CN109565304B - 用于车辆的2d mimo雷达系统 - Google Patents
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Abstract
一种用于车辆的雷达感测系统，包括具有多个发射天线和多个接收天线的雷达传感器。发射天线和接收天线布置成多行和多列的发射天线以及多行和多列的接收天线。控制器控制由发射天线的雷达发射并接收来自接收天线的输出。控制器将二维多输入多输出处理应用于接收天线的输出。利用应用于接收天线的输出的二维多输入多输出处理，发射天线和接收天线实现增强的二维虚拟孔径。
Description
相关申请的交叉引用
本申请要求2016年7月8日提交的美国临时申请序列号62/359913的申请权益，该临时申请通过引用整体并入本文。
技术领域
本发明总体上涉及用于车辆的车辆感测系统，并且更具体地涉及利用车辆处的一个或多个传感器来提供车辆周围的感测区域的车辆感测系统。
背景技术
在车辆感测系统中使用成像传感器或超声传感器或雷达传感器是常见且已知的。这样的已知系统的实施例在美国专美国专利号8013780和5949331以及美国公开号US-2010-0245066和国际公开号WO 2011/090484中描述，其全部内容通过引用并入本文。
发明内容
本发明提供一种用于车辆的驾驶员辅助系统或感测系统，其利用设置在车辆处的一个或多个测距传感器(例如雷达传感器等)来感测车辆外部的各个区域，其中传感器或传感器单元中的每个包括设置在车辆处的多个发射器和接收器。在本发明的雷达传感器中，多个发射天线和多个接收天线布置为二维天线阵列。二维天线阵列的输出被传送到控制器，并且控制器将二维多输入多输出(MIMO)处理应用于二维天线阵列的输出。响应于这样的处理，控制器确定一个或多个物体存在于车辆外部和阵列的感测区域内。
根据本发明的一方面，一种用于车辆的雷达感测系统包括具有多个发射天线和多个接收天线的雷达传感器。发射天线和接收天线布置成多行和多列的发射天线以及多行和多列的接收天线。控制器控制由发射天线的雷达发射并接收来自接收天线的输出。控制器将二维多输入多输出处理应用于接收天线的输出。利用应用于接收天线的输出的二维多输入多输出处理，发射天线和接收天线实现增强的二维虚拟孔径。多个发射天线可以布置成三行，每行包括四个发射天线，而多个接收天线可以布置成四列，每列包括至少四个接收天线，其中接收天线的各列布置在发射天线的间隔开的各行之间，由此发射天线的各行和接收天线的各列用作192个虚拟接收器。
通过结合附图阅读以下说明书，本发明的这些和其他目的、优点、作用和特征将变得显而易见。
附图说明
图1是具有感测系统的车辆的透视图，该感测系统包括根据本发明的雷达传感器；
图2是表示使用两个发射天线和四个接收天线的天线形式的示意图；
图3是示出图2的天线的示意图，当应用MIMO时具有虚拟孔径；
图4是根据本发明的具有多个发射天线和多个接收天线的天线阵列的示意图；以及
图5是示出当2D MIMO应用于图4的天线阵列时的虚拟二维天线孔径的示意图。
具体实施方式
车辆感测系统(诸如驾驶员辅助系统、物体检测系统、停车辅助系统和/或警报系统)用于捕获车辆外部的感测数据，并且可以处理捕获的数据以检测车辆处或附近并且处于车辆的预测出的路径中的物体，诸如帮助车辆的驾驶员在向前或向后方向上操纵车辆或帮助驾驶员将车辆停放在停车位中。该系统包括处理器，该处理器可操作以从多个传感器接收感测数据并向控制器提供输出，该控制器响应于输出产生警报或控制车辆的附件或系统，或在显示屏幕上突出显示或覆盖警报(该显示屏可以在车辆的倒车或低速操纵期间显示由提供车辆的周围区域的前、侧或360度环绕视图的单一后视摄像头或多个摄像头捕获的视频图像)。
现在参考附图和其中描绘的说明性实施方式，车辆10包括驾驶员辅助系统或感测系统12，其包括至少一个感测车辆的外部区域的雷达传感器单元，诸如前向雷达传感器单元14(并且该系统可选地包括多个面向外部的雷达传感器和/或其他传感器，诸如摄像头或其他传感器等，诸如车辆的后部处的后向传感器，以及车辆各侧的侧向/后向传感器)。感测系统12包括控制器或电子控制单元(ECU)或处理器，其可操作以处理由一个或多个传感器捕获的数据并且可以检测物体等。从传感器到ECU的数据传输或信号通信可以包括任何合适的数据或通信链路，诸如配备的车辆的车辆网络总线等。
汽车雷达通常由多种形式的多个发射和接收天线组成，称为天线阵列。这样的天线阵列形式的总尺寸(孔径)限定了雷达感测系统的角度精度和角度辨别能力。对于雷达系统，术语“分辨率”通常用于描述区分彼此接近的两个物体的能力。
一些汽车雷达使用MIMO(多输入多输出)技术来创建有效的虚拟天线孔径，其明显大于实际天线孔径，并且提供比常规雷达(例如传统扫描雷达)更好的角分辨率。如今，MIMO技术仅用于一维(通常是水平的)。例如，发射天线(诸如两个发射天线)和接收天线(诸如四个接收天线)的一维阵列线性地布置成单一行(或列)，并且它们的实际孔径在图2中示出。当应用MIMO技术时，所实现的虚拟孔径(图3)大于实际孔径。
为了在水平和垂直方向上实现角度精度和分辨率，使用二维天线阵列。通过分别在水平和垂直方向上进行两次扫描(时间复用)来实现二维雷达。当单独用于水平和垂直扫描(也是时间复用)时，也可以通过使用MIMO来实现二维雷达。
目前，多维MIMO技术用于通信系统中。当这些技术应用于汽车雷达系统时，可以立即实现非常精确的水平和垂直精度和分辨率(非时间复用)。因此，二维(2D)MIMO技术应用于二维天线阵列。
在本发明的雷达感测系统的所示实施方式中，发射(Tx)天线和接收(Rx)天线的二维阵列包括12个发射(Tx)天线和16个接收(Rx)天线(图4)(其配置用于2D MIMO处理和192个虚拟接收器)。如图4所示，该系统可以包括三行四个发射天线和四列四个接收天线，其布置或配置成提供所需或适当的虚拟孔径。当二维MIMO技术应用于图4的天线阵列时，实现了在水平和垂直方向上提供增强的精度和分辨率的二维虚拟天线孔径(图5)。
因此，Tx天线和Rx天线的二维(2D)阵列在二维表面上创建并占据二维表面，诸如二维天线板或基板等的表面，其中所有Tx天线和Rx天线不处于单一行或单一列中。尽管示出并描述为具有三行四个Tx天线和四列四个Rx天线，但是可以使用Tx和Rx天线的其他二维布置，同时保持在本发明的精神和范围内。例如，Tx和Rx天线的二维布置优选地包括至少四个Tx天线和六个Rx天线(提供至少二十四个虚拟接收器)，更优选地包括至少八个Tx天线和十个Rx天线(提供至少八十个虚拟接收器)，更优选地包括至少12个Tx天线和16个Rx天线(提供至少192个虚拟接收器)。
在MIMO系统中，每个发射天线独立于其他发射天线辐射任意波形，并且每个接收天线可以接收这些信号。由于不同的波形，可以将回波信号指定为来自相应的发射天线。
因此，本发明的系统提供增强的雷达感测和处理，诸如用于检测物体存在于雷达感测系统的感测区域中。例如，控制器可以将二维多输入多输出处理应用于二维天线阵列的输出，以(诸如为车辆的驾驶辅助系统)检测物体存在于二维天线阵列的感测区域中。例如，驾驶辅助系统可包括自动驾驶系统、半自动驾驶系统、自动泊车系统、盲点检测系统、交叉路口警报系统、车道变换和合并辅助系统、自动紧急制动系统、行人检测系统、转弯辅助和/或交叉路口碰撞缓解系统。可选地，驾驶辅助系统还可以利用由车辆的一个或多个外部观察摄像头捕获的图像数据，并且可选地，所捕获的图像数据可以与所感测的雷达数据融合，以增强对车辆外部的物体的检测。可选地，雷达感测系统可以向控制器提供输出，该控制器响应于输出指示检测到车辆外部的感兴趣物体(诸如处于车辆行进路径中的物体)，产生警报(诸如对车辆的驾驶员或乘客的视觉或听觉或触觉警报)或控制车辆的附件或系统(诸如车辆的转向系统或制动系统)，或在显示屏幕上突出显示或覆盖警报(该显示屏可以在车辆的倒车或低速操纵期间显示由提供车辆的周围区域的前、侧或360度环绕视图的单一后视摄像头或多个摄像头捕获的视频图像)以在所显示的图像中突出显示检测到的物体，以增强驾驶员对物体的存在的认识。
本发明的感测系统可以利用以下专利中描述的系统的各方面：美国专利号9599702、9575160、9146898、9036026、8027029、8013780、6825455、7053357、7408627、7405812、7379163、7379100、7375803、7352454、7340077、7321111、7310431、7283213、7212663、7203356、7176438、7157685、6919549、6906793、6876775、6710770、6690354、6678039、6674895和/或6587186，和/或国际公开号WO 2011/090484和/或美国公开号US-2010-0245066和/或美国专利申请2017年六月12日提交的序列号15/619627、2017年5月2日提交的序列号15/584265、2017年3月23日提交的序列号15/467247、2017年3月1日提交的序列号15/446220、2017年1月31日提交的序列号15/420238、2017年3月23日提交的序列号15/467247、2017年3月1日提交的序列号为15/446220、以及2017年1月31日提交的序列号15/420238，和/或美国临时申请2016年8月15日提交的序列号62/375161和/或2016年7月13日提交的序列号62/361586，其通过引用整体并入本文。
可选地，视觉系统可以包括显示器，用于显示由一个或多个成像传感器捕获的图像，以便在驾驶员正常操作车辆时由车辆的驾驶员观察。可选地，例如，视觉系统可以包括视频显示设备，诸如通过利用在以下专利中描述的视频显示系统的各方面：美国专利号5530240、6329925、7855755、7626749、7581859、7446650、7338177、7274501、7255451、7,195,381、7184190、5668663、5724187、6690268、7370983、7329013、7308341、7289037、7249860、7004593、4546551、5699044、4953305、5576687、5632092、5708410、5737226、5802727、5878370、6087953、6173501、6222460、6513252和/或6642851，和/或美国公开号US-2014-0022390、US-2012-0162427、US-2006-0050018和/或US-2006-0061008，其通过引用整体并入本文。可选地，视觉系统(利用前视摄像头和后视摄像头以及设置在车辆处具有外部视野的其他摄像头)可以是车辆的自上而下视图或鸟瞰视图系统或车辆处的环绕视图的一部分或可以提供车辆的自上而下视图或鸟瞰视图系统或车辆处的环绕视图的显示，诸如通过利用在以下专利中描述的视觉系统的各方面：国际公开号WO 2010/099416、WO2011/028686、WO 2012/075250、WO 2013/019795、WO 2012/075250、WO 2012/145822、WO2013/081985、WO 2013/086249和/或WO 2013/109869，和/或美国公开号US-2012-0162427，其通过引用整体并入本文。
可以在不脱离本发明的原理的情况下进行具体描述的实施方式中的改变和修改，本发明的原理仅受所附权利要求的范围的限制，如根据专利法的原理所解释的，包括等同原则。
Claims (11)
1.一种用于车辆的雷达感测系统，所述雷达感测系统包括：
雷达传感器，其具有多个发射天线和多个接收天线；
其中，所述发射天线和所述接收天线布置成多行和多列的发射天线以及多行和多列的接收天线；
控制器，其中，所述控制器控制由所述发射天线的雷达发射并接收来自所述接收天线的输出；
其中，所述控制器将二维多输入多输出处理应用于所述接收天线的输出；以及
其中，利用应用于所述接收天线的输出的二维多输入多输出处理，所述发射天线和所述接收天线实现增强的二维虚拟孔径，
其中，所述多个发射天线布置成至少三行，所述至少三行的每行包括至少两个发射天线，
其中，所述多个接收天线布置成至少四列，所述至少四列的每列包括至少两个接收天线，以及
其中，所述多个发射天线的所述至少三行包括第一行和第二行，并且其中，所述多个接收天线的所述至少四列设置在所述多个发射天线的第一行发射天线和所述多个发射天线的第二行发射天线之间。
2.根据权利要求1所述的雷达感测系统，其中，所述多个发射天线的每行包括四个发射天线。
3.根据权利要求2所述的雷达感测系统，其中，所述多个接收天线的所述至少四列的每列包括至少四个接收天线。
4.根据权利要求3所述的雷达感测系统，其中，所述多个接收天线的每列包括四个接收天线，所述多个发射天线的三行和所述多个接收天线的四列充当192个虚拟接收器。
5.根据前述权利要求中任一项所述的雷达感测系统，其中，所述多个发射天线的每个发射天线独立于其他发射天线辐射任意波形信号，并且其中，所述多个接收天线的每个接收天线接收从所述雷达感测系统的感测区域中的物体反射的信号。
6.根据权利要求5所述的雷达感测系统，其中，由于所发射的信号中的不同波形，反射信号能够被指定为源自所述多个发射天线的特定发射天线。
7.根据权利要求1-4中任一项所述的雷达感测系统，其中，所述控制器将二维多输入多输出处理应用于所述接收天线的输出，以检测物体存在于所述雷达传感器的感测区域中。
8.根据权利要求7所述的雷达感测系统，其中，响应于检测到物体，所述控制器进行以下中的至少一个：(i)生成警报，(ii)控制车辆的附件，以及(iii)突出显示车辆的显示屏幕上显示的图像的一部分，所述显示屏幕显示由车辆的一个或多个外部观察摄像头捕获的视频图像。
9.根据权利要求1-4中任一项所述的雷达感测系统，其中，所述雷达感测系统为车辆的驾驶辅助系统提供检测。
10.根据权利要求9所述的雷达感测系统，其中，所述驾驶辅助系统包括从由自动驾驶系统、半自动驾驶系统、自动泊车系统、盲点检测系统、交叉路口警报系统、车道变换和合并辅助系统、自动紧急制动系统、行人检测系统、转弯辅助和交叉路口碰撞缓解系统组成的组中选择的系统。
11.根据权利要求10所述的雷达感测系统，其中，所述驾驶辅助系统还利用由车辆的一个或多个外部观察摄像头捕获的图像数据，并且其中所捕获的图像数据与所感测的雷达数据融合，以增强对车辆外部的物体的检测。
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| US20240288575A1 (en) | 2024-08-29 |
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| EP3482503A4 (en) | 2020-03-04 |
| US20190339382A1 (en) | 2019-11-07 |
| WO2018007995A1 (en) | 2018-01-11 |
| US11971475B2 (en) | 2024-04-30 |
| EP3482503A1 (en) | 2019-05-15 |
| US11454719B2 (en) | 2022-09-27 |
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