Method for operating a radar system in interference situations, radar system and motor vehicle equipped therewith

Abstract

Method (10) for operating a radar system (3), in which - during operation of the radar system (3), monitoring is carried out for interference caused by an external radar interference source (7), - if such interference is detected, a counter-interference signal (9) is determined which is likely to lead to interference with the external radar interference source (7), and - the specific counter-interference signal (9) is transmitted by means of the radar system (3) in order to stimulate the external radar interference source (7) to a changed, less interfering transmission behavior.

Description

[0001] The present invention relates to a method for operating a radar system, particularly in situations with interference from external radar sources. The invention further relates to a corresponding radar system and a motor vehicle equipped therewith.

[0002] Radar systems can be used beneficially in various areas and applications, for example, to detect objects or obstacles in a given environment. Especially in the field of traffic engineering and in motor vehicles, radar systems are increasingly being used today to support driver assistance systems or automated driving functions, for example. However, this can become problematic if too many radar systems are active in a particular area, as the likelihood of interference increases, which in turn can lead to reduced signal quality or even effectively render the use of a radar system or the assistance functions that rely on it impossible in such an environment.

[0003] Against this background, WO 2021 / 185 566 A1 describes one approach for operating a radar system with multiple radar sensors. Upon detection of interference, an adaptation option is provided to avoid the detected interference by adapting a signal transmission. The adaptation option is then evaluated for each radar sensor, and the adaptation option is coordinated between the various radar sensors based on the evaluation. Finally, depending on the coordination, the signal transmission is adapted according to the adaptation option. The adaptation options are intended to specifically avoid an interferer in the frequency-time space by delaying the transmission and / or changing the center frequency of radar signals transmitted by the radar system. This is intended to provide an improved solution for detecting and reducing interference.However, this approach is not always practical or effective, since today's modern radar systems require ever higher bandwidths within the available frequency band, so that a corresponding division into different frequency ranges for each radar system and a corresponding switch to another frequency range is becoming increasingly difficult or is reaching its limits.

[0004] As a further approach, DE 10 2018 126 034 A1 describes an FMCW radar with interference signal suppression and a corresponding method. In this method, a first spectrum is calculated for a segment of a complex baseband signal, with this segment being assigned to a specific chirp of a chirp sequence contained in an RF radar signal. Furthermore, a second spectrum is estimated for an interference signal contained in the baseband signal. The latter is performed based on a portion of the first spectrum assigned to negative frequencies. Finally, interference signal components are to be eliminated by segment-wise subtraction.

[0005] The document DE 10 2017 216 435 A1 describes a method for operating at least two radar sensors installed in different motor vehicles, wherein the motor vehicles each have a communication device for motor vehicle-to-motor vehicle communication, wherein the radar sensors can be operated with the same frequency bandwidth in different, in particular non-overlapping frequency bands, wherein upon the occurrence of a tuning criterion indicating a possible mutual interference with the measurement data recording of the radar sensors by motor vehicle-to-motor vehicle communication, at least one communication result is determined, on the basis of which at least one of the radar sensors initially operated in the same frequency band is operated for operation in a different frequency band, in particular a frequency band not used by any of the other radar sensors.

[0006] The document DE 10 2019 217 063 A1 describes methods for low-interference operation of a plurality of radar sensors which are installed in different vehicles and each have a detector for detecting interference with the radar sensors of other vehicles and in which an avoidance strategy is implemented in each case which, when interference is detected, causes a switch to another operating mode in order to reduce the interference, characterized in that avoidance strategies are implemented in the radar sensors which differ from one another depending on the installation location of the radar sensor in the vehicle.

[0007] The object of the present invention is to enable improved usability of a radar system.

[0008] This problem is solved by the subject matter of the independent claims. Further possible embodiments of the invention are disclosed in the subclaims, the description, and the figures. Features, advantages, and possible embodiments presented in the description for one of the subject matter of the independent claims are to be regarded at least analogously as features, advantages, and possible embodiments of the respective subject matter of the other independent claims, as well as any possible combination of the subject matter of the independent claims, optionally in conjunction with one or more of the subclaims.

[0009] The method according to the invention is used to operate a radar system. In particular, the method can be used to react to or resolve interference situations in which the radar system is disturbed or impaired by an interferer, i.e., an external radar interference source. Such an external radar interference source can, for example, be an external radar system or the like. In the method according to the invention, during operation of the radar system, monitoring, in particular continuous or quasi-continuous or regular, is carried out for interference caused by an external radar interference source. The respective external radar interference source here is therefore a source of radar radiation or radar signals that is different from the radar system or does not belong to the radar system. This can therefore be a device, in particular a radar device, that functions as a jammer with respect to the radar system, at least temporarily.With appropriate transmission power and utilized bandwidth, this can already be the case during regular, simultaneous operation of the radar system and the radar interference source within the same environmental area. The radar interference source can therefore be a regular external radar system, so that such interference situations become increasingly likely with the increasing use and spread of radar systems. For example, both the radar system operated according to the invention and the radar interference source can be radar systems or radar devices of motor vehicles or the like. Corresponding interference can be detected, for example, by a decrease in the performance of the radar system and / or by means of an SNR analysis (SNR: Signal to Noise Ratio) and / or the like.

[0010] In principle, a number of passive countermeasures or reactions may be possible upon detection of such interference in order to still be able to use the radar system. However, such countermeasures, such as switching to a different frequency band, adjusting signal timing, modulation, transmission power, and / or the like, do not always lead to success. According to the invention, when a corresponding interference is detected, a possible counter-interference signal is determined that is likely to lead to interference or faults in a receiver of the external radar interference source. Such a counter-interference signal can, for example, be fixedly predetermined or dynamically determined or generated, which will be explained in more detail elsewhere. In the former case, determining the counter-interference signal can, for example, mean or include retrieving or reading it from a data memory or the like.

[0011] According to the invention, the specific counter-interference signal is transmitted by the radar system in order to stimulate the external radar interference source to a modified, less disruptive operating or transmission behavior. The counter-interference signal can therefore be used to specifically generate disturbance or interference from the external radar interference source. In this sense, unlike previous passive approaches, the present invention pursues an active countermeasure. The counter-interference signal can, for example, be transmitted for a predetermined, limited period of time. If the external radar interference source subsequently changes its transmission behavior in such a way that the original interference to the radar system no longer occurs or is sufficiently attenuated to enable functional, intended operation of the radar system, the radar system can stop transmitting the counter-interference signal or not resume transmitting it.

[0012] The present invention is based on the realization that current or existing radar systems are primarily designed to optimize their own capability and performance, possibly at the expense of other radar systems in the respective vicinity. Many radar systems in operation today are therefore not designed for communication or cooperation with other radar systems and may therefore only react to a disruption to their operation.

[0013] By transmitting the counter-interference signal according to the invention by the radar system in response to a radiation from the external radar interference source that disrupts its operation, the external radar interference source can be effectively notified or indicated—albeit not within the framework of formalized or standardized communication—that it is currently interfering with or impairing another system, namely the radar system operated according to the invention. The external radar interference source can then recognize, based on the disturbance or interference caused by the counter-interference signal, that its previous operating or transmission behavior is ineffective, which could potentially also impact the functionality or performance of a device using the function of the external radar interference source, such as a third-party vehicle or the like.This can, for example, cause the external radar interference source to switch to a different operating or transmission mode, such as changing the frequency band, changing the modulation, reducing the transmission power, and / or similar actions. This can then also enable improved radar functionality for other radar systems in the vicinity of the radar interference source, for example, for other or all road users in a specific area or road section.

[0014] The present invention can be particularly useful, for example, in the field of traffic or vehicle technology, since in traffic situations - especially with regard to the increasingly important automated driving - a certain degree of cooperation or consideration is often necessary in order to ensure general safety and achieve the best possible traffic flow.

[0015] The present invention offers the advantage that no direct formalized or standardized communication between the radar system and the respective external radar interference source is necessary to achieve the aforementioned positive effects. Therefore, the method according to the invention can be readily and successfully used to handle or resolve corresponding interference situations, particularly even when other radar systems that may act as radar interference sources are not explicitly prepared or configured for this purpose or for cooperative interference avoidance. Thus, the present invention can enable or support improved or more reliable simultaneous operation of multiple radar systems in a limited environment in a particularly simple and practical manner.

[0016] In one possible embodiment of the present invention, a predetermined broadband signal is emitted by the radar system at least as part of the counter-interference signal. Such a broadband signal can therefore be emitted in more than one frequency band portion or across the entire frequency band usable by the radar system or in the respective application in accordance with legal regulations. Such a predetermined broadband signal can be used particularly easily and effectively for different situations and different interference or different external radar interference sources. This ensures that the counter-interference signal is actually received by the external radar interference source and has an effect or influence there. In particular, the signal-to-noise ratio of the radar interference source can presumably be significantly reduced by a broadband signal as proposed here.For this purpose, the counter-interference signal can be transmitted at the maximum transmission power possible for the radar system or legally permissible in the respective application. This allows a reaction, in particular a desired change in the transmission behavior of the radar interference source, to be achieved with a particularly high probability.

[0017] In a further possible embodiment of the present invention, an interference signal originating from the external radar interference source is picked up by the radar system, for example recorded or stored. This picked up interference signal is then transmitted by the radar system at least as part of the counter-interference signal, in particular with the maximum possible or permissible transmission power. This makes it possible to achieve a higher noise floor, i.e. a reduced signal-to-noise ratio, for the radar interference source particularly effectively and reliably. Because the interference signal actually transmitted by the respective external radar interference source itself is used at least as part of the counter-interference signal, it can be particularly reliably ensured that the counter-interference signal is received or transmitted by the radar interference source with a particularly high probability and with a particularly high power in an area actually used by the external radar interference source.is detected and also achieves the desired effect. This is the case because it can be assumed that the external radar interference source is configured to receive at least radar signals that correspond to the radar signals emitted by the radar interference source and to react particularly quickly and sensitively to such interference.

[0018] The embodiment of the present invention proposed here makes it possible to determine or generate a counter-interference signal specifically tailored to the respective radar interference source. This can, if necessary, result in the radar interference source shutting itself down due to the disturbance or interference caused by the counter-interference signal, or signaling a disturbance or impairment, thereby increasing the attention of a user or operator, for example, a driver of a motor vehicle or the like equipped with the external radar interference source. The latter is particularly advantageous in such a situation, since the simultaneous, interference-prone operation of several radar systems can then, for example, render the corresponding assistance or driving systems of all corresponding vehicles inactive, unreliable, or disrupted.

[0019] It is also possible - for example, depending on the sophistication of the radar interference source - that the radar interference source is stimulated by the counter-interference signal to jump to another frequency band, reduce the transmission power and / or the like in order to enable or support a radar function for all systems or participants in the respective situation or environment.

[0020] The respective interference signal can be identified or isolated, for example, using appropriate automatic signal processing. Likewise, the radar system's transmission operation can be temporarily interrupted, and during this time the incoming interference signal can be detected or recorded in isolation. The detected interference signal or the corresponding counter-interference signal can then be transmitted individually or in combination with the radar system's regular operating signals.

[0021] In a further possible embodiment of the present invention, the interference signal originating from the external radar interference source is recorded and modified according to a predetermined pattern. The thus modified interference signal is then transmitted by the radar system at least as part of the counter-interference signal. Here, for example, a main frequency or a main frequency range in which the interference signal has the greatest power or power density can be determined, and a frequency range located away from or outside of it can be cut off to generate the counter-interference signal. This would allow the counter-interference signal to be specifically tailored to the respective radar interference source, so that, for example, interference from other radar systems operating in other frequency ranges is not affected or is affected to a lesser extent by the counter-interference signal.

[0022] Likewise, the timing or temporal signal profile of the recorded interference signal can be altered to generate the counter-interference signal. For example, a recorded interference signal consisting of individual peaks or pulses can be spread or smeared, or converted into a continuous signal, or the like. This can potentially increase the probability that the counter-interference signal is actually being recorded by the external radar interference source at a recording time, for example, if the external radar interference source is not operating in continuous recording mode.

[0023] Likewise, based on the recorded interference signal, individual frequencies or frequency ranges can be amplified, a modulation can be changed, and / or the like. Such adjustments to the recorded interference signal can be more effective, more efficient, or more specifically adapted to the respective radar interference source, with a particularly high probability of achieving a desired response from the external radar interference source to the counter-interference signal.

[0024] In a further possible embodiment of the present invention, the respective counter-interference signal is determined or adjusted depending on the respective interference. The counter-interference signal can thus be determined, for example, depending on a received interference signal originating from the external radar interference source.

[0025] This means that instead of the same counter-interference signal being transmitted for every type of interference, a correspondingly adapted or selected counter-interference signal is transmitted. The counter-interference signal can, for example, be determined or adapted with regard to at least one of the following characteristics or properties depending on the respective interference: frequency band, main frequency, modulation, timing, transmission power, duration, repetition rate, transmission direction, transmission power. This allows the counter-interference signal to be particularly effective in the respective situation or to specifically influence the respective radar interference source.For example, by determining the counter-interference signal as a function of the respective interference, the probability that the counter-interference signal actually influences the radar interference source can be increased in a particularly efficient manner, in particular with limited transmission power and / or with minimized interference with other radar devices in the respective environment.

[0026] In general, properties of the interference signal can also be used for the counter-interference signal and / or the counter-interference signal can be emitted at one or more times that correspond to expected measurement or recording times of the radar interference source. These recording times of the respective external radar interference source can be determined or estimated, for example, based on a temporal pattern of the interference signal. Likewise, the distance of the radar interference source from the radar system can be estimated, for example, based on the received power of the interference signal. This can also be done taking into account the surrounding landscape topology or geometry, using sensor data from other sensors, such as a camera, in which possible radar interference sources in the respective environment are identified, and / or the like.If the counter-interference signal is adjusted with regard to its modulation depending on the recorded interference signal, the counter-interference signal can, for example, be modulated in such a way that it is expected to interfere maximally with the external radar interference source or with the recorded interference signal, for example, according to a corresponding predefined model or the like. For this purpose, the counter-interference signal can, for example, be modulated identically or inversely to the interference signal of the external radar interference source.

[0027] In a further possible embodiment of the present invention, the radar system automatically checks cyclically whether the interference persists after each transmission of the counter-interference signal. If this is not the case, the transmission of the counter-interference signal is stopped or not resumed. The radar system can then return to normal operation, in which the counter-interference signal is not transmitted, so as not to unnecessarily interfere with other radar devices in the respective vicinity. For example, the counter-interference signal can be transmitted in alternating sequence for a predetermined, limited period of time, and then, during a subsequent pause in which the counter-interference signal is not transmitted, the persistence or continued presence of the interference can be checked.If such a check shows that the interference still exists, the counter-interference signal can be transmitted again and then another check can be carried out, and so on. If, on the other hand, a check shows that the interference no longer exists, the procedure can be terminated, i.e. the counter-interference signal can be stopped or not transmitted again.

[0028] The embodiment of the present invention proposed here allows the respective interference situation to be resolved with minimal impact on the radar functionality in the respective environment. For this purpose, it can also be provided, for example, that the counter-interference signal is transmitted in its entirety, i.e., upon initial detection of the respective interference, across all subsequent, possibly cyclical, transmissions of the counter-interference signal in the respective situation or environment, for a maximum of a predetermined total period of time and / or for a predetermined maximum number of repetitions. If the respective interference persists after a predetermined total transmission time of the counter-interference signal and / or after a predetermined number of transmission cycles or repetitions of the counter-interference signal, the counter-interference signal can then be modified and re-transmitted in a modified form.If the respective interference persists after a predetermined number of such changes and corresponding transmissions of the counter-interference signal and / or after the predetermined maximum number of repetitions or after the predetermined total period of time, the transmission of the counter-interference signal can be discontinued despite the continued interference. In such a case, it can be assumed that the method according to the invention will not achieve the desired result. These measures can, on the one hand, increase the probability of the method's success and, on the other hand, limit the interference with other radar systems in the respective vicinity.

[0029] In a further possible embodiment of the present invention, a respective current situation is determined and taken into account for the detection of interference. Such a situation can, for example, be characterized or determined by a respective type or topology of the environment, a current operating mode of the radar system, a surrounding object or traffic density, a road course ahead in the direction of travel or along a navigation route of a motor vehicle equipped with the radar system, and / or the like. Thus, for example, even without the presence or activity of an external radar interference source, in situations with a large number of surrounding objects and / or a geometry or design that favors multiple reflections, a lower effective range and a higher level or a larger number of avoidable interference can be assumed.Such a situation can occur, for example, in urban areas with relatively high traffic density. On the other hand, on a highway with lower traffic density, for example, a higher effective range and a lower level or number of unavoidable interference with the radar system can be expected. Likewise, in such diverse situations, even without an external radar interference source, different signal-to-noise ratios can be expected.

[0030] Accordingly, for example, corresponding expected values ​​or thresholds above which an interference caused by an external radar interference source is detected can then be adapted depending on the respective environment or situation. To determine the respective situation, for example, sensor data from other sensors, for example from a motor vehicle equipped with the radar system, specified map or navigation data, data received from other devices or systems in the respective environment, for example via a Car2X data connection, and / or the like can be taken into account or evaluated. To take the determined situation into account for the detection of interference, a corresponding assignment table or characteristic map or the like can then be specified.The determined situation can also be taken into account, for example, to determine or adjust the counter-interference signal, for example, with regard to its transmission direction, transmission power, frequency or frequency spectrum, signal shape, and / or the like. This can potentially increase the probability that the counter-interference signal will actually be detected by the external radar interference source or that it will result in the desired counter-interference or interference.

[0031] The present invention also relates to a radar system, which can be designed or configured in particular for a motor vehicle. The radar system according to the invention comprises a transmitting device for transmitting radar signals, a receiving device for receiving radar signals, and a signal processing device. The transmitting and receiving devices can, for example, be or comprise one or more corresponding antennas. The signal processing device can be configured to process received signals as well as to generate transmitted signals. The radar system according to the invention is configured to execute or apply the method according to the invention, in particular automatically.For this purpose, the radar system according to the invention, in particular its signal processing device, can have, for example, a corresponding circuit and / or electronics and / or a processing device, such as a microchip, microcontroller or microprocessor or the like, and a computer-readable data memory coupled thereto. The method steps, measures or sequences described in connection with the method according to the invention can be implemented, coded or represented therein, for example by appropriately designing the circuit and / or by a corresponding operating or computer program stored in the data memory. Such an operating or computer program can then be executable by means of the processing device, optionally by controlling a corresponding circuit and / or the transmitting and / or receiving devices, to effect the execution of the corresponding method.The radar system according to the invention can, in particular, be the radar system mentioned in connection with the method according to the invention or correspond thereto. Accordingly, the radar system according to the invention can have some or all of the properties and / or features mentioned in connection with the method according to the invention.

[0032] The invention also relates to a motor vehicle equipped with a radar system according to the invention. The motor vehicle according to the invention can in particular be the motor vehicle mentioned in connection with the method according to the invention and / or in connection with the radar system according to the invention or correspond thereto. Furthermore, the motor vehicle according to the invention can, for example, have at least one assistance system or a functionality for assisted or at least partially automated driving, which uses the sensor data of the radar system as input. In such a case, the method according to the invention can be particularly usefully applied in the motor vehicle according to the invention in order to be able to offer or use the corresponding function or functionality as reliably as possible.

[0033] Further features of the invention may emerge from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features shown below in the description of the figures and / or in the figures alone, can be used not only in the respective combinations specified, but also in other combinations or on their own, without departing from the scope of the invention.

[0034] The drawing shows: Fig. 1 a schematic overview of a jamming situation with several radars; and Fig. 2 an exemplary schematic flow chart to illustrate a method for resolving the fault situation.

[0035] Fig. Figure 1 shows an exemplary schematic overview, not to scale, of a traffic situation involving a motor vehicle 1 and a third-party vehicle 2. The motor vehicle 1 is equipped with a radar system 3 for environmental detection. This radar system 3 includes, for example, antennas 4 for transmitting and receiving radar signals, as well as corresponding electronics or signal processing, which is schematically represented here by a processor 5 and a data memory 6.

[0036] In this case, the other vehicle 2 is also configured for radar-based environmental detection and, for this purpose, has a radar device, referred to here as radar interference source 7. Thus, the other vehicle 2 can emit radar signals that can impair or disrupt the function of the radar system 3 of the motor vehicle 1. Accordingly, such an interfering radar signal emitted by the other vehicle 2 or the radar interference source 7 is referred to here as an interference signal 8.

[0037] The interference signal 8 can, for example, due to its power, its broadband nature, and / or at least one other characteristic, lead to or constitute interference with the radar system 3. For example, the interference signal 8 can interfere with radar signals emitted by the radar system 3 for environmental detection or with corresponding signals reflected by surrounding objects that are to be received by the radar system 3.

[0038] In order to counteract or remedy such an interference situation, the motor vehicle 1 or the radar system 3 can transmit a counter-interference signal 9 upon detection of such an interference, in this case the interference signal 8, in order to interfere with the radar interference source 7 and thereby stimulate an adapted operating or transmission behavior.

[0039] For further explanation, Fig.2 shows an exemplary schematic flow chart 10 for a corresponding method for operating the radar system 3. In a method step S1, the motor vehicle 1 and the radar system 3 can be put into operation. In a method step S2, situation detection or situation monitoring can then be started and carried out. This can be carried out continuously or quasi-continuously or regularly repeatedly during the operation of the radar system 3, as schematically indicated here by a loop-shaped path. This makes it possible to determine a respective situation in which the radar system 3 and the motor vehicle 1 are operated, in particular with regard to an expected mode of operation or performance of the radar system 3, an expected radar signal propagation in the respective situation or environment, and / or the like.

[0040] In a method step S3, a fault check can be performed. Here, a check can be performed continuously, quasi-continuously, or regularly, in particular by the radar system 3 itself, to determine whether or not a fault in the radar system 3 is present due to an interference signal 8 from an external radar interference source 7. If no such fault is detected, the fault check can be performed again according to a loop-like path indicated here. If, however, a fault is detected in method step S3, the method can then continue in method step S4.

[0041] To detect a corresponding interference, the radar system 3 can, for example, perform an SNR analysis. If it is determined that the interference signal 8 from an external radar interference source 7, in this case, for example, the radar device of another road user, reduces the performance of the radar system 3 to such an extent that, under the current boundary conditions, i.e., in the currently determined situation, one or more current active assistance functions or automated driving systems of the motor vehicle 1 can no longer be used as intended, a corresponding interference can be detected.

[0042] As soon as a corresponding disturbance occurs or is detected, in particular due to or caused by interference with an interfering signal 8, one or more predetermined passive evasive measures can be implemented in method step 4. For example, the radar system 3 can change its modulation, switch to a different frequency or frequency band, increase its transmission power, and / or the like. If these measures result in the radar system 3 being able to perform its function sufficiently well, the method can jump back to method step S3. If, however, the measures in method step S4 are unsuccessful, the method can jump to method step S5.

[0043] In method step S5, the radar system 3 can determine a counter-interference signal 9 to be transmitted in response to the respective interference or the respective interference signal 8. For this purpose, the interference signal 8 can, for example, be recorded and stored in isolation and—optionally—changed in a predetermined manner or in a dynamically determined or adapted manner depending on the respective interference signal 8 and / or the respective situation. Likewise, a predetermined broadband signal to be transmitted as a counter-interference signal 9 can be retrieved here, for example, from the data memory 6.

[0044] The counter-interference signal 9 determined in this way can then be transmitted by the radar system 3 in a method step S6. If a reception direction of the interference signal 8 has been determined, the counter-interference signal 9 can be transmitted, in particular, in the corresponding direction and thus in the direction of the respective radar interference source 7, for example if the radar system 3 has a phased array antenna. The counter-interference signal 9 can cause the noise floor of the radar interference source 7 to increase or the signal-to-noise ratio achieved there to decrease. This can, for example, lead to the radar interference source 7 switching itself off due to the corresponding counter-interference or interference or switching to another operating or transmission mode, thus canceling or reducing the interference to the radar system 3.

[0045] The counter-interference signal 9 can be transmitted here, for example, for a predetermined period of time. During this time or thereafter, a method step S7, for example also by the radar system 3, can automatically check whether the interference is still present or not. If the interference is still present, the method can jump back to method step S6, i.e., the determined counter-interference signal 9 can be transmitted again. Likewise, for example, after a predetermined period of time or a predetermined number of repetitions or transmissions of the counter-interference signal 9, the determined counter-interference signal 9 can be adjusted or a modified counter-interference signal 9 can be determined. This is indicated here by a dashed line leading back to method step S5. The counter-interference signal 9 thus modified or newly determined can then be transmitted in a new run through method step S6.

[0046] If it is determined in process step S7 that the fault no longer exists, the process can jump back to process step S3, i.e., without further transmission of the counter-fault signal 9, the monitoring for further faults can be resumed or continued.

[0047] Overall, the examples described show how a method can be implemented to communicate an interference-caused disturbance of an automotive radar system or another radar device to an interfering system, i.e. to an external radar device causing the disturbance. List of reference symbols 1 motor vehicle 2 third-party vehicles 3 Radar system 4 antennas 5 processor 6 data storage 7 Radar interference source 8 Interference signal 9 Counter-interference signal 10 Schedule S1-S7 process steps

Claims

[1] Method (10) for operating a radar system (3), in which - during operation of the radar system (3), monitoring is carried out for interference caused by an external radar interference source (7), - if such interference is detected, a counter-interference signal (9) is determined which is likely to lead to interference with the external radar interference source (7), and - the specific counter-interference signal (9) is transmitted by means of the radar system (3) in order to stimulate the external radar interference source (7) to a changed, less interfering transmission behavior. [2] Method (10) according to claim 1, characterized by that a predetermined broadband signal (9) is emitted at least as part of the counter-interference signal (9). [3] Method (10) according to one of the preceding claims, characterized bythat an interference signal (8) originating from the external radar interference source (7) is picked up by the radar system (3) and transmitted at least as part of the counter-interference signal (9) by the radar system (3), in particular with the maximum permissible transmission power. [4] Method (10) according to one of the preceding claims, characterized by that an interference signal (8) originating from the external radar interference source (7) is received and modified according to a predetermined scheme and the interference signal thus modified is transmitted at least as part of the counter-interference signal (9). [5] Method (10) according to one of the preceding claims, characterized by that the respective counter-interference signal (9) is determined depending on the respective disturbance. [6] Method (10) according to claim 5, characterized bythat the counter-interference signal (9) is adapted with regard to its modulation and / or the counter-interference signal (9) is only transmitted at transmission times and / or at expected reception times of the external radar interference source (7). [7] Method (10) according to one of the preceding claims, characterized by that the radar system (3) cyclically checks whether the interference still exists after the counter-interference signal (9) has been transmitted, and if this is not the case, stops the transmission of the counter-interference signal (9). [8] Method (10) according to one of the preceding claims, characterized by that the current situation is determined and taken into account for the detection of faults. [9] Radar system (3), in particular for a motor vehicle (1), comprising a transmitting device (4), a receiving device (4) and a signal processing device (5, 6), wherein the radar system (3) is configured to carry out a method (10) according to one of the preceding claims. [10] Motor vehicle (1) comprising a radar system (3) according to claim 9.

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