초록 ▼

Presented is a method for determining speeds (vr14, vr16) and distances (r14, r16) of objects (14, 16) relative to a radar system (12) of a motor vehicle (10), wherein a coverage area (EB) of the radar system (12) is divided into at least two part-areas (TB1, TB2, TB3), the coverage area (EB) is exa

Presented is a method for determining speeds (vr14, vr16) and distances (r14, r16) of objects (14, 16) relative to a radar system (12) of a motor vehicle (10), wherein a coverage area (EB) of the radar system (12) is divided into at least two part-areas (TB1, TB2, TB3), the coverage area (EB) is examined for reflecting objects (14, 16) in successive measuring cycles (MZ1, MZ2; MZi, MZi+1), wherein radar signals received in a measuring cycle (MZ1, MZ2; MZi, MZi+1) are processed separated in accordance with part-areas (TB1, TB2, TB3) and processed signals are assembled to form a total result differentiated in accordance with spatial directions. The method is characterized in that from signals received in a first measuring cycle (MZ1; MZi), hypotheses for the distance (r14, r16) and speed (vr14, vr16) of reflecting objects (14, 16) are formed and the hypotheses are validated in dependence on signals received in at least one further measuring cycle (MZ2; MZi+2). Furthermore, a radar system (12) is presented which carries out such a method.

대표청구항 ▼

1. A method for determining speeds and distances of objects relative to a radar system of a motor vehicle, comprising: dividing a coverage area (EB) of the radar system into at least two part-areas;examining the coverage area (EB) for reflecting objects in successive measuring cycles,processing and

1. A method for determining speeds and distances of objects relative to a radar system of a motor vehicle, comprising: dividing a coverage area (EB) of the radar system into at least two part-areas;examining the coverage area (EB) for reflecting objects in successive measuring cycles,processing and separating radar signals received in a measuring cycle in accordance with the at least two part-areas;assembling the processed signals to form a total result differentiated in accordance with spatial directions;forming hypotheses from signals received in a first measuring cycle, wherein the hypotheses comprise predictions for whether an intersection of two straight lines relates to parameters of a real object or to a ghost target, by a single pair of chirps for a part-area of the first measuring cycle, for a distance and a speed of reflecting objects; andvalidating the hypotheses in dependence on signals received in at least one further measuring cycle. 2. The method according to claim 1, wherein the processing and separating in accordance with the at least two part-areas is carried out when the radar system directs an overlay of a transmitting lobe and of an angular receiving area, defining the at least two part-areas, sequentially in different spatial directions in one measuring cycle, and wherein the processing of received radar signals is carried out sequentially. 3. The method according to claim 1, wherein the processing and separating in accordance with the at least two part-areas is carried out when the radar system directs overlays of at least one transmitting lobe with at least two angular receiving areas or at least one angular receiving area with at least two transmitting lobes, defining simultaneous different part-areas, in different spatial directions, wherein, for one of the at least two part-areas, signals are processed from another received signal frequency range than for another of the at least two part-areas. 4. The method according to claim 1, wherein the hypotheses are formed by an LFMCW method in which two frequency ramps with different slope are used for each of the at least two part-areas. 5. The method according to claim 4, wherein at least four different frequency ramps, of which two are in each case located in one of two different measuring cycles, are used for the measurement and validation. 6. The method according to claim 4, wherein changes of pairs of found combinations of distances and speeds from measuring cycle to measuring cycle are used for the validation. 7. The method according to claim 4, wherein in successive measuring cycles, a first pair of frequency ramps and a second pair of frequency ramps are used alternately for in each case identical part-areas. 8. The method according to claim 7, wherein the respective four frequency measurements of two successive measuring cycles are used for forming hypotheses and validating hypotheses, wherein the first two frequency measurements are used for forming hypotheses and the further two frequency measurements are used for validation. 9. The method according to claim 7, wherein two frequencies which are measured in a first measuring cycle are used for forming hypotheses and in that frequencies which are formed in more than one further measuring cycle are used for validating the hypothesis. 10. A motor vehicle radar system which determines speeds and distances of objects relative to the motor vehicle, wherein the radar system operates based on a coverage area divided into at least two part-areas, the radar system comprising: a signal generator unit configured to generate a radar signal;at least one transmitting antenna operatively connected to the signal generator unit and configured to transmit the radar signal to the corresponding part-area;at least one receiving antenna configured to receive a signal reflected from a reflecting object;an evaluating unit operatively connected to the at least one receiving antenna,wherein the coverage area comprises the reflecting object,wherein the reflecting object is examined by the radar system in successive measuring cycles to process radar signals received in a measuring cycle separated in accordance with the at least two part-areas,wherein the evaluating unit is configured to assemble processed radar signals to form a total result differentiated in accordance with spatial directions,wherein the evaluating unit is arranged for forming, from signals received in a first measuring cycle, hypotheses for the distance and speed of reflecting objects and validating the hypotheses in dependence on signals received in at least one further measuring cycle, andwherein the hypotheses comprise predictions for whether an intersection of two straight lines relates to parameters of a real object or to a ghost target, by a single pair of chirps for a part-area of the first measuring cycle.