Computer device and method for investigating a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element

Abstract

The invention relates to a computer device (20) and a method for investigating a radar system equipped with at least two transmitting and receiving units (10-1 to 10-n), each with at least one antenna element, by: determining at least one probability distribution for at least one object with respect to a probable position of the respective object in an angular spectrum based on radar signals transmitted by the at least two transmitting and receiving units (10-1 to 10-n), reflected by the at least one object, and received by the at least two transmitting and receiving units (10-1 to 10-n); determining a mean width of the probability distributions in the angular spectrum determined within a predetermined time interval and within a predetermined angular range of the angular spectrum.and specifying position information regarding a displacement of at least one of the at least two transmitting and receiving units (10-1 to 10-n) from their respective target positions, taking into account the determined mean latitude.

Description

[0001] The invention relates to a computer device for a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element, and to a radar system. The invention also relates to a method for examining a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element. Furthermore, the invention relates to a method for operating a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element, and to a method for determining environmental information relating to at least one partial environment of a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element. State of the art

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

[0003] The present invention provides a computer device for a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element, having the features of claim 1, a radar system with the features of claim 7, a method for examining a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element, having the features of claim 9, a method for operating a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element, having the features of claim 11, and a method for determining environmental information relating to at least one partial environment of a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element, having the features of claim 12. Advantages of the invention

[0004] The present invention provides advantageous possibilities for detecting a lateral adjustment / shift 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 one antenna element, from their respective predetermined target orientation. The present invention can thus be used to detect incorrect installation of the at least two transmitting and receiving units of the respective radar system, damage to the radar system, for example, due to mechanical contact with a foreign object, and / or impairment of the respective radar system due to environmental influences, such as, in particular, heat or wind pressure on the bumper.By means of the present invention, measures can then also be implemented by means of which the lateral adjustment / shift of the at least one transmitting and receiving unit can be corrected and / or compensated for by means of a correspondingly adjusted operation of the respective radar system. The present invention can therefore be used not only to detect the lateral adjustment / shift of the at least one transmitting and receiving unit of the respective radar system, but also to advantageously react to this detected error. The present invention thus contributes to improving the operation of the respective radar system and increasing its service life.

[0005] In an advantageous embodiment of the computer device, in which the target positions of the at least two transmitting and receiving units lie in a plane aligned parallel to the gravitational axis, the electronic device is designed and / or programmed such that, by means of the electronic device, as at least part of the position information, information relating to a displacement of at least one of the at least two transmitting and receiving units from its respective target position along a first spatial axis, which lies within the predetermined plane and is aligned parallel to the gravitational axis, can be determined.Alternatively or additionally, the electronic device can also be designed and / or programmed such that, by means of the electronic device, information relating to a displacement of at least one of the at least two transmitting and receiving units from its respective target position along a second spatial axis, which lies within the predetermined plane and is oriented perpendicular to the gravitational axis, can be defined as at least part of the position information. Likewise, by means of the electronic device, information relating to a displacement of at least one of the at least two transmitting and receiving units from its respective target position along a third spatial axis, which is oriented perpendicular to the predetermined plane, can be defined as at least part of the position information.This also allows a three-dimensional lateral adjustment / displacement of the at least one transmitting and receiving unit of the radar system to be reliably detected by means of the computer device and / or quantitatively expressed by means of a corresponding physical quantity.

[0006] Preferably, the electronic device is designed and / or programmed such that, by means of the electronic device, at least one control signal can be output to a dedicated displacement device of the respective transmitting and receiving unit for at least one of the transmitting and receiving units, taking into account the specified position information, such that a respective actual position of the respective transmitting and receiving unit can be adjusted by means of the controlled displacement device in accordance with the respective target position. The lateral adjustment / displacement of the at least one transmitting and receiving unit of the radar system can thus be corrected without any personnel expenditure.

[0007] As a further advantageous development, the electronic device can also be designed and / or programmed such that, by means of the electronic device, environmental information relating to at least the partial environment of the radar system can be determined, taking into account a plurality of radar signals transmitted and received by the at least two transmitting and receiving units and additionally taking into account a predefined evaluation program. The evaluation program can be redefined by means of the electronic device, taking into account the defined position information. By redefined the evaluation program, the evaluation of the radar signals can be adapted to a detected lateral adjustment / shift of the at least one transmitting and receiving unit of the radar system in such a way that continued reliable operation of the radar system is ensured.

[0008] A radar system with a corresponding computing device and at least two transmitting and receiving units, each with at least one antenna element, also has the advantages described above. The radar system can be, for example, a radar sensor system and / or a cooperative radar sensor system. The radar system can thus also be, for example, a system with an evaluation unit and various remote antenna arrays with transmitting and receiving antennas, or a central processing unit and such antenna arrays. Likewise, the radar system can also be a COOP system, which comprises various synchronized radar sensors.

[0009] Likewise, implementing a corresponding method for examining a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element, also achieves the advantages explained above. It should be noted that the method can be further developed according to the embodiments of the computing device explained above.

[0010] For example, when executing the method, a first mean width can be determined from probability distributions determined using a specific one of the at least two transmitting and receiving units, and a second mean width can be determined from probability distributions determined without using the specific transmitting and receiving unit, wherein the position information regarding a displacement of the specific transmitting and receiving unit from its target position is determined taking into account the first mean width and the second mean width. In particular, by comparing the first mean width with the second mean width, it can be reliably determined whether the (co-)use of the specific transmitting and receiving unit leads to a "deterioration / widening" of the mean width.

[0011] Furthermore, a method for operating a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element, and a method for determining environmental information relating to at least a partial environment of a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element, also provide the advantages explained above. These methods can also be further developed according to the embodiments of the computing device described above. Short description of the drawings

[0012] Further features and advantages of the present invention are explained below with reference to the figures. They show: Fig. 1A to 1C show a schematic representation of a radar system with at least two transmitting and receiving units, each with at least one antenna element, a flow chart and coordinate systems for explaining an embodiment of the method for examining the radar system; Fig. 2 a flowchart for explaining the method for operating a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element; Fig. 3 a flowchart for explaining an embodiment of the method for determining environmental information relating to at least one partial environment of a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element; and Fig. 4A to 4C show a schematic representation of a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element, and images of at least one partial environment recorded by the radar system to explain an embodiment of a computer device interacting therewith. Embodiments of the invention

[0013] Fig. 1A to 1C show a schematic representation of a radar system with at least two transmitting and receiving units, each with at least one antenna element, a flow chart and coordinate systems for explaining an embodiment of the method for examining the radar system.

[0014] The Fig. The radar system schematically depicted in Figure 1Aa 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 one (not sketched) antenna element. The graphic representation of exactly four transmitting and receiving units 10-1, 10-2, 10-3, and 10-n in Fig. 1Aa is to be interpreted only as an example. The at least two transmitting and receiving units 10-1 to 10-n can optionally have the same total number of antenna elements (per transmitting and receiving unit 10-1 to 10-n) or differ in their total number of antenna elements (per transmitting and receiving unit 10-1 to 10-n). However, the at least two transmitting and receiving units 10-1 to 10-n are to be understood as units, each of which is preferably designed / suitable for both transmitting and receiving radar signals.

[0015] The at least two transmitting and receiving units 10-1 to 10-n of the radar system are understood to be spatially separated units. The at least two transmitting and receiving units 10-1 to 10-n can, for example, be sub-devices of the radar system that 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 (not sketched) carrier. Alternatively, the at least two transmitting and receiving units 10-1 to 10-n can also represent a cooperative radar sensor system. In monostatic operation of the radar system, a radar signal transmitted 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 its reflection from an object.In the bistatic case of operation, the radar signal can be received by another transmitting and receiving unit 10-1 to 10-n even after its reflection from the object.

[0016] As in Fig. 1Aa is illustrated by the arrows 12, at least one of the transmitting and receiving units 10-1 to 10-n can also be adjusted or shifted from its predetermined target position. The respective target position of the respective transmitting and receiving unit 10-1 to 10-n can be understood, for example, as a desired position of its phase center of gravity or its volume center. The adjustment / shift of at least one of the transmitting and receiving units 10-1 to 10-n from its predetermined target position, illustrated by the arrows 12, can be caused, for example, by improper installation of the radar system, damage to the radar system, specifically by a foreign object hitting at least one of the transmitting and receiving units 10-1 to 10-n, or by environmental influences, such as, in particular, thermal stress.

[0017] A possible adjustment / shift of at least one of the transmitting and receiving units 10-1 to 10-n of the radar system from its predetermined target position can be reliably detected by means of the method described below and / or quantitatively determined by means of a corresponding physical quantity.

[0018] For this purpose, when executing the method in a process step S1 (see Fig. 1Ab) When evaluating radar signals transmitted by the at least two transmitting and receiving units 10-1 to 10-n of the radar system, reflected by at least one object, and received by the at least two transmitting and receiving units 10-1 to 10-n, at least one probability distribution / correlation curve is determined for the at least one object. The respective curve is obtained by an angle estimate. The at least one object is to be understood as an object present in at least one partial environment of the radar system. Accordingly, the at least partial environment of the radar system can be understood as a spatial volume that can be "scanned" by means of the radar signals transmitted by the at least two transmitting and receiving units 10-1 to 10-n and from which reflected radar signals can be received by the at least two transmitting and receiving units 10-1 to 10-n.

[0019] When executing method step S1, the respective probability distribution is determined in an angular spectrum representing at least part of the radar system's environment. Preferably, a probability distribution is determined for each target (according to spectrum, CFAR, peak detection). The angular distributions of the angular spectrum can be fixedly specified for the radar system or dependent on a variety of conditions. The probability distribution determined during the execution of method step S1 represents a distribution with respect to a probable position of the respective object.

[0020] The method step S1 can be executed as often as desired, whereby a probability distribution is determined for a large number of different objects in at least part of the environment of the radar system. The coordinate systems of the Fig. 1 Ba to 1 Be and 1 Ca to 1 Ce each represent such a probability distribution, with abscissas of the coordinate systems of the Fig. 1 Ba to 1 Be and 1 Ca to 1 Ce indicate an angle range (in degrees / °) and the ordinates indicate an associated probability value.

[0021] The coordinate systems of the Fig. 1Ba to 1Be represent probability distributions of various objects, which are determined by the radar system when all of its transmitting and receiving units 10-1 to 10-n are present in their respective target positions. In contrast, the coordinate systems of the Fig. 1 Ca to 1 Ce Probability distributions of different objects, which are determined by means of the (same) radar system, wherein at least one of the transmitting and receiving units 10-1 to 10-n of the radar system is displaced / shifted from its specified target position. This can be seen by comparing the coordinate systems of the Fig. 1Ba to 1 Be with the coordinate systems of the Fig. 1 Ca to 1Ce, that the adjustment / shift of at least one of the transmitting and receiving units 10-1 to 10-n of the radar system from its predetermined target position leads to an angular widening.

[0022] In a method step S2 of the method described here, an average width σ of the probability distributions defined within a specified time interval and within a specified angular range of the angular spectrum is determined in the angular spectrum. To carry out method step S2, for example, the individual widths σ of the probability distributions defined within the specified time interval and within the specified angular range can first be determined, and these are then averaged to obtain the average width σ as the result.

[0023] Alternatively, the probability distributions defined within the specified time interval and within the specified angular range can first be superimposed in the angular spectrum. For example, in the embodiment described here, the probability distributions of the coordinate systems of the Fig. 1 Ba to 1 Be are superimposed so that their measured or plotted maxima are at 90°. Accordingly, the probability distributions of the coordinate systems of the Fig. 1 Ca to 1 Ce are superimposed in such a way that their measured or plotted maxima are superimposed, for example, at 90°. When superimposing the probability distributions, care is preferably taken to ensure that probability distributions for objects that are present in different angular ranges in relation to the radar system are also superimposed. In this way, it can be ensured that the method described here achieves uniform detection or correction in the beam pattern and that undesirable "squinting" (due to a preference for certain angular segments) is avoided. Furthermore, by adhering to a predetermined threshold value for the correlation quality of the superimposed probability distributions, it can be ensured that (essentially) only probability distributions for a single object are evaluated in the method described here.(If the specified threshold is undershot, it can be assumed with a high degree of probability that the respective probability distribution is based on a "superposition of several object peaks". (Such detections in the distance velocity spectrum are accordingly not used for the detection of a lateral displacement.)

[0024] The superposition of the probability distributions in the angular spectrum can be carried out using equation (Eq. 1) with: μ=1N∗∑i=1NAi, where N is the number of superimposed probability distributions.

[0025] In the coordinate systems of the Fig. 1Bf and Fig. 1Cf, the abscissas represent the angle range (in degrees / °) and the ordinates an associated probability value. The coordinate system of the Fig. 1 Bf shows the superimposed probability distributions of the coordinate systems of the Fig. 1 Ba to 1 Be. Accordingly, in the coordinate system of the Fig. 1 Cf the superimposed probability distributions of the coordinate systems of the Fig. 1 Ca to 1Ce are shown.

[0026] The mean width σ of the superimposed probability distributions in the angular spectrum can then be determined. A normal distribution or Gaussian distribution of the superimposed probability distributions is preferably determined as the mean width σ. Alternatively, however, the mean width σ can also be determined as a half-width of the superimposed probability distributions or a width of the superimposed probability distributions at a given value. The mean width σ can also be described as an angular expansion interval of the superimposed probability distributions.

[0027] Taking into account the determined mean width σ, position information relating to a displacement of at least one of the at least two transmitting and receiving units from its respective target position is then determined in a method step S3. For example, the determined mean width σ can be compared in method step S3 with a predetermined normal value or normal value range, wherein, if the determined mean width σ deviates from the predetermined normal value or normal value range, it is determined at least as part of the position information that at least one of the transmitting and receiving units 10-1 to 10-n is displaced / shifted from its predetermined target position (see Fig. 1 Cf). However, if the determined mean width σ is equal to the specified normal value or if the determined mean width σ is within the specified normal value range, it can still be assumed that all transmitting and receiving units 10-1 to 10-n of the radar system are still in their specified target positions (see Fig. 1 Bf).

[0028] As can be seen from a comparison of the Fig. 1 Bf and 1Cf, the mean width σ increases with (increasing) adjustment / displacement of the transmitting and receiving units 10-1 to 10-n from their target positions. From a mean width σ above the specified normal value or outside the normal value range, it can therefore be reliably assumed that there is an actual lateral adjustment / displacement of at least one of the transmitting and receiving units 10-1 to 10-n from its respective target position. Thus, the mean width σ can be used to reliably detect an actual lateral adjustment / displacement of at least one of the transmitting and receiving units 10-1 to 10-n from its respective target position.

[0029] For better understanding, it is explained here that, although only a possible "deterioration" of the mean width σ can be measured "directly," more precise position information can be determined indirectly based on the possible "deterioration" of the mean width σ. For example, correction matrices can be used for this purpose, each of which corresponds to a possible physical displacement of at least one of the transmitting and receiving units 10-1 to 10-n from its respective target position in a specific direction. By evaluating the detected "deterioration" of the mean width σ using the correction matrices, it is then possible to deduce the actual physical displacement of at least one of the transmitting and receiving units 10-1 to 10-n from its respective target position.

[0030] Another possibility for indirectly determining the position information can be described as a "leave one out method". For this purpose, a first mean width σ can be determined using (or co-using) a specific one of the at least two transmitting and receiving units 10-1 to 10-n, while a second mean width σ is determined beforehand or afterwards without using the specific transmitting and receiving unit 10-1 to 10-n. Based on the first mean width σ and the second mean width σ, in particular based on a comparison of the first mean width σ with the second mean width σ, it can be reliably determined whether the specific transmitting and receiving unit 10-1 to 10-n is still (almost) in its target position.(This is not the case if it can be seen from the comparison of the first mean latitude σ with the second mean latitude σ that the specific transmitting and receiving unit 10-1 to 10-n is (at least partly) responsible for a "deterioration" of the mean latitude σ. The position information can then be determined accordingly. Thus, by determining the mean latitude σ based on radar signals transmitted and received only by some of the transmitting and receiving units 10-1 to 10-n (without using at least one of the transmitting and receiving units 10-1 to 10-n of the radar system), it is also possible to specifically investigate which transmitting and receiving unit 10-1 to 10-n is (laterally) adjusted / shifted from its respective target position.

[0031] Optionally, the respective (lateral) adjustment / shift can also be expressed quantitatively using a corresponding physical quantity by evaluating the respective mean width σ. However, the quantitative determination of the corresponding physical quantity is generally not necessary to correct the physical shift of at least one of the transmitting and receiving units 10-1 to 10-n from its respective target position or to minimize its effects, as described in more detail below.

[0032] As in Fig. 1Aa, the target positions of the at least two transmitting and receiving units 10-1 to 10-n can lie in a plane 16 aligned parallel to the gravitational axis 14. (Alternatively, the target positions of the at least two transmitting and receiving units 10-1 to 10-n can also lie in a curved plane.) If necessary, by evaluating the respective mean width σ of the respectively superimposed probability distributions or the averaged probability distribution determined from the superimposed probability distributions, information regarding a displacement of at least one of the at least two transmitting and receiving units 10-1 to 10-n from its respective target position along a first spatial axis x, which lies within the predetermined plane 16 and is aligned parallel to the gravitational axis 14, can be determined as at least part of the position information.The first spatial axis x can also be understood as a vertical axis. Alternatively or additionally, by evaluating the respective mean width σ, as at least part of the position information, information regarding a displacement of at least one of the at least two transmitting and receiving units 10-1 to 10-n from its respective target position along a second spatial axis +y, which lies within the predetermined plane 16 and is oriented perpendicular to the gravitational axis 14, can be determined. The second spatial axis y can be described as a horizontal axis. Likewise, by evaluating the respective mean width σ, as at least part of the position information, information regarding a displacement of at least one of the at least two transmitting and receiving units 10-1 to 10-n from its respective target position along a third spatial axis z, which is oriented perpendicular to the predetermined plane 16, can be determined.As position information, in particular a respective first adjustment path of at least one of the at least two transmitting and receiving units 10-1 to 10-n from its respective target position along the first spatial axis x, a respective second adjustment path of at least one of the at least two transmitting and receiving units 10-1 to 10-n from its respective target position along the second spatial axis y and / or a respective third adjustment path of at least one of the at least two transmitting and receiving units 10-1 to 10-n from its respective target position along the third spatial axis y can be determined.

[0033] Fig. 2 shows a flow chart for explaining the method for operating a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element.

[0034] In the method described here, at least the method steps S1 to S3 explained above are first executed to determine the position information. Examples of the position information that can be determined in this way have already been listed above.

[0035] In a further method step S4, at least one control signal is then output for at least one of the transmitting and receiving units to a dedicated adjustment device of the respective transmitting and receiving unit. The output of the at least one control signal takes into account the respective specified position information such that a respective actual position of the respective transmitting and receiving unit is adjusted by means of the controlled adjustment device in accordance with the respective target position. For example, when executing method step S4, at least one of the transmitting and receiving units that has been (laterally) adjusted / shifted from its respective target position can be adjusted / shifted back to its desired target position by means of its adjustment device. This ensures a performance of the radar system that (essentially) corresponds to the performance guaranteed when the radar system was new.

[0036] Fig. 3 shows a flowchart for explaining an embodiment of the method for determining environmental information relating to at least one partial environment of a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element.

[0037] In the method described here, in a method step S10, the environmental information relating to at least the partial environment of the radar system is determined, taking into account a plurality of radar signals transmitted and received by the radar system. The environmental information is also determined with additional consideration of a predefined evaluation program. Environmental information that can be determined includes, for example, a respective distance of at least one object in at least the partial environment of the radar system relative to the radar system, a relative speed of the at least one object relative to the radar system, and a respective angle of a position of the at least one object relative to a spatial direction specified for the radar system. However, the examples of the environmental information that can be determined listed here are not to be interpreted in a restrictive manner.

[0038] The evaluation program can be optimized for the radar system prior to commissioning by performing at least one calibration measurement. For example, the evaluation program can also include a steering matrix for all virtual channels of the radar system.

[0039] During operation of the radar system, at least the process steps S1 to S3 explained above are carried out at least once in order to determine the position information.

[0040] In a further method step S11, the evaluation program is then redefined taking into account the defined position information. In this way, influences and effects of the respective adjustment / shift of at least one of the transmitting and receiving units from its specified target position can be corrected. In particular, when redefining the evaluation program, a correction of the steering matrix for all virtual channels can be carried out such that a correspondingly newly determined mean width σ is again equal to the specified normal value or once again lies within the specified normal value range. The correction of the steering matrix can be carried out using a correction matrix of the same dimension, in which each element of the steering matrix is ​​multiplied element by element by a complex pointer of length "one" of the correction matrix.For the complex pointers of the correction matrix, various correction matrix hypotheses can be established, in which the lateral displacement / shift of at least one of the transmitting and receiving units is converted into a corresponding phase advance on the various virtual channels. To avoid "trained squint," the correction matrix should not be optimized based solely on individual angles. Instead, it is advantageous to apply a correction matrix for a large number of "test angles" in order to optimize the evaluation program for the large number of "test angles."

[0041] Fig. 4A to 4C show a schematic representation of a radar system equipped with at least two transmitting and receiving units, each with at least one antenna element, and images of at least one partial environment recorded by the radar system to explain an embodiment of a computer device interacting therewith.

[0042] The Fig. The radar system schematically shown in Figure 4A has at least two transmitting and receiving units 10-1 to 10-n, each with at least one antenna element (not shown). Fig. The computer device 20, also shown schematically in FIG. 4A, can optionally be a subunit of the radar system or a device spatially separated from the radar system that interacts with it. The computer device 20 can, in particular, be an evaluation electronics unit of the radar system. For example, the radar system can be a radar sensor system with remote subarrays and / or a cooperative radar sensor system.

[0043] As in Fig. 4A by means of the arrows 12, at least one of the transmitting and receiving units 10-1 to 10-n can also be adjusted or shifted from its predetermined target position. Fig. Figure 4B shows an image recorded by the radar system when all of its transmitting and receiving units 10-1 to 10-n are in their respective target positions, with an object cluster 22a representing an object in at least one partial environment of the radar system. Fig. 4C shows an image taken by the (same) radar system with an object cluster 22b depicting the same object (in an unchanged position), wherein at least one of the transmitting and receiving units 10-1 to 10-n of the radar system is displaced / shifted from its predetermined target position. This can be seen by comparing the images of the Fig. 4B and Fig.4C, that a lateral displacement of at least one of the transmitting and receiving units 10-1 to 10-n of the radar system from its respective predetermined target position leads to a deterioration in image sharpness. This can also be described as the lateral displacement of at least one of the transmitting and receiving units 10-1 to 10-n of the radar system from its respective predetermined target position triggering a blur in the angular spectrum because, when evaluating the radar signals transmitted and received by the at least two transmitting and receiving units 10-1 to 10-n (e.g., by means of the computer device 20), an initial positioning of the transmitting and receiving units 10-1 to 10-n relative to one another is assumed, which, however, is no longer present. This deteriorates the correlation in the angle estimation, for example, using DML or Bartlett estimation.In the correlation result, “signal energy” from a peak at the actual angle of the respective object is “smeared” into neighboring peaks / angles.

[0044] The computer device 20 has an electronic device 20a which is designed and / or programmed in such a way that, by means of the electronic device 20a, at least one probability distribution for the at least one object with respect to a probable position of the respective object in an angular spectrum representing the at least partial environment of the radar system can be / is determined based on radar signals transmitted by means of the at least two transmitting and receiving units, reflected by at least one object present in the at least partial environment of the radar system and received by means of the at least two transmitting and receiving units.Data 24-1 to 24-n of the transmitting and receiving units 10-1 to 10-n of the radar system relating to the radar signals transmitted and received by means of the at least two transmitting and receiving units can be output from the transmitting and receiving units 10-1 to 10-n to the computing device 20 / its electronic device 20a.

[0045] In addition, the electronic device 20a is designed and / or programmed such that an average width of the probability distributions determined within a predetermined time interval and within a predetermined angular range of the angular spectrum can be determined by means of the electronic device 20a. Position information regarding a displacement of at least one of the at least two transmitting and receiving units 10-1 to 10-n from its respective target position can be determined by means of the electronic device 20a, taking the determined width into account. Thus, the computing device 20 described here also realizes the advantages already explained above.

[0046] As an advantageous development, the electronic device 20a of the computer device 20 can also be designed / programmed to carry out further of the method steps explained above. In particular, by means of the electronic device 20, at least one control signal 26 can be outputted to a dedicated displacement device 28a to 28n of the respective transmitting and receiving unit 10-1 to 10-n for at least one of the transmitting and receiving units 10-1 to 10-n, taking into account the defined position information, such that a respective actual position of the respective transmitting and receiving unit 10-1 to 10-n can be adjusted / is adjusted by means of the controlled displacement device 28a to 28n in accordance with the respective target position. The respective displacement device 28a to 28n can be understood to be an actuator, such as an actuator with a stepper motor. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2019 220 238 A1

[0002]

Claims

[1] Computer device (20) for a radar system equipped with at least two transmitting and receiving units (10-1 to 10-n), each with at least one antenna element, comprising: an electronic device (20a) which is designed and / or programmed in such a way that, by means of the electronic device (20a), at least one probability distribution for the at least one object with respect to a probable position of the respective object in an angular spectrum representing the at least partial environment of the radar system can be determined on the basis of radar signals transmitted by means of the at least two transmitting and receiving units (10-1 to 10-n), reflected by at least one object present in at least one partial environment of the radar system, and received by means of the at least two transmitting and receiving units (10-1 to 10-n); characterized by , that the electronic device (20a) is additionally designed and / or programmed such that by means of the electronic device (20a): - a mean width (σ) of the probability distributions defined within a given time interval and within a given angular range of the angular spectrum can be determined in the angular spectrum, and - taking into account the determined width (σ), position information relating to a displacement of at least one of the at least two transmitting and receiving units (10-1 to 10-n) from their respective target position can be determined. [2] Computer device (20) according to claim 1, wherein the desired positions of the at least two transmitting and receiving units (10-1 to 10-n) lie in a plane (16) aligned parallel to the gravitational axis (14), and wherein the electronic device (20a) is designed and / or programmed such that, by means of the electronic device (20a), as at least part of the position information, information relating to a displacement of at least one of the at least two transmitting and receiving units (10-1 to 10-n) from its respective desired position along a first spatial axis (x), which lies within the predetermined plane (16) and is aligned parallel to the gravitational axis (14), can be determined. [3] Computer device (20) according to claim 1 or 2, wherein the desired positions of the at least two transmitting and receiving units (10-1 to 10-n) lie in the plane (16) aligned parallel to the gravitational axis (14), and wherein the electronic device (20a) is designed and / or programmed such that, by means of the electronic device (20a), as at least part of the position information, information relating to a displacement of at least one of the at least two transmitting and receiving units (10-1 to 10-n) from its respective desired position along a second spatial axis (y), which lies within the predetermined plane (16) and is aligned perpendicular to the gravitational axis (14), can be determined. [4] Computer device (20) according to one of the preceding claims, wherein the desired positions of the at least two transmitting and receiving units (10-1 to 10-n) lie in the plane (16) aligned parallel to the gravitational axis (14), and wherein the electronic device (20a) is designed and / or programmed such that, by means of the electronic device (20a), as at least part of the position information, information relating to a displacement of at least one of the at least two transmitting and receiving units (10-1 to 10-n) from its respective desired position along a third spatial axis (z), which is aligned perpendicular to the predetermined plane (16), can be determined. [5] Computer device (20) according to one of the preceding claims, wherein the electronic device (20a) is designed and / or programmed in such a way that, by means of the electronic device (20a), for at least one of the transmitting and receiving units (10-1 to 10-n), taking into account the defined position information, at least one control signal (26) can be output to a dedicated displacement device (28-1 to 28-n) of the respective transmitting and receiving unit (10-1 to 10-n) in such a way that a respective actual position of the respective transmitting and receiving unit (10-1 to 10-n) can be adjusted by means of the controlled displacement device (28-1 to 28-n) in accordance with the respective target position. [6] Computer device (20) according to one of the preceding claims, wherein the electronic device (20a) is designed and / or programmed such that environmental information relating to the at least partial environment of the radar system can be defined by means of the electronic device (20a) taking into account a plurality of radar signals transmitted and received by means of the at least two transmitting and receiving units (10-1 to 10-n) and additionally taking into account a predetermined evaluation program, and wherein the evaluation program can be redefined by means of the electronic device (20a) taking into account the defined position information. [7] Radar system with: at least two transmitting and receiving units (10-1 to 10-n) each with at least one antenna element; and a computer device (20) according to one of the preceding claims. [8] Radar system according to claim 7, wherein the radar system is a radar sensor system and / or a cooperative radar sensor system. [9] Method for examining a radar system equipped with at least two transmitting and receiving units (10-1 to 10-n), each with at least one antenna element, comprising the step: Determining at least one probability distribution for at least one object present in at least one partial environment of the radar system with respect to a probable position of the respective object in an angular spectrum representing the at least partial environment of the radar system on the basis of radar signals (S1) transmitted by means of the at least two transmitting and receiving units (10-1 to 10-n), reflected by the at least one object and received by means of the at least two transmitting and receiving units (10-1 to 10-n); characterized by the steps: Determining a mean width (σ) of the probability distributions in the angular spectrum (S2) determined within a predetermined time interval and within a predetermined angular range of the angular spectrum; and Determining position information regarding a displacement of at least one of the at least two transmitting and receiving units (10-1 to 10-n) from their respective target position, taking into account the determined width (σ)(S3). [10] Method according to claim 9, wherein a first mean width (σ) is determined from probability distributions determined using a specific one of the at least two transmitting and receiving units (10-1 to 10-n) and a second mean width (σ) is determined from probability distributions determined without using the specific transmitting and receiving unit (10-1 to 10-n), and wherein the position information relating to a displacement of the specific transmitting and receiving unit (10-1 to 10-n) from its desired position is determined taking into account the first mean width (σ) and the second mean width (σ). [11] Method for operating a radar system equipped with at least two transmitting and receiving units (10-1 to 10-n), each with at least one antenna element, characterized by the steps: Examining the radar system according to the method of claim 9; and Outputting at least one control signal (26) for at least one of the transmitting and receiving units (10-1 to 10-n) to a dedicated displacement device (28-1 to 28-n) of the respective transmitting and Receiving unit (10-1 to 10-n) taking into account the specified position information such that a respective actual position of the respective transmitting and receiving unit (10-1 to 10-n) is set by means of the controlled displacement device (28-1 to 28-n) in accordance with the respective target position (S4). [12] Method for determining environmental information relating to at least one partial environment of a radar system equipped with at least two transmitting and receiving units (10-1 to 10-n), each with at least one antenna element, comprising the step: Determining the environmental information relating to at least the partial environment of the radar system, taking into account a plurality of radar signals transmitted and received by means of the at least two transmitting and receiving units (10-1 to 10-n) and additionally taking into account a predetermined evaluation program (S10); characterized by the steps: Examining the radar system according to the method of claim 9; and Redefining the evaluation program taking into account the specified position information (S11).

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