Method for a
radar system for detecting the environment of a motor vehicle and implementing a function for driver assistance and / or autonomous driving maneuvers, comprising the following steps - Generating a
frequency modulation using a controllable or adjustable oscillator, - Generating a sequence of K0 (K0>1) transmitted signals modulated in the transmission frequency, each having the same target
frequency profile, possibly apart from a variation in the frequency position, i.e., in particular a variation in the initial and thus equivalently the
center frequency, - Transmission of signals using transmitters, - Receiving transmitted signals reflected from objects using receiving devices, - Analyzing the frequency position of the transmitted signals and - Evaluation of the received signals, in particular for the detection of objects, using
signal processing means, wherein the actual
frequency response across the K0 transmitted signals, i.e., in particular the actual response of the initial, middle, or mid-frequency of the transmitted signals, or its deviation from the
target response caused, for example, by
frequency instability or
frequency drift, is determined absolutely or relatively, i.e., up to an indeterminate
constant component, wherein - a time-discrete
signal is used for each transmission
signal, which contains information about the
frequency profile of the transmission signal and which is preferably generated by sampling an
analog signal or by reading a free-running counter at predetermined times, - these time-discrete signals via the K0 transmission signals are unnormalized with respect to the position of their phase and / or their initial value, and - during an evaluation of these time-discrete signals, explicit normalization takes place or implicitly an influence of the position of their phase and / or their initial value is eliminated, and depending on an actual curve determined in this way and / or a deviation of the actual curve from the target curve of the frequency position determined in this way and / or a quality measure derived therefrom, a correction is made in the control of the oscillator and / or a correction in the evaluation of the received signals and / or an adjustment of the function for driver assistance and / or autonomous driving maneuvers up to and including its deactivation, whereby - the frequency of the emitted signals is linearly modulated, - the signals received by reflection of the transmitted signals from objects are converted into the low-frequency range by mixing with a signal whose frequency corresponds to the current transmission frequency or differs from it by a constant factor, - the low-frequency received signals are sampled NA times in an
equidistant grid, - a first
spectral analysis, particularly in the form of a
discrete Fourier transform, is performed on each of these NA sample values in order to enable, in particular,
distance measurement of the objects and separation for the simultaneous detection of multiple objects, and - at each frequency reference point of the first
spectral analysis, a second
spectral analysis is carried out, in particular using the
discrete Fourier transform, which extends over all or a subset of the values occurring at the respective frequency reference point during the K0 transmission signals, in order to be able to realize, in particular, a
relative velocity measurement of the objects and a separation for the simultaneous detection of several objects, and in the procedure (a) - from the determined actual frequency position across the K0 transmitted signals, the expected spectrum of the second spectral analysis of a target at a distance r with a
relative velocity of zero is determined, - the resulting spectrum or its magnitude can be used directly to derive a measure of quality and / or - a quality factor is derived from the deviation of the spectrum from the spectrum expected at the target frequency position of a target at distance r with a
relative velocity of zero, whereby the same
window function is used for both spectral analyses and the resulting spectra are referenced to the same level for comparison and / or (b) a deviation from the actual to the target
frequency response is corrected directly or after regression by multiplication with a complex unit vector between the first and second spectral analyses, wherein the phase of the complex unit vector is proportional to this deviation and proportional to the frequency of the respective frequency reference point of the first spectral analysis.