ESTIMATION OF TRANSVERSE VELOCITIES OR CARTESIAN VELOCITIES OF POINT TARGETS WITH A RADAR SENSOR

Abstract

A method for estimating a speed of a radar target using a radar sensor, in particular a radar sensor for motor vehicles, on the basis of signals that are contained in respective evaluation channels that correspond to different center antenna positions of relevant transmitting and receiving antennas in a direction, having the steps: determining, for the various evaluation channels, a respective individual radial speed assigned to the respective evaluation channel, of the radar target; and estimating a speed of the radar target based on the determined individual radial speeds of the radar target, the speed including information about a tangential speed; and a radar sensor for carrying out the method.

Claims

1-10. (canceled)

11. A method for estimating a speed of a radar target using a radar sensor for a motor vehicles on the basis of signals that are obtained in respective evaluation channels that correspond to different center antenna positions of relevant transmitting and receiving antennas in a direction, the method comprising the following steps: determining, for each of the evaluation channels, a respective individual radial speed, assigned to the respective evaluation channel, of the radar target; and estimating the speed of the radar target based on the determined individual radial speeds of the radar target, the speed including information about a tangential speed.

12. The method as recited in claim 11, wherein in the step of estimating the speed of the radar target, the speed includes information about a speed in a forward direction relative to the radar sensor and the tangential speed.

13. The method as recited in claim 11, wherein in the step of estimating the speed of the radar target, a Cartesian speed of the radar target is estimated.

14. The method as recited in claim 11, further comprising the following step: determining, for each of the respective evaluation channels, a respective individual aspect angle, assigned to the respective evaluation channel, of the radar target; wherein the speed of the radar target is estimated in the step of estimating the speed of the radar target, based on the determined individual radial speeds of the radar target and based on the determined individual aspect angles of the radar target.

15. The method as recited in claim 11, wherein in the step of determining a respective individual radial speed of the radar target for each of the evaluation channels, the respective individual radial speed is determined based on a respective frequency position of the signal in the respective evaluation channel.

16. The method as recited in claim 11, wherein in the step of determining the respective individual radial speed of the radar target for each of the respective evaluation channels, the respective individual radial speed is determined from a remaining frequency position, taking into account a respective frequency position shift, the respective frequency position shift for the respective evaluation channel corresponding to a distance difference of the radar target to the respective corresponding center antenna position.

17. The method as recited in claim 16, further comprising the following steps: estimating an aspect angle of the radar target based on amplitude and/or phase relations between signals of the respective evaluation channels that correspond to different center antenna positions of the relevant transmitting and receiving antennas in the direction; and determining respective frequency position shifts of the signals in the respective evaluation channels, the frequency position shifts corresponding to distance differences of the radar target to the respective corresponding center antenna positions as a function of the estimated aspect angle; wherein the respective individual radial speed being determined, in the step of determining the respective individual radial speed of the radar target for the respective evaluation channel, from a remaining frequency position of the signal in the respective evaluation channel, taking into account the respective determined frequency position shift.

18. The method as recited in claim 14, wherein in the step of determining the respective individual aspect angle of the radar target, the respective individual aspect angle of the radar target is determined based on an estimated aspect angle of the radar target and an estimated distance of the radar target, taking into account the relevant center antenna position of the respective evaluation channel.

19. The method as recited in claim 11, further comprising the following step: estimating an aspect angle of the radar target based on amplitude and/or phase relations between the signals of the respective evaluation channels that correspond to the different center antenna positions of the relevant transmitting and receiving antennas in the direction, the signals of the respective evaluation channels being evaluated at respective frequency positions: (i) taking into account respective first frequency position shifts of the signals in the respective evaluation channels, the first frequency position shifts corresponding to distance differences of the radar target to the respective corresponding center antenna positions, and/or (ii) taking into account respective second frequency position shifts of the signals in the respective evaluation channels, the second frequency position shifts corresponding to differences in the individual radial speeds of the radar target for the respective evaluation channels.

20. A radar sensor for a motor vehicle, comprising: an antenna system having a plurality of transmitting and receiving antennas that are configured in a direction in various positions; and a control and evaluation device configured to estimate a speed of a radar target using a radar sensor for a motor vehicles on the basis of signals that are obtained in respective evaluation channels that correspond to different center antenna positions of relevant ones of the transmitting and receiving antennas in a direction, the control and evaluation device configured to: determine, for each of the evaluation channels, a respective individual radial speed, assigned to the respective evaluation channel, of the radar target; and estimate the speed of the radar target based on the determined individual radial speeds of the radar target, the speed including information about a tangential speed.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0022] FIG. 1 shows a block diagram of a radar sensor according to an example embodiment of the present invention for motor vehicles.

[0023] FIG. 2 shows a schematic representation of frequency bins of Fourier spectra of respective evaluation channels.

[0024] FIG. 3 shows a relation between an antenna position and a radar target.

[0025] FIG. 4 shows a block diagram explaining an example method according to the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0026] The radar sensor shown in FIG. 1 has a plurality of receiving antennas or antenna elements 10, 12 on a common substrate 18. The radar sensor is installed in a motor vehicle in such a way that a plurality of the antennas 10, 12 are situated at the same height alongside one another at horizontal positions yi, i=0, . . . , k. In FIG. 1, radar beams are symbolically shown that are received by antennas at a respective azimuth angle i (aspect angle).

[0027] A radio-frequency part 20 for controlling a transmitting antenna 22 includes a local oscillator 24 that produces the radar signal that is to be transmitted. The radar echoes received by antennas 10, 12 are each sent to a mixer 28 where they are mixed with the transmit signal supplied by oscillator 24. In this way, for each of the antennas 10, 12 a baseband signal or intermediate frequency signal Z0, Z1, . . . , Zi, . . . , Zk is obtained that is supplied to an electronic control and evaluation unit 30.

[0028] Control and evaluation unit 30 contains a control part 32 that controls the function of oscillator 24. In the example shown, the radar sensor is an FMCW radar unit, i.e., the frequency of the transmit signal supplied by oscillator 24 is periodically modulated in the form of a sequence of rising and/or falling frequency ramps.

[0029] In addition, control and evaluation device 30 contains an evaluation part having an analog/digital converter 34 having k channels, which digitizes the intermediate frequency signals Z0-Zk obtained by the k antennas 10, 12, and records each of them over the duration of a single frequency ramp. The time signals thus obtained are then converted channel by channel in a transformation stage 36 into corresponding frequency spectra, using fast Fourier transformation (FFT). In these frequency spectra, each radar target is recorded in the form of a peak whose frequency position is a function of the signal run time from the radar sensor to the radar target and back to the radar sensor, and, due to the Doppler effect, is a function of the relative speed of the radar target. From the frequency position of two peaks that have been obtained for the same radar target but on frequency ramps having different slope, for example a rising ramp and a falling ramp, the distance d and the relative speed v of the relevant radar target can then be calculated in a conventional manner. The estimated distance d can be designated the global distance of the radar target, differing from individual distances di assigned to the respective evaluation channels.

[0030] As FIG. 1 shows schematically on the basis of the radar beams, the different positions of antennas 10, 12 have the result that the radar beams emitted by one and the same antenna are reflected by the radar target and are then received by the various antennas, traveling different run lengths and therefore having phase differences that are a function of the azimuth angle of the radar target. The associated intermediate frequency signals Z0-Zk also have corresponding phase differences. The amplitudes (magnitudes) of the received signals also differ from antenna to antenna, also as a function of the azimuth angle .

[0031] On the basis of the signals in the frequency spectra of the evaluation channels, a speed estimator 38 estimates a Cartesian speed of the radar target having the components vx, the speed in the forward direction relative to the radar sensor, and vy, the tangential speed. This is explained in more detail below. In addition, an angle estimator 40 estimates an azimuth angle of the radar target on the basis of the signals.

[0032] Given a high bandwidth, corresponding to a large frequency shift of the FMCW modulation, and a large extension of the antenna system, the complex amplitudes are contained in the individual frequency channels at different frequency positions fa(i) in the frequency spectrum of the received signal, depending on the azimuth angle of the radar target and depending on its distance d. FIG. 2 schematically illustrates the frequency positions fa(i) of the signals obtained for a radar target in evaluation channels i; here successive frequency bins of the Fourier spectrum are shown in the direction of increasing frequency f.

[0033] FIG. 3 illustrates, in a top view of an antenna position of an evaluation channel, designated by index i at coordinates (0,yi), the relation to a point target as radar target at coordinates (x,y) having Cartesian speed (vx,vy). The distance of the point target is designated di, and the aspect angle of the received radar signal is designated i. In order to simplify the representation, it is assumed that the origin (0,0) is the midpoint of the antenna array and corresponds to a center antenna position. In the example, vx=0, corresponding to a situation in which the point target is moving precisely in the transverse direction in front of the radar sensor. For simplicity, the Figure shows a situation in which the relative and absolute radial speed relative to the origin are equal to zero. At an antenna position (0,y0) at the origin, a radial speed vr,0=0 is measured. At an antenna position (0,yi), a radial speed vr,i is measured.

[0034] This corresponds to the projection of the Cartesian speed (vx,vy) onto the radial direction of the antenna position, and is thus a function of the aspect angle i of the radar target at the antenna position.

[0035] The relation between the aspect angles i of the evaluation channels i, the Cartesian speed (vx,vy) of the point target, and the individual radial speeds, estimated in the respective evaluation channels i from the spectrum, is given by Equation (1). With a corresponding definition of the matrix M, this can be rewritten as:

v.sub.r=Mv.sub.xy

[0036] From the individual radial speeds v.sub.r,i in the respective evaluation channels, the vector of the Cartesian speeds v.sub.xy can then be estimated, using the method of least squares, as:

{circumflex over (v)}.sub.xy=(M.sup.TM).sup.1M.sup.Tv.sub.r(2)

[0037] The greater the angle differences are, and the more accurately the relative speeds can be determined, the better the corresponding estimation. The least square estimation can be calculated numerically, for example using a pseudo-inverse, singular value decomposition (SVD), or a QR decomposition.

[0038] The distance di of the evaluation channels, seen on the basis of the run length differences by the radar sensor, is a function of the antenna configuration. Thus, in a bistatic system or an MIMO system, the effects (distance or run time) for the path from the transmit antenna to the target and from the target to the receive antenna are added and averaged. The distance di is thus the average distance of the path there and back over the average run time of the signal. A center antenna position of the transmit antenna and receive antenna is regarded correspondingly.

[0039] Control and evaluation device 30 is designed to carry out an example method in accordance with the present invention for estimating the Cartesian speed of the radar target as explained for example on the basis of FIG. 4 and implemented in speed estimator 38.

[0040] Through interpolation of the frequency spectra, in step S10 the frequency positions fa(i) of the signals (peak positions) of the channels i are determined with high resolution.

[0041] In a first angle estimation, in step S12, for each located object, i.e., each radar target (each peak in the frequency spectrum), the complex amplitudes obtained in the i received channels are compared with the antenna diagram in order to in this way estimate the azimuth angle of the radar target. Here, a vector of the complex amplitudes is evaluated at a respectively identical frequency position fref in each of the spectra of the channels. The estimated aspect angle can be designated a global aspect angle, in contrast to the individual aspect angles of the respective evaluation channels.

[0042] From the azimuth angle and the antenna positions yi, in step S14 bin shifts resulting from distance (shifts fa(i) of the frequency position) of the channels are determined. The frequency position shifts can be referred to as frequency position shifts resulting from distance. The frequency position shifts can also be designated frequency position corrections. As explained above, they are the result of a high distance resolution of the measurement. The frequency position shift occurs as a function of the aspect angle. It may also be zero, depending on the aspect angle.

[0043] In step S16, the shifts fa(i) are subtracted from the frequency positions fa(i), and the remaining frequency positions fa(i)-fa(i) are evaluated in step S18 in order to determine therefrom the individual radial speeds vr,i of the channels i. This is done according to the FMCW equation

[00002]$k=\frac{2}{c}.Math.\left(d.Math.F+f_0.Math.v_r.Math.T\right).$

Here k is a bin position corresponding to the remaining frequency position, c is the speed of light, d is the distance, F is the frequency shift of the ramp, f0 is the center frequency, vr is the radial speed, and T is the duration of the ramp. The evaluated frequency position is the frequency position that remains taking into account the frequency position shift.

[0044] In step S20, the individual aspect angle i is determined from the global distance d and the estimated azimuth angle , for example taking into account the antenna positions yi, for example based on geometrical relationships of these variables. The individual aspect angles can also be calculated for example from Cartesian coordinates of the radar target and from the center antenna positions.

[0045] In step S22, the estimation takes place of the Cartesian speed of the radar target on the basis of Equations (1) and (2). For an output of the radar sensor, these can be transformed for example into a radial speed and tangential speed (or angular speed) relative to the origin.

[0046] In an optional step S24, in a second, improved angle estimation, angle estimator 40 estimates azimuth angle , a vector of the complex amplitudes being evaluated at respective frequency positions in the respective spectra of the channels taking into account the frequency shifts fa(i) and/or corresponding speed-dependent frequency shifts fb(i) resulting from azimuth angle and antenna positions yi. In particular, this is a step of the second estimation of the aspect angle of the radar target, which is carried out in addition to the above-described (first) step S12 of estimating the aspect angle.

[0047] The example method can in particular be an iterative method in which, based on the second estimation of the aspect angle, the steps S14, S16, S18, S20, S22, which are a function of the estimation of the aspect angle, are carried out again.

[0048] As can be seen from the diagram, steps can be executed parallel to one another or in a different sequence.

[0049] In a useful specific embodiment of the present invention, differences in the individual radial speeds are taken into account if the distance of the radar target is below a distance threshold value. This is because, given very large distances, the effects are too small to be able to distinguish individual radial speeds. The distance threshold value can be selected on the basis of test measurements or based on a theoretical speed resolution of the radar sensor.

[0050] In the exemplary embodiments described here, a bistatic antenna design is used. Optionally, however, a monostatic antenna design could also be used in which the same (group) antennas are used for transmission and for reception.

[0051] The described example method according to the present invention can advantageously be used in particular in FMCW radar sensors that operate with so-called rapid chirp sequences. Here, a multiplicity of frequency ramps (chirps) that have a large slope and a relatively short duration are gone through in a rapid sequence. The 2D FFT carried out over the individual ramps and over the sequence of the ramps results in a two-dimensional frequency spectrum per evaluation channel i. Correspondingly, the frequency positions fa(i), as well as the frequency shifts fa(i) or fb(i), are then, in the general case, two-dimensional vectors.