Method, antenna array, radar system and vehicle

• US 9,910,150 B2
• Filed: 01/16/2015
• Issued: 03/06/2018
• Est. Priority Date: 01/16/2014
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Schoor, Michael, Kuehnle, Goetz, Gross, Volker, Loesch, Benedikt
• Primary Examiner(s): Bythrow, Peter M
• Application Number:
  US14/598,857
• Publication Number:
  US 20150198705A1
• Time in Patent Office: 1,145 Days
• Field of Search: 342 70- 72, 342147
• CPC Class Codes: G01S 13/424 Stacked beam radar
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• 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 21/29 Combinations of different interacting antenna units for giving a desired directional characteristic H01Q25/00 takes precedence
• CPC Class Codes: H01Q 25/00 Antennas or antenna systems providing at least two radiating patterns arrangements for changing or varying the orientation or the shape of the directional pattern H01Q3/00

Abstract

A method is provided for detecting at least two objects, particularly using a radar system having the steps of sending out a first radio signal using a first sending device, the first sending device being situated in a horizontal plane having at least two first antenna elements, receiving the radio signal using the at least two first antenna elements, receiving the radio signal using at least two second antenna elements, which are situated in different horizontal positions each above or below corresponding first antenna elements of the horizontally situated antenna elements, calculating respectively one azimuth angle and one angle of elevation from at least two objects located in front of the first antenna elements and the second antenna elements from the first radio signal received by the first antenna elements and from the first radio signal received by the second antenna elements. Furthermore, an antenna array, a radar system, and a vehicle are provided.

Claims

1. A method for detecting at least two objects, comprising:

sending out a first radio signal using a first sending device, the first sending device and first antenna elements of a first receiving device being situated in a same horizontal plane as each other;

receiving the first radio signal using the first antenna elements;

receiving the first radio signal using second antenna elements that are part of a second receiving device, wherein the second antenna elements are arranged at different horizontal positions than each other and each of the second antenna elements is arranged at a different vertical position than a vertical position of the horizontal plane; and

calculating (a) a first azimuth angle and a first elevation angle of a first object situated in front of the first antenna elements and the second antenna elements and (b) a second azimuth angle and a second elevation angle of a second object situated in front of the first antenna elements and the second antenna elements, wherein;

the calculating includes assigning the first azimuth angle and the first elevation angle to the first object and assigning the second azimuth angle and the second elevation angle to the second object; and

the calculating includes calculating each of the first and second azimuth angles and each of the first and second elevation angles from both a first output signal obtained from the first receiving device and generated by the first receiving device based on the receipt of the first radio signal by the first antenna elements and a second output signal obtained from the second receiving device and generated by the second receiving device based on the receipt of the first radio signal by the second antenna elements.

2. The method as recited in claim 1, wherein the calculation of each of the first and second azimuth angles and of the first and second elevation angles is based on a maximum probability function that correlates azimuth and elevation angles to combinations of output signals of the first and second receiving devices.

3. The method as recited in claim 2, wherein the calculating of the first and second azimuth angles includes calculating first values of the first and second azimuth values and subsequently using angles of elevation to carry out a correction on the first values of the first and second azimuth angles to obtain corrected values of the first and second azimuth angles.

4. The method as recited in claim 1, further comprising sending at least one second radio signal using a second sending device and receiving the second radio signal using the first antenna elements and the second antenna elements, wherein the calculating of the first and second azimuth angles and the first and second elevation angles is further based on the receipt of the second radio signal by the first and second antenna elements.

15. The method as recited in claim 1, wherein the method is performed using a radar system.

5. An antenna array system for detecting at least two objects, the antenna array system comprising:

a first receiving device that includes first antenna elements situated in a same horizontal plane as each other, wherein the first receiving device is configured to provide a first output signal based on receipt by the first antenna elements of a first radio signal;

a second receiving device that includes second antenna elements that are arranged at different horizontal positions than each other and that are each arranged at a different vertical position than a vertical position of the horizontal plane, wherein the second receiving device is configured to provide a second output signal based on receipt of the first radio signal by the second antenna elements; and

a processing device, wherein;

the processing device is configured to;

calculate (a) a first azimuth angle and a first elevation angle of a first object located in front of the first antenna elements and the second antenna elements and (b) a second azimuth angle and a second elevation angle of a second object located in front of the first antenna elements and the second antenna elements;

assign the first azimuth angle and the first elevation angle to the first object; and

assign the second azimuth angle and the second elevation angle to the second object; and

the calculation includes calculating each of the first and second azimuth angles and each of the first and second elevation angles from both a first output signal obtained from the first receiving device and generated by the first receiving device based on the receipt of the first radio signal by the first antenna elements and a second output signal obtained from the second receiving device and generated by the second receiving device based on the receipt of the first radio signal by the second antenna elements.

6. The antenna array as recited in claim 5, wherein vertical positions of the second antenna elements differ from each other.

7. The antenna array as recited in claim 5, wherein at least one of the second antenna elements is situated at a same horizontal position as that of a corresponding one of first antenna elements.

8. The antenna array as recited in claim 5, further comprising a first sending device for sending out the first radio signal and situated in the horizontal plane.

9. The antenna array as recited in claim 8, further comprising at least one second sending device for sending out a second radio signal, wherein:

the second sending device is situated in the horizontal plane;

the first antenna elements and the second antenna elements are configured to receive the second radio signal; and

the processing device is configured to calculate the first and second azimuth angles and the first and second elevation angles of elevation further based on receipt of the second radio signal by the first and second antenna elements.

10. The antenna array as recited in claim 5, wherein the processing device is configured to calculate the first and second azimuth angles and the first and second elevation angles based on a maximum probability function that correlates azimuth and elevation angles to combinations of output signals of the first and second receiving devices.

11. The antenna array as recited in claim 10, wherein the calculation includes calculating first values of the first and second azimuth values and subsequently using angles of elevation to correct the first values of the first and second azimuth angles to obtain corrected values of the first and second azimuth angles.

16. The antenna array as recited in claim 5, wherein the antenna array is for a radar system.

12. A radar system, comprising:

an antenna array for detecting at least two objects, the antenna array comprising;

a first receiving device that includes first antenna elements situated in a same horizontal plane as each other, wherein the first receiving device is configured to provide a first output signal based on receipt by the first antenna elements of a first radio signal; and

a second receiving device that includes second antenna elements that are arranged at different horizontal positions than each other and that are each arranged at a different vertical position than a vertical position of the horizontal plane, wherein the second receiving device is configured to provide a second output signal based on receipt of the first radio signal by the second antenna elements;

a processing device, wherein;

the processing device is configured to;

calculate (a) a first azimuth angle and a first elevation angle of a first object located in front of the first antenna elements and the second antenna elements and (b) a second azimuth angle and a second elevation angle of a second object located in front of the first antenna elements and the second antenna elements;

assign the first azimuth angle and the first elevation angle to the first object; and

assign the second azimuth angle and the second elevation angle to the second object; and

the calculation includes calculating each of the first and second azimuth angles and each of the first and second elevation angles from both a first output signal obtained from the first receiving device and generated by the first receiving device based on the receipt of the first radio signal by the first antenna elements and a second output signal obtained from the second receiving device and generated by the second receiving device based on the receipt of the first radio signal by the second antenna elements; and

an electronic system for generating a signal to be sent out by a sending device as the first radio.

13. A vehicle comprising a radar system, the radar system comprising:

an antenna array for detecting at least two objects, the antenna array comprising;

a first receiving device that includes first antenna elements situated in a same horizontal plane as each other, wherein the first receiving device is configured to provide a first output signal based on receipt by the first antenna elements of a first radio signal; and

a second receiving device that includes second antenna elements that are arranged at different horizontal positions than each other and that are each arranged at a different vertical position than a vertical position of the horizontal plane, wherein the second receiving device is configured to provide a second output signal based on receipt of the first radio signal by the second antenna elements;

a processing device, wherein;

the processing device is configured to;

calculate (a) a first azimuth angle and a first elevation angle of a first object located in front of the first antenna elements and the second antenna elements and (b) a second azimuth angle and a second elevation angle of a second object located in front of the first antenna elements and the second antenna elements;

assign the first azimuth angle and the first elevation angle to the first object; and

assign the second azimuth angle and the second elevation angle to the second object; and

the calculation includes calculating each of the first and second azimuth angles and each of the first and second elevation angles from both a first output signal obtained from the first receiving device and generated by the first receiving device based on the receipt of the first radio signal by the first antenna elements and a second output signal obtained from the second receiving device and generated by the second receiving device based on the receipt of the first radio signal by the second antenna elements; and

an electronic system for generating a signal to be sent out by a sending device as the first radio signal.

14. The vehicle as recited in claim 13, wherein the vehicle is a motor vehicle.