Method for low-interference operation of a plurality of radar sensors

Patent metadata

Field	Value
Publication number	US-12313736-B2
Application number	US-202017762937-A
Country	US
Kind code	B2
Filing date	Sep 15, 2020
Priority date	Oct 8, 2019
Publication date	May 27, 2025
Grant date	May 27, 2025

Abstract

A method for low-interference operation of a plurality of radar sensors, which are installed in different vehicles and each emit a transmission signal in an operating range, which is characterized by at least one of the following parameters: frequency, coding, activity time window. Each radar sensor is assigned an operating range according to at least one degree of freedom of movement of the vehicle, in which the radar sensor is installed.

First claim

What is claimed is:

1. A method for providing low-interference operation of a plurality of radar sensors, the method comprising:
assigning each respective radar sensor of a plurality of radar sensors a respective operating range according to at least one degree of freedom of movement of a respective vehicle, in which the respective radar sensor is installed;
wherein each of the plurality of radar sensors is installed in a different respective vehicle and emit a transmission signal in the respective operating range, which is characterized by at least one of the following parameters: a frequency, a coding, and an activity time window,
wherein a position of each respective vehicle is measured in a global coordinate system, and at least one degree of freedom, which is determinative for the assigning of the operating ranges, is a spatial coordinate of the respective vehicle in the global coordinate system, and
wherein each respective radar sensor receives information about a road currently traveled on by the respective vehicle, from an independent onboard navigation system of the respective vehicle, wherein each road is assigned a respective directional parameter for each direction of travel on the road, and each directional parameter is stored in a digital map, wherein the information received by each respective radar sensor from the independent onboard navigation system includes the directional parameter which is assigned to the road currently traveled on by the respective vehicle for a direction of travel in which the vehicle is currently traveling, and wherein the operating range of each respective radar sensor is selected as a function of the respective directional parameter received from the independent onboard navigation system.

2. The method as recited in claim 1 , wherein the operating ranges differ from each other in a position of a frequency band, in which the respective radar sensor transmits and receives.

3. The radar sensor as recited in claim 1 , wherein the radar sensors transmit coded signals, and the operating ranges differ from each other with regard to code symbols used for coding.

4. The method as recited in claim 1 , wherein the radar sensors are synchronized with each other by a universal time signal, and the respective operating ranges differ in a position of activity time windows, in which the radar sensor transmits and/or receives.

5. The method as recited in claim 1 , wherein the degree of freedom, which is determinative for the assignment of the operating ranges, is an orientation of the respective vehicle with regard to a cardinal direction.

6. The method as recited in claim 5 , wherein each operating range is characterized by a continuously varying parameter, and the operating ranges are assigned to each radar sensor according to a function, which assigns a value of the parameter to an angle, which indicates an orientation of the respective radar sensor with respect to the cardinal direction.

7. The method as recited in claim 6 , wherein the operating ranges are assigned in such a manner, that for each pair of radar sensors, which are installed in two different vehicles, and whose spatial orientations are opposed to each other, the respective operating ranges of the two radar sensors are different from each other.

8. The method as recited in claim 1 , wherein the operating ranges are assigned to the individual radar sensors as a function of an orientation of the respective radar sensor with regard to the respective vehicle.

9. A method for providing low-interference operation of a plurality of radar sensors, the method comprising:
assigning each respective radar sensor of a plurality of radar sensors a respective operating range according to at least one degree of freedom of movement of a respective vehicle, in which the respective radar sensor is installed;
wherein each of the plurality of radar sensors is installed in a different respective vehicle and emit a transmission signal in the respective operating range, which is characterized by activity time windows and at least one of a frequency and/or a coding,
wherein each modulation pattern of hostile radar sensors includes a periodic sequence of the activity time windows, in which transmitting and receiving of radar signals occurs to obtain data, and inoperative windows, in which the transmitting and receiving are inactive and the data is evaluated;
wherein a position of each respective vehicle is measured in a global coordinate system, and at least one degree of freedom, which is determinative for the assigning of the operating ranges, is a spatial coordinate of the respective vehicle in the global coordinate system, and
wherein each respective radar sensor receives information about a road currently traveled on by the respective vehicle, from an independent onboard navigation system of the respective vehicle, wherein each road is assigned a respective directional parameter for each direction of travel on the road, and each directional parameter is stored in a digital map, wherein the information received by each respective radar sensor from the independent onboard navigation system includes the directional parameter which is assigned to the road currently traveled on by the respective vehicle for a direction of travel in which the vehicle is currently traveling, and wherein the operating range of each respective radar sensor is selected as a function of the respective directional parameter received from the independent onboard navigation system.

10. The method as recited in claim 9 , wherein the modulation patterns of the hostile radar sensors are synchronized so that an activity time window of one of the hostile radar sensors lies in an inoperative window of another of the hostile sensors, so as to prevent interference between signals of the hostile radar sensors.

11. The method as recited in claim 10 , wherein local clock generators of the radar sensors, which determine a sequence of activity time windows and inoperative time windows, are synchronized with each other by a global time signal.

Assignees

• Bosch Gmbh Robert

Inventors

• Himmelstoss Armin
• Hakobyan Gor
• Doll Patrick
• Engewald Stefan
• Poguntke Tim
• Soergel Werner

Classifications

• G05D2111/30

  Radio signals · CPC title

• G01S13/60

  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

• G01S13/582

  adapted for simultaneous range and velocity measurements · CPC title

• G01S7/40 Primary

  Means for monitoring or calibrating · CPC title

• G01S7/0236

  Avoidance by space multiplex · CPC title