RADAR TARGET EMULATOR, TEST BENCH AND METHOD FOR SIGNAL PROCESSING

Abstract

The present invention relates to a radar target emulator, a test bench having such a radar target emulator, and a method for digitally processing at least one analog radar signal. The radar target emulator comprises a first conversion apparatus configured to convert the at least one analog radar signal into at least one corresponding digital radar data packet. A data processing apparatus of the radar target emulator comprises a time delay device and a modification device, wherein the time delay device is configured to provide a plurality of delayed radar data packets on the basis of the at least one digital radar data packet. The modification device is configured to provide a plurality of modified radar data packets on the basis of the plurality of delayed radar data packets, and a second conversion apparatus is configured to provide analog processed radar signals by converting the digital radar data packets processed by the data processing apparatus. A transmission apparatus comprises at least two transmitter devices which are in particular configured to transmit the analog processed radar signals provided by the second conversion apparatus.

Claims

1. A radar target emulator, comprising: a first conversion apparatus configured to convert at least one analog radar signal into at least one digital radar data packet; a data processing apparatus comprising a time delay device and a modification device, wherein the time delay device is configured to provide a plurality of delayed radar data packets based on the at least one digital radar data packet, and the modification device is configured to provide a plurality of modified radar data packets based on the plurality of delayed radar data packets; a second conversion apparatus configured to provide processed analog radar signals by converting the at least one digital radar data packet processed by the data processing apparatus; and a transmission apparatus comprising at least two transmitter devices configured to transmit the processed analog radar signals provided by the second conversion apparatus.

2. The radar target emulator according to claim 1, wherein the time delay device is further configured to delay the at least one digital radar data packet multiple times by one or more predefined time periods.

3. The radar target emulator according to claim 2, wherein the time delay device is further configured to re-delay at least one delayed radar packet in the plurality of delayed radar data packets.

4. The radar target emulator according to claim 2, wherein the time delay device is further configured to at least temporarily store the at least one digital radar data packet and provide it at the one or more predefined time periods.

5. The radar target emulator according to claim 1, wherein the time delay device is further configured to delay the at least one digital radar data packet an amount of time depending on a processing time required to further process the at least one digital radar data packet in the data processing apparatus.

6. The radar target emulator according to claim 1, wherein the data processing apparatus further comprises a first data processing device configured to combine at least two delayed radar data packets in of the plurality of delayed radar data packets delayed by the delay device, and provide them as combined further delayed radar data packets.

7. The radar target emulator according to claim 6, wherein the data processing apparatus comprises a second data processing device configured to combine at least two modified radar data packets in the plurality of modified radar data packets modified by the modification device and provide them as combined further modified radar data packets.

8. The radar target emulator according to claim 7, wherein the first data processing device and/or the second data processing device is configured to repeatedly: receive at least one delayed radar data packet in the plurality of delayed radar data packets provided by the time delay device or receive at least one modified radar data packet in the plurality of modified radar data packets provided by the modification apparatus as first input data, and receive combined further delayed radar data packets delayed by the time delay device or combined further modified radar data packets modified by the modification device as second input data, combine the received first input data and received second input data and provide the same as respective output data, and provide the combined further delayed radar data packets at the modification device for modification or provide the combined further modified radar data packets at the second conversion apparatus for conversion into corresponding processed analog radar signals for transmission via the at least two transmitter devices based on the output data.

9. The radar target emulator according to claim 7, wherein the first data processing device and/or the second data processing device is configured to weight the plurality of radar data packets delayed by the time delay device or the plurality of modified radar data packets modified by the modification device when combining them together.

10. The radar target emulator according to claim 1, further comprising a receiving apparatus having at least two receiver devices configured to receive the at least one analog radar signal emitted by a radar sensor, wherein the first conversion apparatus is further configured to convert the at least one analog radar signal into the at least one digital radar data packet.

11. A test bench having a radar target emulator according to claim 1.

12. A method for digitally processing at least one analog radar signal comprising: converting the at least one analog radar signaler into at least one digital radar data packet; providing a plurality of delayed radar data packets based on the at least one digital radar packet via a time delay device a data processing apparatus; providing a plurality of modified radar data packets based one the plurality of delayed radar data packets via a modification device of the data processing apparatus; providing at least one processed analog radar signal by converting the at least one digital radar data packets by the data processing apparatus; and emitting the at least one processed analog radar signal.

Description

[0035] The invention is explained in greater detail below on the basis of non-limiting exemplary embodiments as depicted in the figures. Shown therein at least partially schematically:

[0036] FIG. 1 a preferential exemplary embodiment of a test bench; and

[0037] FIG. 2 a preferential exemplary embodiment of a data processing device.

[0038] FIG. 1 shows a preferential exemplary embodiment of a test bench 100 which is preferably configured for testing a vehicle 200 having a radar sensor RS for transmitting and receiving analog radar signals S, S′ and comprises a radar target emulator 1. For reasons of clarity, the elements in the figure which are the same are thereby only identified once by a reference numeral, and the radar sensor RS is respectively depicted once using dashes with respect to the transmission of radar signals S and the receiving of radar signals S′ processed by the radar target emulator 1.

[0039] The radar target emulator 1 is preferably configured to influence, in particular modify, radar signals S emitted by the radar sensor RS based on a test scenario, for instance a traffic situation, such that the radar signals S′ processed in this way and transmitted back to the radar sensor RS represent the test scenario. As a result, components of the vehicle 200, their function being based on reflected radar signals 5′, can in this way be tested.

[0040] The radar sensor RS preferably has a plurality of transmission ranges RS1, RS2 which are in particular at least substantially spatially separated and/or which are symmetrical with respect to an axis, in particular a longitudinal axis of a vehicle. The radar signals S emitted in transmission ranges RS1, RS2 thereby propagate in different directions and can exhibit different frequencies or be modulated by different modulation methods so that objects which reflect the radar signals S back to the radar sensor are assigned to the different transmission ranges RS1, RS2 and/or can be detected at high spatial resolution.

[0041] The radar target emulator 1 in the example shown comprises a receiving apparatus 2, for instance an antenna array, preferably having at least two receiver devices RX, for instance three antennas distributed in a line or along a surface, configured to receive the analog radar signals S emitted by the radar sensor S and connected to a first conversion apparatus 3, which digitizes the received radar signals S and outputs them as corresponding digital radar data packets D to a data processing apparatus 4, in particular a time delay device 5. Preferably one digital radar data packet D is thereby provided for each received radar signal S, for instance by the first conversion apparatus 3 being designed as an analog/digital converter, wherein the various digital radar data packets D provided are for example each assigned to one transmission range RS1, RS2.

[0042] The time delay device 5 is preferably configured to receive the provided digital radar data packets D and repeatedly output them at different time delays to a first data processing device 6. The time delay device 5 performs the time delay, in particular by one or more predetermined time periods, for each of the digital radar data packets D provided, preferably substantially simultaneously and/or in parallel; i.e. three times in the shown example. For the sake of clarity, the delayed radar data packets Dz then provided by the time delay device 5 are only shown here for one of the provided digital radar data packets D.

[0043] The first data processing device 6 is in particular suitable to providing further delayed radar data packets Dz′ based on the delayed radar data packets Dz, for instance by combining at least two of the delayed radar data packets Dz provided. Based on the combining of at least two of the delayed radar data packets Dz provided, additional delayed radar data packets Dz′ can thus in particular be generated. In the example shown, the two delayed radar signals Dz provided by the time delay device 5 are provided unchanged by the first data processing apparatus 6 as further delayed radar data packets Dz′ along with further delayed radar data packet Dz′ based, for instance, on a combination of the two delayed radar data packets Dz provided by the time delay device 6. The number of radar data packets Dz provided by time delay device 5 can therefore differ from the number of further delayed radar data packets Dz′ provided by the first data processing device 6.

[0044] The first data processing device 6 is in particular configured to provide a sufficient number of further delayed radar data packets Dz′ on the basis of the combination of at least two of the radar data packets Dz provided by the time delay device 5 so as to enable a mapping of the test scenario via the modification of the radar data packets Dz′ by the modification device 7. In particular, the first data processing device 6 provides a respective further delayed radar data packet Dz′ for each object of the test scenario to be emulated based on the combination of at least two of the radar data packets Dz provided by the time delay device 5, whereby each of these objects is assigned a virtual distance dependent on the time delay of the respectively provided radar data packet Dz′.

[0045] After the modification based on the test scenario as described, the modified radar data packets Dm provided by the modification device 7 are received by a second data processing device 8 and combined together where applicable in order to be output as an analog processed radar signal S′ to a transmission apparatus 10, for instance an antenna array, having at least two transmitter devices TX, in the present example for instance four antennas arranged in a line or along a surface, after being converted by a second conversion apparatus 9.

[0046] The modified radar data packets Dm, preferably each of which characterize an emulated object of the test scenario, are output or respectively provided by the second data processing apparatus 8 as further modified radar data packets Dm′, particularly under consideration of a spatial distribution of the emulated objects in the test scenario. The output or provision respectively ensues for example such that the further modified radar data packets Dm′ or the corresponding analog processed radar signals S′ respectively are distributed to the transmitter devices TX or respectively assigned to the transmitter devices TX according to an arrangement of the emulated objects in the test scenario. The number of modified radar data packets Dm provided by modification device 7 can therefore differ from the number of further modified radar data packets Dm′ provided subsequent processing in the second data processing device 8 or the corresponding analog processed radar signals S′ respectively. The number of modified radar data packets Dm provided by the modification device 7 thereby preferably corresponds to the number of test scenario objects to be emulated, whereas the number of further modified radar data packets Dm provided by the second data processing device 8, or the corresponding analog processed radar signals S′ respectively, is contingent on the target spatial lateral distribution of the emulated objects.

[0047] The provision or respectively output of the further modified radar data packets Dm′ by the second data processing device 8 to the transmitter device(s) TX thereby enables in particular the imaging of a simulated object relative to the radar sensor RS at a specific angle, in particular azimuth angle and/or elevation angle, determined by the spatial position of the transmitter devices TX. The second data processing device 8 can also be configured to provide at least one of the provided modified radar data packets Dm to a plurality of, in particular adjacent, transmitter devices TX, whereby an elongation of the emulated object characterized by the modified radar data packet Dm is mapped with respect to the radar sensor RS. It is likewise possible to dynamically assign the modified radar data packets Dm to the transmitter devices TX so that movement of the corresponding emulated objects is mapped.

[0048] The data processing apparatus 4 preferably comprises at least one processor and at least one memory so that the time delay device 5, the first and second data processing device 6, 8 and the modification device 7 can be implemented as software modules on the data processing apparatus 4. The digital radar data packets D, Dz, Dz′, Dm, Dm′ can be at least temporarily stored in the memory in between said digital radar data packets D, Dz, Dz′, Dm, Dm′ being processed by the cited software modules on the processor. This enables a flexible, economical, reliable and fast display of the test scenario relative the radar sensor RS via the analog processed radar signals S′ based on the transmitted analog radar signals S.

[0049] FIG. 2 shows a preferential exemplary embodiment of a data processing device 6, 8 which receives the provided digital radar data packets, in the example shown, delayed radar data packets Dz1, Dz2, Dz3, Dz4 provided by a time delay device 5, and is configured to combine at least two of the received radar data packets together and/or output same, in the example shown to a modification device 7. Alternatively, the data processing device 6, 8 can also receive and output modified radar data packets provided by the modification device 7 to a conversion apparatus. The data processing device 6, 8 shown can in particular be the first or second data processing device depicted in FIG. 1. For reasons of clarity, the elements in FIG. 2 which are the same are only identified once by a reference numeral.

[0050] The function of the data processing device 6, 8 is preferably equivalent to the function of a so-called switching matrix, in which signals at a plurality of inputs of the switching matrix are successively conveyed through individual matrix elements of the switching matrix and thereby processed, in particular divided, amplified or attenuated and/or combined.

[0051] Preferably, the data processing device 6, 8 operates in a cascade. To that end, the data processing device 6, 8 comprises a plurality of data processing modules 11, 11a, 11b, 11c, 11d, which each receive first and second input data E1, E2, combine them together where applicable, and provide or respectively output them as output data A. The first input data E1 is thereby in particular composed of one of the plurality of delayed radar data packets Dz1 Dz4 provided, and the second input data E2 is in particular composed of another of the radar data packets Dz1 Dz4 or at least two delayed radar data packets Dz1 Dz4 already combined together.

[0052] This is shown by way of example for the four data processing modules 11a-11d. The combination of the first and second input data E1, E2 is indicated by a black circle. The dotted lines illustrate the correlation between the delayed radar data packets Dz1 Dz4 provided by the time delay device 5 and the further delayed radar data packets Dz′ output to the modification device 7 by the data processing device 6, 8.

[0053] The first input data E1 from the second delayed radar data packet Dz2 and the second input data E2 from the first delayed radar data packet Dz1 are formed and combined in the first data processing module 11a and output to the second data processing module 11b as output data A. The output data A output by the first data processing module 11a forms the second input data E2 in the second data processing module 11b and the third delayed radar data packet Dz3 forms the first input data E1. The first and second input signals E1, E2 combined together in the second data processing module 11b are output to the third data processing module 11c as output data A and are in turn received from same as second input data E2. The combination of this second input data E2 and first input data E1, formed by the fourth delayed radar data packet Dz4, is ultimately output in the third data processing module 11c to the modification device 7 as a further delayed radar data packet Dz′. Thus, all told, the further delayed radar data packet Dz′ output as such contains portions of all four delayed radar data packets Dz1-Dz4.

[0054] In the fourth data processing module 11d, the first delayed radar data packet Dz1 forms the second input data E2 and the third delayed radar data packet Dz3 forms the first input data E1. The combination of the first and second input signals E1, E2 is output to the modification device 7 as output data A or as further delayed radar data packet Dz′ respectively. Thus, all told, the further delayed radar data packet Dz′ output as such only contains portions of the first and third delayed radar data packet Dz1, Dz3.

[0055] With respect to the example shown, the other data processing modules 11 not specified to any greater extent perform no operation on the delayed radar data packets Dz provided by the time delay device 5 or on combinations thereof. The further delayed radar data packet Dz′ output to the modification device 7 by the data processing device 6, 8 is therefore composed exclusively of the first delayed radar data packet Dz1.

[0056] It is understood by one skilled in the art that the above explanations relating to the data processing modules 11, 11a-11d are to be understood as purely exemplary and the data processing device 6, 8, in particular the data processing modules 11, also allow for any other combinations of delayed radar data packets Dz1 Dz4 as provided.

LIST OF REFERENCE NUMERALS

[0057] 1 radar target emulator [0058] 2 receiving apparatus [0059] 3 first conversion apparatus [0060] 4 data processing apparatus [0061] 5 time delay device [0062] 6 first data processing device [0063] 7 modification device [0064] 8 second data processing device [0065] 9 second conversion apparatus [0066] 10 transmission apparatus [0067] 11 data processing module [0068] 11a-11d first to fourth data processing module [0069] 100 test bench [0070] 200 vehicle [0071] RS radar sensor [0072] RS1, RS2 transmission ranges [0073] RX receiver device [0074] TX transmitter device [0075] S analog radar signal [0076] S′ processed analog radar signal [0077] D digital radar data packet [0078] Dz delayed radar data packet [0079] Dz′ further delayed radar data packet [0080] Dz1 Dz4 first to fourth delayed radar data packet [0081] Dm modified radar data packet [0082] Dm′ further modified radar data packet [0083] E1, E2 first, second input data [0084] A output data