Computer device and method for checking radar system equipped with at least two transmitting and receiving units, each having at least two antenna elements

Abstract

A computer device and a method for checking a radar system equipped with at least two transmitting and receiving units (10) having at least two antenna elements (12), the method comprising: selecting at least one first radar signal (18-1a) transmitted by a first transmitting and receiving unit (10-1) of the radar system and received by a second transmitting and receiving unit (10-n); and selecting a second radar signal (18-2a) transmitted by the second transmitting and receiving unit (10-n) and received by the first transmitting and receiving unit (10-1) in such a way that a possible first light length of a first signal path of the first radar signal is equal to a possible second light length of a second signal path of the second radar signal when the transmitting and receiving units are present without tilting; a phase difference between the first radar signal and the second radar signal is ascertained, and orientation information ([phi] r (1, n)) of a relative inclination of the first transmitting and receiving unit relative to the second transmitting and receiving unit is determined taking into account the ascertained phase difference.

Description

Technical Field

[0001] The invention relates to a computer device for a radar system and a radar system, the radar system being equipped with at least two transmitting and receiving units, each with at least two antenna elements. The invention also relates to a method for testing a radar system, the radar system being equipped with at least two transmitting and receiving units, each with at least two antenna elements. In addition, the invention relates to a method for operating a radar system, the radar system being equipped with at least two transmitting and receiving units, each with at least two antenna elements; the invention also relates to a method for determining environmental information relating to at least part of the environment of a radar system, the radar system being equipped with at least two transmitting and receiving units, each with at least two antenna elements. Background Art

[0002] Radar sensor systems, in particular cooperative radar sensor systems, are known from the prior art, such as DE 10 2019 220 238 A1. Summary of the invention

[0003] The present invention provides a computer device for a radar system having the features of claim 1, wherein the radar system is equipped with at least two transmitting and receiving units, each having at least two antenna elements; a radar system having the features of claim 8; a method for testing a radar system having the features of claim 10, wherein the radar system is equipped with at least two transmitting and receiving units, each having at least two antenna elements; a method for operating a radar system having the features of claim 13, wherein the radar system is equipped with at least two transmitting and receiving units, each having at least two antenna elements; and a method for determining environmental information relating to at least a portion of the environment of the radar system, wherein the radar system is equipped with at least two transmitting and receiving units, each having at least two antenna elements.

[0004] Advantages of the present invention

[0005] The invention proposes an advantageous possibility for detecting a tilt of at least one transmitting and receiving unit of a radar system equipped with at least two transmitting and receiving units, each with at least two antenna elements, from its predetermined nominal orientation. With the aid of the invention, it is thus possible to detect an incorrect assembly of at least two transmitting and receiving units of the corresponding radar system, damage to the radar system (e.g. due to mechanical contact with foreign objects) and / or damage to the corresponding radar system due to environmental influences (e.g. due to heat or wind loads on the bumper in particular). With the aid of the invention, measures can be implemented here, by means of which the tilt of at least one transmitting and receiving unit can be eliminated and / or compensated by correspondingly adapted operation of the corresponding radar system. The invention can therefore be used not only to detect a tilt of at least one transmitting and receiving unit of the corresponding radar system, but also to react advantageously to the detected error. The invention thus contributes to improving the operation of the corresponding radar system, to online calibration of the corresponding radar system and to extending the service life of the corresponding radar system.

[0006] In an advantageous embodiment of a computer device for a radar system equipped with n transmitting and receiving units, each of which has at least two antenna elements (n being a natural number greater than or equal to 3), the electronic device is designed and / or programmed to select a corresponding first radar signal and a corresponding second radar signal from a plurality of radar signals transmitted and received by means of the radar system by means of the electronic device, for each of the n transmitting and receiving units as a corresponding first transmitting and receiving unit and for each of the n-1 further transmitting and receiving units as a corresponding second receiving unit, the radar signals being identifiable or read out by means of stored information, and in the case of non-inclined transmitting and receiving units of the radar system, a possible first optical length of a corresponding first signal path of the corresponding first radar signal is equal to a possible second optical length of a corresponding second signal path of the corresponding second radar signal, wherein by means of the electronic device, taking into account a corresponding phase difference between the corresponding first radar signal and the corresponding second radar signal, directional information relating to a corresponding relative inclination of the corresponding first transmitting and receiving unit with respect to the corresponding second transmitting and receiving unit can be determined. With the aid of the embodiments described here, the (n*(n−1)) relative inclinations of the n transmitting and receiving units of the radar system with respect to one another can thus be reliably determined.

[0007] Preferably, the electronic device is designed and / or programmed such that: if a relative inclination equal to zero is determined for at least two transmitting and receiving units as at least part of the orientation information, at least one of the at least two transmitting and receiving units with a relative inclination equal to zero can be selected by means of the electronic device as a reference unit, the absolute inclination equal to zero of the at least one reference unit relative to a predetermined nominal orientation can be determined as part of the orientation information, and if at least one of the transmitting and receiving units is not selected as a reference unit, the relative inclination of the at least one transmitting and receiving unit not selected as a reference unit relative to the at least one reference unit can be determined as part of the orientation information as the absolute inclination of the corresponding transmitting and receiving unit relative to the predetermined nominal orientation. Thus, embodiments of the computer device described herein can determine n absolute inclinations of the n transmitting and receiving units relative to their predetermined nominal orientation based on (n*(n-1)) determined relative inclinations of the n transmitting and receiving units relative to each other.

[0008] As an advantageous development, the electronic device can be designed and / or programmed in such a way that, by means of the electronic device, at least one control signal can be output for at least one transmitting and receiving unit (taking into account the determined orientation information about the respective absolute inclination of the transmitting and receiving unit relative to a predetermined nominal orientation) to the respective transmitting and receiving unit's own orientation device, so that the actual orientation of the respective transmitting and receiving unit can be set according to the nominal orientation by means of the actuated orientation device. Thus, by means of the computer device described herein, at least one identified absolute inclination of at least one transmitting and receiving unit of the respective radar system relative to its predetermined nominal orientation can be eliminated by corresponding actuation of the associated orientation device.

[0009] Alternatively or additionally, the electronic device is designed and / or programmed in such a way that by means of the electronic device, environmental information about at least one partial environment of the radar system can be determined taking into account a plurality of radar signals transmitted and received by means of the radar system and in addition taking into account a predetermined evaluation program, wherein by means of the electronic device, the evaluation program can be redefined taking into account the determined orientation information about the relative inclination of the respective first transmitting and receiving unit relative to the respective second transmitting and receiving unit and / or about the respective absolute inclination of each transmitting and receiving unit relative to a predetermined nominal orientation. By redefined evaluation programs in the embodiment of the computer device described here, the inclination of at least one transmitting and receiving unit of the respective radar system can be compensated when evaluating the transmitted and received radar signals. In this way, error-free continued operation of the radar system can be ensured, which (substantially) corresponds to its nominal operation when all transmitting and receiving units of the radar system are present without inclination.

[0010] For example, the corresponding first radar signal can be transmitted by the first antenna element of the corresponding first transmitting and receiving unit, reflected at the target position and received by the second antenna element of the corresponding second transmitting and receiving unit, while the corresponding second radar signal can be transmitted by the third antenna element of the second transmitting and receiving unit, reflected at the target position and received by the fourth antenna element of the first transmitting and receiving unit. Thus, a large number of options for the corresponding first transmitting and receiving signals and the correspondingly assigned second transmitting and receiving signals are realized.

[0011] Preferably, when the respective first transmitting and receiving unit and the respective second transmitting and receiving unit are present without tilting, a first vector from the first antenna element of the respective first transmitting and receiving unit to the fourth antenna element of the first transmitting and receiving unit is equal to a second vector from the third antenna element of the respective second transmitting and receiving unit to the second antenna element of the second transmitting and receiving unit. A tilting of the respective first transmitting and receiving unit and / or the respective second transmitting and receiving unit automatically causes a change in the phase difference between the first radar signal and the second radar signal, by means of which the tilt can be clearly and reliably detected.

[0012] The above advantages are also possessed by a radar system with a corresponding computer device and at least two transmitting and receiving units, each with at least two antenna elements. For example, the radar system can be a radar sensor system and / or a cooperative radar sensor system. Thus, the radar system can also be a system with an evaluation unit and different remote antenna arrays with transmitting and receiving antennas, or a central computing unit and such an antenna array. The radar system can also be a cooperative system comprising different synchronized radar sensors.

[0013] Likewise, a corresponding method for testing a radar system equipped with at least two transmitting and receiving units, each with at least two antenna elements, also has the above advantages. It should be noted that the method can be expanded according to the above-described embodiment of the computer device.

[0014] Furthermore, a method for operating a radar system equipped with at least two transmitting and receiving units, each with at least two antenna elements, and a method for determining environmental information about at least one partial environment of a radar system equipped with at least two transmitting and receiving units, each with at least two antenna elements, also have the above advantages. These methods can also be expanded according to the above-mentioned embodiments of the computer device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Other features and advantages of the present invention will be explained below with reference to the accompanying drawings. It shows:

[0016] Figure 1a and 1b A schematic illustration of a radar system and a flow chart for explaining a first specific embodiment of a method for testing a radar system, the radar system having at least two transmitting and receiving units, each with at least two antenna elements;

[0017] Figure 2 A schematic illustration of a radar system having at least three transmitting and receiving units, each with at least two antenna elements, for explaining a second specific embodiment of a method for testing a radar system;

[0018] Figure 3 Flow chart for explaining a method for operating a radar system, the radar system being equipped with at least two transmitting and receiving units, each having at least two antenna elements;

[0019] Figure 4 Flowchart for explaining an embodiment of a method for determining environmental information about at least a partial environment of a radar system, the radar system being equipped with at least two transmitting and receiving units, each with at least two antenna elements; and

[0020] Figure 5a to Figure 5c Schematic partial illustration of a radar system, which is equipped with at least two transmitting and receiving units, each with at least two antenna elements, and a coordinate system for explaining an embodiment of a computer system cooperating therewith. DETAILED DESCRIPTION

[0021] Figure 1a and 1b A schematic diagram of a radar system and a flow chart for explaining a first specific embodiment of a method for testing a radar system are shown, the radar system having at least two transmitting and receiving units each with at least two antenna elements.

[0022] Figure 1a The radar system schematically shown in FIG. 1 has at least two transmitting and receiving units 10 - 1 to 10 - n , wherein each of the at least two transmitting and receiving units 10 - 1 to 10 - n has at least two antenna elements 12 - 1 a to 12 - na , 12 - 1 b to 12 - nb and 12 - 1 c to 12 - nc . Figure 1aThe illustration of only two transmitting and receiving units 10-1 to 10-n is only explained as an example. At least two transmitting and receiving units 10-1 to 10-n can selectively (each transmitting and receiving unit 12-1 to 12-n) have the same total number of antenna elements 12-1a to 12-na, 12-1b to 12-nb and 12-1c to 12-nc, and can also selectively (each transmitting and receiving unit 12-1 to 12-n) have a different total number of antenna elements 12-1a to 12-na, 12-1b to 12-nb and 12-1c to 12-nc. However, at least two transmitting and receiving units 10-1 to 10-n should be understood as the following units, each of which is designed / suitable for radar signal transmission and radar signal reception.

[0023] The at least two transmitting and receiving units 10-1 to 10-n of the radar system are to be understood as spatially separated units. For example, the at least two transmitting and receiving units 10-1 to 10-n can be sub-devices of the radar system, which are not mounted on a common carrier. Alternatively, the at least two transmitting and receiving units 10-1 to 10-n can also be mounted on a common carrier (not shown). In the monostatic case of the operation of the radar system, the radar signal emitted by a single transmitting and receiving unit 10-1 or 10-n is received and evaluated by the same transmitting and receiving unit 10-1 to 10-n after it is reflected at the target. In the bistatic case of the operation, the radar signal can also be received by another transmitting and receiving unit 10-1 to 10-n after it is reflected at the target.

[0024] As in Figure 1a As shown in , at least one of the transmitting and receiving units 10-1 to 10-n can also be tilted relative to its predetermined nominal orientation or deviated / rotated out of its predetermined nominal orientation. For example, an orientation is preferred for at least two transmitting and receiving units 10-1 to 10-n, in which the respective main transmitting and main receiving directions 14-1 to 14-n of the at least two transmitting and receiving units 10-1 to 10-n are oriented parallel to the predetermined nominal direction 16. In contrast, in Figure 1a In the example of FIG. 1 , the transmitting and receiving units 10-1 to 10-n are "rotated" relative to their predetermined nominal orientation, so that their respective main transmitting and main receiving directions 14-1 to 14-n are oriented obliquely (at an angle not equal to zero) relative to the nominal direction 16. It can also be said that the antenna elements 12-1a to 12-na, 12-1b to 12-nb and 12-1c to 12-nc are not on a continuous line, but are inclined relative to the continuous line. Figure 1a The state shown in may be caused by an incorrect assembly of the radar system, damage to the radar system (eg due to a collision with a foreign object or due to environmental influences, such as, in particular, thermal loads).

[0025] However, it should be explicitly pointed out that the feasibility of the method described here does not presuppose a predetermined nominal orientation of the at least two transmitting and receiving units 10-1 to 10-n, so that their main transmitting and main receiving directions 14-1 to 14-n are oriented parallel to the predetermined nominal direction 16. Alternatively, the method described here can also be performed if the at least two transmitting and receiving units 10-1 to 10-n are present in their nominal orientation, but their main transmitting and main receiving directions 14-1 to 14-n are oriented in different directions.

[0026] Any tilt of at least one of the transmitting and receiving units 10 - 1 to 10 - n of the radar system can be reliably detected by means of the following method and / or quantitatively determined by means of corresponding physical variables and subsequently corrected:

[0027] To this end, when carrying out the method, in method step S1 (see Figure 1b ), at least one first radar signal 18-1a and a correspondingly assigned second radar signal 18-2a are selected from a plurality of radar signals 18-1a, 18-1b, 18-2a and 18-2b transmitted and received by means of a radar system. The at least one first radar signal 18-1a should be understood to be a radar signal transmitted from a first transmitting and receiving unit 10-1 of the radar system, reflected at a target position (not shown) outside the radar system, and received by a second transmitting and receiving unit 10-n of the radar system. Correspondingly, the respectively assigned second radar signal 18-2a should be understood to be a radar signal transmitted by the second transmitting and receiving unit 10-n, reflected at the (same) target position, and received by the first transmitting and receiving unit 10-1. Preferably, the target position at which the radar signals 18-1a and 18-2a mentioned here are reflected is located in the far field of the radar system. Furthermore, at least one first radar signal 18-1a and the respectively assigned second radar signal 18-2a are selected such that, in the case of the non-tilted presence of the transmitting and receiving units 10-1 to 10-n of the radar system, a possible first light length of a corresponding first signal path of the first radar signal 18-1a is equal to a possible second light length of a corresponding second signal path of the corresponding second radar signal 18-2a, or when the sensor is intentionally oriented in a non-target direction 16, the difference in the light lengths is known.

[0028] In the embodiment described here, the corresponding first radar signal 18-1a is transmitted by the first antenna element 12-1a of the corresponding first transmitting and receiving unit 10-a, reflected at the target location and received by the second antenna element 12-nb of the corresponding second transmitting and receiving unit 10-n, while the corresponding second radar signal 18-2a is transmitted by the third antenna element 12-na of the corresponding second transmitting and receiving unit 10-n, reflected at the target location and received by the fourth antenna element 12-1b of the corresponding first transmitting and receiving unit 10-1. Figure 1a It can be seen that when the corresponding first transmitting and receiving unit 10-1 and the corresponding second transmitting and receiving unit 10-n exist without tilting, the first vector from the first antenna element 12-1a to the fourth antenna element 12-1b is equal to the second vector from the third antenna element 12-na to the second antenna element 12-nb.

[0029] exist Figure 1a In the example of FIG. 1 , when the transmitting and receiving units 10-1 to 10-n are not present in an inclined manner, a possible optical length of a signal path of a radar signal 18-1a transmitted by the antenna element 12-1a of the transmitting and receiving unit 10-1, reflected at a target position, and received by the antenna unit 10-nb of the transmitting and receiving unit 10-n is equal to a possible optical length of a signal path of a radar signal 18-2a transmitted by the antenna element 12-na, reflected at a target position, and received by the antenna unit 12-1b. Accordingly, in the case where the transmitting and receiving units 10-1 to 10-n are present without tilt, the possible optical length of the signal path of the radar signal 18-1b transmitted by the antenna element 12-1a of the transmitting and receiving unit 10-1, reflected at the target position and received by the antenna element 12-nc of the transmitting and receiving unit 10-n is equal to the possible optical length of the signal path of the radar signal 18-2b transmitted by the antenna element 12-na, reflected at the target position and received by the antenna element 12-1c of the transmitting and receiving unit 10-1.

[0030] exist Figure 1a 1 and 10 - n are also shown as a projection 20 of the two transmitting and receiving units 10 - 1 and 10 - n relative to each other. (The projection 20 can also be understood as a virtual bistable antenna array). As can be seen from the projection 20, the tilting of the two transmitting and receiving units 10 - 1 and 10 - n relative to each other results in a (real) optical length l of the signal path of the radar signal 18 - 1 a. 18-1a The (actual) optical length l of the signal path of the radar signal 18-2a 18-2aDeviation occurs. Accordingly, the (actual) optical lengths of the signal paths of radar signals 18-1b and 18-2b also deviate from each other. Therefore, by means of bistable evaluation of radar signals 18-1a and 18-1b, the phase difference ΔΦ of the complex spectrum values ​​between radar signals 18-1a and 18-2a can be determined. By means of corresponding evaluation, the phase difference ΔΦ between radar signals 18-1b and 18-2b can also be determined. Correspondingly, the phase difference ΔΦ of other (not shown) radar signals can also be determined.

[0031] The phase difference ΔΦ(18-1a, 18-2a) between the radar signals 18-1a and 18-2a is defined, for example, according to Formula (Equation 1), where

[0032] (Formula 1)

[0033] Here, λ is the wavelength of the radar signals 18 - 1 b and 18 - 2 b.

[0034] Therefore, when executing the method, in method step S2, a corresponding phase difference ΔΦ between the corresponding first radar signal 18-1a or 18-1b and the correspondingly assigned second radar signal 18-2a or 18-2b is determined. Then, in method step S3, directional information related to the relative inclination of the corresponding first transmitting and receiving unit 10-1 with respect to the correspondingly assigned second transmitting and receiving unit 10-n is determined, taking into account the determined phase difference ΔΦ or possible deviations thereof from a predetermined initial phase difference. Thus, the respective phase difference ΔΦ between the respective first radar signal 18-1a or 18-1b and the respectively associated second radar signal 18-2a or 18-2b can be used to determine a possible tilt of the first transmitting and receiving unit 10-1 relative to the second transmitting and receiving unit 10-n and / or by means of the respective physical quantity As long as the phase difference ΔΦ, which deviates from the predetermined initial phase difference, is determined, the actual inclination of the two transmitting and receiving units 10-1 and 10-n relative to each other can be reliably used as a starting point. Thus, a possible inclination of the two transmitting and receiving units 10-1 and 10-n relative to each other can be reliably detected using an easy-to-implement method. For example, the inclination angle between the two main transmitting and receiving directions 14-1 and 14-n of the two transmitting and receiving units 10-1 and 10-n is The physical quantity related to the relative inclination of the transmitting and receiving units 10-1 and 10-n to each other can be determined as

[0035] The transmitting and receiving units 10-1 and 10-n are present in their nominal orientation and can in particular be oriented relative to one another in such a way that the predetermined initial phase difference is equal to zero. Alternatively, the transmitting and receiving units 10-1 and 10-n can however also be located relative to one another in their nominal orientation in such a way that the predetermined initial phase difference deviates from zero. This can occur, for example, if the transmitting and receiving units 10-1 and 10-n are, respectively, an angle sensor and a front sensor which, when present in their nominal orientation, are oriented relative to one another at an inclination angle which is not equal to zero.

[0036] Figure 2 A schematic diagram of a radar system is shown for explaining a second specific embodiment of a method for testing a radar system, the radar system having at least three transmitting and receiving units, each with at least two antenna elements.

[0037] The method described below can be implemented in (almost) any radar system having n transmitting and receiving units 10 - 1 , 10 - 2 to 10 - n , each with at least two antenna elements 12 , where n is a natural number greater than or equal to 3.

[0038] In the method described here, first (while carrying out the method steps explained above) a respective first radar signal and a respective second radar signal are selected from a plurality of radar signals transmitted and received by means of a radar system, for each of n transmitting and receiving units 10-1, 10-2 to 10-n as a respective first transmitting and receiving unit and each of n-1 further transmitting and receiving units 10-1, 10-2 to 10-n as a respective second receiving unit, so that, when transmitting and receiving units 10-1, 10-2 to 10-n of the radar system are present without tilt, a possible first optical length of a respective first signal path of the respective first radar signal is equal to a possible second optical length of a respective second signal path of the respective second radar signal. Subsequently, taking into account a respective phase difference between the respective first radar signal and the respective second radar signal, directional information relating to a respective relative tilt of the respective first transmitting and receiving unit relative to the respective second transmitting and receiving unit is determined.

[0039] With the aid of the above method steps, (n*(n-1)) relative inclinations of the n transmitting and receiving units 10-1, 10-2 to 10-n of the radar system can be obtained. For pairs of transmitting and receiving units 10-1, 10-2 to 10-n that are not tilted relative to each other, the determined phase difference is equal to the predetermined initial phase difference, i.e., equal to 0° in the embodiment here. (If the phase signals of the individual channels also have noise in addition, the phase differences are not completely on the same plane. However, in this case, the distribution of the phase differences relative to each other has a statistical deviation (such as a Gaussian distribution), and a plane can be inferred).

[0040] If it is determined that the relative inclination of at least two transmitting and receiving units 10-2 and 10-n to one another is equal to zero and / or the inclination is intentional and known, the absolute inclination of the individual transmitting and receiving units 10-1 to 10-n relative to a predetermined nominal orientation can also be determined. Figure 2 In the example of FIG. 1 , it can be seen from the projection 20 a of the transmitting and receiving unit 10-1 and the transmitting and receiving unit 10-2 to each other and from the projection 20 b of the transmitting and receiving unit 10-1 and the transmitting and receiving unit 10-n to each other that the transmitting and receiving unit 10-1 has a relative inclination that is not equal to zero relative to the transmitting and receiving unit 10-2 and a relative inclination that is not equal to zero relative to the transmitting and receiving unit 10-n. In contrast, it can be seen from the projection 20 c that the transmitting and receiving unit 10-2 is not inclined relative to the transmitting and receiving unit 10-n. It can be reliably concluded that the transmitting and receiving units 10-2 and 10-n are still in their respective nominal orientations.

[0041] Thus, in the method described here, at least one of the at least two transmitting and receiving units 10-2 and 10-n having a relative inclination to each other equal to zero or a known and desired inclination is selected as a reference unit 10-2 or 10-n. The absolute inclination of at least one reference unit 10-2 or 10-n relative to a predetermined nominal orientation (as part of the directional information) is then determined to be zero or as desired. If at least one of the transmitting and receiving units 10-1 is not selected as a reference unit, the relative inclination of at least one transmitting and receiving unit 10-1 not selected as a reference unit relative to at least one reference unit 10-2 or 10-n is then determined as the absolute inclination of the corresponding transmitting and receiving unit 10-1 relative to the predetermined nominal orientation (as part of the directional information). In this way, the absolute inclination of all transmitting and receiving units 10-1, 10-2 to 10-n of the radar system relative to the predetermined nominal orientation can also be determined.

[0042] This method can also be applied rolling. Preferably, one sensor is compared alternately with all other n-1 sensors. If all bistable virtual sensors associated with the "sensor under test" detect a tilt, and the tilt angles found for all samples are the same, then this sensor can be identified as the cause of the relative tilt. Furthermore, this method can also be applied to all combinations of less than n-1 sensors for the "sensor under test" if more than one sensor is tilted.

[0043] Alternatively, a histogram method, a two-point method, or a three-point method may be used to assign an "aperture confidence" to each of the transmitting and receiving units 10-1, 10-2 to 10-n. Then, the transmitting and receiving units 10-1, 10-2 to 10-n with the highest "aperture confidence" may be used as reference units. Therefore, the absolute inclination of at least one reference unit relative to a predetermined nominal orientation may be determined to be zero. If at least one of the transmitting and receiving units 10-1 is not selected as a reference unit, the relative inclination of at least one transmitting and receiving unit that is not selected as a reference unit relative to at least one reference unit may be determined as the absolute inclination of the corresponding transmitting and receiving unit relative to the predetermined nominal orientation.

[0044] Figure 3 A flow chart is shown for explaining a method for operating a radar system which is equipped with at least two transmitting and receiving units, each with at least two antenna elements.

[0045] In the method described here, at least the method steps S1 to S3 explained above are firstly carried out in order to determine, based on the data obtained therein, a respective absolute inclination of each of the transmitting and receiving units relative to a predetermined nominal orientation as orientation information.

[0046] In a further method step S4, at least one control signal is output to the own orientation device of the respective transmitting and receiving unit for at least one of the transmitting and receiving units. The output of the at least one control signal takes place taking into account the respectively determined absolute inclination of the respective transmitting and receiving unit relative to a predetermined nominal orientation. In this way, the actual orientation of the respective transmitting and receiving unit is set according to the nominal orientation by means of the controlled calibration device. With the method described here, an orientation "error" of at least one of the transmitting and receiving units can thus be eliminated.

[0047] Figure 4 A flow chart is shown for explaining an embodiment of a method for determining surroundings information about at least one partial surroundings of a radar system which is equipped with at least two transmitting and receiving units each having at least two antenna elements.

[0048] In the method described here, in method step S10, environmental information about at least part of the environment of the radar system is determined taking into account a plurality of radar signals transmitted and received by means of the radar system. The determination of the environmental information is also carried out taking into account a predetermined evaluation procedure in addition. For example, a corresponding distance of at least one target in at least part of the environment of the radar system relative to the radar system, a relative speed of at least one target relative to the radar system, and a corresponding position angle of at least one target relative to a spatial direction predetermined by the radar system can be determined as environmental information. Before the radar system is put into operation, the evaluation procedure can be optimized by means of at least one calibration measurement of the radar system.

[0049] During operation of the radar system, at least the above-described method steps S1 to S3 are performed at least once to determine orientation information related to a relative inclination of a respective first transmitting and receiving unit of the radar system relative to a respective second transmitting and receiving unit of the radar system and / or to a respective absolute inclination of each transmitting and receiving unit of the radar system relative to a predetermined nominal orientation.

[0050] In a further method step S11, the evaluation procedure is redetermined taking into account at least one determined relative inclination of a respective first transmitting and receiving unit of the radar system relative to a respective second transmitting and receiving unit of the radar system and / or a respectively determined absolute inclination of each transmitting and receiving unit of the radar system relative to a predetermined nominal orientation.

[0051] For monostatic and bistatic evaluations involving tilt sensors, the relative tilt angle determined can be The correction values ​​are converted into phase differences of the virtual channels of the sensor or sensor system. With the aid of these correction values, a correction matrix with the same dimensions as the calibration matrix of the sensor or sensor system can be created, which is then multiplied with the calibration matrix by means of a point-by-point multiplication. Alternatively, the estimated angle can also be corrected by a known tilt angle based on the erroneously determined angle value. In this way, the influence and effect of the corresponding tilt can be corrected when process step S10 is subsequently repeated.

[0052] Figures 5a to 5c The schematic partial diagram shows a radar system, which is equipped with at least two transmitting and receiving units, each with at least two antenna elements, and a coordinate system for explaining one specific embodiment of a computer device cooperating therewith.

[0053] Figures 5a to 5c The radar system schematically shown in FIG. 1 has at least two transmitting and receiving units 10 - 1 to 10 - n, each of which has at least two antenna elements 12. Figure 5a and 5bThe computer device 22 schematically shown in the figure can selectively be a subunit of the radar system, or a device that cooperates with the radar system in a spatially separated manner. For example, the radar system can be a radar sensor system and / or a cooperative radar sensor system.

[0054] exist Figure 5a As can be seen in FIG. 1 , all transmitting and receiving units 10 - 1 to 10 - n of the radar system can be present without tilting, so that the orientation of each of the transmitting and receiving units 10 - 1 to 10 - n corresponds to a predetermined nominal orientation. For example, for at least two transmitting and receiving units 10 - 1 to 10 - n, an orientation is preferred in which the respective main transmitting and main receiving directions 14 - 1 to 14 - n of the at least two transmitting and receiving units 10 - 1 to 10 - n are oriented parallel to the predetermined nominal direction 16. As described in accordance with Figure 5a As shown in the projection 20 illustrated in FIG. 2 , when the two transmitting and receiving units 10 - 1 and 10 - n are not present tilted, the two projections or virtual bistable sensors 10 - 1 , 10 - n completely overlap. This can also be described as the virtual bistable antenna elements being located directly above each other.

[0055] In contrast, Figure 5b In the example of , at least one of the two transmitting and receiving units 10 - 1 and 10 - n is deviated / rotated out of its predetermined nominal orientation, which is why the two bistable virtual sensors do not overlap in the projection 20 of the two transmitting and receiving units 10 - 1 and 10 - n. For a better understanding, Figure 5b The projection 20 is shown enlarged in FIG.

[0056] The computer device 22 has an electronic device 22a which is designed and / or programmed to select / be selected by means of the electronic device 22a from among a plurality of radar signals transmitted and received by means of the radar system at least one first radar signal transmitted by a first transmitting and receiving unit 10-1 or 10-n of the radar system, reflected at a target location outside the radar system, and received by a second transmitting and receiving unit 10-1 or 10-n of the radar system, and a correspondingly assigned second radar signal transmitted by the second transmitting and receiving unit 10-1 or 10-n, reflected at a target location, and received by the first transmitting and receiving unit. The at least one first radar signal and the correspondingly assigned second radar signal are signals which can be identified or read out by means of information 24 stored in a memory unit 22b of the computer device 22, i.e., when the transmitting and receiving units 10-1 and 10-n of the radar system are not present in an inclined manner, a possible first optical length of a first signal path of the corresponding first radar signal is equal to a possible second optical length of a second signal path of the corresponding second radar signal. Furthermore, the electronic device 22a is additionally designed and / or programmed such that, by means of the electronic device 22a, taking into account a self-determined or provided phase difference ΔΦ between the respective first radar signal and the respective second radar signal, directional information about the relative inclination of the first transmitting and receiving unit 10-1 or 10-n with respect to the second transmitting and receiving unit 10-1 or 10-n can be determined / determined. For example, the electronic device 22a can be designed / programmed to determine the respective phase difference ΔΦ from the data 26-1 and 26-n of the transmitting and receiving units 10-1 and 10-n of the radar system and to further evaluate it to determine the directional information. This is done by means of Figure 5c The coordinate system of FIG. 1 is schematically shown, the abscissa of which represents the position x of the virtual antenna element / projection of the virtual bistable sensor, and the ordinate represents the determined phase difference ΔΦ. In particular, the phase difference ΔΦ can be a phase difference ΔΦ of complex spectral values ​​between the corresponding first radar signal and the corresponding second radar signal.

[0057] The use of two or more antenna elements and thus the positions of virtual redundant antenna elements in x is particularly advantageous here, since at least two redundant virtual antenna positions are required to detect phase jumps of 360° and the robustness of determining the tilt increases with the number of antenna elements.

[0058] As an advantageous extension, the electronic device 22a can also be designed / programmed to perform the above-mentioned method steps. In particular, at least one control signal 28 can be output / output to the corresponding transmitting and receiving units 10-1 and 10-n (taking into account the determined orientation information related to the relative absolute inclination of the transmitting and receiving units relative to a predetermined nominal orientation) by means of the electronic device 22 for at least one of the transmitting and receiving units 10-1 and 10-n to the own orientation devices 30-1 and 30-n of the corresponding transmitting and receiving units 10-1 and 10-n, so that the actual orientation of the corresponding transmitting and receiving units 10-1 and 10-n can be set / set by means of the controlled orientation devices 30-1 and 30-n according to the nominal orientation. The corresponding orientation devices 30-1 and 30-n can be understood as actuators, for example actuators with stepper motors. However, as mentioned above, the electronic device 22a can also perform the correction without using such actuators.

Claims

1. A computer device (22) for a radar system, the radar system being equipped with at least two transmitting and receiving units (10) each having at least two antenna elements (12), characterized in that: An electronic device (22a) is provided, which is designed and / or programmed so that by means of the electronic device (22) at least one first radar signal (18-1a) transmitted by a first transmitting and receiving unit (10-1) of the radar system, reflected at a target position located outside the radar system and received by a second transmitting and receiving unit (10-n) of the radar system can be selected from a plurality of radar signals (18) transmitted and received by means of the radar system, and correspondingly a second radar signal (18-2a) transmitted by the second transmitting and receiving unit (10-n), reflected at the target position and received by the first transmitting and receiving unit (10-1) can be selected, for which radar signal it is possible to identify or read out by means of information (24) stored in a storage unit (22b) of the computer device (22) that, when the transmitting and receiving unit (10) of the radar system is not present, a possible first optical length of a first signal path of the first radar signal (18-1a) is equal to a possible second optical length of a second signal path of the second radar signal (18-2a); The electronic device (22a) is additionally designed and / or programmed such that, taking into account a self-determined or provided phase difference between the first radar signal (18-1a) and the second radar signal (18-2a), orientation information relating to the relative inclination of the first transmitting and receiving unit (10-1) relative to the second transmitting and receiving unit (10-n) can be determined by means of the electronic device (22a).

2. The computer device (22) according to claim 1, for use in a radar system equipped with n transmitting and receiving units (10) each with at least two antenna elements (12), wherein n is a natural number greater than or equal to 3, wherein: The electronic device (22a) is designed and / or programmed in such a way that, by means of the electronic device (22a), a respective first radar signal and a respective second radar signal can be selected from a plurality of radar signals (18) transmitted and received by means of the radar system, for each of n transmitting and receiving units (10) as a respective first transmitting and receiving unit and for each of n-1 further transmitting and receiving units (10) as a respective second receiving unit, the radar signals can be identified or read out by means of the stored information (24), when the transmitting and receiving units (10) of the radar system are not present in an inclined manner, the possible first optical length of the respective first signal path of the respective first radar signal is equal to the possible second optical length of the respective second signal path of the respective second radar signal, and taking into account the respective phase difference between the respective first radar signal and the respective second radar signal, the directional information relating to the respective relative inclination of the respective first transmitting and receiving unit with respect to the respective second transmitting and receiving unit can be determined by means of the electronic device (22a).

3. The computer device (22) according to claim 2, wherein: The electronic device (22a) is designed and / or programmed to determine, if for at least two transmitting and receiving units (10-2, 10-n) a relative inclination equal to zero is determined as the orientation information At least one part of the at least two transmitting and receiving units (10-2, 10-n) having a relative inclination equal to zero can be selected as a reference unit (10-2, 10-n) by means of the electronic device (22a), and the absolute inclination equal to zero of at least one reference unit (10-2, 10-n) relative to a predetermined nominal orientation can be determined as the orientation information and, if at least one of the transmitting and receiving units (10-1) is not selected as a reference unit (10-2, 10-n), a relative inclination of at least one transmitting and receiving unit (10-1) not selected as a reference unit (10-2, 10-n) relative to the at least one reference unit (10-2, 10-n) can be determined as the orientation information as an absolute inclination of the corresponding transmitting and receiving unit (10-1) relative to the predetermined nominal orientation. part of.

4. The computer device (22) according to claim 3, wherein: The electronic device (22a) is designed and / or programmed to, by means of the electronic device (22a) for at least one of the transmitting and receiving units (10), determine the orientation information related to the respective absolute inclination of the transmitting and receiving unit relative to a predetermined nominal orientation. In the case of a transmission and reception unit (10), at least one control signal (28) can be output to the own orientation device (30) of the corresponding transmission and reception unit (10), so that the actual orientation of the corresponding transmission and reception unit (10) can be set according to the nominal orientation by means of the controlled orientation device (30).

5. The computer device (22) according to any one of the preceding claims, wherein: The electronic device (22a) is designed and / or programmed to be able to determine, by means of the electronic device (22a), environmental information about at least one part of the environment of the radar system, taking into account a plurality of radar signals (18) transmitted and received by means of the radar system and additionally taking into account a predetermined evaluation procedure, wherein the orientation information determined by means of the electronic device (22a) taking into account a relative inclination of the respective first transmitting and receiving unit with respect to the respective second transmitting and receiving unit and / or a respective absolute inclination of each transmitting and receiving unit (10) with respect to a predetermined nominal orientation In this case, the evaluation procedure can be re-determined.

6. The computer device (22) according to any one of the preceding claims, wherein: A corresponding first radar signal (18-1a) is transmitted by a first antenna element (12-1a) of a corresponding first transmitting and receiving unit (10-1), reflected at the target position and received by a second antenna element (12-nb) of a corresponding second transmitting and receiving unit (10-n), and a corresponding second radar signal (18-2a) is transmitted by a third antenna element (12-na) of the second transmitting and receiving unit (10-n), reflected at the target position and received by a fourth antenna element (12-1b) of the first transmitting and receiving unit (10-1).

7. The computer device (22) of claim 6, wherein: When the corresponding first transmitting and receiving unit (10-1) and the corresponding second transmitting and receiving unit (10-n) are not present obliquely, the first vector from the first antenna element (12-1a) of the corresponding first transmitting and receiving unit (10-1) to the fourth antenna element (12-1b) of the first transmitting and receiving unit (10-1) is equal to the second vector from the third antenna element (12-na) of the corresponding second transmitting and receiving unit (10-n) to the second antenna element (12-nb) of the second transmitting and receiving unit (10-n).

8. A radar system having at least two transmitting and receiving units (10), each of which has at least two antenna elements (12); and Computer device (22) according to any one of the preceding claims.

9. The radar system according to claim 8, wherein: The radar system is a radar sensor system and / or a cooperative radar sensor system.

10. A method for testing a radar system, the radar system being equipped with at least two transmitting and receiving units (10) each having at least two antenna elements (12), characterized in that The following steps are provided: selecting at least one first radar signal (18-1a) and a corresponding second radar signal (18-2a) from a plurality of radar signals (18) transmitted and received by means of the radar system, the first radar signal being transmitted by a first transmitting and receiving unit (10-1) of the radar system, being reflected at a target position outside the radar system and being received by a second transmitting and receiving unit (10-n) of the radar system, and the second radar signal being transmitted by the second transmitting and receiving unit (10-n), being reflected at the target position and being received by the first transmitting and receiving unit (10-1), so that when the transmitting and receiving unit (10) of the radar system is not present in an inclined manner, a possible first optical length of a first signal path of the first radar signal (18-1a) is equal to a possible second optical length (S1) of a second signal path of the second radar signal (18-2a); Obtaining a phase difference (S2) between the first radar signal (18-1a) and the second radar signal (18-2a); and Taking into account the determined phase difference, determining orientation information about the relative inclination of the first transmitting and receiving unit (10-1) relative to the second transmitting and receiving unit (10-n) (S3).

11. The method according to claim 10, for testing a radar system having n transmitting and receiving units (10) each with at least two antenna elements (12), wherein n is a natural number greater than or equal to 3, wherein: A respective first radar signal and a respective second radar signal are selected from a plurality of radar signals (18) transmitted and received by means of the radar system, for each of n transmitting and receiving units (10) as a respective first transmitting and receiving unit and for each of n-1 further transmitting and receiving units (10) as a respective second receiving unit, so that when the transmitting and receiving units (10) of the radar system are not present at an inclination, the possible first optical length of the respective first signal path of the respective first radar signal is equal to the possible second optical length of the respective second signal path of the respective second radar signal, and the directional information relating to the respective relative inclination of the respective first transmitting and receiving unit with respect to the respective second transmitting and receiving unit is determined taking into account the respective phase difference between the respective first radar signal and the respective second radar signal 12. The method according to claim 11, wherein: If a relative inclination equal to zero is determined for at least two transmitting and receiving units (10-2, 10-n) as the directional information at least one of the at least two transmitting and receiving units (10-1, 10-n) having the relative inclination equal to zero is selected as a reference unit (10-1, 10-n), and the absolute inclination equal to zero of at least one reference unit (10-1, 10-n) relative to a predetermined nominal orientation is determined as the orientation information and, if at least one of the transmitting and receiving units (10-1) is not selected as a reference unit (10-1, 10-n), a relative inclination of at least one transmitting and receiving unit (10-1) not selected as a reference unit (10-1, 10-n) relative to at least one reference unit (10-1, 10-n) is determined as the orientation information as an absolute inclination of the corresponding transmitting and receiving unit (10-1) relative to the predetermined nominal orientation. part of.

13. A method for operating a radar system, the radar system being equipped with at least two transmitting and receiving units (10) each having at least two antenna elements (12), characterized in that The following steps are provided: Testing the radar system according to the method of claim 12; as well as Taking into account the determined orientation information relating to the respective absolute inclination of the transmitting and receiving units relative to the predetermined nominal orientation In the case of the transmission and reception unit (10), at least one control signal (28) for at least one of the transmission and reception units (10) can be output to a directional device (30) of the corresponding transmission and reception unit (10), As a result, the actual orientation of the corresponding transmitting and receiving device (10) is set (S4) by means of the actuated orientation device (30) according to the nominal orientation.

14. A method for determining environmental information about at least one local environment of a radar system, the radar system being equipped with at least two transmitting and receiving units (10) each having at least two antenna elements (12), the method comprising the following steps: Determining the environmental information (S10) about at least the part of the environment of the radar system by taking into account a plurality of radar signals (18) transmitted and received by means of the radar system and additionally taking into account a predetermined evaluation procedure; Features The following steps are provided: Testing the radar system according to the method of any one of claims 10 to 12; and Taking into account the determined orientation information relating to at least one relative inclination of the respective first transmitting and receiving unit with respect to the respective second transmitting and receiving unit and / or relating to the respective absolute inclination of each transmitting and receiving unit (10) with respect to a predetermined nominal orientation In this case, the evaluation procedure is re-determined (S11).

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