# US 11,307,300 B2 · Vehicle radar system

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- Number: US 11,307,300 B2
- Document ID: US11307300B2
- Status: Granted
- Kind: B2
- Application number: 15/779,995
- Filed: 2016-11-30
- Published: 2018-12-20
- Granted: 2022-04-19
- Earliest claimed: 2015-12-01
- Assignees: Veoneer Sweden AB
- Applicants: Dirk Klotzbuecher; Christian Schwert
- Inventors: Dirk Klotzbuecher; Christian Schwert
- Web page: https://patentgrep.com/patent/US11307300B2

## CPC

- G01S 13/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S13/46)
- G01S 7/415: {Identification of targets based on measurements of movement associated with the target}
- G01S 13/931: of land vehicles
- G01S 13/583: {using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets}
- G01S 13/584: {adapted for simultaneous range and velocity measurements}
- G01S 2013/9315: {Monitoring blind spots}
- G01S 2013/93274: {on the side of the vehicles}
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

A vehicle radar system (3) including at least one transceiver arrangement (7) arranged to generate, transmit and receive reflected radar signals (4, 5) where the transmitted radar signals (4) have been reflected by an object (6 and 8). The radar system (3) is arranged to provide azimuth angle (θ) and radial velocity (vr) for a plurality of measurement points (9) at such objects (6 and 8). The radar system (3) is arranged to calculate a difference between a minimum radial velocity (Vmin′, Vmin″) and a maximum radial velocity (Vmax′, Vmax″) for the measurement points (9) for a plurality of azimuth angle intervals, and to select those azimuth angle intervals (ΔθA, ΔθB) where the difference exceeds a certain threshold.

## Claims

### Claim 1

A vehicle radar system comprising, at least one transceiver arrangement arranged in a host vehicle and configured to generate and transmit radar signals, and to receive reflected radar signals, where the transmitted radar signals have been reflected by one or more objects, where the radar system is arranged to provide an azimuth angle and a radial velocity for a plurality of measurement points at the objects, the radar system includes a processor configured to calculate a difference between a minimum radial velocity and a maximum radial velocity for the measurement points for a plurality of azimuth angle intervals, and to calculate an estimation of a relative velocity between the host vehicle and the one or more objects using the azimuth angle and the radial velocity for each of the measurement points, except for those of the measurement points corresponding to azimuth angle intervals where the difference between the minimum radial velocity and the maximum radial velocity exceeds a certain threshold.

### Claim 2 (depends on 1)

The vehicle radar system according to claim 1, wherein the radial velocity for each of the plurality of measurement points includes an x-component that runs parallel to a direction of travel of the host vehicle, and a y-component perpendicular to the x-component, and wherein the radial velocity provided by the radar system for each of the plurality of measurement points includes only the x-component thereof.

### Claim 3

A method for a vehicle radar system, where the method comprises the steps of:
generating and transmitting radar signals by at least one transceiver arrangement in a host vehicle;
receiving, by the at least one transceiver arrangement, reflected radar signals, where the transmitted radar signals have been reflected by one or more objects;
providing to a processor, by the vehicle radar system, azimuth angle and radial velocity for a plurality of measurement points at the objects;
calculating, by the processor, a difference between a minimum radial velocity and a maximum radial velocity for the measurement points for a plurality of azimuth angle intervals; and
calculating, by the processor, an estimation of a relative velocity between the host vehicle and the one or more objects using the azimuth angle and the radial velocity for each of the measurement points, except for those of the measurement points corresponding to azimuth angle intervals where the difference between the minimum radial velocity and the maximum radial velocity exceeds a certain threshold.

### Claim 4 (depends on 3)

The method according to claim 3, wherein the radial velocity for each of the plurality of measurement points includes an x-component that runs parallel to a direction of travel of the host vehicle, and a y-component perpendicular to the x-component, and wherein the radial velocity provided by the radar system for each of the plurality of measurement points includes only the x-component thereof.