Robert Boschgmbh

Marcus Steffen Reiher

Igor Wetoschkin

Dirk Bechler

Nils Stefan Maennicke

A method for estimating correction angles in a radar sensor for motor vehicles, by which method a correction angle that considers a misalignment of the radar sensor is calculated by a statistical evaluation of positioning data that were recorded by the radar sensor. The positioning angle range of the radar sensor is subdivided into multiple sectors. The statistical evaluation of the positioning data for the different sectors is performed separately for the different sectors so that an individual correction angle is obtained for each sector.

Method for estimating correction angles in a radar sensor for motor vehicles

A method for classifying a relevance of an object situated in a surrounding environment of a motor vehicle that includes an environmental sensor, with regard to a collision with the motor vehicle. The method includes: receiving measurement signals representing a radial distance, measured by the environmental sensor, of the object relative to the environmental sensor, a radial relative velocity, measured by the environmental sensor, of the object relative to the environmental sensor, and a measured own velocity of the motor vehicle; receiving dimension signals representing the dimensions of the motor vehicle; calculating whether the motor vehicle can collide with the object based on the received measurement signals and on the received dimension signals; outputting a result signal that represents a result of the calculation of whether the motor vehicle can collide with the object to classify the relevance of the object with regard to a collision with the motor vehicle.

Method for classifying a relevance of an object

A method is described for determining the presence and/or properties of one or multiple objects in the surroundings of a motor vehicle, the method including the following steps: &#x2014;determining and/or receiving a driving speed of the motor vehicle; &#x2014;emitting measuring beams by a measuring device of the motor vehicle; &#x2014;receiving reflected and/or scattered back measuring beams by the measuring device; &#x2014;determining a Euclidean distance of the one object or of the multiple objects from the measuring device based on the reflected and/or scattered back measuring beams; &#x2014;determining the relative velocity of the one or of the multiple objects in relation to the motor vehicle based on the reflected and/or scattered back measuring beams; &#x2014;calculating a sum of squares D, the sum of squares Dbeing the sum of the square of the distance of the respective object from the measuring device in a first direction perpendicular to a driving direction of the motor vehicle and of the square of the distance of the respective object from the measuring device in a second direction perpendicular to the first direction and to the driving direction of the motor vehicle, from the speed of the motor vehicle, the Euclidean distance of the one object or of the multiple objects from the measuring device and the relative velocity of the one or of the multiple objects in relation to the motor vehicle under the approximations that the yaw rate of the motor vehicle is zero, that the pitch rate of the motor vehicle is zero and that the speed of the motor vehicle is essentially constant; and &#x2014;analyzing a frequency distribution of the sum of squares Dwithin a time period for determining a number of the objects, an object type of the objects, positions of the objects and/or a geometric expansion of the objects in the surroundings of the motor vehicle.

Method and surroundings detection device for determining the presence and/or properties of one or multiple objects in the surroundings of a motor vehicle

A method and a device for ascertaining a misalignment of at least one detection unit fastened on a vehicle with respect to the intended sensor main beam direction. The device includes at least one detection unit which emits signals and receives partial signals which have been reflected on objects, and ascertains the distance and the azimuth angle of the reflecting objects, and further includes an evaluation unit, to which the ascertained positions of the at least one detection unit are forwarded, and the determination of a misalignment takes place in the evaluation unit by comparing the stored alignment of the sensor main beam direction and the ascertained angle of the object extension with respect to the sensor main beam direction, this taking place under the assumption that the vehicle is moving on average, in parallel to the object extension, for the period during which the misalignment is ascertained.

Device for ascertaining a misalignment of a detection unit fastened on a vehicle

In operating a radar sensor, a modulation sequence having a number n of successive linear frequency ramps having different slopes ais cyclically repeated. A received radar signal reflected from an object is mixed with the emitted radar signal to form an intermediate frequency signal, which is analyzed for each frequency ramp with respect to its frequency spectrum. Peaks occurring in the frequency spectra of the intermediate frequency signal correspond to ambiguity lines in a distance/velocity space. Possible objects are assumed at intersection points of the ambiguity lines. The expected position which the possible objects would have at the point in time of the repetition of the modulation sequence is precalculated. The slope aof at least one of the frequency ramps is established for a subsequent modulation sequence in such a way that none of the expected positions of a possible object in the distance/velocity space is at an intersection point of precalculated ambiguity lines of the other possible objects.

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Renningen, Germany

Marcus Steffen Reiher