Method for adaptive target processing in a motor vehicle radar system

Abstract

The invention relates to a method for adaptive target processing in a vehicle radar, the targets in the surroundings being detected by speed and place in the standard mode of the radar sensor, after detection of the targets in the standard mode it is being changed over to a precision mode, in which the distance measuring range of the radar sensor is adapted to the target surroundings detected in the standard mode. In accordance with the present invention the measuring accuracy and/or resolution regarding speed is increased by increasing the time of observation within the distance measuring range adapted to the target surroundings.

Description

BACKGROUND OF THE INVENTION

[0001] 1. Field of the Invention

[0002] The invention relates to a method for adaptive target processing in a vehicle radar, the targets in the surroundings being detected by speed and place in the standard mode of the radar sensor, after detection of the targets in the standard mode it is being changed over to a precision mode, in which the distance measuring range of the radar sensor is adapted to the target surroundings detected in the standard mode.

[0003] 2. Description of the Related Art

[0004] Usually the radar sensors used in automobiles are used for the control of speed in traffic surroundings such as country roads or motorways. The frame conditions for such application are such that information on the surroundings are necessary for a distance range of approx. 10 m to 150 m. However, for city traffic or stop-and-go it is a must to measure as far as to a short distance ahead of the vehicle (<2 m).

[0005] In addition, there are specific traffic situations, e.g. two cars with nearly identical speed, in a surpassing action in the detecting range of the radar antennas, in which the necessary target separation is not attained to a sufficient extent. Such cases require a secondary treatment, e.g. in a topped tracking filter. The tracking filter serves for tracking the single, Individual targets detected by the radar device over the time.

[0006] With radar systems the data cycle time, i.e. the time required for detecting the complete measuring range, is defined by the processing time for range finding and Doppler measurement. With the popular systems for distance control in a vehicle this time is defined such that they meet the user requirements regarding accuracy of distance and speed measurement, while accepting the above-cited disadvantages.

[0007] By DE 44 33 775 A1 a method for adaptive target processing in a vehicle radar is disclosed, in which with regard to the distance it is changed over between a normal mode and a precision mode with an extended resolution. This method forms the preamble of claim 1.

SUMMARY OF THE INVENTION

[0008] It is an object of the invention to introduce an adaptive signal processing before the tracking filter, which permits to cover the very short range as far as just ahead of the antenna and to further improve the target separation.

[0009] This object is attained by the method for adaptive target processing in a vehicle radar, the targets in the surroundings being detected by speed and place in the standard mode of the radar sensor, after detection of the targets in the standard mode it is being changed over to a precision mode, in which the distance measuring range of the radar sensor is adapted to the target surroundings detected in the standard mode. Advantageous embodiments are subject to further claims.

[0010] In accordance with the present invention a precision mode with extended resolution and/or increased accuracy of measurement regarding speed and if necessary distance is introduced subsequent the above-described standard mode, in which the radar sensor detects targets by speed and distance with the resolution and measuring accuracy which is common for vehicle applications. Simultaneously, the distance measuring range of the radar is adapted to the target surroundings detected in the standard mode, i.e. in the precision mode merely a restricted distance measuring range is taken into consideration.

[0011] In case e.g. in the standard mode the detection shows a target or several targets in a given distance range, specifically this distance range can be detected within the precision mode and that with an extended speed resolution and/or speed measuring accuracy. In an advantageous embodiment in addition the distance resolution and/or the distance measuring accuracy can be increased.

[0012] Also cases are possible in which within the distance range adapted to the target surroundings merely the speed resolution and/or speed measuring accuracy is increased in the precision mode, the distance resolution and/or the distance measuring accuracy remaining constant.

[0013] In a particularly advantageous embodiment adaption of the distance measuring range while simultaneously increasing the resolution and/or measuring accuracy is performed in such manner that the data cycle time and thus the data renewal rate for the precision mode remains constant compared to the standard mode.

[0014] Consequently, the method according to the invention corresponds to the application of adaptive filters In signal processing, which filters may be adapted to the respective situation.

[0015] Thus an improved target separation and a very short range detection can be attained exclusively by altering the signal processing, without additional constructional measures being required at the radar sensor.

[0016] The invention will become apparent from the ensuing description of examples of embodiment taken in conjunction with the drawing.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] FIG. 1 shows an illustration of the distance gates and of the Doppler processing with a Doppler radar system. The axis pointing upward designates the time axis for the Doppler processing. TD designates the processing time for the Doppler determination. Fs is the Doppler sampling rate and 1/fs the temporal distance between two Doppler samples (serial no. 1, . . . n in FIG. 1). Typical values are: number n of the Doppler samples=64; 1/fs=20 μs. With a complex target data processing and for the frequency range of the vehicle radars the following results from these sizes:

[0018] Speed measuring range: +/−175 km/h

[0019] Speed resolution: ˜5 km/h.

[0020] The horizontal axis designates the time axis for the individual distance gates. TR is the time for a data cycle, i.e. the time which is required to detect the complete measuring range. A typical value for TR is 1 μs. TE designates the width of a distance gate ETk with k=1, 2, . . . , m. For application in a vehicle radar TR is usually smaller than TD.

[0021] Common vehicle radars classify the distance measuring range into defined distance gates ETk, in which the speeds of the detected objects are determined with preset Doppler band widths. As an example: The length of the distance gates is approx. 5 m and the speed resolution is in the range of 5 km/h.

[0022] Several distance gates may be processed to blocks (width of a block: TRi) combined in the Doppler level, the Doppler processing for the distance gates of a block being effected parallel in time. For this purpose, e.g. a multi-channel receiver may be used. The time TR is subdivided into time segments TRi, which must equal the condition that

TRi<1/fs,

[0023] the sampling frequency fs of the Doppler processing having to fit Shannon's theorem for the maximum occurring Doppler frequency. The subdivision into time segments TRi is advantageous in view of the limited storage place in the signal processing of the radar and permits optimization of the processing time (calculating time for transformations). In this way, for instance, when subdividing TR into 8 time segments TRi the complete data cycle can be processed in a time TDat of

TDat=8*TD.

[0024] With the method according to the present invention upon knowledge of the total surroundings—after detection of targets in the standard mode—it is changed over to a distance range, which corresponds to one or more time segments TRi, by having discovered the targets relevant for the control and which covers a part of the original distance range.

[0025] By extending the time of observation TD in this partial range and—optionally—by reducing the length of the distance gate ETk improvements with regard to resolution and/or measuring accuracy as to speed and if necessary distance can be attained. The relevant targets can now be examined at a closer look or can be more easily separated. Moreover, multiple reflexions, which in particular in the very short range lead to measuring inaccuracies, can be better distinguished from direct reflections by the increased resolution/measuring accuracy.

[0026] With the reduction of the distance range with a simultaneously increased resolution and/or measuring accuracy for speed and if necessary distance a constant data renewal rate can be attained, thus permitting at any time a change over between both modes (total range in the standard mode—target range in the precision mode).

[0027] The two concepts subject to the present invention, namely extension of the time of observation in the Doppler determination and reduction of the length of the distance gates are further described hereinafter.

[0028] 1. Reduction of the Length of a Distance Gate ETk

[0029] With puls radars the length of a distance gate TE usually corresponds to the transmit puls length τ. The distance resolution with puls radars can be improved by reducing τ. Moreover, it is also possible with puls radar systems to attain an improvement in distance determination by reducing the length of distance gate TE while maintaining τ, however, at the cost of energy balance. Therefore, this embodiment is important for major targets for the very short range (high echo field intensity) or in the distant range.

[0030] In case of FM-CW radars (FMCS: frequency modulated-continuous wave) the frequency deviation ΔF of the HF-signal defines the length of the distance gates, the individual distance gates being determined by band pass filters. Reduction of the length of the distance gates can be attained by increasing the frequency deviation ΔF. For this purpose principally two options are available:

[0031] 1) by alteration of the upgrade of the frequency rise of the HF-signal (in case of triangle or sawtooth modulation) with an unaltered duration of a modulation period, or

[0032] 2) by extending the duration of the modulation period of the HF-signal with an unaltered upgrade of the frequency rise.

[0033] 2. Extension of the Time of Observation TD

[0034] Usually Doppler processing is performed after temporal integration of the echo signals (serial no. 1, . . . , n in FIG. 1) within the same distance gate ETk. With a puls radar from each puts a sample is gained for the Doppler processing. With a FM-CW radar from each modulation period a sample is gained for the Doppler processing.

[0035] After scanning of the echo signals integrated within a distance gate ETk in the time domain with a sampling frequency fs a Fourier transform is performed on the scanned values. This yields the spectral representation of the Doppler signal, from which the Doppler frequency fD of the target can be detected, which interrelates with the target speed via

vZ=fD*A0/2 with A0=wave length of the HF-signal.

[0036] The temporal length of the scanning

TD=n/fs

[0037] defines the Doppler resolution ΔfD

ΔfD=1/TD.

[0038] With the method according to the present invention in the precision mode while maintaining the sampling rate fs the duration of the scanning TD can be extended and thus the filter band width in the Doppler processing can be reduced, i.e. the speed resolution can be improved by increasing the number n of the samples. The same effect of an extension of TD is attained by reducing the sampling frequency fs and maintaining the number n of the samples. However, reducing the sampling frequency fs results in a reduction of the uniquely detectable speed range.

Claims

1. A method for adaptive target processing in a vehicle radar, the targets in the surroundings being detected by speed and place in the standard mode of the radar sensor, after detection of the targets in the standard mode it is being changed over to a precision mode, in which the distance measuring range of the radar sensor is adapted to the target surroundings detected in the standard mode, wherein the measuring accuracy and/or resolution regarding speed is increased by increasing the time of observation within the distance measuring range adapted to the target surroundings.

2. A method as set forth in claim 1, wherein the data renewal rate for the precision mode remains unaltered compared to the standard mode.

3. A method as set forth claim 1 or 2, wherein the adaptation of the distance measuring range to the target surroundings detected in the standard mode goes along with an increase of the number of the Doppler samples with an unaltered Doppler sampling rate.

4. A method as set forth in claim 1 or 2, wherein the adaptation of the distance measuring range to the target surroundings detected in the standard mode goes along with a reduction of the Doppler sampling rate with an unaltered number of the Doppler samples.

5. A method as set forth in one of the preceding claims 1 to 4, wherein the measuring accuracy and/or resolution regarding distance is increased by reducing the length of the distance gates within the distance measuring range adapted to the target surroundings.

6. A method as set forth in claim 5, wherein a puls radar is used as a radar sensor, the adaptation of the distance measuring range to the target surroundings detected in the standard mode going along with a reduction of the length of the distance gates while reducing the transmit pulse length.

7. A method as set forth in claim 5, wherein a puls radar is used as a radar sensor, the adaptation of the distance measuring range to the target surroundings detected in the standard mode going along with a reduction of the length of the distance gates with a constant transmit pulse length.

8. A method as set forth in claim 5, wherein a FM-CW radar is used as a radar sensor, the adaptation of the distance measuring range to the target surroundings detected in the standard mode going along with an increase of the transmitter frequency deviation.

9. A method as set forth in claim 8, wherein the increase of the transmitter frequency deviation is performed by increasing the upgrade of the frequency rise within a modulation period with an unaltered duration of the modulation period.

10. A method as set forth in claim 8, wherein the increase of the transmitter frequency deviation is performed by extending the duration of the modulation period with an unaltered upgrade of the frequency rise.

11. Application of the method in accordance with one of the preceding claims for suppressing multiple reflections in the very short range of the radar sensor.