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Method for detecting object in surroundings of vehicle by means of radar

A technology for the surrounding environment and vehicles, applied in the direction of reflection/re-radiation of radio waves, utilization of re-radiation, measurement devices, etc.

Pending Publication Date: 2021-05-21
ROBERT BOSCH GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to sensor noise, measurement accuracy or limited field of view, where fusion of individual real objects may result in a coherent object

Method used

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  • Method for detecting object in surroundings of vehicle by means of radar
  • Method for detecting object in surroundings of vehicle by means of radar
  • Method for detecting object in surroundings of vehicle by means of radar

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Experimental program
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Embodiment Construction

[0034] figure 1 Shown is a vehicle system 100 with a vehicle 102 equipped with a high-resolution radar sensor 104 for detecting the surroundings of the vehicle 102 and an evaluation unit 106 connected to the radar sensor 104 for evaluating the sensor data 108 of the radar sensor 104 .

[0035] Evaluation unit 106 is designed to detect objects 110 moving in the surroundings of vehicle 102 based on sensor data 108 . To this end, radar sensor 104 first emits a plurality of radar signals 112 which are partially scattered back in the direction of vehicle 102 as reflected signals 116 at a plurality of reflection points 114 of object 102 . Radar sensor 104 generates sensor data 108 from received reflection signals 116 by digitization, which are further processed by evaluation unit 106 to identify object 110 , for example by identifying Peak. In this case, evaluation unit 106 calculates, in particular for each reflection point 114 , a radial velocity relative to radar sensor 104 an...

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Abstract

The invention relates to a method for detecting objects in the surroundings of a vehicle by means of a radar. The vehicle has at least one radar sensor for detecting the surroundings of the vehicle and an evaluation unit for evaluating sensor data generated by the radar sensor. The method comprises the following steps: receiving, in the evaluation unit, sensor data generated using the radar sensor; detecting an object in the surroundings of the vehicle on the basis of the sensor data, wherein a plurality of reflection points are assigned to the object, a radar signal emitted by the radar sensor is reflected at the plurality of reflection points, and the plurality of reflection points are each described at least by a radial speed relative to the radar sensor; calculating a velocity vector of each reflection site from the radial velocity; combining the reflection sites into a cluster based on the velocity vector; and dividing the detected objects into individual objects based on the cluster.

Description

technical field [0001] The invention relates to a method, an evaluation unit, a vehicle system, a computer program and a computer-readable medium for detecting objects in the environment of a vehicle by means of radar. Background technique [0002] A large number of different surrounding sensors such as radar sensors, lidar sensors, ultrasonic sensors or cameras can be used in modern driver assistance systems. In order to detect the surroundings of the vehicle as precisely as possible, the sensor data generated by these surroundings sensors can be combined with one another in a suitable manner, for example in the context of a model-based sensor data fusion in which The sensor data of different surrounding environment sensors are synchronized and fused in time. [0003] The resulting objects are based on data from different sensor types on the one hand and data from different sensor instances (e.g. front radar sensor and rear radar sensor) on the other hand. Due to sensor n...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/931G01S13/58
CPCG01S13/58G01S13/931G01S7/411G01S7/415G01S13/589G01S2013/932
Inventor S·郎P·F·拉普R·乔丹T·霍恩森纳
Owner ROBERT BOSCH GMBH