Radar sensing system for vehicle

• US 8,013,780 B2
• Filed: 01/24/2008
• Issued: 09/06/2011
• Est. Priority Date: 01/25/2007
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Lynam, Niall R.
• Primary Examiner(s): Tarcza; Thomas
• Assistant Examiner(s): BYTHROW, PETER M
• APPLICATION: US 20100001897A1
• Time in patent office: 1321 Days
• Field of Search: 342 52- 55, 342 70- 72, 340/937, 701117-119
• US Class Current: 342/70
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/93 for anti-collision purposes
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 2013/0245 Radar with phased array antenna
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/93276 in the windshield area
• CPC Class Codes: G01S 7/03 Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
• CPC Class Codes: G01S 7/032 Constructional details for solid-state radar subsystems
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A radar sensing system for a vehicle includes a radar sensor device, a cover panel and a control. The radar sensor device is disposed at a pocket established at an upper edge of the vehicle windshield and having a forward transmitting and receiving direction that is not through the windshield. The cover panel is disposed at the radar sensor device and is substantially sealed at the vehicle windshield at or near the pocket at the upper edge of the vehicle windshield. The cover panel has a material that is substantially transmissive to radar frequency electromagnetic radiation waves. The radar sensor device emits radar frequency electromagnetic radiation waves that transmit through the cover panel. The control is responsive to an output of the radar sensor device.

Claims

1. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:

a radar sensor operable to detect an object ahead of the vehicle;

a forward facing image sensor having a forward field of view in a direction of forward travel of the vehicle;

wherein both said radar sensor and said image sensor are disposed behind or adjacent to an upper region of the vehicle windshield;

a control responsive to said radar sensor and responsive to said forward facing image sensor;

wherein said control at least one of (a) enhances detection of an object ahead of the vehicle by said radar sensor responsive to said forward facing image sensor and (b) enhances detection of an object ahead of the vehicle by said forward facing image sensor responsive to said radar sensor; and

wherein said radar sensor comprises a silicon germanium radar sensor.

2. The sensing system of claim 1, wherein said radar sensor is disposed adjacent to an upper region of the vehicle windshield and wherein said radar sensor is disposed at a pocket established at the upper region of the vehicle windshield and wherein transmission of and receipt of radar frequency electromagnetic radiation by said radar sensor is not through the windshield.

3. The sensing system of claim 2 further comprising a cover substantially sealed at the vehicle windshield at or near the upper region of the vehicle windshield, and wherein said radar sensor transmits and receives radar frequency electromagnetic radiation through said cover.

4. The sensing system of claim 3, wherein said cover comprises a material that is substantially transmissive to radar frequency electromagnetic radiation.

5. The sensing system of claim 4, wherein said radar sensor emits radar frequency electromagnetic radiation that transmit through said cover and forward of the equipped vehicle in the direction of forward travel of the equipped vehicle as the equipped vehicle travels along a road.

6. The sensing system of claim 4, wherein said cover comprises a polymeric cover panel.

7. The sensing system of claim 4, wherein said cover is configured to substantially match at least one of (a) a shade band along the upper region of the windshield, (b) a windshield electronics module of the vehicle, (c) an interior component of the vehicle, and (d) an exterior component of the vehicle.

8. The sensing system of claim 1, wherein said forward facing image sensor is disposed to the rear of the windshield and has a forward field of view through the windshield.

9. The sensing system of claim 8, wherein said control enhances detection of an object ahead of the vehicle by said radar sensor responsive to said forward facing image sensor.

10. The sensing system of claim 9, wherein said control enhances detection of the object ahead of the vehicle by said radar sensor via at least one of (a) beam aiming and (b) beam selection.

11. The sensing system of claim 9, wherein said radar sensor comprises at least one of (a) digital beam forming and (b) digital beam steering.

12. The sensing system of claim 9, wherein said radar sensor comprises at least one of (a) an array antenna and (b) a phased array antenna.

13. The sensing system of claim 1, wherein said control enhances detection of an object ahead of the vehicle by said forward facing image sensor responsive to said radar sensor.

14. The sensing system of claim 13, wherein said control enhances detection of the object ahead of the vehicle by said forward facing image sensor via algorithmic processing of a portion of an image captured by said forward facing image sensor.

15. The sensing system of claim 14, wherein said portion of an image captured by said forward facing image sensor is spatially related to a location of a detected object in the forward field of view of said image sensor.

16. The sensing system of claim 13, wherein said control enhances detection of the object ahead of the vehicle by said forward facing image sensor via at least one of (a) directing the forward field of view of said image sensor, (b) a zoom function and (c) image processing of captured image data.

17. The sensing system of claim 1, wherein said forward facing image sensor and said radar sensor are commonly established on a common substrate.

18. The sensing system of claim 1, wherein said radar sensor utilizes an array antenna.

19. The sensing system of claim 1, wherein said control at least in part controls an adaptive cruise control system of the vehicle.

20. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:

a radar sensor operable to detect an object ahead of the vehicle;

a forward facing image sensor having a forward field of view in a direction of forward travel of the vehicle;

a control responsive to said radar sensor and responsive to said forward facing image sensor;

wherein said control at least one of (a) enhances detection of an object ahead of the vehicle by said radar sensor responsive to said forward facing image sensor and (b) enhances detection of an object ahead of the vehicle by said forward facing image sensor responsive to said radar sensor;

wherein said radar sensor comprises a silicon germanium radar sensor;

wherein said radar sensor comprises at least one of (a) digital beam forming and (b) digital beam steering; and

wherein said radar sensor comprises at least one of (a) an array antenna and (b) a phased array antenna.

21. The sensing system of claim 20, wherein both said radar sensor and said image sensor are disposed behind or adjacent to an upper region of the vehicle windshield.

22. The sensing system of claim 20, wherein said control enhances detection of the object ahead of the vehicle by said radar sensor via at least one of (a) beam aiming and (b) beam selection.

23. The sensing system of claim 20, wherein said control at least in part controls an adaptive cruise control system of the vehicle.

24. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:

a radar sensor operable to detect an object ahead of the vehicle;

a forward facing image sensor having a forward field of view in a direction of forward travel of the vehicle;

wherein said forward facing image sensor is disposed to the rear of the windshield and has a forward field of view through the windshield;

a control responsive to said radar sensor and responsive to said forward facing image sensor;

wherein said control at least one of (a) enhances detection of an object ahead of the vehicle by said radar sensor responsive to said forward facing image sensor and (b) enhances detection of an object ahead of the vehicle by said forward facing image sensor responsive to said radar sensor;

wherein said radar sensor comprises a silicon germanium radar sensor;

wherein said radar sensor comprises at least one of (a) an array antenna and (b) a phased array antenna;

wherein said control enhances detection of an object ahead of the vehicle by said forward facing image sensor responsive to said radar sensor;

wherein said control enhances detection of the object ahead of the vehicle by said forward facing image sensor via algorithmic processing of a portion of an image captured by said forward facing image sensor; and

wherein said portion of an image captured by said forward facing image sensor is spatially related to a location of a detected object in the forward field of view of said image sensor.

25. The sensing system of claim 24, wherein said radar sensor comprises at least one of (a) digital beam forming and (b) digital beam steering.

26. The sensing system of claim 24, wherein said control at least in part controls an adaptive cruise control system of the vehicle.

27. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:

a radar sensor operable to detect an object ahead of the vehicle;

a forward facing image sensor having a forward field of view in a direction of forward travel of the vehicle;

wherein said forward facing image sensor is disposed to the rear of the windshield and has a forward field of view through the windshield;

a control responsive to said radar sensor and responsive to said forward facing image sensor;

wherein said control at least one of (a) enhances detection of an object ahead of the vehicle by said radar sensor responsive to said forward facing image sensor and (b) enhances detection of an object ahead of the vehicle by said forward facing image sensor responsive to said radar sensor;

wherein said radar sensor comprises a silicon germanium radar sensor; and

wherein said control at least in part controls an adaptive cruise control system of the vehicle.

28. The sensing system of claim 27, wherein said radar sensor utilizes an array antenna.

29. The sensing system of claim 28, wherein said radar sensor comprises at least one of (a) digital beam forming and (b) digital beam steering.

30. The sensing system of claim 29, wherein said radar sensor is disposed adjacent to an upper region of the vehicle windshield and wherein said radar sensor is disposed at a pocket established at the upper region of the vehicle windshield and wherein transmission of and receipt of radar frequency electromagnetic radiation by said radar sensor is not through the windshield.

31. A forward facing sensing system for a vehicle, the vehicle having a windshield, said forward facing sensing system comprising:

a radar sensor operable to detect an object ahead of the vehicle;

a forward facing image sensor having a forward field of view in a direction of forward travel of the vehicle;

wherein said forward facing image sensor is disposed to the rear of the windshield and has a forward field of view through the windshield;

a control responsive to said radar sensor and responsive to said forward facing image sensor;

wherein said radar sensor comprises a silicon germanium radar sensor;

wherein said control enhances detection of the object ahead of the vehicle by said forward facing image sensor via algorithmic processing of a portion of an image captured by said forward facing image sensor; and

wherein said portion of an image captured by said forward facing image sensor is spatially related to a location of a detected object in the forward field of view of said image sensor.

32. The sensing system of claim 31, wherein said radar sensor utilizes an array antenna.

33. The sensing system of claim 32, wherein said radar sensor comprises at least one of (a) digital beam forming and (b) digital beam steering.

34. The sensing system of claim 33, wherein said control at least in part controls an adaptive cruise control system of the vehicle.

35. The sensing system of claim 34, wherein said radar sensor is disposed adjacent to an upper region of the vehicle windshield and wherein said radar sensor is disposed at a pocket established at the upper region of the vehicle windshield and wherein transmission of and receipt of radar frequency electromagnetic radiation by said radar sensor is not through the windshield.