Method for determining an ego-velocity estimated value and an angle estimated value of targets

Patent metadata

Field	Value
Publication number	US-11971472-B2
Application number	US-202117456708-A
Country	US
Kind code	B2
Filing date	Nov 29, 2021
Priority date	Dec 7, 2020
Publication date	Apr 30, 2024
Grant date	Apr 30, 2024

Abstract

A method for determining an ego-velocity estimated value and an angle estimated value of targets using a synthetic aperture radar sensor. A distance is measured between the synthetic aperture radar sensor and each respective target. A relative velocity of the respective target is measured using the Doppler effect. An angle estimation of an angle estimated value takes place, which characterizes the angle between the direction of the ego-velocity of the synthetic aperture radar and the respective target. An individual ego-velocity estimated value of the synthetic aperture radar sensor is ascertained using the relative velocity and the angle estimated value for each target. A classification and distribution of the individual ego-velocity estimated values relating to stationary targets takes place, whose individual ego-velocity estimated values are situated within a predefinable range relative to one another, and relating to moving targets, whose individual ego-velocity estimated values are situated outside the range.

First claim

What is claimed is:

1. A method for determining an ego-velocity estimated value and an angle estimated value of targets using a synthetic aperture radar sensor, comprising the following steps:
measuring, using the synthetic aperture radar sensor, a respective distance between the synthetic aperture radar sensor and each respective target;
measuring, using the synthetic aperture radar sensor, a respective relative velocity of each respective target using the Doppler effect;
performing an angle estimation of one respective angle estimated value for each respective target, which characterizes an angle between a direction of an ego-velocity of the synthetic aperture radar sensor and each respective target;
ascertaining an individual ego-velocity estimated value of the synthetic aperture radar sensor using the respective relative velocity and the respective angle estimated value for each respective target;
classifying and distributing the individual ego-velocity estimated values relating to stationary targets, whose individual ego-velocity estimated values are situated within a predefinable range relative to one another, and relating to moving targets, whose individual ego-velocity estimated values are situated outside the predefinable range;
ascertaining a combined ego-velocity estimated value from the individual ego-velocity estimated values of the stationary targets; and
ascertaining a corrected angle estimated value for the stationary targets using the combined ego-velocity estimated value and the respective measured relative velocity.

2. The method as recited in claim 1 , wherein the predefinable range is an error tolerance range, which is ascertained from an error for the measurement of the relative velocity and from an error for the angle estimation.

3. The method as recited in claim 1 , wherein the angle estimation for each respective target takes place using multiple receiving and/or transmission channels at different positions.

4. The method as recited in claim 1 , wherein an averaged velocity value for the stationary targets is determined as the combined ego-velocity estimated value by weighted and or unweighted averaging.

5. The method as recited in claim 1 , wherein for each moving target, the respective angle estimated value resulting from the angle estimation is adopted as the angle estimated value for the moving target.

6. The method as recited in claim 1 , wherein a velocity estimated value for each moving target is ascertained from the respective relative velocity of the moving target, which is measured using the Doppler effect.

7. The method as recited in claim 1 , wherein an elevation angle is taken into consideration when ascertaining the individual ego-velocity estimated value of the synthetic aperture radar sensor using the respective relative velocity and the respective angle estimated value for each respective target.

8. The method as recited in claim 1 , wherein the radar sensor is a chirp sequence radar.

9. The method as recited in claim 1 , wherein an ascertainment of each respective relative velocity takes place using the Doppler effect with the aid of a Keystone processing.

10. A non-transitory machine-readable memory medium on which is stored a computer program for determining an ego-velocity estimated value and an angle estimated value of targets using a synthetic aperture radar sensor, the computer program, when executed by a computer, causing the computer to perform the following steps:
measuring, using the synthetic aperture radar sensor, a respective distance between the synthetic aperture radar sensor and each respective target;
measuring, using the synthetic aperture radar sensor, a respective relative velocity of each respective target using the Doppler effect;
performing an angle estimation of one respective angle estimated value for each respective target, which characterizes an angle between a direction of an ego-velocity of the synthetic aperture radar sensor and each respective target;
ascertaining an individual ego-velocity estimated value of the synthetic aperture radar sensor using the respective relative velocity and the respective angle estimated value for each respective target;
classifying and distributing the individual ego-velocity estimated values relating to stationary targets, whose individual ego-velocity estimated values are situated within a predefinable range relative to one another, and relating to moving targets, whose individual ego-velocity estimated values are situated outside the predefinable range;
ascertaining a combined ego-velocity estimated value from the individual ego-velocity estimated values of the stationary targets; and
ascertaining a corrected angle estimated value for the stationary targets using the combined ego-velocity estimated value and the respective measured relative velocity.

11. A synthetic aperture radar sensor, comprising:
a sensor array;
wherein the synthetic aperture radar sensor is configured to determine an ego-velocity estimated value and an angle estimated value of targets using the sensor array, the synthetic aperture radar sensor being configured to:
measure a respective distance between the synthetic aperture radar sensor and each respective target;
measure a respective relative velocity of each respective target using the Doppler effect;
perform an angle estimation of one respective angle estimated value for each respective target, which characterizes an angle between a direction of an ego-velocity of the synthetic aperture radar sensor and each respective target;
ascertain an individual ego-velocity estimated value of the synthetic aperture radar sensor using the respective relative velocity and the respective angle estimated value for each respective target;
classify and distribute the individual ego-velocity estimated values relating to stationary targets, whose individual ego-velocity estimated values are situated within a predefinable range relative to one another, and relating to moving targets, whose individual ego-velocity estimated values are situated outside the predefinable range;
ascertain a combined ego-velocity estimated value from the individual ego-velocity estimated values of the stationary targets; and
ascertain a corrected angle estimated value for the stationary targets using the combined ego-velocity estimated value and the respective measured relative velocity.

Assignees

• Bosch Gmbh Robert

Inventors

• Hakobyan Gor
• Fink Johannes

Classifications

• G01S13/72 Primary

  for two-dimensional [2D] tracking, e.g. combination of angle and range tracking, track-while-scan radar · CPC title

• G01S13/90 Primary

  using synthetic aperture techniques {, e.g. synthetic aperture radar [SAR] techniques} · CPC title

• G01S13/931

  of land vehicles · CPC title

• G01S2013/93271

  in the front of the vehicles · CPC title

• G01S13/583 Primary

  using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets · CPC title