Method for detecting precipitation deposits on radome and for controlling and / or adjusting at least one heating element of radome, computing device, computer-readable (storage) medium and temperature-adjustable radar sensor system

Abstract

The invention relates to a method for early detection of precipitation deposits on a radome of a radar sensor of a vehicle and for controlling and / or regulating at least one heating element of the radome. The method further comprises emitting a transmission signal by means of at least one transmission antenna of the radar sensor. The method further comprises detecting a received signal by means of at least two receiving antennas of the radar sensor, the received signal describing a transmitted signal reflected by an object in the surroundings of the vehicle. The method also includes determining an attenuation parameter describing an attenuation of the received signal caused by the precipitation deposit. The method finally comprises outputting a heating signal for controlling and / or regulating at least one heating element of the radome, the heating signal being output as a function of the attenuation parameter. In this case, precipitation deposits in at least one heated region of the radome, which describes a partial region of the radome, can be identified as soon as possible as a function of the attenuation parameter. For early identification of precipitation deposits in the heated area, at least one heated area of the radome is associated with a subset of antennas, where the subset of antennas describes any subset of a set comprising at least one transmit antenna and at least two receive antennas.

Description

Technical Field

[0001] The invention relates to a method for detecting early precipitation deposits on a radome of a radar sensor for a vehicle and for controlling and / or regulating at least one heating element of the radome. The invention also relates to a computing device and a computer-readable (storage) medium for carrying out such a method. Finally, the invention relates to a temperature-adjustable radar sensor system for a vehicle. Background Art

[0002] Vehicles with modern assistance systems usually include radar sensors, which are used, for example, to detect objects in the vehicle's surroundings. In particular, such radar sensors are used together with longitudinal control systems. In order to protect these radar sensors from environmental influences, such as weather influences, the radar sensors are mounted behind a so-called radome. In cold weather conditions, for example, precipitation deposits in the form of ice, snow, etc. can accumulate on the radome of the radar sensor. Such precipitation deposits can have a negative impact on the functioning and performance of the radar sensor. In particular, such precipitation deposits can also have an impact on the availability of the vehicle's assistance systems.

[0003] In order to prevent the accumulation of precipitation deposits, the radome can be equipped with a heating element, for example. A heating element, for example in the form of a heating wire, can be arranged in the radome. The heating element can be controlled by means of a heating signal. The temperature of the radome can thus be adjusted. Precipitation deposits in the form of ice, snow, etc. can thus be removed.

[0004] In order to heat the radome temporarily, the heating element can be adjusted, for example, as a function of the external temperature. In addition, other characteristic variables are known, as a function of which the heating element can be actuated.

[0005] Document DE 10 2017 221 589 A1 discloses, for example, a system for a radome of a radar of a motor vehicle, wherein the heating system comprises a heating element for heating the radome and a control unit connected to the heating element for activating the heating element. The control unit is configured to receive or determine a variable characterizing the external temperature, receive or determine a variable related to the melting point of precipitation deposits on the outer surface of the radome. At least one temperature threshold is determined based on the variable related to the melting point, and the heating element is activated based on a comparison of the external temperature with a threshold value of the temperature threshold. Summary of the invention

[0006] The object of the present invention is to show a solution how the detection of precipitation deposits on the radome of a radar sensor of a vehicle can be improved. Another object of the present invention is to show a solution how the control and / or regulation of a radome heating device can be improved.

[0007] This object is achieved according to the invention by a method, a computing device, a computer-readable (storage) medium and a temperature-controlled radar sensor system for a vehicle having the features according to the independent claims. Advantageous developments of the invention are given in the dependent claims.

[0008] The method according to the invention for early precipitation deposit detection on the radome of a radar sensor for a vehicle and for controlling and / or regulating at least one heating element of the radome comprises emitting a transmission signal by means of at least one transmitting antenna of the radar sensor. The method further comprises detecting a reception signal by means of at least two receiving antennas of the radar sensor, wherein the reception signal describes the transmission signal reflected by an object in the vehicle's surroundings. In addition, the method comprises determining an attenuation parameter, which describes the attenuation of the reception signal caused by the precipitation deposit. Finally, the method comprises outputting a heating signal for controlling and / or regulating at least one heating element of the radome, wherein the heating signal is output as a function of the attenuation parameter. Early precipitation deposits can be detected in at least one heating zone of the radome based on the attenuation parameter, wherein the at least one heating zone describes a partial zone of the radome. For early precipitation deposit detection in the heating zone, at least one heating zone of the radome can be associated with an antenna subset, wherein the antenna subset describes an arbitrary subset of a set comprising at least one transmitting antenna and at least two receiving antennas.

[0009] The method according to the invention is therefore used for early detection of precipitation deposits on the radome of a radar sensor of a vehicle. The method according to the invention is also used for controlling and / or regulating at least one heating element of the radome due to early detection of precipitation deposits on the radome. The method can be executed, for example, on a computing device of the radar sensor and / or on a computing device of the vehicle. The computing device can be designed, for example, as an electronic control unit including one or more programmable processors.

[0010] First, a transmission signal is emitted by means of at least one transmitting antenna of the radar sensor. Modern radar sensors are nowadays mostly so-called multi-channel systems with multiple transmitting antennas. The basic principle of the method according to the invention requires one transmitting antenna. However, if the radar sensor has multiple transmitting antennas, for example 2 transmitting antennas, 4 transmitting antennas, 8 transmitting antennas, 16 transmitting antennas, etc., the method for early detection of precipitation deposits can be refined and optimized. However, in the following, the method is generally described with at least one transmitting antenna, but it is understood that 3, 4, 5, 6, ... transmitting antennas can also be referred to.

[0011] The transmission signal emitted by means of at least one transmitting antenna can be reflected by objects in the vehicle's surroundings. In particular, the emitted transmission signal can be reflected back to the radar sensor. The reflected transmission signal can thus be detected by means of at least two receiving antennas of the radar sensor. The transmission signal reflected back from an object in the vehicle's surroundings is also referred to as a received signal, which is received by the at least two receiving antennas.

[0012] Modern radar sensors in the automotive sector are usually so-called frequency modulated continuous wave radars (the technical term in English is FMCW radar). Objects in the surrounding environment can be described by a differential signal that describes the frequency difference between the transmitted signal and the received signal. Generally, distances and (azimuth) angles can be assigned to objects here. The more receiving antennas a radar sensor has, the more accurately the (azimuth) angle can be determined. Therefore, modern radar sensors nowadays usually include 4 receiving antennas, 8 receiving antennas, 16 receiving antennas, 32 receiving antennas, etc. The method according to the invention requires at least two receiving antennas. Generally, at least two receiving antennas are therefore mentioned, but it is understood that 3, 4, 5, 6, ... transmitting antennas can also be referred to.

[0013] The received signal can be detected with each of the at least two receiving antennas and evaluated individually. The power, phase and / or amplitude of the received signal can thus be determined for each of the at least two receiving antennas and compared with one another. In other words, the received signal detected with the aid of the first receiving antenna can be compared with the received signal detected with the aid of the second receiving antenna. In particular, the phase, amplitude and / or frequency can be compared with one another. For example, if one of the at least two receiving antennas is on a radome and has precipitation deposits in its field of view, the amplitude or power of the received signal can deviate between the receiving antennas.

[0014] This allows the determination of an attenuation parameter, which describes the attenuation of the received signal caused by precipitation deposits. In particular, the attenuation parameter can be vector-valued. Thus, the attenuation parameter can specify an attenuation value for each of the at least two receiving antennas and / or each of the at least one transmitting antenna, which describes the attenuation of the received signal caused by precipitation for each of the at least two receiving antennas or each of the at least one transmitting antenna.

[0015] A heating signal can then be output for controlling and / or regulating at least one heating element of the radome. In this case, the heating signal can be output as a function of the attenuation parameter. Furthermore, the heating signal can also describe the heating region of the radome. As a result, the at least one heating element can be controlled individually, if necessary, for antennas with precipitation deposits in their field of view.

[0016] Until now, methods for detecting precipitation deposits on the radome may also be able to determine attenuation parameters. However, in the method according to the invention, precipitation deposits are already detected early. For example, if only one of the antennas or the field of view of the radar sensor is affected by precipitation deposits, precipitation deposits on the radome are already detected. Until now, methods have not been so sensitive and usually require a certain minimum attenuation. In particular, with a large number of receiving and / or transmitting antennas, the total attenuation is smaller if only one antenna is affected by precipitation deposits. Therefore, with the method according to the invention, the more receiving and / or transmitting antennas a radar sensor has, the higher the sensitivity of detecting precipitation deposits.

[0017] In summary, the method according to the invention can be used to detect individually for each antenna whether precipitation has accumulated in its field of view. Each antenna can be associated with a heating zone, which includes, for example, the field of view of the antenna. If a deposit is detected by means of the method, the heating zone or heating element can be controlled accordingly, which is provided for temperature control of the corresponding heating zone.

[0018] The temperature control of the radome is usually associated with a considerable heating power. For example, the heating power can be 100 watts or more. In order not to waste unnecessary energy and to increase the cruising range in battery-powered vehicles, the temperature control of the radome can be configured more continuously and more efficiently with the help of the method according to the invention. By early detection of precipitation deposits, the heating elements of the radome can also be pretreated. This allows the activation time of the radome heater to be optimally selected. In addition, spatially resolved heating strategies are also possible. This allows the heating power to be further reduced. As a result, the cruising range can also be increased again in battery-powered vehicles.

[0019] According to another advantageous embodiment of the method according to the invention, it is provided that the heating signal additionally describes at least one heating area of ​​the radome in which early precipitation deposits are detected. If the radome of the radar sensor has, for example, a plurality of areas with mutually independent heating elements, the individual areas of the radome or subareas of the radome can be individually temperature-controlled. In this case, it can be helpful if the heating signal precisely controls or regulates the subareas or heating areas of the radome in which precipitation deposits are detected. The radome can thus be temperature-controlled in a targeted manner and while saving unnecessary heating power. This energy saving can be advantageous in particular in battery-driven vehicles.

[0020] It is also advantageous if, when determining the attenuation parameter, at least one receive antenna attenuation parameter is determined for one of the at least two receive antennas, wherein the receive antenna attenuation parameter describes the attenuation caused by precipitation deposits at one of the at least two receive antennas. In other words, it can be advantageous if an attenuation value is determined for one of the at least two receive antennas.

[0021] For early detection of precipitation deposits on the radome of the radar sensor and for controlling and / or regulating at least one heating element of the radome, it is not necessary to explicitly determine an attenuation value for the receiving antenna in advance. By determining at least one receiving antenna attenuation parameter, a more sensitive and therefore earlier detection of precipitation deposits can be achieved. In particular, precipitation deposits can be detected early in the field of view of one of the at least two receiving antennas. Thus, a sensitive (virtual) sensor for detecting precipitation deposits on the radome can be provided with the method. In addition, the heating strategy or the temperature control of the radome can also be improved.

[0022] Another advantageous embodiment, which functions analogously to the situation just described, provides that when determining the attenuation parameter, at least one transmitting antenna attenuation parameter is determined for one of the at least one transmitting antenna, wherein the transmitting antenna attenuation parameter describes the attenuation caused by precipitation deposits on one of the at least one transmitting antenna. In other words, deposits caused by precipitation can be identified in the field of view or transmission area of ​​the at least one transmitting antenna with the aid of the transmitting antenna attenuation parameter, which describes the attenuation value for the transmission signal emitted with the aid of one of the transmitting antennas. Thus, the transmission area or observation area of ​​the at least one transmitting antenna can be temperature-controlled in a targeted manner with the aid of the heating signal (if the respective transmitting antenna is associated with a corresponding heating area). The further advantages apply analogously to the embodiment just implemented, which includes determining the receiving antenna attenuation parameter.

[0023] Another advantageous embodiment provides that the determination of the attenuation parameter includes a radar target comparison, wherein antenna-specific radar target signals which are determined with the aid of the received signals for each of the at least two receiving antennas and which describe one and the same object in the vehicle surroundings are compared with one another. In other words, it can be helpful if the radar target is first detected with the aid of the received signals of each of the at least two receiving antennas. Preferably, the object is at a distance of at least 10 meters from the radar sensor. Preferably, the object is located in an azimuth range of a maximum of ±20° in front of the radar sensor.

[0024] For example, a target at a distance of 20 meters can be detected by means of each of at least two receiving antennas or their received signals. Each target or object detected in this way can be assigned with signal power, amplitude, phase, etc. Therefore, the attenuation parameter can be determined by comparing across (receiving) antennas. For example, if the power received by the first receiving antenna in at least two receiving antennas is less than the power of the second receiving antenna in at least two receiving antennas, it can be derived that there is a deposition caused by precipitation in the field of view of the first receiving antenna. The attenuation parameter can be determined by such a power difference. For radar target comparison, the amplitude of the radar target, the phase and / or frequency of the radar target can be compared. In other words, it is advantageous if the radar target comparison includes a comparison of the amplitude, phase and / or frequency of the antenna-specific radar target signal. If the radar target comparison includes a phase comparison, it can be advantageous that at least two receiving antennas include 3, 4, ..., 8, ..., 16 or more receiving antennas.

[0025] It can also be advantageous to perform a temporal and / or spatial plausibility check during the radar target comparison. During the temporal plausibility check, the radar target comparison can be repeated during another measuring cycle of the radar sensor. During the spatial plausibility check, the radar target comparison can be repeated with at least one further antenna-specific radar target signal that describes another object in the vehicle surroundings. In other words, the temporal and / or spatial plausibility check allows a more reliable determination of the attenuation parameter. It is also conceivable to average the attenuation parameter in time and / or space.

[0026] Another aspect of the invention relates to a computing device for early detection of precipitation deposits on a radome of a radar sensor of a vehicle and for controlling and / or regulating at least one heating element of the radome, wherein the computing device is configured to control the radar sensor by means of at least one transmitting antenna of the radar sensor to emit a transmission signal. In addition, the computing device is configured to receive a reception signal detected by means of at least two receiving antennas of the radar sensor, wherein the reception signal describes the transmission signal reflected by an object in the vehicle's surroundings. The computing device is also configured to determine an attenuation parameter, which describes the attenuation of the reception signal caused by precipitation deposits. Finally, the computing device is also configured to control and / or regulate at least one heating element of the radome by means of the heating signal according to the attenuation parameter. In addition, the computing device is configured to early detect precipitation deposits in at least one heating area of ​​the radome according to the attenuation parameter, wherein the at least one heating area describes a partial area of ​​the radome, and for this purpose, the at least one heating area of ​​the radome is associated with an antenna subset, wherein the antenna subset describes an arbitrary subset of a set including at least one transmitting antenna and at least two receiving antennas.

[0027] The computing device can be designed, for example, as an electronic controller comprising one or more programmable processors. The computing device can also be configured to execute advantageous embodiments of the method according to the invention.

[0028] The computer-readable (storage) medium according to the invention comprises instructions which, when executed by a computing device, cause the computing device to execute the method according to the invention and its advantageous embodiments.

[0029] The temperature-adjustable radar sensor system for a vehicle according to the invention comprises a radar sensor, which is configured to emit a transmission signal by means of at least one transmitting antenna and to detect a reception signal by means of at least two receiving antennas. The temperature-adjustable radar sensor system also comprises a radome, which in turn comprises at least one heating region, which can be temperature-controlled by means of at least one heating element and is arranged at least regionally in the field of view of an antenna subset, wherein an antenna subset describes an arbitrary subset of a set comprising at least one transmitting antenna and at least two receiving antennas. In addition, the temperature-adjustable radar sensor system comprises at least one heating element, which is configured to temperature-control at least one heating region of the radome due to a heating signal output by a computing device. Finally, the temperature-adjustable radar sensor system comprises a computing device for early detection of precipitation deposits on the radome of the radar sensor of the vehicle and for controlling and / or regulating at least one heating element of the radome.

[0030] Another aspect of the invention relates to a computer program comprising instructions which, when executed by a computing device, cause the computing device to carry out the method according to the invention and its advantageous configurations. The invention also relates to a vehicle comprising a temperature-adjustable radar sensor system. The vehicle can be designed in particular as a passenger car.

[0031] The preferred embodiments and their advantages presented with reference to the method according to the invention apply accordingly to the computing device according to the invention, to the computer-readable (storage) medium according to the invention, to the temperature-adjustable radar sensor system according to the invention. Furthermore, the preferred embodiments and their advantages presented with reference to the method according to the invention also apply to the computer program according to the invention and to the vehicle according to the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Further features of the invention are apparent from the claims, the drawings and the description of the drawings. The features and feature combinations mentioned above in the description of the drawings and the features and feature combinations mentioned below in the description of the drawings and / or shown individually in the drawings can be used not only in the respectively given combination but also in other combinations or individually without departing from the scope of the invention.

[0033] The present invention will now be described in more detail according to a preferred embodiment and with reference to the accompanying drawings. There is shown:

[0034] Figure 1 : Schematic diagram of a temperature-controlled radar sensor system, with attenuation of the received signal due to precipitation deposits,

[0035] Figure 2 :and Figure 1 Schematic diagram of a similar temperature-controlled radar sensor system, wherein the temperature-controlled radar sensor system has two heating elements,

[0036] Figure 3 :and Figure 1 Schematic diagram of a similar temperature-controlled radar sensor system, in which attenuation of the transmitted signal occurs due to precipitation deposits,

[0037] Figure 4 :and Figure 1 Schematic diagram of a similar temperature-controlled radar sensor system, wherein the temperature-controlled radar sensor system has three heating elements and an attenuation of the received signal occurs in a plurality of heating zones due to two precipitation deposits. DETAILED DESCRIPTION

[0038] Figure 1 A schematic diagram of a temperature-controlled radar sensor system 1 for a vehicle is shown. The temperature-controlled radar sensor system 1 comprises a radar sensor 2, which is configured to emit a transmission signal 3 by means of at least one transmitting antenna 4 and to detect a reception signal 5 by means of at least two receiving antennas 6. The temperature-controlled radar sensor system 1 further comprises a radome 7, which in turn comprises at least one heating region 8. The heating region 8 can be arranged in the field of view of the antenna subset. The temperature of the at least one heating region 8 can be controlled by means of at least one heating element 9 (shown here with hatching). The at least one heating element 9 can be designed, for example, as a heating wire or a heating foil.

[0039] There are precipitation deposits 10 on the radome 7 of the radar sensor 2. Such precipitation deposits 10 may result in the transmission signal 4, that is, the reception signal 5, which is reflected from objects 11 in the surroundings, being received in an attenuated manner. Figure 1 In the embodiment, such an attenuated received signal 5' is shown by a dashed arrow 5'. The attenuated received signal 5' can be detected by one of the at least two receiving antennas 6. The received signal 5 or the attenuated received signal 5' detected by the at least two receiving antennas 6 can then be processed by the computing device 12.

[0040] Finally, the temperature-controlled radar sensor system 1 comprises a computing device 12. The computing device 12 is used for early detection of precipitation deposits on the radome 7 of the radar sensor 2. The computing device 12 is also used for controlling and / or regulating at least one heating element 9 of the radome 2. For this purpose, the computing device 12 can output a heating signal 13 to the at least one heating element 9.

[0041] at last, Figure 1 Also shown are radar target signals 14 of at least two receiving antennas 6. In other words, Figure 1 It also shows that Figure 1 The radar target signal 14 of each of the at least two receiving antennas 6 of the radar target signal 14 is obtained. The right receiving antenna of the at least two receiving antennas 6 can detect the lower power of the radar target signal 14 due to the precipitation deposits 10. The object 11 can be described by the peak 11' in the radar target signal 14. For example, an attenuation parameter can be determined based on the difference 15, which is generated by the (amplitude) difference of the two peaks 11 and 11' of the radar target signal 14. A heating signal 13 can be output to the at least one heating element 9 based on the attenuation parameter.

[0042] Figure 2 Shown with Figure 1 Schematic diagram of a similar temperature-adjustable radar sensor system 1. Figure 2 In FIG. 1 , the temperature-controllable radar sensor system 1 or the radome 7 has two heating regions 8 ′ and 8 ″. The two heating regions 8 ′ and 8 ″ thus form at least one heating region 8 of the temperature-controllable radar sensor system 1 .

[0043] Furthermore, the temperature-controlled radar sensor system also has two heating elements 9 ′ and 9 ″. In other words, at least one heating element 9 is formed by two heating elements 9 ′ and 9 ″. The two heating elements 9 ′ and 9 ″ can be controlled independently of one another by means of a computing device 12 with the aid of a heating signal 13 . In this case, precipitation deposits 10 can be precisely located and assigned to one of the heating regions 8 ′ or 8 ″. Figure 2 In the embodiment, a precipitation deposit 10 is located within a heating region 8". At least two receiving antennas 6, shown here as three receiving antennas, can be associated with the heating region 8", since the field of view of at least two receiving antennas 6 includes the heating region 8" or at least overlaps with the heating region 8". As a result, the precipitation-induced attenuation due to the precipitation deposit 10 can be assigned to the heating region 8". The heating element 9" can therefore be controlled by the computing device 12 using the heating signal 13.

[0044] The heating signal 13 can describe at least one heating region 8 in this case, so that even if a heating signal 13 is output for each of the at least one heating elements 9 , the heating region 8 ′ is not temperature-controlled by means of the heating elements 9 ′.

[0045] Figure 3 Show according to Figure 2 Schematic diagram of a temperature-controlled radar sensor system 1, in which precipitation deposits 10 have already led to an attenuation of the transmission signal 3. The attenuated transmission signal is indicated by the dashed arrow 3'. The attenuated transmission signal reflected by the object 11 has the effect that the reception signal 5 is also completely attenuated. The attenuated reception signal 5' is indicated by the dashed arrow 5'. With the method according to the invention, it is also possible to determine when precipitation deposits 10 have led to an attenuation of the transmission signal 3 from one of the at least one transmission antenna 4. For this purpose, it is advantageous if different coding or multiplexing methods are used.

[0046] Coding and / or multiplexing methods, such as so-called time division multiplexing methods, enable at least one transmitting antenna 4, wherein the transmitting antennas of at least one transmitting antenna 4 transmit in a time-staggered manner, wherein precipitation deposits 10 in the observation area of ​​a transmitting antenna, shown here by three transmitting antennas, are assigned to a specific transmitting antenna. Figure 2 , the time division multiplexing method is shown in that the transmission signal 3 is sent by the middle transmission antenna of at least one transmission antenna 4. Therefore, at a later time point, it can be considered that one of the other two transmission antennas of at least one transmission antenna 4 sends the transmission signal 3.

[0047] exist Figure 3 In the embodiment, at least two receiving antennas, here three receiving antennas, receive the same attenuated receiving signal 5'. Since at least two receiving antennas 6 all receive the attenuated receiving signal 5', it can be inferred that precipitation 10 is present in the heating region 8'. Based on the attenuation parameter determined in this way, the heating element 9' provided for temperature control of the heating region 8' can be controlled and / or regulated by the computing device 12 with the aid of the heating signal 13 describing the corresponding heating region 8'.

[0048] Figure 4 A further embodiment of a temperature-controlled radar sensor system 1 is shown, in which at least one heating region 8 is formed by a first heating region 8 ′, a second heating region 8 ″ and a third heating region 8 ′″. Accordingly, temperature-controlled radar sensor system 1 has a first heating element 9 ′, a second heating element 9 ″ and a third heating element 9 ′″ as at least one heating element 9 . In other words, at least one heating element 9 is formed by a first, a second and a third heating element.

[0049] Figure 4 The embodiment of the invention should clearly show that one of the at least one transmitting antenna 4 and one of the at least two receiving antennas 6 can also be assigned to one of the at least one heating zones 8. For example, the antenna subset 16 can be assigned to the first heating zone 8' of the at least one heating zone 8. Figure 4In the embodiment of the present invention, the antenna subset 16 forms a subset of a set including at least one transmit antenna 4 and at least two receive antennas 6. In other words, the antenna subset 16 includes two transmit antennas of the at least one transmit antenna 4 and one receive antenna of the at least two receive antennas 6.

Claims

1. A method for early detection of precipitation deposits on a radome (7) of a radar sensor (2) of a vehicle and for controlling and / or regulating at least one heating element (9) of the radome (7), comprising the following steps: - emitting a transmission signal (3, 3') by means of at least one transmitting antenna (4) of the radar sensor (2), - detecting a received signal (5, 5') by means of at least two receiving antennas (6) of the radar sensor (2), wherein the received signal (5, 5') describes a transmitted signal (3, 3') reflected by an object (11) in the surroundings of the vehicle, - determining an attenuation parameter, which describes the attenuation of the received signal (5, 5') caused by precipitation deposits, and - outputting a heating signal (13) for controlling and / or regulating the at least one heating element (9, 9', 9", 9'") of the radome (7), wherein the heating signal (13) is output as a function of the attenuation parameter, It is characterized in that - identifying early precipitation deposits (10) in at least one heated area (8, 8', 8", 8'") of the radome (7) based on the attenuation parameters, wherein the at least one heated area (8, 8', 8", 8'") describes a partial area of ​​the radome (7), and To this end, the at least one heating zone (8, 8', 8", 8'") of the radome (7) is associated with an antenna subset (16), wherein the antenna subset (16) describes an arbitrary subset of the set comprising the at least one transmitting antenna (4) and the at least two receiving antennas (6).

2. The method according to claim 1, It is characterized in that The heating signal (13) additionally describes the at least one heating region (8, 8', 8", 8'") of the radome (7), in which the early precipitation deposit (10) is identified.

3. The method according to claim 1 or 2, It is characterized in that When determining the attenuation parameter, at least one receiving antenna attenuation parameter is determined for one of the at least two receiving antennas (6), wherein the receiving antenna attenuation parameter describes the attenuation caused by precipitation deposits at one of the at least two receiving antennas (6).

4. The method according to any one of the preceding claims, It is characterized in that When determining the attenuation parameter, at least one transmit antenna attenuation parameter is determined for one of the at least one transmit antenna (4), wherein the transmit antenna attenuation parameter describes the attenuation caused by precipitation deposits at one of the at least one transmit antenna (4).

5. The method according to any one of the preceding claims, It is characterized in that Determining the attenuation parameter comprises a radar target comparison, in which antenna-specific radar target signals (14) are compared with one another, which radar target signals are determined with the aid of a receive signal (5, 5') of each of the at least two receive antennas (6) and describe an object (11) in the surroundings of the vehicle.

6. The method according to claim 5, It is characterized in that The radar target comparison comprises a comparison of the amplitude, phase and / or frequency of the antenna-specific radar target signal (14).

7. The method according to claim 5 or 6, It is characterized in that A temporal plausibility check and / or a spatial plausibility check is performed during the radar target comparison, wherein during the temporal plausibility check the radar target comparison is repeated during another measuring cycle of the radar sensor (2), and during the spatial plausibility check the radar target comparison is repeated with at least one further antenna-specific radar target signal (14), the at least one further radar target signal describing another object in the surroundings of the vehicle.

8. A computing device (12) for early detection of precipitation deposits on a radome (7) of a radar sensor (2) of a vehicle and for controlling and / or regulating at least one heating element (9, 9', 9", 9'") of the radome (7), the computing device being configured to: - actuating the radar sensor (2) in order to emit a transmission signal (3, 3') by means of at least one transmission antenna (4) of the radar sensor (2), - receiving a received signal (5, 5') detected by means of at least two receiving antennas (6) of the radar sensor (2), wherein the received signal (5, 5') describes a transmitted signal (3, 3') reflected by an object (11) in the surroundings of the vehicle, - determining an attenuation parameter, which describes the attenuation of the received signal (5, 5') caused by precipitation deposits, and - controlling and / or regulating the at least one heating element (9, 9', 9", 9'") of the radome (7) according to the attenuation parameter by means of a heating signal (13), It is characterized in that The computing device (12) is also configured to - identifying early precipitation deposits (10) in at least one heating area (8, 8', 8", 8'") of the radome based on the attenuation parameters, wherein at least one of the heating areas (8, 8', 8", 8'") describes a partial area of ​​the radome (7), and To this end, the heating area (8, 8', 8", 8'") of the radome (7) is associated with an antenna subset (16), wherein the antenna subset (16) describes an arbitrary subset of the set comprising the at least one transmitting antenna (4) and the at least two receiving antennas (6).

9. A computer-readable (storage) medium comprising instructions which, when executed by a computing device (12), cause the computing device to: - actuating the radar sensor (2) in order to emit a transmission signal (3, 3') by means of at least one transmission antenna (4) of the radar sensor (2), - receiving a received signal (5, 5') detected by means of at least two receiving antennas (6) of the radar sensor (2), wherein the received signal (5, 5') describes a transmitted signal (3, 3') reflected by an object (11) in the surroundings of the vehicle, - determining an attenuation parameter, which describes the attenuation of the received signal (5, 5') caused by precipitation deposits, and - controlling and / or regulating the at least one heating element (9, 9', 9", 9'") of the radome (7) according to the attenuation parameter by means of a heating signal (13), It is characterized in that The computer-readable (storage) medium, when executed by the computing device (12), further causes the computing device (12) to: - identifying early precipitation deposits (10) in at least one heating area (8, 8', 8", 8'") of the radome based on the attenuation parameters, wherein the at least one heating area (8, 8', 8", 8'") describes a partial area of ​​the radome (7), and To this end, the at least one heating area (8, 8', 8", 8'") of the radome (7) is associated with an antenna subset (16), wherein the antenna subset (16) describes an arbitrary subset of the set comprising the at least one transmitting antenna (4) and the at least two receiving antennas (6).

10. A temperature-adjustable radar sensor system (1) for a vehicle, comprising: a radar sensor (2) which is configured to emit a transmission signal by means of at least one transmission antenna (4) and to detect a reception signal (5, 5') by means of at least two reception antennas (6), - a radome (7) comprising at least one heating area (8, 8', 8", 8'"), the temperature of which can be adjusted by means of at least one heating element (9, 9', 9", 9'") and which is arranged at least regionally within the field of view of an antenna subset (16), wherein the antenna subset (16) describes an arbitrary subset of the set comprising the at least one transmitting antenna (4) and the at least two receiving antennas (6), at least one heating element (9, 9', 9", 9'"), which is configured to adjust the temperature of the at least one heating area (8, 8', 8", 8'") of the radome (7) as a result of a heating signal (13) output by a computing device (12), and - A computing device according to claim 8 for detecting early precipitation deposits on the radome (7) of the radar sensor (2) of the vehicle and for controlling and / or regulating the at least one heating element (9, 9', 9", 9'") of the radome (7).

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