US 10,649,076 B2Granted

Radar measuring method

AssigneeRobert Bosch GmbH

InventorsMichael Schoor, Benedikt Loesch

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Abstract

An FMCW radar sensor and method for determining a relative velocity of a radar target, in which an FMCW radar measurement is performed with a transmitted signal whose modulation pattern encompasses mutually temporally interleaved sequences of ramps; from the baseband signals a two-dimensional spectrum is calculated separately for each of the sequences; from a position of a peak in at least one two-dimensional spectrum of the baseband signals, values for the relative velocity of a radar target which are periodic with a predetermined velocity period are determined; a phase relationship between spectral values that are obtained respectively at the same position in the separately calculated two-dimensional spectra is checked for agreement with phase relationships expected for several of the determined periodic values of the relative velocity; and based thereon, an estimated value for the relative velocity of the target is selected from the determined periodic values of the relative velocity.

Claims13

Dependent claims

A method comprising:

(a) transmitting a ramp-shaped FMCW radar signal having a modulation pattern that includes a first sequence of ramps and a second sequence of ramps, wherein:
for all pairs of immediately temporally adjacent ones of the ramps of the first sequence and all pairs of immediately temporally adjacent ones of the ramps of the second sequence, a same time interval offsets the respective ramps of the respective pairs from each other;
and
the first and second sequences are temporally interleaved with each other such that, with respect to each of all of the ramps of the first and second sequences that are not a temporally first or last one of the sequences, the respective ramp is, with respective time offsets, immediately temporally surrounded by others of the ramps that are not of the same sequence as the respective ramp;
(b) receiving signals;
(c) mixing the received signals into respective baseband signals for the first and second sequences, respectively;
(d) based on the baseband signals, calculating, by two-dimensional transformation, first and second two-dimensional spectra, wherein the first two-dimensional spectrum corresponds to the first sequence, the second two-dimensional spectrum corresponds to the second sequence, and each of the first and second two-dimensional spectra includes:
a respective first dimension whose data points each corresponds to a respective single one of the ramps of the respective sequence to which the respective spectrum corresponds;
and
a respective second dimension whose data points each corresponds to a respective characteristic of a combination of the ramps of the respective sequence to which the respective spectrum corresponds;
(e) determining, based on a position of a peak in at least one of (1) the first two-dimensional spectrum, (2) the second two-dimensional spectrum, and (3) a two dimensional spectrum formed based on the first and second two-dimensional spectra, a plurality of relative velocity values of a relative velocity of a radar target, wherein the plurality of relative velocity values are periodic with a predetermined velocity period;
(f) for each of two or more of the determined periodic relative velocity values:
(I) calculating a phase relationship based on the respective relative velocity value;
(II) determining a phase relationship between first and second spectral values that are, respectively, in positions of the first and second two-dimensional spectra that correspond to each other;
and
(III) comparing to each other (1) the phase relationship calculated based on the respective relative velocity value and (2) the determined phase relationship between the first and second spectral values to obtain a comparison result;
and
(g) based on the comparison result, selecting one of the determined periodic relative velocity values as an estimated value for the relative velocity of the radar target.

15 more elements

An FMCW radar sensor having a control and evaluation device deigned to:

(a) transmit a ramp-shaped FMCW radar signal having a modulation pattern that includes a first sequence of ramps and a second sequence of ramps, wherein:
for all pairs of immediately temporally adjacent ones of the ramps of the first sequence and all pairs of immediately temporally adjacent ones of the ramps of the second sequence, a same time interval offsets the respective ramps of the respective pairs from each other;
and
the first and second sequences are temporally interleaved with each other such that, with respect to each of all of the ramps of the first and second sequences that are not a temporally first or last one of the sequences, the respective ramp is, with respective time offsets, immediately temporally surrounded by others of the ramps that are not of the same sequence as the respective ramp;
(b) receive signals;
(c) mix the received signals into respective baseband signals for the first and second sequences, respectively;
(d) based on the baseband signals, calculate, by two-dimensional transformation, first and second two-dimensional spectra, wherein the first two-dimensional spectrum corresponds to the first sequence, the second two-dimensional spectrum corresponds to the second sequence, and each of the first and second two-dimensional spectra includes:
a respective first dimension whose data points each corresponds to a respective single one of the ramps of the respective sequence to which the respective spectrum corresponds;
and
a respective second dimension whose data points each corresponds to a respective characteristic of a combination of the ramps of the respective sequence to which the respective spectrum corresponds;
(e) determine, based on a position of a peak in at least one of (1) the first two-dimensional spectrum, (2) the second two-dimensional spectrum, and (3) a two dimensional spectrum formed based on the first and second two-dimensional spectra, a plurality of relative velocity values of a relative velocity of a radar target, wherein the plurality of relative velocity values are periodic with a predetermined velocity period;
(f) for each of two or more of the determined periodic relative velocity values:
(I) calculate a phase relationship based on the respective relative velocity value;
(II) determine a phase relationship between first and second spectral values that are, respectively, in positions of the first and second two-dimensional spectra that correspond to each other;
and
(III) compare to each other (1) the phase relationship calculated based on the respective relative velocity value and (2) the determined phase relationship between the first and second spectral values to obtain a comparison result;
and
(g) based on the comparison result, select one of the determined periodic relative velocity values as an estimated value for the relative velocity of the radar target.

15 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/320,152Filed 23 Apr 2015 · continuation in part
Priority: DE 10 2012 220 87915 Nov 2012
Published: US 2017/0131396 A111 May 2017
Granted: 12 May 2020
Term ends: Not estimatedThe source records don’t support an estimate.

Classification8 codes

G01S 13/583
Velocity or trajectory determination systems; Sense-of-movement determination systems: using transmission of continuous unmodulated waves,…
G01S 7/354
Receivers: extracting wanted echo-signals
G01S 13/0209
Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems: systems with very large relative bandwidth, i.e. larger…
G01S 13/34
Using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated: using transmission of continuous,…

Family

PCT/EP2013/069912Parent of this continuation-in-part · filed 25 Sep 2013
US 2017/0131396 A1Pre-grant publication · published 11 May 2017
US 10,012,726 B2Parent of this continuation-in-part · filed 3 Jul 2018
US 2019/0353769 A9Pre-grant publication · published 21 Nov 2019
Application14/443,296Parent of this continuation-in-part
US 2015/0331096 A1Published application
US 10,649,076 B2This patent

From the US filing history. Foreign family members aren’t listed.