Method for operating a radar device of a vehicle, radar device and vehicle

Abstract

The invention relates to a method for operating a radar device of a vehicle, comprising at least the following steps: emitting, by means of the radar device, at least one radar signal into a general scan region defined in space relative to the vehicle; determining, by means of the radar device, a geographical positioning of a predetermined first object in the general scan region; emitting at least one selective radar signal into a selective scan region of the general scan region in which the predetermined first object is located; recognizing, by means of the radar device, a predetermined second signal pattern in the reflected selective radar signal, wherein the predetermined second signal pattern is associated with a predetermined second object, the selective radar signal being reflected not only at the predetermined first object but also at the predetermined second object; determining, by means of the radar device, a positioning of the second object relative to the vehicle.

Description

Technical Field

[0001] The present invention relates to a method for using a radar device for operating a vehicle, a radar device for a vehicle, and a vehicle having a radar device. Background Technology

[0002] Vehicles are increasingly equipped with radar devices that can detect the vehicle's environment using radar beams. This allows them to determine, for example, the distance between the vehicle and other vehicles, providing support to the driver using assistance systems while driving in traffic or parking. Radar devices are typically configured to detect a predetermined scanning area using radar beams. The scanning area typically extends from the front or rear of the vehicle.

[0003] Especially when a portion of the scanning area is obstructed, the use of radar beams to detect the surrounding environment becomes limited, as the radar beam cannot penetrate the obstructed area. Obstruction can be caused, for example, by other vehicles, walls, or other obstacles, where the radar signal emitted by the radar device is reflected. In this case, it is impossible to detect an object from which there is no direct line of sight by detecting a single-reflection radar beam. In some cases, the presence of an obstructed object can be detected by detecting and evaluating multiple-reflection radar signals, which are reflected by both the obstructed object and other objects. However, locating an obstructed object using multiple-reflection radar signals is time-consuming and often impossible due to the sheer volume of possible propagation paths along which multiple-reflection radar signals travel. Furthermore, multiple reflections involve not only radar signals reflected at a specific object but also radar signals emitted in almost every direction. Therefore, multiple-reflection radar signals can only be distinguished from each other at a high cost. For this reason, the evaluation of radar signals is limited to single-reflection radar signals.

[0004] The problem of object occlusion is particularly prominent in densely built-up environments. As a result, vehicles at intersections or curves are often not detected by radar devices or are only detected relatively late in the day.

[0005] US Patent 10,296,001B2 discloses a radar multipath processing method. This method specifies receiving sensor data from sensor components of an autonomous vehicle via a control system. The sensor data may include raw radar data from the radar system of the sensor components and lidar data from the lidar system of the sensor components. The control system may access a real-time lidar map of the autonomous vehicle's surrounding environment and compare the raw radar data with a current localization map or a real-time lidar map to identify multipath objects in the raw radar data. The control system may then remove multipath objects or, accordingly, track the actual objects corresponding to the multipath objects.

[0006] WO 2021 / 003440 A1 describes a beam control radar with a selective scanning mode for use in autonomous vehicles. The beam control radar has a radar module having at least one beam control antenna, a transceiver, and a control unit. The control unit enables the transceiver to perform a first scan of a first field of view in a first high-frequency signal with a first chirp slope, and a second scan of a second field of view in a second high-frequency signal with a second chirp slope, when using at least one beam control antenna. The radar module has a perception module with a machine learning-trained classifier configured to identify objects in a path and in the environment of the autonomous vehicle based on the first chirp slope in the first high-frequency signal, and to classify objects based on the second chirp slope in the second high-frequency signal. The beam control radar can operate in a selective scanning mode to scan a predetermined area. The beam control radar can turn at a desired angle and then scan around that angle to detect objects in the predetermined area without wasting processing or scan cycles illuminating areas without valid objects. Objects of interest may include structural elements in the vehicle's field of vision, such as roads, walls, buildings, and medians, as well as other vehicles, pedestrians, crosswalkers, cyclists, plants, trees, and animals. Summary of the Invention

[0007] The object of the present invention is to provide a reliable method that enables the reliable identification of objects that are not in the direct line of sight of a radar device.

[0008] This objective is achieved through the subject matter of the independent claims. Advantageous improvements of the invention are disclosed through the features of the dependent claims, the following description, and the accompanying drawings.

[0009] A first aspect of the invention relates to a method for using a radar device for operating a vehicle. The method includes the steps described in the following paragraphs. In a first step, at least one radar signal is transmitted by the radar device to a general scanning area spatially defined relative to the vehicle. The general scanning area may be, for example, the field of view of the radar device, also referred to as the field-of-view. The radar device may be configured to output at least one radar signal to the general scanning area by means of an antenna array or a mechanically oriented radar antenna. The general scanning area extends horizontally at an angle from the radar device. The scanning area is spatially related to the vehicle and may, for example, include an area in front of the vehicle's front end. Thus, the vehicle's environment can be monitored, for example, by the radar device in the direction of travel.

[0010] In a subsequent step, the radar device receives the reflected radar signal of at least one transmitted radar signal. In other words, at least one radar signal transmitted by the radar device is reflected by an object within a normal scanning area of ​​the vehicle's environment and received by the radar device after reflection. The radar device identifies a predetermined first signal pattern in the received radar signal. The predetermined first signal pattern is associated with a predetermined first object in the normal scanning area. In other words, it is stipulated that the radar device evaluates the signal pattern in the reflected radar signal. The radar device stores the predetermined first signal pattern, which describes the characteristic signal pattern generated by the predetermined first object through reflection. The characteristics of the signal pattern may depend, for example, on the geometry of the first object and / or the reflective properties of the material of the predetermined first object. This makes it possible to identify the predetermined first object by recognizing the associated first signal pattern in the normal scanning area.

[0011] The geographic location of a predetermined first object within a normal scanning area is determined by a radar device. Determining the geographic location of the predetermined first object may include, for example, determining the elapsed time, which involves the time elapsed from the transmission of a radar signal to the reception of a reflected radar signal. The distance of the first object from the radar device can be determined by this elapsed time. The orientation of the first object can be detected by detecting the phase difference of the reflected radar signal between the individual radar antenna elements that can be arranged in an antenna array of the radar device. For a mechanically oriented radar antenna of the radar device, the orientation of the reflected radar signal can be detected, and thus the location of the first object can be detected according to the orientation of the mechanically oriented radar antenna upon receiving the reflected radar signal. The first object may be advantageously situated to reflect radar beams, so that the object can be used as a reflector for radar signals to detect multiple reflections.

[0012] In another step, at least one selective radar signal is transmitted into a selective scanning area where a predetermined first object is located within the ordinary scanning area. The selective scanning area extends from the radar device with a selective horizontal angle smaller than the horizontal angle of the ordinary scanning area. In other words, the vehicle's environment is scanned again. However, in this case, the scan is limited to a selective scanning area with a smaller selective horizontal angle. As a result, the selective radar signal is transmitted targetedly and selectively into the area where the first object is located. Limiting the transmission of the selective radar signal to the selective scanning area with a selective horizontal angle can be achieved, for example, by means of beamforming or beam control. By transmitting a selective radar signal limited to the area of ​​the first object, it is advantageous that at least one selective radar signal is targeted toward the first object so that it can be reflected by the first object to detect other objects.

[0013] In subsequent steps, a radar device receives reflected selective radar signals from at least one transmitted selective radar signal. These reflected selective radar signals differ from those of the first scan because they are reflected at least once at a first object. The radar device identifies a predetermined second signal pattern within the reflected selective radar signals, wherein the predetermined second signal pattern is associated with a predetermined second object, the selective radar signal being reflected not only at the predetermined first object but also at the predetermined second object. In other words, the reflected selective radar signals also possess a signal pattern generated by the reflection of the selective radar signal. The predetermined second signal pattern associated with the predetermined second object is stored in the radar device. The predetermined second object can be, for example, another traffic participant. For example, this makes it possible to identify vehicles based on the signal pattern. Unlike the first scan, the selective radar signal is reflected at both the first and second objects. This allows the second object to be identified even without direct visual contact between the radar device and the second object.

[0014] In a subsequent step, the radar device determines the position of the second object relative to the vehicle. The position of the second object can be determined, for example, using a beam-tracing method based on the position of the first object. Here, the paths of the light beams reflected from the first and second objects can be reconstructed. Therefore, the position and location of the second object relative to the vehicle can be determined by determining the elapsed time.

[0015] The advantage of this invention is that it provides a method that can locate a second object by selectively using reflections at a first object.

[0016] The present invention also includes improvements that generate other advantages.

[0017] The improved embodiment of the present invention specifies that at least one selective radar signal has a higher intensity and / or a higher intensity density than at least one radar signal. In other words, it specifies that the selective radar signal used to scan the selective scanning area is transmitted with a higher intensity than at least one radar signal or with the same intensity as at least one radar signal, wherein the selective radar signal has a higher intensity density than the radar signal transmitted for scanning the ordinary scanning area due to its smaller angular dispersion. The advantage obtained through this improved embodiment is that it can compensate for the intensity loss of the reflected selective radar signal caused by multiple reflections.

[0018] An improved embodiment of the present invention specifies that at least one selective radar signal is transmitted only when a predetermined traffic condition is detected by the radar device. In other words, to transmit a selective radar signal, in addition to detecting a predetermined first signal pattern, the predetermined traffic condition must also be determined by the radar device. The predetermined traffic condition may, for example, include traffic congestion detected in a normal scanning area. The advantage of this is that the transmission of the selective radar signal and subsequent processing are only performed when necessary based on the predetermined traffic condition.

[0019] The improved embodiment of the present invention specifies that when an intersection, curve, or entrance is detected by a radar device in a general scanning area, the radar device determines a predetermined traffic situation. In other words, the radar device is configured to identify intersections, curves, or entrances in a general scanning area. The advantage of this improved embodiment is that when unclear situations are detected, such as intersections, curves, or entrances, the detection of a second object can be performed.

[0020] An improved embodiment of the present invention specifies that when a predetermined area of ​​a normal scanning area is detected to be obscured by a radar device, the radar device determines a predetermined traffic situation. For example, it may be specified that during scanning of a normal scanning area, the radar device detects an object that obscures a predetermined area or a predetermined portion of the normal scanning area, making the obscured area undetectable by the at least one radar signal. In this case, a second object can be detected within the obscured area by detecting the first object, in order to at least partially compensate for the obscuration of the normal scanning area by the obstacle.

[0021] An improved embodiment of the present invention specifies that when a vehicle is in a predetermined geographical location, a predetermined traffic situation is determined by a radar device. For example, the radar device may have a satellite-controlled navigation system or a satellite-supported navigation system connected to the vehicle, which determines the vehicle's current geographical location. Here, if the vehicle is determined to be in a predetermined geographical area, such as near an intersection, based on its current geographical location and a stored map, the radar device can determine the predetermined traffic situation. The advantage of this is that the method is automatically executed when the vehicle is in a particularly dangerous and / or unclear location.

[0022] The improved embodiment of the present invention specifies that a predetermined first signal pattern is associated with an object having a circular or elliptical cross-section in a horizontal plane. In other words, the predetermined first object is an object having a circular or elliptical shape in a horizontal plane. This object may have a circular or elliptical cross-section over its entire height dimension or within a limited portion of its height. The advantage of this improved embodiment is that it uses an object with a circular or elliptical cross-section to reflect selective radar signals. Due to the circular cross-section, the radar signal can be reflected over a large angular range at the object with the circular or elliptical cross-section, thereby enabling the detection of a second object over a wide range.

[0023] The improved embodiment of the invention specifies that a predetermined first signal pattern is associated with a road sign or traffic light pillar. In other words, the first object is a road sign or traffic light. The advantage of this is the use of a first object that is particularly present at intersections. The advantage of this improved embodiment is that the first object is one that can be found especially near intersections.

[0024] The improved embodiment of the present invention specifies that a predetermined first signal pattern is associated with an advertising column. In other words, the predetermined first object is a Littlefas column. Or an advertising column. The advantage of this improved design is that the first object has a relatively large diameter, thus it can be advantageously configured as a reflector.

[0025] An improved embodiment of the present invention specifies that a predetermined first signal pattern is associated with an object having a vertical surface. In other words, the first object is an object with a vertical planar structure.

[0026] An improved embodiment of the present invention specifies that a predetermined first signal pattern is associated with a wall or vehicle surface. In other words, the first object is specified as a wall or vehicle surface. The advantage of this improved embodiment is that the walls of a building or the surface of a truck or train can be used as a reflector.

[0027] The improved embodiment of the present invention specifies that a predetermined second signal pattern is associated with a traffic participant. In other words, the second object is a traffic participant. This may specifically involve motor vehicles, cyclists, or pedestrians. This provides the advantage of being able to detect obscured traffic participants.

[0028] An improved embodiment of the invention specifies that, upon detection of a second object by a radar device, the radar device outputs a predetermined warning signal and / or intervenes in the vehicle's guidance. The warning signal may be, for example, an auditory and / or visual warning signal, which may be output to the driver via an infotainment system to draw the driver's attention to the presence of the second object. Here, the location of the second object may be additionally or alternatively displayed on the screen of the vehicle's navigation device and / or on a head-up display. The display on the head-up display may be augmented reality, wherein the second object is presented to the driver on the head-up display so that the driver can see the second object and / or its location as if the driver could see the second object and / or its location through an obstacle. Intervention in the vehicle's guidance may include reducing vehicle speed and / or performing evasive maneuvers.

[0029] A second aspect of the invention relates to a radar device for a vehicle. The radar device is configured to transmit at least one radar signal into a general scanning area spatially defined relative to the vehicle, wherein the general scanning area extends outward from the radar device at a horizontal angle. The radar device is configured to receive reflected radar signals from the transmitted at least one radar signal. The radar device is configured to identify a predetermined first signal pattern in the reflected radar signals, wherein the predetermined first signal pattern is associated with a predetermined first object in the general scanning area. The radar device is configured to determine the geographic location of the predetermined first object in the scanning area. The radar device is configured to transmit at least one selective radar signal into a selective scanning area where the predetermined first object is located, wherein the selective scanning area extends outward from the radar device at a selective horizontal angle smaller than the horizontal angle of the general scanning area. The radar device is configured to receive reflected selective radar signals from the transmitted at least one selective radar signal. The radar device is configured to identify a predetermined second signal pattern in reflected selective radar signals, wherein the predetermined second signal pattern is associated with a predetermined second object, the selective radar signal being reflected not only at the predetermined first object but also at the predetermined second object. Finally, the radar device is configured to determine the position of the second object relative to the vehicle.

[0030] As a third aspect, the invention includes vehicles equipped with radar devices. The motor vehicle according to the invention is preferably designed as an automobile, particularly a passenger car or commercial vehicle, or a bus or motorcycle.

[0031] The radar device may include a data processing device or a processor device configured to perform embodiments of the method according to the invention. For this purpose, the processor device may have at least one microprocessor and / or at least one microcontroller and / or at least one FPGA (Field Programmable Gate Array) and / or at least one DSP (Digital Signal Processor). Furthermore, the processor device may have program code configured to perform embodiments of the method according to the invention when executed by the processor device. The program code may be stored in the data memory of the processor device.

[0032] The present invention also includes improvements to the radar device and vehicle according to the invention, which have features already described in conjunction with the improvements to the method according to the invention. For this reason, corresponding improvements to the radar device and vehicle according to the invention will not be described here.

[0033] As another solution, the invention also includes a computer-readable storage medium comprising instructions that, when implemented by a computer or computer network, cause the computer or computer network to perform an embodiment of the method according to the invention. The storage medium may, for example, be at least partially designed as non-volatile data memory (e.g., as flash memory and / or as an SSD (solid-state drive)) and / or at least partially as volatile data memory (e.g., as RAM (random access memory)). The storage medium may be implemented in its data memory within processor circuitry. However, the storage medium may also, for example, operate as a so-called application store server on the Internet. Processor circuitry having at least one microprocessor may be provided via a computer or computer network. The instructions may be provided in the form of binary code or assembly code and / or source code in a programming language (e.g., C).

[0034] The present invention also includes combinations of features of the described embodiments. The present invention also includes implementations having combinations of features of multiple non-mutually exclusive embodiments of the described embodiments. Attached Figure Description

[0035] Embodiments of the present invention are described below. The accompanying drawings show:

[0036] Figure 1 A schematic diagram illustrating the detection of a standard scanning area using a vehicle's radar system is shown.

[0037] Figure 2 A schematic diagram illustrating the detection of a selectively scanned area using a vehicle's radar system is shown; and

[0038] Figure 3 A schematic diagram illustrating the process of operating a radar device is shown. Detailed Implementation

[0039] The embodiments described below are preferred embodiments of the invention. In the embodiments, the described components are individual features of the invention that can be considered independently of each other, and also independently improve the invention. Therefore, this disclosure should also include combinations of features of the embodiments other than those shown. Furthermore, the described embodiments can be supplemented by other features among the already described features of the invention.

[0040] In the accompanying drawings, the same reference numerals respectively denote elements with the same function.

[0041] Figure 1 The schematic illustration shows a radar device from a vehicle detecting a general scanning area. A vehicle 1 with a radar device 2 is shown. The vehicle 1 is located in a vehicle environment 3, which includes an intersection 4. Obstacles 5, such as buildings, may be present in the vehicle environment 3, obstructing the direct line of sight of the radar device 2. The radar device 2 emits at least one radar signal 6 that scans a general scanning area 7. The general scanning area 7 extends at an angle 8 from the radar device 2. Due to the obstacle 5, a portion of the scanning area 7 is obscured. Therefore, objects located in the obscured area 9 of the general scanning area 7 cannot be detected by means of a single-reflected radar signal 11. Thus, for example, a second object 10, such as a vehicle, located in the obscured area 9 cannot be detected by directly reflected radar signal 11. The emitted radar signal 6 can be reflected by an object 14 in the general scanning area 7 and received by the radar device 2 as a reflected radar signal 11. A signal pattern 12 can be identified in the received radar signal 11, which may depend on the object reflecting the at least one reflected radar signal 11. Signal pattern 12 may depend, for example, on the geometry of the reflecting object or the reflective properties of the material. A predetermined first signal pattern 13, which describes the characteristic pattern of the first object 14, may be stored in the radar device 2. Therefore, it is feasible to identify the first object 14 by the radar device 2 based on the detected first signal pattern 13. For example, the first signal pattern 13 may be associated with a first object 14 having a circular cross-section in a horizontal plane. This may relate, for example, to a road sign or traffic light pillar. The radar device 2 may be configured to determine, by receiving reflected radar signals 11 that can travel along path P1, that the general scanning area 7 is partially obscured. In this case, it may be specified that the existence of a predetermined special traffic situation is determined by the radar device 2, which may necessitate additional steps to detect the vehicle environment 3 of the vehicle 1.

[0042] Figure 2 The diagram schematically illustrates the detection of a selective scanning area by a vehicle's radar device. The scanning of selective scanning area 17 can be configured to detect a second object 10 by reflection at a first object 14. During the detection of ordinary scanning area 7, the first object 14, along with its position, can be detected by radar device 2, as shown in... Figure 1 As shown in the diagram. The radar device 2 can be configured to perform a second scan, wherein a selective scan region 17 is scanned, which may be oriented toward the first object 14. The selective scan region 17 may have a selective angular subtraction 18, which may be smaller than the angular subtraction 8 of the ordinary scan region 7. The selective angular subtraction 18 may, for example, be limited to the face of the first object 14. The selective scan region 17 can be scanned by emitting a selective radar signal 15, which may have a higher intensity and / or intensity density than at least one radar signal 6 used to scan the ordinary scan region 7. The selective radar signal 15 may be reflected by the first object 14, wherein at least a portion of the selective radar signal 15 may be reflected along path P2 toward the second object 10. A portion of the selective radar signal 15 may be reflected back to the radar device 2 from the second object 10 along path P2 via the first object 14 along path P1 as a reflected selective radar signal 16. Because of the higher intensity of the selective radar signal 15 and the limitation of the selective scanning area 17 to the first object 14, losses due to multiple reflections can be compensated, resulting in a signal pattern in the reflected selective radar signal 16 having sufficient intensity to allow the detection of a second signal pattern 19, which can be associated with the second object 10. Limiting the selective scanning area 17 to the first object 14 restricts the number of possible multiple reflection paths. This reduces the number of signal patterns appearing in the reflected selective radar signal 16, making it easier to evaluate the reflected selective radar signal 16. Due to the increased computational intensity, it may be necessary to limit the detection of the selective scanning area 17 to predetermined traffic conditions. Such traffic conditions can be determined, for example, by the radar device 2 based on the geographic location of the vehicle 1, the extent of obstruction by the ordinary scanning area 7, or the detected traffic environment.

[0043] Figure 3 The flowchart of the method for operating a radar device is illustrated schematically.

[0044] In the first step S1, at least one radar signal 6 is transmitted via the radar device 2 of the vehicle 1 to a general scanning area 7 spatially defined relative to the vehicle 1. The general scanning area 7 can extend outward from the radar device 2 at a horizontal angle 8.

[0045] In step S2, the radar device 2 can receive the reflected radar signal 11 of at least one transmitted radar signal 6.

[0046] In step S3, a predetermined first signal pattern 13 in the reflected radar signal 11 can be identified by the radar device 2. The predetermined first signal pattern 13 can be associated with a predetermined first object 14 in the normal scanning area 7.

[0047] In step S4, for the first object 14, the radar device 2 can determine the geographic location of the predetermined first object 14 in the normal scanning area 7.

[0048] In step S5, at least one selective radar signal 15 can be transmitted by radar device 2 to the selective scanning area 17 of the ordinary scanning area 7. A predetermined first object 14 may be present in the selective scanning area 17. The selective scanning area 17 can open a selective horizontal angle 18 from radar device 2, which may be smaller than the horizontal angle 8 of the ordinary scanning area 7.

[0049] In step S6, the radar device 2 may receive the reflected selective radar signal 16 of at least one selective radar signal 15 transmitted.

[0050] In step S7, the radar device 2 can identify a predetermined second signal pattern 19 in the reflected selective radar signal 16, wherein the predetermined second signal pattern 19 can be associated with a predetermined second object 10, and the selective radar signal 15 can be reflected not only at the predetermined first object 14 but also at the predetermined second object.

[0051] In step S8, the radar device 2 determines the position of the second object 10 relative to the vehicle 1 and outputs a warning signal to the driver to indicate the obstructed second object 10. Alternatively, the radar device 2 may perform a predetermined intervention to guide the vehicle 1. This predetermined intervention may include braking the vehicle 1 and / or changing the direction of travel of the vehicle 1 via the radar device 2. The amount of deceleration during braking and / or the angle of change in the direction of travel of the vehicle 1 may depend on the position of the second object 10 relative to the vehicle 1.

[0052] In urban environments, when approaching intersections, vehicles often encounter oncoming traffic from the opposite direction of travel due to buildings, vegetation, or other obstructions. This situation frequently leads to emergency braking, posing a safety risk.

[0053] Based on current technology, a vehicle's radar device detects a predetermined area regardless of the current situation and application.

[0054] Regardless of the current situation, the current algorithm is based on standard data collection methods. Therefore, it may be unable to detect security emergencies.

[0055] The core idea of ​​this invention is to detect columnar infrastructure elements using a radar device and to transmit a stronger radar signal towards the infrastructure element using a beam-guided method. Because columnar objects reflect radar signals with a certain intensity due to their shape, they can be identified relatively easily. Therefore, the radar device can detect multipath-reflected radar signals at infrastructure elements. This allows for the detection of strongly reflective objects, such as vehicles, located in shielded areas.

[0056] In summary, the present invention provides a method that enables the detection of occluded objects by selectively using multiple reflections.

Claims

1. A method for using a radar device (2) to operate a vehicle (1), the method comprising at least the following steps: - At least one radar signal (6) is transmitted by radar device (2) into a general scanning area (7) spatially defined relative to the vehicle (1), wherein the general scanning area (7) extends at a horizontal angle (8) from radar device (2). - The radar device (2) receives the reflected radar signal (11) from at least one transmitted radar signal (6). - A predetermined first signal pattern (13) is identified in the reflected radar signal (6) by the radar device (2), wherein the predetermined first signal pattern (13) is associated with a predetermined first object (14) in the ordinary scanning area (7). -The geographic location of the predetermined first object (14) in the ordinary scanning area (7) is determined by the radar device (2). - At least one selective radar signal (15) is transmitted by radar device (2) to the selective scanning area (17) of the scanning area (7) where a predetermined first object (14) is located, wherein the selective scanning area (17) opens with a selective horizontal angle (18) from radar device (2), which is smaller than the horizontal angle (8) of the ordinary scanning area (7). - The selective radar signal (16) reflected from at least one selective radar signal (15) transmitted by the radar device (2) is received. - A predetermined second signal pattern (19) is identified in the reflected selective radar signal (16) by the radar device (2), wherein the predetermined second signal pattern (19) is associated with a predetermined second object (10), and the selective radar signal (15) is reflected not only at the predetermined first object (14) but also at the predetermined second object. - The position of the second object (10) relative to the vehicle (1) is determined by radar device (2).

2. The method according to claim 1, characterized in that, The selective radar signal (15) has a higher intensity than the at least one radar signal (6).

3. The method according to claim 1 or 2, characterized in that, At least one selective radar signal (15) is transmitted only when the radar device (2) determines the predetermined traffic conditions.

4. The method according to claim 3, characterized in that, When an intersection (4), bend, or entrance is detected by the radar device (2) in the ordinary scanning area (7), the predetermined traffic situation is determined by the radar device (2).

5. The method according to claim 3 or 4, characterized in that, When the radar device (2) detects that the predetermined area (9) of the ordinary scanning area (7) is blocked, the radar device (2) determines the predetermined traffic situation.

6. The method according to any one of claims 3 to 5, characterized in that, When the vehicle (1) is in a predetermined geographical location, the predetermined traffic conditions are determined by radar device (2).

7. The method according to any one of the preceding claims, characterized in that, The predetermined first signal pattern (13) is associated with an object having a circular or elliptical cross section in a horizontal plane.

8. The method according to any one of the preceding claims, characterized in that, The predetermined first signal pattern (13) is associated with the pillar of a road sign or traffic light.

9. The method according to any one of the preceding claims, characterized in that, The predetermined first signal pattern (13) is associated with the advertising column.

10. The method according to any one of the preceding claims, characterized in that, The predetermined first signal pattern (13) is associated with an object having a vertical surface.

11. The method according to claim 10, characterized in that, The predetermined first signal pattern (13) is associated with the wall or vehicle surface.

12. The method according to any one of the preceding claims, characterized in that, The predetermined second signal pattern (19) is associated with traffic participants having a vertical plane.

13. The method according to any one of the preceding claims, characterized in that, When the second object (10) is detected by the radar device (2), a predetermined warning signal is output by the radar device (2) and / or a predetermined intervention is performed on the vehicle guidance of the vehicle (1).

14. A radar device (2) for a vehicle (1), characterized in that, The radar device (2) is configured to, - At least one radar signal (6) is transmitted into a general scanning area (7) spatially defined relative to the vehicle (1), wherein the general scanning area (7) extends at a horizontal angle (8) from the radar device (2). - Receive the reflected radar signal (11) of at least one transmitted radar signal (6), - Identify a predetermined first signal pattern (13) in the reflected radar signal (11), wherein the predetermined first signal pattern (13) is associated with a predetermined first object (14) in the ordinary scanning area (7). - Determine the geographic location of the predetermined first object (14) within the general scanning area (7), - At least one selective radar signal (15) is transmitted into the selective scanning area (17) of the ordinary scanning area (7) where a predetermined first object (14) is located, wherein the selective scanning area (17) extends from the radar device (2) with a selective horizontal angle (18) smaller than the horizontal angle (8) of the ordinary scanning area (7). -Receive the reflected selective radar signal (16) of at least one selective radar signal (15) transmitted, - Identify a predetermined second signal pattern (19) in the reflected selective radar signal (16), wherein the predetermined second signal pattern (19) is associated with a predetermined second object (10), and the selective radar signal (15) is reflected not only at the predetermined first object (14) but also at the predetermined second object. - Determine the position of the second object (10) relative to the vehicle (1).

15. A vehicle (1) having a radar device (2) according to claim 14.

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