KR-20260066790-A - A radar device and a method for evaluating radar measurement signals of a radar device

KR20260066790AKR 20260066790 AKR20260066790 AKR 20260066790AKR-20260066790-A

Abstract

The present invention relates to a radar device comprising a plurality of radar devices, wherein each radar device is configured to generate and output a radar measurement signal, and wherein a computing device is configured to evaluate the radar measurement signals of the radar devices in a combined manner, and wherein the computing device is configured to execute a selection of the radar measurement signals of the radar devices during the combined evaluation of the radar measurement signals.

Inventors

슈미트, 토비아스
쉰들러, 다니엘

Assignees

로베르트 보쉬 게엠베하

Dates

Publication Date: 20260512
Application Date: 20240712
Priority Date: 20230922

Claims (12)

As a radar device (1), A plurality of radar devices (2l to 2n), each radar device (2l to 2n) configured to generate and output a radar measurement signal; and A radar device (1) comprising: a computing device (4) formed to evaluate radar measurement signals of radar devices (2l to 2n) in a combined manner, wherein the computing device (4) is formed to execute the selection of radar measurement signals of radar devices (2l to 2n) when evaluating radar measurement signals in a combined manner.
In claim 1, the computing device (4) is configured to completely exclude at least one radar measurement signal of one of the radar devices (2l to 2n) when evaluating the combination of radar measurement signals, or to consider only in relation to a partial set of the transmitting/receiving channels (3ll to 3lm, 3nl to 3nk) of the radar devices (2l to 2n). radar device (1).
In paragraph 2, the computing device (4) is configured to perform an angle determination for predetermined angle segments and/or interval segments through a combined evaluation of radar measurement signals of a predetermined partial set of radar devices (2l to 2n).
A radar device (1), wherein, in any one of claims 1 to 3, the computing device (4) is configured to select the radar measurement signals of the very radar devices (2l to 2n) that form the longest and uninterrupted aperture among the subset of radar devices (2l to 2n) for combined evaluation, where the radar measurement signals have targets only for a subset of radar devices (2l to 2n) within a specific interval-velocity-cell.
In any one of claims 1 to 4, the computing device (4) is configured to recognize adjustment failures of the radar devices (2l to 2n) by excluding radar measurement signals of individual radar devices (2l to 2n) during a combined evaluation, the radar device (1).
In paragraph 5, the computing device (4) is configured to perform correction of the radar devices (2l to 2n) when it recognizes a misalignment of one of the radar devices (2l to 2n). Radar device (1).
A radar device (1), wherein, in any one of claims 1 to 6, the computing device (4) is configured to perform a single target estimation by referring to a selection of radar measurement signals and to calculate at least one quality value of the single target estimation, and the computing device (4) is also configured to perform a combined evaluation of all radar measurement signals only when at least one quality value falls below a predetermined threshold.
In paragraph 7, the combined evaluation of all radar measurement signals includes multi-target estimation, radar device (1).
In any one of claims 1 to 8, the computing device (4) is configured to perform angle estimation during the combined evaluation of radar measurement signals of radar devices (2l to 2n), radar device (1).
In any one of claims 1 to 9, the radar device (1) is a cooperative sensor system, and the radar devices (2l to 2n) are radar sensors.
In any one of claims 1 to 9, the radar device (1) is a radar sensor, and the radar devices (2l to 2n) are partial arrays of antenna elements of the radar sensor.
A method for evaluating radar measurement signals of a radar device (1), comprising the following steps, i.e. - A step (S1) of generating radar measurement signals by a plurality of radar devices (2l to 2n) of the radar device (1); and A method for evaluating radar measurement signals of a radar device, comprising: a step of evaluating radar measurement signals of radar devices (2l to 2n) in a combined manner, and a step (S2) in which selection of radar measurement signals of radar devices (2l to 2n) is executed during the combined evaluation of radar measurement signals.

Description

A radar device and a method for evaluating radar measurement signals of a radar device The present invention relates to a radar device and a method for evaluating radar measurement signals of the radar device. A radar device emits a radar signal, and this radar signal is reflected by objects within the radar channel. In the case of monostatic radar, the reflected radar signal is received and evaluated by the same radar device to detect the distance, velocity, and angle of the reflecting objects relative to the radar device. In the case of bistatic, the reflected radar signal may be received by a second radar device spatially separated from the first radar device. The spacing, velocity, and angle of the reflected objects can be determined using the known interval between the two radar devices. The detected data is processed into reflection lists within each radar device and provided, for example, via a bus system. A cooperative radar sensor system may consist of at least two radar sensors or a computing unit having an extended full antenna array composed of sub-arrays, in which case the radar sensors or sub-arrays may be synchronized according to a synchronization concept. An exemplary radar sensor system is disclosed in DE 2019/10220238 A1. The present invention provides a radar device having the features of independent patent claims and a method for evaluating radar measurement signals of the radar device. Preferred embodiments are the subject of each dependent claim. Accordingly, according to a first aspect of the present invention, the present invention relates to a radar device having a plurality of radar devices and a computing device, wherein each radar device is configured to generate and output a radar measurement signal, and wherein the computing device is configured to evaluate the radar measurement signals of the radar devices in a combined manner, and wherein the computing device is configured to perform a selection of the radar measurement signals of the radar devices during the combined evaluation of the radar measurement signals. Accordingly, according to a second aspect, the present invention relates to a method for evaluating radar measurement signals of a radar device. Radar measurement signals are generated by a plurality of radar devices of the radar device. Additionally, a combined evaluation of the radar measurement signals of the radar devices is performed, and in this case, when the combined evaluation of the radar measurement signals is performed, the selection of the radar measurement signals of the radar devices is executed. According to the present invention, radar measurement signals of radar devices are selected. It should be understood that the entire radar measurement signals of the radar devices are not considered during the combined evaluation of the radar measurement signals. As a result, the present invention enables the full utilization of adaptive apertures dynamically generated within the radar devices. In order to optimally and efficiently evaluate radar measurement data of radar devices of a radar device, the present invention may utilize sensor apertures of different sizes to be evaluated according to existing measurement points or according to the relative positions of targets with respect to the radar device [e.g., its own vehicle (ego vehicle)]. According to one embodiment, the radar device is a cooperative radar sensor system, and in this case, the radar devices are individual radar sensors of the radar sensor system. According to one embodiment, the radar device is an individual radar sensor, in which case the radar device is a partial array (sub-array) of antenna elements of the radar sensor. In particular, the radar device may be a radar device having a thin ("sparse") antenna aperture, preferably having sub-arrays (separated, e.g., by a cable). According to one embodiment of a radar device, a computing device is configured to completely exclude at least one radar measurement signal of a radar device or to consider it only in relation to a subset of the transmitting and receiving channels of the radar device when evaluating a combination of radar measurement signals. Here, a subset should be understood as a genuine subset that does not include, so to speak, all radar devices. According to one embodiment of a radar device, a computing device is configured to perform an angle determination for predetermined angle segments and/or interval segments through a combined evaluation of radar measurement signals of a predetermined subset of radar devices. According to one embodiment of a radar device, the sensor apertures of individual radar devices may be simultaneously assigned to a plurality of angle segments and/or interval segments for joint evaluation, for example, according to the distance to a target, or may be divided within a physically existing radar device; in other words, various antennas of the same radar device may be assigned to various angle segments a