FMCW radar sensor for motor vehicles

• US 8,922,422 B2
• Filed: 10/20/2009
• Issued: 12/30/2014
• Est. Priority Date: 12/15/2008
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Klar, Michael, Binzer, Thomas, Heilmann, Stefan
• Primary Examiner(s): Sotomayor, John B
• Application Number:
  US13/139,683
• Publication Number:
  US 20120169525A1
• Time in Patent Office: 1,897 Days
• Field of Search: 342 70- 72, 342/175, 340435-436, 340/903, 701/301
• US Class Current: 342/70
• CPC Class Codes: G01S 13/345 using triangular modulation
• CPC Class Codes: G01S 13/426 Scanning radar, e.g. 3D radar G01S13/66 takes precedence
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 7/4004 of parts of a radar system
• CPC Class Codes: G01S 7/4039 of sensor or antenna obstruction, e.g. dirt- or ice-coating
• CPC Class Codes: H01Q 1/3233 particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
• CPC Class Codes: H01Q 21/0037 linear waveguide fed arrays
• CPC Class Codes: H01Q 3/22 varying the orientation in accordance with variation of frequency of radiated wave

Abstract

FMCW radar sensor for motor vehicles, having at least one antenna element and a modulation device for feeding the antenna element using a frequency-modulated transmission signal, whose frequency periodically sweeps a frequency band, characterized in that the antenna element has multiple subelements, which are positioned in a vertical column and fed serially, and the modulation device is implemented for the purpose of variably setting the frequency position of the frequency band.

Claims

1. An FMCW radar sensor for a motor vehicle, comprising:

at least one antenna element having an emission characteristic;

a microwave lens having at least one directionality characteristic; and

at least one driving circuit having a modulation device, the modulation device variably setting a frequency position of a frequency band to alter a specific variation of the emission characteristic in a direction extending along the directionality characteristic;

wherein the antenna element has multiple subelements which are positioned in a vertical column and fed serially.

2. The radar sensor as recited in claim 1, wherein the antenna element is a mono static element.

3. The radar sensor as recited in claim 2, wherein the directionality characteristic is an elevation angle during a transmission phase and a receiving angle during a receiving phase.

4. The radar sensor as recited in claim 1, wherein the radar sensor includes multiple antenna elements which are staggered respective to one another in a horizontal direction.

5. The radar sensor as recited in claim 1, wherein the antenna element is positioned on a circuit board which is in turn positioned at a distance to the microwave lens.

6. The FMCW radar sensor as recited in claim 1, wherein the directionality characteristic is an elevation angle.

7. The FMCW radar sensor as recited in claim 1, wherein the at least one driving circuit further includes at least one mixer, a transducer and a preprocessing phase.

8. The FMCW radar sensor as recited in claim 1, wherein the at least one antenna element further includes:

a feed line,

a closing element, and

multiple microwave lines, including;

a first microwave line connecting, at a distal end of the vertical column of multiple subelements, a subelement to the closing element;

a second microwave line connecting, at a proximal end of the vertical column of multiple subelements, a subelement to the feed line; and

other microwave lines connecting in series the multiple subelements, wherein the feed line is connected to a mixer.

9. The FMCW radar sensor as recited in claim 8, wherein the other microwave lines are dimensioned so that their length corresponds to a wavelength λ

₀/∈

_r^1/2, and wherein ∈

_r is a dielectric constant of a substrate on which the subelements are located, and wherein λ

₀ is a number calculated by a frequency of a transmission signal in the frequency band being divided by a speed of light in a vacuum.

10. The FMCW radar sensor as recited in claim 1, wherein the modulation device includes:

a control unit,

a phase lock loop, and

a voltage controlled oscillator.

11. The FMCW radar sensor as recited in claim 1, further comprising:

one of an inclination sensor or a navigation system configured to (i) recognize a particular form of terrain over which the vehicle is travelling and (ii) set the frequency position of the frequency band to alter the specific variation of the emission characteristic accordingly.

12. A driver assistance system for a motor vehicle, comprising:

an FMCW radar sensor including at least one antenna element having an emission characteristic, a microwave lens having at least one directionality characteristic, and at least one driving circuit having a modulation device for variably setting a frequency position of a frequency band to alter a specific variation of the emission characteristic in a direction extending along the directionality characteristic;

wherein the antenna element has multiple subelements which are positioned in a vertical column and fed serially.

13. The driver assistance system as recited in claim 12, wherein the directionality characteristic is an elevation angle.

14. The driver assistance system as recited in claim 12, wherein the at least one driving circuit further includes at least one mixer, a transducer and a preprocessing phase.

15. The driver assistance system as recited in claim 12, wherein the FMCW radar sensor further includes an evaluation device which intervenes in one of a braking system or a drive system of the vehicle in order to regulate a velocity of the vehicle in such a way that a directly preceding vehicle is followed at an appropriate safety distance.

16. The driver assistance system as recited in claim 12, wherein the FMCW radar sensor further includes a functional module to automatically recognize possible blinding of the FMCW radar sensor.

17. The driver assistance system as recited in claim 12, wherein the at least one antenna element further includes:

a feed line,

a closing element, and

multiple microwave lines, a first microwave line connecting at a distal end of the vertical column of multiple subelements, a subelement to the closing element, a second microwave line connecting, at a proximal end of the vertical column of multiple subelements, a subelement to the feed line, and other microwave lines connecting in series the multiple subelements,

wherein the feed line is connected to a mixer.

18. A driver assistance system for a motor vehicle, comprising:

an FMCW radar sensor including;

a microwave lens having at least one directionality characteristic; and

at least one circuit board including;

at least one antenna element having an emission characteristic, the antenna element having multiple subelements which are positioned in a vertical column and fed serially, and

at least one driving circuit including a modulation device for variably setting a frequency position of a frequency band to alter a specific variation of the emission characteristic in a direction extending along the directionality characteristic.

19. A driver assistance system for a motor vehicle, comprising:

an FWCM radar sensor including at least one antenna element having an emission characteristic, at least one microwave lens having at least one directionality characteristic, and at least one driving circuit having a modulation device for variably setting a frequency position of a frequency band to alter a specific variation of the emission characteristic in a direction extending along the directionality characteristic; and

a functional module which is configured to cause a change of the frequency position of the frequency band and to recognize blinding of the radar sensor when a received signal remains unaffected by the change of the frequency position,

wherein the antenna element has multiple subelements which are positioned in a vertical column and fed serially.

20. The driver assistance system as recited in claim 19, wherein the directionality characteristic is an elevation angle, and wherein the modulation device includes:

a phase lock loop,

a voltage controlled oscillator, and

a control unit changing the elevation angle, wherein the control unit receives a first signal from the functional module and sends a second signal to each of the phase lock loop and the voltage controlled oscillator.