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US 9,958,543 B2Granted
Apparatus and method for determining the elevation angle in a radar system
AssigneeRobert Bosch GmbH
InventorsMichael Schoor, Volker Gross
Life of this patent
Estimating the term…
Abstract
The present method and system relates to the determination of elevation angles for the case in which more than one target object is situated within a radar cell. Through the estimation according to the present invention of the elevation angles in multi-target scenarios, even in such cases both azimuth angles and elevation angles can be determined, and a reliable classification of the respective target objects can then take place. The present system also relates to a motor vehicle having a radar system that includes an azimuth and elevation angle estimation method and system.
Claims14
A device for determining an elevation angle, comprising:
- a transceiver unit for sending and receiving radar signals, the transceiver unit including a signal producing device, a main antenna, and an elevation antenna, each of the main antenna and elevation antenna receiving a respective signal;
- a first device for determining azimuthal target parameters, which is for determining a number of detected targets and for determining an azimuth angle for each detected target;
- and
- a second device for determining the elevation angle, which is configured for forming a control matrix A based on the azimuthal target parameters, and, using the control matrix A, to determine an elevation angle for each detected target;
- wherein the control matrix A is formed as follows:
- A=[a(θ1),a(θ2), . . . ,a(θn)]
- where:
- n is the number of detected targets,
- θ1, . . . , θn are the azimuth angles of the respective targets, and
- a(θ1), a(θ2), . . . , a(θn) are control vectors from parameters of antenna diagrams of the antennas as a function of the respective azimuth angles θ1, . . . , θn;
- wherein a respective amplitude of an incident signal is estimated for each of the main antenna and the elevation antenna by the second device using the control matrix A and using the respective signals received by the main antenna and the elevation antenna, and an amplitude ratio is determined using the estimated amplitudes, the elevation angle for each detected target being determined based on the amplitude ratio, the amplitude ratio being a ratio comparing the amplitude of the incident signal estimated for the main antenna and the amplitude of the incident signal estimated for the elevation antenna.
8 more elements
A motor vehicle, comprising:
- a driver assistance system;
- and
- a radar system including:
- a transceiver unit for sending and receiving radar signals, the transceiver unit including a signal producing device, a main antenna, and an elevation antenna, each of the main antenna and elevation antenna receiving a respective signal;
- a first device for determining azimuthal target parameters, which is for determining a number of detected targets and for determining an azimuth angle for each detected target;
- and
- a second device for determining the elevation angle, which is configured for forming a control matrix A based on the azimuthal target parameters, and, using the control matrix, to determine an elevation angle for each detected target, wherein the control matrix A is formed as follows:
- A=[a(θ1),a(θ2), . . . ,a(θn)]
- where:
- n is the number of detected targets,
- θ1, . . . , θn are the azimuth angles of the respective targets, and
- a(θ1), a(θ2), . . . , a(θn) are control vectors from parameters of antenna diagrams of the antennas as a function of the respective azimuth angles θ1, . . . , θn;
- wherein a respective amplitude of an incident signal is estimated for each of the main antenna and the elevation antenna by the second device using the control matrix A and using the respective signals received by the main antenna and the elevation antenna, and an amplitude ratio is determined using the estimated amplitudes, the elevation angle for each detected target being determined based on the amplitude ratio, the amplitude ratio being a ratio comparing the amplitude of the incident signal estimated for the main antenna and the amplitude of the incident signal estimated for the elevation antenna;
- wherein the elevation angles are used by the driver assistance system.
11 more elements
A method for determining an elevation angle in a radar system including antennas, the method comprising:
- sending and receiving, by a transceiver unit of the radar system, radar signals, the transceiver including a signal producing device, a main antenna, and an elevation antenna, each of the main antenna and the elevation antenna receiving a respective signal;
- determining azimuthal target parameters, the azimuthal target parameters including a number of detected targets and an azimuthal angle estimation for each detected target;
- forming a control matrix A based on the azimuthal target parameters, wherein the control matrix A is formed as follows:
- A=[a(θ1),a(θ2), . . . ,a(θn)]
- where:
- n is the number of detected targets,
- θ1, . . . , θn are the azimuth angles of the respective targets, and
- a(θ1), a(θ2), . . . , a(θn) are control vectors from parameters of antenna diagrams of the antennas as a function of the respective azimuth angles θ1, . . . , θn;
- determining the elevation angles of the targets using the control matrix, wherein a respective amplitude of an incident signal is estimated for each of the main antenna and the elevation antenna using the control matrix A and using the respective signals received by the main antenna and the elevation antenna, and an amplitude ratio is determined using the estimated amplitudes, the elevation angle for each detected target being determined based on the amplitude ratio, the amplitude ratio being a ratio comparing the amplitude of the incident signal estimated for the main antenna and the amplitude of the incident signal estimated for the elevation antenna.
6 more elements
Dependencies are inferred from the claim text.