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EP1929330A1 - Systeme radar a monoimpulsions destine a des vehicules - Google Patents

Systeme radar a monoimpulsions destine a des vehicules

Info

Publication number
EP1929330A1
EP1929330A1 EP06793651A EP06793651A EP1929330A1 EP 1929330 A1 EP1929330 A1 EP 1929330A1 EP 06793651 A EP06793651 A EP 06793651A EP 06793651 A EP06793651 A EP 06793651A EP 1929330 A1 EP1929330 A1 EP 1929330A1
Authority
EP
European Patent Office
Prior art keywords
radar system
receiver
antenna
signal
array
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.)
Withdrawn
Application number
EP06793651A
Other languages
German (de)
English (en)
Inventor
Maximilian Tschernitz
Thomas Zwick
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Automotive GmbH
Original Assignee
Continental Automotive GmbH
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 Continental Automotive GmbH filed Critical Continental Automotive GmbH
Publication of EP1929330A1 publication Critical patent/EP1929330A1/fr
Withdrawn legal-status Critical Current

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
    • G01S13/88—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
    • G01S13/02—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
    • G01S13/44—Monopulse radar, i.e. simultaneous lobing
    • G01S13/4454—Monopulse radar, i.e. simultaneous lobing phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement
    • 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
    • G01S7/034—Duplexers
    • G01S7/036—Duplexers involving a transfer mixer

Definitions

  • the present invention relates to a method and a device according to the preamble of patent claim 1.
  • Radar systems typically measure the distance and / or speed to distant objects. In some cases additional information about the position of the remote object, in particular about its angular position (e.g., an angular deviation from a reference direction) is useful.
  • One possibility of determining the angular position of a distant object is the use of two receiving antennas EA1, EA2, which are separated from each other by a distance d, as shown in FIG.
  • the angular position ⁇ of an object can be calculated by
  • phase monopulse method where ⁇ is the phase difference at the location of the two receiving antennas EA1, EA2 of a signal reflected from the remote object. This method is usually called the phase monopulse method.
  • a small radar system for measuring the angular position of a distant object is made possible by the simultaneous use of the receiving antennas EA1, EA2 as transmitting antenna A, as shown in FIG.
  • phase monopulse system may be the ambiguity range of the angular position.
  • a phase shift of an angular position is uniquely assigned.
  • the uniqueness range is in between
  • ⁇ « max arcsin. Since the angle measurement accuracy is better with a larger distance of the phase monopulse receiving antennas, one selects radar systems with narrow opening angles distances greater than ⁇ / 2. However, this means that the uniqueness range is less than 180 ° and thus must be ensured by the directional diagram (two-way) that there is no wrong
  • the opening angle of the main beam must be narrow enough
  • the sidelobe suppression must be large enough.
  • the suppression (relative to the antenna gain in the main beam direction) outside the uniqueness range must be greater than the dynamic range required by the system.
  • the dynamic range is given by the difference in the backscatter of an extremely large target (e.g., trucks) and an extremely small target (e.g., motorcycle or pedestrian).
  • the uniqueness range is greater, the smaller the distance between the receiving antennas, in contrast to the requirement of a small opening angle of the beam, which requires large-area antennas.
  • the distance of the receiving antennas and the aperture sizes of the receiving antenna and the transmitting antenna are linked.
  • the distance of the receiving antennas can therefore not be chosen arbitrarily, i.
  • Uniqueness range and opening angle can not be optimized separately.
  • EP 0 713 581 B1 and DE 694 33 113 T2 describe a vehicle radar system for determining the deviation of a target object with respect to a reference azimuth.
  • an antenna with a pair is used Lobes.
  • the radiation lobes serve to transmit a transmission signal with a phase difference and to detect two Doppler signals at two spatially separated locations. From the two Doppler signals, a sum signal and a difference signal is formed.
  • the deviation with respect to the reference azimuth is determined by a comparison of the sum and difference signals, by quotient formation in the two lobes. To determine the sum and difference signals, the Doppler signals are superimposed.
  • the invention relates to a radar system for measuring the angular position of a distant object, comprising
  • a transmitter which is connected to the transmission of a transmission signal with the antenna
  • a first receiver connected to a first of the at least two receiving antennas for receiving a transmit signal reflected as a first receive signal from the remote object; a second receiver connected to a second one of the at least two receive antennas for receiving a transmit signal reflected as a second receive signal from the remote object.
  • the first receiver comprises a first means for determining a first phase of the first received signal and - the second receiver comprises a second means for determining a second phase of the second received signal, the angular position of a remote object can be reliably determined.
  • the radar system may include, for example, a microcontroller connected to the receiver.
  • the angular position can also be determined on the basis of the phase difference.
  • digital circuits such as microcontrollers, it is also possible, for example, to use analog circuits with operational amplifiers.
  • the fact that the first receiver and / or the second receiver is an IQ receiver is directly and easily measurable.
  • An IQ receiver consists of two mixers in which the input signal is mixed with the local oscillator signal in the baseband. In this case, the local oscillator signal is phase-shifted by 90 ° in one of the two mixers. This allows the measurement of the complex baseband signal, i. Amount and phase.
  • IQ receivers can be used in all radar systems, but are used in particular in pulse radar systems.
  • the first receiver and / or the second receiver comprises a mixer and the radar after the Continuous Wave (CW) o- the Frequency Modulated Continuous Wave (FMCW) principle, the phase of receive signals is directly and simply measurable after a Fourier transform of the receive signals.
  • CW Continuous Wave
  • FMCW Frequency Modulated Continuous Wave
  • the receiver can also be designed as an IF sampling receiver.
  • an IF sampling receiver the received signal is digitally sampled at an intermediate frequency.
  • the useful signal including carrier signal - and thus the phase - in the microcontroller available. Because the first receiver and / or the second receiver is an IF-sampling receiver, the phase of the received signals can be measured directly.
  • the antenna comprises an even number of similar receiving antennas, all receiving antennas can have an identical directional characteristic with simultaneously optimized transmission directivity.
  • the radar system comprises a control means which controls the antenna such that a directional characteristic optimized for the transmission signal or for the combined transceiver signal results, the side lobes can be considerably reduced, whereby false measurements of the angular position can be avoided.
  • the antenna is arranged on one side of a printed circuit board and that the drive means comprises printed conductors and splinters results in a drive means with a long service life, which can be implemented in a particularly simple, cost-effective manner.
  • the antenna comprises an array of patches and that an antenna If a captive antenna comprises a patch or a subarray of the array, a radar system that is particularly simple and inexpensive to produce results.
  • the array comprises a linear array and an aperture of the linear array in a central region of the array has a pronounced amplitude maximum, a directional radiation of the transmission signal can result, which has a high side-lobe attenuation.
  • transmission signals with a frequency over 20GHz can be generated by the radar system
  • radar systems of suitable size can be produced for road vehicles.
  • phase differences can be determined in pairs between the receivers. This allows more reliable information about the angular position can be obtained.
  • erroneous angular positions of remote objects or non-existent remote objects can be extracted by statistical methods, for example.
  • the antenna comprises more than 2 receiving antennas, to each of which a receiver having a means for detecting a phase of a received signal is connected, not only an angle measurement but also an angular resolution can be achieved. This means that several objects with different angles, but equally spaced, can be separated.
  • Figure 1 arrangement for determining the angular position of a distant object by means of two receiving antennas;
  • FIG. 2 shows an arrangement for determining the angular position of a remote object by means of an antenna designed as a transmitting antenna, which comprises two receiving antennas;
  • FIG. 3 block diagram of a radar system according to the invention
  • FIG. 4 block diagram of a radar system according to the invention
  • FIG. 5 block diagram of a radar system according to the invention
  • FIG. 6 block diagram of a radar system according to the invention.
  • FIG. 7 Antenna arrangement with patches on a front side of a printed circuit board of a radar system according to the invention.
  • FIG. 8 shows a circuit arrangement on a rear side of a printed circuit board of a radar system according to the invention
  • Figure 10 shows receive-receive radiation patterns of the radar system for the receive antennas described in Figures 7-9;
  • FIG. 11 Measuring arrangement for determining the directional characteristic of a radar system
  • FIG. 12 Aperture of a first simulated radar system
  • FIG. 13 Aperture occupancy of a second simulated radar system
  • FIG. 14 Directional characteristic of the first simulated radar system
  • FIG. 15 shows a directional characteristic of the second simulated radar system
  • FIG. 16 enlarged detail of the directional characteristic of the first simulated radar system
  • FIG. 17 shows an enlarged section of the directional characteristic of the second simulated radar system
  • FIG. 18 unambiguity diagram of the first simulated radar system
  • Figures 3-6 show circuit arrangements which are suitable for separating the received signals and the transmission signal.
  • FIG. 3 shows a block diagram of a radar system in a first exemplary embodiment.
  • An antenna A comprises two receiver antennas EA1, EA2.
  • the two receiving antennas EA1, EA2 are formed as patch arrays.
  • a transmitter Tx is connected via a splitter SP to two receiving antennas EA1, EA2 in such a way that a transmission signal can be sent via both receiving antennas EA1, EA2.
  • a symmetrical 3dB splitter SP is used to split the transmission signal.
  • a first IQ receiver RxI is for receiving the signal reflected as a first received signal from a remote object. Designals connected to a first of the two receiving antennas EAl.
  • the first IQ receiver RxI, the transmitter Tx and the first reception antenna EAl are each connected to a respective port of a circulator Z1.
  • a second IQ receiver Rx2 is connected to receive the transmission signal of the second reception antenna EA2 reflected as a second reception signal from the distant object.
  • the second IQ receiver Rx2, the transmitter Tx and the second reception antenna EA2 are each connected to one connection of a second circulator Z2.
  • the phases of the received signals can be determined directly at a fixed time by the two IQ receivers RxI, Rx2.
  • the two receivers RxI, Rx2 can be connected, for example, to a microcontroller, which calculates the phase difference and determines therefrom the angular position ⁇ .
  • the radar system shown in FIG. 3 enables an optimum signal-to-noise ratio and a loss-free separation of the transmitted signal and the received signals.
  • FIG. 4 shows a block diagram of a radar system in a second exemplary embodiment.
  • the circuit is analogous to the circuit shown in Figure 3 except for the circulators. Instead of the two circulators, however, two rat race couplers RRCl, RRC2 are used.
  • the solution based on rat-race couplers is less expensive than the solution based on circulators, but half the transmit power of the transmitter Tx is terminated in the termination term of the rat race couplers RRC1, RRC2.
  • this disadvantage can be compensated by an increased transmission power of the transmitter Tx and therefore does not adversely affect the dynamic range.
  • Rat race concept Therefore, in typical automotive radar systems, this results in an increased noise factor.
  • the rat race couplers RRC1, RRC2 can be replaced by standard couplers with a non-symmetrical coupling.
  • FIG. 5 shows a corresponding block diagram. This moves a portion of the loss in the receiver path into the sender path.
  • the third embodiment shown in FIG. 5 is comparable in terms of receiver sensitivity to the optimal signal-to-noise concept of FIG.
  • these connections can also be used as local oscillators LO for the receiver mixers, as illustrated in a fourth exemplary embodiment in FIG. 6 with double-balanced mixers DBM.
  • a double balanced mixer DBM is realized by means of another rat race coupler RRC and two diodes.
  • FIGS. 7 to 11 show an exemplary embodiment:
  • FIG. 7 shows a front side and FIG. 8 shows a rear side of a printed circuit board.
  • On the front there is an 8x16 array of 8x16 patches designed as an antenna.
  • the 8x16 array serves as a transmitting antenna and is divided into two 8x8 arrays, which serve as receiving antennas EA1, EA2.
  • On the rear side an HF circuit is arranged essentially in accordance with the HF circuit shown in FIG.
  • the antennas on the front and the RF circuit on the back are connected via Vias VIA.
  • the transmitting antenna in Figure 7 has an aperture of 120mm x
  • the individual patches PA are connected by means of a circuit which converts conductor tracks and splitter. summarizes interconnected so that an optimal overall timing diagram is achieved due to optimized control.
  • FIG. 9 shows an optimized control of the 8 ⁇ 16 array of the antenna arrangement (aperture allocation in relative power in dB) shown in FIG. 7 in the plane through the two center points of the transmission antennas EA1, EA2.
  • the antenna columns with negative index belong to EA1 and those with positive index to EA2.
  • the two transmit antennas are controlled by mirror symmetry.
  • the phases of all patches are identical. In this way, a vertical radiation can be achieved.
  • the outer columns have a lower aerodynamic stress than the columns in the middle. In this way, an optimized directional diagram can be achieved with regard to the opening angle and the secondary cone damping.
  • FIG. 10 shows the measured two-way directional diagrams (product of transmission line diagram with respective receiver directivity diagram) of the radar system described in FIGS. 7-9 for the two receiving antennas EA1, EA2 designed as 8x8 array.
  • the transmit antenna is the overall antenna, i. the antenna shown in Figure 7 and formed as 16x8 patch array with the Aperturbelegung shown in Figure 9.
  • the two 8x8 patch arrays serve as receive antennas EA1, EA2.
  • the radar system was rotated about an axis of rotation parallel to the columns in order to achieve the angular position ⁇ shown in FIG. 1 in degrees, while a corner reflector was used as a distant object for reflection of the transmission signal.
  • FIG. 10 Shown in FIG. 10 is the relative gain in dB as a function of the angular position ⁇ in degrees. With an aperture of 120 mm, very small side lobes, which are about 3OdB lower than the main lobe and an opening angle (10 dB beam width) of 12 degrees were achieved for the combined transmit-receive directional diagrams.
  • a radar system described in FIGS. 7-11 is suitable, inter alia, for road vehicles. If a printed circuit board on which the patch antenna array is arranged is fastened to a vehicle in such a way that the columns Spa des ⁇ xl ⁇ array are arranged perpendicular to the earth's surface, the result is a radar system with a particularly suitably directed directional characteristic.
  • the directional diagram shown in FIG. 10 then lies in the horizontal plane.
  • the amplitude distribution of the rows of the Patsch array can be optimized by the outer rows having a smaller aperture than the inner rows of the array. As a result, additionally increased side lobe damping and lower in undesired directions can be achieved.
  • FIGS. 12-19 show a comparison of two radar systems with two receiving antennas in simulations.
  • the simulations are based on the assumption of ideal linear arrays of point radiators. Both simulations are based on the same radar systems with the exception of the aperture.
  • the receiving antennas each comprise 8 spotlights.
  • FIGS. 12, 14, 16 and 18 illustrate a first radar system in which the two receiving antennas are optimally individually controlled in order to achieve optimum directional diagrams with large side lobe suppression for the receiving antennas.
  • FIG. 12 shows the control of the spot radiators of the first radar system in the form of the amplitude distribution of the entire 8 ⁇ 16 array over the 16 columns Spa of the 8 ⁇ 16 array in relative terms. ver performance rl.
  • FIG. 13 shows, analogously to this, the activation of the spotlights of the second radar system.
  • FIG. 14 shows a directional characteristic of the first radar system
  • FIG. 15 shows the directional characteristic for the second radar system, in each case for the transmitter Tx, the receiver Rx and the combined directional characteristic TRx for transmitter Tx and receiver Rx.
  • FIG. 16 shows an enlarged detail of the directional characteristic of -30 ° to + 30 ° of the first radar system
  • FIG. 17 shows the same detail for the second radar system.
  • the directional characteristic of the transmitting antenna has much smaller side lobes for the second radar system than for the first radar system, but the reception diagram is less optimal at first sight.
  • the two-way graph shows better characteristics for the second radar system.
  • the second radar system has a main lobe relative attenuation of the first side lobes of significantly more than 30 dB, while the relative attenuation of the first side lobes of the first radar system is not even 20 dB.
  • the advantage of the second radar system compared to the first radar system is particularly evident in a comparison of FIGS. 18 and 19.
  • the remote object was rotated around an axis parallel to the columns. Negative angular positions n ⁇ and positive angular positions p ⁇ were generated.
  • the phase difference ⁇ of the signals at the two receivers was also determined as a function of the angular position ⁇ .
  • the relative reflected signal intensity in dB against the phase difference ⁇ of the reflected signals is shown in FIG. 18 for the first radar system.
  • FIG. 19 shows the representation analogous to FIG. 18 for the second radar system.
  • different angular positions ⁇ of the removed object can result in identical phase differences ⁇ .
  • the angular position ⁇ can nevertheless be unambiguously determined.
  • the comparison of FIG. 18 with FIG. 19 clearly shows that, for the second radar system for a fixed phase shift, the differences from the strongest signal intensity to the second strongest signal intensity are considerably higher. In a range of -120 ° to + 120 ° for the phase shift, the difference for the first radar system is sometimes less than 20 dB. For the second radar system, the difference is more than 40 dB over substantially the entire range of -120 ° to + 120 °, which would be acceptable in a typical automotive radar. The second radar system is therefore much less prone to false angle measurements than the first radar system.
  • a transmitter which is connected to the transmission of a transmission signal with the antenna; a first receiver connected to a first of the at least two receiving antennas for receiving a transmit signal reflected as a first receive signal from the remote object;
  • a second receiver connected to a second one of the at least two receiving antennas for receiving a transmission signal reflected from the remote object as a second received signal, and - A means for determining a phase difference between the first received signal and the second received signal or one of the phase difference uniquely assignable characteristic, based on which the angular position of a remote object can be determined.
  • the radar system can be embodied, for example, as a CW or FMCW radar system, as a pulse radar system, as a pseudo-noise radar system or as a frequency-shift keying radar system.

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)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un système radar (RS) destiné à mesurer la position angulaire (α) d'un objet distant, comportant une antenne (A) présentant au moins deux antennes de réception (EA1, EA2) ; un émetteur (Tx) connecté à l'antenne (A) pour l'émission d'un signal d'émission ; un premier récepteur (Rx1) connecté à une de deux antennes de réception (EA1, EA2) pour la réception d'un signal d'émission réfléchi par l'objet distant en tant que premier signal de réception ; et, un deuxième récepteur (Rx2) connecté à une deuxième antenne de réception (EA1, EA2) pour la réception d'un signal d'émission réfléchi par l'objet distant en tant que deuxième signal de réception. Le système radar selon l'invention est caractérisé en ce que le premier récepteur (Rx1) comporte un premier élément de détermination d'une première phase du premier signal de réception, et le deuxième récepteur (Rx2) comporte un deuxième élément de détermination d'une deuxième phase du deuxième signal de réception.
EP06793651A 2005-09-20 2006-09-20 Systeme radar a monoimpulsions destine a des vehicules Withdrawn EP1929330A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005044884A DE102005044884A1 (de) 2005-09-20 2005-09-20 Radarsystem
PCT/EP2006/066517 WO2007033967A1 (fr) 2005-09-20 2006-09-20 Systeme radar a monoimpulsions destine a des vehicules

Publications (1)

Publication Number Publication Date
EP1929330A1 true EP1929330A1 (fr) 2008-06-11

Family

ID=37667322

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06793651A Withdrawn EP1929330A1 (fr) 2005-09-20 2006-09-20 Systeme radar a monoimpulsions destine a des vehicules

Country Status (4)

Country Link
US (1) US20090015463A1 (fr)
EP (1) EP1929330A1 (fr)
DE (1) DE102005044884A1 (fr)
WO (1) WO2007033967A1 (fr)

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US20090015463A1 (en) 2009-01-15
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