Method for operating a sensor of a motor vehicle

Patent metadata

Field	Value
Publication number	US-11709259-B2
Application number	US-202017118055-A
Country	US
Kind code	B2
Filing date	Dec 10, 2020
Priority date	Dec 19, 2019
Publication date	Jul 25, 2023
Grant date	Jul 25, 2023

Abstract

A method for operating a sensor of a motor vehicle. The method includes: ascertaining an ego trajectory of the sensor, generating adaptation signals for adapting at least one operating parameter of the sensor based on the ascertained ego trajectory and outputting the adaptation signals in order to adapt the at least one operating parameter of the sensor based on the adaptation signals. A device, a sensor system, a motor vehicle, a computer program, and a machine-readable memory medium, are also described.

First claim

What is claimed is:

1. A method for operating a sensor of a motor vehicle, the method comprising:
ascertaining an ego trajectory of the sensor;
generating adaptation signals for adapting at least one operating parameter of the sensor based on the ascertained ego trajectory; and
outputting the adaptation signals to adapt the at least one operating parameter of the sensor based on the adaptation signals;
wherein the ego trajectory is provided to perform an assessment of a non-linearity of the estimated ego trajectory, wherein the assessment includes ascertaining a second derivation of the ego trajectory,
wherein as a function of the assessment of the non-linearity as a function of the second derivation, an imaging algorithm is used to generate radar images based on radar signals of a radar sensor,
wherein following the assessment of the non-linearity, parameters are selected for the image algorithm, in which an aperture parameter and/or an image size parameter and/or a resolution parameter of the radar sensor is adapted based on the assessment of the non-linearity of the ego trajectory or of the determined second derivation, and
wherein the radar image is ascertained with the imaging algorithm based on the selected parameters and on the radar signals of the radar sensor.

2. The method as recited in claim 1 , further comprising:
receiving sensor signals from at least one further sensor of the motor vehicle and/or of the sensor, the ego trajectory being ascertained based on the sensor signals, the at least one further sensor being an element selected from at least one of the following sensors: an inertial sensor, a uniaxial or multiaxial acceleration sensor, or a uniaxial or multiaxial rotation sensor, or a magnetometer sensor, or a satellite navigation sensor, or a GPS sensor, or a GLONASS sensor, or a Galileo sensor, or an odometry sensor, or a surroundings sensor, or a radar sensor, or a video sensor, or a LIDAR sensor, or a ultrasonic sensor, or an infrared sensor.

3. The method as recited in claim 1 , wherein the at least one operating parameter is, in each case, an element selected from at least one of the following parameters: an evaluation algorithm parameter which specifies an evaluation algorithm for evaluating a measurement of the sensor, an aperture parameter which specifies a length of a virtual aperture of the sensor, an image size parameter which specifies an image size of a sensor image of the sensor, an resolution parameter which specifies a resolution and/or a pixel size of a sensor image of the sensor, and/or a measurement characteristic variable parameter which specifies at least one measurement characteristic variable of a measurement to be carried out using the sensor.

4. The method as recited in claim 3 , wherein the sensor includes a propagation time measurement sensor, the at least one measurement characteristic variable in each case being an element selected from at least one of the following measurement characteristic variables: an inter-pulse distance, a pulse shape parameter, a bandwidth of a pulse, a sample rate for generating and scanning the pulse, and/or a pulse duration.

5. The method as recited in claim 4 , wherein the sensor includes a SAR radar sensor.

6. The method as recited in claim 1 , further comprising:
ascertaining at least one instantaneous dynamic characteristic variable of the sensor, the adaptation signals being generated based on the at least one instantaneous dynamic characteristic variable.

7. The method as recited in claim 6 , wherein the at least one instantaneous dynamic variable of the sensor includes an ego velocity of the sensor and/or an ego acceleration of the sensor.

8. The method as recited in claim 1 , wherein the ascertained ego trajectory is restricted to a trajectory, which includes the position of the sensor during a measuring cycle of the sensor, in a ramp sequence, at at least three different points in time.

9. The method as recited in claim 1 , wherein the sensor includes a synthetic aperture sensor (SAR sensor).

10. An apparatus to operate a sensor of a motor vehicle, comprising:
a device configured to perform the following:
ascertaining an ego trajectory of the sensor;
generating adaptation signals for adapting at least one operating parameter of the sensor based on the ascertained ego trajectory; and
outputting the adaptation signals to adapt the at least one operating parameter of the sensor based on the adaptation signals;

wherein the ego trajectory is provided to perform an assessment of a non-linearity of the estimated ego trajectory, wherein the assessment includes ascertaining a second derivation of the ego trajectory,
wherein as a function of the assessment of the non-linearity as a function of the second derivation, an imaging algorithm is used to generate radar images based on radar signals of a radar sensor,
wherein following the assessment of the non-linearity, parameters are selected for the image algorithm, in which an aperture parameter and/or an image size parameter and/or a resolution parameter of the radar sensor is adapted based on the assessment of the non-linearity of the ego trajectory or of the determined second derivation, and
wherein the radar image is ascertained with the imaging algorithm based on the selected parameters and on the radar signals of the radar sensor.

11. A sensor system, comprising:
a sensor; and
a device to operate the sensor, the device configured to perform the following:
ascertaining an ego trajectory of the sensor;
generating adaptation signals for adapting at least one operating parameter of the sensor based on the ascertained ego trajectory; and
outputting the adaptation signals to adapt the at least one operating parameter of the sensor based on the adaptation signals;

wherein the ego trajectory is provided to perform an assessment of a non-linearity of the estimated ego trajectory, wherein the assessment includes ascertaining a second derivation of the ego trajectory,
wherein as a function of the assessment of the non-linearity as a function of the second derivation, an imaging algorithm is used to generate radar images based on radar signals of a radar sensor,
wherein following the assessment of the non-linearity, parameters are selected for the image algorithm, in which an aperture parameter and/or an image size parameter and/or a resolution parameter of the radar sensor is adapted based on the assessment of the non-linearity of the ego trajectory or of the determined second derivation, and
wherein the radar image is ascertained with the imaging algorithm based on the selected parameters and on the radar signals of the radar sensor.

12. A motor vehicle, comprising:
a sensor system, including:
a sensor of the motor vehicle; and
a device to operate the sensor, the device configured to perform the following:
ascertaining an ego trajectory of the sensor;
generating adaptation signals for adapting at least one operating parameter of the sensor based on the ascertained ego trajectory; and

outputting the adaptation signals to adapt the at least one operating parameter of the sensor based on the adaptation signals;
wherein the ego trajectory is provided to perform an assessment of a non-linearity of the estimated ego trajectory, wherein the assessment includes ascertaining a second derivation of the ego trajectory,
wherein as a function of the assessment of the non-linearity as a function of the second derivation, an imaging algorithm is used to generate radar images based on radar signals of a radar sensor,
wherein following the assessment of the non-linearity, parameters are selected for the image algorithm, in which an ap

Assignees

• Bosch Gmbh Robert

Inventors

• Hakobyan Gor
• Fink Johannes
• Guirguis Karim
• Brosche Thomas

Classifications

• G01S13/931 Primary

  of land vehicles · CPC title

• G01S13/06

  Systems determining position data of a target · CPC title

• G01S13/9029

  specially adapted for moving target detection within a single SAR image or within multiple SAR images taken at the same time · CPC title

• G01C21/165 Primary

  combined with non-inertial navigation instruments · CPC title

• G01S19/42

  Determining position · CPC title