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WO2021122167A1 - Procédé de vérification d'un capteur radar d'un véhicule - Google Patents

Procédé de vérification d'un capteur radar d'un véhicule Download PDF

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Publication number
WO2021122167A1
WO2021122167A1 PCT/EP2020/085102 EP2020085102W WO2021122167A1 WO 2021122167 A1 WO2021122167 A1 WO 2021122167A1 EP 2020085102 W EP2020085102 W EP 2020085102W WO 2021122167 A1 WO2021122167 A1 WO 2021122167A1
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WO
WIPO (PCT)
Prior art keywords
information
radar sensor
order
distance
comparison
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/EP2020/085102
Other languages
German (de)
English (en)
Inventor
Ridha Farhoud
Tai Fei
Frank GRÜNHAUPT
Markus GARDILL
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.)
Hella GmbH and Co KGaA
Original Assignee
Hella GmbH and Co KGaA
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 Hella GmbH and Co KGaA filed Critical Hella GmbH and Co KGaA
Publication of WO2021122167A1 publication Critical patent/WO2021122167A1/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
    • 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
    • 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
    • G01S13/003—Bistatic radar systems; Multistatic radar systems
    • 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
    • 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
    • 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
    • G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
    • 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
    • G01S13/343—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 sawtooth 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
    • G01S13/02—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
    • G01S13/4445—Monopulse radar, i.e. simultaneous lobing amplitude comparisons monopulse, i.e. comparing the echo signals received by an antenna arrangement with overlapping squinted beams
    • 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
    • G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • 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
    • G01S2013/9327—Sensor installation details
    • G01S2013/93275—Sensor installation details in the bumper area
    • 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
    • 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
    • G01S7/406—Means for monitoring or calibrating by simulation of echoes using internally generated reference signals, e.g. via delay line, via RF or IF signal injection or via integrated reference reflector or transponder
    • G01S7/4078—Means for monitoring or calibrating by simulation of echoes using internally generated reference signals, e.g. via delay line, via RF or IF signal injection or via integrated reference reflector or transponder involving an integrated reference reflector or reference transponder

Definitions

  • the present invention relates to a method for checking a radar sensor of a vehicle.
  • the invention also relates to a radar system and a computer program.
  • the plausibility of the output data is checked for the functional test.
  • this is then an indirect approach - the impairment of the view cannot be recognized if a physical object creates a sensor blockage.
  • the vehicle may need an own speed in order to check the plausibility.
  • conventional solutions for checking a radar sensor when the vehicle is stationary cannot be used reliably.
  • the object is achieved in particular by a method for checking a radar sensor of a vehicle.
  • the radar sensor can be part of a radar system of the vehicle.
  • the vehicle is preferably designed as a motor vehicle and preferably as a passenger vehicle.
  • the vehicle can also be designed as a truck and / or as an electric vehicle and / or as an autonomous vehicle.
  • the radar sensor is z. B. integrated in the bumper or in the side area of the vehicle in order to capture the surroundings of the vehicle.
  • targets in the vicinity can be detected by the radar sensor and various parameters of these targets, such as the speed and / or the distance and / or the direction and / or the number of targets to be detected by the radar sensor.
  • the checking of the radar sensor can also take place repeatedly.
  • the following steps are carried out repeatedly (over time) during / during operation of the radar sensor, preferably in the specified order, preferably in order to carry out the checking of the radar sensor in each of these iterations:
  • first acquisition information of a first receiving antenna of the radar sensor in order to obtain at least one range information from the first acquisition information, in particular in the case of target detection, range information about at least one detected target (i.e. the first acquisition information can be specific for the range during target detection),
  • Carrying out at least one processing of the acquisition information in order to obtain processed acquisition information in order to preferably (in the case of target detection) determine a distance to the target from the distance information and / or to obtain comparison information from the directional information, in particular based on the above mentioned correlation or through the evaluation of the processed detection information, which is described in more detail below,
  • the invention can also achieve the advantage that the time-repeated updating of the reference information improves the reliability of the check, since an up-to-date reference is always provided.
  • An idea on which the invention is based can thus be taken into account, namely that the reference information can change during the operation of the radar sensor.
  • the check can therefore be made more difficult or even prevented.
  • refreshing the reference information over time can thus improve the checking.
  • the updating of the reference information can be carried out automatically and regularly, in particular with each iteration of the method steps.
  • the method according to the invention can be designed to detect the functional impairment even when no target is being detected, or even before and / or independently of the target detection. Even if the target is not detected, the detection information for different distances and directions and possibly speeds is in relation to the radar sensor specific, and thus includes the distance, direction and / or speed information (e.g. the information that no target was detected in different distances or directions, or information about couplings and / or disturbances in the close range).
  • the comparison information can be determined for a predefined distance, for example for the distances in the vicinity of the radar sensor.
  • the method steps of a method according to the invention are carried out by a processing device, wherein the processing device can be designed as an electronic circuit, preferably as an integrated circuit.
  • the processing device can be integrated into the radar system.
  • the update of the reference information can preferably be carried out with each iteration of the method steps and / or with each operation, in particular during regular operation, of the radar sensor.
  • existing values of the reference information and new current values can also receive weighted input into the updated reference information.
  • the reference information can thus be filtered over time, in particular in the sense of a time series analysis.
  • performing the (at least one) processing comprises the following steps:
  • a transformation in particular a frequency analysis, preferably a Fourier transformation, of the detection information in order to obtain the processed detection information as a result of the transformation - in the form of transformed detection information - which, in the case of target detection, contains information about the at least one target for various Can provide distances and in particular also for different speeds, and / or in order to separate the detection information according to time delay (range) and frequency shift (speed) through the transformation, so that the original Detection information for different time delays and frequency shifts can be evaluated separately (whereby an evaluation area can then correspond to a range-speed bin in a two-dimensional Fast Fourier transformation),
  • the correlation of the first acquisition information item with the at least one additional acquisition information item can be used in order to obtain the comparison information.
  • the comparison information is thus information that can be dependent on the direction of the target, that is to say the angle of incidence. If there is no actual target in the vicinity of the radar sensor, the comparison information can nevertheless be determined. This is related to the fact that characteristic comparison information is available even in the case of trouble-free operation without detectable targets. This can be implemented as a characteristic energy distribution or spatial spectrum, and can be determined in particular in the near range (for short distances according to the distance information). This characteristic comparison information is created, for example, by coupling the transmission signal via various paths with other components of the vehicle in the area of the radar sensor, such as a radome or a bumper or the like.
  • This characteristic comparison information can therefore be used as reference information, in particular via the updating of the reference information and / or an initial definition of the reference information at the start of operation. Since the characteristic comparison information can change during operation, updating the reference information offers continuous adaptation. This ensures that a change in the comparison information due to a blockage of the radar sensor, ie a significant deviation of the comparison information from the characteristic comparison information, can be reliably detected as a functional impairment.
  • the updating of the reference information includes the following step:
  • the comparison information With a weighting of 100%, the comparison information would be adopted identically as the reference information. Reducing this weighting ensures that short-term deviations in the comparison information do not have a major impact on the reference information.
  • the updating of the reference information does not take place. This ensures that the functional impairment can still be reliably detected.
  • the current comparison information is changed compared to the characteristic comparison information in fault-free operation, so that it is not suitable as a reference.
  • the comparison information may only have information from the detection information and / or direction information which is specific for a certain distance in the close range. This ensures that actual goals have no influence on the comparative information.
  • the comparison information is (only) specific for a coupling of a transmission signal from the radar sensor via various paths with other components of the vehicle in the area, in particular near area, of the Radar sensor. This has the advantage that the functional impairment can also be detected when no detectable target is available.
  • a temporal filtering is used, specifically, for example, a filter, in particular an exponential filter, is used in order to include the comparison information with a certain weighting in the existing reference information.
  • a smoothing method such as exponential smoothing can be used as an exponential filter. This avoids short-term deviations of the comparison information from characteristic comparison information from impairing the check.
  • the reference information can be read from a data memory to determine the deviation (between the comparison information and the reference information) and, in particular, after the reference information has been updated, the updated reference information is stored in the data memory, preferably in order for the next iteration of the Process steps to be read out as reference information for determining the deviation. This means that an updated reference can be made available for each iteration.
  • the functional impairment is implemented as a blockade of the radar sensor in the close range.
  • a method according to the invention is therefore advantageously used for detecting a sensor blockage, in which the view of the radar sensor through an object in the vicinity of the radar sensor is at least reduced or completely prevented (that is, blocked).
  • the comparison information and the reference information are each implemented as a distribution, preferably an energy distribution, of the (in particular processed) detection information via the various receiving antennas, and in particular as a spatial spectrum, preferably an amplitude spectrum.
  • the directional information can be included in various receiving antennas for determining the comparison information.
  • a spectral analysis of the processed detection information is carried out via the various receiving antennas, preferably for a certain distance and / or speed which is specific for the close range of the radar sensor.
  • the result of this evaluation can be the energy distribution over a detection angle, which has a characteristic shape for trouble-free operation. If the shape according to the current comparison information deviates from this characteristic shape according to the reference information, a blockage can be concluded.
  • the processed detection information of the various receiving antennas are combined as a matrix, and the comparison information is determined from the matrix by evaluating the values of the matrix via the various receiving antennas for at least or exactly one (certain) distance are, in particular by a frequency analysis and / or Fourier transformation, preferably to determine the energy distribution over an angle of incidence from the directional information.
  • a distance greater than 0 is selected as the at least one (specific) distance, and preferably only values of the matrix for this distance and at least one speed are selected during the evaluation.
  • the speed is preferably 0, since blocking objects usually have no speed relative to the vehicle.
  • the determination of the deviation comprises the following steps:
  • Comparison information defined area Determining a second surface area of an area defined by a course of the reference information
  • the comparison information and the reference information can each have similar value profiles, which are then assigned according to an area content (for example by calculating the integral).
  • the difference can be specific to the presence of a disorder.
  • the comparison information can also be used to determine the number of targets and / or the angle of incidence, in which case, however, a different distance and / or different speeds are then taken into account to determine the comparison information than for the detection of the functional impairment.
  • the radar sensor is designed as an FMCW radar sensor, that is to say frequency-modulated continuous wave radar. This offers a particularly reliable detection in a vehicle.
  • the invention also relates to a radar system for a vehicle. It is provided here that the radar system has a radar sensor and a (in particular electronic) processing device, the processing device being designed to carry out the method steps of a method according to the invention to execute.
  • the radar system according to the invention thus has the same advantages as have been described in detail with reference to a method according to the invention.
  • the invention also relates to a computer program, in particular a computer program product, comprising commands which cause the radar system according to the invention to carry out the method steps of a method according to the invention.
  • the computer program can be stored in a data memory of the radar system and read out and executed by a processor of the processing device.
  • FIG. 1 shows a schematic representation of a vehicle with a radar system according to the invention
  • FIG. 2 shows a schematic representation of parts of a radar system according to the invention
  • FIG. 3 shows a schematic representation of a collection information which is processed in a processing device
  • 5 shows a further schematic representation of a transformation of the acquisition information
  • 6 shows a schematic representation of a radar sensor in a fault-free state
  • FIG. 8 shows a schematic representation of a radar sensor in a state with functional impairment, in particular a blockage
  • FIG. 10 shows a schematic representation for visualizing a method according to the invention.
  • a processing device 10 of the radar system 100 is also provided in order to carry out a method according to the invention.
  • the radar sensor 110 is shown in more detail.
  • the radar sensor 110 is used to transmit and receive electromagnetic waves 30, hereinafter also referred to as radar radiation 30.
  • the radar system 100 can be designed as a continuous wave radar, in particular as a frequency-modulated continuous wave radar (FMCW radar).
  • FMCW radar frequency-modulated continuous wave radar
  • the mode of operation is described below as an example.
  • the radar sensor 110 can have at least one transmitting antenna 115 for transmitting and at least one receiving antenna 111, 112, 113, 114 for receiving.
  • the transmission signal s can be generated by means of periodic frequency modulation, e.g. B. by a signal generator, not shown, of a processing device 10.
  • the transmission signal s can be linearly modulated.
  • the frequency modulation can e.g. B. be done with a sawtooth signal, whereby the frequency of the transmission signal s increases linearly as a function of time.
  • the signal generated in this way can thus be interpreted as a “chirp” signal, and it can be repeatedly transmitted several times via the transmitting antenna 115 before the received signals are processed.
  • a “chirp” signal is sent out during a first time period T 1, hereinafter referred to as “fast time”.
  • the received signals can then be processed for a further period of time T3 before the transmission begins again. After at least T2 + T3, the transmission of the transmission signal s can thus start again.
  • the transmitted signal s reflected at the target 5 can be received as a received signal by at least one receiving antenna 111-114.
  • An analog-to-digital converter 120 which can be part of a processing device 10, can be used for the conversion into the digital acquisition information B. In this way, depending on the selected sampling, several (e.g. M) values per “chirp” signal (“chirp” for short) are obtained, to which the index k is subsequently assigned.
  • the "chirp" signals repeated N times can also be combined in columns to form a 2-D matrix B, so that the M values per "chirp” signal are arranged line by line.
  • the further index I which is assigned to the different “chirp” signals, is then provided orthogonally to the index k.
  • the index k over the "Fast-Time” axis is thus the row index
  • the index I over the "Slow-Time” axis is the column index of matrix B.
  • the detection information B recorded in this way can be understood analytically as b [k, I] according to equation (1) (BW is the bandwidth of the “chirp”, R the distance to the target, v the speed of the target, Tc hi rp die Length of a "chirp", i.e. T1, and T s the sampling period within a "chirp”):
  • at least one transformation 210 such as a Fourier transformation (for example in the form of a Fast Fourier Transformation) along the dimension k or “fast time” can be used to determine the distance r from the target 5 and along the dimension I. or “slow time” are used to determine the speed v of the target 5.
  • the two transformations can be carried out as a two-dimensional transformation 210, or they can be carried out one after the other for both dimensions. This results in a new matrix B ‘, which represents the target 5‘ resolved according to distance r and speed v.
  • a plurality of receiving antennas 111-114 can be provided in the case of the radar sensor 110.
  • the received signals and thus also the detection information B1, B2, ... can have a transit time difference r m and thus also a phase difference f pi .
  • the received signals can have a different path length d m between different receiving antennas 111-114 at the respective position p m . These differences in the path length can be specific for a direction of the target 5 or an angle of incidence with respect to the radar sensor 110.
  • a plurality of receiving antennas 111-114 enable a direction of the target 5 to be estimated.
  • the antennas are arranged, for example, according to a single-input multiple-output (SIMO) or multiple-input multiple-output (MIMO) architecture.
  • SIMO single-input multiple-output
  • MIMO multiple-input multiple-output
  • more than one receiving antenna 111-114 are, by comparing the received signals or the detection information B1, B2, ... at least one angle of incidence (azimuth angle f and / or elevation angle Q) of the received signals and thus the direction of the target 5 can be calculated.
  • the angle of incidence q, f is again specific for a direction vector u (0,0) of the target 5.
  • a relationship results according to equations (2), (3) and (4), where l is the wavelength, the center frequency, m the index for the various receiving antennas 112-114 and c the speed of light.
  • ⁇ t h ⁇ q, f) p m ⁇ (q, f) (2)
  • t m (0.0) d m (0.0) /
  • the detection information b m i.e. B1, B2, etc., for a specific (m-th) receiving antenna can be represented as an example in equation (5):
  • Equation (6) can also be represented vectorially as follows in equation (7), where d (0,0) denotes the individual phases that are detected by the respective receiving antennas m through the different angles of incidence:
  • the speed v and distance r of the targets 5 can be determined by the transformation 210 along the dimension k “fast time” and I “slow time”.
  • the matrices for individual receiving antennas m can also be combined to form a three-dimensional matrix B according to FIG. 5, in which the index m is assigned to the receiving antenna.
  • a two-dimensional Fourier transformation along the dimensions k and I results in the matrix B ‘as processed detection information.
  • the processed detection information BT, B2 ‘, etc. is accordingly obtained for the various receiving antennas.
  • the signal vector x of the three-dimensional matrix B 'in FIG. 5 corresponds to the values along the dimension m for a certain distance r and speed v.
  • the signal vector x can be used as comparison information x 'and as reference information g.
  • Another transformation, in particular Fourier transformation, of this vector x can be understood as a spatial spectrum.
  • This spatial spectrum can specify the angle of incidence of the target 5 and / or be specific for an energy distribution of the target 5 that is specific to the angle of incidence.
  • This spatial spectrum can also be used alternatively or additionally as the comparison information x 'and the reference information g. For this purpose z. B.
  • the comparison information x ' can be established as reference information g in the fault-free state of the radar sensor 110, the reference information g, if necessary, being updated regularly on the basis of the comparison information x'.
  • the spatial spectrum resulting from the vector x is shown by way of example in FIGS. 7 and 9, with a distribution of the energy p or intensity p over the direction d of the target 5 according to the angle of incidence d can indicate the direction index for the angle of incidence.
  • the vector x is also given as an example in equation (9):
  • FIG. 6 shows a state of the radar sensor 110 in which there is no blockage.
  • a method according to the invention can be used to determine a characteristic spatial spectrum as the reference information g, which is shown in FIG.
  • This characteristic energy distribution is due to the fact that there is a signal coupling through Various influences occur, for example from the radome 20 and / or from a bumper 2.
  • FIG. 8 on the other hand, there is a (partial) blockage of the radar sensor 110.
  • a physical object 6 is present in the vicinity of the radar sensor 110, so that there is a significant change in the energy distribution g from FIG. This change is illustrated in FIG. 9, in which the energy distribution from FIG.
  • comparison information x ' in a dashed line as reference information g (in the form of a reference spectrum).
  • This comparison with the reference can serve as an indicator of a blockage - i.e. a functional impairment.
  • the difference in shape between the reference spectrum and the current spectrum can specifically serve as an indicator.
  • the size of the difference area between the two spectra can serve as a measure and indicate the blockage through a comparison with a threshold value. If the difference area as the difference - the area formed by the current spectrum and the area formed by the reference spectrum - exceeds a threshold value, this can be detected as a blockage.
  • the reference spectrum can e.g. B. be determined in a state in which it is known that the radar sensor 110 is not blocked.
  • a method according to the invention is visualized schematically in FIG.
  • a first acquisition information B1 of a first receiving antenna 111 of the radar sensor 110 is acquired in order to obtain at least one distance information e (in particular in the case of target detection via at least one detected target 5) from the first acquisition information B1.
  • at least one additional information item B2 of at least one additional receiving antenna 112 of the radar sensor 110 is acquired in order to, in addition to the To obtain distance information e direction information f (in particular about the target 5).
  • the acquisition information B1, B2 can be processed as digital information by a processing device 10, as is shown schematically in FIG.
  • At least one processing 210 of the acquisition information B1, B2 can then be carried out in order to obtain processed acquisition information B1 ', B2', in particular to determine a distance r of the target 5 from the distance information e, and in order to obtain comparison information x 'from the direction information f.
  • FIG. 4 shows that the distance information e can be provided in dimension k, that is to say “fast time”, and the distance r can be determined therefrom, for example by the processing 210.
  • the processing 210 According to the method according to the invention, several of the information items B shown in FIG. 4 have been recorded for different receiving antennas 111, 112. The evaluation of a correlation of this acquisition information B or the processed acquisition information B ascertained therefrom by the processing 210 can lead, according to FIG. 5, to the receipt of the comparison information x Richt from the direction information f. Flierzu takes place z. B. an evaluation such as a frequency analysis of the values x in FIG. 5.
  • the comparison information x ‘ can specifically be the transformation of the values x for a certain distance r and speed v along the dimension m. It can also be seen that in processing 210 the processed detection information BT, B2 of the various receiving antennas 111, 112 are combined as a matrix, so that BT, B2 ‘, etc. are lined up in the direction m.
  • the processed detection information BT, B2 'or this matrix can still have information for different distances r and possibly also speeds v. In particular when considering the distances r in the near range, the processed detection information B1 ', B2' correlations that are useful for checking the radar sensor 210.
  • a deviation between the comparison information x ‘and a reference information g can then be determined according to a fourth method step 204 in order to use the deviation to detect a functional impairment of the radar sensor 110 for checking the radar sensor 110.
  • the reference information g can be updated using the direction information f, in particular using the comparison information x ‘.
  • the reference information g can be stored, for example, in a data memory 11 of the processing device 10 (see FIG. 2).

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  • 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 procédé de vérification d'un capteur radar (110) d'un véhicule (1), les étapes suivantes étant exécutées de manière répétée pendant le fonctionnement du capteur radar (110) : - capturer un élément de premières informations de capture (B1) par une première antenne de réception (111) du capteur radar (110) afin d'obtenir au moins une information de distance (e) au moyen des premières informations de capture (B1), - capturer au moins un élément d'information de capture supplémentaire (B2) par au moins une autre antenne de réception (112) du capteur radar (110) afin d'obtenir un élément d'information de direction (f) en plus des informations de distance (e), - mettre en œuvre au moins une opération de traitement (210) sur les informations de capture (B1, B2) pour obtenir un élément d'information de capture traitée (B1', B2') dans chaque cas afin d'obtenir un élément d'information de comparaison (x') à partir des informations de direction (f), - déterminer une divergence entre les informations de comparaison (x') et un élément d'information de référence (g) afin de détecter une défaillance fonctionnelle du capteur radar (110) sur la base de la divergence pour vérifier le capteur radar (110), - mettre à jour les informations de référence (g) sur la base des informations de direction (f), en particulier sur la base des informations de comparaison (x').
PCT/EP2020/085102 2019-12-20 2020-12-08 Procédé de vérification d'un capteur radar d'un véhicule Ceased WO2021122167A1 (fr)

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EP2806286A1 (fr) 2013-05-23 2014-11-26 Autoliv Development AB Détection de blocage radar FMCW
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WO2019094843A1 (fr) * 2017-11-10 2019-05-16 Nvidia Corporation Systèmes et procédés pour véhicules autonomes sûrs et fiables
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DE102010002759A1 (de) * 2010-03-11 2011-09-15 Robert Bosch Gmbh Radarsensor mit Selbsttesteinrichtung
EP2806286A1 (fr) 2013-05-23 2014-11-26 Autoliv Development AB Détection de blocage radar FMCW
EP3460506A1 (fr) * 2017-09-25 2019-03-27 Aptiv Technologies Limited Procédé de surveillance de la plage de performance d'un système radar automobile

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