Radar system and method for determining objects in space

Abstract

A radar system, in which a first position estimation sensor is capable of generating a first position estimation beam lobe and a second position estimation sensor is capable of generating a second position estimation beam lobe, the position estimation beam lobes being designed in a fan shape having a main fan plane, the first main fan plane of the first position estimation beam lobe being arranged at a first incidence angle with respect to a virtual base plane arranged parallel to the direction of motion, and the second main fan plane of the second position estimation beam lobe being arranged at a second incidence angle with respect to the base plane, the first incidence angle and the second incidence angle being different, as well as a method for determining an object in space, in which a reflection elevation angle of a reflected position estimation signal is determined by a ratio of a signal offset and a sensor offset.

Description

[Technical Field]

[0001] The present invention relates to a radar system and method for determining objects in space. [Background technology]

[0002] To determine objects in space, particularly for localization, radar sensors are used that are arranged on a rotor and thus rotatable about the axis of rotation. The azimuth angle of a reflected signal detected by the radar sensor can be determined by the rotor's position. The azimuth angle corresponds to the azimuth position of the object in space that reflects the signal. To determine the elevation angle, it is known to use a radar sensor with multiple receive antennas spaced apart from one another. The phase shift when the reflected signal is detected by several receive antennas and the known spacing between the receive antennas can determine the elevation angle of the reflected signal. Furthermore, the elevation angle can be determined using the so-called phased array method, in which multiple transmit antennas are used and a signal is transmitted from each transmit antenna with a specific phase shift. This allows the propagating transmit beam to be deflected in its propagation direction.

[0003] Patent Document 1 is an example of prior art. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] US Patent Application Publication No. 2018 / 0267160 Summary of the Invention [Problem to be solved by the invention]

[0005] A drawback of known systems and methods is that a large number of transmitting and / or receiving antennas are required to determine the elevation angle, making the system highly complex. Correspondingly, the processing of the transmitted and received signals is also complex. In this case, the complexity further increases as the resolution of the system increases. Correspondingly, conventional radar systems are expensive.

[0006] The invention is therefore based on the problem of providing a radar system that can reliably and accurately determine objects in space and that has low development, production and operating costs.

[0007] The invention is also based on the problem of providing a method that allows reliable and accurate determination of objects in space and that can be easily implemented. [Means for solving the problem]

[0008] According to the invention, the above problem is solved by a radar system having the features of claim 1, a method having the features of claim 15 and a radar system having the features of claim 20. Advantageous embodiments and developments of the invention are set forth in the dependent claims.

[0009] A radar system according to the present invention includes a first position estimation sensor and a second position estimation sensor, the first position estimation sensor and the second position estimation sensor being designed as radar sensors, the first position estimation sensor and the second position estimation sensor being arranged on a common carrier with a sensor offset in the direction of movement, the carrier being arranged movably. The radar system further includes means for determining the position estimation sensor positions of the position estimation sensors, the first position estimation sensor being capable of generating a first position estimation beam lobe, and the second position estimation sensor being capable of generating a second position estimation beam lobe, the position estimation beam lobes each being designed as a fan shape with a main fan plane, the first main fan plane of the first position estimation beam lobe being arranged at a first angle of incidence with respect to a virtual base plane arranged parallel to the direction of movement, and the second main fan plane of the second position estimation beam lobe being arranged at a second angle of incidence with respect to the base plane, the first and second angles of incidence being different. In this case, the term "direction of movement" is used in particular so that this direction of movement also includes the respective opposite direction.

[0010] The sensor offset between the first and second position estimation sensors particularly results in the first and second position estimation sensors being arranged on the carrier offset in the direction of movement, which is preferably horizontal.

[0011] The position estimation beam lobes are designed to be fan-shaped, in particular very narrow in one direction and very wide in a direction perpendicular to this direction, with each main fan plane being arranged in particular parallel to a plane defined by the transmission direction and the direction in which the respective position estimation beam lobe is designed to be wide. Due to the different first and second incidence angles, in particular an offset provided between the first and second position estimation beam lobes depends in particular on the elevation angle.

[0012] To describe spatial arrangement and movement, the terms "elevation angle" and "azimuth angle" are used herein, inter alia. The elevation angle particularly denotes a rotational position about a horizontal axis. In general, the elevation direction particularly denotes a direction arranged perpendicular to the direction of movement. The azimuth angle preferably denotes a rotational position about a vertical axis. In general, the azimuth direction particularly denotes a rotational direction about a rotation axis arranged perpendicular to the direction of movement. Particularly preferably, the direction of movement is arranged horizontally, whereby the azimuth angle can describe a horizontal orientation and the elevation angle can describe a vertical orientation.

[0013] In particular, the carrier is configured as a rotor that is rotatably arranged about a rotation axis relative to the stator, and is designed so that the direction of movement rotates, the rotation axis being preferably arranged perpendicular to the direction of movement.

[0014] In a preferred embodiment of the present invention, the means for determining the position of the position estimation sensor is designed as an encoder system. The encoder system can be designed in particular to detect the position of the carrier relative to the stator. Thus, the position of the position estimation sensor of the position estimation sensor can be determined by the encoder system. In particular, the encoder system is designed as a rotary encoder. The encoder system is particularly arranged in the radar system such that at least one read head is arranged on the carrier and the mass scale is arranged on the stator. It is particularly preferred that the encoder system has a first read head and a second read head. This allows the encoder system to be designed at least partially redundant.

[0015] In a preferred embodiment of the present invention, the position estimation beam lobes are arranged such that the first and second main fan planes are inclined with respect to the base plane in opposite directions with respect to the direction of motion, thereby increasing the dependence of the position estimation beam lobe offset on the elevation angle.

[0016] Particularly preferably, the first and second angles of incidence are numerically equal, which in particular simplifies the design of the radar system and the data evaluation. The position estimation beam lobes are particularly designed to have a main opening angle and a side opening angle arranged perpendicular to the main opening angle, the main opening angle being at least 90°, particularly at least 120°, with a ratio of the main opening angle to the side opening angle being greater than 5:1, particularly greater than 10:1. Each of the position estimation beam lobes can therefore have an elliptical or approximately rectangular cross section. In particular, the main opening angle represents the opening angle of the position estimation beam lobe parallel to the respective main sector plane. The side opening angle is preferably arranged perpendicular to the main opening angle. Position estimation of objects in space requires particularly high resolution and the highest possible update rate. This can be achieved by a rotatable arrangement and the geometric shape of the position estimation beam lobes. In particular, the relatively narrow cross section of each position estimation beam lobe allows the position estimation sensor to achieve high resolution.

[0017] In a preferred embodiment of the present invention, a first position estimation sensor is designed to detect a first reflected position estimation signal, a second position estimation sensor is designed to detect a second reflected position estimation signal, a signal offset is provided between the first reflected position estimation signal and the second reflected position estimation signal, and the radar system has a position estimation calculation unit designed to determine a reflection elevation angle based on the ratio of the signal offset to the sensor offset. In particular, the elevation angle of the reflected position estimation signal is called the reflection elevation angle. Each reflected position estimation signal is a signal reflected by an object in space, particularly by a position estimation beam lobe emitted from the corresponding position estimation sensor. In this case, the first reflected position estimation signal and the second reflected position estimation signal are particularly reflected by the same reflecting object. A signal offset is particularly formed between the first signal position and the second signal position. A carrier position corresponding to each signal position can be detected using a means for determining the position estimation sensor position. In particular, the position estimation sensor position of the first position estimation sensor when detecting the first reflected position estimation signal is called the first signal position, and correspondingly, the position estimation sensor position of the second position estimation sensor when detecting the second reflected position estimation signal is called the second signal position.

[0018] Accordingly, a signal offset can be provided between the carrier position when the first position estimation sensor detects the first reflected position estimation signal and the carrier position when the second position estimation sensor detects the second reflected position estimation signal. The respective carrier positions can be detected using a means for determining the position estimation sensor positions, particularly an encoder system. In particular, when the sensor offset and the angle of incidence are known, the first position estimation calculation unit can determine the reflected elevation angle by the ratio of the signal offset to the sensor offset.

[0019] In particular, the position estimation calculation unit is designed to determine a reflection position value and a distance value from the first reflected position estimation signal and / or the second reflected position estimation signal, and the reflection elevation angle, the reflection position value, and the distance value form a position estimation data set. The position of each reflected position estimation signal in the direction of movement can be referred to as a reflection position value. The reflection position value generally differs from the position estimation sensor position of the position estimation sensor receiving the associated reflected position estimation signal. The reflection position value can be determined, in particular, from the position estimation sensor position of the position estimation sensor receiving the associated reflected position estimation signal and the angle of incidence of the respective main fan plane. The position estimation sensor position of the received position estimation sensor can be determined, in particular, based on the carrier position detected by the encoder system. The propagation time between the transmission of the position estimation signal and the detection of the reflected position estimation signal can be used, in particular, to determine the distance value. The distance value can represent the distance from the respective position estimation sensor to the reflecting object. The position of the reflecting object in space can be unambiguously represented by the position estimation data set.

[0020] The position estimation calculation unit is particularly connected to the position estimation sensor and the means for determining the position estimation sensor position. In particular, the position estimation calculation unit is arranged on a carrier. The radar system can have a rotary feedthrough for routing supply lines and data lines between the carrier and the stator. Furthermore, the radar system can have a first position estimation calculation unit and a second position estimation calculation unit for redundancy and to increase the fail-safety of the radar system. In particular, the first position estimation calculation unit and the second position estimation calculation unit are designed identically.

[0021] In a preferred embodiment of the present invention, the position estimation unit is designed to compare the first position estimation data set with the second position estimation data set and further process only the different data. In this case, further processing can include, in particular, transmitting the data. The surrounding environment scanned by the position estimation sensor may contain objects that are stationary relative to the position estimation sensor, and the position estimation signals reflected by these objects do not change or only change slightly over time. By comparing the second position estimation data set with the first position estimation data set, stationary objects can be separated from objects that move relative to the position estimation sensor. Furthermore, the comparison can reduce the amount of data to be further processed, thereby improving, in particular, the dynamics and accuracy of the radar system. In particular, the position estimation calculation unit is designed so that the comparison is performed every rotor revolution.

[0022] In one development of the invention, the radar system has at least one identification sensor for identifying an object, which can generate an identification beam lobe, and which is designed as a fixed radar sensor. The object is identified, in particular, by a characteristic radar signature generated by the object. The radar signature can include a spectrum of Doppler frequencies, a so-called Doppler signature, which can be used to distinguish living objects from non-living objects with high resolution. A high resolution Doppler signature requires a relatively long observation time, which may conflict with a high update rate for estimating the object's position. By having a radar system with a rotatable position estimation sensor and, in particular, at least one fixed identification sensor, the radar system can provide ideal conditions for simultaneously estimating and identifying an object in space.

[0023] In particular, the identification beam lobe has a main opening angle of at least 90°, particularly preferably at least 120°, and a lateral opening angle of at least 90°, particularly preferably at least 120°. Therefore, the identification beam lobe has a circular or approximately square cross section. Furthermore, the main opening angle and the lateral opening angle of the identification beam lobe are therefore relatively large, which allows a wide area to be detected by the identification sensor. In particular, the main opening angle of the identification beam lobe is arranged in the elevation direction, and the lateral opening angle of the identification beam lobe is arranged in the azimuth direction.

[0024] Preferably, at least one identification sensor is arranged on the stator, which allows for a simple and uniform structure of the radar system. In one development of the invention, the radar system has a first discrimination sensor and a second discrimination sensor, which are arranged on the stator, particularly preferably with an offset of 180° in the direction of movement, thereby enabling object discrimination over a large area. Furthermore, the radar system can have further discrimination sensors to enable coverage of an even larger area. In this case, the discrimination beam lobes of the different discrimination sensors can be designed to be at least approximately identical or different.

[0025] The radar system may have at least one identification calculation unit designed to identify the radar signature of the reflected identification signal. To this end, the radar system may be designed in particular to assign the Doppler signature of the reflected identification signal to a specific object. In particular, the identification calculation unit may be designed to compare the radar signature of the reflected identification signal with a reference database. The at least one identification calculation unit is preferably connected to the at least one identification sensor. The at least one identification calculation unit may be arranged on the stator.

[0026] Furthermore, the radar system may comprise a first identification calculation unit and a second identification calculation unit for further redundancy and to further increase the fail-safety of the radar system.

[0027] The radar system may have a central computing unit designed to assign the reflected identification signal to the reflected position estimation signal. This allows the radar system to estimate and simultaneously identify the position of an object in space with high resolution. For this purpose, the central computing unit is connected, in particular, to at least one position estimation computing unit and at least one identification computing unit. To be able to assign the reflected identification signal to the reflected position estimation signal, the at least one identification sensor is designed to be able to at least approximately estimate the position of the object based on the reflected identification signal. In particular, the at least one identification sensor preferably has a transmitting antenna and at least two receiving antennas for this purpose. This allows the reflected identification signal to be processed, in particular by the at least one identification computing unit, using a beamforming method. In this case, the position estimation of the object based on the reflected identification signal may be significantly less accurate than the position estimation based on the reflected position estimation signal.

[0028] The method for determining an object in space is performed by a first radar sensor designed as a position estimation sensor and a second radar sensor designed as a position estimation sensor, the first and second position estimation sensors being arranged on a common carrier with a sensor offset in a movement direction, the carrier being arranged to be movable in the movement direction. During a movement cycle of the carrier, emitting a first position estimation beam lobe by a first position estimation sensor and a second position estimation beam lobe by a second position estimation sensor, the position estimation beam lobes each being designed in a fan shape having a main fan plane, the first main fan plane of the first position estimation beam lobe being arranged at a first incidence angle with respect to a virtual base plane arranged parallel to the direction of motion, and the second main fan plane of the second position estimation beam lobe being arranged at a second incidence angle with respect to the base plane, the first incidence angle and the second incidence angle being different; detecting a first reflected position estimation signal by a first position estimation sensor and an associated first signal position; detecting a second reflected position estimation signal by a second position estimation sensor and an associated second signal position; determining a signal offset between a first signal position and a second signal position; Determining the elevation angle of the reflected position estimation signal by the ratio of the signal offset to the sensor offset.

[0029] In particular, the aforementioned steps are performed several times during a movement cycle of the carrier. Preferably, the first signal position and the second signal position are detected by an encoder system. In particular, the carrier is rotatably arranged, and a movement cycle is formed by one rotation of the carrier.

[0030] If in the above description of the radar system there is a feature that corresponds to one of the objective features mentioned for the method and has the same name, the description given for the radar system applies in particular to the objective feature of the method as well. Correspondingly, for example, the above description of the position estimation sensor or the position estimation beam lobe of the radar system can also be applied to the position estimation sensor or the position estimation beam lobe of the method.

[0031] In a preferred embodiment of the method, reflected position and distance values ​​are determined from the first reflected position estimation signal and / or the second reflected position estimation signal, and a position estimation data set is formed by the reflected elevation angle and the reflected position and distance values.

[0032] In particular, the method is designed such that the carrier performs multiple motion cycles and the second location estimation data set is compared with the first location estimation data set having the same reflection azimuth angle, thereby reducing the amount of data to be further processed in accordance with the above-described embodiments of the radar system and further simplifying the recognition of moving objects.

[0033] This method is particularly emitting a discrimination beam lobe by a fixed radar sensor designed as a discrimination sensor; detecting a reflected identification signal having a radar signature; identifying a radar signature; and assigning the reflected identification signal to the reflected location estimate signal.

[0034] The radar signature may comprise a spectrum of Doppler frequencies, the so-called Doppler signature, which may be used to distinguish between living and non-living objects with high resolution. The identification of the radar signature is carried out in particular on the basis of the Doppler signature. The identification of the radar signature may in particular involve comparing the reflected identification signal with a reference database.

[0035] Based on the reflected identification signals, the position of the reflecting object can be estimated at least approximately, so that the reflected identification signals can be assigned to the reflected position estimation signals. In particular, for this purpose, the reflected identification signals are processed using a beamforming method. In this case, the position estimation of the object based on the reflected identification signals can be significantly less accurate than the position estimation based on the reflected position estimation signals.

[0036] In particular, the radar system described above is designed to carry out the described method. An embodiment of the present invention will be described with reference to the following figures. [Brief explanation of the drawings]

[0037] [Figure 1] 1 shows a schematic diagram of an exemplary embodiment of a radar system; [Figure 2] 1 shows a schematic diagram of a rotor together with a first position estimation beam lobe and a second position estimation beam lobe. [Figure 3] 1 shows a schematic diagram of a position estimation beam lobe and the location of an object to be determined. [Figure 4] 1 shows a schematic diagram of a second position estimation beam lobe and the location of the object to be determined. [Figure 5] 1 shows a schematic diagram of a method for determining an object in space; DETAILED DESCRIPTION OF THE INVENTION

[0038] The same reference numbers are used for the same and functionally identical parts. FIG. 1 shows a radar system 100 including a first position estimation sensor 1.1 and a second position estimation sensor 10.1, which are designed as radar sensors. The first position estimation sensor 1.1 and the second position estimation sensor 10.1 are arranged on a common carrier 3.1 with a sensor offset 3.8 in the direction of movement 3.7. Specifically, the carrier 3.1 is rotatable about a rotation axis 3.6 relative to a stator 4.1. The first position estimation sensor 1.1 can generate a first position estimation beam lobe 1.3, and the second position estimation sensor can generate a second position estimation beam lobe 10.3. The sensor offset 3.8 between the first position estimation sensor 1.1 and the second position estimation sensor 10.1 results in the first position estimation sensor 1.1 and the second position estimation sensor 10.1 being arranged on the carrier 3.1 with a sensor offset 3.8 in the direction of movement 3.7. The axis of rotation 3.6 is preferably arranged vertically.

[0039] Furthermore, the radar system 100 can have an encoder system for determining the position of the position estimation sensors 1.1, 10.1. The encoder system can be designed to detect the position of the carrier 3.1 relative to the stator 4.1, so that the encoder system can be used to determine the position of the position estimation sensors 1.1, 10.1. The encoder system is particularly arranged in the radar system 100 so that the first read head 3.2.1 and the second read head 3.2.2 are arranged on the rotor 3.1 and the mass scale 4.2 is arranged on the stator 4.1.

[0040] As shown in Figure 2, the position estimation beam lobes 1.3, 10.3 are each designed in a fan shape having a main fan plane, with the first main fan plane 1.4 of the first position estimation beam lobe 1.3 being arranged at a first incidence angle 1.5 with respect to a virtual base plane 30 arranged parallel to the direction of motion 3.7, and the second main fan plane 10.4 of the second position estimation beam lobe 10.3 being arranged at a second incidence angle 10.5 with respect to the base plane 30.

[0041] The position estimation beam lobes 1.3, 10.3 are designed to be fan-shaped, in particular very narrow in one direction and very wide in a direction perpendicular to this direction, with the respective main fan plane 1.4, 10.4 being particularly parallel to the plane defined by the transmission direction 1.6 and the direction in which the respective position estimation beam lobe 1.3, 10.3 is designed to be wide.

[0042] The position estimation beam lobes 1.3, 10.3 are arranged such that the first and second angles of incidence 1.5, 10.5 are different. As shown in Fig. 2, the position estimation beam lobes 1.3, 10.3 can be arranged, for example, such that the first and second main fan planes 1.4, 10.4 are inclined in opposite directions relative to the base plane 30 with respect to the direction of movement 3.7. In particular, the first and second main fan planes 1.4, 10.4 can be inclined in opposite directions relative to the base plane 30 with respect to the rotation axis 3.6. Particularly preferably, the first and second angles of incidence 1.5, 10.5 are numerically equal.

[0043] The position estimation beam lobes 1.3, 10.3 are each designed to have a main opening angle 56 and a lateral opening angle 58 arranged perpendicular to the main opening angle, the main opening angle 56 being at least 90°, preferably at least 120°, with the ratio of the main opening angle 56 to the lateral opening angle 58 of the position estimation beam lobes 1.3, 10.3 being greater than 5:1, in particular greater than 10:1. Thus, each of the position estimation beam lobes 1.3, 10.3 can have an elliptical or approximately rectangular cross section 60 (see in particular FIGS. 2 and 3). In particular, the main opening angle 56 represents the opening angle of the position estimation beam lobes 1.3, 10.3 parallel to the respective main sector planes 1.4, 10.4. The lateral opening angle 58 is preferably arranged perpendicular to the main opening angle 56.

[0044] As shown in Figure 4, a reflecting object 8 can be detected by a first position estimation beam lobe 1.3 and a second position estimation beam lobe 10.3. In particular, the object 8 generates a first reflected signal 71.1 or a second reflected signal 71.2. Preferably, the first position estimation sensor 1.1 is designed to detect the first reflected position estimation signal 71.1, and the second position estimation sensor 10.3 is designed to detect the second reflected position estimation signal 71.2.

[0045] 4 shows that the detection of the first reflected position estimation signal 71.1 by the first position estimation sensor 1.3 and the detection of the second reflected position estimation signal 71.2 by the second position estimation sensor 10.3 are superimposed such that the first reflected position estimation signal 71.1 and the second reflected position estimation signal 71.2 coincide with the object 8 on an ordinate located in the angle-of-attack direction 32 of the illustrated coordinate system. From this, it can be seen that a signal offset 74 can be located between a first signal position 72.1 at which the first position estimation sensor 1.1 detects the first reflected position estimation signal 71.1 and a second signal position 72.2 at which the second position estimation sensor 10.1 detects the second reflected position estimation signal 71.2. In particular, the position estimation sensor position of the first position estimation sensor 1.1 when detecting the first reflected position estimation signal 71.1 is called the first signal position 72.1, and correspondingly, the position estimation sensor position of the second position estimation sensor 10.1 when detecting the second reflected position estimation signal 71.2 is called the second signal position 72.2.

[0046] The radar system 100 may have a first position estimation calculation unit 3.3.1 shown in Figure 1, which is designed to determine the reflection elevation angle 54 shown in Figure 4 using the ratio of the signal offset 74 to the sensor offset 3.8. In particular, when the sensor offset 3.8 and the incidence angles 1.5 and 10.5 are known, the first position estimation calculation unit 3.3.1 can determine the reflection elevation angle 54 by the ratio of the signal offset 74 to the sensor offset 3.8.

[0047] The first position estimation calculation unit 3.3.1 is connected, in particular, to the position estimation sensors 1.1, 10.1 and the encoder system. As shown in FIG. 1, the first position estimation calculation unit 3.3.1 is arranged, in particular, on the carrier 3.1. The radar system 100 can have a rotary feedthrough, including a rotor-side rotary feedthrough 3.4 and a stator-side rotary feedthrough 4.4, for routing supply and data lines between the carrier 3.1 and the stator 4.1. Furthermore, the radar system 100 can have a second position estimation calculation unit 3.3.2 for redundancy. In particular, the first position estimation calculation unit 3.3.1 and the second position estimation calculation unit 3.3.2 are designed identically. The first position estimation calculation unit 3.3.1 and the second position estimation calculation unit 3.3.2 can be designed to compare the first position estimation data set with the second position estimation data set and to further process only the difference data.

[0048] The radar system 100 can have a first discrimination sensor 2.1 and a second discrimination sensor 20.1 for discriminating the object 8, each generating a discrimination beam lobe 2.2 by the discrimination sensors 2.1, 20.1. In this case, the discrimination beam lobes 2.2 of the first discrimination sensor 2.1 and the second discrimination sensor 20.1 can be designed to be at least approximately identical or different. The discrimination sensors 2.1, 20.1 are particularly designed as fixed radar sensors and are arranged on the stator 4.1. In particular, the first discrimination sensor 2.1 and the second discrimination sensor 20.1 are arranged on the rotor with a 180° offset. This allows the object 8 to be discriminated over a wide area.

[0049] In particular, the identification beam lobe 2.2 has a main opening angle 62 of at least 90°, particularly preferably at least 120°, and a lateral opening angle 64 of at least 90°, particularly preferably at least 120°. The identification beam lobe 2.2 therefore has, in particular, a circular or approximately square cross section 66. Furthermore, the elevation angle 62 and the lateral opening angle 64 of the identification beam lobe 2.2 are relatively large, which allows a large area to be detected by one of the identification sensors 2.1, 20.1.

[0050] The radar system 100 may have a first identification calculation unit 4.3.1 and a second identification calculation unit 4.3.2, each of which is designed to identify the radar signature of a reflected identification signal. In particular, the identification calculation units 4.3.1 and 4.3.2 are designed identically. For this purpose, the radar system 100 may be designed, in particular, to assign the Doppler signature of the reflected identification signal to a specific object. In particular, the identification calculation units 4.3.1 and 4.3.2 may be designed to compare the radar signature of the reflected identification signal with a reference database. The identification calculation units 4.3.1 and 4.3.2 are preferably connected, in particular, to the identification sensors 2.1 and 20.1. The identification calculation units 4.3.1 and 4.3.2 may be arranged on the stator 4.1.

[0051] The radar system 100 may have a central computing unit 5 designed to assign the reflected identification signals to reflected position estimation signals. This allows the radar system 100 to estimate the position of the object 8 in space with high resolution and simultaneously identify it. For this purpose, the central computing unit 5 is preferably connected to the position estimation computing units 3.3.1, 3.3.2 and the identification computing units 4.3.1, 4.3.2. To be able to assign the reflected identification signals to the reflected position estimation signals, the identification sensors 2.1, 20.1 are designed to be able to at least approximately estimate the position of the object 8 based on the reflected identification signals. For this purpose, the identification sensors 2.1, 20.1 each have, in particular, a transmitting antenna and at least two receiving antennas. As a result, the reflected identification signals can be processed, in particular by the identification computing units 4.3.1, 4.3.2, using a beamforming method.

[0052] 5 shows a schematic diagram of a method 800 including several method steps for determining objects in space. Preferably, the radar system 100 shown in FIG. 1 is designed to carry out this method.

[0053] In a first method step 80, a first position estimation beam lobe 1.3 can be emitted by the first position estimation sensor 1.1, and a second position estimation beam lobe 10.3 can be emitted by the second position estimation sensor 10.1. In a second method step 82, a first reflected position estimation signal 71.1 can be detected by the first position estimation sensor 1.1 and an associated first signal position 72.1, in particular by means of an encoder system. A corresponding arrangement is shown in FIG. 3. In a third method step 84, a second reflected position estimation signal 71.2 can be detected by the second position estimation sensor 10.1 and an associated second signal position 72.2, in particular by means of an encoder system. An arrangement of the second signal position 72.2 is shown in FIG. 4.

[0054] In a fourth method step 86, the signal offset 74 between the first signal position 72.1 and the second signal position 72.2 can be determined. In particular, in a fifth method step 88, the reflection elevation angle 54 is determined by the ratio of the signal offset 74 to the sensor offset 3.8.

[0055] In particular, the first method step 80 to the fourth method step 86 are carried out several times during a movement cycle, in particular one revolution, of the carrier 3.1. The method 800 is particularly designed such that, in a fifth method step 90, an identification beam lobe 2.2 is emitted by at least one of the identification sensors 2.2, 20.2. A radar signature of the reflected identification signal can then be detected in a sixth method step 92, and this radar signature can be identified in a seventh method step 94. The radar signature identification is particularly performed based on a Doppler signature. Identifying the radar signature can, in particular, involve comparing the reflected identification signal with a reference database. In particular, the fifth method step 90 to the seventh method step 94 are performed in parallel with the first method step 80 to the fourth method step 86.

[0056] In an eighth method step 99, the reflected identification signals can be assigned to the reflected position estimation signals 71.1, 71.2. In order to be able to assign the reflected identification signals to the reflected position estimation signals 71.1, 71.2, the reflecting object 8 can be at least approximately localized based on the reflected identification signals. In particular, for this purpose, the reflected identification signals are processed using a beamforming method. [Explanation of symbols]

[0057] 1.1 First position estimation sensor 1.3 Position Estimation Beam Lobe 1.4 First main sector plane 1.5 First Incident Angle 1.6 Transmission Direction 2.1 First Identification Sensor 2.2 Identification beam lobe 3.1 Career 3.2.1 First Read Head 3.2.2 Second Read Head 3.3.1 First Position Estimation Calculation Unit 3.3.2 Secondary Position Estimation Calculation Unit 3.4 Rotary feedthrough on the rotor side 3.6 Rotation axis 3.7 Direction of motion 3.8 Sensor Offset 4.1 Stator 4.2 Physical meter 4.4 Stator-side rotary feedthrough 8 objects 10.1 Secondary Position Estimation Sensor 10.3 Second position estimation beam lobe 10.4 Second major sector plane 10.5 Second Angle of Incidence 20.1 Second Identification Sensor 30 base plane 32 Elevation direction 54 Reflection elevation angle 56 Main opening angle of position estimation beam lobe 58 Lateral opening angle of position estimation beam lobe 60 Position estimation beam lobe cross section 62 Main opening angle of the identified beam lobe 64 Lateral opening angle of the identified beam lobe 66 Cross section of the identified beam lobe 71.1 First reflected position estimate signal 71.2 Second reflected position estimate signal 72.1 First signal position 72.2 Second signal position 74 Signal Offset 80 First method step 82 second method step 84 Third method step 86 Fourth method step 90 Fifth method step 92 Sixth method step 94 Seventh method step 99 Eighth method step 100 radar systems 800 ways

Claims

1. A radar system (100), comprising: a first position estimation sensor (1.1) and a second position estimation sensor (10.1), the first position estimation sensor (1.1) and the second position estimation sensor (10.1) are designed as radar sensors, the first position estimation sensor (1.1) and the second position estimation sensor (10.1) are arranged on a common carrier (3.1) with a sensor offset (3.8) in a direction of movement (3.7), and the carrier (3.1) is arranged to be movable in the direction of movement (3.7); means for determining a position estimation sensor position of said position estimation sensor (1.1, 10.1); a first position estimation beam lobe (1.3) can be generated by the first position estimation sensor (1.1), and a second position estimation beam lobe (10.3) can be generated by the second position estimation sensor (10.1); the position estimation beam lobes (1.3, 10.3) are each designed in a fan shape having a main fan plane (1.4, 10.4), the first main fan plane (1.4) of the first position estimation beam lobe (1.3) being arranged at a first incidence angle (1.5) with respect to a virtual base plane (30) arranged parallel to a plane containing the motion path of the carrier (3.1), and the second main fan plane (10.4) of the second position estimation beam lobe (10.3) being arranged at a second incidence angle (10.5) with respect to the base plane (30); the first angle of incidence (1.5) and the second angle of incidence (10.5) are opposite with respect to the direction of motion (3.7); The first position estimation sensor (1.1) is designed to detect a first reflected position estimation signal (71.1), the second position estimation sensor (10.1) is designed to detect a second reflected position estimation signal (71.2), a signal offset (74) is provided between the first reflected position estimation signal (71.1) and the second reflected position estimation signal (71.2), and the radar system (100) has a position estimation calculation unit (3.3.1, 3.3.2) designed to determine a reflection elevation angle (54) by a ratio of the signal offset (74) to the sensor offset (3.8).

2. The position estimation beam lobes (1.3, 10.3) are arranged such that the first main sector plane (1.4) and the second main sector plane (10.4) are inclined with respect to the base plane (30) in opposite directions with respect to the direction of movement. characterized in that The radar system of claim 1 .

3. The first incident angle (1.5) and the second incident angle (10.5) are numerically equal in magnitude. characterized in that The radar system of claim 1 .

4. the position estimation calculation unit (3.3.1, 3.3.2) is designed to determine a reflection position value and a distance value from the first reflected position estimation signal (71.1) and / or the second reflected position estimation signal (71.2), the reflection position value indicating the position of the reflected position estimation signal (71.1, 71.2) in the direction of movement (3.7), i.e. the direction of an object that reflected the position estimation beam lobe (1.3, 10.3), and the reflection elevation angle, the reflection position value and the distance value form a position estimation data set; The location estimation calculation unit (3.3.1, 3.3.2) is designed to compare the first location estimation data set with the second location estimation data set and to further process only the different data. characterized in that The radar system of claim 1 .

5. The radar system (100) has at least one identification sensor (2.1, 20.1) for identifying an object (8), the at least one identification sensor (2.1, 20.1) being capable of generating an identification beam lobe (2.2), the at least one identification sensor (2.1, 20.1) being designed as a fixed radar sensor. characterized in that The radar system of claim 1 .

6. The identification beam lobe (2.2) has a main opening angle (62) of at least 90°, and the identification beam lobe (2.2) has a lateral opening angle (64) of at least 90°. characterized in that 6. The radar system of claim 5.

7. The at least one identification sensor (2.1, 20.1) is arranged on the stator (4.1). characterized in that 6. The radar system of claim 5.

8. The radar system (100) comprises a central computing unit (5) designed to assign the reflected identification signals to the reflected position estimation signals (71.1, 71.2). characterized in that 6. The radar system of claim 5.

9. A method (800) for determining an object (8) in space by a radar sensor designated as a first position estimation sensor (1.1) and by a radar sensor designated as a second position estimation sensor (10.1), wherein the first position estimation sensor (1.1) and the second position estimation sensor (10.1) are arranged on a common carrier with a displacement in a direction of movement such that the first position estimation sensor and the second position estimation sensor have a sensor offset (3.8), the carrier (3.1) being arranged to be movable in the direction of movement, and wherein during a movement cycle of the carrier: a step of emitting a first position estimation beam lobe (1.3) by the first position estimation sensor (1.1) and a second position estimation beam lobe (10.3) by the second position estimation sensor (10.1), the position estimation beam lobes (1.3, 10.3) being designed in a fan shape having respective main fan planes (1.4, 10.4), the first main fan plane (1.4) of the first position estimation beam lobe (1.3) being arranged at a first angle of incidence (1.5) with respect to a virtual base plane (30) arranged parallel to a plane containing a motion path of the carrier (3.1); a second main fan plane (10.4) of the position estimation beam lobe (10.3) is arranged at a second angle of incidence (10.5) with respect to the base plane (30), and the first angle of incidence (1.5) and the second angle of incidence (10.5) are set so that, when the first position estimation beam lobe (1.3) and the second position estimation beam lobe (10.3) transmitted in the same direction are compared, the inclination of the first position estimation beam lobe (1.3) with respect to the base plane (30) is opposite to the inclination of the second position estimation beam lobe (10.3) with respect to the base plane (30); detecting a first reflected position estimation signal (71.1) by said first position estimation sensor (1.3) and an associated first signal position (72.1); detecting a second reflected position estimation signal (71.2) by said second position estimation sensor (10.3) and an associated second signal position (72.2); determining a signal offset (74) between the first signal position (72.1) and the second signal position (72.2); determining a reflection elevation angle (54) of the reflected position estimation signal (71.1, 71.2) by the ratio of the signal offset (74) to the sensor offset (3.8); How it is performed.

10. A reflection position value and a distance value are determined from the first reflected position estimation signal (71.1) and / or the second reflected position estimation signal (71.2), the reflection position value indicating the position of the reflected position estimation signal (71.1, 71.2) in the direction of movement (3.7), i.e., the direction of an object that reflected the position estimation beam lobe (1.3, 10.3), and the reflection elevation angle (54), the reflection position value and the distance value form a position estimation data set. characterized in that 10. The method of claim 9.

11. The carrier (3.1) performs a number of motion cycles, and the second position estimation data set is compared with the first position estimation data set having the same reflected position value. characterized in that The method of claim 10.

12. The method comprises: emitting a discrimination beam lobe (2.2) by a fixed radar sensor designated as a discrimination sensor (2.1, 20.1); detecting a reflected identification signal having a radar signature; identifying the radar signature; assigning said reflected identification signal to said reflected position estimation signal (71.1, 71.2); Contains characterized in that 10. The method of claim 9.

13. The reflected identification signal is processed using a beamforming method. characterized in that The method of claim 12.

14. The radar system (100) is designed to perform the method (800) according to any one of claims 9 to 13. characterized in that A radar system according to any one of claims 1 to 8.

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