Robert Boschgmbh

Gor Hakobyan

Markus Gonser

Johannes Fink

Kilian Rambach

Michael Schoor

Armin Himmelstoss

Siegbert Steinlechner

Thomas Brosche

Werner Soergel

Oliver Kern

Jasmin Ebert

Stefan Engewald

Robert Korn

Daniel Schindler

Patrick Doll

Karim Adel Dawood Armanious

Tim Poguntke

Karim Guirguis

Kai Penske

A method for reconstructing elevation information from measured data that were recorded with the aid of at least one radar device and include a two-dimensional spatial distribution of at least one physical measured variable. The measured data are fed as input variables to at least one generator module that is designed as a neural network. At least one output variable is retrieved from the generator module that represents a measure of the elevation angles from which radar radiation was reflected to the radar device from at least one object. A method for training a generator module, and a method including a complete active chain up to activating a vehicle, are also described.

Reconstruction of elevation information from radar data

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.

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

Radar sensor for motor vehicles. The radar sensor has a high-frequency part, which is configured to transmit sequences of modulated radar pulses and to receive the corresponding radar echoes, and an electronic evaluation part, which is configured to take distance and angle measurements using a synthetic aperture, and includes a scanning module, an FFT module for performing fast Fourier transforms to calculating a two-dimensional distance/velocity radar image, a transform module configured to transform the raw data, while simultaneously correcting migration effects, into a format that can be processed by the FFT module, by applying a transform function defined by a number N of coefficients, and a coefficient module for preparing the coefficients for the transform module. The coefficient module including a memory, in which there is stored an initial set of coefficients comprising fewer than N coefficients, and a recursion module, for recursive calculation of the remaining coefficients.

Sa radar sensor for motor vehicles

An operating method for a LIDAR system. A laser device that includes an optical modulator optically coupled thereto for receiving and modulating the frequency of non-modulated light emitted by the laser device, using a frequency modulation function, and for outputting frequency-modulated light as primary light into a visual field, is used as a light source unit. Secondary light received from the visual field and non-modulated light of the laser device are optically superimposed to form superimposed detection light. The superimposed detection light is photoelectrically detected by generating and outputting a primary electrical detection signal that is representative of the detection light. For the evaluation, the primary electrical detection signal is electrically mixed with an electrical signal that is representative of the frequency modulation function of the optical modulator to form a first evaluation signal, and is assessed.

Operating method for a LIDAR system, control unit, LIDAR system, and device

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.

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

A method for training a generator. The generator is supplied with at least one actual signal that includes real or simulated physical measured data from at least one observation of the first area. The actual signal is translated by the generator into a transformed signal that represents the associated synthetic measured data in a second area. Using a cost function, an assessment is made concerning to what extent the transformed signal is consistent with one or multiple setpoint signals, at least one setpoint signal being formed from real or simulated measured data of the second physical observation modality for the situation represented by the actual signal. Trainable parameters that characterize the behavior of the generator are optimized with the objective of obtaining transformed signals that are better assessed by the cost function. A method for operating the generator, and that encompasses the complete process chain are also provided.

Translation of training data between observation modalities

A MIMO radar system. The system includes transmitter and receiver arrays, and a control and evaluation unit, designed to: transmit transmission signals according to a time and frequency multiplex scheme in each of multiple repeatedly implemented measuring cycles, the time space and frequency space being divided into non-overlapping time slots and frequency sub-bands and only one single transmitting antenna being active in each time slot and transmitting in only one single frequency sub-band, carry out preliminary distance estimations and Doppler estimations, each based on signals of an individual transmitting antenna, in a first evaluation stage based on signals received in one measuring cycle, and carry out joint distance, Doppler, and angle estimations using a multi-dimensional estimation algorithm in a second evaluation stage based on phases of the signals transmitted by various transmitting antennas, results of the first evaluation stage being refined by increasing the accuracy and/or by eliminating ambiguities.

MIMO radar system

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.

Method for operating a radar sensor in a motor vehicle

A MIMO radar system including a transmitter array, and a receiver array, the antenna distances in one of the transmitter and receiver arrays being above the Nyquist limit for unambiguous angle measurements, but the antenna distances in the combination of the transmitter and receiver arrays being below this Nyquist limit. The system also includes a control and evaluation unit.

A method for operating a sensor of a motor vehicle. The method includes: ascertaining an ego trajectory of the sensor, generating adaptation signals for adapting at least one operating parameter of the sensor based on the ascertained ego trajectory and outputting the adaptation signals in order to adapt the at least one operating parameter of the sensor based on the adaptation signals. A device, a sensor system, a motor vehicle, a computer program, and a machine-readable memory medium, are also described.

Method for operating a sensor of a motor vehicle

A method for training a trainable module for evaluating radar signals. The method includes feeding actual radar signals and/or actual representations derived therefrom of a scene observed using the actual radar signals to the trainable module and conversion thereof by this trainable module to processed radar signals and/or to processed representations of the respective scene, and using a cost function to assess to what extent the processed radar signals are suited for reconstructing a movement of objects or to what extent the processed representations contain artifacts of moving objects in the scene. Parameters, which characterize the performance characteristics of a trainable module, are optimized with regard to the cost function. A method is also provided for evaluating moving objects from radar signals.

Processing of radar signals including suppression of motion artifacts

A MIMO radar system. The system includes a transmitter array, a receiver array, the antenna distances in one of the transmitter and receiver arrays being below the Nyquist limit for unambiguous angle measurements, but the antenna distances in the combination of the transmitter and receiver arrays being above this Nyquist limit. The system further includes a control and evaluation unit, which is designed to transmit via the transmitter array a sequence of transmit signals, which are subdivided into multiple measuring blocks, in each of multiple repeatedly implemented measuring cycles, a uniform multiplex scheme being applied within each measuring block and the multiplex schemes varying from measuring block to measuring block, carry out a Doppler estimation and an angle estimation based on the receiver array, carry out a Doppler correction of the received signals based on the Doppler estimations, demultiplex the Doppler-corrected signals, and refine the Doppler estimations and angle estimations.

A method for a MIMO radar system includes encoding signals that are transmitted from different transmitting antennas according to code blocks; determining for a radar object a Doppler estimation that has a periodic ambiguity; and resolving the periodic ambiguity, where the resolving includes, for each of multiple ambiguity hypotheses of the Doppler shift: compensating for the Doppler shift according to the respective ambiguity hypothesis, and decoding for separating signal components associated with the transmitting antennas. An ambiguity hypothesis that is applicable to the radar object is selected based on quality criteria for the decoding for the particular ambiguity hypotheses, and an unambiguous speed estimation of the radar object is determined corresponding to the Doppler estimation and the selected ambiguity hypothesis. The quality of an angle estimation based on the signal components can be determined as a quality criterion for the decoding.

Ambiguity resolution for a MIMO radar system

A radar sensor for motor vehicles, having a signal generator that is configured to generate a radar signal that contains a cyclically repeating sequence of N wave trains, where j=1, . . . , N, which are transmitted successively at time intervals T'and which occupy respective frequency bands that differ from one another in terms of their center frequencies f, wherein the relationship applicable to the time intervals T&#x2032;and the center frequencies fis: T&#x2032;*f=X, where the parameter X is constant.

Radar sensor for motor vehicles

A method for operating a radar apparatus having transmitting antennas and at least one receiving antenna, including: generating transmission spectra by complex modulation of mutually equidistant orthogonal OFDM subcarriers; transforming the transmitted spectra into the time domain; digital/analog conversion, high-frequency modulation of the transmitted spectra, and simultaneous emission of the modulated transmitted spectra via the transmitting antennas; demodulating and digitizing a received signal; generating one received spectrum per transmitted spectrum, a division of the OFDM subcarriers corresponding to their division in the transmitted spectra being carried out; eliminating the transmitted signal forms of the transmitted spectra from the received spectra; generating one radar image per received spectrum; evaluating the radar images in a distance dimension and in a speed dimension; and carrying out a signal evaluation for the received signal.

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Stuttgart, Germany

Gor Hakobyan