DE102010024328A1 - Radar device for use in vehicle e.g. passenger car, for detecting traffic situation, has master radar sensor whose modulation is adjustable with control device as function of detected environment situation - Google Patents
Radar device for use in vehicle e.g. passenger car, for detecting traffic situation, has master radar sensor whose modulation is adjustable with control device as function of detected environment situation Download PDFInfo
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- DE102010024328A1 DE102010024328A1 DE102010024328A DE102010024328A DE102010024328A1 DE 102010024328 A1 DE102010024328 A1 DE 102010024328A1 DE 102010024328 A DE102010024328 A DE 102010024328A DE 102010024328 A DE102010024328 A DE 102010024328A DE 102010024328 A1 DE102010024328 A1 DE 102010024328A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/862—Combination of radar systems with sonar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9323—Alternative operation using light waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9324—Alternative operation using ultrasonic waves
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Die vorliegende Erfindung betrifft eine Radarvorrichtung für ein Fahrzeug mit einem Radarsensor und einer Steuereinrichtung zum Steuern des Radarsensors und zum Ändern der Modulation des Radarsensors. Darüber hinaus betrifft die vorliegende Erfindung ein Verfahren zur Steuerung einer Radarvorrichtung für ein Fahrzeug.The present invention relates to a radar apparatus for a vehicle having a radar sensor and a controller for controlling the radar sensor and for changing the modulation of the radar sensor. Moreover, the present invention relates to a method for controlling a radar device for a vehicle.
Aus der Druckschrift
Darüber hinaus ist in der Druckschrift
Ferner offenbart die Druckschrift
Es erfolgt bei den bekannten Systemen jedoch keine Anpassung der Modulation aufgrund bestimmter Verkehrssituationen, und es erfolgt auch keine Steuerung der Modulation im Slave-Radarsensor durch den Master-Radarsensor. Durch die aktuelle Ausprägung werden nicht alle Potentiale einer Doppelradar-Anordnung vollständig ausgeschöpft.However, there is no adaptation of the modulation due to certain traffic situations in the known systems, and there is also no control of the modulation in the slave radar sensor by the master radar sensor. Due to the current characteristics not all potentials of a double radar arrangement are completely exhausted.
Trotz eines derartigen Doppelradarsystems gibt es problematische Umfeldsituationen, die zum Zielobjektverlust oder verspäteter Zieldetektion (z. B. bei Annäherung) führen können. Beispiele für problematische Situationen können sein:
- a) ein schwaches Ziel bzw. Objekt (z. B. Motorrad, kleiner Pkw) neben einem starken Ziel bzw. Objekt (Lkw) bei gleicher Geschwindigkeit. Die beiden Ziele sind dann im Radar kaum voneinander trennbar.
- b) Mehrwegeausbreitung/Interferenzen an Leitplankenstrukturen
- a) A weak target or object (eg motorcycle, small car) next to a strong target or object (truck) at the same speed. The two goals are then in the radar hardly separable.
- b) multipath propagation / interferences on crash barrier structures
Die Aufgabe der vorliegenden Erfindung besteht somit darin, auch in problematischen Situationen Ziele bzw. Objekte zuverlässiger erfassen zu können.The object of the present invention is therefore to be able to detect targets or objects more reliably even in problematic situations.
Erfindungsgemäß wird diese Aufgabe gelöst durch eine Radarvorrichtung für ein Fahrzeug mit
- – einem ersten Radarsensor, und
- – einer Steuereinrichtung zum Steuern des ersten Radarsensors und zum Ändern der Modulation des ersten Radarsensors,
- – eine Umfelderfassungseinrichtung zum Erfassen einer Umfeldsituation, in der sich das Fahrzeug befindet, wobei
- – mit der Steuereinrichtung die Modulation des ersten Radarsensors in Abhängigkeit von der erkannten Situation einstellbar ist.
- A first radar sensor, and
- A control device for controlling the first radar sensor and for changing the modulation of the first radar sensor,
- - An environment detection device for detecting an environmental situation in which the vehicle is located, wherein
- - With the control device, the modulation of the first radar sensor in dependence on the detected situation is adjustable.
Darüber hinaus wird erfindungsgemäß bereitgestellt ein Verfahren zur Steuerung einer Radarvorrichtung für ein Fahrzeug, die einen ersten Radarsensor aufweist, durch
- – Ändern der Modulation des ersten Radarsensors,
- – Erkennen einer Umfeldsituation, in der sich das Fahrzeug befindet, und
- – Einstellen der Modulation des ersten Radarsensors in Abhängigkeit von der erkannten Situation.
- Changing the modulation of the first radar sensor,
- - Recognize an environment situation in which the vehicle is located, and
- - Adjusting the modulation of the first radar sensor depending on the detected situation.
In vorteilhafter Weise wird mit der Radarvorrichtung also eine Umfeldsituation des Fahrzeugs erfasst und in Abhängigkeit davon die Modulation (Modulationsart und/oder Modulationsparameter) des Radarsensors gesteuert. Damit kann die für die jeweilige Umfeldsituation optimale Modulation automatisch eingestellt werden.Advantageously, an environmental situation of the vehicle is thus detected with the radar device and the modulation (modulation type and / or modulation parameter) of the radar sensor is controlled in dependence thereon. In this way, the optimum modulation for the respective environment situation can be set automatically.
In einem Ausführungsbeispiel, bei dem die Radarvorrichtung einen zweiten Radarsensor aufweist, kann einer der beiden Radarsensoren unabhängig von der Umfeldsituation seine Modulation fest beibehalten. Dies ist beispielsweise bei einem Master-Radarsensor der Fall, der seine Modulation beibehält, während die Modulation des Slave-Radarsensors umfeldabhängig geändert wird. Damit kann sowohl der Vorteil des Master-Radarsensors in einem Allgemeinmodus als auch der Vorteil des Slave-Radarsensors in einem Spezialmodus genutzt werden.In one embodiment, in which the radar device has a second radar sensor, one of the two radar sensors can firmly retain its modulation independently of the surrounding situation. This is for example at a Master radar sensor, which retains its modulation, while the modulation of the slave radar sensor is changed environment-dependent. Thus, both the advantage of the master radar sensor in a general mode and the advantage of the slave radar sensor in a special mode can be used.
Die Modulation mindestens eines Radarsensors ist günstigerweise eine FMCW-Modulation. Das beschriebene Verfahren kann grundsätzlich auf jede beliebige Modulationsart angewendet werden. Denn jede Modulationsart hat eine im Normalbetrieb verwendete „Kompromiss-Parametrierung” und mindestens eine für spezielle Situationen angepasste Parametrierung, u. a. auch für Entfernungs- und Geschwindigkeitsauflösung. Mit der FMCW-Modulation kann gezielt die Entfernung und die Relativgeschwindigkeit eines Objekts gemessen werden. Weitere Modulationsarten können z. B. sein (neben FMCW und CW):
Pulsdoppler, frequency shift keying, stepped-frequency usw.The modulation of at least one radar sensor is conveniently FMCW modulation. The described method can basically be applied to any type of modulation. Every type of modulation has a "compromise parameterization" used in normal operation and at least one parameterization adapted for special situations, including distance and velocity resolution. The FMCW modulation can be used to measure the distance and the relative speed of an object. Other types of modulation can z. B. (in addition to FMCW and CW):
Pulse Doppler, frequency shift keying, stepped-frequency etc.
Bei der Doppelradar-Konfiguration könnte dabei der Master seine Modulationsart und/oder Modulationsparameter beibehalten und der Slave in eine andere Modulationsart und/oder zu anderen Modulationsparametern wechseln.In the case of the double radar configuration, the master could maintain its modulation type and / or modulation parameters and switch the slave to another modulation type and / or to other modulation parameters.
Insbesondere ist es vorteilhaft, wenn ein Signal des mindestens einen Radarsensors, das FMCW-moduliert ist, mindest zwei unterschiedliche Frequenzanstiege aufweist. Damit können unterschiedliche Auflösungen des Radarsystems erzielt werden. Umfeldabhängig können dann die Frequenzanstiege oder andere Modulationsparameter verändert werden.In particular, it is advantageous if a signal of the at least one radar sensor, which is FMCW-modulated, has at least two different frequency increases. Thus, different resolutions of the radar system can be achieved. Depending on the environment, the frequency increases or other modulation parameters can then be changed.
In einem bevorzugten Ausführungsbeispiel liefern die Radarsensoren selbst Signale an die Umfelderfassungseinrichtung, welche dann zur Erfassung der Umfeldsituation herangezogen werden. Damit werden dann die Signale der Radarsensoren für ihre eigene Steuerung ausgenutzt.In a preferred embodiment, the radar sensors themselves provide signals to the surroundings detection device, which are then used to detect the surrounding situation. This then uses the signals of the radar sensors for their own control.
Mit der Umfelderfassungseinrichtung kann außerdem eine Bewegung eines Objekts erfassbar sein, so dass in Abhängigkeit von der Bewegung des Objekts die Modulation des mindestens einen Radarsensors veränderbar ist. Günstigerweise kann so anhand einer Extrapolation der Bewegung des Objekts die Modulation geändert werden, so dass das Ziel in einem kritischen Bereich besser beobachtet werden kann.In addition, the surroundings detection device can detect a movement of an object, so that the modulation of the at least one radar sensor can be changed as a function of the movement of the object. Conveniently, the modulation can thus be changed on the basis of an extrapolation of the movement of the object, so that the target can be better observed in a critical region.
Ferner kann die Bewegung des Objekts durch die Umfelderfassungseinrichtung in einer Geschwindigkeits-Abstands-Ebene ermittelt werden, wobei die Geschwindigkeit und der Abstand des Objekts relativ zu dem Fahrzeug ermittelt werden. Damit kann eine problematische Situation durch Bewertung von Zieltrajektorien erkannt werden.Furthermore, the movement of the object through the surroundings detection device can be determined in a speed-distance plane, wherein the speed and the distance of the object relative to the vehicle are determined. Thus, a problematic situation can be detected by evaluating target trajectories.
In einer weiteren Ausführungsform ist mit der Umfelderfassungseinrichtung eine Mehrwegeausbreitung der Signale der Radarsensoren erkennbar und davon abhängig durch die Steuereinrichtung die Modulation einstellbar. Somit kann die häufig vorkommende Fehlerquelle, nämlich die Mehrwegeausbreitung, in ihren Auswirkungen gedämpft werden.In a further embodiment, multipath propagation of the signals of the radar sensors can be detected with the surroundings detection device and the modulation can be set by the control device as a function thereof. Thus, the common source of error, namely the multipath propagation, be attenuated in their effects.
Wie bereits mehrfach erwähnt wurde, besteht eine bevorzugte Verwendung der genannten Doppelradarvorrichtung in der Implementierung in einem Fahrzeug, speziell in einem Pkw oder Lkw.As has already been mentioned several times, there is a preferred use of said Doppelradarvorrichtung in the implementation in a vehicle, especially in a car or truck.
Die vorliegende Erfindung wird nun anhand der beigefügten Zeichnungen näher erläutert, in denen zeigen:The present invention will now be explained in more detail with reference to the accompanying drawings, in which:
Die nachfolgend näher geschilderten Ausführungsbeispiele stellen bevorzugte Ausführungsformen der vorliegenden Erfindung dar.The embodiments described in more detail below represent preferred embodiments of the present invention.
Entsprechend einer Ausführungsform mit zwei Radarsensoren sollen, abhängig davon, ob im Master-Radarsensor für die Radardetektionsleistung des Doppelradarasystems problematische Umfeldsituationen erkannt werden, vom Master spezielle Modulationen für den Master-Radarsensor selbst oder den Slave-Radarsensor angefordert werden, welche speziell für diese Situationen von Vorteil sind. Es sollen also die Umfeldsituationen für die Steuerung der Radarsensoren ausgenutzt werden und nicht systemimmanente Größen wie beispielsweise die Geschwindigkeit des eigenen Fahrzeugs.According to an embodiment with two radar sensors, depending on whether in the master radar sensor for radar detection of the Doppelradarasystems problematic environment situations are detected by the master specific modulations for the master radar sensor itself or the slave radar sensor are required, which specifically for these situations Advantage are. Thus, the environment situations for the control of the radar sensors should be exploited and not system-immanent variables such as the speed of the own vehicle.
In
Die Steuereinrichtung
Die beiden Radarsensoren werden hier vorteilhaft so angesteuert, dass sie FMCW-Signale aussenden. Speziell kann ein resultierendes FMCW-Signal in einem Frequenz-Zeit-Diagramm so aussehen, dass die Frequenz zunächst gemäß einer ersten Rampe ansteigt, anschließend in einer zweiten Rampe abfällt, in einer dritten Rampe wieder ansteigt und schließlich in einer vierten Rampe wieder abfällt. Nach der vierten Rampe erfolgt eine Sendepause für eine Auswertung. Die erste und die dritte Rampe sollten unterschiedliche Steigungen haben, so dass entsprechend unterschiedliche Auflösungen der Radarbilder erzielt werden können. Jeder der genannten Parametersätze P1, P2, ..., Pn besitzt beispielsweise eine Vielzahl von Parametern, die die Steigungen und anderen Modulationskoeffizienten des FMCW-Signals beschreiben. Je nachdem, welcher Parametersatz für einen Radarsensor bestimmt ist, werden unterschiedliche Radarsignale erzeugt. Parameter bei der FMCW-Modulation sind z. B. Mittenfrequenz, Frequenzhub, Rampendauer, Anzahl der Rampen und Rampenrichtung, bei der CW-Modulation Sendefrequenz und Dauer des Signals. Bei anderen Modulationsarten können es z. B. auch eine Pulsdauer, eine Pulswiederholrate und dergleichen sein. Zusätzliche grundsätzliche Parameter, die die Leistungsfähigkeit eines Radarsystems bestimmen, sind z. B. Abtastrate und Integrationszeit.The two radar sensors are advantageously controlled so that they emit FMCW signals. Specifically, a resulting FMCW signal in a frequency-time diagram may be such that the frequency first increases according to a first ramp, then drops in a second ramp, rises again in a third ramp, and finally drops off in a fourth ramp. After the fourth ramp, there will be a transmission break for an evaluation. The first and the third ramp should have different gradients, so that correspondingly different resolutions of the radar images can be achieved. Each of the parameter sets P1, P2,..., Pn has, for example, a multiplicity of parameters which describe the slopes and other modulation coefficients of the FMCW signal. Depending on which parameter set is intended for a radar sensor, different radar signals are generated. Parameters in the FMCW modulation are z. B. center frequency, frequency deviation, ramp duration, number of ramps and ramp direction, in the CW modulation transmission frequency and duration of the signal. For other types of modulation, it may, for. B. also be a pulse duration, a pulse repetition rate and the like. Additional basic parameters that determine the performance of a radar system are, for. B. sample rate and integration time.
Ebenfalls integriert in das Kraftfahrzeug
Die Umfelderfassungseinrichtung
Die Umfelderfassungseinrichtung erkennt beispielsweise gemäß
Ein weiteres Ausführungsbeispiel wird nun anhand der
Die Umfelderfassungseinrichtung erkennt diese problematische Situation bereits aus der Zieltrajektorie und erhöht daher die Auflösung des Radarsystems insbesondere in dem Feld
Die Auflösung in der d-v-Ebene kann aber auch in Distanzrichtung erhöht werden. Dazu kann z. B. der Frequenzhub einer FMCW-Modulationsrampe erhöht werden.The resolution in the d-v plane can also be increased in the distance direction. This can z. B. the frequency deviation of an FMCW modulation ramp can be increased.
Als Modulationen kommen verschiedenste Arten der FMCW aber auch die CW-Modulation in Frage. Darüber hinaus eignen sich gegebenenfalls auch andere bekannte Modulationsformen aus der Radartechnik.Possible modulations are various types of FMCW but also CW modulation. In addition, if appropriate, other known modulation forms from radar technology are also suitable.
Falls bei einem Master-Slave-System der Master-Radarsensor eine spezielle Modulation für den Slave-Radarsensor auswählt, erfolgt die Ansteuerung dieser Modulation über den vorhandenen Kommunikationskanal zeitlich exakt synchronisiert mit der Signalverarbeitung im Master-Radarsensor. Aufgrund der nun speziell angepassten Modulation des Slave- oder des Master-Radarsensors werden für die weitere Signalverarbeitung (z. B. Radar Fusion Master/Slave) Zielobjektdaten von der problematischen Umfeldsituation (Verkehrs- bzw. Zielsituation) generiert.If, in the case of a master-slave system, the master radar sensor selects a special modulation for the slave radar sensor, the control of this modulation via the existing communication channel is timed exactly synchronized with the signal processing in the master radar sensor. Due to the specially adapted modulation of the slave or master radar sensor, target object data for the further signal processing (eg Radar Fusion Master / Slave) are generated by the problematic surrounding situation (traffic or target situation).
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102007062566 A1 [0002] DE 102007062566 A1 [0002]
- DE 102004059915 A1 [0003] DE 102004059915 A1 [0003]
- DE 102004019651 A1 [0004] DE 102004019651 A1 [0004]
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DE102017110665A1 (en) * | 2017-05-17 | 2018-11-22 | Valeo Schalter Und Sensoren Gmbh | Method for operating a distance sensor of a motor vehicle with adaptation of the transmission signal, sensor device, driver assistance system and motor vehicle |
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DE102017110665A1 (en) * | 2017-05-17 | 2018-11-22 | Valeo Schalter Und Sensoren Gmbh | Method for operating a distance sensor of a motor vehicle with adaptation of the transmission signal, sensor device, driver assistance system and motor vehicle |
WO2020006533A1 (en) * | 2018-06-28 | 2020-01-02 | Upamanyu Madhow | Robust radar-centric perception system |
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