• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
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    • 专利摘要:
    The present invention relates to a radar target emulator, a test bench having such a radar target emulator, and a method for digitally processing at least one analog radar signal. The radar target emulator has a first conversion device, which is set up to convert the at least one analog radar signal into at least one corresponding digital radar data packet. A data processing device of the radar target emulator has a time delay device and a modification device, wherein the time delay device is set up to provide a plurality of time-delayed radar data packets based on the at least one digital radar data packet. The modification device is configured to provide a plurality of modified radar data packets based on the plurality of time-delayed radar data packets, and a second conversion device is configured to provide analog processed radar signals by converting the digital radar data packets processed by the data processing device. A transmitting device has at least two transmitting devices, which are in particular configured to transmit the analog processed radar signals provided by the second converting device.
    公开号:AT520577A1
    申请号:T50858/2017
    申请日:2017-10-06
    公开日:2019-05-15
    发明作者:Andreas Gruber BSc；Ing Dr Techn Michael Ernst Gadringer Dipl；Ing Dr Techn Helmut Schreiber Dipl；Dipl Ing Michael Vorderderfler Bsc
    申请人:Avl List Gmbh；
    IPC主号:
    专利说明:

    Radar target emulator, test bench and signal processing method
    The present invention relates to a radar target emulator, in particular for the digital processing of at least one analog radar signal, a test bench with such a radar target emulator and a method for the digital processing of at least one analog radar signal.
    The complexity of mobile systems, in particular land-based motor vehicles, such as passenger cars, trucks or motorcycles, has been steadily increasing for years. This is done in addition to the reduction of emissions and / or fuel consumption or the increase in ride comfort, among other things, to cope with the steadily increasing traffic in metropolitan areas. Driver assistance systems or assistance systems are generally responsible for this, which use information about the vehicle environment, in particular and the probable route, via in-vehicle sensors and / or via communications with other vehicles and / or stationary stations or services to assist the driver in standard driving situations and / or to support extreme situations in the form of indications and / or to actively intervene in vehicle behavior. Frequently at least as part of the above sensors radar sensors are used, which monitor the immediate environment of the vehicle with respect to obstacles and / or preceding vehicles or the like. For the evaluation of an assistance system, it is known to supply the information determined by the radar sensors about a, in particular virtual, test scenario and to evaluate the reaction of the assistance system. The radar sensors are sent modulated radar signals based on the test scenario. Often, the radar sensors mentioned are pivotable in a horizontal plane (azimuth plane) and in a vertical plane (elevation plane), which among other things, an increased spatial resolution can be made possible and unrealistic targets such as point targets are recognizable. For an evaluation of the assistance system, information about the, in particular virtual, test scenario from different directions must be sent to the radar sensors accordingly.
    DE 38 88 993 T2 relates to a device for monitoring the radar efficiency. Here, a closed-loop radar operation monitor is provided which includes a delay line arrangement for generating the plurality of simulated radar target echo signals. A series of simulated radar target echoes are generated under the influence of multiplexer control. The number of target echoes that is generated is determined by the length of time the multiplexer controller turns on an R-port of the multiplexer. In one embodiment, a radar operation monitor has a self-contained delay line. As a result, the delay of signals through the delay line is made only after generating a plurality of individual signals from radar targets, as shown for example in Fig. 2 of said document.
    US 5,247,843 relates to a system and method for simulating electromagnetic environments, wherein an array of one or more horns emits electromagnetic signals at apparent angles to a receiving antenna.
    WO 2016 02225683 A1 relates to a method and a device for determining a misalignment of a radar sensor unit, wherein a plurality of targets are provided by an adjusting device in an arrangement and in each case two targets are aligned horizontally or vertically relative to one another.
    In light of the above, it is an object of the present invention to provide a radar target emulator or bench with such a radar target emulator and a method for digitally processing at least one analog radar signal which is improved over the prior art.
    This object is achieved according to the present invention by a radar target emulator according to claim 1, a test bench having such a radar target demodulator according to claim 11 and a method for digitally processing at least one analog radar signal according to claim 12.
    One aspect of the present invention relates to a radar target emulator, in particular for the digital processing of at least one analog radar signal, which has a first conversion device which is set up to convert the at least one analog radar signal into at least one corresponding digital radar data packet. A data processing device of the radar target emulator preferably has a time delay device and a modification device, wherein the time delay device is set up to provide a plurality of time-delayed radar data packets based on the at least one digital radar data packet, and the modification device is set up based on the plurality of time-delayed radar data packets to provide modified radar data packets. A second conversion device is preferably configured to provide analog processed radar signals by converting the digital radar data packets processed by the data processing device, and a transmitting device comprises at least two transmitting devices, which are in particular configured to transmit the analog processed radar signals provided by the second conversion device.
    A "radar target emulator" in the sense of the present invention is in particular a device for stimulating a radar sensor, in particular a vehicle, which preferably receives a radar signal emitted by the radar sensor, modifies radar data packets generated on the basis of the radar signal and sends back to the sensor as a processed radar signal. The modification preferably depicts a test scenario, in particular a virtual test scenario, for example in order to determine and evaluate the reaction of a control device of the vehicle to this test scenario. In this sense, a radar target emulator can also be understood to mean a simulation unit which is preferably set up to impose on the processed radar signal the simulated test scenario by modifying one or more radar data packets.
    A "conversion device" in the sense of the present invention is in particular a device that converts an analog radar signal into a digital radar data packet, which characterizes the analog radar signal, or a digital radar data packet into an analog radar signal, which characterizes the digital radar data packet. Preferably, the conversion device is adapted to receive the analog radar signal or the digital radar data packet and to generate a corresponding digital radar data packet or a corresponding analog radar signal. A conversion device may be, for example, an analog-to-digital converter or a digital-to-analog converter.
    A "data processing device" in the sense of the present invention is in particular a device which is preferably set up to process digital data such as to duplicate, store, modify, combine, link, manage and / or the like. A data processing device can be designed, for example, as a computer or computer system, in particular with at least one processor and at least one memory.
    A "time delay device" in the sense of the present invention is in particular a device, such as a software module, which receives a radar data packet and provides it again with a time delay. A time delay device can be designed as a software function, for example, in which at least the radar data packet is received as an input variable and which outputs the time-delayed radar data packet as the output variable.
    A "modification device" in the sense of the present invention is in particular a device, such as a software module, which receives a radar data packet and carries out a modification, in particular based on a test scenario, on the radar data packet. A modification device can be embodied, for example, as a software module into which at least the radar data packet is received as input variables and which changes the radar data packet in such a way that the modified radar data packet characterizes at least a part, for example an object, of a test scenario.
    In particular, the invention is based on the approach of receiving one or more received analog radar signals, preferably transmitted by a radar sensor, into at least one or more corresponding digital radar data packets, i. a digital representation of the one or more analog radar signals, to convert and by means of a time delay device, in particular a so-called. Digital delay line, based on the one or more radar data packets to provide a plurality of time-delayed radar data packets, in particular to generate. This is particularly advantageous because a time-delayed radar data packet can thus be provided for each object to be emulated, in particular virtual test scenarios, in particular with only a single time delay device, wherein the time delay emulates a transit time of an originally analog radar signal and thus one, in particular virtual, distance of the object to the radar sensor characterized. In addition, a modification device is preferably provided for adapting the time-delayed radar data packets with regard to the test scenario, in particular by changing the digital radar data packets in a manner that corresponds to the modulation of the corresponding analog radar signals by the reflection at one or more objects of the test scenario. This enables a fast, in particular real-time capable, provision of the test scenario in a digital data processing device, in particular based on at least one analog radar signal.
    Furthermore, a plurality of radar targets, i. Objects of the test scenario, alternatively or in addition to the setting of the virtual distance by the time delay device in a simple way at different positions in the azimuth plane and / or the elevation plane are emulated, preferably by the modified radar data packets distributed to the at least two transmitting devices or the at least two transmitting devices be assigned, in particular before the second conversion device converts the modified radar data packets distributed to the transmitting devices into analog processed radar signals. Alternatively or additionally, the extent of individual targets along the azimuth plane and / or elevation plane can also be emulated, preferably by distributing a modified radar data packet to at least two adjacent transmitting devices or assigning them to at least two adjacent transmitting devices, in particular before the second converting device modifies the modified one distributed to the transmitting devices Radar data packet converted into an analog processed radar signal.
    Overall, the invention allows a simple and flexible mapping of radar targets, in particular with regard to the number of emulatable radar targets and / or the possible target distances or positions of the targets.
    In a preferred embodiment of the invention, the time delay device is set up to delay the at least one digital radar data packet several times in time by one or more, in particular different, predetermined periods of time. In this case, the time delay device can preferably delay the digital radar data packet for each object of the test scenario to be emulated once by a predetermined period of time, preferably based on the targeted virtual distance of the object to the radar sensor, each of the time-delayed radar data packets being processed directly by the modulation device is modified to each map an emulated object. Alternatively or additionally, the digital radar data packet can be delayed several times, in particular the same, predetermined time duration, so that during further processing, in particular by a combination, preferably based on the targeted virtual distance of the object to the radar sensor, of at least two of the time-delayed radar data packets, in each case a time-delayed radar data packet with the desired time delay is formed and modified by the modulation device. This allows flexible adaptation of the time delay of the radar data packet, for example, to a change of the test scenario.
    In a further preferred embodiment of the invention, the time delay device is set up to provide at least one of the plurality of time-delayed radar data packets by renewed time delay of an already previously delayed radar data packet. For this purpose, the time delay device is preferably configured to resume the previously time-delayed radar data packet and to delay it with a, in particular, predetermined, time delay. Alternatively or additionally, the time delay device can have a plurality of time delay modules which are set up to delay the digital radar data packet sequentially, in particular by one or more predetermined time periods, and in each case to provide a time-delayed radar data packet. As a result, the complexity of the time delay device can advantageously be reduced and / or time-delayed radar data packets can be provided particularly reliably.
    In a further preferred embodiment of the invention, the time delay device is adapted to at least temporarily store the at least one digital radar data packet and to provide it at intervals which are characterized by the one or more predetermined time periods. In particular, the time delay device can retain the digital radar data packet and release it repeatedly for periods of time which preferably depend on the desired virtual distances of the objects of the test scenario to the radar sensor for further processing. As a result, the complexity of the time delay device can advantageously be further reduced and the provision of the time-delayed radar data packets can be flexibly or clocked as required.
    According to a further preferred embodiment of the invention, the time delay device is adapted to the radar data packet taking into account a
    Processing time, which is required to process the radar data packet in the data processing device to delay time. In addition, the time delay device is preferably set up to adapt the time delay of the digital radar data packet to a change, in particular to fluctuations, of said processing time, in particular taking into account the intended virtual distances of the objects of the test scenario to the radar sensor. Thus, for example, the time delay of the digital radar data packet caused by the time delay device can be reduced if, due to a, in particular increasing, complexity of the virtual test scenario, an increase in the required computing power for simulating the test scenario is determined or at least foreseeable. In this way, latency delays in the processing of the radar data packet can be compensated, which would otherwise affect the precision of the virtual distances of objects of the test scenario to the radar sensor.
    In a further preferred embodiment, the data processing device has a first data processing device which is set up to combine at least two of the plurality of radar data packets delayed in time by the delay device and to provide them as further time-delayed radar data packets, in particular to output to the modification device. In particular, the first data processing device is configured to provide a plurality of time-delayed radar data packets, on the basis of which the objects to be emulated or the test scenario, in particular after appropriate modification by the modification device, can be imaged. The number of further time-delayed radar data packets provided by the first data processing device is preferably independent of the number of time-delayed radar data packets provided by the time-processing device. This allows a decoupling of the time delay device and the modification device, so that the time delay device and / or the modification device can be used and / or designed in a particularly efficient manner.
    In a further preferred embodiment of the invention, the data processing device has a second data processing device which is set up to combine at least two of the radar data packets modified by the modification device and to provide them as further modified radar data packets, in particular to output them to the second conversion device. In particular, the second data processing device is configured to provide a plurality of further modified radar data packets, on the basis of which a predetermined distribution of the emulated objects, in particular after appropriate conversion by the second conversion device, is effected on the at least two transmitting devices. The number of further modified radar data packets provided by the second data processing device is preferably independent of the number of modified radar data packets provided by the modification device. This allows the free positioning and / or moving of emulated objects in the azimuth plane and / or the elevation plane relative to the radar sensor.
    The first and / or second data processing device preferably has at least two data processing modules which are set up to combine at least two of the time-delayed or modified radar data packets substantially simultaneously, in particular in parallel. Thus, for example, for one or more object of the test scenario to be emulated, a data processing module can be provided which combines at least two of the time-delayed or modified radar data packets. As a result, in each case a radar data packet can be formed with a time delay corresponding to a distance of the object to be emulated from the radar sensor. Alternatively or additionally, radar data packets can be formed, by means of which a desired lateral positioning of the objects to be emulated relative to the radar sensor is possible.
    However, the first and / or second data processing device can also be set up to provide at least one of the time-delayed or modified radar data packets unchanged, in particular to output to the modification device or to the second conversion device.
    In a further preferred embodiment of the invention, the first and / or the second data processing device is configured to receive, and at least, several times, in particular parallel to one another, the time-delayed radar data packets provided by the delay device or one of the modified radar data packets provided by the modification device two radar data packets already time-delayed or modified by the modification device, already combined with one another by the time delay device, are combined as second input data, and the recorded first input data is combined with the recorded second input data and provided in each case as output data. The further time-delayed radar data packets at the modification device for modification or the other modified radar data packets at the second conversion device are preferably provided for conversion into corresponding analog processed radar signals for transmission by means of the at least two transmission devices on the basis of the output data. The time-delayed or modified radar data packets can thus be adapted flexibly with regard to the test scenario or the spatial distribution of the objects to be emulated within the test scenario.
    For this purpose, the first and / or the second data processing device preferably has a plurality of data processing modules, each of which is set up to receive and combine the first and second input data and to provide each one of them as output data. The number of data processing modules is preferably given by the product of the number of time-delayed radar data packets provided by the time delay device with the number of objects to be emulated of the test scenario or from the product of the number of objects to be emulated of the test scenario with the number of transmit devices. The data processing modules can advantageously be formed by software or be part of a software that receives and processes the corresponding first and second input data and outputs the corresponding output data.
    The output data of one of the plurality of data processing modules can advantageously form the second input data of another of the plurality of data processing modules, so that the further time-delayed radar data packets provided at the modification device or the further modified radar data packets provided at the second conversion device are formed in a cascade manner. Alternatively, it is also possible for the first and / or second data processing device, in particular a data processing module, to supply the output data provided by it again as second input data, so that the further time-delayed or modified radar data packets are formed iteratively.
    In a further preferred embodiment of the invention, the first and / or the second data processing device is set up to weight the radar data packets delayed in time by the time delay device or the radar data packets modified by the modification device when combined with one another. As a result, virtually any temporal delays of the radar data packets or assignments of the radar data packets to the at least two transmission devices can be reliably effected. For example, a modified radar data packet may be weighted and distributed to at least two adjacent transmitting devices such that the corresponding analog processed radar signal is received at two different angles, in particular azimuth and / or elevation angles, from the radar sensor, thus emulating expansion of the object.
    In a further preferred embodiment of the invention, the radar target emulator has a receiving device with at least two receiving devices which are adapted to receive radar sensor radiated analog radar signals, wherein the first conversion means is adapted to the analog radar signals, in particular parallel, in corresponding digital To convert radar data packets. The at least two receiving devices are in particular configured to receive transmitted radar signals modulated by the radar sensor into different transmission ranges, at different frequencies and / or with different modulation methods. The corresponding digital radar data packets can then, in particular independently of one another and / or in parallel, be processed by the data processing device, so that a test scenario can also be digitally, particularly simply, flexibly and / or quickly, mapped to complex radar signals.
    A second aspect of the invention relates to a test stand, in particular for a vehicle, with a radar target emulator according to the first aspect of the invention. Due to the at least substantially completely digitally executed radar target emulator, which optionally has at least two receiving devices and at least two transmitting devices, it is possible to provide or process spatially extended and / or complex radar signals of a radar sensor in the test bench, and spatially resolved, in particular with respect to an azimuth plane and / or an elevation plane to provide processed radar signals at the radar sensor, wherein the test stand has no movable or mechanical components. Therefore, the test bench can be made compact.
    A third aspect of the invention relates to a method of digitally processing at least one analog radar signal, comprising the steps of: converting the at least one analog radar signal into at least one corresponding digital radar data packet; Providing a plurality of time-delayed radar data packets based on the at least one digital radar packet by a time delay device of a data processing device; Providing a plurality of modified radar data packets based on the plurality of time-delayed radar data packets by a modification device of the data processing device; Providing at least one analog processed radar signal by converting the digital radar data packets processed by the data processing device; and transmitting the at least one analog processed radar signal.
    The features and advantages described in relation to the first aspect of the invention and its advantageous embodiment apply, at least where technically feasible, for the second and third aspects of the invention and its advantageous embodiment and vice versa.
    The invention will be explained in more detail below with reference to non-limiting exemplary embodiments, which are illustrated in the figures. In it show at least partially schematically:
    Fig. 1 shows a preferred embodiment of a test bench; and
    Fig. 2 shows a preferred embodiment of a data processing device.
    FIG. 1 shows a preferred exemplary embodiment of a test stand 100, which is preferably set up for testing a vehicle 200 with a radar sensor RS for transmitting and receiving analog radar signals S, S 'and has a radar target emulator 1. For reasons of clarity, in each case identical elements of the figure are identified only once by a reference numeral, and the radar sensor RS is shown once in dashed lines with respect to the emission of radar signals S and the reception of radar signals S 'processed by the radar target emulator 1.
    The radar target emulator 1 is preferably set up to influence radar signals S emitted by the radar sensor RS on the basis of a test scenario, for example a traffic situation, in such a way that the radar signals S 'thus processed and sent back to the radar sensor RS are able to modify the test signal. depict the scenario. As a result, components of the vehicle 200 whose function is based on reflected radar signals S 'can be tested.
    The radar sensor RS preferably has a plurality of transmission areas RS1, RS2, which are in particular at least substantially spatially separated and / or symmetrical with respect to an axis, in particular a vehicle longitudinal axis. The radar signals S emitted into the transmission ranges RS1, RS2 propagate in different directions and can have different frequencies or be modulated with different modulation methods, so that objects which reflect the radar signals S back to the radar sensor are assigned to the different transmission ranges RS1, RS2 and / or can be detected with a high spatial resolution.
    In the example shown, the radar target emulator 1 has a receiving device 2, for example an antenna array, preferably having at least two receiving devices RX, approximately three antennas distributed along a line or on a surface, which are equipped to receive the analog radar signals S emitted by the radar sensor S and a first conversion device 3 is connected, which digitizes the received radar signals S and outputs as corresponding digital radar data packets D to a data processing device 4, in particular a time delay device 5. In this case, a digital radar data packet D is preferably provided for each received radar signal S, for example in that the first conversion device 3 is designed as an analog-to-digital converter, wherein the various provided digital radar data packets D are assigned to a transmission range RS1, RS2, for example.
    The time delay device 5 is preferably set up to receive the provided digital radar data packets D and output them several times with different time delays to a first data processing device 6. The time delay device 5 executes the time delay, in particular by one or more predetermined periods of time, for each of the provided digital radar data packets D, preferably substantially simultaneously and / or in parallel, i. in the example shown three times. The time-delayed radar data packets Dz provided thereupon by the time delay device 5 are shown here for the sake of clarity only for one of the provided digital radar data packets D.
    The first data processing device 6 is particularly suitable for providing further time-delayed radar data packets Dz 'on the basis of the time-delayed radar data packets Dz, for example by combining at least two of the provided time-delayed radar data packets Dz. On the basis of the combination of at least two of the time-delayed radar data packets Dz provided, it is thus possible in particular to form additional time-delayed radar data packets Dz '. In the example shown, the two time-delayed radar signals Dz provided by the time delay device 5 are unchanged by the first data processing device 6 as further time-delayed radar data packets Dz 'together with a further time-delayed radar data packet Dz', which is approximately a combination of the two provided by the time delay device 6 delayed radar data packets Dz based provided. The number of radar data packets Dz provided by the time delay device 5 can therefore differ from the number of further time-delayed radar data packets Dz 'provided by the first data processing device 6.
    The first data processing device 6 is set up, in particular, to provide a sufficient number of further time-delayed radar data packets Dz 'based on the combination of at least two of the radar data packets Dz provided by the time delay device 5, in order to map the test scenario by modifying the radar data packets Dz' by the modification device 7 to allow. In particular, the first data processing device 6 provides a further time-delayed radar data packet Dz 'based on the combination of at least two of the radar data packets Dz provided by the time delay device 5 for each of the objects to be emulated, thereby providing each of these objects with a time delay of the respective radar data packet provided Dz 'dependent virtual distance is assigned.
    According to the described modification on the basis of the test scenario, the modified radar data packets Dm provided by the modification device 7 are received by a second data processing device 8 and optionally combined with one another to a transmitting device 10, such as an antenna array, with at least two transmitting devices TX, in the present example about four Antennas arranged along a line or on a surface, after being converted by a second conversion device 9, are outputted as an analog processed radar signal S '.
    The modified radar data packets Dm, which preferably each characterize an emulated object of the test scenario, are output or provided by the second data processing device 8 as further modified radar data packets Dm ', taking into account a spatial distribution of the emulated objects in the test scenario. The output or provision is carried out, for example, such that the further modified radar data packets Dm 'or the corresponding analog processed radar signals S' are distributed to the transmitting devices TX or assigned to the transmitting devices TX according to an arrangement of the emulated objects in the test scenario. Therefore, the number of modified radar data packets Dm provided by the modifier 7 may differ from the number of further modified radar data packets Dm 'provided after processing in the second data processing device 8 and the corresponding analog processed radar signals S', respectively. In this case, the number of modified radar data packets Dm provided by the modification device 7 preferably corresponds to the number of objects to be emulated in the test scenario, while the number of further modified radar data packets Dm provided by the second data processing device 8 or of the corresponding analog processed radar signals S 'is of the desired spatial lateral distribution of the emulated objects.
    The provision or output of the further modified radar data packets Dm 'by the second data processing device 8 to the transmitting device or TX allows in particular the imaging of a simulated object with respect to the radar sensor RS at an angle determined by the spatial position of the transmitting devices TX, in particular azimuth angle and / or elevation angle. The second data processing device 8 can also be set up to provide at least one of the provided radar data packets Dm to a plurality of, in particular adjacent, transmission devices TX, whereby an extent of the emulated object characterized by the modified radar data packet Dm is mapped relative to the radar sensor RS. It is likewise possible to assign the modified radar data packets Dm to the transmitting devices TX dynamically so that a movement of the corresponding emulated objects is imaged.
    The data processing device 4 preferably has at least one processor and at least one memory, so that the time delay device 5, the first and second data processing device 6, 8 and the modification device 7 as
    Software modules on the data processing device 4 are executable. Between the processing of the digital radar data packets D, Dz, Dz ', Dm, Dm' by said software modules on the processor, the digital radar data packets D, Dz, Dz ', Dm, Dm' can be stored on the memory at least temporarily. This enables a flexible, cost-effective, reliable and rapid representation of the test scenario with respect to the radar sensor RS by means of the analog processed radar signals S 'based on the transmitted analog radar signals S.
    Figure 2 shows a preferred embodiment of a data processing device 6, 8, the provided digital radar data packets, in the example shown provided by a time delay device 5 time-delayed radar data packets Dz1, Dz2, Dz3, Dz4 and is adapted to combine at least two of the recorded radar data packets and / or, in the example shown, to a modification device 7. Alternatively, the data processing device 6, 8 can also record modified radar data packets provided by the modification device 7 and output them to a conversion device. The data processing device 6, 8 shown may in particular be the first or second data processing device shown in FIG. For reasons of clarity, the same elements in FIG. 2 are identified only once by a reference symbol.
    The function of the data processing device 6, 8 is preferably equivalent to the function of a so-called switching matrix in which signals applied to a plurality of inputs of the switching matrix are successively passed through individual matrix elements of the switching matrix and thereby processed, in particular split, amplified or attenuated and / or combined.
    Preferably, the data processing device 6, 8 operates in cascade. For this purpose, the data processing device 6, 8 a plurality of data processing modules 11, 11a, 11b, 11c, 11d, each receiving first and second input data E1, E2, possibly combine with each other and provide or output as output data A. The first input data E1 are formed in particular by one of the plurality of time-delayed radar data packets Dz1-Dz4 provided, and the second input data E2 are formed in particular by another of the radar data packets Dz1-Dz4 or by at least two time-delayed radar data packets Dz1-Dz4 already combined with one another.
    This is shown by way of example for the four data processing modules 11a-11d. The combination of first and second input data E1, E2 is indicated by a solid black circle. The dotted lines illustrate the relationship between the time-delayed radar data packets Dz1-Dz4 provided by the time delay device 5 and the further time-delayed radar data packets Dz 'output by the data processing device 6, 8 to the modification device 7.
    In the first data processing module 11a, the first input data E1 from the second time-delayed radar data packet Dz2 and the second input data E2 are formed by the first time-delayed radar data packets Dz1, combined with one another and output as output data A to the second data processing module 11b. The output data A output from the first data processing module 11a form the second input data E2 in the second data processing module 11b, and the first input data E1 are formed by the third time-delayed radar data packet Dz3. The first and second input signals E1, E2, which are combined with one another in the second data processing module 11b, are output as output data A to the third data processing module 11c and are received by the latter as second input data E2. The combination of these second input data E2 with the first input data E1, which are formed by the fourth time-delayed radar data packets Dz4, is finally output to the modification device 7 in the third data processing module 11c as a further time-delayed radar data packet Dz '. Overall, the further time-delayed radar data packet Dz 'thus output thus contains portions of all four time-delayed radar data packets Dz1-Dz4.
    In the fourth data processing module 11d, the first time-delayed radar data packet Dz1 forms the second input data E2, and the third time-delayed radar data packet Dz3 forms the first input data E1. The combination of the first and second input signals E1, E2 is output to the modification device 7 as output data A or as a further time-delayed radar data packet Dz '. Overall, the further time-delayed radar data packet Dz 'thus output thus only contains portions of the first and third time-delayed radar data packet Dz1, Dz3.
    The remaining, unspecified data processing modules 11 perform in the example shown no operation on the provided by the time delay means 5 time-delayed radar data packets Dz or combinations thereof. The further time-delayed radar data packet Dz 'output by the data processing device 6, 8 to the modification device 7 is therefore formed exclusively by the first time-delayed radar data packet Dz1.
    The skilled person understands that the above explanations with respect to the data processing modules 11, 11a-11d are to be understood as purely exemplary and by the data processing device 6, 8, in particular by the data processing modules 11, also any other combinations of the provided time-delayed radar data packets Dz1 - Dz4 possible are.
    REFERENCE SIGNS LIST 1 radar emulator 2 receiving device 3 first conversion device 4 data processing device 5 time delay device 6 first data processing device 7 modification device 8 second data processing device 9 second conversion device 10 transmitting device 11 data processing module 11a-11d first to fourth data processing module 100 test stand 200 vehicle RS radar sensor RS1, RS2 transmitting ranges RX receiving device TX transmitting device S analogous Radar signal S 'processed analog radar signal D digital radar data packet
    Dz delayed radar data packet
    Dz 'further time delayed radar data package
    Dz1 - Dz4 first to fourth time delayed radar data packet
    Dm modified radar data packet
    Dm 'further modified radar data packet E1, E2 first, second input data A output data
    权利要求:
    Claims (12)
    [1]
    claims
    1. radar target emulator (1), in particular for the digital processing of at least one analog radar signal (S), comprising: - a first conversion device (3), which is adapted to at least one analog radar signal (S) in at least one corresponding digital radar data packet ( D) to convert; a data processing device (4) having a time delay device (5) and a modification device (7), wherein the time delay device (5) is set up to provide a plurality of time-delayed radar data packets (Dz) based on the at least one digital radar data packet (D), and the modification device (7) is set up to provide a plurality of modified radar data packets (Dm) based on the plurality of time-delayed radar data packets (Dz); - a second conversion device (9) which is adapted to provide analog processed radar signals (S ') by converting the digital radar data packets (D) processed by the data processing device (4); and - a transmitting device (10) having at least two transmitting devices (TX) which are adapted to transmit the analog processed radar signals (S ') provided by the second converting device (9).
    [2]
    2. Radarzielemulator (1) according to claim 1, wherein the time delay means (5) is adapted to delay the at least one digital radar data packet (D) several times in time by one or more predetermined periods of time.
    [3]
    3. Radarzielemulator (1) according to claim 2, wherein the time delay means (5) is adapted to provide at least one of the plurality of time-delayed radar data packets (Dz) by renewed time delay of an already previously delayed radar data packet (Dz).
    [4]
    A radar target emulator (1) according to claim 2, wherein said time delay means (5) is arranged to at least temporarily store said at least one digital radar data packet (D) and at intervals characterized by said one or more predetermined time periods. provide.
    [5]
    The radar target emulator (1) according to any one of claims 1 to 4, wherein the time delay means (5) is adapted to receive the at least one radar data packet (D) considering a processing time required for the radar data packet (D) in the data processing device (4) to process further, to delay in time.
    [6]
    6. radar target emulator (1) according to any one of claims 1 to 5, wherein the data processing device (4) comprises a first data processing device (6) which is adapted to at least two of the delay means (5) time-delayed radar data packets (Dz) with each other to combine and as another time delayed radar data packet (Dz ') to provide, in particular to the modification device (7) output.
    [7]
    7. radar target emulator (1) according to any one of claims 1 to 6, wherein the data processing device (4) comprises a second data processing device (8) which is adapted to at least two of the modification device (7) modified radar data packets (Dm) to combine with each other and as another modified delayed radar data packet (Dm ') to provide, in particular to the second conversion device (9) spend.
    [8]
    8. Radarzielemulator (1) according to claim 6 or 7, wherein the first and / or the second data processing means (6, 8) is arranged several times, in particular parallel to each other, - one of the delay means (5) provided time-delayed radar data packets ( Dz) or one of the modified radar data packets (Dm) provided by the modification device (7) as first input data (E1) and at least two of the time delay device (5) delayed in time or modified by the modification device (7), already combined with each other Record radar data packets (Dz, Dm) as second input data (E2), - combine the recorded first input data (E1) with the recorded second input data (E2) and provide each as output data (A), and - on the basis of the output data (A) the further time-delayed radar data packets (Dz ') at the modification device (7) for modification or to provide the further modified radar data packets (Dm ') to the second conversion device (9) for conversion into corresponding analog processed radar signals (S') for transmission by means of the at least two transmission devices (TX).
    [9]
    9. Radarzielemulator (1) according to any one of claims 6 to 8, wherein the first and / or the second data processing means (6, 8) is adapted to the time delayed by the time delay means (5) delayed Radardatenpake te (Dz) or the of to weight the modification device (7) modified radar data packets (Dm) in the combination with each other.
    [10]
    10. Radarzielemulator (1) according to one of claims 1 to 9 comprising a receiving device (2), preferably with at least two receiving means (RX), which is adapted to radar sensor (RS) transmitted by a radar analog signals (S) to receive the first conversion device (3) is set up to convert the analog radar signals (S), in particular in parallel, into corresponding digital radar data packets (D).
    [11]
    11. Test stand (100), in particular for a vehicle (200), with a Radarzielemula gate (1) according to one of claims 1 to 10.
    [12]
    12. A method for digitally processing at least one analog radar signal (S) comprising the steps of: - converting the at least one analog radar signal (S) into at least one corresponding digital radar data packet (D); - providing a plurality of time-delayed radar data packets (Dz) based on the at least one digital radar packet (D) by a time delay device (5) of a data processing device (4); - Providing a plurality of modified radar data packets (Dm) based on the plurality of time-delayed radar data packets (Dz) by a modification device (7) of the data processing device (4); - providing at least one analog processed radar signal (S ') by converting the digital radar data packets (D) processed by the data processing device (4); and - transmitting the at least one analog processed radar signal (S ').
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    同族专利:
    公开号 | 公开日
    WO2019068126A1|2019-04-11|
    CN111512177A|2020-08-07|
    US20210341571A9|2021-11-04|
    JP2020536251A|2020-12-10|
    KR20200068695A|2020-06-15|
    US20210018591A1|2021-01-21|
    EP3692390A1|2020-08-12|
    AT520577B1|2021-01-15|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50858/2017A|AT520577B1|2017-10-06|2017-10-06|Radar target emulator, test bench and method for signal processing|ATA50858/2017A| AT520577B1|2017-10-06|2017-10-06|Radar target emulator, test bench and method for signal processing|
    PCT/AT2018/060237| WO2019068126A1|2017-10-06|2018-10-08|Radar target emulator, test bench and method for signal processing|
    CN201880065332.4A| CN111512177A|2017-10-06|2018-10-08|Radar target simulator, test stand and method for signal processing|
    EP18792357.8A| EP3692390A1|2017-10-06|2018-10-08|Radar target emulator, test bench and method for signal processing|
    JP2020519282A| JP2020536251A|2017-10-06|2018-10-08|Radar target emulator, test stand, and signal processing method|
    KR1020207012985A| KR20200068695A|2017-10-06|2018-10-08|Radar target emulator, test bench and signal processing method|
    US16/753,848| US20210341571A9|2017-10-06|2018-10-08|Radar target emulator, test bench and method for signal processing|
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