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WO1992011543A1 - Procede pour la mesure de la distance et de la vitesse d'un objet - Google Patents

Procede pour la mesure de la distance et de la vitesse d'un objet Download PDF

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Publication number
WO1992011543A1
WO1992011543A1 PCT/DE1991/000899 DE9100899W WO9211543A1 WO 1992011543 A1 WO1992011543 A1 WO 1992011543A1 DE 9100899 W DE9100899 W DE 9100899W WO 9211543 A1 WO9211543 A1 WO 9211543A1
Authority
WO
WIPO (PCT)
Prior art keywords
frequency
speed
distance
difference
emitted
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.)
Ceased
Application number
PCT/DE1991/000899
Other languages
German (de)
English (en)
Inventor
Hermann Winner
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO1992011543A1 publication Critical patent/WO1992011543A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G01S13/02—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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements

Definitions

  • the invention is based on a method according to the type of the main claim.
  • the reflected signal undergoes a Doppler shift.
  • this Doppler shift falsifies the distance measurement. That is why in the known methods, the shortest possible ramp duration is selected, as a result of which the intermediate frequency range is shifted towards high frequencies, so that the Doppler shift becomes relatively small.
  • the relative speed can be measured by differentiating the distance values of successive measurements.
  • a measurement of the relative speed using the known method is too imprecise.
  • the object of the present invention is therefore to provide a method for measuring the distance and the speed of an object with the aid of electromagnetic waves, in which both the distance and the speed can be measured as precisely as possible.
  • the method according to the invention should be suitable for the relatively small distances and speeds occurring in road traffic.
  • the inventive method with the characterizing features of the main claim has the advantage that an accurate distance and speed measurement is possible with relatively simple and known means.
  • the accuracy of the speed measurement is significantly increased compared to the known methods.
  • the accuracy of the distance measurement is also increased by compensating for the Doppler effect.
  • Another advantage of the invention over the known method, in which the speed information is obtained by differentiating successive distance measurements, is that the measurement result is available very quickly, namely after a measurement cycle.
  • Differentiation methods on the other hand, have to measure the distance course for a relatively long time in order to average out statistical fluctuations in the measured values, which are exacerbated by the differentiation.
  • This advantage is particularly important for applications in road traffic, such as. B. collision avoidance or distance control, since fast response times are required here.
  • the method according to the invention is particularly well suited for distance warning devices on motor vehicles. With the help of your own vehicle speed, you can easily differentiate between oncoming, stationary and preceding objects.
  • frequency modulation is preferably carried out in such a way that the transition between two frequencies takes the form of a ramp, the ramp duration preferably being of the order of 1 ms.
  • FIG. 1 shows the course over time of the frequencies of the emitted and the received signal during reflection on an object moving relative to the location of the measurement and in the case of an object at a constant distance
  • FIG. 2 shows the intermediate frequency spectra resulting from the frequency curve according to FIG. 1 and
  • Fig. 3 shows a device for performing the inventive method.
  • frequency f is plotted over time t.
  • the frequency of the transmitted signal is shown as a solid line, while the frequency of the received signal is dash-dotted in the case of a non-moving object and dashed in the case of a moving object.
  • the frequencies rise in each case from a carrier frequency f_ by a frequency deviation f in a ramp manner, in order to fall again in a ramp shape to the carrier frequency f ⁇ after a short time which is not essential for the measurement.
  • the ramp duration T is preferably about 1 ms at the distances and speeds to be measured in road traffic.
  • the frequency of the received signal is shown in dashed lines in FIG. 1. This results in the
  • Fig. 2 shows the spectral power N of
  • the speed resolution in the method according to the invention is increased by the factor f, _ / f H , which in practice is between 100 and 300.
  • f, _ / f H carrier frequencies from 50 GHz to 100 GHz and frequency swings up to 300 MHz are advantageous with a range of approximately 150 m.
  • a known FMCW radar front end essentially contains a controllable oscillator (VCO) 2, a circulator 3, a Antenna 4 and a mixer 5.
  • VCO controllable oscillator
  • the output signal of the controllable oscillator is fed to the antenna via the circulator and radiated by the latter.
  • the wave returning after the reflection is fed as a corresponding signal via the circulator to the mixer 5 and mixed there with the output signal of the oscillator 2.
  • the resulting intermediate frequency corresponds to the difference between the frequencies of the transmitted signal and the received signal and is available at the output 6 of the mixer 5.
  • a control input 7 of the controllable oscillator 2 is supplied with a signal for frequency modulation of the transmitted signal.
  • This signal has the ramp shape shown schematically in FIG. 3 and is generated by a ramp generator 8 which, in a manner known per se, essentially consists of an integrator to which voltages of opposite signs are supplied during the ramps.
  • the inputs 9 and 10 of the ramp generator 8 are supplied with the pulses shown in FIG. 3 by a control and computing unit 11.
  • the control and computing unit 11 contains a frequency analyzer and a computing unit for calculating the distance s and the relative speed f. Since the control and computing unit basically corresponds to those used in the known FMCW radar devices, there is no need to explain them in detail. Compared to these known control and computing units, the pulses supplied to the ramp generator 8 are essentially broadened and implemented in order to carry out the method according to the invention Computer program provided in accordance with the arithmetic operations explained in connection with Figures 1 and 2. The intermediate frequency is fed to the control and computing unit via an analog / digital converter 12.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

Dans un procédé pour la mesure de la distance et de la vitesse d'un objet à l'aide d'ondes électromagnétiques, où sur la base de la différence de fréquence des ondes émises et simultanément reçues est calculée la distance (radar FMCW), la différence de fréquence est mesurée pendant une montée et pendant une chute de la fréquence des ondes émises. La vitesse est calculée sur la base de la différence résultant des différences de fréquence, et la distance est calculée sur la base de la valeur moyenne des différences de fréquence.
PCT/DE1991/000899 1990-12-19 1991-11-16 Procede pour la mesure de la distance et de la vitesse d'un objet Ceased WO1992011543A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19904040572 DE4040572A1 (de) 1990-12-19 1990-12-19 Verfahren zur messung des abstandes und der geschwindigkeit eines objekts
DEP4040572.9 1990-12-19

Publications (1)

Publication Number Publication Date
WO1992011543A1 true WO1992011543A1 (fr) 1992-07-09

Family

ID=6420675

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1991/000899 Ceased WO1992011543A1 (fr) 1990-12-19 1991-11-16 Procede pour la mesure de la distance et de la vitesse d'un objet

Country Status (2)

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DE (1) DE4040572A1 (fr)
WO (1) WO1992011543A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1994016340A1 (fr) * 1992-12-31 1994-07-21 Rockwell International Corporation Procede informatise faisant appel a un radar, pour mesurer les distances et les vitesses relatives entre un vehicule et des obstacles se trouvant en face de lui
US5483242A (en) * 1992-12-17 1996-01-09 Robert Bosch Gmbh Method for measuring the distance and velocity of objects
US6587074B1 (en) * 1999-07-27 2003-07-01 Robert Bosch Gmbh System for measuring the distance and the relative velocity between objects
US7508337B2 (en) * 2006-11-24 2009-03-24 Hitachi, Ltd. Radar apparatus and signal processing method

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2283631B (en) * 1993-11-06 1998-04-29 Roke Manor Research Radar apparatus
US5633642A (en) * 1993-11-23 1997-05-27 Siemens Aktiengesellschaft Radar method and device for carrying out the method
FR2733840B1 (fr) * 1995-05-05 1997-06-06 Siemens Automotive Sa Procede de mesure de la distance et de la vitesse relatives d'un objet par rapport a un radar a ondes continues modulees en frequence de maniere periodique
DE19526448A1 (de) * 1995-07-20 1997-01-30 Bosch Gmbh Robert Radarsystem, insbesondere Kraftfahrzeug-Radarsystem
DE19631590C2 (de) * 1996-08-05 1999-09-23 Bosch Gmbh Robert Verfahren zur Behandlung von Störsignalen bei einem Kraftfahrzeug-Radarsystem und Kraftfahrzeug-Radarsystem hierfür
DE19742606B4 (de) * 1997-09-26 2005-09-15 Volkswagen Ag Verfahren und Einrichtung zur Aktivierung von Insassenschutzsystemen in Kraftfahrzeugen
DE19920887C2 (de) * 1999-05-06 2002-12-05 Dornier Gmbh Verfahren zur Bestimmung des Eindeutigkeitsbereichs bei einem frequenzgeregeltem Pulsradarsystem
RU2163723C1 (ru) * 1999-06-25 2001-02-27 Жуковский Юрий Георгиевич Способ определения параметров движения объекта локации
DE19963625A1 (de) * 1999-12-29 2001-07-12 Bosch Gmbh Robert Verfahren zur Messung des Abstands und der Geschwindigkeit von Objekten
DE10005421A1 (de) 2000-02-08 2001-08-09 Bosch Gmbh Robert Radarsystem zur Bestimmung der optischen Sichtweite
DE10242808B4 (de) 2002-09-14 2018-09-06 Robert Bosch Gmbh Verfahren und Vorrichtung zur Erkennung von Hindernissen und/oder Verkehrsteilnehmern
DE10326282B4 (de) * 2003-06-11 2006-01-19 Siemens Ag Zugangskontrollsystem mit Unterdrückung von Modulationsstörungen
DE102008038365A1 (de) * 2008-07-02 2010-01-07 Adc Automotive Distance Control Systems Gmbh Fahrzeug-Radarsystem und Verfahren zur Bestimmung einer Position zumindest eines Objekts relativ zu einem Fahrzeug

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2612636A (en) * 1946-01-28 1952-09-30 Rca Corp Radio location and detection arrangement
JPH01210887A (ja) * 1988-02-18 1989-08-24 Matsushita Electric Ind Co Ltd Ｆｍレーダセンサ

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2612636A (en) * 1946-01-28 1952-09-30 Rca Corp Radio location and detection arrangement
JPH01210887A (ja) * 1988-02-18 1989-08-24 Matsushita Electric Ind Co Ltd Ｆｍレーダセンサ

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
M.I. Skolnik: "Introduction to Radar Systems", 1981, McGraw-Hill, Singapore; Abschnitt 3.3, Seiten 81-84, siehe den ganzen Artikel *
M.I. Skolnik: "Radar Handbook", 1970, McGraw-Hill, USA; Abschnitt 16.12, Seiten 16.25 - 16.26, siehe Seite 16.26, Zeile 12 *
Patent Abstracts of Japan, Band 13, Nr. 517 (P-962) 2. November 1989, & JP, A, 01210887 (MATSUSHITA) 24. August 1989, siehe den ganzen Artikel *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5483242A (en) * 1992-12-17 1996-01-09 Robert Bosch Gmbh Method for measuring the distance and velocity of objects
DE4242700C2 (de) * 1992-12-17 2003-01-30 Bosch Gmbh Robert Verfahren zur Messung des Abstandes und der Geschwindigkeit von Objekten
WO1994016340A1 (fr) * 1992-12-31 1994-07-21 Rockwell International Corporation Procede informatise faisant appel a un radar, pour mesurer les distances et les vitesses relatives entre un vehicule et des obstacles se trouvant en face de lui
EP0939322A3 (fr) * 1992-12-31 1999-10-06 Rockwell International Corporation Procédé informatisé faisant appel à un radar, pour mesurer les distances et les vitesses relatives entre un véhicule et des obstacles se trouvant en face de lui
JP3220463B2 (ja) 1992-12-31 2001-10-22 ロックウェル・インターナショナル・コーポレイション 車両とその前方の障害物との距離および相対速度を測定するためのコンピュータ処理方式レーダ探知方法
US6587074B1 (en) * 1999-07-27 2003-07-01 Robert Bosch Gmbh System for measuring the distance and the relative velocity between objects
US7508337B2 (en) * 2006-11-24 2009-03-24 Hitachi, Ltd. Radar apparatus and signal processing method

Also Published As

Publication number Publication date
DE4040572A1 (de) 1992-06-25

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