Veoneer Sweden Ab

Qualcomm Auto Ltd.

Arriver Software Ab

Christian Schwert

Dirk Klotzbuecher

Florian Trompeter

Jeremy Bernard

Philipp Stark

Moroine Laoufi

A vehicle environment detection system () including a control unit arrangement () and at least one sensor arrangement () that is arranged to be mounted in an ego vehicle () and to provide sensor detections () for at least two preceding target vehicles (). The control unit arrangement () is arranged to determine a resulting TTC, time to collision, between the ego vehicle () and a closest preceding target vehicle (), based on an ego velocity (v) and an ego acceleration (a) for the ego vehicle (), a first distance (r) between the ego vehicle () and the closest preceding target vehicle (), and that target velocity (v, v) and corresponding target acceleration (a, a) for a preceding target vehicle () among the target vehicles () that provide a lowest TTC value.

Vehicle radar system for detecting preceding objects

A method and apparatus for processing a transceiver signal () detected by a transceiver (). The method includes obtaining (S) a processed signal from the transceiver signal (), the processed signal having frames () corresponding to respective time intervals (t, t, t, t), wherein the frames define bins () configured according to a quantized resolution (dr) of the transceiver signal (). The method further includes obtaining (S) data related to a relative motion of the transceiver () during a time interval (t, t, t, t) and initializing (S) a residual distance to zero. For each frame () and each respective time interval (t, t, t, t) the method further includes determining (S) a shift distance (ds, ds) corresponding to a sum of the residual distance and a distance value (d, d) corresponding to a relative motion of the transceiver () in the respective time interval (t, t, t, t) and rounding (S) the determined shift distance (ds, ds) with respect to the distance resolution (dr) to a rounded shift distance. The method then further includes updating (S) the residual distance based on a difference between the determined shift distance (ds, ds) and the rounded shift distance, and generating (S) an adjusted frame () by shifting the bins () of the frame by the rounded shift distance to account for relative transceiver motion with respect to the object () in the respective time interval. The method finally includes processing (S) the signal by integrating bin values () over the adjusted frames ().

Signal integration with transceiver motion compensation

A vehicle radar system () including at least one transceiver arrangement () arranged to generate, transmit and receive reflected radar signals () where the transmitted radar signals () have been reflected by an object (and). The radar system () is arranged to provide azimuth angle (&#x3b8;) and radial velocity (v) for a plurality of measurement points () at such objects (and). The radar system () is arranged to calculate a difference between a minimum radial velocity (V', V&#x2033;) and a maximum radial velocity (V&#x2032;, V&#x2033;) for the measurement points () for a plurality of azimuth angle intervals, and to select those azimuth angle intervals (&#x394;&#x3b8;, &#x394;&#x3b8;) where the difference exceeds a certain threshold.

Vehicle radar system

A vehicle radar system () mounted in a host vehicle () arranged to run in a forward running direction (D). The vehicle radar system () includes a transceiver arrangement () to generate and transmit radar signals (), and to receive reflected radar signals (), the transmitted radar signals () have been reflected by one or more objects (). The radar system () provides range (r), azimuth angle (&#x3b8;) and radial velocity (v) for a plurality of measurement points (') at the objects (). The radar system () is divides a total detection volume () into at least two partial volumes (), and performs a velocity estimation for each partial volume () such that a total velocity distribution () is acquired along a side extension (E) that is perpendicular to an extension along the vehicle forward running direction (D).

Determining relative velocity in a vehicle radar system

A vehicle radar system (') and related method including a transceiver arrangement (&#x2032;) that is arranged to generate and transmit at least a first radar signal over a cycle () and a following second radar signal over a cycle (). For the first radar signal cycle (), a corresponding first received signal () and corresponding first received signal information () is obtained, and for a following second radar signal cycle (), a corresponding second received signal () and corresponding second received signal information () is obtained. The vehicle radar system (&#x2032;) is arranged to calculate a difference between the first received signal information () and the second received signal information ().

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Haßfurt, Germany

Christian Schwert