阅读说明：本技术 雷达传感器系统和用于运行雷达传感器系统的方法 (Radar sensor system and method for operating a radar sensor system ) 是由 M·迈尔 K·鲍尔 M·朔尔 于 2019-01-10 设计创作，主要内容包括：一种雷达传感器系统(100),其具有：限定数量的高频构件(10a...10d),其中,高频构件(10a...10d)中的每个分别具有用于发送和/或接收雷达波的至少一个天线,以及用于运行所述至少一个天线的至少一个天线控制装置；同步网络(20),所有高频构件(10a...10d)功能性地连接到所述同步网络上,通过所述同步网络能够为所有高频构件(10a...10d)提供高频信号；其中,至少两个高频构件(10a...10n)分别具有一个自馈送装置(21a...21d；22a..22d),所述自馈送装置用于对能够馈入所述同步网络(20)的高频信号的功率的限定的部分进行反馈,其中,在限定的时刻,能够由一个限定的高频构件(10a...10d)产生用于所有高频构件(10a...10d)的所述高频信号,其中,所述雷达传感器系统(100)在功能上能够分为至少两个部分传感器系统(100a,100b)。(A radar sensor system (100) having: a defined number of high-frequency components (10a.. 10d), wherein each of the high-frequency components (10a.. 10d) has at least one antenna for transmitting and/or receiving radar waves, respectively, and at least one antenna control device for operating the at least one antenna; a synchronization network (20) to which all high-frequency components (10a.. 10d) are functionally connected, by means of which high-frequency signals can be provided for all high-frequency components (10a.. 10 d); wherein at least two high-frequency components (10a.. 10n) each have a self-feeding device (21a.. 21 d; 22a..22d) for feeding back a defined portion of the power of a high-frequency signal that can be fed into the synchronous network (20), wherein the high-frequency signals for all high-frequency components (10a.. 10d) can be generated at defined times by a defined high-frequency component (10a.. 10d), wherein the radar sensor system (100) can be functionally divided into at least two partial sensor systems (100a, 100 b).)

1. A radar sensor system (100) having:

a defined number of high-frequency components (10a.. 10d), wherein each of the high-frequency components (10a.. 10d) has at least one antenna for transmitting and/or receiving radar waves and at least one antenna control device for operating the at least one antenna;

a synchronization network (20) to which all high-frequency components (10a.. 10d) are functionally connected, by means of which high-frequency signals can be provided for all high-frequency components (10a.. 10 d); wherein the content of the first and second substances,

at least two high-frequency components (10a.. 10n) each have a self-feeding device (21a.. 21 d; 22a..22d) for feeding back a defined portion of the power of the high-frequency signals that can be fed into the synchronous network (20), wherein the high-frequency signals for all high-frequency components (10a.. 10d) can be generated at defined times by a defined high-frequency component (10a.. 10 d); wherein the content of the first and second substances,

the radar sensor system (100) can be functionally divided into at least two partial sensor systems (100a, 100 b).

2. The radar sensor system (100) according to claim 1, characterized in that all high-frequency components (10a.. 10d) can also be provided with at least one of the following by means of the synchronization network (20): a trigger signal, a clock signal.

3. The radar sensor system (100) according to claim 1 or 2, characterized in that the self-feeding means (21a, 21d) are configured as coupling means.

4. The radar sensor system (100) according to claim 1 or 2, characterized in that the self-feeding means (22a, 22d) are configured as frequency divider means.

5. The radar sensor system (100) according to claim 3 or 4, wherein the frequency divider means is configured as a waveguide network.

6. The radar sensor system (100) according to any one of the preceding claims, wherein the self-feeding means (21a, 21 d; 22a, 22d) are configured such that a defined power can be provided for all high-frequency components (10a.. 10d) by means of the high-frequency signal.

7. The radar sensor system (100) according to any one of the preceding claims, wherein the ports of the high-frequency member (10a.. 10d) can be configured as high-frequency transmit ports or high-frequency receive ports.

8. A method for operating a radar sensor system (100), having the following steps:

-transmitting and receiving radar waves by means of a defined number of high-frequency components (10a.. 10n), respectively by means of at least one antenna;

the high-frequency operating frequencies of the high-frequency components (10a.. 10n) are synchronized by means of a synchronization network (20) connected to the high-frequency components (10a.. 10d), wherein only one single high-frequency component (10a.. 10d) feeds a high-frequency signal into the synchronization network (20) at a defined time, wherein the high-frequency component (10a.. 10d) which feeds the high-frequency signal guides a defined portion of the power of the high-frequency signal back to itself by means of a self-feeding device (21a, 21 d; 22a, 22 d).

Technical Field

The present invention relates to a radar sensor system. The invention also relates to a method for operating a radar sensor system. The invention also relates to a computer program product.

Background

Currently, the market for driver assistance systems is in transition. Although in the last years mainly cost-effective sensor devices have been regarded as important, the trend of highly autonomous driving with much higher demands on the sensor devices is currently shown. In vehicles with a high degree of driver assistance or with an automatic driving function, more and more sensors for control and regulation functions are installed. The sensors installed in the vehicle may be radar sensors or lidar sensors, for example, and must have the highest possible accuracy. By applying accurate sensors, functional safety and reliability of autonomous or semi-autonomous driving functions can be ensured.

Disclosure of Invention

The object of the present invention is to provide a radar sensor system with improved operating characteristics.

According to a first aspect, the object is achieved by a radar sensor system having:

-a defined number of High Frequency (HF) components, wherein each of the high frequency components has at least one antenna for transmitting and/or for receiving radar waves and at least one antenna control device for operating the at least one antenna, respectively;

a synchronization network to which all high-frequency components are functionally connected, by means of which all high-frequency components can be supplied with high-frequency signals; wherein the content of the first and second substances,

at least two high-frequency components each have a self-feeding device (selbstpiesungseinrichtung) for feeding back a defined portion of the power of the high-frequency signal that can be fed into the synchronous network, wherein the high-frequency signals for all high-frequency components can be generated by one defined high-frequency component at defined times; wherein the content of the first and second substances,

the radar sensor system can be functionally divided into at least two partial sensor systems.

In this way, a radar sensor system is provided which has a synchronization network, at least two master functions

"high frequency components are connected to the synchronous network. The redundancy of the whole system is improved based on the following facts: at a given time, even only one Master (Master) can act as a device, that is to say supply a high-frequency signal into the synchronous network and thus supply all high-frequency components with a high-frequency signal. Fail-safe is improved by: when a high-frequency component acting as a master device fails, another high-frequency component takes over the function of the master device. Furthermore, optionally, the radar sensor system may form part of a sensor that can be operated autonomously, thus providing a defined performance of the radar sensor system.

In this way, a symmetrical relationship is advantageously achieved with reference to the antenna of the high-frequency component of the radar sensor system. Advantageously, this is achieved in that the master device transmits and receives as far as the main functionality of the radar technology is concerned, as is the case with the Slave device (Slave).

According to a second aspect of the invention, this object is achieved by a method for operating a radar sensor system, having the following steps:

-transmitting and receiving radar waves by means of a defined number of high-frequency components, respectively by means of at least one antenna;

synchronizing the high-frequency operating frequency of the high-frequency component by means of a synchronization network connected to the high-frequency component, wherein only one single high-frequency component feeds the high-frequency signal into the synchronization network at defined times, wherein the high-frequency component feeding the high-frequency signal directs a defined portion of the power of the high-frequency signal back (zuru ckf ru) to itself by means of the self-feeding device.

Advantageous embodiments of the radar sensor are the subject matter of the dependent claims.

An advantageous embodiment of the radar sensor system is characterized in that all high-frequency components can also be provided with at least one of the following by means of the synchronization network: a trigger signal, a clock signal. In this way, a high coherence or synchronization of all high-frequency components participating in the radar sensor system is supported.

A further advantageous embodiment of the radar sensor system provides that the self-feeding device is designed as a coupling device. In this way, a hybrid coupler (hybrid coupler) is provided, by means of which the amount of power fed back by the high-frequency components of the main unit can be determined in a simple manner.

A further advantageous embodiment of the radar sensor system is characterized in that the self-feed device is designed as a frequency divider device (Teilereinrichtung). In this way, an alternative feedback arrangement is advantageously provided which in some cases is easier to manufacture than a hybrid coupler.

A further advantageous development of the radar sensor system is characterized in that the frequency divider device is designed as a waveguide network (Hohlleiternetzwerk). In this way, a specific design of the frequency divider arrangement is provided.

A further advantageous development of the radar sensor system is characterized in that the self-feeding device can be designed such that all high-frequency components can be supplied with a defined power by means of the high-frequency signal. In this way, a high degree of coherence or synchronization of the high-frequency components can be provided.

A further advantageous development of the radar sensor system is characterized in that the port of the high-frequency component can be configured as a high-frequency transmit port or a high-frequency receive port. In this way, a high degree of freedom in the design of the radar sensor system is supported, wherein the transmit and receive ports can be adapted to specific requirements.

Drawings

Preferred embodiments of the invention are explained in detail below on the basis of an extremely simplified schematic representation. Shown here are:

fig. 1 shows a schematic view of the proposed radar sensor system;

FIG. 2 shows a more detailed schematic diagram of the radar sensor system of FIG. 1;

FIG. 3 shows a schematic diagram of a synchronous network with attenuation values;

fig. 4 shows a schematic view of another embodiment of the proposed radar sensor system;

fig. 5 shows a schematic view of another embodiment of the proposed radar sensor system;

fig. 6 shows a schematic flow diagram of the proposed method for operating a radar sensor system.

In the drawings, like structural elements have like reference numerals, respectively.

Detailed Description

Current radar sensors typically have multiple high frequency channels for generating and receiving radar waves. In this case, all high-frequency modules can be operated simultaneously in normal operation. In a symmetrical configuration, such a radar sensor can be divided into a plurality of partial sensors. Thus, each partial sensor may have a high frequency module or a high frequency channel of the radar sensor of the respective portion. Thus, some sensors, for example radar sensors, can achieve autonomous driving of the vehicle at a limited speed in a possible emergency operation. This can still be achieved when the components of the other partial sensors are no longer functional.

The structure of the radar sensor system can be composed of known, cost-effective basic components, for example. By parallelizing a plurality of components of the same type, an improvement of the performance and accuracy of the radar sensor system can be achieved. Furthermore, redundancy for providing reliable functionality of the device can be achieved by using a plurality of members of the same type simultaneously. This makes it possible to technically easily implement emergency operation of the radar sensor system. For this purpose, in addition to the high-frequency components and the microcontroller, there must also be redundancy in the clock generator. The high-frequency component may be an antenna control device or an amplifier, for example, constructed in the form of an MMIC (monolithic microwave integrated circuit).

Since all high-frequency components are supplied with an effective frequency (nutzfrequeunz) or a fundamental frequency by a common clock generator, the radar sensor has a high coherence. In particular, the different high-frequency components can be operated at the same operating frequency, as a result of which a redundant and coherent clock supply of a plurality of high-frequency components is possible.

Preferably, at least a part of the high-frequency components used in the radar sensor system can be supplied with a clock or an effective frequency. In normal operation, all high-frequency components or antenna control devices are supplied with the same clock by at least one clock generator, so that all data are calculated with respect to one another (verrechen).

In the normal operation of the radar sensor, simultaneous clock supply is effected for all antenna control devices or high-frequency components by means of at least one clock generator. By means of a clock supply from one source, a high coherence of all high-frequency components of the radar sensor system can be achieved. For example, if one clock generator has a defect, at least one further clock generator for generating a high-frequency signal can be activated or switched on by the control unit.

In general, in a radar sensor system, a role of a master device that takes over high-frequency generation is assigned to one component, and a high-frequency synchronization signal is supplied from the component to other high-frequency components. In order to provide high coherence to the high frequency components 10a.. 10d in order to achieve a high angular resolution of the radar sensor system 100, high frequency synchronization signals are required. For this purpose, specialized modules are used in the prior art for generating high frequencies and for other signal processing.

However, as the cost of high frequency module development continues to increase, e.g., the mask cost is higher for smaller node sizes, the use of multiple modules of the same type may also provide cost advantages despite the larger actual silicon area. The invention provides an advantageous possibility for a cost-effective and redundant radar sensor system.

It is proposed here that not only a redundant design but also a self-feeding design is realized for the radar sensor system 100. One of the high-frequency components is provided here as a self-feed, wherein a failure of one partial sensor can be compensated by the other partial sensor and vice versa.

It is not important here which high-frequency component in the respective partial sensor provides the self-feed. It is only important that the high-frequency components in the partial sensors each have a self-feed. In this example, the self-feeding involves at least a high-frequency line (LO line). However, for example, a clock line and/or a trigger line may optionally also be provided for the synchronization network 20.

Fig. 1 shows a schematic view of such a proposed radar sensor system 100. The radar sensor system 100 has four high-frequency components 10a.. 10d, which are designed as MMICs. Here, the number four is merely exemplary, and the proposed radar sensor system 100 may also have fewer or more than four high-frequency components. Furthermore, a synchronization network 20 can be seen, to which all high-frequency components 10a.. 10d are functionally connected and which serves to synchronize the high-frequency operating frequencies of all high-frequency components 10a.. 10 d.

It can be seen that the high-frequency signal can be fed ("master-function") the two high- frequency components 10a, 10d are connected with two lines of the synchronous network 20, which means that a defined power coupling to the feeding high-frequency components is achieved. In this way, two master-function high- frequency components 10a, 10d are present in the radar sensor system 100, wherein, at a defined point in time of normal operation, only a single component acts as a master and the remaining three other high-frequency components act as slave high-frequency components.

Due to the property that the radar sensor system 100 can be divided into two autonomous operating partial sensors 100a, 100b, the following is additionally supported: in this way, for example, in the event of a fault, the reduced functionality of the entire radar sensor system 100 is still retained to some extent. Incorporating all high frequency components greatly increases the functionality of the overall radar sensor system 100. In this way, the failsafe of the entire radar sensor system 100 is advantageously increased, wherein the basic functionalities "transmission" and "reception" in radar technology are also performed by the master high-frequency component, as are the slave high-frequency components.

Furthermore, the radar sensor system 100 has an antenna control device of the high-frequency components 10a.. 10 d. For the sake of simplicity, other components of the high-frequency means 10a.. 10d, such as antennas, amplifiers, oscillators, etc., which are required for transmitting and receiving radar waves, are not shown in the drawing.

A possible implementation of the radar sensor system of fig. 1 is shown in fig. 2 in a higher level of detail. A small part (for example-10 dB) of the signal power can be fed back by the high- frequency components 10a, 10d (and also the high- frequency components 10b, 10c, by way of example only) in this case, since the input power required at the high-frequency inputs (LO inputs) of the high-frequency components mentioned is, for example, 14dB less than that provided at the outputs.

One disadvantage of the arrangement of fig. 2 may be the high frequency supply from the high frequency components of the device, i.e. those not providing high frequency signals. If identical high-frequency components are used as high-frequency inputs in the case of the master and slave, respectively, the high-frequency power is 10dB lower than the TX power value in the case of the master, but 18dB lower in the case of the slave, as can be derived from fig. 3 below, so that the performance is usually not sufficient.

However, as can be realized with the present high-frequency components, both ports can be high-frequency transmitters and high-frequency receivers, so that the high-frequency input port changes from the master-device case to the slave-device case, an input power that is 8dB lower than the transmission power being sufficient to supply all ports, wherein line losses are still taken into account in all cases. In general, however, in the proposed solution, the output power corresponds to the ratio of the high-frequency input power.

It can be seen that in the configuration of the radar sensor system 100 of fig. 2, a coupling structure is used for the feedback of the powers, wherein these powers are fed back to the respective high- frequency component 10a, 10d at a given time by means of the coupling device 21a or 21 d. In this way, a defined degree of power delivery by the high-frequency signal to all high-frequency components connected to the synchronous network 20 is achieved. In this way, a symmetrical power division is supported, thereby supporting high-performance operation of the radar sensor system 100.

Fig. 3 shows the situation (gegegebenheit) of the synchronous network 20 as a function of the attenuation values in dB, which depend on the signal power of the high-frequency signal fed. Coupling means 21a, 21d can be seen, by means of which-10 dB of output power can be coupled back to the high- frequency components 10a, 10 d. It can also be seen that-3.5 dB of loss occurs in each branch of the synchronous network 20. The result is thus: attenuation of about-8 dB is achieved from the high- frequency components 10a, 10d serving as the master to the other high- frequency components 10b, 10 c. An exemplary-1 dB line loss can be seen, where the loss depends on, among other things, the material and the length of the line.

Fig. 4 shows another embodiment of the proposed radar sensor system 100. In this case, the synchronization network 20 has frequency divider means 22a, 22d formed by T-divider elements for feeding back the power of the high-frequency signal. In this way, a uniform high-frequency distribution can be provided for all high-frequency components, using a suitable transmission factor for the T-divider element. It can also be seen in this configuration that the two high-frequency components which can be fed with high-frequency signals each have two feed lines, wherein the two feed lines are realized by the frequency divider means 22a, 22 d. In the normal operating situation, only one of the high- frequency components 10a, 10d serves as a master high-frequency component. In the configuration of fig. 4, the radar sensor system 100 can also be functionally divided into two autonomously operable partial sensors 100a, 100 b.

Which of the mentioned feedback means of fig. 2 or 4 is to be used for the feedback of the signal power depends on the structural conditions of the radar sensor system 100 and in particular on the manufacturing possibilities of the synchronization network 20. It is for example conceivable that the frequency divider means 22a, 22d of fig. 4 (e.g. waveguides in the form of a waveguide network) are easier to manufacture than the coupling means 21a, 21d of fig. 2. Advantageously, the frequency divider means and the coupling means can be implemented in a waveguide network.

In the previous consideration, the high-frequency components of the radar sensor system 100 that are self-fed are always used on the diagonal. The reasons for this are, among others: a balanced arrangement of the transmitters of the high-frequency components is thereby achieved if "normal" high-frequency transmission channels are used for high-frequency feed-out and feed-in. In this way, the self-fed high-frequency components not only "lose" one transmitter, but two (high- frequency components 10a, 10 d).

As shown in fig. 5, if the self-fed high- frequency components 10a, 10d of the radar sensor system 100 are arranged on the diagonal, a total of three transmission channels (high-frequency component 10 a: one transmission channel, high-frequency component 10 c: two transmission channels, high-frequency component 10 b: two transmission channels, high-frequency component 10 d: one transmission channel) can be realized on each side of the radar sensor system 100.

It will of course be appreciated that the configuration of fig. 5 relates to a particular configuration of the high frequency components, and in particular to the number of transmit channels, and is therefore merely exemplary.

In normal operation of the radar sensor system 100, the high-frequency component acting as a master assumes several of the following tasks:

frequency generation by means of a PLL (e.g. 77GHz), and possibly clock generation (e.g. 50 MHz);

-output and amplification of the high frequency synchronization signal;

-providing partly a transmission signal;

-mixing into baseband;

-possible analog/digital conversion and output of the digital signal.

The two mentioned tasks are usually taken over only by the master high-frequency component, the last three tasks being taken over by all participating high-frequency components 10a.. 10d of the radar sensor system 100.

Advantageously, the proposed method can be used not only in radar sensor systems, but also in any product having a plurality of high frequency components. The proposed radar sensor system is preferably used in the automotive field.

Fig. 6 shows a schematic flow diagram of a method for operating the radar sensor system 100.

In step 200, the transmission and reception of radar waves is performed by means of a defined number of high-frequency components 10a.. 10n, respectively, by means of at least one antenna.

In step 210, the synchronization of the high-frequency operating frequencies of the high-frequency components 10a.. 10n is carried out by means of the synchronization network 20 connected to the high-frequency components 10a.. 10d, wherein only one single high-frequency component 10a.. 10d feeds high-frequency signals into the synchronization network 20 at defined times, wherein the high-frequency components 10a.. 10d which feed the high-frequency signals are fed by means of the self-feeding devices 21a, 21 d; 22a, 22d direct a defined part of the power of the high frequency signal back to itself.

The proposed method may advantageously be implemented as software running in a control device (not shown) of the radar sensor system 100. In this way, simple variability of the method is advantageously supported.

Accordingly, those skilled in the art may now realize additional embodiments that are not described or that are partially described above without departing from the spirit of the present invention.