EP2186161B1 - Radar sensor device - Google Patents
Radar sensor device Download PDFInfo
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- EP2186161B1 EP2186161B1 EP08786260A EP08786260A EP2186161B1 EP 2186161 B1 EP2186161 B1 EP 2186161B1 EP 08786260 A EP08786260 A EP 08786260A EP 08786260 A EP08786260 A EP 08786260A EP 2186161 B1 EP2186161 B1 EP 2186161B1
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- EP
- European Patent Office
- Prior art keywords
- radar
- integrated
- radar sensor
- sensor apparatus
- sensor devices
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- 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.)
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Classifications
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- 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
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/42—Housings not intimately mechanically associated with radiating elements, e.g. radome
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q19/00—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic
- H01Q19/06—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using refracting or diffracting devices, e.g. lens
- H01Q19/062—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using refracting or diffracting devices, e.g. lens for focusing
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- 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
- H01Q21/061—Two dimensional planar arrays
- H01Q21/065—Patch antenna array
Definitions
- the present invention relates to a radar sensor device.
- a speckle radar sensor device for speed measurement according to the transit time correlation method consists of at least two sensor devices according to the radar principle and an evaluation device for evaluating the detected speckle patterns.
- Speckle radar sensor devices are usually mounted on the vehicle to send and receive directly perpendicular to the ground.
- the receive signals mixed down to the baseband are examined for their similarity.
- a common mathematical method for this is the cross-correlation.
- An evaluation principle which is favorable in terms of the signal processing effort represents the transit time correlator.
- the DE 10 2004 059 332 A1 discloses a radar transceiver wherein an oscillator, a mixer and an antenna are arranged on a single chip in a plane next to one another. Since the radiating element is integrated on such chips, one no longer requires cost-intensive HF-suitable printed circuit boards. In addition, you save on complex HF bond or flip-chip technology, which significantly reduces assembly and test costs.
- the DE 196 42 810 C1 discloses a radar system with an integrated sensor device, wherein in the beam direction in the housing is a dielectric lens which serves on the one hand for beam shaping and on the other hand protects the sensor device and other components from contamination and other environmental influences.
- a microwave lens antenna assembly for a vehicle proximity warning radar is described.
- the housing of the microwave lens antenna arrangement has exactly one dielectric lens formed as a stepped lens, in the focal plane of which three mutually horizontally arranged, separately switchable exciters are arranged.
- the housing of the device also has a dielectric lens, to which several transmitting and receiving elements can be assigned.
- the inventive radar sensor device defined in claim 1 reduces the cost and space requirements for a radar sensor device, which is preferably used for determining speed vectors of a vehicle relative to the roadway below the vehicle.
- a cost-effective sensor device with an evaluation device, which has a particularly low computational cost, an attractive solution can be realized that brings greatly reduced overall costs. Due to the highly integrated design, space-saving designs are possible which greatly facilitate the use in the motor vehicle sector.
- the vertical orientation of the speckle radar device to the ground makes the availability of an evaluable signal particularly in difficult underground situations, such as e.g. Extreme wetness or black ice increased, since with vertical radiation and vertical reception of the radar beam can not be reflected away.
- the speckle radar system for small velocity vectors has a greater evaluation dynamic than the Doppler approach. This is advantageous for the function of a float angle sensor, since even there low speeds must be detected.
- a signal processing device for processing the signals of the sensor devices is attached to the substrate. This further increases the compactness of the structure.
- the signal processing device is then designed as a separate chip, which is connected to the sensor devices via conductor tracks.
- the integrated sensor devices are integrated into individual chips such that each chip has exactly one antenna device.
- the integrated sensor devices it is also possible for the integrated sensor devices to be integrated in one or more chips such that at least one chip has a plurality of antenna devices.
- FIG. 10 is a schematic diagram of a radar sensor device according to a first embodiment of the present invention.
- Reference numeral 50 denotes a speckle radar sensor device.
- Integrated sensor devices S1, S2, S3 and a signal evaluation device 20 as a respective chip 411, 412, 413, 21 are mounted on a substrate 52 in the form of a printed circuit board.
- the substrate 52 has a planar surface O on which the chips 411, 412, 413, 21 are attached, for example by gluing.
- the sensor devices are designed such that they radiate via a respective antenna device 451, 452, 453 radar signals in a respective direction away from the surface O signal direction SI1, SI2, SI3 and can receive from the respective signal direction SI1, SI2, SI3.
- On the antenna devices 451, 452, 453, by way of example, in each case a rod-shaped, dielectric beam pre-shaping device or lens 421, 422, 423 is arranged.
- the speckle radar sensor device 50 has a housing 51 and the substrate 52 encloses.
- the wall portion W of the housing 51 is preferably aligned parallel to the surface O of the substrate 52.
- beam-shaping elements 431, 432, 433 which are arranged such that each one Sensor device S1, S2, S3 is associated with a beam-shaping elements 431, 432, 433 in its associated signal direction SI1, SI2, SI3.
- the connection between the substrate 52 and the housing 51 can be accomplished in many different ways, for example, by gluing, soldering, welding, screwing, etc.
- the housing 51 with the integral beam-shaping elements 431, 432, 433 becomes one-piece formed from a moldable or castable material.
- the Signalauswert worn 20 controls the process of sending and receiving radar signals by the sensor devices S1, S2, S3, with which it is connected via conductor tracks L1, L2, L3.
- the sensor devices S1, S2, S3 In the arrangement of the sensor devices S1, S2, S3 according to the example of FIG. 1 For example, it is possible to determine a speed along the axis on which the sensor devices S1, S2 lie, and an orthogonal speed along the axis on which the sensor devices S2, S3 are located.
- the speeds determined in this way can be output as an output signal OUT from the signal evaluation device 20 to the outside of the radar sensor device 50 in order, for example, to be displayed on a display or used for further processing in a vehicle safety system (eg ESP).
- ESP vehicle safety system
- Fig. 2a, b are partial enlargements of a sensor device of Fig. 1 ,
- FIG. 2a is an enlargement of the section A1 of Fig. 1 shown, wherein the sensor device S1 is shown enlarged.
- FIG. 2b shows the structure of the chip 411 of the sensor device S1 without attached dielectric preforming device 421.
- the chip 411 in this embodiment combines an RF source 441, a reference source R, an antenna element 451, and a mixer 461.
- the output of the mixer provides a signal SX, which is used in addition to other signals for cross-correlation detection.
- the quality of the speckle evaluation can be controlled or set via beam shaping by means of the rod-shaped dielectric lens 421 or beam shaping via the beam-shaping lens 431.
- the described sensor devices S1, S2, S3 preferably send out electromagnetic waves at a constant frequency in the direction of the roadway.
- the electromagnetic signals which are reflected perpendicularly and are again received by the respective sensor device S1, S2, S3 are preferably down-converted to baseband (i.e., at the transmission frequency) and fed to the signal processing device 20.
- baseband i.e., at the transmission frequency
- a known delay correlator can be used. This will produce one of the baseband signals, e.g. SX are shifted in time until the comparison with the signal from the other sensor means located on the same axis shows a maximum match. From the shift time and distance of the sensor devices on the substrate 52, one can determine a velocity vector over the ground along the relevant axis of the radar sensor device.
- the output signals of the sensor devices S1, S2, S3 must be freed from the mean value before the comparison in a preferred A / D conversion.
- the essential speckle information lies in the zero crossings of the signals of the sensor devices S1, S2, S3 freed from the mean value. These signals can be sampled amplitude-limited, for example in an A / D converter, or polarized via the signum function in order to greatly reduce the amount of data to be processed.
- Fig. 3 is a sensor device of a radar sensor device according to a second embodiment of the present invention.
- sensor device S1 ' which is integrated in a chip 411', 3 antenna devices 451 a, 451b, 451 c, two mixers 461 a, 461b, a reference source R, and an RF source 441 on.
- the mixers 461a, 461b provide respective output signals SX1, SX2.
- the sensor device S1 'of this embodiment operates such that only the antenna element 451a is used to radiate radar signals, whereas the antenna elements 451b, 451c are used exclusively for receiving reflected radar signals. This can improve the signal quality of SX1 and SX2 (e.g., by reducing noise).
- Fig. 4 is sensor devices of a radar sensor device according to a third embodiment of the present invention.
- the functionality of the sensor device S1'a, S1'b, S1'c according to Fig. 4 corresponds to the functionality of the sensor device S1 'according to Fig. 3 , However, the components are built on three individual chips 411'a, 411'b, 411'c.
- the chip 411a includes the antenna element 451'a, the reference source R and the mixer 441.
- the chip 411'b includes the antenna element 451'b and the mixer 461a '.
- the chip 411'c contains the antenna element 451'c and the mixer 461 b '.
- FIG. 10 is an arrangement of sensor devices of a radar sensor device according to a fourth embodiment of the present invention.
- the arrangement of the sensor devices S11, S21, S23, S31 according to FIG. 5 is cruciform.
- the sensor device S22 is used only for emitting radar signals, whereas the sensor devices S11, S21, S23, S31 are used only for receiving radar signals.
- the speed in the direction of travel FR, ie along the x-axis can be determined by means of the sensor devices S21, S22, S23.
- the speed perpendicular to the direction of travel FR, ie in the y direction can be determined by the sensor devices S11, S22, S31.
- FIG. 10 is an arrangement of sensor devices of a radar sensor device according to a fifth embodiment of the present invention.
- arrangement of the sensor devices S01-S09 is provided a matrix-shaped arrangement in columns and rows.
- all sensors S01-S09 are suitable for emitting and receiving radar signals.
- the accuracy can be increased or a redundancy can be provided for the case of the failure of one or more of the sensor devices.
- the evaluation device 20 may be integrated in the radar sensor device 50 or may also be provided in a separate housing.
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- Computer Security & Cryptography (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
Die vorliegende Erfindung betrifft eine Radarsensorvorrichtung.The present invention relates to a radar sensor device.
Obwohl auf beliebige Radarsensorvorrichtungen anwendbar, werden die vorliegende Erfindung und die ihr zugrundeliegende Problematik im Hinblick auf einen Einsatz in Automobilen erläutert.Although applicable to any radar sensor devices, the present invention and its underlying problems are discussed with respect to use in automobiles.
Analysen haben gezeigt, dass eine erhebliche Anzahl von Verkehrsunfällen durch rechtzeitiges Erkennen von Gefahren und durch entsprechende angemessene Fahrmanöver vermieden werden kann. Eine Vermeidung kann durch geeignete Warnhinweise an den Fahrer oder durch automatische longitudinale und/oder laterale Kontrolle des Fahrzeugs erreicht werden. Eine Voraussetzung für die Wahrnehmung der Gefahrensituation sind geeignete Sensorvorrichtungen.Analyzes have shown that a significant number of road accidents can be avoided by timely detection of hazards and appropriate maneuvers. Avoidance can be achieved by appropriate warnings to the driver or by automatic longitudinal and / or lateral control of the vehicle. A prerequisite for the perception of the dangerous situation are suitable sensor devices.
Seit längerer Zeit werden Radarsysteme im Millimeterwellenbereich als Fahrerassistenzsysteme zur Wahrnehmung von Gefahren bzw. als Sensoren eingesetzt. Eine Speckle-Radarsensorvorrichtung zur Geschwindigkeitsmessung nach dem Laufzeit-Korrelationsverfahren besteht aus mindestens zwei Sensoreinrichtungen nach dem Radar-Prinzip und einer Auswertungseinrichtung zum Auswerten der erfassten Speckle-Muster. Speckle-Radarsensorvorrichtungen sind üblicherweise derart am Fahrzeug montiert, dass sie direkt senkrecht zum Boden senden und empfangen. Bei der Speckle-Musterauswertung werden die ins Basisband heruntergemischten Empfangssignale auf ihre Ähnlichkeit hin untersucht. Ein gängiges mathematisches Verfahren dafür ist die Kreuz-Korrelation. Ein gemessen am Signalverarbeitungsaufwand günstiges Auswertungsprinzip stellt der Laufzeit-Korrelator dar.Radar systems in the millimeter-wave range have long been used as driver assistance systems to detect dangers or as sensors. A speckle radar sensor device for speed measurement according to the transit time correlation method consists of at least two sensor devices according to the radar principle and an evaluation device for evaluating the detected speckle patterns. Speckle radar sensor devices are usually mounted on the vehicle to send and receive directly perpendicular to the ground. In the speckle pattern evaluation, the receive signals mixed down to the baseband are examined for their similarity. A common mathematical method for this is the cross-correlation. An evaluation principle which is favorable in terms of the signal processing effort represents the transit time correlator.
Wenn mehr als zwei Sensoreinrichtungen verwendet werden, kann man über eine differenzielle Auswertung jeweils zweier Sensoreinrichtungen ein vom Mittelwert befreites Signal zur weiteren noch einfacheren Auswertung erzeugen. Wenn man sich beispielsweise auf drei Sensoren beschränkt, kann man den mittleren Sensor doppelt mit den jeweils benachbarten Sensoren zur Differenzbildung ver wenden. Durch ein Polarisieren der Signale kann man, d.h. durch Anwendung der Signum-Funktion, vor der Korrelationsauswertung weiteren Auswerteaufwand reduzieren. Ordnet man mindestens drei Sensoren in einer Ebene an, so kann man über die zweidimensional gewonnenen Geschwindigkeitsvektoren herausfinden, ob sich ein Fahrzeug in einer gefährlichen Fahrsituation, z.B. Schleudern oder Schwimmen, befindet.If more than two sensor devices are used, one can generate a signal freed from the mean value for a further, even simpler evaluation via a differential evaluation of two sensor devices. For example, if you limit yourself to three sensors, you can use the middle sensor twice with the adjacent sensors to calculate the difference turn. By polarizing the signals, one can reduce further evaluation effort, ie by using the signum function, before the correlation evaluation. If one arranges at least three sensors in one plane, then one can find out via the two-dimensionally obtained velocity vectors whether a vehicle is in a dangerous driving situation, eg skidding or swimming.
Um solche Geschwindigkeitsvektoren zweidimensional zu messen bzw. zu erfassen, gibt es ein weiteres Verfahren, bei dem die Sensoreinrichtungen nicht senkrecht, sondern schräg auf die Fahrbahnoberfläche schauen. Die Auswertung der Ausgangssignale dieser Sensoreinrichtungen basieren auf dem Dopplerprinzip. Dabei wird die geschwindigkeitsabhängige Frequenzverschiebung zwischen dem empfangenen und ausgesendeten Signal festgestellt. Für die zweidimensionale Messung der Geschwindigkeitsvektoren sind auch bei diesem Prinzip mehrere Sensoreinrichtungen nach dem Radar-prinzip notwendig.In order to measure or detect such velocity vectors two-dimensionally, there is another method in which the sensor devices do not look perpendicularly but obliquely onto the roadway surface. The evaluation of the output signals of these sensor devices are based on the Doppler principle. In this case, the speed-dependent frequency shift between the received and transmitted signal is detected. For the two-dimensional measurement of the velocity vectors several sensor devices according to the radar principle are necessary even with this principle.
Die
Die
In der
Des Weiteren ist in der
Die in Anspruch 1 definierte erfindungsgemäße Radarsensorvorrichtung reduziert die Kosten und Bauraumbedarf für eine Radarsensorvorrichtung, die vorzugsweise zur Bestimmung von Geschwindigkeitsvektoren eines Fahrzeugs gegenüber der Fahrbahn unterhalb des Fahrzeugs zum Einsatz kommt. Durch Kombination einer kostengünstigen Sensoreinrichtung mit einer Auswerteeinrichtung, die einen besonders geringen Rechenaufwand hat, lässt sich eine attraktive Lösung realisieren, die stark gesenkte Gesamtkosten mit sich bringt. Durch den stark integrierten Aufbau sind platzsparende Designs möglich, die den Einsatz im Kraftfahrzeugbereich sehr erleichtern.The inventive radar sensor device defined in
Im Vergleich zu Systemen nach dem Doppler-Radar-Prinzip wird durch eine senkrechte Ausrichtung der Speckle-Radarvorrichtung zum Untergrund die Verfügbarkeit eines auswertbaren Signals insbesondere in schwierigen Untergrundsituationen, wie z.B. extremer Nässe oder Glatteis erhöht, da bei senkrechter Abstrahlung und senkrechtem Empfang der Radarstrahl nicht wegreflektiert werden kann. Prinzipbedingt besitzt das Speckle-Radarsystem für kleine Geschwindigkeitsvektoren eine größere Auswertedynamik als der Doppler-Ansatz. Dies ist von Vorteil für die Funktion eines Schwimmwinkelsensors, da dort schon geringe Geschwindigkeiten detektiert werden müssen.In comparison to systems according to the Doppler-radar principle, the vertical orientation of the speckle radar device to the ground makes the availability of an evaluable signal particularly in difficult underground situations, such as e.g. Extreme wetness or black ice increased, since with vertical radiation and vertical reception of the radar beam can not be reflected away. Due to the principle, the speckle radar system for small velocity vectors has a greater evaluation dynamic than the Doppler approach. This is advantageous for the function of a float angle sensor, since even there low speeds must be detected.
Die in den UnteransprĂĽchen aufgefĂĽhrten Merkmale beziehen sich auf vorteilhafte Weiterbildungen und Verbesserungen des Gegenstandes der Erfindung.The features listed in the dependent claims relate to advantageous developments and improvements of the subject matter of the invention.
Gemäß einer weiteren bevorzugten Weiterbildung ist eine Signalverarbeitungseinrichtung zum Verarbeiten der Signale der Sensoreinrichtungen am Substrat angebracht. Dies erhöht die Kompaktheit des Aufbaus weiter. Vorzugsweise ist die Signalverarbeitungseinrichtung dann als separater Chip ausgebildet, welcher mit den Sensoreinrichtungen über Leiterbahnen verbunden ist.According to a further preferred development, a signal processing device for processing the signals of the sensor devices is attached to the substrate. This further increases the compactness of the structure. Preferably, the signal processing device is then designed as a separate chip, which is connected to the sensor devices via conductor tracks.
Gemäß einer weiteren bevorzugten Weiterbildung sind die integrierten Sensoreinrichtungen derart in einzelne Chips integriert, dass jeder Chip genau eine Antenneneinrichtung aufweist. Es ist jedoch auch möglich, dass die integrierten Sensoreinrichtungen derart in einen oder mehrere Chips integriert sind, dass mindestens ein Chip mehrere Antenneneinrichtungen aufweist.According to a further preferred development, the integrated sensor devices are integrated into individual chips such that each chip has exactly one antenna device. However, it is also possible for the integrated sensor devices to be integrated in one or more chips such that at least one chip has a plurality of antenna devices.
Ausführungsbeispiele der Erfindung sind in der Zeichnung dargestellt und in der nachfolgenden Beschreibung näher erläutert.Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description.
Es zeigen:
- Fig. 1
- eine schematische Darstellung einer Radarsensorvorrichtung gemäß einer ersten Ausführungsform der vorliegenden Erfindung;
- Fig. 2a,b
- ausschnittsweise Vergrößerungen einer Sensoreinrichtung von
Fig. 1 ; - Fig. 3
- eine Sensoreinrichtung einer Radarsensorvorrichtung gemäß einer zweiten Ausführungsform der vorliegenden Erfindung;
- Fig. 4
- Sensoreinrichtungen einer Radarsensorvorrichtung gemäß einer dritten Ausführungsform der vorliegenden Erfindung;
- Fig. 5
- eine Anordnung von Sensoreinrichtungen einer Radarsensorvorrichtung gemäß einer vierten Ausführungsform der vorliegenden Erfindung; und
- Fig. 6
- eine Anordnung von Sensoreinrichtungen einer Radarsensorvorrichtung gemäß einer fünften Ausführungsform der vorliegenden Erfindung.
- Fig. 1
- a schematic representation of a radar sensor device according to a first embodiment of the present invention;
- Fig. 2a, b
- partial enlargements of a sensor device of
Fig. 1 ; - Fig. 3
- a sensor device of a radar sensor device according to a second embodiment of the present invention;
- Fig. 4
- Sensor devices of a radar sensor device according to a third embodiment of the present invention;
- Fig. 5
- an arrangement of sensor devices of a radar sensor device according to a fourth embodiment of the present invention; and
- Fig. 6
- an arrangement of sensor devices of a radar sensor device according to a fifth embodiment of the present invention.
In den Figuren bezeichnen gleiche Bezugszeichen gleiche bzw. funktionsgleiche Elemente.In the figures, like reference numerals designate the same or functionally identical elements.
In
Die Speckle-Radarsensorvorrichtung 50 gemäß dieser Ausführungsform weist ein Gehäuse 51 auf, und das Substrat 52 umschließt. Der Wandbereich W des Gehäuses 51 ist vorzugsweise parallel ist zur Oberfläche O des Substrats 52 ausgerichtet. Innerhalb des Wandbereichs W des Gehäuses 51 integriert sind strahlformende Elemente 431, 432, 433, welche derart angeordnet sind, dass jeder Sensoreinrichtung S1, S2, S3 ein strahlformende Elemente 431, 432, 433 in seiner zugehörigen Signalrichtung SI1, SI2, SI3 zugeordnet ist. Es sei erwähnt, dass die Verbindung zwischen Substrat 52 und Gehäuse 51 auf viele verschiedene Arten und Weisen bewerkstelligt werden kann, beispielsweise durch Kleben, Löten, Schweißen, Schrauben usw. Vorzugsweise wird das Gehäuse 51 mit den integrierten strahlformenden Elementen 431, 432, 433 einteilig aus einem formbaren oder gießbaren Material gebildet.The speckle
Die Signalauswerteeinrichtung 20 steuert den Ablauf des Aussendens und Empfangens von Radarsignalen durch die Sensoreinrichtungen S1, S2, S3, mit denen sie ĂĽber Leiterbahneinrichtungen L1, L2, L3 verbunden ist.The
Bei der Anordnung der Sensoreinrichtungen S1, S2, S3 gemäß dem Beispiel von
In
Die beschriebenen Sensoreinrichtungen S1, S2, S3 senden vorzugsweise senkrecht elektromagnetische Wellen mit einer konstanten Frequenz in Richtung Fahrbahn aus. Die senkrecht reflektierten und von der jeweiligen Sensoreinrichtung S1, S2, S3 wieder empfangenen elektromagnetischen Signale werden vorzugsweise ins Basisband, (d.h. mit der Sendefrequenz) heruntergemischt und der Signalverarbeitungseinrichtung 20 zugefĂĽhrt. Als kostengĂĽnstige Signalverarbeitungsmethode kann ein bekannter Laufzeit-Korrelator verwendet werden. Hierdurch wird eines der Basisband-Signale, z.B. SX in der Zeit solange verschoben, bis der Vergleich mit dem Signal der auf der Selben Achse liegenden anderen Sensoreinrichtung eine maximale Ăśbereinstimmung zeigt. Aus der Verschiebungszeit und dem Abstand der Sensoreinrichtungen auf dem Substrat 52 kann man einen Geschwindigkeitsvektor ĂĽber den Grund entlang der betreffenden Achse der Radarsensorvorrichtung bestimmen.The described sensor devices S1, S2, S3 preferably send out electromagnetic waves at a constant frequency in the direction of the roadway. The electromagnetic signals which are reflected perpendicularly and are again received by the respective sensor device S1, S2, S3 are preferably down-converted to baseband (i.e., at the transmission frequency) and fed to the
Zur Auswertung müssen die Ausgangssignale der Sensoreinrichtungen S1, S2, S3 vor dem Vergleich in einer vorzugsweisen A/D Wandlung vom Mittelwert befreit werden. Eine Möglichkeit, um direkt ein vom Mittelwert befreites Signal zu erhalten, ergibt sich durch die Differenzbildung der Ausgangssignale zweier Sensoren.For evaluation, the output signals of the sensor devices S1, S2, S3 must be freed from the mean value before the comparison in a preferred A / D conversion. One way to directly obtain a signal freed from the mean, results from the difference of the output signals of two sensors.
Die wesentlichen Speckle-Informationen liegen in den Nulldurchgängen der vom Mittelwert befreiten Signale der Sensoreinrichtungen S1, S2, S3. Diese Signale kann man beispielsweise in einem A/D Wandler amplitudenbegrenzt abtasten bzw. über die Signum-Funktion polarisieren, um so die zu verarbeitende Datenmenge stark zu reduzieren.The essential speckle information lies in the zero crossings of the signals of the sensor devices S1, S2, S3 freed from the mean value. These signals can be sampled amplitude-limited, for example in an A / D converter, or polarized via the signum function in order to greatly reduce the amount of data to be processed.
Die in
Die Sensoreinrichtung S1' dieser Ausführungsform arbeitet derart, dass nur das Antennenelement 451 a zum Abstrahlen von Radar-Signalen verwendet wird, wohingegen die Antennenelemente 451 b, 451 c ausschließlich zum Empfangen reflektierter Radarsignale verwendet werden. Dies kann die Signalqualität von SX1 und SX2 verbessern (z.B. durch Reduzierung von Störungen).The sensor device S1 'of this embodiment operates such that only the
Die Funktionalität der Sensoreinrichtung S1'a, S1'b, S1'c gemäß
Um die selbe Funktionalität wie bei der Sensoreinrichtung gemäß
Die Anordnung der Sensoreinrichtungen S11, S21, S23, S31 gemäß
Bei der in
Obwohl die vorliegende Erfindung vorstehend anhand bevorzugter Ausführungsbeispiele beschrieben wurde, ist sie darauf nicht beschränkt, sondern auf vielfältige Weise modifizierbar.Although the present invention has been described above with reference to preferred embodiments, it is not limited thereto, but modifiable in many ways.
Obwohl bei den oben beschriebenen Ausführungsformen von Anwendungen im Automobilbereich die Rede war, ist die vorliegende Erfindung darauf nicht beschränkt. Auch können beliebige Auswerteverfahren bzw. Anordnungen der Sensoreinrichtungen vorgesehen werden und nicht nur die oben erläuterten. Die Auswerteeinrichtung 20 kann in der Radarsensorvorrichtung 50 integriert sein oder kann auch in einem separaten Gehäuse vorgesehen sein.Although in the above-described embodiments, applications in the automotive field have been mentioned, the present invention is not limited thereto. It is also possible to provide any evaluation methods or arrangements of the sensor devices, and not just the ones explained above. The
Claims (14)
- Radar sensor apparatus (50) for a vehicle, having:a first plurality of integrated sensor devices (S1, S2, S3; S1'; S1'a, S1'b, S1'c; S11-S31; S01-S09) which are fitted to a surface (O) of a substrate (52);the integrated sensor devices (S1, S2, S3; S1'; S1'a, S1'b, S1'c; S11-S31; S01-S09) being configured in such a manner that they can emit radar signals in a respective signal direction (SI1, SI2, SI3) directed away from the surface (O) and/or can receive radar signals from the respective signal direction (SI1, SI2, SI3) using a respective antenna device (451, 452, 453; 451a, 451b, 451c; 451a', 451b', 451c'); anda housing (51) for packaging the first plurality of integrated sensor devices (S1, S2, S3; S1'; S1'a, S1'b, S1'c; S11-S31; S01-S09), the housing (51) having a wall region (W) in which at least one beam-shaping element (431, 432, 433) is integrated;characterized in thata second plurality of beam-shaping elements (431, 432, 433) are integrated in the wall region (W) of the housing (51);the beam-shaping elements (431, 432, 433) being arranged in the wall region (W) in such a manner that each sensor device (S1, S2, S3; S1'; S1'a, S1'b, S1'c; S11-S31; S01-S09) is assigned a single beam-shaping element (431, 432, 433) in its associated signal direction (SI1, SI2, SI3); andthe integrated sensor devices (S1, S2, S3; S1'; S1'a, S1'b, S1'c; S11-S31; S01-S09) being arranged so as to determine a first speed of the vehicle having the radar sensor apparatus (50) with respect to the road underneath the vehicle along a first axis and to determine a second speed of the vehicle having the radar sensor apparatus (50) with respect to the road underneath the vehicle along a second axis orthogonal to the first axis.
- Radar sensor apparatus (50) according to Claim 1, a signal processing device (20) for processing the signals from the sensor devices (S1, S2, S3; S1'; S1'a, S1'b, S1'c; S11-S31; S01-S09) being fitted to the substrate (52).
- Radar sensor apparatus (50) according to Claim 2, the signal processing device (20) being in the form of a separate chip which is connected to the sensor devices (S1, S2, S3; S1'; S1'a, S1'b, S1'c; S11-S31; S01-S09) via conductor tracks (L1, L2, L3).
- Radar sensor apparatus (50) according to one of the preceding claims, the integrated sensor devices (S1, S2, S3; S1'; S1'a, S1'b, S1'c; S11-S31; S01-S09) being integrated in individual chips (411, 412, 413) in such a manner that each chip (411, 412, 413) has precisely one antenna device (451, 452, 453; 451a, 451b, 451c; 451a', 451b', 451c').
- Radar sensor apparatus (50) according to one of the preceding claims, the integrated sensor devices (S1, S2, S3; S1'; S1'a, S1'b, S1'c; S11-S31; S01-S09) being integrated in one or more chips in such a manner that at least one chip (S1') has a plurality of antenna devices.
- Radar sensor apparatus (50) according to one of the preceding claims, the integrated sensor devices (S1, S2, S3; S1'; S1'a, S1'b, S1'c; S11-S31; S01-S09) being arranged in the form of a matrix.
- Radar sensor apparatus (50) according to the preceding claims, a central sensor device (S22) for exclusively emitting radar signals and a plurality of peripheral sensor devices (S11, S21, S23, S31), which surround the central sensor device (S22) and are intended to exclusively receive radar signals, being provided.
- Radar sensor apparatus (50) according to Claim 7, the peripheral sensor devices (S11, S21, S23, S31) being arranged in two orthogonal lines.
- Radar sensor apparatus (50) according to one of the preceding claims, a rod-shaped beam-preshaping device (421, 422, 423) respectively being provided on the antenna devices (451, 452, 453; 451a, 451b, 451c; 451a', 451b', 451c').
- Radar sensor apparatus (50) according to one of the preceding claims, the substrate (52) being a printed circuit board.
- Radar sensor apparatus (50) according to one of the preceding claims, the housing (51) enclosing the substrate (52) in the form of a cuboid in such a manner that the wall region (W) is the top side of the cuboid.
- Radar sensor apparatus (50) according to one of the preceding claims, which is designed to measure the speed according to a propagation time correlation method.
- Radar sensor apparatus (50) according to one of the preceding claims, which is designed to operate according to the speckle method.
- Radar sensor apparatus (50) according to Claim 2, the signal processing device (20) being integrated in one of the sensor devices (S1, S2, S3; S1'; S1'a, S1'b, S1'c; S11-S31; S01-S09).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200710039834 DE102007039834A1 (en) | 2007-08-23 | 2007-08-23 | Radar sensor device |
PCT/EP2008/059480 WO2009024421A1 (en) | 2007-08-23 | 2008-07-18 | Radar sensor device |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2186161A1 EP2186161A1 (en) | 2010-05-19 |
EP2186161B1 true EP2186161B1 (en) | 2012-11-14 |
Family
ID=39952410
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP08786260A Not-in-force EP2186161B1 (en) | 2007-08-23 | 2008-07-18 | Radar sensor device |
Country Status (3)
Country | Link |
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EP (1) | EP2186161B1 (en) |
DE (1) | DE102007039834A1 (en) |
WO (1) | WO2009024421A1 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014014860B3 (en) * | 2014-10-06 | 2015-09-17 | Audi Ag | Radar sensor assembly and motor vehicle |
GB2551840A (en) * | 2016-07-01 | 2018-01-03 | Cambridge Communication Systems Ltd | An antenna for a communications system |
US20190207303A1 (en) * | 2016-07-01 | 2019-07-04 | Cambridge Communication Systems Limited | An antenna for a communications system |
US10852418B2 (en) * | 2016-08-24 | 2020-12-01 | Magna Electronics Inc. | Vehicle sensor with integrated radar and image sensors |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4412770A1 (en) * | 1994-04-13 | 1995-10-19 | Siemens Ag | Microwave lens aerial for car distance warning radar |
US6366245B1 (en) * | 1998-12-21 | 2002-04-02 | Robert Bosch Gmbh | Device for directionally emitting and/or receiving electromagnetic radiation |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19642810C1 (en) | 1996-10-17 | 1998-04-02 | Bosch Gmbh Robert | Directional radar system for anticollision and vehicle speed measurement |
DE10237790A1 (en) | 2002-08-17 | 2004-02-26 | Robert Bosch Gmbh | System for detecting and displaying objects around vehicle, comprises transmitter and receiver for radiation in Giga region consisting of antenna enclosed in radome forming lens which concentrates and directs beam |
US6897819B2 (en) | 2003-09-23 | 2005-05-24 | Delphi Technologies, Inc. | Apparatus for shaping the radiation pattern of a planar antenna near-field radar system |
DE102004007315A1 (en) * | 2004-02-14 | 2005-08-25 | Robert Bosch Gmbh | Short-range radar unit for detecting objects in a medium, e.g. for detecting reinforcement bars or electrical wiring buried in a wall, has one or more additional sensors, e.g. inductive, capacitive, photometric or infrared |
DE102004037907A1 (en) * | 2004-08-05 | 2006-03-16 | Robert Bosch Gmbh | Radar sensor for motor vehicles |
DE102004059332A1 (en) | 2004-12-09 | 2006-06-14 | Robert Bosch Gmbh | Radar transceiver |
-
2007
- 2007-08-23 DE DE200710039834 patent/DE102007039834A1/en not_active Withdrawn
-
2008
- 2008-07-18 EP EP08786260A patent/EP2186161B1/en not_active Not-in-force
- 2008-07-18 WO PCT/EP2008/059480 patent/WO2009024421A1/en active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4412770A1 (en) * | 1994-04-13 | 1995-10-19 | Siemens Ag | Microwave lens aerial for car distance warning radar |
US6366245B1 (en) * | 1998-12-21 | 2002-04-02 | Robert Bosch Gmbh | Device for directionally emitting and/or receiving electromagnetic radiation |
Also Published As
Publication number | Publication date |
---|---|
WO2009024421A1 (en) | 2009-02-26 |
DE102007039834A1 (en) | 2009-02-26 |
EP2186161A1 (en) | 2010-05-19 |
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