Method and device for operating a radar sensor of a vehicle

Abstract

A device for operating at least one radar sensor of a vehicle is described, wherein the device is configured to operate at least one radar sensor of the vehicle in a standard mode. The device is further configured to determine that a shunting maneuver of the vehicle is being or will be performed, and in response to this determination, to operate the radar sensor of the vehicle in a shunting mode that differs from the standard mode.

Description

[0001] The invention relates to a method and a corresponding device designed to operate a radar sensor of a vehicle.

[0002] A vehicle may have one or more driver assistance systems designed to automatically guide the vehicle longitudinally and / or laterally. In this context, the sensor data from one or more of the vehicle's surrounding sensors are evaluated, e.g., to detect one or more objects in the vehicle's surroundings. The automated longitudinal and / or lateral guidance of the vehicle can then be reliably achieved depending on the one or more detected objects.

[0003] The one or more environmental sensors of the vehicle may include one or more radar sensors, which can be used, for example, to determine the distance from individual objects and / or the speed of movement of individual objects.

[0004] This document deals with the technical task of collecting sensor data from one or more radar sensors of a vehicle in such a way that reliable operation of the vehicle is enabled in different operating scenarios, in particular for shunting operations.

[0005] The problem is solved by each of the independent claims. Advantageous embodiments are described, among other things, in the dependent claims. It should be noted that additional features of a patent claim dependent on an independent patent claim can form a separate invention, independent of the combination of all features of the independent patent claim, without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim, which invention can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

[0006] According to one aspect, a device for operating at least one radar sensor of a (motor) vehicle is described. The device is configured to operate at least one radar sensor of the vehicle in a standard mode. The standard mode can be used, for example, for operating a distance control system of the vehicle. In the standard mode, the radar sensor can have a specific detection range, which is also referred to in this document as the second detection range.

[0007] The device is further configured to determine that a maneuvering maneuver of the vehicle is being performed or will be performed. For this purpose, one or more indicators can be determined that a maneuvering maneuver of the vehicle is being performed or will be performed. It can then be determined in a particularly robust and reliable manner based on the one or more indicators that a maneuvering maneuver of the vehicle is being performed or will be performed.

[0008] The one or more pieces of evidence may include • activating a vehicle’s indicator; • activating a driver assistance system to carry out a manoeuvre; • a vehicle speed equal to or less than a speed threshold; • activating one or more (ultrasonic-based) parking sensors of the vehicle; • Map data for a road travelled by the vehicle indicating that the vehicle is in a parking area; • an input from a user of the vehicle via a user interface of the vehicle to select an automated maneuver; and / or • one or more indicators determined on the basis of sensor data from one or more of the vehicle’s environmental sensors.

[0009] The device is further configured, in response to determining that a maneuvering maneuver of the vehicle is being performed or will be performed, to operate the radar sensor of the vehicle in a maneuvering mode, wherein the maneuvering mode differs from the standard mode. In the maneuvering mode, the radar sensor can (temporarily or permanently) have a specific detection range, which is also referred to in this document as the first detection range. The first detection range can differ from the second detection range. In other words, the radar sensor can, at least temporarily or permanently, have a different detection range in the maneuvering mode than in the standard mode.

[0010] Thus, a device is described that enables one or more radar sensors of a vehicle to be operated in different modes, in particular in a specific maneuvering mode for maneuvers (such as parking maneuvers). This allows the quality of (automated) maneuvers of the vehicle to be improved in an efficient and reliable manner.

[0011] In the maneuvering mode, the radar sensor preferably has an aperture angle that is temporarily or permanently larger than (e.g., 20% or more larger than) in the standard mode. Alternatively or additionally, the radar sensor in the maneuvering mode can have a detection range that is temporarily or permanently smaller than (e.g., 20% or more smaller than) in the standard mode. Alternatively or additionally, the radar sensor in the maneuvering mode can have a detection direction that is more oriented toward the roadway on which the vehicle is parked than in the standard mode. By adapting the operation of the one or more radar sensors in this way, the quality of maneuvering maneuvers can be significantly improved.

[0012] The radar sensor can have a standard antenna and a shunting antenna. The device can be configured to operate the radar sensor in standard mode with the standard antenna and to operate the radar sensor in shunting mode with the shunting antenna. By using different antennas for the different modes, a specific shunting mode for shunting maneuvers (especially for parking maneuvers) can be provided in a particularly reliable manner.

[0013] Alternatively or additionally, the radar sensor can be designed to cause a pivoting of the signal beam emitted and / or received by the radar sensor. In other words, a beam pivoting can be effected. The signal beam can, for example, be pivoted towards the roadway traveled by the vehicle when the radar sensor is operated in maneuvering mode. The beam pivoting can be effected by a single antenna. The vehicle can be designed (e.g. with regard to edges, shapes, thickness of paint layers, thickness of plastic surfaces, etc.) for the different beam directions (e.g. for a standard direction and for a maneuvering direction). The device can be configured to operate the radar sensor in the standard mode with the standard direction and to operate the radar sensor in the maneuvering mode with the maneuvering direction.The shunting direction can be directed further towards the roadway traveled by the vehicle than the standard direction.

[0014] The device can be configured to modulate a radar signal transmitted by the radar sensor using a standard modulation method when the radar sensor is operated in the standard mode, and to modulate the radar signal transmitted by the radar sensor using a shunting modulation method when the radar sensor is operated in the shunting mode, wherein the standard modulation method and the shunting modulation method differ from one another. The standard and shunting modulation methods can be configured such that the shunting modulation method results in higher object detection sensitivity than the standard modulation method. By using different modulation methods, a specific shunting mode for shunting maneuvers (in particular for parking maneuvers) can be provided in a particularly reliable manner.

[0015] The radar sensor can have the first detection range in a first operating mode and the second detection range, which differs from the first detection range, in a second operating mode. The first detection range can have a larger aperture angle than the second detection range.

[0016] In standard mode, the radar sensor can permanently have the second detection range. On the other hand, in maneuvering mode, the radar sensor can alternate between the first detection range and the second detection range at consecutive time intervals. If necessary, switching back and forth between the first and second detection ranges can be performed cyclically. This allows a specific maneuvering mode for maneuvering maneuvers (especially parking maneuvers) to be provided in a particularly reliable manner.

[0017] According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises the device described in this document.

[0018] According to a further aspect, a method for operating at least one radar sensor of a (motor) vehicle is described. The method comprises operating at least one radar sensor of the vehicle in a standard mode (e.g., for highway driving and / or for operating a distance control system). The method further comprises determining that a maneuvering maneuver of the vehicle is being performed or will be performed. Furthermore, in response to the determination, the method comprises operating the radar sensor of the vehicle in a maneuvering mode that differs from the standard mode.

[0019] According to another aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor (e.g., on a vehicle control unit) and thereby to carry out the method described in this document.

[0020] According to a further aspect, a storage medium is described. The storage medium can comprise a software program configured to be executed on a processor and thereby to carry out the method described in this document.

[0021] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described in this document can be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways. Furthermore, features listed in parentheses are to be understood as optional features.

[0022] The invention will be described in more detail below using exemplary embodiments. Fig. 1a exemplary components of a vehicle; Fig. 1b an example parking situation; Fig. 2 exemplary operating modes of a radar sensor; and Fig. 3 is a flowchart of an exemplary method for operating a radar sensor of a vehicle.

[0023] As stated at the beginning, this document deals with increasing the reliability of different operating scenarios of a vehicle. In this context, Fig. 1a shows exemplary components of a vehicle 100. The vehicle 100 includes one or more environmental sensors 102, each configured to capture sensor data (also referred to as environmental data) relating to the surroundings of the vehicle 100. Exemplary environmental sensors 102 include at least one camera, at least one radar sensor, at least one lidar sensor, at least one ultrasonic sensor, etc.

[0024] A (control) device 101 of the vehicle 100 can be configured to evaluate the environmental data, e.g., to detect one or more objects (e.g., other vehicles) in the environment of the vehicle 100. The device 101 can further be configured to effect automated longitudinal and / or lateral guidance of the vehicle 100 based on the environmental data, in particular based on the one or more detected objects. For this purpose, one or more longitudinal and / or lateral guidance actuators 103 (e.g., a drive motor, a braking device, and / or a steering device) of the vehicle can be controlled.

[0025] The vehicle 100 can be operated in different operating scenarios. For example, the vehicle 100 can be operated at a relatively high speed while traveling on a highway or country road. Another operating scenario is a maneuvering maneuver of the vehicle 100, in which the vehicle 100 is parked in or out of a parking space, for example.

[0026] The different operating scenarios may have different requirements for the one or more environmental sensors 102, in particular for one or more radar sensors, of the vehicle 100. The one or more radar sensors of the vehicle 100 may be configured to be adapted to different operating scenarios of the vehicle 100, in particular with regard to the detection range of the respective radar sensor.

[0027] Fig. 1b shows an exemplary parking situation in which the vehicle 100 identifies a parking space 120 using the sensor data from one or more radar sensors and / or initiates an automated parking maneuver into a parking space 120. The sensor data from a radar sensor can be used, in particular, to detect a boundary 121 of the parking space 120 and / or to determine the distance 122 between the vehicle 100 and the boundary 121 of the parking space 120. For this purpose, the one or more radar sensors can be operated in a specific maneuvering mode.

[0028] As in Fig. 2, the one or more radar sensors of the vehicle 100 can each be configured to change the detection range 210, 211, 212 of the respective radar sensor. For example (as in Fig. 2, shown above), a (second) detection area 210 can be used, which has a relatively small (azimuth and / or elevation) angular range (i.e., a relatively small aperture angle) and a relatively large radial extent or range. This allows objects to be detected at a relatively great distance (which is advantageous, for example, when driving on a highway). On the other hand, an obstacle 200 that is located relatively close to the vehicle 100 may not be detected due to the relatively small angular range.

[0029] The detection range 210, 211, 212 of the individual radar sensors can be adapted in particular within the framework of a specific maneuvering mode, in particular parking mode, as shown by way of example in Fig. 2, second from the top. In the shunting mode, a (first) detection area 211 can be used that covers a relatively large (azimuth and / or elevation) angular range (ie, a relatively large aperture angle) and that may have only a relatively small radial extent (ie, range).

[0030] Alternatively or additionally, in the maneuvering mode, the direction of the detection area 212 (towards the roadway) can be pivoted, as shown for example in Fig. 2, third from the top. The pivoted detection area 212 can optionally have the same radial extent as the original detection area 210, but with an angular range shifted from the original angular range. The angular range can be shifted, in particular, toward the roadway traveled by the vehicle 100.

[0031] In Fig. Figure 2, bottom, illustrates the use of different detection ranges 210, 211. The individual radar sensors can each be configured to switch between the different detection ranges 210, 211. For example, in a first time interval, the first detection range 211 (with the relatively large angular range and the relatively small radial extent) can be used to detect objects in the near range. In a (subsequent) second time interval, the second detection range 210 (with the relatively small angular range and the relatively high radial extent) can be used to detect objects in the far range.

[0032] The (control) device 101 of the vehicle 100 can be configured to detect that a maneuvering maneuver of the vehicle 100 is to be performed. This can be detected, for example, • based on the fact that a turn signal of the vehicle 100 was activated; • based on the fact that a driver assistance system was activated to carry out a manoeuvre; • based on the fact that the vehicle 100 has a relatively low driving speed; • based on the fact that one or more (possibly ultrasonic-based) parking sensors of the vehicle 100 have been activated; • based on map data for the road travelled by the vehicle 100 (which, for example, indicate that the vehicle 100 is in a parking lot); • based on an input from a user of the vehicle 100 via the user interface 104 of the vehicle 100; and / or • based on the sensor data from one or more environmental sensors 102 of the vehicle 100.

[0033] In response to the detection that a maneuvering maneuver of the vehicle 100 is to be performed, a maneuvering mode of one or more radar sensors of the vehicle 100 can be activated. Activating the maneuvering mode can result in the detection range 210, 211, 212 of the individual radar sensors of the vehicle 100 being adjusted. In particular, the angular range and / or the radial extent of the detection range 210, 211, 212 can be adjusted. If necessary, a cyclical change of the detection range 210, 211, 212 can be effected within the scope of the maneuvering mode.

[0034] By operating the one or more radar sensors in a specific shunting mode, the quality of (possibly automated) shunting maneuvers of the vehicle 100 can be increased in an efficient and reliable manner.

[0035] In order to be used for parking scenarios, the radar sensor of a vehicle 100 preferably has one or more properties that differ from one or more properties for other operating scenarios (e.g., for driving on a highway). This particularly applies to the beam cone (i.e., the detection range 210, 211, 212) of the radar sensor. So that the radar sensor can correctly detect parked cars and / or objects and / or distinguish them from other objects, the radar sensor in a maneuvering mode preferably has a relatively large beam cone and / or aperture angle (e.g., ≥30° with respect to the elevation angle). If the antennas of the radar sensor 102 are designed for such a large aperture angle, the energy density typically decreases across the entire aperture angle range, which can, for example, affect the range and / or the angular separation quality.

[0036] As described, a parking mode- and / or speed-dependent switching of the aperture angle of a radar sensor can be effected. The change in the aperture angle (ie, the detection range 210, 211, 212) can be effected, • by switching antennas of the radar sensor; and / or • (preferably) by beam modification and / or beam steering of the RF (radio frequency) signal of the radar sensor.

[0037] By changing the opening angle, the range can be temporarily exchanged for the width of the opening angle range when the vehicle 100 is operated in the maneuvering or parking mode.

[0038] The radar sensor can be configured to reconfigure the radar sensor hardware using software such that a different beam cone results when maneuvering mode is activated. Activating maneuvering mode can cause one or more rear and / or front radar sensors of the vehicle 100 to have an adapted detection zone 211 with an enlarged aperture angle and, if necessary, a reduced range. This allows objects 200 in the immediate vicinity of the vehicle 100 to be reliably detected. Alternatively or additionally, the beam of the one or more radar sensors can be directed (toward the roadway) in maneuvering mode to detect objects 200 in the immediate vicinity.

[0039] If necessary, the detection range 210, 212 of one or more radar sensors can be alternated (e.g., cyclically) in shunting mode. This can further increase the reliability of shunting maneuvers.

[0040] It can therefore be used in a shunting mode • a beam change of one or more radar sensors is caused; • beam steering of one or more radar sensors can be effected; • an adapted bandwidth of one or more radar sensors can be achieved for increased distance resolution; • an adapted modulation of one or more radar sensors (e.g. for an adapted compromise between Doppler information and exposure time for relatively weakly detectable objects such as a curb); • an adapted operating mode, e.g. an alternating radar mode (near / far) for parallel processing of parking and driving functions; and / or • a deliberate reduction in range can be achieved in order to achieve an increased distance resolution with the same computing power.

[0041] Fig.3 shows a flowchart of a (possibly computer-implemented) method 300 for operating at least one radar sensor of a (motor) vehicle 100. The method 300 comprises operating 301 at least one radar sensor of the vehicle 100 in a standard mode. In the standard mode, the radar sensor can have the second detection range 210 (e.g., with a relatively small aperture angle or with a relatively small angular range; and / or with a relatively large radial range).

[0042] The method 300 further includes determining 302 that a maneuvering maneuver of the vehicle 100 is being performed or will be performed. This may be accomplished based on one or more of the indicators described herein.

[0043] Furthermore, in response to determining 302, method 300 includes operating 303 the radar sensor of vehicle 100 in a maneuvering mode that differs from the standard mode. In the maneuvering mode, the radar sensor may have the first detection range 211 (e.g., with a relatively large aperture angle or a relatively large angular range; and / or with a relatively small radial range). For example, the aperture angle of the first detection range 211 may be 20% or more larger than the aperture angle of the second detection range 210.

[0044] By operating the radar sensor in different modes, especially in a shunting mode, the quality of the environment detection and, based on this, the quality of shunting maneuvers can be increased in an efficient manner.

[0045] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

[1] Device (101) for operating at least one radar sensor of a vehicle (100); wherein the device (101) is configured - to operate at least one radar sensor of the vehicle (100) in a standard mode; - to determine that a shunting manoeuvre of the vehicle (100) is being or will be carried out; and - in response to the determining, to operate the radar sensor of the vehicle (100) in a maneuvering mode different from the standard mode. [2] Device (101) according to claim 1, wherein the radar sensor in the maneuvering mode at least temporarily has a different detection range (211, 212) than in the standard mode. [3] Device (101) according to one of the preceding claims, wherein the radar sensor is in the maneuvering mode - has an opening angle that is temporarily or permanently larger than in the standard mode; and / or - has a detection range that is temporarily or permanently smaller than in standard mode; and / or - has a detection direction that is more oriented towards a roadway on which the vehicle (100) is located than in the standard mode. [4] Device (101) according to one of the preceding claims, wherein - the radar sensor has a first detection range (211) in a first operating mode and a second detection range (210) in a second operating mode which differs from the first detection range (211); - the first detection area (211) in particular has a larger opening angle than the second detection area (210); - the radar sensor permanently has the second detection range (210) in the standard mode; and - the radar sensor in the shunting mode alternately has the first detection range (211) and the second detection range (210) at successive time intervals. [5] Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine one or more indications that a shunting manoeuvre of the vehicle (100) is being carried out or will be carried out; and - to determine on the basis of one or more indications that a shunting manoeuvre of the vehicle (100) is being or will be carried out. [6] Device (101) according to claim 5, wherein the one or more indicia comprise - activating a turn signal of the vehicle (100); - activating a driver assistance system to carry out a shunting manoeuvre; - a driving speed of the vehicle (100) which is equal to or less than a speed threshold value; - activating one or more parking sensors of the vehicle (100); - map data for a road traveled by the vehicle (100) indicating that the vehicle (100) is located in a parking area; - an input from a user of the vehicle (100) via a user interface (104) of the vehicle (100) for selecting an automated maneuver; and / or - one or more indicators determined on the basis of sensor data from one or more environmental sensors (102) of the vehicle (100). [7] Device (101) according to one of the preceding claims, wherein - the radar sensor has a standard antenna and a shunt antenna; and - the device (101) is arranged - to operate the radar sensor in standard mode with the standard antenna; and - to operate the radar sensor in shunting mode with the shunting antenna. [8] Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to modulate a radar signal transmitted by the radar sensor using a standard modulation method when the radar sensor is operated in the standard mode; and - to modulate the radar signal transmitted by the radar sensor using a shunting modulation method when the radar sensor is operated in shunting mode; the standard modulation method and the shunting modulation method are different from each other. [9] Device (101) according to claim 8, wherein the standard and shunt modulation methods are designed such that the shunt modulation method results in a higher object detection sensitivity than the standard modulation method. [10] Method (300) for operating at least one radar sensor of a vehicle (100); the method (300) comprising - operating (301) at least one radar sensor of the vehicle (100) in a standard mode; - determining (302) that a shunting maneuver of the vehicle (100) is being or will be performed; and - in response to the determining (302), operating (303) the radar sensor of the vehicle (100) in a maneuvering mode different from the standard mode.

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