WO1998048299A1 - Motor vehicle radar system - Google Patents

Motor vehicle radar system Download PDF

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Publication number
WO1998048299A1
WO1998048299A1 PCT/EP1998/001921 EP9801921W WO9848299A1 WO 1998048299 A1 WO1998048299 A1 WO 1998048299A1 EP 9801921 W EP9801921 W EP 9801921W WO 9848299 A1 WO9848299 A1 WO 9848299A1
Authority
WO
WIPO (PCT)
Prior art keywords
antenna
arrangement
arrangement according
angular resolution
antenna elements
Prior art date
Application number
PCT/EP1998/001921
Other languages
German (de)
French (fr)
Inventor
Robert Schneider
Gerd Wanielik
Josef Wenger
Original Assignee
Daimler-Benz Aktiengesellschaft
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Daimler-Benz Aktiengesellschaft filed Critical Daimler-Benz Aktiengesellschaft
Publication of WO1998048299A1 publication Critical patent/WO1998048299A1/en

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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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S2013/93276—Sensor installation details in the windshield area
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

Definitions

  • the invention relates to a motor vehicle radar arrangement.
  • an angular resolution of the target information is also advantageous for a more comprehensive assessment of the traffic situation.
  • Such an angular resolution can be achieved, for example, by means of a combination of a dielectric lens with a plurality of antenna elements, which is typical for so-called imaging radar arrangements, in the focal area of the lens.
  • imaging radar arrangements in the focal area of the lens.
  • the present invention therefore has for its object to provide f radar arrangement automobile one that with little effort provides a good angular resolution.
  • the invention achieves high resolution over the entire monitoring range with little effort.
  • the knowledge that the horizontal directional distinction is of primary importance for the evaluation of the traffic situation is used to advantage.
  • a preferred embodiment with a linear element line in the upper area of the windshield and a concentrated antenna arrangement in the front part combines the principle of the invention in a particularly advantageous manner with the vehicle geometry.
  • FIG. 1 shows a side view of a traffic situation
  • FIG. 2 shows a top view of the situation according to FIG. 1
  • FIG. 3 different angular resolutions for different antenna arrangements
  • a first vehicle K1 is equipped with a radar arrangement according to the invention with two antenna arrangements AI, A2. Continuous A second vehicle K2 driving ahead is assumed as the target object.
  • the antenna arrangement A2 is operated as a transmitting antenna and the antenna arrangement AI as a receiving antenna. Compared to the likewise possible reverse function distribution, this has the advantage that the maximum transmission power density is lower.
  • the installation of an antenna arrangement in the position set back against the front part has the advantage that the minimum measurable target distance is reduced and ideally starts directly at zero distance.
  • the antenna arrangement AI is accommodated in the front part of the vehicle and is advantageously designed as an array of radiator elements E1 in the focal plane of a radiation-concentrating element, in particular a dielectric lens L.
  • This antenna arrangement has a first rough horizontal angular resolution in the form of direction segments WG each associated with the radiator elements E1 with an opening angle of, for example, 3 degrees.
  • the antenna arrangement A2 consists of several antenna elements E2, which are arranged as an essentially linear line at the upper edge of the windshield.
  • the antenna elements E2 are preferably listed as flat elements, for example as a metallic surface or film structure on a dielectric substrate without radiation-focusing elements.
  • the antenna elements E2 can consist of a plurality of radiating elements in the line direction or perpendicularly to achieve a stronger directivity consist. The same distances t between adjacent antenna elements E2 are assumed.
  • the signal paths P1 to P4 from the different antenna elements E2 to the same reflection point R on the target object are of different lengths, so that depending on the transmitting antenna element E2 there are different signal propagation times, which are preferably evaluated as phase positions by known coherent signal processing. Due to the different phase positions with respect to the individual antenna elements, a phase curve dependent on the horizontal direction of the reflecting object can be determined via the antenna row.
  • the antenna elements E2 are preferably time-division multiplexed with signal processing devices, e.g. Transmitter or receiver amplifiers can be connected, so that the phase curve along the element line is represented as a temporal phase curve.
  • signal processing devices e.g. Transmitter or receiver amplifiers can be connected, so that the phase curve along the element line is represented as a temporal phase curve.
  • a horizontal direction can be determined from the phase curve with an accuracy of an angle increment dW. This determination of direction can be ambiguous over the entire monitored horizontal angular range, but is unambiguous about a direction segment WG. By combining the rough direction determination by defining such an angle segment with the finer, but possibly ambiguous direction determination via the antenna arrangement A2, a precise direction determination can be carried out in a simple manner.
  • the resolution accuracy dW of the antenna arrangement A2 is generally better for larger antenna apertures, ie for the product Element spacing t and number of antenna elements E2 along the line and can be influenced, among other things, using these parameters.
  • the aperture (length of the element row) is preferably greater than 0.5 m and contains at least 4 antenna elements.
  • the operating frequency of the radar arrangement is preferably at least 76 GHz.
  • the antenna arrangement AI can have a diagram divided horizontally and vertically into directional segments or can also be entirely without a directional segment resolution within the surveillance space. In the latter case, the antenna arrangement A2 is to be designed for clear directional resolution.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)

Abstract

The invention relates to a motor vehicle radar system involving a combination of two antenna arrangements with various horizontal angular resolutions for overall improved and unequivocal detection of direction. Preferably, one of the antenna arrangements is mounted on the front part of a vehicle and the other antenna arrangement is fitted in the form of a line of antenna elements on the upper edge of the windscreen of a motor vehicle.

Description

Beschreibungdescription
Kraftfahrzeug-Radaranordnunc.Motor vehicle radar arrangement.
Die Erfindung betrifft eine Kraftfahrzeug-Radaranordnung.The invention relates to a motor vehicle radar arrangement.
Bei Kraftfahrzeug-Radaranordnungen ist neben der Entfer- nungsinfor ation zu rückstreuenden Objekten für eine umfassendere Bewertung der Verkehrssituation auch eine Winkelauflösung der Zielinformation von Vorteil. Eine solche Winkelauflösung ist beispielsweise mittels einer für soge- nannte bildgebende Radaranordnungen typischen Kombination einer dielektrischen Linse mit einer Mehrzahl von Anten- neneleiαenten in der Fokusfläche der Linse erreichbar. Die mit einer solchen Anordnung bei vertretbarem Aufwand erreichbare Winkelauflösung ist aber nicht immer zufrieden- stellend. Der vorliegenden Erfindung liegt daher die Aufgabe zugrunde f eine Kraftfahrzeug-Radaranordnung anzugeben, die bei geringem Aufwand eine gute Winkelauflösung bietet.In the case of motor vehicle radar arrangements, in addition to the distance information to objects that are backscattered, an angular resolution of the target information is also advantageous for a more comprehensive assessment of the traffic situation. Such an angular resolution can be achieved, for example, by means of a combination of a dielectric lens with a plurality of antenna elements, which is typical for so-called imaging radar arrangements, in the focal area of the lens. However, the angular resolution that can be achieved with such an arrangement at a reasonable cost is not always satisfactory. The present invention therefore has for its object to provide f radar arrangement automobile one that with little effort provides a good angular resolution.
Die Erfindung ist im Patentanspruch 1 beschrieben. Die ün- teransprüche enthalten vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung.The invention is described in claim 1. The sub-claims contain advantageous refinements and developments of the invention.
Die Erfindung erreicht durch die Kombination zweier Anten- nenanordnungen mit unterschiedlichem Winkelauflösungsver- mögen bei geringem Aufwand eine hohe Auflösung über den gesamten Überwachungsbereich. Dabei wird vorteilhaft die Erkenntnis ausgenutzt, daß für die Bewertung der Verkehrs- situation primär die horizontale Richtungsunterscheidung von Bedeutung ist. Eine bevorzugte Ausfuhrungsform mit einer linearen Elementzeile im oberen Bereich der Windschutzscheibe und einer konzentrierten Antennenanordnung in der Frontpartie verbindet das Erfindungsprinzip auf besonders vorteilhafte Weise mit der Fahrzeuggeometrie.By combining two antenna arrangements with different angular resolution capabilities, the invention achieves high resolution over the entire monitoring range with little effort. The knowledge that the horizontal directional distinction is of primary importance for the evaluation of the traffic situation is used to advantage. A preferred embodiment with a linear element line in the upper area of the windshield and a concentrated antenna arrangement in the front part combines the principle of the invention in a particularly advantageous manner with the vehicle geometry.
Die Erfindung ist nachfolgend anhand von Beispielen unter Bezugnahme auf die Abbildungen noch eingehend veranschaulicht. Dabei zeigtThe invention is illustrated below by means of examples with reference to the figures. It shows
FIG. 1 eine Seitenansicht einer VerkehrssituationFIG. 1 shows a side view of a traffic situation
FIG. 2 eine Draufsicht auf die Situation nach FIG. 1 FIG. 3 verschiedene Winkelauflösungen zu unterschiedlichen AntennenanordnungenFIG. 2 shows a top view of the situation according to FIG. 1 FIG. 3 different angular resolutions for different antenna arrangements
Ein erstes Fahrzeug Kl sei mit einer erfindungsgemäßen Radaranordnung mit zwei Antennenanordnungen AI, A2 ausgerü- stet. Als Zielobjekt sei ein vorausfahrendes zweites Fahrzeug K2 angenommen.A first vehicle K1 is equipped with a radar arrangement according to the invention with two antenna arrangements AI, A2. continuous A second vehicle K2 driving ahead is assumed as the target object.
Im Beispielsfall sei die Antennenanordnung A2 als Sendean- tenne und die Antennenanordnung AI als Empfangsantenne betrieben. Gegenüber der gleichfalls möglichen umgekehrten Funktionsverteilung hat dies den Vorteil, daß die maximale Sendeleistungsdichte geringer ist.In the example, the antenna arrangement A2 is operated as a transmitting antenna and the antenna arrangement AI as a receiving antenna. Compared to the likewise possible reverse function distribution, this has the advantage that the maximum transmission power density is lower.
Die Montage einer Antennenanordnung in gegen die Frontpar- tie zurückgesetzter Position hat den Vorteil, daß der minimal meßbare Zielabstand reduziert wird und im Idealfall unmittelbar beim Abstand Null beginnt.The installation of an antenna arrangement in the position set back against the front part has the advantage that the minimum measurable target distance is reduced and ideally starts directly at zero distance.
Die Antennenanordnung AI ist in der Frontpartie des Fahr- zeugs untergebracht und vorteilhafterweise als ein Array von Strahlerelementen El in der Fokusebene eines strah- lungsbündelnden Elements, insbesondere einer dielektrischen Linse L, ausgeführt. Diese Antennenanordnung weise eine erste grobe horizontale Winkelauflösung in Form von je einem der Strahlerelemente El zugehörigen Richtungsseg- menten WG mit einem öffnungswinkel von beispielsweise 3 Grad auf.The antenna arrangement AI is accommodated in the front part of the vehicle and is advantageously designed as an array of radiator elements E1 in the focal plane of a radiation-concentrating element, in particular a dielectric lens L. This antenna arrangement has a first rough horizontal angular resolution in the form of direction segments WG each associated with the radiator elements E1 with an opening angle of, for example, 3 degrees.
Die Antennenanordnung A2 besteht aus mehreren Antennenele- enten E2 , die als eine im wesentlichen lineare Zeile am oberen Rand der Windschutzscheibe angeordnet sind. Die Antennenelemente E2 sind vorzugsweise als flache Elemente, beispielsweise als metallische Flächen- oder Folienstruk- tur auf einem dielektrischen Substrat ohne strahlungsbün- delnde Elemente aufgeführt. Die Antennenelemente E2 können in Zeilenrichtung oder senkrecht dazu aus mehreren Strahlerelementen zur Erzielung einer stärkeren Richtwirkung bestehen. Es seien gleiche Abstände t zwischen benachbarten Antennenelementen E2 angenommen.The antenna arrangement A2 consists of several antenna elements E2, which are arranged as an essentially linear line at the upper edge of the windshield. The antenna elements E2 are preferably listed as flat elements, for example as a metallic surface or film structure on a dielectric substrate without radiation-focusing elements. The antenna elements E2 can consist of a plurality of radiating elements in the line direction or perpendicularly to achieve a stronger directivity consist. The same distances t between adjacent antenna elements E2 are assumed.
Die Signallaufwege Pl bis P4 von den verschiedenen Anten- nenelementen E2 zum selben Reflexionspunkt R am Zielobjekt sind unterschiedlich lang, so daß sich je nach sendendem Antennenelement E2 unterschiedliche Signallaufzeiten ergeben, die vorzugsweise durch an sich bekannte kohärente Signalverarbeitung als Phasenlagen ausgewertet werden. Durch die unterschiedlichen Phasenlagen zu den einzelnen Antennenelementen läßt sich ein von der horizontalen Richtung des reflektierenden Objekts abhängiger Phasenverlauf über die Antennenzeile bestimmen.The signal paths P1 to P4 from the different antenna elements E2 to the same reflection point R on the target object are of different lengths, so that depending on the transmitting antenna element E2 there are different signal propagation times, which are preferably evaluated as phase positions by known coherent signal processing. Due to the different phase positions with respect to the individual antenna elements, a phase curve dependent on the horizontal direction of the reflecting object can be determined via the antenna row.
Die Antennenelemente E2 sind vorzugsweise im Zeitmultiplex mit signalverarbeitenden Einrichtungen, z.B. Sende- oder Empfangsverstärkern verbindbar, so daß sich der Phasenverlauf entlang der Elementzeile als zeitlicher Phasenverlauf darstellt.The antenna elements E2 are preferably time-division multiplexed with signal processing devices, e.g. Transmitter or receiver amplifiers can be connected, so that the phase curve along the element line is represented as a temporal phase curve.
Aus dem Phasenverlauf sei mit einer Genauigkeit eines Win- kelinkrements dW eine horizontale Richtung bestimmbar. Diese Richtungsbestimmung kann über den gesamten Überwachten horizontalen Winkelbereich durchaus mehrdeutig sein, ist aber über ein Richtungssegment WG eindeutig. Durch Kombination der groben Richtungsbesti mung durch Festlegung eines solchen Winkelsegments mit der feineren, aber evtl. mehrdeutigen Richtungsbestimmung über die Antennenanordnung A2 kann auf einfache Weise eine präzise Richtungsbestimmung erfolgen. Die Auflösungsgenauigkeit dW der Antennenanordnung A2 ist im Regelfall besser für größere Antennenaperturen, i.e. für das Produkt aus Elementabstand t und Anzahl von Antennenelementen E2 entlang der Zeile und kann u.a. über diese Parameter beeinflußt werden. Vorzugsweise ist die Apertur (Länge der Elementzeile) größer als 0,5m und enthält mindestens 4 Antennenelemente. Die Betriebsfrequenz der Radaranordnung ist vorzugsweise mindestens 76 GHZ.A horizontal direction can be determined from the phase curve with an accuracy of an angle increment dW. This determination of direction can be ambiguous over the entire monitored horizontal angular range, but is unambiguous about a direction segment WG. By combining the rough direction determination by defining such an angle segment with the finer, but possibly ambiguous direction determination via the antenna arrangement A2, a precise direction determination can be carried out in a simple manner. The resolution accuracy dW of the antenna arrangement A2 is generally better for larger antenna apertures, ie for the product Element spacing t and number of antenna elements E2 along the line and can be influenced, among other things, using these parameters. The aperture (length of the element row) is preferably greater than 0.5 m and contains at least 4 antenna elements. The operating frequency of the radar arrangement is preferably at least 76 GHz.
Die Erfindung ist nicht auf die beschriebenen Beispiele beschränkt, sondern im Rahmen fachmännischen Könnens in verschiedener Weise ausführbar. Insbesondere kann die Antennenanordnung AI ein horizontal und vertikal in Richtungssegmente aufgeteiltes Diagramm besitzen oder auch gänzlich ohne Richtungssegment Auflösung innerhalb des Überwachungsraums sein. Im letzteren Fall ist die Antennenanordnung A2 auf eindeutige Richtungsauflösung auszulegen.The invention is not limited to the examples described, but can be carried out in various ways within the scope of the skilled person. In particular, the antenna arrangement AI can have a diagram divided horizontally and vertically into directional segments or can also be entirely without a directional segment resolution within the surveillance space. In the latter case, the antenna arrangement A2 is to be designed for clear directional resolution.
Durch Vergleich der Phasenwerte aus getrennten Zeitmulti- plexdurchgängen und/oder durch gegenläufige Reihenfolge der Ansteuerung der Antennenelemente in getrennten Durchgängen kann u.U. eine Dopplerauswertung und/oder Kompensation durchgeführt werden. By comparing the phase values from separate time-division multiplex passes and / or by reversing the sequence of the activation of the antenna elements in separate passes, it is possible that a Doppler evaluation and / or compensation can be carried out.

Claims

Patentansprüche claims
1. Kraftfahrzeug-Radaranordnung mit einer Empfangs-Antennenanordnung und einer Sende-Antennenanordnung, wobei eine der Antennenanordnungen innerhalb des überwachungsbereichs eine erste gröbere horizontale Winkelauflösung zeigt, und die andere Antennenanordnung horizontal quer zur1. Motor vehicle radar arrangement with a receiving antenna arrangement and a transmitting antenna arrangement, one of the antenna arrangements within the monitoring area showing a first coarser horizontal angular resolution, and the other antenna arrangement horizontally transverse to
Fahrtrichtung voneinander beabstandet mehrere Antennenelemente umfaßt und eine zweite feinere horizontale Winkelauflösung zeigt, und wobei Auswerteeinrichtungen durch Verknüpfung der RichtungsInformationen beider Antennenan- Ordnungen eine eindeutige horizontale Richtungsbestimmung innerhalb des Überwachungsbereichs mit hoher Winkelauflösung vornehmen.Direction spaced from each other comprises a plurality of antenna elements and shows a second finer horizontal angular resolution, and evaluation devices by linking the directional information of both antenna arrangements make a clear horizontal direction determination within the monitoring area with high angular resolution.
2. Anordnung nach Anspruch 1, dadurch gekennzeichnet, daß die mehreren Antennenelemente im Zeitmultiplex betrieben sind. 2. Arrangement according to claim 1, characterized in that the plurality of antenna elements are operated in time division.
3. Anordnung nach Anspruch 2, dadurch gekennzeichnet, daß Empfangseinrichtungen die Empfangssignale kohärent demodulieren und aus dem Phasenverlauf über dem Zeitmultiplex- Betrieb eine Richtungsbestimmung mit feinerer Winkelauflö- sung ableiten.3. Arrangement according to claim 2, characterized in that receiving devices coherently demodulate the received signals and derive a direction determination with finer angular resolution from the phase profile over the time-division multiplex operation.
4. Anordnung nach einem der Ansprüche 1 bis 3 , dadurch gekennzeichnet, daß die feinere Richtungsauflösung über den gesamten Überwachungsbereich mehrdeutig, innerhalb ei- nes Winkelauflösungsinkrements der gröberen Winkelauflösung aber eindeutig ist.4. Arrangement according to one of claims 1 to 3, characterized in that the finer directional resolution over the entire monitoring area is ambiguous, but within a angular resolution increment of the coarser angular resolution is clear.
5. Anordnung nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß die beiden Antennenanordnungen in ver- tikaler Richtung und in Fahrtrichtung gegeneinander versetzt angeordnet sind.5. Arrangement according to one of claims 1 to 4, characterized in that the two antenna arrangements are arranged offset in the vertical direction and in the direction of travel.
6. Anordnung nach Anspruch 5, dadurch gekennzeichnet, daß die Antεnnenanordnung im oberen Bereich der Windschutz- Scheibe und die eine Antennenanordnung in der Frontpartie des Fahrzeugs angeordnet ist.6. Arrangement according to claim 5, characterized in that the antenna arrangement is arranged in the upper region of the windshield and the antenna arrangement is arranged in the front part of the vehicle.
7.. Anordnung nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß die andere Antennenanordnung als li- neare horizontale Zeile von Antennenelementen ausgeführt ist.7 .. Arrangement according to one of claims 1 to 6, characterized in that the other antenna arrangement is designed as a linear horizontal line of antenna elements.
8. Anordnung nach einem der Ansprüche 1 bis 7 , dadurch gekennzeichnet, daß die Antennendiagramme der einzelnen Antennenelemente der anderen Antennenanordnung im wesentlichen denselben Raumwinkelbereich wie das Diagramm der einen Antennenanordnung umfassen. 8. Arrangement according to one of claims 1 to 7, characterized in that the antenna diagrams of the individual antenna elements of the other antenna arrangement comprise substantially the same solid angle range as the diagram of the one antenna arrangement.
9. Anordnung nach einem der Ansprüche 1 bis 8 , dadurch gekennzeichnet, daß die eine Antennenanordnung ein strah- lungsbündelndes Element enthält.9. Arrangement according to one of claims 1 to 8, characterized in that the one antenna arrangement contains a radiation-concentrating element.
10. Anordnung nach Anspruch 9, dadurch gekennzeichnet, daß die eine Antennenanordnung mehrere Antennenelemente in der Fokusflache des strahlungsbundelnden Elements enthält. 10. The arrangement according to claim 9, characterized in that the one antenna arrangement contains a plurality of antenna elements in the focus area of the radiation-concentrating element.
PCT/EP1998/001921 1997-04-17 1998-04-02 Motor vehicle radar system WO1998048299A1 (en)

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DE19716002A DE19716002A1 (en) 1997-04-17 1997-04-17 Motor vehicle radar arrangement
DE19716002.6 1997-04-17

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JP2004170371A (en) * 2002-11-22 2004-06-17 Denso Corp Azimuth detecting device
WO2005078476A1 (en) * 2004-02-12 2005-08-25 Carlos Vargas Marquez Radar system for vehicles
DE102017123981A1 (en) 2017-10-16 2017-11-30 FEV Europe GmbH Driver assistance system for detecting objects in an environment of a motor vehicle with a lens and a sensor
DE112018007575T5 (en) * 2018-05-07 2021-01-21 Mitsubishi Electric Corporation Input wave number estimating device and input wave number input direction estimating device
DE102018119653A1 (en) 2018-08-13 2018-10-04 FEV Europe GmbH Driver assistance system for detecting objects by means of radar radiation and a frequency-selective receiver

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