A method for early recognition of precipitation deposits in a radome and for open-loop control and / or closed-loop control of at least one heating element of the radome, a computer-readable (storage) medium, and a temperature-adjustable radar sensor system

Abstract

Present a solution on how to improve the recognition of precipitation deposits in the radome of a vehicle's radar sensor. 【Solution】 - A step of transmitting a transmission signal 3 using a transmission antenna 4, - A step of detecting received signals 5, 5' using a reception antenna 6, - A step of identifying an attenuation parameter representing the attenuation of the received signals 5, 5' caused by precipitation deposits 10, - A step of outputting a heating signal 13 for open-loop control and / or closed-loop control of a heating element 9 of the radome 7 In a method for early recognition of precipitation deposits in the radome 7 of a vehicle's radar sensor 2 and for open-loop control and / or closed-loop control of the heating element 9 of the radome 7, comprising: - Based on the attenuation parameter, precipitation deposits 10 in the heating range 8 of the radome 7 are recognized, and at least one heating range 8 represents a partial range of the radome 7.

Description

Technical Field

[0001] The present invention relates to a method for early recognition of precipitation deposits in a radome of a vehicle radar sensor and for open-loop control and / or closed-loop control of at least one heating element of the radome. Furthermore, the present invention relates to a computing device and a computer-readable (storage) medium for implementing such a method. Finally, the present invention relates to a temperature-adjustable radar sensor system for a vehicle.

Background Art

[0002] Vehicles with modern assist systems often include radar sensors, for example, used to detect objects around the vehicle. In particular, such radar sensors are used together with longitudinal control systems. To protect the radar sensor from environmental influences such as the influence of the weather, the radar sensor is installed behind a so-called radome. At this time, in low-temperature weather conditions, precipitation in the form of ice, snow, or the like may accumulate on the radome of the radar sensor. Such precipitation deposits may have a negative impact on the function and performance of the radar sensor. Therefore, in particular, such precipitation deposits may also affect the availability of the assist system of the vehicle.

[0003] To avoid precipitation deposits, for example, it is possible to provide a heating element in the radome. In this case, a heating element in the form of a heating filament, for example, can be arranged inside the radome. The heating element can be controlled (operated) using a heating signal. As a result, the temperature of the radome can be adjusted. Therefore, it is possible to remove precipitation deposits of ice, snow, and / or the like.

[0004] At this time, it is possible to control the heating element, for example, depending on the outside air temperature so as not to continuously heat the radome. Furthermore, other characteristic quantities on which the heating element can depend for control (operation) are known.

[0005] Patent Document 1 discloses, for example, a system for a radome of a radar for a vehicle with a prime mover. The heating system includes a heating element for heating the radome and a control unit connected to the heating element for operating the heating element. The control unit is configured to receive or identify a quantity characteristic of the outside air temperature and to receive or identify a quantity related to the melting point of precipitation deposits on the outer radome surface. At least one temperature threshold is determined depending on the quantity related to the melting point, and the heating element is operated depending on a threshold comparison of the outside air temperature with the temperature threshold.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] The problem of the present invention is to present a solution means for how to improve the recognition of precipitation deposits in the radome of a vehicle radar sensor. Another problem of the present invention is to present a solution means for how to improve the open-loop control and / or closed-loop control of radome heating.

Means for Solving the Problems

[0008] This problem is solved according to the present invention by an arithmetic unit, by a computer-readable (storage) medium, and by a temperature-adjustable radar sensor system for a vehicle, having the features according to the independent claims. Advantageous developments of the present invention are described in each dependent claim.

[0009] The method according to the invention for early recognition of precipitation deposits in the radome of a vehicle's radar sensor and for open-loop control and / or closed-loop control of at least one heating element of the radome includes transmitting a transmission signal using at least one transmission antenna of the radar sensor. The method further includes detecting a reception signal using at least two reception antennas of the radar sensor, the reception signal representing the transmission signal reflected by an object in the surroundings of the vehicle. Additionally, the method includes identifying an attenuation parameter representing the attenuation of the reception signal due to precipitation deposits. Finally, the method includes outputting a heating signal for open-loop control and / or closed-loop control of at least one heating element of the radome, the heating signal being output depending on the attenuation parameter. At this time, based on the attenuation parameter, early precipitation deposits can be recognized in at least one heating area of the radome, and the at least one heating area represents a partial area of the radome. To recognize early precipitation deposits in the heating area, at least one heating area of the radome can be associated with an antenna subset, the antenna subset representing any subset of a set including at least one transmission antenna and at least two reception antennas.

[0010] The method according to the invention contributes to the early recognition of precipitation deposits in the radome of a vehicle's radar sensor. Further, the method according to the invention contributes to the open-loop control and / or closed-loop control of at least one heating element of the radome by the early recognized precipitation deposits in the radome. At this time, the method can be executed, for example, in the computing device of the radar sensor and / or in the computing device of the vehicle. The computing device can be formed, for example, as an electronic device including one or more programmable processors.

[0011] Accordingly, first, a transmission signal is sent using at least one transmission antenna of the radar sensor. Modern radar sensors are today often so-called multi-channel systems having a plurality of transmission antennas. The basic principle of the method according to the present invention requires a transmission antenna. However, if the radar sensor is equipped with a plurality of transmission antennas, i.e., for example, 2, 4, 8, 16 transmission antennas or the like, it is possible to improve and optimize the method for recognizing precipitation deposits at an early stage. Hereinafter, the method will be described with at least one transmission antenna in a general sense, but it is understood that 3, 4, 5, 6,... transmission antennas may be contemplated.

[0012] The transmission signal sent using at least one transmission antenna can be reflected by an object around the vehicle. In particular, the transmitted transmission signal can be reflected so as to return to the radar sensor. As a result, it is possible to detect the reflected transmission signal using at least two receiving antennas of the radar sensor. The transmission signal reflected so as to return by an object around the vehicle received by at least two received signals is also called a received signal.

[0013] Modern radar sensors in the vehicle field are often so-called frequency-modulated continuous-wave radars (FMCW-Radar in technical terms). Based on a difference signal representing the difference frequency based on the transmission signal and the received signal, it is possible to represent an object in the surroundings. At this time, generally, it is possible to assign a distance and an (azimuth) angle to the object. The more receiving antennas the radar sensor has, the more accurately the (azimuth) angle can be specified. Therefore, modern radar sensors today often include 4, 8, 16, 32 receiving antennas or the like. The method according to the present invention requires at least two receiving antennas. Therefore, in a general sense, it is understood that at least two receiving antennas may contemplate 3, 4, 5, 6,... transmission antennas.

[0014] The received signal can be detected by each of at least two receiving antennas and can be evaluated separately. Thereby, for each of at least two receiving antennas, the output, phase and / or amplitude of the received signal can be identified and compared with each other. Therefore, in other words, the received signal detected using the first receiving antenna can be compared (harmonized) with the received signal detected using the second receiving antenna. At this time, in particular, it is possible to compare the phase, amplitude and / or frequency with each other. For example, when one of at least two receiving antennas has precipitation deposits in the radome and within its field of view, it is possible to compare the amplitude or output of the received signal between the receiving antennas.

[0015] Thereby, it is possible to identify an attenuation parameter representing the attenuation of the received signal due to precipitation deposits. In particular, at this time, the attenuation parameter can be a vector value. Therefore, the attenuation parameter represents one attenuation value for each of at least two receiving antennas and / or for each of at least one transmitting antenna, and the attenuation value represents the attenuation of the received signal due to precipitation deposits for each of at least two receiving antennas or for each of at least one transmitting antenna.

[0016] Subsequently, it is possible to output a heating signal for open-loop control and / or closed-loop control of at least one heating element of the radome. At this time, the heating signal can be output depending on the attenuation parameter. In addition, the heating signal can also represent the heating range of the radome. Thereby, at least one heating element can, in some cases, be individually controlled (activated) for each antenna having precipitation deposits in the field of view.

[0017] The conventional methods for recognizing precipitation deposits in a radome can also identify attenuation parameters depending on the circumstances. However, with the method according to the present invention, precipitation deposits are recognized earlier. For example, precipitation deposits in a radome are already recognized when only one of the antennas of the radar sensor, or only the field of view, is affected by the precipitation deposits. The conventional methods are not as sensitive in this way and often require a certain minimum attenuation. In particular, in the case of a large number of receiving antennas and / or transmitting antennas, when only one of the antennas is affected by precipitation deposits, the overall attenuation is smaller. Therefore, the method according to the present invention improves the sensitivity of precipitation deposit recognition as the number of receiving antennas and / or transmitting antennas of the radar sensor increases.

[0018] Therefore, in summary, using the method according to the present invention, it is possible to individually recognize for each antenna whether precipitation accumulates in its field of view. At this time, each antenna can be associated with, for example, a heating range including the visible range of the antenna. When a deposit is recognized using this method, it is possible to appropriately control the heating range or a heating element configured to regulate the corresponding heating range.

[0019] The temperature of the radome often leads to a fairly high heating output. For example, the heating output can be 100 watts or more. Using the method according to the present invention, it is possible to plan the temperature of the radome more sustainably and efficiently so as not to consume unnecessary energy and, in the case of battery-powered vehicles, not to consume the cruising range. Early recognition of precipitation deposits also enables pre-adjustment of the heating elements of the radome. Thereby, it is possible to optimally select the operating time of the radome heater. In addition, a spatially resolved heating strategy is possible. Thereby, it is possible to further reduce the heating output. Therefore, in a vehicle powered by a battery, it is possible to further extend the cruising range.

[0020] In another advantageous configuration of the method according to the invention, the heating signal is further configured to represent at least one heating range of the radome where early precipitation deposits are recognized. If the radome of the radar sensor has, for example, multiple ranges with heating elements independent of each other, it is possible to regulate the temperature of individual areas of the radome or partial ranges of the radome separately. In such a case, it is useful if the heating signal is open-loop controlled and / or closed-loop controlled for the partial range or heating range of the radome where precipitation deposits are just being identified. Thus, it is possible to regulate the temperature of the radome in a targeted manner and save unnecessary heating output. Such energy savings can be particularly advantageous in battery electric vehicles.

[0021] Furthermore, when determining the attenuation parameter, it is advantageous if at least one receiving antenna attenuation parameter for one of the at least two receiving antennas is determined, and the receiving antenna attenuation parameter can represent the attenuation caused by precipitation deposits in one of the at least two receiving antennas. Thus, in other words, it is advantageous if a value for the attenuation of one of the at least two receiving antennas is determined.

[0022] If a clear value for the attenuation of the receiving antenna is determined, it is not necessary in advance for the recognition of early precipitation deposits in the radome of the radar sensor and for the open-loop control and / or closed-loop control of at least one heating element of the radome. By determining at least one receiving antenna attenuation parameter, it is possible to enable a more sensitive and thus earlier recognition of precipitation deposits. In particular, it is possible to detect the recognition of early precipitation deposits in the field of view of one of the at least two receiving antennas. Thus, it is possible to provide a highly sensitive (virtual) sensor for detecting precipitation deposits in the radome using this method. In addition, it is possible to improve the heating strategy or temperature regulation of the radome.

[0023] In another advantageous configuration that functions similarly to the above case, when determining the attenuation parameter, it is configured such that at least one transmission antenna attenuation parameter for one of the at least one transmission antennas is determined, and the transmission antenna attenuation parameter represents the attenuation caused by precipitation deposits at one of the at least one transmission antennas. Therefore, in other words, it is possible to recognize the deposits caused by precipitation in the field of view or transmission range of at least one transmission antenna using the transmission antenna attenuation parameter that represents the value of the attenuation of the transmission signal transmitted using one of the transmission antennas. Therefore, (if each transmission antenna is associated with a corresponding heating range), the transmission range or field of view range of at least one transmission antenna can be temperature-controlled according to the purpose. Another advantage also applies to the embodiments described similarly including the determination of the reception antenna attenuation parameter.

[0024] In another advantageous configuration, determining the attenuation parameter includes radar target comparison, in which the radar target comparison is configured such that radar target signals specific to the antennas, which are determined using the received signals for each of at least two reception antennas and represent one (and the same) object around the vehicle, are compared with each other. Therefore, in other words, first, it may be useful if the radar target is detected using the received signals of each of at least two reception antennas. Preferably, the object is at least 10 meters away from the radar sensor. Preferably, the object is in the azimuth angle range of ±20° in front of the radar sensor.

[0025] For example, the target can be detected at a distance of 20 meters using each of at least two receiving antennas or their received signals. To each of the targets or objects thus detected, it is possible to assign a signal output, amplitude, phase, or the like. Therefore, it is possible to specify the attenuation parameter by an overall comparison of the (receiving) antennas. For example, if the output received using the first of at least two receiving antennas is smaller than the output of the second receiving antenna among at least two receiving antennas, it is possible to infer the deposit due to precipitation in the field of view of the first receiving antenna. It is possible to specify the attenuation parameter based on such an output difference. For radar target comparison, it is possible to compare the amplitude of the radar target, the phase of the radar target, and / or the frequency. In other words, it is advantageous if the radar target comparison includes a comparison of the amplitude, phase, and / or frequency of the radar target signal specific to the antenna. If the radar target comparison includes a comparison of phases, it can be advantageous when at least two receiving antennas include 3, 4, ··· 8, ··· 16 or more receiving antennas.

[0026] In this case, in addition, it may be advantageous if a temporal and / or spatial validity check is performed in the radar target comparison. At this time, in the temporal validity check, it is possible for the radar target comparison to be repeated during another measurement cycle of the radar sensor. In the spatial validity check, it is possible to repeat the radar target comparison with at least one radar target signal specific to another antenna representing another object around the vehicle. In other words, the temporal and / or spatial validity check enables more reliable specification of the attenuation parameter. In this case, it is conceivable that the attenuation parameter is averaged temporally and / or spatially.

[0027] Another aspect of the present invention relates to an arithmetic unit that recognizes precipitation deposits early in a radome of a vehicle's radar sensor and performs open-loop control and / or closed-loop control on at least one heating element of the radome. The arithmetic unit is configured to transmit a transmission signal using at least one transmission antenna of the radar sensor. Further, the arithmetic unit is configured to receive a reception signal detected using at least two reception antennas of the radar sensor, and the reception signal represents a transmission signal reflected by an object around the vehicle. In addition, the arithmetic unit is configured to identify an attenuation parameter representing the attenuation of the reception signal due to precipitation deposits. Finally, the arithmetic unit is also configured to perform open-loop control and / or closed-loop control on at least one heating element of the radome using a heating signal depending on the attenuation parameter. Further, the arithmetic unit is configured to recognize early precipitation deposits in at least one heating range of the radome based on the attenuation parameter, where the at least one heating range represents a partial range of the radome, and the arithmetic unit is configured to associate at least one heating range of the radome with an antenna subset for this purpose, where the antenna subset represents any subset of a set including at least one transmission antenna and at least two reception antennas.

[0028] The arithmetic unit can be formed, for example, as an electronic device including one or more programmable processors. In addition, the arithmetic unit can be configured to execute an advantageous configuration of the method according to the present invention.

[0029] The computer-readable (storage) medium according to the present invention includes commands that cause the arithmetic unit to execute the method according to the present invention and its advantageous forms when executed by the arithmetic unit.

[0030] The temperature-adjustable radar sensor system for a vehicle according to the present invention includes a radar sensor, which is configured to send a transmission signal using at least one transmission antenna and detect a reception signal using at least two reception antennas. The temperature-adjustable radar sensor system further includes a radome that is temperature-adjustable using at least one heating element and includes at least one heating range that is at least partially disposed within the field of view of an antenna subset, where the antenna subset represents any subset of a set including at least one transmission antenna and at least two reception antennas. Also, the temperature-adjustable radar sensor system includes at least one heating element, which is configured to adjust the temperature of at least one heating range of the radome based on a heating signal output by an arithmetic unit. Additionally, the temperature-adjustable radar sensor system includes an arithmetic unit that recognizes precipitation deposits early in the radome of the vehicle's radar sensor and controls at least one heating element of the radome in an open-loop and / or closed-loop manner.

[0031] Another aspect of the present invention relates to a computer program including commands that cause an arithmetic unit to execute the method according to the present invention and its advantageous forms when the program is executed. Further, the present invention relates to a vehicle including a temperature-adjustable radar sensor system. The vehicle can be particularly formed as a passenger car.

[0032] The preferred embodiments and their advantages presented with respect to the method according to the present invention are also applicable to the arithmetic system according to the present invention, the computer-readable (storage) medium according to the present invention, and the temperature-adjustable radar sensor system according to the present invention. Also, the preferred embodiments and their advantages presented with respect to the method according to the present invention are also applicable to the computer program according to the present invention and the vehicle according to the present invention.

[0033] Another feature of the present invention is apparent from the claims, the drawings, and the description based on the drawings. The features and combinations of features described above in this specification, as well as the features and combinations of features merely shown in the description based on the drawings and / or in the drawings hereinafter, can be used not only in the combinations described respectively, but also in other combinations or alone without departing from the scope of the present invention.

[0034] The present invention will be described in detail based on preferred embodiments with reference to the accompanying drawings.

Brief Description of the Drawings

[0035]

Figure 1

Figure 2

Figure 3

Figure 4

Modes for Carrying Out the Invention

[0036] Figure 1 schematically shows a temperature - adjustable radar sensor system 1 for a vehicle. The temperature - adjustable radar sensor system 1 includes a radar sensor 2, which is configured to transmit a transmission signal 3 using at least one transmit antenna 4 and detect a reception signal 5 using at least two receive antennas 6. The temperature - adjustable radar sensor system 1 further includes a radome 7, which also includes at least one heating area 8 here. The heating area 8 can be arranged within the field of view of an antenna subset. At least one heating area 8 can be temperature - adjusted using at least one heating element 9, which is shown hatched here. At least one heating element 9 can be formed, for example, as a heating filament (heating wire) or as a heating film.

[0037] Precipitation deposits 10 are present on the radome 7 of the radar sensor 2. Such precipitation deposits 10 can cause the transmission signal 4, which is reflected by an object 11 in the surroundings, that is, the reception signal 5, to be attenuated and received. In Figure 1, such an attenuated reception signal 5’ is indicated by a dashed arrow 5’. The attenuated reception signal 5’ can be detected by at least two receive antennas 6. The reception signal 5 or the attenuated reception signal 5’ detected by at least two receive antennas 6 can then be processed by an arithmetic unit 12.

[0038] Finally, the temperature - adjustable radar sensor system 1 includes such an arithmetic unit 12. The arithmetic unit 12 contributes to the early recognition of precipitation deposits on the radome 7 of the radar sensor 2. The arithmetic unit 12 further contributes to the open - loop control and / or closed - loop control of at least one heating element 9 of the radome 2. For this purpose, the arithmetic unit 12 outputs a heating signal 13 to at least one heating element 9.

[0039] Finally, FIG. 1 further shows the radar target signals 14 of at least two receiving antennas 6. Thus, in other words, FIG. 1 shows the radar target signals 14 for each receiving antenna of at least two receiving antennas 6 based on FIG. 1. The receiving antenna on the right of the at least two receiving antennas 6 can detect a smaller output of the radar target signal 14 due to the precipitation deposit 10. At this time, the object 11 can be represented by the peak 11' in the radar target signal 14. Based on the difference 15 caused by the difference (in amplitude) between both peaks 11, 11' of the radar target signal 14, it is possible to specify, for example, the attenuation parameter. Depending on the attenuation parameter, it is possible to emit the heating signal 13 to at least one heating element 9.

[0040] FIG. 2 schematically shows a temperature-adjustable radar sensor system 1 similar to that of FIG. 1. In FIG. 2, the temperature-adjustable radar sensor system 1 or the radome 7 has two heating ranges 8', 8". Thus, both heating ranges 8', 8" form at least one heating range 8 of the temperature-adjustable radar sensor system 1.

[0041] Furthermore, the temperature-adjustable radar sensor system also has two heating elements 9', 9". Thus, in other words, at least one heating element 9 is formed by both heating elements 9', 9". Both heating elements 9', 9" can be controlled (operated) by the arithmetic unit 12 using the heating signal 13 independently of each other. At this time, the precipitation deposit 10 can be accurately located and assigned to one of the heating ranges 8' or 8". In FIG. 2, the precipitation deposit 10 is in the heating range 8". Since the fields of view of at least two receiving antennas 6 include or at least overlap with the heating range 8", at least two receiving antennas 6 shown here as three receiving antennas are associated with the heating range 8". Thereby, it is possible to assign the attenuation caused by the deposit due to the precipitation deposit 10 to the heating range 8". As a result, the heating element 9" can be controlled (operated) by the arithmetic unit 12 using the heating signal 13.

[0042] At this time, since the heating signal 13 can represent at least one heating range 8, even if each heating signal 13 of at least one heating element 9 is emitted, the heating range 8' is not temperature-controlled using the heating element 9'.

[0043] FIG. 3 schematically illustrates the temperature-adjustable radar sensor system 1 according to FIG. 2, and the attenuation of the transmission signal 3 has already been performed by the precipitation deposit 10. The attenuated transmission signal is illustrated by the dashed arrow 3'. The received signal 5 will also be completely attenuated by the attenuated transmission signal reflected by the object 11. The attenuated received signal 5' is illustrated by the dashed arrow 5'. By the method according to the present invention, it is also possible to identify when the attenuation of the transmission signal 3 from one of at least one transmission antenna 4 by the precipitation deposit 10 occurs. For this purpose, it is advantageous if various coding methods or multiplexer methods are used.

[0044] For example, by a coding method and / or a multiplexer method such as a so-called time-division multiplex method in which the transmission antennas of at least one transmission antenna 4 transmit with a time shift, here the precipitation deposit 10 in the field of view of at least one transmission antenna 4 illustrated by three transmission antennas can be assigned to a specific transmission antenna. In FIG. 2, the time-division multiplex method is illustrated by the central one of at least one transmission antenna 4 emitting the transmission signal 3. Therefore, at a later time, it is conceivable that one of the other two transmission antennas of at least one transmission antenna 4 emits the transmission signal 3.

[0045] In FIG. 3, here, a received signal 5′ attenuated identically by at least two receiving antennas 6 illustrated by three receiving antennas here is received. By receiving the received signal 5′ attenuated by all of at least two receiving antennas 6, it is possible to estimate precipitation deposits 10 within a heating range 8′. Depending on the attenuation parameter thus specified, a heating element 9′ configured to adjust the temperature of the heating range 8′ can be open-loop controlled (operated) and / or closed-loop controlled by an arithmetic unit 12 using a heating signal 13 representing the corresponding heating range 8′.

[0046] FIG. 4 shows another embodiment of a temperature-adjustable radar sensor system 1, in which at least one heating range 8 is formed by a first heating range 8′, a second heating range 8″, and a third heating range 8′″. The temperature-adjustable radar sensor system 1 correspondingly includes a first heating element 9′, a second heating element 9″, and a third heating element 9′″ as at least one heating element 9. Thus, in other words, at least one heating element 9 is formed by the first, second, and third heating elements.

[0047] The embodiment of FIG. 4 also makes it clear that one of at least one transmitting antenna 4 and one of at least two receiving antennas 6 can be assigned to one of at least one heating range 8. For example, it is possible to assign an antenna subset 16 to the first heating range 8′ of at least one heating range 8. In the embodiment of FIG. 4, the antenna subset 16 forms a subset of a set including at least one transmitting antenna 4 and at least two receiving antennas 6. In other words, the antenna subset 16 includes both transmitting antennas of at least one transmitting antenna 4 and one of the receiving antennas of at least two receiving antennas 6.

Claims

1. A method for early detection of precipitation deposits in the radome (7) of a vehicle's radar sensor (2), and for open-loop and / or closed-loop control of at least one heating element (9) of the radome (7), - A step of transmitting a transmission signal (3, 3') using at least one transmitting antenna (4) of the radar sensor (2), - A step of detecting a received signal (5, 5') using at least two receiving antennas (6) of the radar sensor (2), wherein the received signal (5, 5') represents the transmitted signal (3, 3') reflected by an object (11) in the vicinity of the vehicle, - A step of identifying attenuation parameters that represent the attenuation of the received signal (5, 5') due to precipitation deposits, - A step of outputting a heating signal (13) for open-loop and / or closed-loop control of at least one heating element (9, 9', 9”, 9''') of the radome (7), wherein the heating signal (13) is output depending on the attenuation parameter. In the method described above, - Based on the decay parameters, early precipitation deposits (10) are identified in at least one heated area (8, 8', 8'', 8''') of the radome (7), and the at least one heated area (8, 8', 8''') represents a sub-area of ​​the radome (7), - For this purpose, the at least one heating region (8, 8', 8'', 8''') of the radome (7) is associated with an antenna subset (16), the antenna subset (16) representing any subset of the set including the at least one transmitting antenna (4) and the at least two receiving antennas (6). A method characterized by the following:

2. The method according to claim 1, characterized in that the heating signal (13) further represents the at least one heating range (8, 8', 8'', 8'''') of the radome (7), and the early precipitation deposit (10) is recognized within the heating range.

3. The method according to 1 or 2, characterized in that, when the attenuation parameter is identified, at least one receiving antenna attenuation parameter is identified for one of the at least two receiving antennas (6), and the receiving antenna attenuation parameter represents attenuation caused by precipitation deposits in one of the at least two receiving antennas (6).

4. The method according to 1 or 2, characterized in that, when the attenuation parameter is identified, at least one transmitting antenna attenuation parameter is identified for one of the at least one transmitting antenna (4), and the transmitting antenna attenuation parameter represents attenuation caused by precipitation deposits in one of the at least one transmitting antenna (4).

5. The method according to 1 or 2, wherein the identification of the attenuation parameter includes radar target comparison, wherein antenna-specific radar target signals (14) that are identified using the received signals (5, 5') for each of the at least two receiving antennas (6) and that represent objects (11) around the vehicle are compared with each other.

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

7. The method according to claim 5, characterized in that a temporal and / or spatial validity check is performed in the radar target comparison, wherein in the temporal validity check, the radar target comparison is repeated during another measurement cycle of the radar sensor (2), and in the spatial validity check, the radar target comparison with at least one other antenna-specific radar target signal (14) representing another object around the vehicle is repeated.

8. A computing device (12) that recognizes precipitation deposits early in the radome (7) of the vehicle's radar sensor (2) and controls at least one heating element (9, 9', 9”, 9'''') of the radome (7) in open-loop and / or closed-loop control, wherein the computing device - Control the radar sensor (2) to transmit a transmission signal (3, 3') using at least one transmitting antenna (4) of the radar sensor (2), - To receive the received signal (5, 5') detected using at least two receiving antennas (6) of the radar sensor (2), the received signal (5, 5') represents the transmitted signal (3, 3') reflected by an object (11) around the vehicle. - To identify attenuation parameters that represent the attenuation of the received signal (5, 5') due to precipitation deposits, and - Depending on the damping parameter, the heating signal (13) is used to control the at least one heating element (9, 9', 9”, 9'''') of the radome (7) in an open-loop and / or closed-loop manner. In the aforementioned arithmetic unit, The arithmetic unit (12) further - Based on the aforementioned decay parameters, the system is configured to recognize early precipitation deposits (10) in at least one heated area (8, 8', 8”, 8''') of the radome, where the at least one heated area (8, 8', 8”, 8''') represents a sub-area of ​​the radome (7), and - For this purpose, the radome (7) is configured to associate the at least one heating range (8, 8', 8'', 8''') with an antenna subset (16), where the antenna subset (16) represents any subset of the set including the at least one transmitting antenna (4) and the at least two receiving antennas (6). A computing device (12) characterized by the above.

9. When the calculation unit (12) is executed, the calculation unit will perform the following: - Control the radar sensor (2) to transmit a transmission signal (3, 3') using at least one transmitting antenna (4) of the radar sensor (2). - The radar sensor (2) receives a received signal (5, 5') detected using at least two receiving antennas (6), and at this time, the received signal (5, 5') represents a transmitted signal (3, 3') reflected by an object (11) in the vicinity of the vehicle. - To identify attenuation parameters that represent the attenuation of the received signal (5, 5') due to precipitation deposits, and - Depending on the damping parameter, the heating signal (13) is used to control the at least one heating element (9, 9', 9”, 9'''') of the radome (7) in an open-loop and / or closed-loop manner. In a computer-readable (storage) medium containing commands, The computer-readable (storage) medium, when executed by the arithmetic unit (12), further to the control unit - Based on the decay parameters, early precipitation deposits (10) in at least one heated area (8, 8', 8'', 8''') of the radome are recognized, and at this time, the at least one heated area (8, 8', 8'', 8''') represents a partial area of ​​the radome (7), and - For this purpose, the at least one heating range (8, 8', 8'', 8''') of the radome (7) is associated with an antenna subset (16), where the antenna subset (16) represents any subset of the set including the at least one transmitting antenna (4) and the at least two receiving antennas (6). A computer-readable (storage) medium characterized by the following:

10. A temperature-controlled radar sensor system (1) for vehicles, - A radar sensor (2) configured to transmit a signal using at least one transmitting antenna (4) and to detect a received signal (5, 5') using at least two receiving antennas (6), - A radome (7) that is temperature controllable using at least one heating element (9, 9', 9”, 9'''') and includes at least one heating area (8, 8', 8”, 8'''') at least partially located within the field of view of the antenna subset (16), wherein the antenna subset (16) represents any subset of the set including the at least one transmitting antenna (4) and the at least two receiving antennas (6), - At least one heating element (9, 9', 9''') configured to control the temperature of at least one heating range (8, 8', 8'', 8'''') of the radome (7) by a heating signal (13) output by the computing device (12), - The computing device according to claim 8, which recognizes precipitation deposits early in the radome (7) of the vehicle's radar sensor (2), and controls the at least one heating element (9, 9', 9”, 9'''') of the radome (7) in open-loop and / or closed-loop control. A temperature-controlled radar sensor system (1) including

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