Method for operating a radar system

Abstract

The invention relates to a method for operating (130) a radar system (100), to a corresponding radar system (100), to a computer program, and to a computer-readable storage medium.

Description

[0001] JENOPTIK Robot GmbH LS-23-008-P-WO - 1 -

[0002] Method for operating a radar system

[0003] The invention relates to a method for operating a radar system, a radar system, a computer program and a computer-readable storage medium.

[0004] Radar systems are known for traffic monitoring and / or for measuring speed and / or distance within a traffic scene, for example, of objects such as (passing) vehicles. These radar systems can also be equipped to record, particularly using an exposure unit. This allows, for example, speeding violations of objects in the traffic scene to be measured and (simultaneously) a recording to be made (as evidence). Radar systems can emit radar waves via a transmitting antenna. The radar waves can be at least partially reflected by an (external and / or moving) object (in the traffic scene). The reflected radar waves can be detected by one or more receiving antennas of the radar system. An (analog) radar signal can then be generated.Depending on time-of-flight differences between the transmitted radar waves and the received radar waves (or the radar signal) and / or a Doppler phase difference, especially between offset receiving antennas.

[0005] (or antenna elements of a receiving antenna) the distance (depending on time) and / or the speed (of the object) can be determined. A detection unit and / or exposure unit can, for example, be activated to create a recording of the object when a (measured) speed exceeds a guideline speed specific to the traffic scene.

[0006] The current state of the art has disadvantages. Radar systems can be calibrated. In particular, fully assembled radar systems are calibrated. Accordingly, radar systems can fully integrate and / or jointly install, for example, one (or more) transmitting antenna(s), receiving antenna(s), a radar interface (e.g., comprising a transmit / receive switch, signal generator, transmit amplifier and / or receive amplifier), an electronics unit, a radome (for beam shaping), a control unit, and / or corresponding connecting lines (e.g., analog coaxial cables and / or data lines), e.g., in a common housing. This housing can be secured and / or sealed. The components, in particular JENOPTIK Robot GmbH LS-23-008-P-WO - 2 -

[0007] The radome and transmitting or receiving antenna are separate assemblies, which can accelerate changes (e.g., due to wear and / or relative displacement) and / or necessitate (comparatively) timely calibration. Calibration of the entire (mounted) radar system can be performed, particularly to enable the most accurate possible position, speed, and / or distance measurements. This calibration can be carried out, in particular (or exclusively), in specially developed and / or predefined measurement systems.

[0008] Measuring chambers are used, which are preferably (only) available from the manufacturer.

[0009] This allows for the measurement of radar parameters specific to the radar system, such as an antenna pattern. Therefore, calibration and / or troubleshooting may be performed (only) by the manufacturer, for example, at a production site (such as a factory). The radar system and / or its components may be subject to wear, aging, and / or changes (e.g., due to external forces). This can alter the calibration or make a sufficiently accurate measurement impossible. Accuracy may be reduced. Consequently, use may be impossible, restricted, and / or impermissible (e.g., because certain measurement tolerances of the radar system can no longer be guaranteed). This can (only) be compensated for by a new calibration, which specifically compensates for the changed conditions during measurement and / or a replacement or...This may involve repairing components. For this, it may be necessary to send the (entire) radar system to the manufacturer. This can be disadvantageous in terms of convenience, flexibility, efficiency, environmental friendliness, maintenance effort, downtime, and / or (increased) costs. It may also necessitate that radar systems be designed with redundancy to compensate for a failure. Furthermore, calibration data obtained during calibration may not be stored, or only stored, by the manufacturer. Therefore, modifications to the radar system may (always) require a complete recalibration by the manufacturer.

[0010] It is therefore an object of the present invention to overcome at least one of the disadvantages described above, at least partially. In particular, it is an object of the invention to optimize the accuracy (of the radar system), comfort, flexibility, efficiency, environmental friendliness, maintenance requirements, downtime, and / or costs. JENOPTIK Robot GmbH LS-23-008-P-WO - 3 -

[0011] The foregoing problem is solved by a method having the features of the independent method claim, by a radar system having the features of the independent system claim, by a computer program having the features of the independent patent claim relating to a computer program, and by a computer-readable storage medium having the features of the independent patent claim relating to a computer-readable storage medium.

[0012] Further features and details of the invention will become apparent from the dependent claims, the description, and the drawings. Features and details described in connection with the method according to the invention naturally also apply in connection with the radar system according to the invention and / or in connection with the computer program according to the invention and / or in connection with the computer-readable storage medium according to the invention, and vice versa, so that the disclosure regarding the individual aspects of the invention always refers to each other. In particular, advantages described within the first, second, third, and / or fourth aspect also apply to the first, second, third, and / or fourth aspect, respectively.

[0013] The above task is solved according to a first aspect by a method for operating a radar system for measuring position, distance and / or speed in a traffic scene, especially in road traffic, comprising the radar system:

[0014] A radar assembly and a sensor assembly, wherein the radar assembly and the sensor assembly, particularly in an operating configuration, together form the radar system,

[0015] and demonstrating the procedure:

[0016] Connecting the radar assembly and the sensor assembly to establish a data link between the radar assembly and the sensor assembly,

[0017] Transfer of calibration data from the radar assembly to the sensor assembly via the data link, wherein the calibration data is specific to the radar assembly, and JENOPTIK Robot GmbH LS-23-008-P-WO - 4 -

[0018] Operating the radar assembly and / or the sensor assembly depending on the calibration data.

[0019] The procedure according to the first aspect can (at least partially)

[0020] The method may be computer-implemented and / or performed repeatedly. Advantageously, at least one of the described steps can be performed in the method, with the steps preferably being performed sequentially in the specified order or alternatively in a different arbitrary order, and individual steps may optionally be repeated. Preferably, the method can be performed during, before, and / or (preferably) during the operation, use, and / or maintenance of a radar system. Operation may include commissioning and / or measurement (or acquisition) by the radar system. In particular, the steps of the method can be performed to enable operation. It may be provided that the method is performed at least partially as part of commissioning and / or maintenance.It is particularly conceivable that the procedure is carried out, for example, while a radar system and / or (only) a radar assembly is undergoing inspection and / or refurbishment (or overhaul). A control unit can implement the procedure (at least partially), for example, by (combining) performing the steps mentioned above and / or controlling and / or regulating corresponding components (e.g., radar assembly and / or sensor assembly). The procedure can optimize the accuracy (of the radar system), user-friendliness, flexibility, efficiency, environmental friendliness, maintenance requirements, downtime, and / or costs.

[0021] The method can be configured to enable (initial and / or repeated) operation. The method can be configured to establish an operating configuration of the radar system. Preferably, the radar assembly and the sensor assembly can represent (initially) separate subsystems. In particular, the radar assembly and the sensor assembly can be separated from each other and / or designed separately in a maintenance configuration. This advantageously allows the sensor assembly to continue operating (by the user and / or customer), especially with another (redundant) radar assembly and / or by a radar assembly provided by the manufacturer (for the period of maintenance and / or calibration). The radar assembly and the sensor assembly can, preferably, be JENOPTIK Robot GmbH LS-23-008-P-WO - 5 -

[0022] through and / or within the framework of the process, (mechanically and / or for data communication and / or for the transmission of [analog] radar signals) are combined, assembled and / or integrated with each other, in particular to realize a radar system and / or an operating configuration. This advantageously allows the radar assembly and / or the sensor assembly to be serviced, repaired, shipped and / or calibrated separately and / or individually. This can be advantageous because it is not necessary to service and / or calibrate and / or ship the entire radar system.

[0023] The radar assembly can form a (self-contained and / or independent), in particular a first, assembly. The radar assembly can comprise and / or combine the following components and / or include them in an integrated manner, preferably in an (enclosing and / or mechanical) radar assembly housing:

[0024] one (or more) transmitting antenna(s),

[0025] a (or more) receiving antenna(s), in particular a receiving antenna with at least two receiving antenna elements,

[0026] optionally or alternatively a (combined) transmitting / receiving antenna or an antenna array,

[0027] a first radar interface which is connected to the transmitting and / or receiving antenna(s), for example via a (respective) transmission line(s), wherein preferably the first and / or second radar interface has a transmit / receive switch and / or is configured to transmit, preferably analog, radar signals, and / or the first radar interface is configured, in particular via an (analog) radar signal connection (e.g. a coaxial cable), to be connected to a second radar interface of the sensor assembly,

[0028] a radome which may be configured for (optimized) beam shaping and / or which may be integrated with the transmitting antenna and / or receiving antenna(s), wherein the radome is preferably designed flush with and / or in an outer wall of the radar assembly housing,

[0029] an electronic unit which may be configured for a power and / or voltage supply and / or to transmit the transmission line(s), e.g. in the form of JENOPTIK Robot GmbH LS-23-008-P-WO - 6 -

[0030] to provide integrated circuits or conductor tracks, and / or to mount and / or provide the memory,

[0031] a storage device, in particular a non-volatile storage medium, which is preferably connected to a first data interface via a (data) transmission line, and / or

[0032] a first data interface which is set up to be connected to the sensor assembly, in particular a second data interface of the sensor assembly, via a data connection, for example via a plug / socket system (e.g. USB).

[0033] The components can be rigidly and / or positively connected to each other (at least partially), particularly within the radar assembly housing. This can increase robustness and / or reduce wear and tear or changes (especially electrical and / or mechanically induced changes).

[0034] The first radar interface can include a transmit / receive unit and / or a transceiver. Accordingly, the first radar interface can (alternately) control the transmitting antenna and / or receiving antenna(s), particularly depending on an (analog) radar signal provided by the sensor assembly and / or depending on a measurement method stored in the memory (of the radar assembly). This allows, for example, the alternating transmission and reception of radar signals. Preferably, the radar assembly, and in particular the first radar interface, can be configured to provide an (analog) radar signal to the sensor assembly, especially to transmit it via the radar signal link.

[0035] Initially, a radar assembly and a (separate) sensor assembly can be provided, particularly in a maintenance configuration. Preferably, the radar assembly and the sensor assembly, especially the radar assembly housing and the sensor assembly housing, can be designed to be complementary to each other (mechanically and / or in terms of their shape) and / or connected (e.g., screwed) and / or integrated, preferably to be moved from a maintenance configuration to an operating configuration. For example, the radar assembly and the sensor assembly can be... [JENOPTIK Robot GmbH LS-23-008-P-WO - 7 -]

[0036] in particular the radar assembly housing and the sensor assembly housing are connected to each other in a form-fitting and / or force-fitting manner, especially before, during or after the connection.

[0037] The sensor assembly can form a (self-contained and / or independent), in particular a second, assembly. The sensor assembly can comprise and / or combine the following components and / or include them in an integrated manner, preferably in an (enclosing and / or mechanical) sensor assembly housing:

[0038] a control unit which is in particular equipped to receive data from the first data interface or the memory of the radar assembly, preferably via a second data interface, and / or to transmit data to it (and in particular to write data to it),

[0039] a second data interface, which is connected to the control unit for data communication (internally) and / or can be connected to the first data interface for data communication, in particular via a data connection (in particular, these are contacted by connecting to each other),

[0040] a radar sensor, which may in particular be configured to generate and / or receive (analog) radar signals, which may preferably be received by the receiving antenna and / or transmitted from the first radar interface or (via) the radar signal link to the radar sensor, and / or a second radar interface, which in particular is connected to the radar sensor in order to transmit (radar) signals to and / or from it, in particular to and / or from the first radar interface of the radar assembly.

[0041] The sensor assembly can be configured for (further) processing of (measured) radar signals, in particular for analog-to-digital conversion,

[0042] (Fast) Fourier transformation and / or further filtering or processing steps. This allows (derived) measured quantities, distance, speed and / or position, which may be specific to radar measurement, to be calculated.

[0043] The control unit can be configured to control, operate, and / or regulate the radar assembly, particularly for its operation. This includes the JENOPTIK Robot GmbH LS-23-008-P-WO - 8 -

[0044] The control unit is connected to the radar sensor of the sensor assembly via data communication. The control unit can receive data from the radar sensor, such as (digitally) calculated positions, distances, speeds, measurement times, and / or transmission times, and the like. The control unit can control the radar sensor, for example, by means of a control signal, whereupon it generates an (analog) transmission signal, which can be transmitted, in particular amplified or unamplified, via the radar signal link to the first radar interface and / or the transmitting antenna of the radar assembly. It can also be provided that the radar sensor receives (analog) radar signals and / or raw data (of the measurement) from the first radar interface and / or the receiving antenna(s) of the radar assembly. These can be processed by the radar sensor, e.g.,The data is processed and / or digitized by an analog-to-digital converter included in the radar interface and preferably transmitted to the control unit. It is particularly preferred that the control unit (continuously) calculates one (or more) positions, distances, and / or velocities, especially depending on the calibration data and / or the data or (digitized) radar signals provided to the control unit by the radar sensor. Additionally or alternatively, it may also be provided that a digital-to-analog converter and / or an analog-to-digital converter is included in the second radar interface and / or the first radar interface.

[0045] Connecting the radar assembly and the sensor assembly to establish a data link can be achieved, in particular, by connecting the first data interface of the radar assembly and the second data interface of the sensor assembly. This data link can be wired (e.g., USB, Ethernet, Thunderbolt, HDBaseT, PCIe, and / or fiber optic) and / or wireless (e.g., WiFi, WiGig, 5G [mmWave], and / or Li-Fi), and configured for data transmission. Accordingly, the first data interface, the second data interface, the first radar interface, and / or the second radar interface can be configured as transmit and / or receive units to advantageously enable wireless transmission of data and / or radar signals.It may be provided that the data connection and / or radar signal connection is (additionally) intended for power supply of the radar assembly. This may reduce the size and / or weight of the JENOPTIK Robot GmbH LS-23-008-P-WO - 9 -.

[0046] The radar assembly can be (further) reduced, which can particularly facilitate shipping and / or (separate) transport.

[0047] Data transfer can occur, in particular, after connection. The transfer of calibration data from the radar assembly to the sensor assembly via the data connection can provide calibration data stored in the radar assembly's memory to the sensor assembly's control unit. Preferably, the calibration data is specific to the radar assembly only. The calibration data can include information measured and / or determined (e.g., calculated) during a (previously performed) calibration. For example, it can be provided that (only) the radar assembly is calibrated (again and / or individually). Preferably, the sensor assembly can be provided separately and / or remain with the user / customer. The calibration data can then be stored in the radar assembly's memory.By connecting and / or transmitting, the radar assembly can transfer the calibration data from the memory to the control unit via the first data interface, the data link, and / or the second data interface. This allows the data to be used during (subsequent) operation. For example, an antenna profile determined during calibration can be taken into account, which can advantageously optimize transmission efficiency and / or accuracy in calculating speed, distance, and / or position (e.g., due to lower tolerances or...).

[0048] (Inaccuracies).

[0049] Operating the radar assembly and / or the sensor assembly depending on the calibration data can only take place in the (fully assembled) operating configuration.

[0050] Within the scope of the invention, it can be advantageous that the connection includes establishing a data connection between a first data interface of the radar assembly and a second data interface, in particular a (connected) control unit, of the sensor assembly, wherein the first data interface is connected to a memory of the radar assembly in which the calibration data is stored. JENOPTIK Robot GmbH LS-23-008-P-WO - 10 -

[0051] The control unit can therefore transmit calibration data during and / or after connection. Accordingly, the control unit can read the memory via the data connection.

[0052] Within the scope of the invention, it is conceivable that the connecting process comprises establishing a, preferably analog, radar signal connection, in particular between a first radar signal interface of the radar assembly and a second radar signal interface, in particular a radar sensor of the sensor assembly.

[0053] the operation includes:

[0054] Measuring radar signals, especially analog signals, by the radar assembly, in particular by a transmitting antenna and / or receiving antenna, wherein the radar signals, especially analog signals (measured or received), are specific to an (external) traffic scene (e.g. external objects, such as passing motor vehicles), in particular in a measurement area (spatially in front of) the radar assembly (or the radome).

[0055] Transmitting the radar signals, in particular analog signals, via the radar signal link, in particular analog signals, from the radar assembly to the sensor assembly, and

[0056] Calculation of a derived measured quantity, in particular a position, a distance and / or a speed, by the sensor assembly as a function of the, in particular analog, radar signals.

[0057] The calculation can preferably be performed based on the calibration data. This allows the findings obtained during the calibration of the radar assembly to be used in the calculation in the form of calibration data. For example, inaccuracies caused by wear (after calibration and / or transmission) can be compensated for. The calculation can include compensation and / or scaling. For example, a derived measured value can be determined based on the radar signals and the calibration data, particularly by the control unit. The radar sensor can, for example, receive the radar signals by transmission. The radar sensor can then provide these signals to the control unit, preferably via an internal data connection, particularly after analog-to-digital conversion. The control unit can then perform the calculation.This division allows JENOPTIK Robot GmbH LS-23-008-P-WO - 11 -.

[0058] The sensor assembly, which may contain particularly expensive hardware (e.g., control unit and / or radar sensor), can be designed independently of the radar assembly, especially independent of its calibration. This can enable the sensor assembly to be used quickly and / or efficiently with another (identical) radar assembly, particularly since an operating configuration can be rapidly established using this method. Furthermore, calibration of the sensor assembly is (but not necessarily) required. Accordingly, it can remain on-site, for example, at the authority that owns the radar assembly and the sensor assembly, while the radar assembly is sent for calibration. In addition, it may be possible to use simpler and / or different and / or local, e.g.,at a manufacturer's maintenance site, existing (smaller and / or less complex and / or standardized) measuring chambers are used, which are specifically set up (only) for (calibrating) a radar assembly.

[0059] The radar sensor and the control unit can be connected via data communication. The radar sensor can provide and / or receive (analog) transmit and / or receive signals and / or radar signals, in particular (analog)

[0060] The radar (receive) signals are processed and / or digitized (e.g., by the radar sensor incorporating an analog-to-digital converter and / or a digital-to-analog converter) and preferably transmitted to the control unit. The control unit may be configured to perform at least some of the operation, in particular the calculations.

[0061] The control unit can also be connected to an (external) detection unit and / or exposure unit. For example, in the event of a speeding violation exceeding a (known to the control unit) recommended speed, particularly including a tolerance which can preferably be determined based on the calibration data, the control unit can transmit a control signal to the detection unit and / or exposure unit, triggering them. This allows a recording of the traffic scene, in particular of the object that caused the speeding violation, to be generated.

[0062] It may be provided within the scope of the invention that the calibration data includes the following during transmission: JENOPTIK Robot GmbH LS-23-008-P-WO - 12 -

[0063] Calibration information specific to the physical conditions during calibration of the radar group, and / or tolerance information specific to any remaining residual inaccuracy and / or tolerances, which are particularly specific to the physical conditions during calibration of the radar group.

[0064] It is also conceivable that during transmission the calibration data are specific for at least one physical radar parameter of the radar group, in particular (specific) for a transmitting antenna, a receiving antenna(s) or their receiving antenna elements, a radome, at least one (or the) internal transmission line (for radar signals) and / or an electronic unit of the radar group, wherein the at least one physical radar parameter comprises:

[0065] an antenna profile of the radar assembly, in particular a transmit profile of the transmitting antenna and / or a receive profile of the receiving antenna(s),

[0066] an antenna gain and / or a directivity of the radar assembly, in particular a transmit profile of the transmitting antenna and / or a receive profile of the receiving antenna(s),

[0067] an antenna diagram of the radar assembly, in particular the transmitting antenna and / or the receiving antenna(s),

[0068] a half-power beamwidth, an antenna solid angle and / or an aperture angle of the radar assembly, in particular the transmitting antenna and / or the receiving antenna(s), and / or

[0069] Signal attenuation of the radar assembly, in particular the transmitting antenna(s), the receiving antenna(s), the radome, the at least one (or the) internal transmission line(s), and / or the electronics unit of the radar assembly, wherein at least one physical parameter is determined during calibration. Accordingly, this parameter can be measured and / or calculated during calibration. Alternatively or additionally, it may be provided that a simulation (e.g., an FDTD simulation or FEM simulation) is performed at least partially during calibration (using, for example, a CAD model of the radar assembly) to determine the at least one parameter.

[0070] Alternatively or additionally, it can include at least one physical radar parameter:

[0071] an effective antenna area, JENOPTIK Robot GmbH LS-23-008-P-WO - 13 -

[0072] a forward / backward relationship,

[0073] a side lobe dampening,

[0074] a bandwidth and / or

[0075] a correction factor.

[0076] At least one physical radar parameter can be stored, for example, in the form of a (look-up) table and / or in a corresponding (3D) matrix.

[0077] It is also conceivable that the calibration data transmitted includes an identification identifier for the radar assembly, which is specific to the radar assembly, whereby a verification of the radar assembly is carried out at the sensor assembly depending on the identification identifier.

[0078] The identification identifier can be specific to the radar assembly. Compatible identification identifiers can be stored in the sensor assembly, particularly in the control unit. Verification allows the control unit to check whether the radar assembly is compatible and / or approved (by the manufacturer). This can advantageously increase safety. Depending on the identification identifier, the control unit can also determine how operation and / or calculations can (or should) be performed. This allows the sensor assembly to be used (optionally) with different radar assemblies and, in particular, to be compatible with them. This can reduce costs and / or increase flexibility. The calibration parameters can also include:

[0079] a year of construction,

[0080] a date of (last) maintenance and / or calibration,

[0081] a maintenance interval and / or

[0082] a warning or blocking request (e.g., if the radar unit should no longer be operated at full power).

[0083] Within the scope of the invention, it is optionally possible that the calibration data, in particular before connection, are provided and / or measured, wherein the calibration data are determined, in particular by calibrating the radar assembly, in isolation and / or independently of the sensor assembly, wherein in particular the at least one physical radar parameter is measured, wherein in particular the at least one JENOPTIK Robot GmbH LS-23-008-P-WO - 14 -

[0084] Physical parameters, calibration information and / or tolerance information are subsequently stored in the memory of the radar assembly.

[0085] Accordingly, calibration can be performed in isolation and / or separately. The radar assembly can be arranged in a radar measurement chamber for calibration and / or maintenance. Preferably, the control unit can be configured to (digitally) lock the sensor assembly and / or the radar assembly, depending on the identification code and / or year of manufacture and / or maintenance interval and / or the date of the (last) maintenance and / or calibration, particularly if (necessary and / or scheduled) maintenance is not performed. This increases safety and also prevents false detections and / or excessive wear.

[0086] Furthermore, within the scope of the invention, it may be provided that the calibration is carried out in a specially equipped (external) radar measurement chamber, wherein in particular the at least one physical radar parameter, the calibration information and / or the tolerance information for the radar assembly are determined, especially under predefined physical conditions.

[0087] This can be carried out (once and / or initially) at the manufacturer's site. It can be planned (particularly later and / or as part of maintenance) that the radar measurement chamber is specifically designed for the radar assembly. This chamber can be located at the manufacturer's site, e.g., at a production plant and / or a research and development department. Alternatively, it can be planned that (dedicated) radar measurement chambers are mobile, meaning they can be transported, in particular, by a service technician. This advantageously eliminates the need to ship the entire radar assembly.

[0088] It may be necessary to perform maintenance and / or repairs as part of the calibration process, particularly depending on the calibration data obtained, especially the tolerance information. Accordingly, the radar assembly can be (at least partially) serviced, repaired, and / or brought up to standard. This can reduce overall costs, increase reliability, and / or improve service life. JENOPTIK Robot GmbH LS-23-008-P-WO - 15 -

[0089] With regard to the present invention, it is conceivable that the connecting process comprises establishing a physical and / or mechanical connection between the radar assembly and the sensor assembly, thereby bringing the radar system from a maintenance configuration to an operating configuration, wherein preferably after the connecting, in particular the establishment of a physical connection, an adjustment is carried out which is configured to verify, by means of a test measurement, in particular a radar test measurement, the functioning of the radar system within specifications, in particular those included in the calibration data.

[0090] This connection (at least partial) can be used to switch the radar system from a maintenance configuration to an operational configuration. The radar assembly and the sensor assembly (or their housings) can be arranged next to each other, for example, reversibly and detachably attached (e.g., by screw connections). Alternatively or additionally, they can be (jointly) housed in a radar system enclosure. This can facilitate transport in the operational configuration, improve protection (e.g., from external forces and / or weather conditions), and / or reduce wear.

[0091] The above problem is solved according to a second aspect by a radar system according to the invention for measuring position, distance and / or speed in a traffic scene, in particular in road traffic, comprising the radar system:

[0092] a radar assembly and a sensor assembly, wherein the radar assembly and the sensor assembly, particularly in an operating configuration, together form the radar system, and

[0093] - wherein the radar system, in particular the sensor assembly, comprises means adapted and / or configured to perform (at least partially) the steps of the procedure according to the first aspect.

[0094] The device may include a computing unit, a control unit and / or a computer, in particular comprising a computing unit and / or a storage unit. JENOPTIK Robot GmbH LS-23-008-P-WO - 16 -

[0095] This results in the same advantages with regard to a radar system according to the second aspect as have already been described with regard to a method according to the first aspect.

[0096] Furthermore, it is conceivable that the radar assembly comprises at least one, preferably all, of the following radar components:

[0097] a memory, which is in particular connected to a first data interface of the radar assembly, wherein the memory contains the calibration data, a first data interface which is configured to establish a data connection to the sensor assembly, in particular via a second data interface of the sensor assembly, in particular when connecting, wherein preferably the calibration data is transmitted via the data connection during transmission,

[0098] a first radar signal interface, which is configured to transmit radar signals to the sensor assembly, in particular via a radar signal link, especially via a second radar signal interface of the sensor assembly; a transmitting antenna, which is configured to transmit radar waves; a receiving antenna, which is configured to receive reflected radar waves, which are specifically for reflections of radar waves in and / or from the traffic scene and / or from an external object; and / or a radome, which is configured in particular for the protection and / or beam shaping and / or the physical housing of the transmitting antenna and / or receiving antenna; and

[0099] at least one (or more separate) internal transmission line(s), which are specifically designed for transmitting radar signals, electrical power and / or data, and / or

[0100] an electronic unit.

[0101] The transmitting antenna(s) and / or receiving antenna(s) can be configured as a (combined) transmit-receive antenna. The radar signal link and / or the (internal) (radar) transmission line(s) can be designed as cables, e.g., as coaxial cables. Accordingly, these can be standardized and / or included (measured) during calibration. This allows changes to these components to be (co-)detected and advantageously compensated for. JENOPTIK Robot GmbH LS-23-008-P-WO - 17 -

[0102] Within the scope of the invention, it can be advantageous that the sensor assembly is designed in such a way that it receives the radar assembly in an operating configuration in a form-fitting and / or force-fitting manner.

[0103] These components can be (at least partially) connected to each other using positive locking and / or force locking (reversibly detachable), for example, through a complementary design (of the housings) and / or screw connection(s). This can facilitate the creation of a maintenance configuration. It can also optimize stability in an operating configuration.

[0104] Preferably, the radar assembly housing can be designed (complementary to the sensor assembly housing) such that it can be accommodated in the sensor assembly, particularly in a sensor assembly housing, especially in the operating configuration. For example, the sensor assembly housing can be (essentially) cuboid in shape and, in particular, have a (similarly) cuboid recess in which the (cuboid) radar assembly housing can be positively engaged. It can be provided that a connection can be established (simultaneously), in particular a data connection and / or radar signal connection. This can be achieved by aligning first and second radar interfaces and / or aligning first and second data interfaces.

[0105] Within the scope of the invention, it is conceivable that the radar assembly, particularly in a maintenance configuration, is designed separately and / or as a self-contained subsystem to the sensor assembly, and that the radar assembly is connected to the sensor assembly in an operating configuration, preferably to enable radar measurement.

[0106] The above problem is solved according to a third aspect by a computer program according to the invention, comprising commands that cause the radar system according to the second aspect to execute the process steps according to the first aspect. JENOPTIK Robot GmbH LS-23-008-P-WO - 18 -

[0107] This results in the same advantages with regard to a computer program according to the third aspect as have already been described with regard to a method according to the first aspect and / or a radar system according to the second aspect.

[0108] The above task is solved according to a fourth aspect by means of a computer-readable storage medium on which the computer program is stored according to the third aspect.

[0109] This results in the same advantages with regard to a computer-readable storage medium according to the fourth aspect as have already been described with regard to a method according to the first aspect and / or a radar system according to the second aspect and / or a computer program according to the third aspect.

[0110] Further advantages, features, and details of the invention will become apparent from the following description, in which several exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description can be essential to the invention individually or in any combination. The drawings illustrate this by way of example.

[0111] Fig. 1 a method,

[0112] Fig. 2 shows a radar system monitoring a traffic scene.

[0113] Fig. 3 shows a radar system in operational configuration and

[0114] Fig. 4 shows a radar system in maintenance configuration.

[0115] The figures use identical reference numerals for the same technical features, even for different embodiments.

[0116] Fig. 1 shows an example of a method for operating 130 a radar system 100 for position, distance and / or speed measurement in a traffic scene 3, in particular in road traffic, comprising the radar system 100: JENOPTIK Robot GmbH LS-23-008-P-WO - 19 -

[0117] a radar assembly 10 and a sensor assembly 20, wherein the radar assembly 10 and the sensor assembly 20, in particular in an operating configuration II, together form the radar system 100,

[0118] and demonstrating the procedure:

[0119] Connect terminal 110 of radar assembly 10 and sensor assembly 20 to establish a data link D1 between radar assembly 10 and sensor assembly 20,

[0120] 120 transmit calibration data Kali from radar assembly 10 to sensor assembly 20 via data link D1, wherein the calibration data Kali is specific for radar assembly 10, and 130 operate radar assembly 10 and sensor assembly 20 depending on the calibration data Kali.

[0121] Within the scope of the invention, it may be advantageous that the connecting 110 comprises establishing 111 the data connection D1 between a first data interface 11 of the radar assembly 10 and a second data interface 21, in particular a control unit 23, of the sensor assembly 20, wherein the first data interface 11 is connected to a memory 13 of the radar assembly 10 in which the calibration data Kali are stored.

[0122] Within the scope of the invention, it is conceivable that the connecting 110 comprises the establishment 112 of a, in particular analog, radar signal connection R2, in particular between a first radar signal interface 12 of the radar assembly 10 and a

[0123] second radar signal interface 22, in particular a radar sensor 24, the sensor assembly 20,

[0124] where the operation includes 130:

[0125] Measuring 131 of, in particular analog, radar signals by the radar assembly 10, in particular by a transmitting antenna 14 and / or receiving antenna 15, wherein the, in particular analog, radar signals are specific for a traffic scene 3, in particular in a measuring range of the radar assembly 10,

[0126] Transmit 132 of the, in particular analog, radar signals via the, in particular analog, radar signal connection R2 from the radar assembly 10 to the sensor assembly 20, and JENOPTIK Robot GmbH LS-23-008-P-WO - 20 -

[0127] Calculate 133 a derived measured quantity, in particular a position, a distance, and / or a speed, by the sensor assembly 20 as a function of the, in particular analog, radar signals.

[0128] It may be provided within the scope of the invention that the calibration data Kali includes the following when transferring 120:

[0129] Calibration information Kali_kinfo, which is specific to the physical conditions during calibration 105 of radar group 10, and / or tolerance information Kali_tol, which is specific to a remaining residual inaccuracy and / or tolerances, which are particularly specific to the physical conditions during calibration 105 of radar group 10.

[0130] It is further conceivable that during transmission 120 the calibration data Kali are specific for at least one physical radar parameter Par of the radar group 10, in particular for a transmitting antenna 14, a receiving antenna 15, a radome 16, at least one internal transmission line 17 and / or an electronic unit 18 of the radar group 10, wherein the at least one physical radar parameter Par comprises: an antenna profile of the radar assembly 10, in particular a transmitting profile of the transmitting antenna 14 and / or a receiving profile of the receiving antenna 15, an antenna gain and / or a directivity of the radar assembly 10, in particular a transmitting profile of a transmitting antenna 14 and / or a receiving profile of a receiving antenna 15.

[0131] an antenna diagram of the radar assembly 10, in particular the transmitting antenna 14 and / or the receiving antenna 15,

[0132] a half-power beamwidth, an antenna solid angle and / or an opening angle of the radar assembly 10, in particular the transmitting antenna 14 and / or the receiving antenna 15, and / or

[0133] a signal attenuation of the radar assembly 10, in particular the transmitting antenna 14, the receiving antenna 15, the radome 16, the at least one internal transmission line 17 and / or the electronic unit 18 of the radar assembly 10, wherein in particular the at least one physical parameter Par is determined during calibration 105. JENOPTIK Robot GmbH LS-23-008-P-WO - 21 -

[0134] It is also conceivable that during transmission 120 the calibration data Kali includes an identification identifier Kalijd of the radar assembly 10, which is specific for the radar assembly 10, whereby a verification 121 of the radar assembly 10 is carried out at the sensor assembly 20 depending on the identification identifier Kalijd.

[0135] Within the scope of the invention, it is optionally possible that the calibration data Kali, in particular before connecting 110, are provided and / or measured, wherein the calibration data Kali, in particular by calibrating 105 of the radar assembly 10, are determined in isolation and / or independently of the sensor assembly 20, wherein in particular the at least one physical radar parameter Par is measured, wherein in particular the at least one physical parameter Par, the calibration information Kali_kinfo, and / or the tolerance information Kali ol are stored in the memory 13 of the radar assembly 10.

[0136] Furthermore, it can be provided within the scope of the invention that the calibration 105 is carried out in a radar measurement chamber set up for this purpose, wherein in particular the at least one physical radar parameter Par, which

[0137] Calibration information Kali_kinfo, and / or the tolerance information Kali ol for the radar assembly 10 are determined under predefined physical conditions.

[0138] With regard to the present invention, it is conceivable that the connecting 110 comprises establishing 113 a physical connection between the radar assembly 10 and the sensor assembly 20, thereby bringing the radar system 100 from a maintenance configuration I to an operating configuration II,

[0139] wherein preferably after connecting 110, in particular after establishing 113 a physical connection, an adjustment 114 is carried out, which is designed to verify by means of a test measurement a functioning of the radar system 100 within, in particular the calibration data Kali, specifications Kali_spez.

[0140] Figures 2, 3 and 4 show, by way of example, a radar system 100 according to the invention for measuring position, distance and / or speed in a traffic scene 3, in particular in road traffic, comprising the radar system 100: JENOPTIK Robot GmbH LS-23-008-P-WO - 22 -

[0141] a radar assembly 10 and a sensor assembly 20, wherein the radar assembly 10 and the sensor assembly 20, in particular in an operating configuration II, together form the radar system 100, and

[0142] wherein the radar system 100, in particular the sensor assembly 20, comprises means adapted to perform the steps of the method according to the first aspect and / or Fig. 1.

[0143] As shown in Fig. 2, the radar system 100 can be configured in an operating configuration II. Furthermore, it is conceivable that the radar assembly 10 comprises at least one, preferably all, of the following radar components 11, 12, 13, 14, 15, 16, 17, 18:

[0144] a memory 13, which is in particular connected to a first data interface 11 of the radar assembly 10, wherein the memory 13 contains the calibration data Kali,

[0145] a first data interface 11, which is configured to establish a data connection D1 to the sensor assembly 20, particularly via a second data interface 21 of the sensor assembly 20, especially when connecting 110, wherein preferably the calibration data Kali is transmitted via the data connection D1 during the transmission 120,

[0146] a first radar signal interface 12, which is configured to transmit radar signals to the sensor assembly 20, in particular via a second radar signal interface 22 of the sensor assembly 20, in particular via a radar signal connection R2,

[0147] a transmitting antenna 14, which is configured for transmitting radar waves, a receiving antenna 15, which is configured for receiving reflected radar waves, which are in particular specific for reflections of the radar waves in and / or at the traffic scene 3 and / or at an external object, and / or a radome 16, which is in particular configured for protecting and / or for beam shaping and / or for physically housing the transmitting antenna 14 and / or receiving antenna 15, as well as

[0148] at least one internal transmission line 17, which is specifically designed for transmitting radar signals, electrical power and / or data, and / or

[0149] an electronics unit 18.JENOPTIK Robot GmbH LS-23-008-P-WO - 23 -

[0150] Within the scope of the invention, it can be advantageous that the sensor assembly 20 is designed in such a way that it positively engages the radar assembly 10 in an operating configuration II.

[0151] The radar system 100 is shown schematically and can preferably be installed at the roadside as an infrastructure installation or as a stationary or mobile traffic monitoring device, or a component thereof. Such devices are preferably operated with additional sensors (camera, video, lidar) and a lighting unit. Typical mounting heights are 0.5–2.5 m above the road surface, or preferably on bridges or gateways above 2.5 m, and particularly preferably 3.5–4 m or 5–10 m above the road surface.

[0152] Fig. 4 shows that the radar assembly 10, particularly in a maintenance configuration I, can be configured separately and / or as a self-contained subsystem to the sensor assembly 20. In the operating configuration II shown in Fig. 3, the radar assembly 10 can, however, be connected to the sensor assembly 20, preferably to enable operation (in particular, radar measurement). JENOPTIK Robot GmbH

[0153] LS-23-008-P-WO - 24 -

[0154] Reference symbol list

[0155] 3 Traffic Scene

[0156] 10 Radar assembly

[0157] 11 first data interface

[0158] 12 first radar signal interface

[0159] 13 storage locations

[0160] 14 transmitting antenna

[0161] 15 Receiving antenna

[0162] 16 Radome

[0163] 17 transmission line

[0164] 18 Electronic unit

[0165] 20 Sensor assembly

[0166] 21 second data interface

[0167] 22 second radar signal interface

[0168] 23 Control unit

[0169] 24 radar sensor

[0170] 100 radar systems

[0171] 105 Calibrate

[0172] 110 Connecting the radar assembly and the sensor assembly 111 Establishing a data connection

[0173] 112 Establishing a radar signal link

[0174] 113 Establishing a physical connection

[0175] 114 Adjust

[0176] 120 Transferring calibration data

[0177] 121 Verifying the radar assembly

[0178] 130 Operating the radar assembly and the sensor assembly 131 Measuring radar signals

[0179] 132 Transmitting radar signals

[0180] 133 Calculating a derived measurement

[0181] D1 data connection

[0182] I Maintenance configuration

[0183] II Operating configuration

[0184] Kali calibration data JENOPTIK Robot GmbH

[0185] LS-23-008-P-WO

[0186] - 25 -

[0187] Kalijd identification identifier Kali_kinfo calibration information Kali_spez specifications

[0188] Kali_tol tolerance information

[0189] Par physical radar parameter R2 radar signal connection

Claims

JENOPTIK Robot GmbH LS-23-008-P-WO - 26 - Patent claims 1. Method for operating (130) a radar system (100) for measuring position, distance and / or speed in a traffic scene (3), in particular in road traffic, comprising the radar system (100): a radar assembly (10) and a sensor assembly (20), wherein the radar assembly (10) and the sensor assembly (20), in particular in an operating configuration (II), together form the radar system (100), demonstrating the procedure: Connect (110) the radar assembly (10) and the sensor assembly (20) to establish a data link (D1) between the radar assembly (10) and the sensor assembly (20), Transmitting (120) calibration data (Kali) from the radar assembly (10) to the sensor assembly (20) via the data link (D1), wherein the calibration data (Kali) are specific to the radar assembly (10), and operating (130) the radar assembly (10) and the sensor assembly (20) depending on the calibration data (Kali).

2. Method according to claim 1 , characterized by that connecting (110) establishes (111) the data connection (D1) between a first data interface (11) of the radar assembly (10) and a second data interface (21), in particular a control unit (23), the sensor assembly (20), wherein the first data interface (11) is connected to a memory (13) of the radar assembly (10) in which the calibration data (Kali) are stored.

3. Method according to claim 1 or 2, characterized by that the connecting (110) involves establishing (112) a radar signal connection (R2), in particular an analog one, in particular between a first radar signal interface (12) of the radar assembly (10) and a second radar signal interface (22), in particular a radar sensor (24), the sensor assembly (20), JENOPTIK Robot GmbH LS-23-008-P-WO - 27 - where operating (130) includes: Measuring (131) radar signals, in particular analog signals, by the radar assembly (10), in particular by a transmitting antenna (14) and / or receiving antenna (15), wherein the radar signals, in particular analog signals, are specific for a traffic scene (3), in particular in a measuring range of the radar assembly (10), Transmitting (132) the, in particular analog, radar signals via the, in particular analog, radar signal link (R2) from the radar assembly (10) to the sensor assembly (20), and Calculating (133) a derived measured quantity, in particular a position, a distance, and / or a speed, by the sensor assembly (20) as a function of the, in particular analog, radar signals.

4. Method according to any one of the preceding claims, characterized by that the calibration data (Kali) must be included in the transfer (120): Calibration information (Kali_kinfo) which is specific to the physical conditions during a calibration (105) of the radar group (10), and / or tolerance information (Kali_tol) which is specific to a remaining residual inaccuracy and / or tolerances which are particularly specific to the physical conditions during the calibration (105) of the radar group (10).

5. Method according to any one of the preceding claims, characterized by that during transmission (120) the calibration data (Kali) are specific for at least one physical radar parameter (Par) of the radar group (10), in particular for a transmitting antenna (14), a receiving antenna (15), a radome (16), at least one internal transmission line (17) and / or an electronic unit (18) of the radar group (10), wherein the at least one physical radar parameter (Par) comprises: an antenna profile of the radar assembly (10), in particular a transmit profile of the transmitting antenna (14) and / or a receive profile of the receiving antenna (15), JENOPTIK Robot GmbH LS-23-008-P-WO - 28 - an antenna gain and / or a directivity of the radar assembly (10), in particular a transmit profile of a transmitting antenna (14) and / or a receive profile of a receiving antenna (15), an antenna diagram of the radar assembly (10), in particular the transmitting antenna (14) and / or the receiving antenna (15), a half-power beamwidth, an antenna solid angle and / or an aperture angle of the radar assembly (10), in particular the transmitting antenna (14) and / or the receiving antenna (15), and / or a signal attenuation of the radar assembly (10), in particular the transmitting antenna (14), the receiving antenna (15), the radome (16), the at least one internal transmission line (17) and / or the electronic unit (18) of the radar assembly (10), in particular, at least one physical parameter (Par) is determined during calibration (105).

6. Method according to any one of the preceding claims, characterized by that during the transmission (120) the calibration data (Kali) include an identification identifier (Kalijd) of the radar assembly (10) which is specific to the radar assembly (10), wherein a verification (121) of the radar assembly (10) is carried out at the sensor assembly (20) depending on the identification identifier (Kalijd).

7. Method according to any one of the preceding claims, characterized by that the calibration data (Kali) are provided and / or measured, in particular before connection (110), wherein the calibration data (Kali) are determined, in particular by calibrating (105) the radar assembly (10), in isolation and / or independently of the sensor assembly (20), wherein in particular the at least one physical radar parameter (Par) is measured, wherein in particular the at least one physical parameter (Par), the calibration information (Kali_kinfo) and / or the tolerance information (Kali ol) are stored in the memory (13) of the radar assembly (10). JENOPTIK Robot GmbH LS-23-008-P-WO - 29 - 8. Method according to any one of the preceding claims 4 to 7, characterized by that the calibration (105) is carried out in a radar measurement chamber set up for this purpose, wherein in particular the at least one physical radar parameter (Par), the calibration information (Kali_kinfo) and / or the tolerance information (Kali_tol) for the radar assembly (10) are determined under predefined physical conditions.

9. Method according to any one of the preceding claims, characterized by that the connecting (110) includes establishing (113) a physical connection between the radar assembly (10) and the sensor assembly (20), thereby bringing the radar system (100) from a maintenance configuration (I) to an operational configuration (II), wherein preferably after connecting (110), in particular establishing (113) a physical connection, an adjustment (114) is carried out which is designed to verify by means of a test measurement a functioning of the radar system (100) within specifications (Kali_spez) included in particular the calibration data (Kali).

10. Radar system (100) for measuring position, distance and / or speed in a traffic scene (3), in particular in road traffic, comprising the radar system (100): a radar assembly (10) and a sensor assembly (20), wherein the radar assembly (10) and the sensor assembly (20), in particular in an operating configuration (II), together form the radar system (100), - wherein the radar system (100), in particular the sensor assembly (20), comprises means adapted to perform the steps of the method according to any one of the preceding claims 1 to 8.

11. Radar system (100) according to claim 10, characterized by that the radar assembly (10) comprises at least one, preferably all, of the following radar components (11, 12, 13, 14, 15, 16, 17, 18): JENOPTIK Robot GmbH LS-23-008-P-WO - 30 - a memory (13) which is in particular connected to a first data interface (11) of the radar assembly (10), wherein the memory (13) contains the calibration data (cali), a first data interface (11) which is configured to establish a data connection (D1) to the sensor assembly (20), particularly via a second data interface (21) of the sensor assembly (20), especially during a connection (110), wherein preferably the calibration data (Kali) is transmitted via the data connection (D1) during the transmission (120), a first radar signal interface (12) which is configured to transmit radar signals to the sensor assembly (20), particularly via a second radar signal interface (22) of the sensor assembly (20), especially via a radar signal connection (R2), a transmitting antenna (14) configured for transmitting radar waves, a receiving antenna (15) configured for receiving reflected radar waves, which are specifically designed for reflections of radar waves in and / or from the traffic scene (3) and / or from an external object (3), and / or a radome (16) which is designed in particular for the protection and / or beam shaping and / or the physical housing of the transmitting antenna (14) and / or receiving antenna (15), as well as at least one internal transmission line (17), which is specifically designed for transmitting radar signals, electrical power and / or data, and / or an electronic unit (18).

12. Radar system (100) according to claim 10 or 11, characterized by that the sensor assembly (20) is designed in such a way that it positively engages the radar assembly (10) in an operating configuration (II).

13. Radar system (100) according to one of the preceding claims 10 to 12, characterized in that, that the radar assembly (10), in particular in a maintenance configuration (I), is designed separately and / or as a self-contained subsystem to the sensor assembly (20), JENOPTIK Robot GmbH LS-23-008-P-WO - 31 - and the radar assembly (10) is connected to the sensor assembly (20) in an operating configuration (II) to preferably enable radar measurement.

14. Computer program comprising commands that cause the radar system (100) according to one of claims 10 to 13 to perform the method steps according to one of claims 1 to 9.

15. Computer-readable storage medium on which the computer program according to claim 14 is stored.

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