Method and device for evaluating the angular position of an object, and driver assistance system
AssigneeRobert Bosch GmbH
InventorBenedikt Loesch
Life of this patent
Estimating the term…
Abstract
A method for evaluating an angular position of an object recognized on the basis of radar data, the radar data being ascertained by a radar device. The method includes: ascertaining of an intrinsic speed of the radar device; ascertaining a relative speed of the recognized object in relation to the radar device, using the ascertained radar data; ascertaining at least one angular test region using the ascertained intrinsic speed and the ascertained relative speed, the at least one angular test region corresponding to possible stationary objects that have a relative speed that substantially corresponds to the ascertained relative speed; and ascertaining whether an azimuth angle of the recognized object lies in the ascertained angular test region.
Claims8
A method for evaluating an angular position of an object recognized based on radar data, the radar data being ascertained by a radar device, the method comprising the following steps:
- ascertaining an intrinsic speed of the radar device;
- ascertaining a relative speed of the recognized object in relation to the radar device, using the ascertained radar data;
- ascertaining, based on the ascertained intrinsic speed and the ascertained relative speed, a range of potential azimuth angles between (a) a line from the radar device to the recognized object and (b) a main direction of radiation output by the radar device, the range of potential azimuth angles being an angular test region;
- ascertaining a likelihood value that represents how likely an actual azimuth angle of the recognized object, which has not been calculated, is within the angular test region;
- ascertaining whether the likelihood value is greater than a predefined threshold;
- and
- in response to a result of the likelihood ascertainment being that the likelihood is not greater than the predefined threshold, determining a value of the actual azimuth angle.
A device for evaluating an angular position of an object recognized based on radar data of a radar device, the device comprising:
- an interface configured to receive the radar data and an identification of an intrinsic speed of the radar device;
- and
- a computing device configured to:
- ascertain a relative speed of the recognized object in relation to the radar device using the ascertained radar data;
- ascertain, based on the ascertained intrinsic speed and the received relative speed, a range of potential azimuth angles between (a) a line from the radar device to the recognized object and (b) a main direction of radiation output by the radar device, the range of potential azimuth angles being an angular test region;
- ascertain a likelihood value that represents how likely an actual azimuth angle of the recognized object, which has not been calculated, is within the angular test region;
- ascertain whether the likelihood value is greater than a predefined threshold;
- and
- in response to a result of the likelihood ascertainment being that the likelihood is not greater than the predefined threshold, determine a value of the actual azimuth angle.
A driver assistance system for a vehicle, comprising:
- a radar device configured to ascertain radar data and to recognize an object based on the radar data;
- and
- a device for evaluating an angular position of the object recognized based on the radar data, the device including:
- an interface configured to receive the radar data and an identification of an intrinsic speed of the radar device;
- and
- a computing device configured to:
- ascertain a relative speed of the recognized object in relation to the radar device using the ascertained radar data;
- ascertain, based on the ascertained intrinsic speed and the received relative speed, a range of potential azimuth angles between (a) a line from the radar device to the recognized object and (b) a main direction of radiation output by the radar device, the range of potential azimuth angles being an angular test region;
- ascertain a likelihood value that represents how likely an actual azimuth angle of the recognized object, which has not been calculated, is within the angular test region;
- ascertain whether the likelihood value is greater than a predefined threshold;
- and
- in response to a result of the likelihood ascertainment being that the likelihood is not greater than the predefined threshold, determine a value of the actual azimuth angle.
Dependencies are inferred from the claim text.