# US 12,000,950 B2 · Estimation of transverse velocities or cartesian velocities of point targets with a radar sensor

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- Number: US 12,000,950 B2
- Document ID: US12000950B2
- Status: Granted
- Kind: B2
- Application number: 16/962,178
- Filed: 2018-12-14
- Published: 2020-11-26
- Granted: 2024-06-04
- Earliest claimed: 2018-02-15
- Assignees: Robert Bosch GmbH
- Applicants: Robert Bosch GmbH
- Inventors: Michael Schoor
- Web page: https://patentgrep.com/patent/US12000950B2

## CPC

- G01S 7/295: Means for transforming co-ordinates or for evaluating data, e.g. using computers
- G01S 7/354: {Extracting wanted echo-signals (Doppler systems G01S13/50)}
- G01S 13/4445: {amplitude comparisons monopulse, i.e. comparing the echo signals received by an antenna arrangement with overlapping squinted beams}
- G01S 13/4454: {phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement}
- G01S 13/584: {adapted for simultaneous range and velocity measurements}
- G01S 13/589: {measuring the velocity vector}
- G01S 13/878: {Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector (G01S13/874 takes precedence)}
- G01S 13/931: of land vehicles
- G01S 7/356: {involving particularities of FFT processing}
- G01S 13/343: {using sawtooth modulation}
- G01S 2013/466: {by Trilateration, i.e. two antennas or two sensors determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the antennas or sensors, the position data of the target is determined}
- G01S 2013/93271: {in the front 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 method for estimating a speed of a radar target using a radar sensor, in particular a radar sensor for motor vehicles, on the basis of signals that are contained in respective evaluation channels that correspond to different center antenna positions of relevant transmitting and receiving antennas in a direction, having the steps: determining, for the various evaluation channels, a respective individual radial speed assigned to the respective evaluation channel, of the radar target; and estimating a speed of the radar target based on the determined individual radial speeds of the radar target, the speed including information about a tangential speed; and a radar sensor for carrying out the method.

## Claims

### Claim 1

A method for estimating an actual speed of a radar target using a radar sensor for a motor vehicle on the basis of a plurality of signals that are obtained from different respective ones of a plurality of receiving antennas arranged at different positions than one another on a same substrate of the radar sensor so that respective center positions, which are all measured in a single direction between (i) each respective one of the plurality of receiving antennas and (ii) a same transmitting antenna that is also arranged on the substrate, all differ from one another, the method comprising the following steps:
for a single transmission modulation cycle of a signal transmission by the same transmitting antenna:
obtaining, by each of the plurality of receiving antennas, different respective echo signals generated by a reflection, from the radar target, of the signal transmission, the differences between the respective echo signals being a function of the differences in the respective center positions of the plurality of receiving antennas;
due to differences in the respective echo signals determining a plurality of different values of a radial speed of the radar target without obtaining corresponding values of a tangential speed, each of the plurality of different values of the radial speed being determined based on a different respective one of the obtained echo signals; and
estimating the actual speed of the radar target based on a combination of the determined plurality of different values of the radial speed of the radar target determined for the single transmission modulation cycle without use of any radial speeds determined in any other transmission modulation cycle, the estimated actual speed including an estimated tangential speed of the radar target relative to the radar sensor.

### Claim 2 (depends on 1)

The method as recited in claim 1, wherein in the estimated actual speed of the radar target further includes an estimated speed of the radar target in a forward direction relative to the radar sensor.

### Claim 3 (depends on 1)

The method as recited in claim 1, wherein the estimated actual speed of the radar target is estimated as a Cartesian speed of the radar target.

### Claim 4 (depends on 1)

The method as recited in claim 1, further comprising the following step:
determining, for each of the respective receiving antennas, a respective individual aspect angle of the radar target relative to the respective receiving antenna, wherein the estimating of the actual speed of the radar target is further based on a combination of the determined individual aspect angles.

### Claim 5 (depends on 4)

The method as recited in claim 4, wherein the determination of the respective individual aspect angles is based on an estimated aspect angle of the radar target and an estimated distance of the radar target, taking into account the respective center antenna position of the respective receiving antenna.

### Claim 6 (depends on 1)

The method as recited in claim 1, wherein the determination of the plurality of different values of the radial speed of the radar target is based on different respective frequency positions of different ones of the echo signals.

### Claim 7 (depends on 6)

The method as recited in claim 6, wherein the different respective frequency positions are each formed by modifying a respective original frequency position based on a respective frequency shift for the respective receiving antenna, the respective frequency shift for the respective receiving antenna corresponding to a distance difference of the radar target to the respective center position of the respective receiving antenna.

### Claim 8 (depends on 7)

The method as recited in claim 7, further comprising the following steps:
estimating an aspect angle of the radar target based on amplitude and/or phase relations between the echo signals of different ones of the receiving antennas that arise due to the different respective center antenna positions of the receiving antennas; and
determining respective frequency position shifts of the echo signals of the respective receiving antennas, the frequency position shifts corresponding to distance differences of the radar target to the respective center antenna positions as a function of the estimated aspect angle;
wherein the determination of the respective values of the radial speed is based on respective frequency positions of the echo signals determined taking into account respective ones of the determined frequency position shifts.

### Claim 9 (depends on 1)

The method as recited in claim 1, further comprising the following step:
estimating an aspect angle of the radar target based on amplitude and/or phase relations between the echo signals of different ones of the receiving antennas that arise due to the different respective center antenna positions of the receiving antennas, wherein the echo signals of the respective receiving antennas are evaluated at respective frequency positions:
(i) taking into account respective first frequency position shifts of the echo signals, the first frequency position shifts corresponding to distance differences of the radar target to the respective center antenna positions of the respective receiving antennas, and/or
(ii) taking into account respective second frequency position shifts of the echo signals, the second frequency position shifts corresponding to differences in the determined values of the radial speed of the radar target determined for different ones of the receiving antennas.

### Claim 10 (depends on 1)

The method as recited in claim 1, wherein each of the echo signals of all of the plurality of receiving signals is mixed with a same signal of the same transmitting antenna.

### Claim 11

A radar sensor for a motor vehicle, comprising:
an antenna system having a transmitting antenna and a plurality of receiving antennas arranged at different positions than one another on a same substrate so that respective center positions, which are all measured in a single direction between (i) each respective one of the plurality of receiving antennas and (ii) the transmitting antenna, all differ from one another, the transmitting antenna being a same transmitting antenna at different distances from which different ones of the receiving antennas are arranged; and
a processor, wherein the processor is configured to, for a single transmission modulation cycle of a signal transmission by the same transmitting antenna:
obtain, by each of the plurality of receiving antennas, different respective echo signals generated by a reflection, from the radar target, of the signal transmission, the differences between the respective echo signals being a function of the differences in the respective center positions of the plurality of receiving antennas;
due to differences in the respective echo signals determine a plurality of different values of a radial speed of the radar target without obtaining corresponding values of a tangential speed, each of the plurality of different values of the radial speed being determined based on a different respective one of the obtained echo signals; and
estimate the actual speed of the radar target based on a combination of the determined plurality of different values of the radial speed of the radar target determined for the single transmission modulation cycle without use of any radial speeds determined in any other transmission modulation cycle, the estimated actual speed including an estimated tangential speed of the radar target relative to the radar sensor.