Method for operating a radar sensor in a motor vehicle

Patent metadata

Field	Value
Publication number	US-11726201-B2
Application number	US-202117229533-A
Country	US
Kind code	B2
Filing date	Apr 13, 2021
Priority date	Jun 25, 2020
Publication date	Aug 15, 2023
Grant date	Aug 15, 2023

Abstract

A method for operating a radar sensor in a motor vehicle, in which in a SAR measuring mode according to the principle of the synthetic aperture, objects, including stationary objects, are located with high angular resolution. The same radar sensor is operated in time-shifted manner or concurrently in the SAR measuring mode and in a Doppler measuring mode, the relative speeds of objects, including moving objects, being measured with a time resolution in the Doppler measuring mode that is greater than the time resolution in the SAR measuring mode.

First claim

What is claimed is:

1. A method for operating a radar sensor in a motor vehicle, in which in a synthetic aperture radar (SAR) measuring mode according to the principle of synthetic aperture, objects, including stationary objects, are located with high angular resolution, the method comprising the following steps:
operating the same radar sensor in time-shifted manner or concurrently in the SAR measuring mode and in a Doppler measuring mode; and
measuring relative speeds of objects, including moving objects, with a time resolution in the Doppler measuring mode that is greater than a time resolution in the SAR measuring mode; and
at least one of the following steps (a)-(b):
(a) fusing together respective measuring results quantifying a same measured parameter, which are obtained in the SAR measuring mode and in the Doppler measuring mode, by a combination that differently weights the respective results according to a predefinition of respective qualities attainable by the respective ones of the measuring modes with respect to the measured parameter; and
(b) based on at least one of a determined current speed of the motor vehicle and a determined type of road currently traveled by the motor vehicle, one of:
(i) switching from one of the measuring modes to the other of the measuring modes; and
(ii) selecting relative frequencies at which the radar sensor is operated for performing measuring cycles in the Doppler measuring mode and at which the radar sensor is operated for performing measuring cycles in the SAR measuring mode, so that for a single period of a length of time, respective proportions of the period which are set to be allocated to each of the measuring modes varies depending on the at least one of the determined current speed and the determined type of road currently traveled.

2. The method as recited in claim 1 , wherein the method includes the step of, based on at least one of the determined current speed of the motor vehicle and the determined type of road currently traveled by the motor vehicle, switching from one of the measuring modes to the other of the measuring modes.

3. The method as recited claim 1 , wherein sequences of measuring cycles in the Doppler measuring mode and sequences of measuring cycles in the SAR measuring cycle are interleaved with each other according to a multiplex diagram.

4. The method as recited in claim 1 , wherein the method includes the step of, based on the at least one of the determined current speed of the motor vehicle and the determined type of road currently traveled by the motor vehicle, selecting the relative frequencies at which the radar sensor is operated for performing measuring cycles in the Doppler measuring mode and at which the radar sensor is operated for performing measuring cycles in the SAR measuring mode, so that for the single period of the length of time, the respective proportions of the period which are set to be allocated to each of the measuring modes varies depending on the at least one of the determined current speed and the determined type of road currently traveled.

5. The method as recited in claim 1 , wherein operating parameters of analog transmitting and receiving hardware of the radar sensor, including at least one of frequencies of transmitted signals, a modulation scheme, and a digital beam shaping parameter, are adapted dynamically to a measuring mode to be utilized in each case.

6. A radar sensor, comprising:
analog transmitting and receiving hardware; and
a digital arithmetic logic unit;
wherein:
the transmitting and receiving hardware and the arithmetic logic unit are configured to operate the radar sensor in time-shifted manner or concurrently in a synthetic aperture radar (SAR) measuring mode and in a Doppler measuring mode; and
the digital arithmetic logic unit is configured to performed at least one of the following steps (a)-(b):
(a) fuse together respective measuring results quantifying a same measured parameter, which are obtained in the SAR measuring mode and in the Doppler measuring mode, by a combination that differently weights the respective results according to a predefinition of respective qualities attainable by the respective ones of the measuring modes with respect to the measured parameter; and
(b) based on at least one of a determined current speed of the motor vehicle and a determined type of road currently traveled by the motor vehicle, one of:
(i) switch from one of the measuring modes to the other of the measuring modes; and
(ii) select relative frequencies at which the radar sensor is operated for performing measuring cycles in the Doppler measuring mode and at which the radar sensor is operated for performing measuring cycles in the SAR measuring mode, so that for a single period of a length of time, respective proportions of the period which are set to be allocated to each of the measuring modes varies depending on the at least one of the determined current speed and the determined type of road currently traveled.

7. The radar sensor as recited in claim 6 , wherein the radar sensor has a locating-angle range that extends over at least 90°.

8. A motor vehicle, comprising:
a radar sensor that includes analog transmitting and receiving hardware and a digital arithmetic logic unit;
wherein:
the transmitting and receiving hardware and the arithmetic logic unit are configured to operate the radar sensor in a time-shifted manner or concurrently, in a synthetic aperture radar (SAR) measuring mode and in a Doppler measuring mode;
the radar sensor is installed in the vehicle in such a way that a locating-angle range of the radar sensor covers at least a forward direction of the vehicle as well as an area laterally alongside the vehicle on at least one side of the vehicle; and
the digital arithmetic logic unit is configured to performed at least one of the following steps (a)-(b):
(a) fuse together respective measuring results quantifying a same measured parameter, which are obtained in the SAR measuring mode and in the Doppler measuring mode, by a combination that differently weights the respective results according to a predefinition of respective qualities attainable by the respective ones of the measuring modes with respect to the measured parameter; and
(b) based on at least one of a determined current speed of the motor vehicle and a determined type of road currently traveled by the motor vehicle:
(i) switch from one of the measuring modes to the other of the measuring modes; and
(ii) select relative frequencies at which the radar sensor is operated for performing measuring cycles in the Doppler measuring mode and at which the radar sensor is operated for performing measuring cycles in the SAR measuring mode, so that for a single period of a length of time, respective proportions of the period which are set to be allocated to each of the measuring modes varies depending on the at least one of the determined current speed and the determined type of road currently traveled.

9. The method as recited in claim 1 , wherein the method includes the step of fusing together the respective measuring results quantifying the same measured parameter, which are obtained in the SAR measuring mode and in the Doppler measuring mode, by the combination that differently weights the respective results according to the predefinition of the respective qualities attainable by the respective ones of the measuring modes with respect to the measured parameter.

10. The method as recited in claim 9 , wherein the measured parameter is a relative angle, the respective result of the SAR measuring mode quantifying the relative angle being weighted higher in the fusion than the respective result of the Doppler measuring

Assignees

• Bosch Gmbh Robert

Inventors

• Schindler Daniel
• Hakobyan Gor
• Fink Johannes
• Penske Kai
• Schoor Michael
• Himmelstoss Armin

Classifications

• G01S13/9029 Primary

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

• G01S13/58

  Velocity or trajectory determination systems; Sense-of-movement determination systems · CPC title

• G01S13/9017

  with time domain processing of the SAR signals in azimuth (G01S13/9005 takes precedence) · CPC title

• G01S13/931 Primary

  of land vehicles · CPC title

• G01S13/60 Primary

  wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track (G01S13/64 takes precedence) · CPC title