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1. WO2006100167 - METHOD AND DEVICE FOR MEASURING DISTANCE AND RELATIVE SPEED OF A PLURALITY OF OBJECTS

Publication Number WO/2006/100167
Publication Date 28.09.2006
International Application No. PCT/EP2006/060404
International Filing Date 02.03.2006
IPC
G01S 13/34 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO 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
13Systems 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
02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
06Systems determining position data of a target
08Systems for measuring distance only
32using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
34using 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
CPC
G01S 13/345
GPHYSICS
01MEASURING; TESTING
SRADIO 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
13Systems 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
02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
06Systems determining position data of a target
08Systems for measuring distance only
32using transmission of continuous unmodulated waves, amplitude-, frequency- or phase-modulated waves
34using transmission of frequency-modulated waves and the received signal, or a signal derived therefrom, being heterodyned with a locally-generated signal related to the contemporaneous transmitted signal to give a beat-frequency signal
345using triangular modulation
G01S 13/347
GPHYSICS
01MEASURING; TESTING
SRADIO 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
13Systems 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
02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
06Systems determining position data of a target
08Systems for measuring distance only
32using transmission of continuous unmodulated waves, amplitude-, frequency- or phase-modulated waves
34using transmission of frequency-modulated waves and the received signal, or a signal derived therefrom, being heterodyned with a locally-generated signal related to the contemporaneous transmitted signal to give a beat-frequency signal
347using more than one modulation frequency
G01S 13/584
GPHYSICS
01MEASURING; TESTING
SRADIO 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
13Systems 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
02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
50Systems of measurement based on relative movement of target
58Velocity or trajectory determination systems; Sense-of-movement determination systems
583using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
584adapted for simultaneous range and velocity measurements
G01S 2007/356
GPHYSICS
01MEASURING; TESTING
SRADIO 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
7Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
02of systems according to group G01S13/00
35Details of non-pulse systems
352Receivers
356involving particularities of FFT processing
G01S 7/352
GPHYSICS
01MEASURING; TESTING
SRADIO 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
7Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
02of systems according to group G01S13/00
35Details of non-pulse systems
352Receivers
Applicants
  • ROBERT BOSCH GMBH [DE]/[DE] (AllExceptUS)
  • LEHRE, Klaus [DE]/[DE] (UsOnly)
  • WACKERL, Oliver [DE]/[DE] (UsOnly)
  • HILSEBECHER, Joerg [DE]/[DE] (UsOnly)
  • HAUK, Joachim [DE]/[DE] (UsOnly)
  • REICHE, Martin [DE]/[DE] (UsOnly)
  • RANDLER, Martin [DE]/[DE] (UsOnly)
  • JORDAN, Ruediger [DE]/[DE] (UsOnly)
Inventors
  • LEHRE, Klaus
  • WACKERL, Oliver
  • HILSEBECHER, Joerg
  • HAUK, Joachim
  • REICHE, Martin
  • RANDLER, Martin
  • JORDAN, Ruediger
Common Representative
  • ROBERT BOSCH GMBH
Priority Data
10 2005 012 945.521.03.2005DE
Publication Language German (DE)
Filing Language German (DE)
Designated States
Title
(DE) VERFAHREN UND VORRICHTUNG ZUR ABSTANDS- UND RELATIVGESCHWINDIGKEITSMESSUNG MEHRERER OBJEKTE
(EN) METHOD AND DEVICE FOR MEASURING DISTANCE AND RELATIVE SPEED OF A PLURALITY OF OBJECTS
(FR) PROCEDE ET DISPOSITIF DE MESURE DE DISTANCE ET DE VITESSE RELATIVE DE PLUSIEURS OBJETS
Abstract
(DE)
Verfahren und Vorrichtung zur Abstands- und Relativgeschwindigkeitsmessung von mehreren Objekten mittels eines FMCW-Radars, indem Sendesignale mit zeitlich linearen Rampensteigungen abgestrahlt werden und die an Objekten reflektierten Empfangssignale empfangen werden und mit den Sendesignalen gemischt werden. Den Mischerausgangsfrequenzen einer jeden Frequenzrampe für jedes Objekt wird eine Kombination von Abstands- und Relativgeschwindigkeitswerten zugeordnet und aus Schnittpunkten mehrerer Abstands- und Relativgeschwindigkeitskombinationen der Abstand und die Relativgeschwindigkeit eines möglichen Objekts bestimmt, wobei die möglichen Objekte infolge von Mehrdeutigkeiten Scheinobjekte oder reale Objekte sein können. Die Scheinobjekte infolge der Mehrdeutigkeiten werden eliminiert, indem in einem darauf folgenden Messzyklus die Frequenzsteigung mindestens einer Frequenzrampe nach dem Zufallsprinzip geändert wird.
(EN)
The invention relates to a method and a device for measuring distance and relative speed of a plurality of objects by means of an FMCW radar. Transmission signals are emitted with temporarily linear ramp flanks and the receiving signals reflected on objects are received and mixed with the transmission signals. A combination of distance and relative speed values is associated with the mixer output frequencies of every frequency ramp for every object. The points of intersection of a plurality of distance and relative speed combinations is used to determine the distance and the relative speed of a possible object. Due to ambiguities, the possible objects can be dummy objects or real objects. The dummy objects due to ambiguities are eliminated randomly in the subsequent measuring cycle.
(FR)
La présente invention concerne un procédé et un dispositif de mesure de distance et de vitesse relative de plusieurs objets au moyen d'un radar à ondes entretenues à modulation de fréquence (FMCW). Selon cette invention, des signaux d'émission sont émis avec des augmentations de rampe linéaires dans le temps et les signaux de réception réfléchis sur les objets sont reçus et mélangés aux signaux d'émission. Une combinaison de valeurs de distance et de vitesse relative est associée aux fréquences de sortie de mélangeur d'une rampe de fréquence pour chaque objet. La distance et la vitesse relative d'un éventuel objet sont déterminées à partir de points d'intersection de plusieurs combinaisons de distance et de vitesse relative. Les objets éventuels peuvent être des objets virtuels ou des objets réels en raison d'ambiguïtés. Les objets virtuels sont éliminés en raison des ambiguïtés en modifiant l'augmentation de fréquence d'au moins une rampe de fréquence dans un cycle de mesure suivant, selon le principe aléatoire.
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