Method and system for determining the position and / or velocity of at least one object

Abstract

The present invention implements a method for determining the position and / or velocity of at least one object (1a, 1b, …, 1n) from existing distance measurements and / or existing relative velocity measurements, the method comprising: reading (S1) the existing distance measurements and / or existing relative velocity measurements, determining (S2a) the position of at least one object from the existing distance measurements, and / or determining (S2b) the velocity of at least one object from the existing relative velocity measurements, determining (S3) the distance measurements and / or relative velocity measurements to be expected, forming (S4a) a distance residual between the existing distance measurements and the expected distance measurements, and / or forming (S4b) a relative velocity residual, determining (S5a) a position correction and / or determining (S5b) a velocity correction, and determining (S6) the corrected position and / or the corrected velocity.

Description

Technical Field

[0001] The present invention relates to a method for determining the position and / or speed of at least one object and a system for determining the position and / or speed of at least one object. Background Art

[0002] Driver assistance systems can be configured to determine the distance to a motor vehicle traveling ahead by means of radar technology. In this way, a driver assistance system can include, for example, adaptive speed assistance, which can adjust the speed of the motor vehicle to a predetermined value and can maintain a predetermined distance from the motor vehicle traveling ahead. Generally, in order to determine the distance to a motor vehicle traveling ahead, a radar sensor can be provided, where the radar signal can be reflected at the object and can be received again, and the distance can be determined based on the transmitted and received signals. For this purpose, in particular, a frequency-modulated continuous wave radar (FMCW-Radar) can be used.

[0003] DE102013008953A1 describes that a system with two radar sensors can be provided, where the first radar sensor emits a first radar signal, which is received by the second radar sensor after being reflected at the object, while the second radar sensor emits a second radar signal, which is received by the first radar sensor after being reflected at the object. In this way, the sum of the distances between the radar sensors and the object can be determined, which can also be referred to as the bistatic distance. Summary of the Invention

[0004] The present invention realizes a method for determining the position and / or speed of at least one object, and the present invention also realizes a system for determining the position and / or speed of at least one object.

[0005] Advantages of the Invention

[0006] The concept on which the present invention is based is to describe a method for improving the accuracy of determining the position and / or speed of at least one object, and a system for improving the accuracy of determining the position and / or speed of at least one object, where the measuring device has already provided the distance and / or relative speed of at least one object.

[0007] In a method for determining the position and / or velocity of at least one object by means of existing distance measurements and / or existing relative velocity measurements according to the present invention, the following steps are carried out: reading at least one existing distance measurement and / or existing relative velocity measurement of at least one object from a measuring device, the measuring device performing distance measurements and / or relative velocity measurements for at least one object by means of at least two measuring units respectively; in the case where the positions of the measuring units are known, determining the position of at least one object from the existing distance measurements and / or determining the velocity of at least one object from the existing relative velocity measurements; for the object position and / or the determined object velocity determined based on the known positions of the measuring units, determining the expected distance measurement and / or relative velocity measurement of the object from the corresponding measuring units; forming a distance residual between the existing distance measurement and the expected distance measurement and / or forming a relative velocity residual between the existing relative velocity measurement and the expected relative velocity measurement; determining a position correction from the determined position and the distance residual and / or determining a velocity correction from the determined velocity and the relative velocity residual; and determining the corrected position and / or the corrected velocity.

[0008] Thus, it is advantageously possible to receive from the measuring device measurements or estimates of distance values and / or relative velocity values of at least one object with respect to at least two measuring units. These measured values can be based on monostatic, and optionally also bistatic, object distances, and can be based on monostatic, and optionally also bistatic, object relative velocities. For more than two measuring units, such measurements can always be based on pairs of measuring units. Here, the measurements can also be carried out in such a way that bistatic measurements can always be carried out for a pair, and monostatic measurements can always be carried out individually for each of the measuring units. However, a pair can also be represented as a transmitter and a receiver, where for bistatic measurements, this can represent two different measuring units, and for monostatic measurements, this can also represent one of the measuring units. The measuring device can transfer the measurement results to an analysis and processing device or a control device. This can be done actively immediately after the measurement is completed, or can be caused by previously performed measurements and has been locally stored in the analysis and processing device or the central control device. Advantageously, the mathematical relationship between the actual position pk and (actual) velocity vk of object k (on the one hand) and the measured relative velocity sn,k,m (on the other hand) can be utilized, where the measured relative velocity can be observed by the measuring unit pair (n,m). In this way, the actual position and velocity of one or all of the detected objects, or at least an improved approximation thereof, can be determined from the distances and relative velocities.

[0009] It is also possible to determine the object positions for multiple or all objects to be detected. In this way, for one object, multiple measurement units can be used to estimate its position and velocity, thus improving the values of the position and velocity. The way is that the position and velocity can be determined and compared simultaneously from the data of multiple measurement units. Then, such improved values can be obtained from the mathematical relationships of the improved distance values and relative velocity values for each measurement unit, which are represented herein as the distance values and relative velocity values to be expected.

[0010] Herein, the relative velocity can relate to the velocity in the line-of-sight direction from the measurement unit to the object. In this case, for a pair of measurement units, the velocity component of the object along the angle bisector between the measurement units can be considered as the relative velocity.

[0011] The distance measurement to be expected and the relative velocity measurement to be expected herein relate to the following distance values and relative velocity values obtained by back-calculating (zurückermitteln) from the position and velocity of the object: The analysis processing device accurately determines the found position and velocity for the distance values and relative velocity values. The distance values and relative velocity values may be different from the existing distance values and relative velocity values because they are only estimates and are only correct to a certain extent.

[0012] The accuracy of the position and velocity can be improved when both the distance measurement and the relative velocity measurement are considered, advantageously better than only by pure distance measurement. Herein, to improve the accuracy, all existing pairs of measurement units can be utilized, which can obtain improved accuracy for the distance and velocity of the object.

[0013] Therefore, by means of this method, the measured distance and relative velocity can be advantageously reprocessed, whereby the accuracy of the object position estimation can be improved. Additionally, the velocity of the object can be determined, the robustness of the position estimation and velocity estimation can be improved, and the probability of large deviations of the estimated values can be reduced herein. The latter can be achieved by considering, for example, multiple measurement variables of multiple pairs of measurement units ( ). In addition, with a higher number of measurements, the credibility of whether the measurement result is correct, that is, whether the network is in a functionally safe state, can be better verified.

[0014] The measurements of the measuring device can be carried out on multiple measurement units. Among them, according to Nbi = N·(N - 1) / 2, the number of pairs of measurement units, and thus the number of bistatic measurements Nbi, may increase with the number of measurement units N.

[0015] For N = 4 sensors, for example, Nbi = 6 pairs and 6 possible bistatic measurements are obtained.

[0016] The number of monostatic measurements can be equal to the number N of sensors here. Thus, when N > 3, the number of bistatic measurements exceeds the number of monostatic measurements, and this can increase überproportional as the number of measuring devices increases, which is an advantage.

[0017] Overall, about N + Nbi = N·(N + 1) / 2 measurements can be carried out in this way, and these measurements are considered in other processing.

[0018] In this method, the signals of all measuring devices or only a subset thereof can be considered, especially in the following cases: Due to the arrangement of the measuring devices, it can be assumed that the field of view of some measuring devices may overlap, while the field of view of other measuring devices does not overlap. For this reason, it can be meaningful to reduce the system of equations composed of the signals of different measuring units by not considering the measurements of those bistatic pairs that do not have overlapping fields of view, in order to save computational overhead and prevent false measurements.

[0019] According to a preferred embodiment of this method, the measuring device always performs distance measurement and / or relative velocity measurement only for one measuring unit pair of at least two measuring units respectively.

[0020] According to a preferred embodiment of this method, the existing distance measurement and / or the existing relative velocity measurement are carried out by multiple measuring unit pairs.

[0021] According to a preferred embodiment of this method, based on the mathematical relationship between the object and the distances of the respective measuring units of at least one pair, the position and / or velocity of at least one object is obtained from the existing distance measurement and / or from the existing relative velocity measurement.

[0022] According to a preferred embodiment of this method, the following steps are repeated multiple times: obtaining the distance measurement and / or relative velocity measurement to be expected; forming a distance residual; obtaining a position correction or a velocity correction.

[0023] According to a preferred embodiment of this method, the following steps are repeated multiple times until the change in the distance residual and / or relative velocity residual with respect to the previous repetition is less than a pre-determined minimum value: obtaining the distance measurement and / or relative velocity measurement to be expected; forming a distance residual; obtaining a position correction or a velocity correction.

[0024] According to a preferred embodiment of this method, a determined weighting is performed on the determined components of the distance residual and / or relative velocity residual.

[0025] According to a preferred embodiment of this method, this method is carried out on a network composed of radar sensors, lidar sensors and / or ultrasonic sensors.

[0026] According to the present invention, a system for determining the position and / or velocity of at least one object from existing distance measurements and / or existing relative velocity measurements includes: a measuring device having at least two measuring units, the at least two measuring units being arranged to generate existing distance measurements and / or existing relative velocity measurements of at least one object, wherein distance measurements and / or relative velocity measurements of at least one object are respectively carried out by means of at least two measuring units; an analysis and processing device arranged to read the existing distance measurements and / or existing relative velocity measurements of at least one object from the measuring device, and, in the case where the positions of the measuring units are known, to determine the position of at least one object from the existing distance measurements and / or to determine the velocity of at least one object from the existing relative velocity measurements; to determine the expected distance measurement and / or relative velocity measurement of the object from the corresponding measuring unit for the object position and / or the determined object velocity determined based on the known positions of the measuring units; to form a distance residual between the existing distance measurement and the expected distance measurement and / or to form a relative velocity residual between the existing relative velocity measurement and the expected relative velocity measurement; to determine a position correction from the determined position and the distance residual and / or to determine a velocity correction from the determined velocity and the relative velocity residual, and to determine the corrected position and / or the corrected velocity.

[0027] According to a preferred embodiment of the system, the measuring device includes n >= 2 measuring units, by means of which the bistatic distances between the object and the measuring units can be determined pairwise.

[0028] According to a preferred embodiment of the system, the system includes a network composed of radar sensors, LIDAR sensors and / or ultrasonic sensors, and / or the system is connected to such a network for data exchange.

[0029] The system can also be characterized by the features and their advantages mentioned in the combination method, and vice versa.

[0030] Other features and advantages of embodiments of the present invention can be derived from the following description with reference to the accompanying drawings. Description of the Drawings

[0031] The present invention will be elaborated in detail below based on the embodiments illustrated in the schematic diagrams of the accompanying drawings.

[0032] The accompanying drawings show:

[0033] Figure 1 A schematic illustration of a system for improving the accuracy of determining the position and / or velocity of at least one object according to a scan of at least one object according to an embodiment of the present invention;

[0034] Figure 2aSchematic illustration showing the arrangement of radar sensors in a system according to an embodiment of the present invention;

[0035] Figure 2b Schematic illustration showing the arrangement of radar sensors in a system according to another embodiment of the present invention;

[0036] Figure 3 Schematic illustration showing the determination of position and velocity by a method according to an embodiment of the present invention;

[0037] Figure 4 Block diagram showing the method steps of a method according to an embodiment of the present invention.

[0038] In the drawings, the same reference numerals denote the same or functionally identical elements. Detailed description of the invention

[0039] Figure 1 Schematic illustration showing a system according to an embodiment of the present invention for improving the accuracy of position determination and / or velocity determination of at least one object based on the scanning of at least one object.

[0040] A system 10 for determining the position and / or velocity of at least one object (1a, 1b,..., 1n) from existing distance measurements and / or existing relative velocity measurements includes a measuring device M having at least two measuring units ME1, ME2 for scanning at least one object (1a, 1b,..., 1n), and / or a total number n >= 2 of measuring units, wherein the measuring units can be arranged to simultaneously transmit measurement signals respectively. These signals can, for example, have a predetermined frequency offset from each other, and can receive the measurement signals of at least one other measuring unit reflected at at least one object (k, 1, 1a, 1b,..., 1n). Furthermore, the system 10 includes an analysis and processing device AE which is arranged to: determine the (nx(n - 1)) / 2 bistatic distances to at least one object (1, 1a, 1b,..., 1n) from the reflected measurement signals (RS1, RS2,..., Rsn), or determine the monostatic distance to at least one object, wherein the frequency offset with respect to at least one other measuring unit can be determined at the first measuring unit.

[0041] Here, each measuring unit (R1, R2,..., R4) can include a transmitting device (T1, T2,..., T4) and a receiving device (E1, E2,..., E4) for the measurement signals. Then, the measuring units can be connected to the analysis and processing unit AE respectively via interfaces ST in a network.

[0042] The analysis and processing device AE is configured to: read existing distance measurements and / or existing relative velocity measurements of at least one object (1a, 1b, …, 1n) from a measuring device (M); in the case where the positions of known measuring units (ME1, ME2) are known, determine the position of at least one object from the existing distance measurements, and / or determine the velocity of at least one object from the existing relative velocity measurements; for the object position and / or the determined object velocity determined based on the known positions of the measuring units (ME1, ME2), determine the expected distance measurement and / or relative velocity measurement of the object with respect to the corresponding measuring units (ME1, ME2); form a distance residual between the existing distance measurement and the expected distance measurement, and / or form a relative velocity residual between the existing relative velocity measurement and the expected relative velocity measurement; determine a position correction from the determined position and the distance residual, and / or determine a velocity correction from the determined velocity and the relative velocity residual; determine the corrected position and / or the corrected velocity.

[0043] Figure 2a Schematic illustration showing the arrangement of radar sensors in a system according to an embodiment of the present invention.

[0044] Figure 2a Top view showing the arrangement of, for example, eight radar sensors (measuring units) R1, R2, …, R8 in a vehicle F, for example. These radar sensors can be arranged in the edge regions of the vehicle respectively and cover the entire periphery (Umfang) of the vehicle. In this way, the fields of view of at least two adjacent radar sensors can overlap.

[0045] Figure 2b Schematic illustration showing the arrangement of radar sensors in a system according to another embodiment of the present invention.

[0046] Figure 2b Top view showing the arrangement of, for example, six radar sensors (measuring units) R1, R2, …, R6 in a system with a circular outer side. Here, the field of view ranges SB of at least two adjacent radar sensors can advantageously overlap, and bistatic and monostatic distance determination and velocity determination of objects 1, 1a, …, 1n can be achieved. Thus, the field of view ranges of the first radar sensor R1 and the second radar sensor R2 can have an overlap OL12, for example. Similarly, an overlap OL16 between the first and the sixth radar sensors R6 can be produced, as well as other overlap regions OL56 (the fifth and the sixth sensors), or OL45 (the fifth and the fourth sensors), or others. The sensors can be arranged equidistantly around the outer side, for example.

[0047] Figure 3 Schematic illustration showing the determination of position and velocity by a method according to an embodiment of the present invention.

[0048] shows an object 1 in position p k with an actual velocity v k . The mathematical relationships between distance, position, relative velocity, and velocity are elaborated in detail below. Taking the case of bistatic measurement as an example, i.e., pm ≠ pn. The monostatic case can be achieved by setting pm = pn. Therefore, this method can be applied to pure monostatic measurement, pure bistatic measurement, or a combination of monostatic and bistatic measurement in the described manner. In bistatic measurement, with the aid of two measurement units at locations pn and pm, an object at position pk with an actual velocity vk yields a measured distance

[0049] rn,k,m = |pk - pn| + |pk - pm|

[0050] Other positions with the same distance lie on an ellipse e around the foci pm and pn. The observed (existing) bistatic relative velocity sn,k,m corresponds to the following component of the velocity vk, which is perpendicular to the tangent tg of the ellipse e passing through the point pk.

[0051] With sn,k,m = vk · bn,k,m,0, i.e., sn,k,m is obtained from the scalar product of vk and the unit vector bn,k,m,0, which shows the direction away from the measurement unit in the mentioned perpendicular direction.

[0052] The perpendicular advantageously represents the angular bisector wh of the distances dn,k = pk - pn and dm,k = pk - pm.

[0053] Therefore, there is

[0054] bn,k,m,0 = bn,k,m / |bn,k,m|, where bn,k,m = dn,k / |dn,k| + dm,k / |dm,k|.

[0055] This results in the correlation of the measured relative velocity sn,k,m with the position pk of the object and with the velocity vk of the object. Since the measurement is carried out by means of a defined method, in particular by means of a radar sensor, a higher velocity accuracy can be achieved compared to distance accuracy. Therefore, compared to the case of using only pure distance measurement, the use of velocity measurement enables a more accurate position determination.

[0056] Figure 4 shows a block diagram of the method steps of a method according to an embodiment of the present invention.

[0057] In a method for determining the position and / or velocity of at least one object from existing distance measurements and / or existing relative velocity measurements: Reading S1 from a measuring device at least one existing distance measurement and / or existing relative velocity measurement of at least one object, the measuring device performing distance measurements and / or relative velocity measurements for at least one object by means of at least two measuring units respectively; Given the positions of the measuring units, determining S2a the position of at least one object from the existing distance measurements, and / or determining S2b the velocity of at least one object from the existing relative velocity measurements; For the object position and / or the object velocity determined based on the known positions of the measuring units, determining S3 the expected distance measurement and / or relative velocity measurement of the object from the corresponding measuring unit; Forming S4a a distance residual between the existing distance measurement and the expected distance measurement, and / or forming S4b a relative velocity residual between the existing relative velocity measurement and the expected relative velocity measurement; Determining S5a a position correction from the determined position and the distance residual, and / or determining S5b a velocity correction from the determined velocity and the relative velocity residual; Determining S6 the corrected position and / or the corrected velocity.

[0058] Here, the detailed steps according to the schematic diagram (Bildschema) can be carried out as described below.

[0059] This method can be divided into six steps for execution, and steps B, C, and D can be implemented multiple times, where iteration can be used to improve accuracy.

[0060] In the first step I, measurements can be carried out with a suitable measuring device, where for each object k (1, 1a,..., 1n), measurements of distance and relative velocity can be collected (erheben), which can involve monostatic and / or bistatic measurements. When multiple measuring units are applied, multiple measured distances r n,k,m and relative velocities s n,k,m can be obtained, which can respectively relate to a sensor pair (m,n) and an object k. Taking N = 3 measuring units as an example, a vector with measured distances R and a vector with measured relative velocities S can be obtained, where

[0061]

[0062] In the second step II, after reading S1, the mathematical relationships between position, velocity, distance, and relative velocity can be utilized, and in sub-step A, a preliminary estimation of the position and velocity of one or more objects can be made. Here, the measured values of multiple measurement units can be considered for obtaining the components of the position vector and the velocity vector, and thus an overdetermined system of equations can be advantageously created for one object or each object. Then, by solving this system of equations, an estimation of the position and velocity values of the corresponding object is obtained, which takes into account the data of multiple measurement units.

[0063] In other words, from the known mathematical relationship between the observed distance and relative velocity of the object (on the one hand) and the position and velocity of the object (on the other hand), a preliminary estimate pk = (p k,x ; p k,y ; p k,z ) T .

[0064] The above-mentioned mathematical relationship can be defined as follows:

[0065]

[0066] Here, p m and p n are the positions of the measurement units

[0067]

[0068] r n,k,m = r n,k + r m,k = |d n,k | + |d m,k |

[0069] Therefore, the angle bisector between two measurement units and passing through object k is

[0070]

[0071] By means of the normalized angle bisector, for example, as the I2 norm

[0072]

[0073]

[0074]

[0075] Here, only partial information can be utilized, for example, only tracing the monostatic distance measurement (which can be the direct distance between the object and the measurement unit), so as to be able to uniquely solve the resulting system of equations with three unknowns and three equations, for example.

[0076] From the knowledge of a subset of position and, for example, relative velocity measurements (e.g., three monostatic measurements), it is again possible to solve (S2b) for a preliminary determination of the velocity vk = (v k,x , v k,y , v k,z ). T The system of equations. Here, the preliminary estimates can also be expressed as p^k and v^k, and the values for position and velocity include different degrees of accuracy.

[0077] In the third step III, the expected estimated values for the range measurements and relative velocity measurements can be recalculated from the current estimates of the values of pk and vk and the known sensor positions and which can be obtained from the mathematical relationships.

[0078] In the fourth step B, for R(r i,ki ) and S(s i,ki ), the deviations of the determined (expected) values R^(r^ i,ki ) and S^(s^ i,ki ) from the originally existing values can be determined, where i = 1–n, for example for three measurement units, and this deviation determination is the residual formation Z

[0079]

[0080] In the fifth step C, from the determined residuals Z and the existing estimates of pk and vk, the estimated improvements or corrections (updates) Δpk (S5a) and Δvk (S5b) can be determined respectively. The update can be obtained from the sensitivity of the components of the residuals with respect to the estimated changes (from the correction) of the position and velocity of the object, where different components can be observed and the different components can be expressed / observed through multiple or all measurement units. The mentioned sensitivity can either be obtained analytically (analytisch) in advance through derivation, or can be determined numerically (numerisch) during the runtime of the program by slightly changing the estimated values. Here, the sensitivity determined by derivation can be determined (analytically or numerically) through the mathematical relationships mentioned in step II.

[0081] In the sixth step D, the previously determined updates Δpk and Δvk can be used to generate new, improved (corrected) estimated values pk(new) and vk(new) with higher accuracy, where

[0082] pk (新) = pk + Δpk; vk (新) = vk + Δvk

[0083] In other words, this provides a statement on how the estimates of R and S must be improved, so that the position and velocity obtainable thereby can be corrected in terms of their accuracy to the extent improved by the update.

[0084] The repetition of the iteration from step three to step six can iteratively improve the estimate and approach the actual position and velocity of the object. For example, the repetition can be interrupted after a fixed number of iterations, or when the residual no longer decreases in intensity beyond the characteristic range (no longer significantly), which can indicate that the estimated value is no longer improved.

[0085] Preferably, 1 to 10 iterations can be performed. For this method, algorithms such as the Gauss - Newton algorithm or the Marquardt - Levenberg algorithm can be advantageously used.

[0086] Using multiple measurement units and considering the multiple measurement data of the corresponding object can achieve an optimal balance between multiple or all of the measured distance values and relative velocity values. Thereby, the influence of the individual errors of each measurement unit on the position estimate and velocity estimate can be smaller.

[0087] Furthermore, different weights can be set and used for different components of the residual, and the weights can reflect the expected accuracy of the measurement. In this way, it can be ensured that those measurements with typically higher accuracy can also have a stronger influence on the finally obtained position and velocity, thereby advantageously improving the estimate. Here, in the case of a network of measurement units, especially radar sensors, for example, it can be considered that the measurement of relative velocity can usually achieve different accuracy from the distance measurement, and that the bistatic measurement can usually achieve different accuracy from the monostatic measurement. Here, it can also be considered that a measurement signal with a larger amplitude can have higher robustness and accuracy than a measurement signal with a smaller amplitude.

[0088] The method can observe a moving radar target, which is observed, for example, once at rest and once in motion.

[0089] Although the present invention has been fully described above with reference to the preferred embodiments, the present invention is not limited thereto, but can be modified in various ways.

Claims

1. A method for determining the position and / or velocity of at least one object (1a, 1b, …, 1n) from existing distance measurements and / or existing relative velocity measurements, the method comprising The following: Step S1: Read the existing distance measurement and / or the existing relative speed measurement of the at least one object (1a, 1b, …, 1n) from a measuring device (M), the measuring device performing a distance measurement and / or a relative speed measurement for at least one object (1a, 1b, …, 1n) by means of at least two measuring units (ME1, ME2) respectively; Step S2a: Determine the position of the at least one object from the existing distance measurement, given the positions of the measuring units (ME1, ME2), and / or Step S2b: Determine the speed of the at least one object from the existing relative speed measurement; Step S3: Determine the expected distance measurement and / or relative speed measurement of the object from the respective measuring unit (ME1, ME2) for the object position and / or the object speed determined based on the known positions of the measuring units (ME1, ME2); Step S4a: Form a distance residual between the existing distance measurement and the expected distance measurement, and / or Step S4b: Form a relative speed residual between the existing relative speed measurement and the expected relative speed measurement; Step S5a: Determine a position correction from the determined position and the distance residual, and / or Step S5b: Determine a speed correction from the determined speed and the relative speed residual; Step S6: Determine the corrected position and / or the corrected speed.

2. The method according to claim 1, wherein The measuring device (ME) always performs the distance measurement and / or the relative speed measurement only for one measuring unit pair (ME1, ME2) of at least two measuring units (ME1, ME2) respectively.

3. The method according to claim 1 or 2, wherein The existing distance measurement and / or the existing relative speed measurement are performed by a plurality of measuring unit pairs.

4. The method according to any one of claims 1 to 3, wherein the position and / or the speed of the at least one object are determined from the existing distance measurement and / or from the existing relative speed measurement based on the mathematical relationship of the distance of the object from each measuring unit of at least one pair.

5. The method according to any one of claims 1 to 4, wherein Repeat steps S3 to S6 multiple times.

6. The method according to claim 5, wherein Repeat steps S3 to S6 until the change in the distance residual and / or the relative speed residual with respect to the previous repetition is less than a predetermined minimum value.

7. The method according to any one of claims 1 to 6, wherein Perform a determined weighting on the determined components of the distance residual and / or the relative speed residual.

8. The method according to any one of claims 1 to 7, wherein this method is performed on a network consisting of radar sensors, lidar sensors, and / or ultrasonic sensors.

9. A system (10) for determining the position and / or speed of at least one object (1a, 1b, …, 1n) from an existing distance measurement and / or an existing relative speed measurement, the system comprising: Measuring device (M), having at least two measuring units (ME1, ME2), the at least two measuring units being arranged to produce the existing distance measurement and / or the existing relative speed measurement of the at least one object (1a, 1b, …, 1n), wherein for at least one object (1a, 1b, …, 1n) a distance measurement and / or a relative speed measurement is respectively carried out by means of at least two measuring units (ME1, ME2); Analysis processing device (AE), the analysis processing device being arranged to read the existing distance measurement and / or the existing relative speed measurement of the at least one object (1a, 1b, …, 1n) from the measuring device (M); In the case where the positions of the measuring units (ME1, ME2) are known, determining the position of the at least one object from the existing distance measurement, and / or determining the speed of the at least one object from the existing relative speed measurement; For the object position determined and / or the object speed determined based on the known positions of the measuring units (ME1, ME2), determining the expected distance measurement and / or relative speed measurement of the object with respect to the corresponding measuring units (ME1, ME2); Forming a distance residual between the existing distance measurement and the expected distance measurement, and / or forming a relative speed residual between the existing relative speed measurement and the expected relative speed measurement; Determining a position correction from the determined position and the distance residual, and / or determining a speed correction from the determined speed and the relative speed residual; Determining a corrected position and / or a corrected speed; 10. A system (10) according to claim 9, wherein, The measuring device (M) includes n >= 2 measuring units (ME1, ME2), and by means of the measuring units, the bistatic distance between the object and the measuring unit can be respectively determined in pairs; 11. A system (10) according to claim 9 or 10, the system including a network composed of radar sensors, LIDAR sensors and / or ultrasonic sensors, and / or the system being connected to such a network for data exchange.

Images