JP2019049521A - 自動車用のfmcwレーダセンサ - Google Patents
自動車用のfmcwレーダセンサ Download PDFInfo
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- JP2019049521A JP2019049521A JP2018095959A JP2018095959A JP2019049521A JP 2019049521 A JP2019049521 A JP 2019049521A JP 2018095959 A JP2018095959 A JP 2018095959A JP 2018095959 A JP2018095959 A JP 2018095959A JP 2019049521 A JP2019049521 A JP 2019049521A
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- 238000011156 evaluation Methods 0.000 claims abstract description 11
- 238000000354 decomposition reaction Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 25
- 238000002592 echocardiography Methods 0.000 abstract description 3
- 238000001228 spectrum Methods 0.000 description 12
- 230000005855 radiation Effects 0.000 description 10
- 230000001419 dependent effect Effects 0.000 description 8
- 238000013459 approach Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009191 jumping Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000012886 linear function Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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- 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
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
- G01S13/536—Discriminating between fixed and moving objects or between objects moving at different speeds using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
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- 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
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- 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
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
- G01S13/605—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track using a pattern, backscattered from the ground, to determine speed or drift by measuring the time required to cover a fixed distance
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- 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
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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- 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
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)
- Signal Processing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
vα = −v*cos(α)
12 FMCWレーダセンサ
14 レーダローブ
16 道路表面
18 高周波発振器
20 混合器
22 アンテナ
24 中間周波数信号
26 評価装置
28,30 上昇するランプ
32 下降するランプ
34 下降するランプ
36 変調シーケンス
d 間隔
S1〜S5 変調シーケンス
v 車両10の固有速度
α 角度
vα 相対速度
Claims (4)
- 自動車(10)用のFMCWレーダセンサであって、様々な変調パターンを伴う変調シーケンス(S1〜S5)の周期的に繰り返される連続を有する、周波数変調された送信信号を生成するように構成された高周波発振器(18)と、受信したレーダエコーをFMCW原理に従って評価するための評価装置(26)と有している形式のものにおいて、
前記変調シーケンス(S1〜S5)の連続が、変調シーケンス(S5)の特別なクラスを含んでおり、この特別なクラスの継続時間は、このクラスに所属しないそれぞれ別の変調シーケンス(S1〜S4)の継続時間よりも長く、また前記特別なクラスの周波数偏移は、前記それぞれ別の変調シーケンス(S1〜S4)の周波数偏移よりも小さく、前記評価装置(26)は、前記特別なクラスに所属する前記変調シーケンス(S5)中に、静止している対象物(16)によって受信されるレーダエコーを用いて、前記車両(10)の固有速度(v)の測定を行うように構成されていることを特徴とする、自動車用のFMCWレーダセンサ。 - 前記変調シーケンスの特別なクラスが、周波数偏移がゼロである変調シーケンス(S5)を含んでいる、請求項1記載のFMCWレーダセンサ。
- 前記評価装置(26)は、動く対象物の信号を、静止している対象物によって受信された信号から分離するために、角度分析を行うように構成されている、請求項1または2記載の角度分解型のFMCWレーダセンサ。
- 前記評価装置(26)が、前記特別なクラスに所属する前記変調シーケンス(S5)中に、地面クラッター信号を評価するように構成されている、請求項1から3のいずれか1項記載の角度分解型のFMCWレーダセンサ。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102017209628.4 | 2017-06-08 | ||
DE102017209628.4A DE102017209628A1 (de) | 2017-06-08 | 2017-06-08 | FMCW-Radarsensor für Kraftfahrzeuge |
Publications (2)
Publication Number | Publication Date |
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JP2019049521A true JP2019049521A (ja) | 2019-03-28 |
JP7174537B2 JP7174537B2 (ja) | 2022-11-17 |
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JP2018095959A Active JP7174537B2 (ja) | 2017-06-08 | 2018-05-18 | 自動車用のfmcwレーダセンサ |
Country Status (4)
Country | Link |
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US (1) | US10914831B2 (ja) |
JP (1) | JP7174537B2 (ja) |
CN (1) | CN109031271B (ja) |
DE (1) | DE102017209628A1 (ja) |
Cited By (2)
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JP2023537329A (ja) * | 2020-08-10 | 2023-08-31 | コンチネンタル・オートナマス・モビリティ・ジャーマニー・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | 低いシグナル処理負荷において高い距離解像度を有するレーダ変調方法 |
EP4310542A1 (en) | 2022-07-20 | 2024-01-24 | Fujitsu Component Limited | Detection device and detection method |
Families Citing this family (8)
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US10962638B2 (en) * | 2017-09-07 | 2021-03-30 | Magna Electronics Inc. | Vehicle radar sensing system with surface modeling |
CN109459731B (zh) * | 2018-12-13 | 2020-11-17 | 广州极飞科技有限公司 | 信号处理方法和装置、毫米波雷达 |
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 |
US11762060B2 (en) * | 2020-08-27 | 2023-09-19 | Aptiv Technologies Limited | Height-estimation of objects using radar |
US11163062B1 (en) | 2020-10-05 | 2021-11-02 | Aeva, Inc. | Method to improve probability of detection in dynamic scenarios in coherent LIDAR systems |
US11914046B2 (en) | 2020-11-30 | 2024-02-27 | Qualcomm Incorporated | Ego-velocity estimation using radar or LIDAR beam steering |
CN112698292B (zh) * | 2020-12-21 | 2022-06-21 | 广州极飞科技股份有限公司 | 雷达信号的处理方法及装置、飞行器 |
US20230324537A1 (en) * | 2022-04-12 | 2023-10-12 | Honeywell International Inc. | Unambiguous and accurate velocity estimation by frequency-modulated radars |
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2017
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2018
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- 2018-06-06 US US16/001,460 patent/US10914831B2/en active Active
- 2018-06-08 CN CN201810585739.1A patent/CN109031271B/zh active Active
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JP2014062804A (ja) * | 2012-09-21 | 2014-04-10 | Mitsubishi Electric Corp | Fmcwレーダ装置およびfmcwレーダ用信号処理方法 |
KR20150118653A (ko) * | 2014-04-14 | 2015-10-23 | 주식회사 만도 | 이동 물체 속도 측정 시스템 및 방법 |
JP2016109675A (ja) * | 2014-12-05 | 2016-06-20 | パナソニックIpマネジメント株式会社 | 物体検出装置、速度検出装置及び車両 |
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JP2023537329A (ja) * | 2020-08-10 | 2023-08-31 | コンチネンタル・オートナマス・モビリティ・ジャーマニー・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | 低いシグナル処理負荷において高い距離解像度を有するレーダ変調方法 |
JP2023537900A (ja) * | 2020-08-10 | 2023-09-06 | コンチネンタル・オートナマス・モビリティ・ジャーマニー・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | 低いシグナル処理負荷において高い距離解像度を有するレーダ方法とレーダシステム |
JP7480422B2 (ja) | 2020-08-10 | 2024-05-09 | コンチネンタル・オートナマス・モビリティ・ジャーマニー・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | 低いシグナル処理負荷において高い距離解像度を有するレーダ方法とレーダシステム |
JP7480421B2 (ja) | 2020-08-10 | 2024-05-09 | コンチネンタル・オートナマス・モビリティ・ジャーマニー・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | 低いシグナル処理負荷において高い距離解像度を有するレーダ変調方法 |
EP4310542A1 (en) | 2022-07-20 | 2024-01-24 | Fujitsu Component Limited | Detection device and detection method |
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US10914831B2 (en) | 2021-02-09 |
JP7174537B2 (ja) | 2022-11-17 |
US20180356511A1 (en) | 2018-12-13 |
CN109031271B (zh) | 2023-11-10 |
CN109031271A (zh) | 2018-12-18 |
DE102017209628A1 (de) | 2018-12-13 |
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