EP3752853A1 - Radar sensor system and method for operating a radar sensor system - Google Patents
Radar sensor system and method for operating a radar sensor systemInfo
- Publication number
- EP3752853A1 EP3752853A1 EP18830185.7A EP18830185A EP3752853A1 EP 3752853 A1 EP3752853 A1 EP 3752853A1 EP 18830185 A EP18830185 A EP 18830185A EP 3752853 A1 EP3752853 A1 EP 3752853A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- sensor system
- sub
- sensor
- data
- radar
- 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.)
- Pending
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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
- G01S7/032—Constructional details for solid-state radar subsystems
-
- 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
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q21/00—Antenna arrays or systems
- H01Q21/0006—Particular feeding systems
- H01Q21/0025—Modular arrays
-
- 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
- G01S13/88—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
-
- 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
Definitions
- the present invention relates to a radar sensor system, in particular for a motor vehicle or in a motor vehicle, and a method for operating a radar sensor system, in particular for a motor vehicle or in a motor vehicle.
- the motor vehicle is preferably a car or a truck.
- Radar sensors are finding increasing use in a variety of applications
- ASIL-B or ASIL-C (English: “Automotive Safety Integrity Level”, also defined in ISO 26262), a component with a maximum of 100 FIT is permitted, ignoring components which are in a silent operation which the
- Component does not lead to or contribute to unfavorable or unwanted decisions.
- a throttle of a switching regulator with 38 FIT is specified. At least two such chokes are typically used to run a microcontroller, and a 76% FIT 100% budget would have been largely exhausted, even if all other components had a FIT value of zero.
- the present invention discloses a radar sensor systems the features of claim 1 and a method having the features of
- a radar sensor system comprising: at least a first sub-sensor system and a second sub-sensor system, each for generating sensor data, each sub-sensor system including Antenna arrangement comprising at least one receiving antenna and at least one transmitting antenna;
- each sub-sensor system is independently displaceable from a normal operation to a silent operation
- a data fusion device configured to fuse the sensor data excluding the partial sensor systems in normal operation to produce output data.
- Output data each contribute only those sensor data whose sub-sensor systems are in normal operation, that is, not in the
- the silence operation may be e.g. be defined by the sensor data of sub-sensor systems in the silent operation not contributing to the generation of the output data.
- each sub-sensor system can be defined by the sensor data of the sub-sensor system in the
- Normal operation can be used to generate the output data
- one or more partial sensor systems can be put back into normal operation from the silent operation in the presence of certain conditions, in particular that one or more partial sensor systems can be switched back and forth between normal operation and silent operation. If a partial sensor system has been put back into normal operation from the silent operation, accordingly the sensor data of this partial sensor system will also be used again to generate the output data, e.g. be fused with the sensor data of other partial sensor systems in normal operation.
- the emergency operation mode of a radar sensor system thus provides a
- control device may be configured to detect faults in the individual sub-sensor systems, or to receive an error signal indicative of individual sub-sensor systems, and to put each sub-sensor system in silence mode in which it detects a fault or, or where an error was indexed.
- controller may be configured to determine that an error is no longer occurring in a sub-sensor system, or to receive a corresponding signal indicative thereof, and to return the corresponding sub-sensor system to normal operation based thereon.
- an availability of output data of the sensor system can be significantly increased. Even if only two partial sensor systems are available, a failure rate of the entire radar sensor system can be significantly reduced. Namely, such a total failure of the radar sensor system can exist at most when an error occurs which affects all the sub-sensor systems or when all the sub-sensor systems are independently affected by errors, which is unlikely.
- the reduced failure rate leads to a high availability of all those output data that can already be detected with a single partial sensor system.
- the radar sensor system for generating the output data the sensor data of all sub-sensor systems use, in particular merge with each other.
- the radar sensor system will still use the sensor data from N-1 sub-sensor systems to generate the output data.
- An operation of the radar sensor system in which not all N sub-sensor systems are currently used to generate the output data may be referred to as an emergency operation of the radar sensor system.
- the radar sensor system In emergency mode, the radar sensor system may not achieve full performance, but still accounts for a significant proportion, eg 50% of full performance.
- Such an emergency operation can be used, for example, to bring the vehicle or the device which is equipped with the radar sensor system in a safe state.
- a vehicle with such a radar sensor system can be steered to a stop at the roadside or in a workshop.
- a vehicle is controlled by the radar sensor system to perform a quick stop on the current lane.
- the respective secured state in which the device or the vehicle is placed with the radar sensor system, may vary depending on the number of failed, d. H. in the Schweige Museum, suspended part-sensor systems. In other words, the hedged state can have a more short-term effect
- the invention thus also provides a device, in particular a vehicle, which comprises the radar sensor system according to the invention and which can be put into a safe state depending on the output data of the radar sensor system, e.g. can be controlled in a safe position.
- a method comprising the steps of: receiving sensor data of a first sub-sensor system of a radar sensor system; Receiving sensor data of a second partial sensor system of
- Radar sensor system Moving at least one of the sub-sensor systems independently of the other sub-sensor systems from a normal mode to a silent mode; Fusing the sensor data excluding those sub-sensor systems that are in normal operation to produce output data; and outputting the generated output data.
- the radar sensor system comprises a clock generator, which provides the sub-sensor systems with a common clock signal.
- the fusion of the sensor data for generating the output data is advantageously carried out using the clock signal. In this way, a synchronization of the sensor data can be achieved or improved.
- the inventive method may also include a step of providing a common clock signal to the sub-sensor systems, and providing that the fusion of the sensor data
- Data fusion device configured to fuse the sensor data generated by the sub-sensor systems at a raw data level.
- the data fusion device is designed to fuse the sensor data generated by the partial sensor systems on a raw data plane or on a spectral plane.
- the control device is designed as a plurality of control devices.
- each sub-sensor system is assigned at least one of the control devices for offsetting the respective sub-sensor system into the silent mode.
- control devices are designed as microcontrollers.
- Data fusion device a data interface between at least two of the plurality of control devices.
- control device comprises a central control device for at least two of the sub-sensor systems comprises or consists of a central control device for all sub-sensor systems.
- each partial sensor system has its own independent voltage supply device, which can be fed with electrical energy via a common plug connector of the radar sensor system.
- FIG. 1 is a schematic block diagram of a radar sensor system according to an embodiment of the present invention
- Fig. 2 shows schematically a detail of a radar sensor system according to a
- FIG. 3 shows a schematic block diagram of a possible concretization of an electronic architecture of a radar sensor system according to FIG. 1 and / or FIG. 2;
- FIG. 4 is a schematic flowchart for explaining a method of operating a radar sensor system according to another
- FIG. 1 shows a schematic block diagram of a radar sensor system according to an embodiment of the present invention.
- the radar sensor system 100 has at least one first partial sensor system 10 and one second partial sensor system 20 for generating sensor data.
- Each sub-sensor system 10, 20 has an antenna arrangement 13, 23, each having at least one receiving antenna and at least one transmitting antenna.
- FIG. 1 shows that the first partial sensor system 10 comprises an antenna arrangement 13 and that the second partial sensor system 20 comprises an antenna arrangement 23.
- the radar sensor system 100 also includes more than two subsystems.
- Sensor systems 10, 20 may have, for example, three, four, eight or even more partial sensor systems 10, 20th
- Arrangements of the antenna assemblies 13, 23 of the individual partial sensor systems 10, 20 to each other preferred.
- the radar sensor system 100 further comprises a control device 50, by means of which each sub-sensor system 10, 20 can be set from a normal operation to a silent operation independently of any other sub-sensor system 10, 20.
- control device 50 is shown in Figure 1, also schematically, as a single block.
- the control device 50 consists of a plurality of individual, separate control devices, of which each sub-sensor system 10, 20 is associated with at least one. Such embodiments will be explained in more detail below, for example, with reference to FIG.
- the radar sensor system 100 further comprises a clock generator 60, which provides the partial sensor systems 10, 20 with a common clock signal 71.
- a data fusion device 30 of the radar sensor system 100 is coupled to the partial sensor systems 10, 20 such that the sensor data generated by the partial sensor systems for generating the output data of the radar sensor system 100 can be fused together.
- Data fusion device 30 is designed and configured to fuse the sensor data excluding those partial sensor systems 10, 20 which are in normal operation, ie, which are not currently placed in the silent mode. If the radar sensor system 100 is thus in good condition, ie in a state in which all the sub-sensor systems 10, 20 function without errors, the sensor data of all sub-sensor systems 10, 20 by means of
- Data fusion device 30 fused together. However, if the radar sensor system 100 is in emergency mode, i. H. If at least one partial sensor system has been put into the silent mode, the sensor data of the partial sensor systems 10, 20 offset into the silent mode are not fused with the sensor data of the other partial systems 10, 20.
- control device 50 may be the
- Data fusion device 30 to inform all those sub-sensor systems that are currently placed in the silent mode and / or which has ever been put into the silent mode.
- the data fusion device 30 may be configured to receive the sensor data including the
- Data fusion device 30 of sub-sensor systems 10, 20 receives, which are indicated by the control device 50 as offset into the silent operation, not taken into account in the generation of the output data, that is in particular approximately not fused with other sensor data.
- Data fusion device 30 itself informs, for example as part of
- Data fusion device 30 are transmitted attached status signal.
- the data fusion device 30 may thus be configured such that sensor data so designated does not come from the data fusion device 30
- the data fusion device 30 may be formed separately from the partial sensor systems 10, 20. In some advantageous embodiments, however, the data fusion device 30 is designed and arranged to be distributed and, in addition to a respective arithmetic unit, includes a respective sub-unit. Sensor system 10, 20 still data lines between the individual sub-sensor systems 10, 20, preferably direct data connections between the individual sub-sensor systems 10, 20th
- Control device 50 is integrated.
- the control device 50 can act as a central control device with which the partial sensor systems 10, 20 advantageously permanently in contact: the control device 50 can at any time put each sub-sensor systems 10, 20 in the silent mode.
- the control device 50 advantageously receives continuously, or at least regularly, data, for example the sensor data of the respective sub-sensor systems 10,
- control device 50 determines whether the respective sub-sensor system 10, 20 can remain in normal operation or whether it is put into the silent mode (or, vice versa, if a put into the pig operation partial sensor system 10, 20 back in normal operation is put).
- each sub-sensor system 10, 20 should be able to use direct data links with each other sub-sensor system 10, 20, thus one arithmetic unit of each sub-sensor system 10, 20 each own sensor data with the sensor data of all other sub-sensor systems 10, 20 in the
- N data lines are required, namely one between each partial sensor system 10, 20 and the data fusion device 30.
- N data lines are required.
- an advantage of embodiments with direct data lines between all sub-sensor systems 10, 20 is that these embodiments have a particularly high redundancy and not the one, central
- Data fusion device 30 (which may or may not be integrated with controller 50) is a common source of error.
- communication that is as permanent as possible, or at least regular communication, between the individual sub-sensor systems 10, 20 is desirable in order to be able to fuse the sensor data on the lowest possible signal level, in particular on a raw data-near level.
- the data fusion device 30 is in particular designed to fuse the sensor data generated by the partial sensor systems 10, 20 on a raw data plane or on a spectral plane. In other words, in particular either the raw sensor data itself can be fused
- the merger is done at the raw data level, which, however, requires high performance of the data lines, for example, at several Gbps or a lot of memory, these two solutions being relatively expensive.
- a communication between the sub-sensor systems 10, 20 with between one and 1000 Mbps, in particular between 200 and 800 Mbps, particularly preferably between 300 and 700 Mbps, can be used to increase the sensor data on one level merge before a subsequent angle estimation occurs.
- the entire data volume of all sub-sensor systems 10, 20 is mirrored in normal operation, so that a high degree of redundancy is also present in this regard.
- the antenna arrangements 13, 23 of the partial sensor systems 10, 20 are arranged relative to one another in accordance with at least one type of symmetry.
- the antenna arrangements can be arranged in particular mirror-symmetrically with respect to a mirror symmetry axis, for example as will be explained below with reference to FIG. 2 and FIG.
- Mirror symmetry axes advantageous so that in two space dimensions in good case of the radar sensor system, a high accuracy can be achieved and in the silent operation, a high degree of redundancy, to compensate for failures (due to offset in the silent operation partial sensor systems).
- Antenna arrangements 13, 23 of sub-sensor systems 10, 20 may be advantageous.
- arrangements of the antenna arrangements 13, 23 of the partial sensor systems 10, 20 are also conceivable with respect to one another, which have no symmetry, but which are, for example, nested or have a pseudo-random arrangement.
- FIG. 2 shows a detail of a radar sensor system 100 according to a possible embodiment, the first antenna arrangement 13 of the first sub-sensor system 10 being connected to the second antenna arrangement 23 of the second sub-sensor system 20 with respect to a mirror symmetry axis S
- elements to the first antenna arrangement 13 of the first sub-sensor system 10 are shown to the left of the mirror symmetry axis S, and elements to the second antenna arrangement 23 of the second sub-sensor system 20 to the right of the mirror symmetry axis S belong.
- the arrangement ie, in particular alignment and
- the horizontal direction i.e., from left to right
- the vertical direction that is, from the left to the right direction. H. from top to bottom in Figure 2, to correspond to a vertical direction when driving the vehicle, d. H. different heights above the roadway.
- Receiving antennas and / or transmitting antennas in the horizontal direction suitable for determining the so-called azimuth angle of objects with respect to the vehicle.
- an arrangement distribution of receiving antennas and / or transmitting antennas in the vertical direction is suitable for particularly precisely determining the so-called elevation angle of objects with respect to the vehicle.
- each of these two includes
- Antenna arrangements 13, 23 each a plurality of receiving antennas, collectively referred to as RX and a plurality of transmit antennas, collectively referred to as TX.
- the receiving antennas RX of both antenna arrangements 13, 23 are arranged parallel to one another in a line, in the example in FIG. 2 in FIG.
- the first antenna arrangements 13 comprise eight receiving antennas RX, which are designed, for example, as columnar antennas.
- the first antenna arrangement 13 furthermore comprises four receiving antennas TX, which according to FIG. 2 are likewise designed as column antennas, wherein in principle also other forms of antennas are possible.
- two of the transmission antennas TX are advantageously aligned in such a way that they each follow their direction
- Column direction collinear with exactly one other transmitting antenna TX are arranged.
- the two pairs of collinear transmit antennas TX are shifted from each other in the horizontal direction and additionally also in the vertical direction. In other words, in the vertical direction, no two of the transmit antennas are exactly the same.
- Radar sensor system 100 can be determined very accurately. In other words, the elevation performance of the output data of the radar sensor system 100 can be improved in this way.
- the first antenna arrangement 13 and the second antenna arrangement 23 are mirror-inverted with respect to a mirror symmetry axis S and arranged.
- the transmitting antennas TX of each antenna array 13, 23 are, in the horizontal direction, farther from the mirror symmetry axis S than the respective receiving antennas RX of the corresponding antenna array 13, 23.
- the receiving antennas RX of the first antenna array 13 are not arranged parallel to each other and in series, but instead also with the similarly arranged receiving antennas RX of the second antenna arrangement 23, so that the radar sensor system according to FIG. 2 comprises a total of sixteen receiving antennas RX arranged parallel to one another in a row.
- the respective transmission antennas TX are advantageously arranged so that none of the transmission antennas TX are vertically aligned with any of the reception antennas RX. In this way, the resolution in the vertical direction, i. H. the elevation performance of the output data, further improved. It may be provided that in each case one of the receiving antennas TX of the antenna arrangements 13, 23 overlaps in the vertical direction the mutually parallel receiving antenna RX, in particular that a large part of the extent of the corresponding
- Transmitting antenna TX in the vertical direction a major part of the extent of Reception antenna RX overlaps. It may further be provided that the transmitting antenna TX, which is vertically adjacent to the transmitting antenna TX, which overlaps the receiving antenna RX, is arranged so that it directly adjoins the receiving antennas RX in the vertical direction, but is horizontally spaced therefrom.
- Radar sensor systems 100 suitable in which particularly the elevation performance in emergency operation of the radar sensor system 100 is significant.
- the radar sensor system can also be formed with two partial sensor systems 10, 20 whose antenna arrangements 13, 23 are designed and arranged mirror-symmetrically with respect to a mirror symmetry axis S, this mirror symmetry axis S extending in the horizontal direction.
- the radar sensor system 100 would be particularly well suited to provide a constant azimuth performance, while in the emergency operation, the elevation performance would decrease according to the number of sub-sensor systems 10, 20 offset to a silent operation.
- a radar sensor system 100 having four, sixteen, or another divisible by four, number of sub-sensor systems 10, 20 is advantageous, since such a radar sensor system may include antenna arrays 13, 23, which are arranged mirror-symmetrically to each other both in the horizontal direction and in the vertical direction or, more generally, which are arranged mirror images of each other with respect to two mutually perpendicular mirror symmetry axes S.
- antenna arrays 13, 23 which are arranged mirror-symmetrically to each other both in the horizontal direction and in the vertical direction or, more generally, which are arranged mirror images of each other with respect to two mutually perpendicular mirror symmetry axes S.
- antenna arrays 13, 23 which are arranged mirror-symmetrically to each other both in the horizontal direction and in the vertical direction or, more generally, which are arranged mirror images of each other with respect to two mutually perpendicular mirror symmetry axes S.
- both nearly full elevation performance and near full azimuth performance would still be achieved.
- has a radar sensor system 100 with only two partial sensor systems 10, 20 has the
- the mirror image of the same, or at least substantially similar, embodiment of the antenna assemblies 13, 23 of the individual partial sensor systems 10, 20 has the further advantage that in emergency operation of the radar sensor system 100, d. H. if one or more sub-sensor systems 10, 20 are put into the silent mode, while other sub-sensor systems 10, 20 are still in normal operation, the quality and / or other characteristics of the output data of the radar sensor system 100 as little as possible
- the embodiment presented with reference to FIG. 2 has the advantage, for example, that no matter which of the partial sensor systems 10, 20 fails, in each case the same reduction of the azimuth performance and the same change (namely none) of the elevation performance takes place.
- the latter is due to the fact that there are at least one transmission antenna TX of the other of the two sub-sensor systems 10, 20, which is arranged at the same vertical height, for each transmission antenna TX of each of the two sub-sensor systems 10, 20 in FIG in that there are at least one receiving antenna RX of the other of the two partial sensor systems 10, 20, which is arranged at the same vertical height, for each receiving antenna RX of each of the two partial sensor systems 10, 20 in FIG.
- FIG. 3 shows a schematic block diagram of a possible concretization of an electronic architecture of a radar sensor system 100 according to FIG. 1 and FIG. 2.
- the separation of the radar sensor system 100 into two separate partial sensor systems 10, 20 is indicated in FIG. 3 as a substantially horizontally extending, dashed curve. Elements above this curve are counted to the first sub-sensor system 10 or are formed as part of the first sub-system 10. Elements below this curve will be associated with the second partial sensor system 20 or are formed as part of the second partial sensor system 20.
- the transmit antennas, referred to collectively in FIG. 2 as TX, in the electronic architecture according to FIG. 3 are blocks of four in each case
- Transmitting antenna block 11 of the first antenna array 13 is associated with and formed as part of the first sub-sensor system 10.
- Transmitting antenna block 21 of the second antenna array 23 is associated with and formed as part of the second sub-sensor system 20. It is understood that the antenna arrangements 13, 23 each also several
- Transmit antenna blocks and / or with other numbers of transmit antennas TX, such as transmit antenna blocks each having two
- the receiving antennas which are collectively referred to as RX in FIG. 2, are blocks of eight each in the electronic architecture according to FIG.
- the receive antenna block 12 of the first antenna array 13 is associated with and formed as part of the first sub-sensor system 10.
- Reception antenna block 22 of the second antenna arrangement 23 is associated with the second sub-sensor system 20 and formed as part of it. It is understood that the antenna arrangements 13, 23 each also several
- Reception antennas RX may have, for example
- Receiving antenna blocks each with four receiving antennas or with two receiving antennas or the like.
- one of the transmitting antenna transmitting antenna blocks 11 and one of the receiving antenna blocks 12 are each jointly integrated
- Circuit 14, 24 assigned and / or formed as part of this integrated circuit 14, 24.
- the integrated circuits 14, 24 may in particular be MMICS G.monolithic microwave integrated circuits. In contrast, at Many known in the art radar sensor systems
- Receiving antenna are detected by a Schweige explicate.
- the integrated circuits 14, 24 may advantageously be integrated, for example, RF modules with signal generation, transmitter, receiver with baseband chain and / or analog-to-digital converter and the like.
- the combination of the transmitting and receiving antenna blocks 11, 21, in each case with the associated integrated circuit 14, 24, can also be referred to as a radar front end.
- FIG. 3 also explains how the clock 60 already explained with reference to FIG. 1 provides the integrated clock signal 71 to the integrated circuits 14, 24.
- the control device 50 comprises a plurality of control devices 15, 25, wherein each partial sensor system comprises at least one of the control devices 15, 25 for offsetting the respective sub-sensor system 10, 20 is assigned to the Schweige Spirit.
- a first control device 15 is advantageously assigned to the first partial sensor system 10, in particular as a part thereof, and a second control device 25 is assigned to the second partial sensor system 20, in particular as a part thereof.
- control devices 15, 25 are designed as microcontrollers.
- control devices 15, 25 may alternatively or additionally also comprise or be configured as an application for integrated specific circuits, FPGAs or the like.
- FIG. 3 As further illustrated by FIG. 3, FIG. 3
- Data fusion device 30 a direct data interface between the control means 15, 25, which serves to exchange the sensor data of the individual partial sensor systems 10, 20 for their fusion.
- Each of the Control devices 15, 25 is via a respective
- Voltage supply device 16, 26 supplied with a supply voltage.
- the individual power supply devices 16, 26 may be connected to a common bus system by means of at least (preferably exactly one) connector plug 40, for example to a vehicle bus system such as the frequently used CAN bus.
- the fusion of the sensor data is advantageously carried out in both (or in all, if more than two sub-sensor systems 10, 20 are provided) control devices 15, 25, so that in good case, if both sub-sensor systems 10, 20 error case work, each of the control devices 15, 25 the same content
- FIG. 3 also illustrates that the control devices 15, 25 can output the output data via various systems, for example likewise to the common bus system. This can be done, for example, via CAN interfaces, Ethernet interfaces 18, 28 and / or Flexray interfaces 19, 29.
- Connector 40 can also be several connector, namely in particular per sub-sensor system 10, 20 each at least one
- FIG. 4 shows a schematic flowchart for explaining a method for operating a radar sensor system according to another
- Embodiment of the present invention The system according to FIG. 4 can be used in particular for operating the radar sensor system 100.
- the method explained with reference to FIG. 4 can be adapted according to all the modifications and developments explained above in relation to the radar sensor system 100, and vice versa.
- inventive method is illustrative nature does not mean
- step S10 sensor data is received in front of a first partial sensor system 10 of a radar sensor system 100, the first partial sensor system 10 having an antenna arrangement 13 with at least one
- Receiving antenna RX and at least one transmitting antenna TX includes.
- a step S20 at least one second partial sensor system 20 of the radar sensor system 100 receives sensor data, the second partial sensor system 20 having its own second antenna arrangement 23 with at least one receiving antenna RX and at least one transmitting antenna TX.
- the first and the second partial sensor system 10, 20 can, in particular as regards the arrangement and configuration of the antenna arrangements 13, 23, advantageously be designed as described above with reference to FIGS. 1 to 3.
- the steps S10 and S20 can in particular be carried out at the same time, if necessary, also at the same time as further explained
- a step S30 the sub-sensor systems 10, 20 are provided with a common clock signal 71, for example as described above with reference to FIG the clock 60 described.
- the provision S30 of the clock signal 71 preferably takes place regularly, continuously and / or over a relatively long period of time.
- a step S40 at least one of the sub-sensor systems 10, 20 is independent of the other sub-sensor systems 10, 20 of a
- the sensor data are exclusive of those partial sensor systems 10, 20 which are in normal operation
- the generated output data is outputted, for example, to a connector plug 40 as described above, for example, to a connector plug 40 adapted to be connected to a vehicle.
- the generated output data may also be otherwise output to a vehicle, such as wirelessly.
- the method also comprises a step S70, in which
- the steps S40 of shifting into the silent mode and S70 of the occupied normal mode can each include sub-steps in which sensor data of the sub-sensor systems 10, 20 are evaluated and determined based on the sensor data, whether the respective sub-sensor system 10, 20 in normal operation is to be moved in normal operation, in the
Abstract
Description
Claims
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DE102018202296.8A DE102018202296A1 (en) | 2018-02-15 | 2018-02-15 | Radar sensor system and method for operating a radar sensor system |
PCT/EP2018/084878 WO2019158249A1 (en) | 2018-02-15 | 2018-12-14 | Radar sensor system and method for operating a radar sensor system |
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CN112799075A (en) * | 2020-12-16 | 2021-05-14 | 海鹰企业集团有限责任公司 | Local area combined STAP (static adaptive station) method suitable for active sonar |
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JP3642287B2 (en) * | 2001-03-16 | 2005-04-27 | 三菱電機株式会社 | Radar system and radar apparatus |
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JP2010122051A (en) | 2008-11-19 | 2010-06-03 | Toshiba Corp | Antenna device for radar |
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CN103492900B (en) | 2011-04-20 | 2016-09-21 | 飞思卡尔半导体公司 | Antenna assembly, amplifier and acceptor circuit and radar circuit |
CN102955155B (en) * | 2011-08-26 | 2015-03-18 | 中国科学院空间科学与应用研究中心 | Distributed active phased array radar and beam forming method thereof |
CN102445693A (en) | 2011-09-30 | 2012-05-09 | 柯文河 | Gradual parking auxiliary system |
DE102012224103A1 (en) * | 2012-12-20 | 2014-06-26 | Continental Teves Ag & Co. Ohg | Device for outputting a measurement signal indicating a physical measurand |
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DE102014213171A1 (en) | 2014-04-09 | 2015-10-15 | Continental Automotive Gmbh | System for autonomous vehicle guidance and motor vehicle |
DE102014009869A1 (en) | 2014-07-03 | 2016-01-21 | Audi Ag | Method for operating a radar sensor in a motor vehicle and motor vehicle |
JP6307383B2 (en) | 2014-08-07 | 2018-04-04 | 日立オートモティブシステムズ株式会社 | Action planning device |
DE102014014307A1 (en) | 2014-09-25 | 2016-03-31 | Audi Ag | Method for operating a plurality of radar sensors in a motor vehicle and motor vehicle |
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WO2019133089A1 (en) * | 2017-12-31 | 2019-07-04 | Immersion Services, LLC dba Immersion Networks | Inertial measurement unit management with reduced rotational drift |
US11685396B2 (en) * | 2018-01-11 | 2023-06-27 | Apple Inc. | Architecture for automation and fail operational automation |
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US11650284B2 (en) | 2023-05-16 |
KR102632188B1 (en) | 2024-02-01 |
CN111771134A (en) | 2020-10-13 |
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