WO1995014939A1 - Radarverfahren und vorrichtung zur durchführung dieses verfahrens - Google Patents
Radarverfahren und vorrichtung zur durchführung dieses verfahrens Download PDFInfo
- Publication number
- WO1995014939A1 WO1995014939A1 PCT/DE1994/001382 DE9401382W WO9514939A1 WO 1995014939 A1 WO1995014939 A1 WO 1995014939A1 DE 9401382 W DE9401382 W DE 9401382W WO 9514939 A1 WO9514939 A1 WO 9514939A1
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- WO
- WIPO (PCT)
- Prior art keywords
- radar
- signals
- signal processor
- target object
- cpu
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000001133 acceleration Effects 0.000 claims abstract description 19
- 238000001914 filtration Methods 0.000 claims abstract 3
- 238000005259 measurement Methods 0.000 claims description 15
- 238000001228 spectrum Methods 0.000 claims description 10
- 230000006399 behavior Effects 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 230000006870 function Effects 0.000 claims description 5
- 238000011156 evaluation Methods 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 4
- 238000004140 cleaning Methods 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims 3
- 230000001174 ascending effect Effects 0.000 claims 2
- 238000012546 transfer Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000011157 data evaluation Methods 0.000 description 1
- 238000002592 echocardiography Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013515 script Methods 0.000 description 1
- 238000004092 self-diagnosis Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
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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
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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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0052—Filtering, filters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/301—Sensors for position or displacement
- B60Y2400/3017—Radars
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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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
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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
- G01S2013/93185—Controlling the brakes
-
- 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
- G01S2013/9319—Controlling the accelerator
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9321—Velocity regulation, e.g. cruise control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
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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
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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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4039—Means for monitoring or calibrating of parts of a radar system of sensor or antenna obstruction, e.g. dirt- or ice-coating
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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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4056—Means for monitoring or calibrating by simulation of echoes specially adapted to FMCW
Definitions
- the invention relates to a radar method, in particular for road vehicles, according to the preamble of claim 1 and to an apparatus for performing this method according to the preamble of claim 15.
- and fd
- FMCW radar methods are generally known, for example from - E. Baur, introduction to radar technology / study scripts, Teubner, 1st edition, Stuttgart 1985, pages 124 to 133; as well as from DE-Al-25 14 858.
- the invention has for its object to further improve the method and device from DE-Al-29 00 825.
- FIG. 1 shows a vehicle on a three-lane roadway
- FIG. 2 shows a schematic circuit diagram of the radar device
- Figure 3 shows an example of two identical modulation cycles per
- Figure 4 shows an example of two different modulation cycles per measurement phase
- FIG. 5 shows an alternative picture of the radar device.
- FIG. 1 shows a vehicle F equipped with a radar device while driving on the middle lane FM of a lane FR, FM, FL in the direction of travel.
- Each lane is, for example, 3.75 m wide.
- the radar device has three forward-facing radar beams sr, sm, sl with beam directions that are offset slightly to one side.
- the three-beam system already irradiates the entire FM roadway at a distance of approx. 25 m.
- each of the three beams detects a roadway of approximately full width: the beam sm the own roadway FM, and the side beams sl, sr the right and left neighboring roadways FR and FL.
- All three lanes are selectively monitored simultaneously in an important distance range.
- the beam width in the vertical direction is approximately 5 °, for example, so as not to lose objects H traveling ahead over crests or by lowering.
- the minimum is Range of the radar device, for example approx. Im, and the maximum range, for example, around 150 m, although FIG. 1 only shows a range of approx. 75 m for the three beams sr, sm, sl.
- the radar device according to FIG. 2 is used to determine the distance e and the relative speed vr between the moving vehicle F and objects H in front. It should be noted that the relative speed vr is negative if the distance e between the vehicle and the object H decreases.
- a digital signal processor CPU sends a digital modulation signal msd, which is in a D / A converter of an inter face module ADI is converted to an analog, triangular modulation signal ms and fed to the transmitter S.
- the transmitter S is used to emit modulated radar beams sr, sm, sl.
- the echo signals rs received by the receiver E are fed as digital data rsd to the signal processor CPU and processed in it according to the known method for the variables distance e and relative speed vr for each target object.
- the signal processor CPU carries out all calculations for the method, in particular also the fast digital Fourier transformations FFT according to the previously known method for determining the maxima contained in the spectra obtained therefrom and the object frequencies fu and fd assigned to them.
- These spectra contain noise components from which, according to the invention, mean values are formed which are subtracted from the amplitudes of this spectrum.
- the signal processor CPU can additionally receive data by means of signals s from sensors SE from a higher-level system of the vehicle F, for example via a sensor interface S1, for example data about the current driving speed of the vehicle F and about the turning angle of its steerable front wheels or their wheel speeds.
- the signal processor CPU can also query other status data of the roadway FM, such as dry, wet, etc., as well as weather and visibility conditions or other data, in order to evaluate the received radar echoes and the like Determination of the display and warning thresholds to be taken into account, or also in the automatic determination of the braking distance and at the evaluation of how dangerous a determined target object H is.
- the signal processor CPU can also connect to other units of the vehicle F via an interface unit IS (e.g. with the brakes or the throttle valve, in order to automatically reduce the speed if the calculated distance is reduced or increased or the relative speed to the target object changes too much of the vehicle F to reduce or increase - automatically controlled column travel).
- an interface unit IS e.g. with the brakes or the throttle valve, in order to automatically reduce the speed if the calculated distance is reduced or increased or the relative speed to the target object changes too much of the vehicle F to reduce or increase - automatically controlled column travel.
- the signal processor CPU can also send digital control signals directly to the transmitter or receiver, e.g. can be used to switch from one radar beam to the other beams.
- the signal processor CPU can trigger at least individual signals assigned to the determined target objects H via an optical or acoustic warning device OW, AW.
- an optical or acoustic warning device OW e.g. by mirroring in the front window, indications of such objects H are shown.
- Individual data can also be registered in a unit REG, e.g. in one. Accident data recorder.
- the buffering of the received radar echo signals rsd as well as that of the modulation signals msd output by the signal processor can be buffered, as shown in FIG. 5 RMEM, TMEM and data processing are carried out in the signal processor CPU (slave), which is carried out by a controller CON (master) of data acquisition, transfer to the higher-level system, transfer of control data, triggering of the address logic (start of the measuring cycle), the address logic itself and possibly also relieved of the control of the transmitting / receiving system and the display interface.
- RMEM, TMEM and data processing are carried out in the signal processor CPU (slave), which is carried out by a controller CON (master) of data acquisition, transfer to the higher-level system, transfer of control data, triggering of the address logic (start of the measuring cycle), the address logic itself and possibly also relieved of the control of the transmitting / receiving system and the display interface.
- the CON controller and the CPU signal processor can monitor each other and the controller can control the self-diagnosis of the radar device, as explained below.
- the data evaluation of the data recorded in the previous measuring cycle may be almost the entire
- a single measurement cycle mez per radar beam comprises a single modulation cycle and, subsequently, an evaluation pause.
- it can also comprise several such successive modulation cycles moz, for example three or five modulation cycles.
- the individual modulation cycles moz can have different durations and different slope steepnesses in the frequency-time diagram, cf. FIGS. 3 and 4. In these figures it was assumed, for example, that the modulation strokes for the upward and downward modulation phases up and do are constant in each case.
- a data record for each target object contains at least the following parameters, which, if they are not constant, are updated after each measurement cycle and, if not yet known, are then explained:
- Distance, relative speed, relative acceleration, amplitude (of the associated maxima in the FFT spectrum), selected safety distance, tracking time or tracking counter, prediction time or prediction counter and object status e.g.
- the tracking time or the tracking counter of a target object represents a measure of the previous tracking time (in time or number of measuring cycles), which can be limited.
- the prediction time or the prediction counter characterizes the duration of the forecast (in time or number of measuring cycles) about the further behavior of the object being tracked, which, for example, temporarily seems to have disappeared for the radar system due to shielding (due to another large object moving close to the vehicle F) can be and therefore (for some measuring cycles) it is no longer detected but predicted.
- Prediction time or prediction counter can also be limited.
- Distance e, relative speed vr and relative acceleration br of the determined target objects H are then fed to a Kaiman filter known per se (or also known ⁇ - ⁇ or ⁇ - ⁇ - ⁇ filters) and filtered (cleaned).
- target object paths are now also formed for each target object H, analogous to the formation of the paths of the object frequencies fu and fd in the previously known method, and the target objects are continuously tracked over a predetermined period of time (tracking), to the physically possible Behavior checked, and in the absence of measurement data over a predetermined period of time, estimates are formed based on the previous behavior (prediction). If a target object does not reappear after the prediction time has elapsed or if it behaves "physically impossible", the corresponding data record is deleted.
- the driver's steering movements (d / dt), accelerations and braking decelerations are used to adaptively determine the driving style. Accordingly, display, warning and, if necessary, intervention thresholds for distance e, relative speed vr and acceleration br are formed, with which the data of the most dangerous target objects are compared. If these thresholds are exceeded or undershot, corresponding displays or warning signals are triggered, or brakes, engine throttle flaps or gear shifts are activated.
- the radar device When the method according to the invention is started, the radar device is initially initialized by deleting all stored data records (which relate to target objects which were tracked before the radar device was last switched off).
- the initialization routine can also check the functionality of the radar device: it can e.g. the function of the radar front end via the size of the noise level in the radar signals (comparison with specified limit values)
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Signal Processing (AREA)
- Chemical & Material Sciences (AREA)
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Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP95901323A EP0730742A1 (de) | 1993-11-23 | 1994-11-23 | Radarverfahren und vorrichtung zur durchführung dieses verfahrens |
JP7514749A JPH09506698A (ja) | 1993-11-23 | 1994-11-23 | レーダー方法及びこの方法を実施する装置 |
KR1019960702697A KR960706086A (ko) | 1993-11-23 | 1994-11-23 | 레이다 방법 및 그 방법을 실행하기 위한 장치(radar process and device for carrying out said process) |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DEP4339920.7 | 1993-11-23 | ||
DE4339920 | 1993-11-23 |
Publications (1)
Publication Number | Publication Date |
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WO1995014939A1 true WO1995014939A1 (de) | 1995-06-01 |
Family
ID=6503246
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE1994/001382 WO1995014939A1 (de) | 1993-11-23 | 1994-11-23 | Radarverfahren und vorrichtung zur durchführung dieses verfahrens |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0730742A1 (de) |
JP (1) | JPH09506698A (de) |
KR (1) | KR960706086A (de) |
WO (1) | WO1995014939A1 (de) |
Cited By (30)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0677799A2 (de) * | 1994-04-15 | 1995-10-18 | Honda Giken Kogyo Kabushiki Kaisha | Vorrichtung zur Fahrhilfe eines Fahrzeugs |
WO1997006449A1 (de) * | 1995-08-08 | 1997-02-20 | Siemens Aktiengesellschaft | Schaltungsanordnung mit einem radargerät zur ermittlung eines abstandes oder einer relativgeschwindigkeit |
GB2312113A (en) * | 1996-04-10 | 1997-10-15 | Fuji Heavy Ind Ltd | Vehicular collision avoidance system |
JPH09287652A (ja) * | 1996-04-19 | 1997-11-04 | Toyota Motor Corp | 車両の制御装置 |
EP0872741A2 (de) * | 1997-04-18 | 1998-10-21 | Nissan Motor Co., Ltd. | Alarmanlage zur Warnung des Führers eines Kraftfahrzeugs und Verfahern zur Erzeugung des Alarms |
WO1999019745A1 (en) * | 1997-10-09 | 1999-04-22 | Eaton Vorad Technologies, L.L.C. | Method and apparatus for in-path target determination for an automotive vehicle using a gyroscopic device |
EP0954758A1 (de) * | 1997-01-21 | 1999-11-10 | Automotive Systems Laboratory Inc. | Prädiktives kollisionsentdeckungssystem |
EP0959370A2 (de) * | 1998-05-20 | 1999-11-24 | DaimlerChrysler Aerospace AG | Radarverfahren in einem Kraftfahrzeug |
WO1999064888A1 (fr) * | 1996-12-09 | 1999-12-16 | Radar Communication Services | Procede d'anticollision pour vehicule |
DE19963625A1 (de) * | 1999-12-29 | 2001-07-12 | Bosch Gmbh Robert | Verfahren zur Messung des Abstands und der Geschwindigkeit von Objekten |
DE10015500A1 (de) * | 2000-03-29 | 2001-10-11 | Bosch Gmbh Robert | Mehrstrahl-Radarsystem |
WO2003005325A1 (de) * | 2001-07-06 | 2003-01-16 | Volkswagen | Fahrerassistenzsystem |
WO2004008174A1 (de) * | 2002-07-11 | 2004-01-22 | Robert Bosch Gmbh | Vorrichtung zur umfeldüberwachung in einem fahrzeug |
DE19929794B4 (de) * | 1998-07-03 | 2004-04-01 | Toyota Jidosha Kabushiki Kaisha, Toyota | Fahrzeug-Radarvorrichtung |
WO2004045896A1 (de) * | 2002-11-21 | 2004-06-03 | Lucas Automotive Gmbh | System zur beeinflussung der geschwindigkeit eines kraftfahrzeuges (kfzs) |
WO2004045887A1 (de) * | 2002-11-21 | 2004-06-03 | Lucas Automotive Gmbh | System zur beeinflussung der geschwindigkeit eines kraftfahrzeuges |
WO2005044612A1 (de) * | 2003-10-28 | 2005-05-19 | Robert Bosch Gmbh | Vorrichtung zur ermüdungswarnung in kraftfahrzeugen mit abstandswarnsystem |
WO2006094510A1 (en) * | 2005-03-11 | 2006-09-14 | Weibel Scientific A/S | Fm-cw radar |
US7212907B2 (en) | 2002-11-21 | 2007-05-01 | Lucas Automotive Gmbh | System for influencing the speed of a motor vehicle |
KR100719141B1 (ko) * | 2003-01-28 | 2007-05-17 | 도요다 지도샤 가부시끼가이샤 | 충돌 예보 장치 및 충돌 예보 방법 |
US7248962B2 (en) | 2002-11-21 | 2007-07-24 | Lucas Automotive Gmbh | System for influencing the speed of a motor vehicle |
WO2007137689A1 (de) * | 2006-06-01 | 2007-12-06 | Valeo Schalter Und Sensoren Gmbh | Parkhilfesystem und verfahren zum betrieb eines parkhilfesystems |
WO2008040341A1 (de) | 2006-10-06 | 2008-04-10 | Adc Automotive Distance Control Systems Gmbh | Radarsystem zur umfelderfassung mit kompensation von störsignalen |
US7386385B2 (en) | 2002-11-21 | 2008-06-10 | Lucas Automotive Gmbh | System for recognising the lane-change manoeuver of a motor vehicle |
US7831367B2 (en) | 2002-11-21 | 2010-11-09 | Lucas Automotive Gmbh | System for influencing the speed of a motor vehicle |
US7831368B2 (en) | 2002-11-21 | 2010-11-09 | Lucas Automotive Gmbh | System for influencing the speed of a motor vehicle |
US7840330B2 (en) | 2002-11-21 | 2010-11-23 | Lucas Automotive Gmbh | System for influencing the speed of a motor vehicle |
DE10141920B4 (de) * | 2000-08-29 | 2015-04-09 | Toyota Jidosha Kabushiki Kaisha | Warnvorrichtung und Fahrsteuerungsgerät mit der Warnvorrichtung |
CN109814080A (zh) * | 2018-12-11 | 2019-05-28 | 长沙莫之比智能科技有限公司 | 一种毫米波雷达目标跟踪与置信度算法及其装置 |
US20210011152A1 (en) * | 2019-07-11 | 2021-01-14 | Ubtechi Robotics Corp Ltd | Ultrasonic ranging method and apparatus and robot using the same |
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DE102006028465A1 (de) * | 2006-06-21 | 2007-12-27 | Valeo Schalter Und Sensoren Gmbh | Kraftfahrzeug-Radarsystem und Verfahren zur Bestimmung von Geschwindigkeiten und Entfernungen von Objekten relativ zu dem einen Radarsystem |
US7504989B2 (en) | 2006-08-09 | 2009-03-17 | Fujitsu Ten Limited | On-vehicle radar device |
JP5141760B2 (ja) * | 2010-12-28 | 2013-02-13 | 株式会社デンソー | 車両の挙動データ記憶制御システム、電子制御装置、データ記憶装置 |
DE102012003373B4 (de) * | 2012-02-22 | 2018-11-22 | Krohne Messtechnik Gmbh | Verfahren zur Überwachung und Verfahren zum Betreiben eines nach dem Radar-Prinzip arbeitenden Füllstandmesssystems und entsprechendes Füllstandmesssystem |
WO2020049648A1 (ja) * | 2018-09-05 | 2020-03-12 | 株式会社ソシオネクスト | センシング方法及びセンシング装置 |
US12030507B2 (en) * | 2020-06-29 | 2024-07-09 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Method and system for predicting a trajectory of a target vehicle in an environment of a vehicle |
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- 1994-11-23 WO PCT/DE1994/001382 patent/WO1995014939A1/de not_active Application Discontinuation
- 1994-11-23 KR KR1019960702697A patent/KR960706086A/ko not_active Application Discontinuation
- 1994-11-23 EP EP95901323A patent/EP0730742A1/de not_active Withdrawn
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GB2172461A (en) * | 1985-03-13 | 1986-09-17 | Philips Electronic Associated | Measuring range and/or radial velocity of a moving target |
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Cited By (46)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0677799A2 (de) * | 1994-04-15 | 1995-10-18 | Honda Giken Kogyo Kabushiki Kaisha | Vorrichtung zur Fahrhilfe eines Fahrzeugs |
EP0677799B1 (de) * | 1994-04-15 | 2000-05-17 | Honda Giken Kogyo Kabushiki Kaisha | Vorrichtung zur Fahrhilfe eines Fahrzeugs |
US5861836A (en) * | 1995-08-08 | 1999-01-19 | Siemens Aktiengesellschaft | Circuit configuration having radar equipment for determining a distance or a relative speed |
WO1997006449A1 (de) * | 1995-08-08 | 1997-02-20 | Siemens Aktiengesellschaft | Schaltungsanordnung mit einem radargerät zur ermittlung eines abstandes oder einer relativgeschwindigkeit |
DE19529180C1 (de) * | 1995-08-08 | 1997-04-03 | Siemens Ag | Schaltungsanordnung mit einem Radargerät zur Ermittlung eines Abstandes oder einer Relativgeschwindigkeit |
GB2312113B (en) * | 1996-04-10 | 1998-06-10 | Fuji Heavy Ind Ltd | Drive assist system and method for a vehicle |
GB2312113A (en) * | 1996-04-10 | 1997-10-15 | Fuji Heavy Ind Ltd | Vehicular collision avoidance system |
JPH09287652A (ja) * | 1996-04-19 | 1997-11-04 | Toyota Motor Corp | 車両の制御装置 |
WO1999064888A1 (fr) * | 1996-12-09 | 1999-12-16 | Radar Communication Services | Procede d'anticollision pour vehicule |
EP0954758A1 (de) * | 1997-01-21 | 1999-11-10 | Automotive Systems Laboratory Inc. | Prädiktives kollisionsentdeckungssystem |
EP0954758A4 (de) * | 1997-01-21 | 2001-01-17 | Automotive Systems Lab | Prädiktives kollisionsentdeckungssystem |
EP0872741A2 (de) * | 1997-04-18 | 1998-10-21 | Nissan Motor Co., Ltd. | Alarmanlage zur Warnung des Führers eines Kraftfahrzeugs und Verfahern zur Erzeugung des Alarms |
EP0872741A3 (de) * | 1997-04-18 | 1998-12-16 | Nissan Motor Co., Ltd. | Alarmanlage zur Warnung des Führers eines Kraftfahrzeugs und Verfahern zur Erzeugung des Alarms |
US6091323A (en) * | 1997-04-18 | 2000-07-18 | Nissan Motor Co., Ltd. | Alarm apparatus for alarming driver of vehicle and method of alarming the same |
US5959569A (en) * | 1997-10-09 | 1999-09-28 | Eaton Vorad Technologies, L.L.C. | Method and apparatus for in path target determination for an automotive vehicle using a gyroscopic device |
WO1999019745A1 (en) * | 1997-10-09 | 1999-04-22 | Eaton Vorad Technologies, L.L.C. | Method and apparatus for in-path target determination for an automotive vehicle using a gyroscopic device |
EP0959370A2 (de) * | 1998-05-20 | 1999-11-24 | DaimlerChrysler Aerospace AG | Radarverfahren in einem Kraftfahrzeug |
EP0959370A3 (de) * | 1998-05-20 | 2000-07-19 | DaimlerChrysler Aerospace AG | Radarverfahren in einem Kraftfahrzeug |
US6266004B1 (en) | 1998-05-20 | 2001-07-24 | Daimlerchrysler Ag | Radar method used in a motor vehicle |
DE19929794B4 (de) * | 1998-07-03 | 2004-04-01 | Toyota Jidosha Kabushiki Kaisha, Toyota | Fahrzeug-Radarvorrichtung |
DE19963625A1 (de) * | 1999-12-29 | 2001-07-12 | Bosch Gmbh Robert | Verfahren zur Messung des Abstands und der Geschwindigkeit von Objekten |
DE10015500A1 (de) * | 2000-03-29 | 2001-10-11 | Bosch Gmbh Robert | Mehrstrahl-Radarsystem |
DE10141920B4 (de) * | 2000-08-29 | 2015-04-09 | Toyota Jidosha Kabushiki Kaisha | Warnvorrichtung und Fahrsteuerungsgerät mit der Warnvorrichtung |
WO2003005325A1 (de) * | 2001-07-06 | 2003-01-16 | Volkswagen | Fahrerassistenzsystem |
WO2004008174A1 (de) * | 2002-07-11 | 2004-01-22 | Robert Bosch Gmbh | Vorrichtung zur umfeldüberwachung in einem fahrzeug |
US7616101B2 (en) | 2002-07-11 | 2009-11-10 | Robert Bosch Gmbh | Device for monitoring the surroundings of a vehicle |
US7840330B2 (en) | 2002-11-21 | 2010-11-23 | Lucas Automotive Gmbh | System for influencing the speed of a motor vehicle |
WO2004045896A1 (de) * | 2002-11-21 | 2004-06-03 | Lucas Automotive Gmbh | System zur beeinflussung der geschwindigkeit eines kraftfahrzeuges (kfzs) |
US7177750B2 (en) | 2002-11-21 | 2007-02-13 | Lucas Automotive Gmbh | System for influencing the speed of a motor vehicle |
US7212907B2 (en) | 2002-11-21 | 2007-05-01 | Lucas Automotive Gmbh | System for influencing the speed of a motor vehicle |
US7386385B2 (en) | 2002-11-21 | 2008-06-10 | Lucas Automotive Gmbh | System for recognising the lane-change manoeuver of a motor vehicle |
US7248962B2 (en) | 2002-11-21 | 2007-07-24 | Lucas Automotive Gmbh | System for influencing the speed of a motor vehicle |
WO2004045887A1 (de) * | 2002-11-21 | 2004-06-03 | Lucas Automotive Gmbh | System zur beeinflussung der geschwindigkeit eines kraftfahrzeuges |
US7774123B2 (en) | 2002-11-21 | 2010-08-10 | Lucas Automotive Gmbh | System for influencing the speed of a motor vehicle |
US7831368B2 (en) | 2002-11-21 | 2010-11-09 | Lucas Automotive Gmbh | System for influencing the speed of a motor vehicle |
US7831367B2 (en) | 2002-11-21 | 2010-11-09 | Lucas Automotive Gmbh | System for influencing the speed of a motor vehicle |
US7974784B2 (en) | 2003-01-28 | 2011-07-05 | Toyota Jidosha Kabushiki Kaisha | Collision predicting apparatus and collision predicting method |
KR100719141B1 (ko) * | 2003-01-28 | 2007-05-17 | 도요다 지도샤 가부시끼가이샤 | 충돌 예보 장치 및 충돌 예보 방법 |
US7821384B2 (en) | 2003-10-28 | 2010-10-26 | Robert Bosch Gmbh | Device for fatigue warning in motor vehicles having a run-up alarm system |
WO2005044612A1 (de) * | 2003-10-28 | 2005-05-19 | Robert Bosch Gmbh | Vorrichtung zur ermüdungswarnung in kraftfahrzeugen mit abstandswarnsystem |
WO2006094510A1 (en) * | 2005-03-11 | 2006-09-14 | Weibel Scientific A/S | Fm-cw radar |
WO2007137689A1 (de) * | 2006-06-01 | 2007-12-06 | Valeo Schalter Und Sensoren Gmbh | Parkhilfesystem und verfahren zum betrieb eines parkhilfesystems |
WO2008040341A1 (de) | 2006-10-06 | 2008-04-10 | Adc Automotive Distance Control Systems Gmbh | Radarsystem zur umfelderfassung mit kompensation von störsignalen |
US8203481B2 (en) | 2006-10-06 | 2012-06-19 | Adc Automotive Distance Control Systems Gmbh | Radar system for detecting the surroundings with compensation of interfering signals |
CN109814080A (zh) * | 2018-12-11 | 2019-05-28 | 长沙莫之比智能科技有限公司 | 一种毫米波雷达目标跟踪与置信度算法及其装置 |
US20210011152A1 (en) * | 2019-07-11 | 2021-01-14 | Ubtechi Robotics Corp Ltd | Ultrasonic ranging method and apparatus and robot using the same |
Also Published As
Publication number | Publication date |
---|---|
JPH09506698A (ja) | 1997-06-30 |
EP0730742A1 (de) | 1996-09-11 |
KR960706086A (ko) | 1996-11-08 |
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