Radar device and method for evaluating radar measurement signals of the radar device

Abstract

A radar system includes numerous radar mechanisms, each of which is configured to generate and output radar measurement signals, and a computing mechanism is configured to combine and evaluate the radar measurement signals of the radar mechanisms, and this computing mechanism is configured to perform the selection of radar measurement signals of the radar mechanisms when combining and evaluating the radar measurement signals.

Description

Technical Field

[0001] The present invention relates to a radar apparatus and a method for evaluating radar measurement signals of the radar apparatus.

Background Art

[0002] A radar apparatus transmits a radar signal, and the radar signal is reflected by an object in a radar channel. In the case of a monostatic arrangement, the reflected radar signal is received and evaluated by the same radar apparatus to acquire the distance, velocity, and angle of the reflecting object relative to the radar apparatus.

[0003] In the case of a bistatic arrangement, the reflected radar signal can also be received by a second radar apparatus spatially separated from the first radar apparatus. The distance, velocity, and angle of the reflected object can be determined using the known spacing between the two radar apparatuses. The acquired data is processed into a reflection list in each radar apparatus and provided, for example, via a bus system.

[0004] A cooperative radar sensor system may consist of at least two radar sensors, or may consist of a computing unit and an entire spread antenna array formed of subarrays, wherein the radar sensors or subarrays can be synchronized based on a synchronization concept. An exemplary radar sensor system is known from DE2019 / 10220238A1.

Summary of Invention

[0005] The present invention provides a radar apparatus having the features of the independent claims and a method for evaluating radar measurement signals of the radar apparatus. Preferred embodiments are the subject matter of the respective dependent claims.

[0006] Accordingly, the present invention relates to a radar system comprising a number of radar mechanisms, each radar mechanism being formed to generate and output radar measurement signals, and a computing mechanism being formed to evaluate a combination of radar measurement signals from the radar mechanisms, wherein the computing mechanism is formed to perform selection of radar measurement signals from the radar mechanisms when evaluating a combination of radar measurement signals.

[0007] Accordingly, the present invention relates to a method for evaluating radar measurement signals of a radar system, based on a second aspect. Radar measurement signals are generated by a number of radar mechanisms of the radar system. Furthermore, a combined evaluation of the radar measurement signals of the radar mechanisms is performed, and in this regard, when evaluating the combined radar measurement signals, selection of radar measurement signals of the radar mechanisms is carried out.

[0008] Advantages of the present invention According to the present invention, the radar measurement signals of the radar mechanism are selected. This means that not all of the radar measurement signals of these radar mechanisms are considered when the radar measurement signals are combined and evaluated. This enables the use of adaptive and dynamically generated apertures in radar devices.

[0009] In this case, in order to optimally and efficiently evaluate the radar measurement signal of the radar mechanism of the radar device, sensor apertures of various sizes to be evaluated may be used, depending on the measurement point or depending on the relative position of the target with respect to the radar device (e.g., the vehicle itself).

[0010] According to one embodiment, the radar device is a cooperative radar sensor system, and in this case, the radar mechanism is the individual radar sensors of this radar sensor system. According to one embodiment, the radar device is a single radar sensor, in which case the radar mechanism is a partial array (subarray) of the antenna elements of this radar sensor. In particular, the radar device may be a radar mechanism comprising a subarray, preferably (e.g., separated by cables), having sparse antenna apertures.

[0011] According to one embodiment of a radar system, the calculation mechanism is configured to completely skip at least one radar measurement signal from a single radar mechanism when evaluating a combination of radar measurement signals, or to consider only a subset of the transmit / receive channels of that radar mechanism. In this context, a subset is a proper subset, meaning that not all radar mechanisms are included.

[0012] According to one embodiment of the radar system, the calculation mechanism is configured to perform angle determination for a given angular segment and / or distance segment by evaluating a combination of radar measurement signals from a given subset of the radar system.

[0013] According to one embodiment of the radar system, the sensor apertures of individual radar mechanisms can be simultaneously assigned to multiple angular segments and / or distance segments for common evaluation, for example, depending on the distance to a target, or they can be divided within a single physically existing radar mechanism, meaning that different antennas of the same radar mechanism can be assigned to different angular segments and / or distance segments.

[0014] According to one embodiment of the radar system, the calculation mechanism is configured to select the radar measurement signals of the radar systems that constitute the longest continuous aperture from this subset of radar systems for combined evaluation, when the radar measurement signals of only a subset of radar systems have a target within a particular distance-velocity cell (i.e., when a target is recognized). Depending on the preprocessing of the radar measurement data of the radar systems (in which case the target list is generated from raw data), it may occur that not all radar systems identify the same measurement points, for example, with respect to distance and velocity. As a result, there is no measurement data for cross-sensor angle evaluation, and gaps or voids (holes) occur in the aperture. Depending on which radar systems are not providing information, the longest meaningful aperture can be generated and expanded from the existing radar measurement data (e.g., the longest continuous aperture). The same procedure may be further performed depending on, for example, the distance to the target or the angle of incidence, to avoid range migration effects based on aperture size.

[0015] According to one embodiment of the radar system, the calculation mechanism is configured to recognize misalignment of radar mechanisms by skipping the radar measurement signals of individual radar mechanisms during combined evaluation. For example, misalignment recognition or correction of measurement results for a misaligned single sensor can be performed by sequentially skipping the radar measurement data of individual radar mechanisms from the entire aperture and verifying the radar measurement data of the remaining aperture for the skipped radar mechanisms.

[0016] In one embodiment of a radar system, a computing mechanism is configured to perform calibration of one of the radar mechanisms when a misalignment is detected in that mechanism. This can be done, for example, through an algorithm.

[0017] In one embodiment of the radar system, the calculation mechanism is configured to perform a single-target estimation based on the selection of radar measurement signals and to calculate at least one quality value of this single-target estimation. The calculation mechanism is further configured to perform a combined evaluation of all radar measurement signals only if this at least one quality value falls below a predetermined threshold. For example, in the case of angular estimation of a distance-velocity cell that potentially contains one or more targets, the quality criterion can be determined by using a sub-aperture with few virtual channels (i.e., by selecting radar measurement data from only a few radar mechanisms), and this quality criterion can be used to derive whether there is one or more targets potentially present in this distance-velocity cell. This criterion can be used to derive whether further evaluation, such as sidelobe level reduction, multi-target estimation, or target detection in the relatively costly full-aperture spectrum, is worthwhile. This can significantly reduce the computational cost of angular estimation.

[0018] According to one embodiment of the radar system, the combined evaluation of all radar measurement signals includes single-target estimation or multi-target estimation. In one embodiment of the radar system, the computing mechanism is configured to perform angle estimation when combining and evaluating radar measurement signals from the radar mechanisms. The aperture is enlarged by selecting multiple radar mechanisms, which improves the accuracy of the angle estimation.

[0019] Further advantages, features, and details of the present invention will become apparent from the following description, which details various exemplary embodiments with reference to the drawings. [Brief explanation of the drawing]

[0020] [Figure 1] This is a schematic block diagram of a radar system based on one embodiment of the present invention. [Figure 2] This figure shows a schematic angle segment / distance segment. [Figure 3]It is a diagram showing selection of exemplary radar measurement signals for a near-distance region and a central far-distance region. [Figure 4] It is a diagram showing selection of exemplary radar measurement signals for an edge segment. [Figure 5] It is a diagram showing an exemplary illustration of the absence of a measurement result in a radar measurement signal. [Figure 6] It is a diagram showing an exemplary illustration of determining misalignment of a radar mechanism based on rotation. [Figure 7] It is a diagram showing an exemplary illustration of determining misalignment of radar mechanisms based on displacement of individual radar mechanisms relative to each other. [Figure 8] It is a diagram showing an exemplary illustration of determining misalignment of radar mechanisms based on displacement of a group of radar mechanisms relative to each other. [Figure 9] It is a diagram showing an exemplary illustration of determining a quality value. [Figure 10] It is a flow diagram of a method for evaluating a radar measurement signal of a radar apparatus according to an embodiment of the present invention. Mode for Carrying Out the Invention

[0021] In all the drawings, elements and devices that are the same or have the same function are denoted by the same reference signs. The numbering of process steps is provided for readability, and generally does not imply a specific temporal order. In particular, a plurality of process steps can also be performed simultaneously.

[0022] Description of Exemplary Embodiments Figure 1 shows a schematic block diagram of a radar system 1 with multiple radar mechanisms 21-2n, where n represents the total number of radar mechanisms. However, the present invention is not limited to a specific number. The radar mechanisms 21-2n can be arranged inside a vehicle. The radar system 1 can be a cooperative radar sensor system, in which case the radar mechanisms 21-2n are individual radar sensors. The radar system 1 may also be a single radar sensor, in which case the radar mechanisms 21-2n are subarrays of the antennas of this radar sensor.

[0023] Each radar mechanism has a certain number of transmit / receive channels 311-31m, 3n1-3nk, where m is the number of transmit / receive channels for the first radar mechanism 21 and k is the number of transmit / receive channels for the nth radar mechanism. The radar mechanisms 21-2n can be formed differently or identically, that is, they can have, in particular, the same number of transmit / receive channels 311-31m, 3n1-3nk, or they can have at least partially different numbers.

[0024] Each radar mechanism 21-2n is formed to generate and output a radar measurement signal. This radar measurement signal may include radar data from all transmit / receive channels 311-31m and 3n1-3nk of the corresponding radar mechanisms 21-2n.

[0025] The radar device 1 further includes a computing mechanism 4. The computing mechanism 4 may be an external device or a component of one or more of the radar mechanisms 21 to 2n. The computing mechanism 4 can be formed by a single component of each of the radar mechanisms 21 to 2n, in which case these components can exchange data.

[0026] The computing mechanism 4 may include a processor, microprocessor, integrated circuit, application-specific circuit, or similar. The computing mechanism 4 may further include at least one memory mechanism for storing data, in particular radar measurement data, and program statements.

[0027] The calculation mechanism 4 receives radar measurement signals from radar mechanisms 21 to 2n and evaluates them. The computing mechanism 4 may perform an evaluation combining radar measurement signals, for example, to perform angle estimation. In this case, the computing mechanism 4 may select radar measurement signals from radar mechanisms 21 to 2n.

[0028] When the calculation mechanism 4 combines and evaluates radar measurement signals, it may, for example, completely skip at least one radar measurement signal from one radar mechanism 21 to 2n. The calculation mechanism 4 may also consider only a subset of the transmit / receive channels 311 to 31m and 3n1 to 3nk of this radar mechanism 21 to 2n.

[0029] Figure 2 shows schematic angular and distance segments. In this case, the radar device 1 is at the origin of a coordinate system with axes x and y. The surrounding region is divided into six segments 51-56, more specifically into a near-field region 56 around the x-axis, a central far-field region 53, and two left-side and two right-side edge regions or edge segments 51, 52 or 54, 55, respectively. The present invention is not limited to a specific number of segments; that is, this number may be greater than or less than six.

[0030] The calculation mechanism 4 can determine angles for predetermined angle segments and distance segments by evaluating a combination of radar measurement signals from a predetermined subset of radar mechanisms 21 to 2n.

[0031] Figure 3 shows exemplary radar measurement signal selections for the near-range region 56 and the central far-range region 53. In this exemplary case, five radar mechanisms 21-25 are present, but the present invention is not limited thereto.

[0032] In this case, for the near-field region 56, the radar measurement signals of radar mechanisms 21-25 are evaluated individually (selection 61-65). This may be done, for example, as preprocessing within radar mechanisms 21-25, and is particularly meaningful in the near-field region because the far-field conditions are not met there due to the size of the coordinated full aperture.

[0033] For the central far-range region 53, radar measurement signals from all radar mechanisms 21-25 are combined (selection 66). This central far-range region 53 corresponds to the angular region close to the boresight beyond a relatively large distance.

[0034] Figure 4 shows exemplary radar measurement signal selections for edge segments 51, 52 or 54, 55. For the left outer edge segment 51, the radar measurement signals from the two left-side radar mechanisms 21, 22 are combined (selection 71). For the left inner edge segment 52, the radar measurement signals from the left half of the transmit / receive channels of the two left-side radar mechanisms 21, 22 and the middle radar mechanism 23 (i.e., related to antennas positioned further to the left) are combined (selection 72). For the right inner edge segment 54, the radar measurement signals from the right half of the transmit / receive channels of the two right-side radar mechanisms 24, 25 and the middle radar mechanism 23 (i.e., related to antennas positioned further to the right) are combined (selection 73). For the left outer edge segment 55, the radar measurement signals from the two right-side radar mechanisms 24, 25 are combined (selection 74).

[0035] Edge segments 51, 52, 54, and 55 are defined based on far-field conditions, i.e., the minimum distance beyond which evaluation should be performed, or based on range migration effects along the opening, i.e., related to the angular segment. In this case, edge segments 51, 52, 54, and 55 may be defined such that no essential effects based on far-field conditions or range migration occur, or that any effects that do occur can be eliminated at an acceptable cost.

[0036] Estimates of far-field conditions at aperture A and wavelength λ (at 77 GHz) are

[0037]

number

[0038] That is the case. Range migration along aperture A depends on the modulation bandwidth B, the speed of light c, and the incident angle φ.

[0039]

number

[0040] That applies. Based on both estimates, defining more segments can also generate smoother transitions between apertures. In this case, the granularity of each aperture and the resulting segments is limited only by the positioning of the virtual antenna channels of the entire aperture. Depending on the system concept and data connectivity, these segments may be processed at different locations, for example, within one of the radar mechanisms 21-2n, within the battery, or within the central unit, which can reduce the required data rate between system components.

[0041] Figure 5 illustrates an example of the absence of measurement results in the radar measurement signal. Here, specific measurement data is missing from the radar measurement data of the fourth radar mechanism 24. For example, the radar measurement signal has a target within a certain distance-velocity cell only for a subset of radar mechanisms 21-25, and more specifically for radar mechanisms 21-23 and 25. Since not all radar mechanisms 21-25 can supply data for common angle estimation (for example, no target was found within a certain distance-velocity cell for the fourth radar mechanism 24), there is no data to perform common angle estimation across the entire defined aperture. This creates a gap in the aperture.

[0042] The reasons for this include, for example, targets with strongly angle-dependent backscatter cross-sections, or advanced preprocessing where the data has already been discarded. Instead of interrupting the angle assessment, and in some cases instead of using the results of individual radar mechanisms 21-25, angle estimation can be performed using dynamic apertures.

[0043] For this purpose, the computing mechanism 4 selects the radar measurement signals of radar mechanisms 21-23 and 25 that constitute the longest continuous aperture (sub-aperture) from the subset of radar mechanisms 21-23 and 25 for combined evaluation. This is the first three radar mechanisms 21-23 in this case, which are then neatly selected 75. This sub-aperture can be cut per sensor if the required data is available, or it can be cut within a single radar mechanism 21-25. In this case, a mask can be created based on the available data of the entire aperture, and this mask is used to cut out the relevant region from the steering matrix used for angle estimation, which is then applied to the measurement data for angle evaluation.

[0044] Figure 6 shows an illustrative diagram of how misalignment of radar mechanisms 21-25 is determined based on rotation. In this case, the fifth radar mechanism 25 is rotating, i.e., misaligned.

[0045] Figure 7 shows an illustrative diagram of the determination of misalignment of radar mechanisms 21-25 based on translation, in which case each radar mechanism 21-25 is individually displaced relative to the others and its likelihood is individually confirmed.

[0046] Figure 8 illustrates an exemplary diagram of determining radar mechanism misalignment based on lateral displacement in the x, y, or z directions, in which group of radar mechanisms 21-25 is displaced relative to another group of radar mechanisms 21-25, i.e., likelihood confirmed at various apertures.

[0047] The calculation mechanism 4 can recognize a misalignment of radar mechanisms 21-25 in one of the cases shown in Figures 6-8 by skipping the radar measurement signals of individual radar mechanisms 21-25 during combined evaluation. Misalignment can be recognized by evaluating the remaining aperture remaining without the radar mechanism 21 to be inspected for the radar mechanisms 21-25 to be inspected.

[0048] Preferably, if a target in the far field is detected in the data of all radar mechanisms 21-25, then misalignment of individual radar mechanisms 21-25 or any sub-aperture can be detected by generating various sub-apertures, for example by skipping one radar mechanism 21-25 each. Further recalibration may then be performed.

[0049] In this case, misalignment can be corrected and / or recalibrated by calculation. In this regard, prominent targets can be selected by the sub-aperture to be investigated, and by the remaining aperture, or by each radar mechanism 21-25 of the remaining aperture.

[0050] For misalignments in angle or rotation, angle estimation is performed using the remaining aperture and a single sensor or sub-aperture to be inspected. Matching and likelihood checking of the two estimated angles allows for the detection and / or quantification of the misalignment. This relative misalignment can be verified and likelihood checked by the organized sub-aperture permutations, and the radar mechanism, sensor, or sub-aperture actually causing the misalignment can be inferred. Using a suitable algorithm, the quantified misalignment can be converted, for example, into a correction coefficient used in calculations, and / or a calibration matrix can be fitted, and / or the misalignment can be notified to the user.

[0051] By using correction factors or fitting calibration matrices, the measurement results of the radar mechanism, a misaligned single sensor, or a misaligned sub-aperture can be corrected, thereby preventing deterioration of the measurement results of the full aperture.

[0052] In rotational misalignment, the two solid angles of radar mechanisms 21-2n are misaligned, and detection or correction can be performed in both angular directions. If lateral misalignment or misalignment in the z-direction is detected, all sub-apertures can be organized and permuted, as in the case of tilt and rotation detection. For all sub-apertures, distance, velocity, and the two solid angles are recorded as measurement parameters and are mutually likelihood-checked based, for example, on prominent targets appearing in all radar measurement data or sub-aperture measurement data.

[0053] For example, using solid angles and distances, all targets can be plotted on a Cartesian three-dimensional grid, thereby enabling the detection of any displacement along the x, y, and z axes related to a given radar mechanism or sub-aperture, and allowing for appropriate correction of the measurement results.

[0054] When the calculation mechanism 4 detects a misalignment in one of the radar mechanisms 21 to 25, it may perform calibration of that radar mechanism 21 to 25. In the example shown in Figure 6, for example, radar measurement data from the fifth radar mechanism 25 (aperture or selection 65) may be additionally evaluated to confirm the likelihood of the result based on selection 72.

[0055] Figure 9 shows an illustrative diagram of the determination of quality values. The calculation mechanism 4 can perform angle estimation based on the selection of radar measurement signals and calculate at least one quality value for this angle estimation. The calculation mechanism 4 may be configured to perform an evaluation of all radar measurement signals combined only if this at least one quality value falls below a predetermined threshold.

[0056] According to one embodiment of the radar system, the combined evaluation of all radar measurement signals includes multi-target estimation and / or sidelobe level reduction methods. Whether or not to perform such a combined evaluation in the full aperture 81 (including all radar mechanisms 21-24) is determined by benefit estimates in smaller, less computationally intensive virtual sub-apertures 82, 83, and 84.

[0057] For large antenna apertures with many virtual channels, angle estimation, and especially multi-target estimation, is very costly. Furthermore, the "sparity" of the entire aperture 81 results in a very high sidelobe level, which can be suppressed by algorithms before multi-target estimation, thereby enabling the distinction of two or more targets with significantly different radar backscatter cross-sections within a single distance-velocity cell, and preventing weaker targets from being obscured by the sidelobes of stronger targets.

[0058] Both multi-target estimation and sidelobe level reduction algorithms are computationally expensive, and it is desirable that they be applied only when they are promising. Therefore, in order to determine or estimate the number of targets in the angular spectrum, and thereby determine the use of a multi-target estimator or selection criteria (e.g., decision thresholds) for targets, and the use of sidelobe level reduction methods in the full aperture 81, sub-apertures 82, 83, 84 of the corresponding virtual bistatic radar mechanisms 21-24, or single sensors 21-24, or all virtual apertures consisting of two or more single sensors 21-24 may be used.

[0059] An example of a multi-target estimator is a two-target deterministic maximum likelihood estimator. The criteria could be, for example, the selection of a threshold height at which a peak in the angular spectrum is recognized as a target. Sidelobe level reduction methods could be, for example, so-called "compressed sensing" methods, such as the "iterative method with adaptive threshold" (IMAT), Clean, or similar methods.

[0060] To determine whether the use of mitigation techniques, multi-target estimators, and relatively costly, computationally intensive detection methods in the full aperture 81 is worthwhile, quality criteria, such as the height of the correlation coefficient with respect to the main angle (Bartlett estimator), are determined in the less computationally intensive sub-aperture. The transition of amplitude A 85 as a function of angle φ is plotted with respect to the full aperture 81.

[0061] If this angular quality value, for example, the correlation value or another quality criterion, is below a certain threshold, i.e., the probability of there being only one target in this spectrum is low, or two targets are directly detected, then there is a very high probability that multiple targets 87, 88 exist at different angles within this distance-velocity cell. The transition of amplitude A 86 as a function of angle φ is plotted with respect to the full aperture 81 and the smaller sub-aperture 82.

[0062] In this case, the calculation mechanism 4 can determine whether the subsequent reconstruction of the finely decomposed angles justifies the use of a multi-target estimator, the adaptation of criteria, or a detection technique based on full aperture, and whether the computational cost for reducing the sidelobe level is worthwhile, or whether a single-target estimator at full aperture is already sufficient.

[0063] Figure 10 shows a flowchart of a method for evaluating the radar measurement signal of radar device 1. This method can be performed by the radar device 1 described above. In the first step S1, radar measurement signals are generated by a number of radar mechanisms 21-2n of the radar device 1.

[0064] In the second step S2, an evaluation is performed by combining the radar measurement signals of radar mechanisms 21 to 2n. In this step, the selection of radar measurement signals from radar mechanisms 21 to 2n is carried out when evaluating the combined radar measurement signals.

[0065] In this regard, when evaluating a combination of radar measurement signals, it is possible to completely skip at least one radar measurement signal from a radar mechanism, or to consider only a subset of the transmit / receive channels of that radar mechanism.

[0066] Angle determination for a given angular segment and / or distance segment may be performed by evaluating a combination of radar measurement signals from a given subset of the radar mechanism. Furthermore, for combined evaluation, a radar mechanism with the longest continuous aperture may be selected.

[0067] Furthermore, it can recognize and, in some cases, correct misalignments in the radar system. Furthermore, angle estimation can be performed based on the selection of radar measurement signals, and at least one quality value of this angle estimation can be calculated. Only if this at least one quality value falls below a predetermined threshold, an evaluation combining all radar measurement signals is performed.

Claims

1. It comprises numerous radar mechanisms (21-2n), each radar mechanism (21-2n) being formed to generate and output radar measurement signals, and A radar device (1) comprising a calculation mechanism (4) formed for combining and evaluating the radar measurement signals of the radar mechanisms (21 to 2n), wherein the calculation mechanism (4) is formed to perform selection of the radar measurement signals of the radar mechanisms (21 to 2n) when combining and evaluating the radar measurement signals.

2. The radar apparatus (1) according to claim 1, wherein the calculation mechanism (4) is configured to completely skip at least one radar measurement signal of the radar mechanisms (21-2n) when evaluating the combined radar measurement signals, or to consider only a subset of the transmit / receive channels (311-31m, 3n1-3nk) of the radar mechanisms (21-2n).

3. The radar device (1) according to claim 2, wherein the calculation mechanism (4) is configured to perform angle determination for a predetermined angular segment and / or distance segment by evaluation of a combination of the radar measurement signals of a predetermined subset of the radar mechanisms (21-2n).

4. The radar device (1) according to any one of claims 1 to 3, wherein the calculation mechanism (4) is formed to select the radar measurement signals of the radar mechanisms (21 to 2n) that constitute the longest continuous aperture from the subset of the radar mechanisms (21 to 2n) for the combined evaluation when the radar measurement signals of only a subset of the radar mechanisms (21 to 2n) have a target in a particular distance-velocity cell.

5. The radar device (1) according to any one of claims 1 to 4, wherein the calculation mechanism (4) is configured to recognize misalignment of the radar mechanisms (21 to 2n) by skipping the radar measurement signals of the individual radar mechanisms (21 to 2n) during the combined evaluation.

6. The radar device (1) according to claim 5, wherein the calculation mechanism (4) is formed to perform calibration of one of the radar mechanisms (21 to 2n) when it recognizes a misalignment in one of the radar mechanisms (21 to 2n).

7. The radar device (1) according to any one of claims 1 to 6, wherein the calculation mechanism (4) is configured to perform a single target estimation based on the selection of the radar measurement signals and to calculate at least one quality value of the single target estimation, and the calculation mechanism (4) is further configured to perform a combined evaluation of all radar measurement signals only when the at least one quality value falls below a predetermined threshold.

8. The radar apparatus (1) according to claim 7, wherein the evaluation of all the radar measurement signals combined includes multi-target estimation.

9. The radar device (1) according to any one of claims 1 to 8, wherein the calculation mechanism (4) is formed to perform angle estimation when combining and evaluating the radar measurement signals of the radar mechanisms (21 to 2n).

10. The radar device (1) according to any one of claims 1 to 9, wherein the radar device (1) is a cooperative sensor system, and in this case, the radar mechanism (21 to 2n) is a radar sensor.

11. The radar device (1) according to any one of claims 1 to 9, wherein the radar device (1) is a radar sensor, and in this case, the radar mechanism (21 to 2n) is a partial array of antenna elements of the radar sensor.

12. A method for evaluating the radar measurement signal of a radar device (1), Step (S1) of generating a radar measurement signal by a plurality of radar mechanisms (21-2n) of the radar device (1) and Step (S2) is to combine and evaluate the radar measurement signals of the radar mechanisms (21 to 2n), and when combining and evaluating the radar measurement signals, the selection of the radar measurement signals of the radar mechanisms (21 to 2n) is performed in step (S2). A method of having.

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