 2024-05-24 | 罗伯特·博世有限公司 | Analysis device and method for analyzing at least one radar sensor |
-
2003
- 2003-01-30 DE DE10303587A patent/DE10303587A1/en not_active Ceased
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006007173A1 (en) * | 2006-02-08 | 2007-08-09 | Valeo Schalter Und Sensoren Gmbh | Vehicle environment recognition system, in particular for the detection of objects coming to the side of the vehicle and / or approaching intersection traffic, and method therefor |
DE102007058241B4 (en) | 2007-12-04 | 2022-07-07 | Robert Bosch Gmbh | Evaluation method, in particular for a driver assistance system of a motor vehicle, for object detection using a radar sensor |
WO2010012801A1 (en) | 2008-07-31 | 2010-02-04 | Mitsubishi Electric Information Technology Centre Europe B.V. | Automotive radar with composite multi-slope fm chirp waveform |
US8599062B2 (en) | 2008-07-31 | 2013-12-03 | Mitsubishi Electric Corporation | Object detection with multiple frequency chirps |
CN112313528B (en) * | 2018-06-21 | 2024-05-24 | 罗伯特·博世有限公司 | Analysis device and method for analyzing at least one radar sensor |
US11885874B2 (en) * | 2018-12-19 | 2024-01-30 | Semiconductor Components Industries, Llc | Acoustic distance measuring circuit and method for low frequency modulated (LFM) chirp signals |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2044459B1 (en) | Angular resolving radar sensor | |
DE102018132745B4 (en) | FMCW RADAR WITH INTERFERENCE REJECTION IN THE TIME DOMAIN | |
EP1554602B1 (en) | Method for measuring distances and speeds of several objects by means of an fmcw radar | |
EP2507649B1 (en) | Method for unambiguously determining a range and/or a relative speed of an object, driver assistance device and motor vehicle | |
EP1380854A2 (en) | Method and radar system for determining the direction angle of radar objects | |
DE60203661T2 (en) | Method and radar for distance detection of a target | |
EP1628140B1 (en) | Interferometric monopulse receiving antenna with improved sidelobe suppression | |
EP2401630B1 (en) | Method for detecting icing at an angle-resolving radar sensor in a driver assistance system for motor vehicles | |
DE102019112469A1 (en) | RESOLUTION OF DOPPLER AMBIGUITIES IN A MULTI-INPUT-MULTI-OUTPUT RADAR USING DIGITAL MULTIPLE-PULSE SEQUENCE FREQUENCIES | |
EP3374792A1 (en) | Method for calibrating a sensor of a motor vehicle in order to measure an angle, computing device, driver assistance system, and motor vehicle | |
WO1994016340A1 (en) | Computerised radar process for measuring distances and relative speeds between a vehicle and obstacles in front of it | |
DE102006032539A1 (en) | FMCW radar sensor | |
DE602005001113T2 (en) | Method for imaging a target scene by means of scanning radar | |
DE102012021212A1 (en) | Method for detecting interference in a received signal of a radar sensor, driver assistance device and motor vehicle | |
DE102018202289A1 (en) | Angle-resolving broadband radar sensor for motor vehicles | |
DE102012024998A1 (en) | Method for determining lateral velocity of target object relative to motor vehicle by driver assistance system of motor vehicle, involves detecting value of radial velocity to two target echoes | |
EP1828804B1 (en) | Fmcw radar featuring suppression of stationary targets | |
WO2019170347A1 (en) | Method for unambiguoulsy determining the speed of an object on a radar measuring system | |
DE102018202864A1 (en) | Method and system for synthetic aperture radar signal processing | |
DE102012021239A1 (en) | A method for detecting an interference in a received signal of a radar sensor, Fahrassistzeinrichtung and motor vehicle | |
EP0534056A1 (en) | Method and device for measuring the speed of a moving object using at least one doppler radar sensor | |
DE10348216A1 (en) | Radar-based object-detection system for motor vehicle, detects distance to, or relative speeds between vehicle and vehicle in front based on detection peaks other than those of roadside objects | |
DE10303587A1 (en) | Angle-resolving location device for motor vehicles has multi-beam radar sensor, evaluation device has device that filters amplitudes with at least one amplitude received in preceding measurement cycle | |
DE2706875A1 (en) | PULSE RADAR UNIT | |
EP2182380B1 (en) | Method for detecting peak overlays in a discrete spectrum of a location signal |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
8110 | Request for examination paragraph 44 | ||
R016 | Response to examination communication | ||
R016 | Response to examination communication | ||
R002 | Refusal decision in examination/registration proceedings | ||
R002 | Refusal decision in examination/registration proceedings | ||
R003 | Refusal decision now final |