WO2016038148A1 - Radar sensing of vehicle occupancy - Google Patents

Radar sensing of vehicle occupancy Download PDF

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Publication number
WO2016038148A1
WO2016038148A1 PCT/EP2015/070740 EP2015070740W WO2016038148A1 WO 2016038148 A1 WO2016038148 A1 WO 2016038148A1 EP 2015070740 W EP2015070740 W EP 2015070740W WO 2016038148 A1 WO2016038148 A1 WO 2016038148A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal
sensor
occupant
accelerometer
occupancy status
Prior art date
Application number
PCT/EP2015/070740
Other languages
French (fr)
Inventor
Giuseppe CARENZA
Jochen Landwehr
Original Assignee
Iee International Electronics & Engineering S.A.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Iee International Electronics & Engineering S.A. filed Critical Iee International Electronics & Engineering S.A.
Priority to CN201580048677.5A priority Critical patent/CN107076843B/en
Priority to US15/510,437 priority patent/US20170282828A1/en
Priority to EP15762612.8A priority patent/EP3191864B1/en
Publication of WO2016038148A1 publication Critical patent/WO2016038148A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
    • B60R21/01512—Passenger detection systems
    • 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
    • G01S13/04—Systems determining presence of a target
    • 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
    • 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
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R2021/01286—Electronic control units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
    • B60R21/01512—Passenger detection systems
    • B60R21/0153—Passenger detection systems using field detection presence sensors
    • B60R21/01534—Passenger detection systems using field detection presence sensors using electromagneticwaves, e.g. infrared

Definitions

  • the present invention generally relates to the technical field of sensing objects internal to a vehicle, and more specifically to radar sensing for detecting occupants in a vehicle.
  • Radar technology offers some advantages in comparison to other occupancy detection and classification methods. It is a contactless and invisible measurement system which can easily be integrated behind plastic covers and textiles. Radar systems can measure the smallest motions - within the range of micrometers.
  • Existing state of the art solutions use e.g. a conventional single frequency Doppler radar as a motion sensor. Other solutions may use FMCW radar sensing.
  • a method for sensing occupancy status within an automotive vehicle using a radar sensor system comprising an antenna system, at least one sensor and processing circuitry.
  • the method comprises illuminating, using the antenna system, at least one occupiable position within the vehicle with an outgoing radar signal; receiving, using at least one sensor, at least one sensor signal reflected as a result of the outgoing radar signal, obtaining accelerometer data value from at least one accelerometer, said accelerometer data containing information regarding vibration or motion of said automotive vehicle and supplying said accelerometer data to said processing circuitry; operating the processing circuitry for generating, based on the at least one sensor signal and on the accelerometer data, one or more occupancy status signals, the occupancy status signal indicating a property related to said at least one occupiable position.
  • the above method advantageously includes accelerometer data to the classification software of the system and is therefore able to compensate for the motion or vibration of the vehicle.
  • the information regarding vibration or motion can be taken in consideration when the classification (interior human detection) algorithm needs to classify. This information will help to filter out exterior influences that might falsify the classification (passing traffic, wind shakes, various vibrations of the engine or any exterior event leading to a vehicle movement).
  • the generating one or more occupancy status signals comprises applying, based on said accelerometer data, offset removal to said sensor signal to generate a modified signal; and generating said one or more occupancy status signals based on the modified signals.
  • the one or more occupancy status signals may comprise an occupant detection signal, indicating whether or not an occupant is present in the occupiable position, an occupant classification signal, indicating a classification for an occupant present in the occupiable position, and/or an occupant vital signs signal, indicating the extent to which vital signs are exhibited in the occupiable position or by an occupant in the occupiable position.
  • the one or more occupancy status signals comprise at least one of (i) an occupant detection signal, indicating whether or not an occupant is present in the occupiable position, (ii) an occupant classification signal, indicating a classification for an occupant present in the occupiable position, and (iii) an occupant vital signs signal, indicating the extent to which vital signs are exhibited in the occupiable position or by an occupant in the occupiable position.
  • said generating one or more occupancy status signals comprises applying, based on said accelerometer data, offset removal to said sensor signal to generate a modified signal; and generating said one or more occupancy status signals based on the modified signals.
  • the one or more occupancy status signals comprise at least one of (i) an occupant detection signal, indicating whether or not an occupant is present in the occupiable position, (ii) an occupant classification signal, indicating a classification for an occupant present in the occupiable position, and (iii) an occupant vital signs signal, indicating the extent to which vital signs are exhibited in the occupiable position or by an occupant in the occupiable position.
  • the at least one accelerometer is a dedicated accelerometer and forms an integral part of said radar sensor and/or an accelerometer associated to existing vehicle components, such as an airbag control unit accelerometer.
  • a general radar system for in-vehicle occupant detection and classification (e.g. airbag suppression), for passenger presence detection, for passenger's vital sign monitoring and/or for seat-belt reminder functionality (SBR).
  • in-vehicle occupant detection and classification e.g. airbag suppression
  • passenger presence detection e.g. passenger's vital sign monitoring
  • SBR seat-belt reminder functionality
  • the present invention applies to both conventional Doppler radars (CW-radars) and or FMCW radars.
  • FIG. 1 is a schematic diagram of a radar sensor for occupant sensing. Description of Preferred Embodiments
  • radar systems in contrast to passive camera systems the radar system operates also in the night as it illuminates actively the scene. Active camera systems need an illumination in the light spectrum which can be visible for the human eye (compare to the glooming of infrared cameras). Radar systems work in the microwave range which is completely invisible for the human eye. In addition it penetrates into materials and can transmit through. So the integration behind plastic covers and textiles as well is possible while camera based systems need an opening to look through.
  • the radar detection system has nearly fixed and constant antenna lobes over the whole frequency range from 24.00 GHz up to 24.25 GHz; however, the invention is not restricted to this frequency range.
  • the frequency can be lower, higher or overlapping.
  • the invention applies to both conventional Doppler radars (CW-radars) and or FMCW radars.
  • the radar sensor system for sensing occupancy status within an automotive vehicle shown in Fig. comprises an antenna system (Tx) for illuminating at least one occupiable position within the vehicle with an outgoing radar signal.
  • At least one sensor Radar Sensor
  • RX At least one sensor
  • a processing circuitry Interior Radar Algorithm
  • At least one accelerometer is operatively coupled to the processing circuitry.
  • the accelerometer may be an existing accelerometer in the car, such as an accelerometer of the airbag control unit, or a dedicated accelerometer embedded into the radar sensor. It will be noted that several (different) accelerometers may be read out by the processing circuitry.
  • the processing circuitry is configured and operable for obtaining accelerometer data containing information regarding vibration or motion of said automotive vehicle from the accelerometer and for generating, based on the at least one sensor signal and on the accelerometer data, one or more occupancy status signals (CPS), the occupancy status signal indicating a property related to said at least one occupiable position.
  • CPS occupancy status signals

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Air Bags (AREA)

Abstract

A method for sensing occupancy status within an automotive vehicle uses a radar sensor system comprising an antenna system, at least one sensor and processing circuitry. The method comprises illuminating, using the antenna system, at least one occupiable position within the vehicle with an outgoing radar signal; receiving, using at least one sensor, at least one sensor signal reflected as a result of the outgoing radar signal, obtaining accelerometer data value from at least one accelerometer, said accelerometer data containing information regarding vibration or motion of said automotive vehicle and supplying said accelerometer data to said processing circuitry; operating the processing circuitry for generating,based on the at least one sensor signal and on the accelerometer data, one or more occupancy status signals, the occupancy status signal indicating a property related to said at least one occupiable position.

Description

Radar Sensing Of Vehicle Occupancy
Technical field
[0001 ] The present invention generally relates to the technical field of sensing objects internal to a vehicle, and more specifically to radar sensing for detecting occupants in a vehicle.
Background Art
[0002] State of the art systems for occupant classification and detection are foil based systems which are integrated in every single seat (involving high integration costs). It is also known to provide for contactless sensing (e.g. of humans) within a vehicle, e.g. for occupancy detection (OD), occupancy classification (OC) or seat- belt reminder (SBR) functionality. Radar based in-vehicle systems are not established on the market due to high costs. In general, each single seat needs a separate radar sensor.
[0003] Radar technology offers some advantages in comparison to other occupancy detection and classification methods. It is a contactless and invisible measurement system which can easily be integrated behind plastic covers and textiles. Radar systems can measure the smallest motions - within the range of micrometers. Existing state of the art solutions use e.g. a conventional single frequency Doppler radar as a motion sensor. Other solutions may use FMCW radar sensing.
[0004] Since radar sensors are sensitive to the smallest motions, appropriate algorithms have to be implemented in order to correctly evaluate the radar signal and discriminate noise. In these algorithms it is for instance important to discriminate exterior and interior vehicle influences such as e.g. shaking due to wind, persons, passing traffic, etc. and/or engine vibration.
Technical problem
[0005] It is an object of the present invention to provide an improved radar sensor for occupancy detection. This object is achieved by the invention as claimed in claim 1 . General Description of the Invention
[0006] According to one aspect of the invention there is provided a method for sensing occupancy status within an automotive vehicle using a radar sensor system, the radar sensor system comprising an antenna system, at least one sensor and processing circuitry. The method comprises illuminating, using the antenna system, at least one occupiable position within the vehicle with an outgoing radar signal; receiving, using at least one sensor, at least one sensor signal reflected as a result of the outgoing radar signal, obtaining accelerometer data value from at least one accelerometer, said accelerometer data containing information regarding vibration or motion of said automotive vehicle and supplying said accelerometer data to said processing circuitry; operating the processing circuitry for generating, based on the at least one sensor signal and on the accelerometer data, one or more occupancy status signals, the occupancy status signal indicating a property related to said at least one occupiable position.
[0007] The above method advantageously includes accelerometer data to the classification software of the system and is therefore able to compensate for the motion or vibration of the vehicle. The information regarding vibration or motion can be taken in consideration when the classification (interior human detection) algorithm needs to classify. This information will help to filter out exterior influences that might falsify the classification (passing traffic, wind shakes, various vibrations of the engine or any exterior event leading to a vehicle movement).
[0008] If during a detection cycle of the interior radar system to determine the occupant status, objects are present in the beam of the radar and the vehicle is moved by exterior influence, like for example wind or people moving / shaking the vehicle, an occupant status could be triggered. Such a false positive classification may be avoided by obtaining, over the vehicle data bus, the state of the ACU (Airbag Control Unit) accelerometer values or the values of the system embedded accelerometers. By integrating these values into the classification, one can understand the plausibility of the radar measured signal and discriminate false positive activations. A further positive effect could be to filter out running engine vibration to render more robust the radar vehicle interior occupancy state, if classification in engine on is required.
[0009] In an embodiment of the invention, the generating one or more occupancy status signals comprises applying, based on said accelerometer data, offset removal to said sensor signal to generate a modified signal; and generating said one or more occupancy status signals based on the modified signals.
[0010] The one or more occupancy status signals may comprise an occupant detection signal, indicating whether or not an occupant is present in the occupiable position, an occupant classification signal, indicating a classification for an occupant present in the occupiable position, and/or an occupant vital signs signal, indicating the extent to which vital signs are exhibited in the occupiable position or by an occupant in the occupiable position.
[001 1 ] In one embodiment, the one or more occupancy status signals comprise at least one of (i) an occupant detection signal, indicating whether or not an occupant is present in the occupiable position, (ii) an occupant classification signal, indicating a classification for an occupant present in the occupiable position, and (iii) an occupant vital signs signal, indicating the extent to which vital signs are exhibited in the occupiable position or by an occupant in the occupiable position.
[0012] In another aspect of the invention, a radar sensor system for sensing occupancy status within an automotive vehicle comprises an antenna system for illuminating at least one occupiable position within the vehicle with an outgoing radar signal; at least one sensor for receiving at least one sensor signal reflected as a result of the outgoing radar signal, and a processing circuitry coupled to the at least one sensor, the processing circuitry being operable for obtaining accelerometer data from at least one accelerometer, said accelerometer data containing information regarding vibration or motion of said automotive vehicle, and for generating, based on the at least one sensor signal and on the accelerometer data, one or more occupancy status signals, the occupancy status signal indicating a property related to said at least one occupiable position.
[0013] In a possible embodiment of the radar sensor, said generating one or more occupancy status signals comprises applying, based on said accelerometer data, offset removal to said sensor signal to generate a modified signal; and generating said one or more occupancy status signals based on the modified signals.
[0014] In one embodiment the one or more occupancy status signals comprise at least one of (i) an occupant detection signal, indicating whether or not an occupant is present in the occupiable position, (ii) an occupant classification signal, indicating a classification for an occupant present in the occupiable position, and (iii) an occupant vital signs signal, indicating the extent to which vital signs are exhibited in the occupiable position or by an occupant in the occupiable position.
[0015] In possible embodiments, the at least one accelerometer is a dedicated accelerometer and forms an integral part of said radar sensor and/or an accelerometer associated to existing vehicle components, such as an airbag control unit accelerometer.
[0016] In embodiments, a general radar system is provided for in-vehicle occupant detection and classification (e.g. airbag suppression), for passenger presence detection, for passenger's vital sign monitoring and/or for seat-belt reminder functionality (SBR).
[0017] It will be noted, that the present invention applies to both conventional Doppler radars (CW-radars) and or FMCW radars.
Brief Description of the Drawings
[0018] An embodiment of the invention will now be described by way of reference example to the accompanying drawing, in which FIG. 1 is a schematic diagram of a radar sensor for occupant sensing. Description of Preferred Embodiments
[0019] Radar sensing within a complex environment like the interior of a car cabin is very challenging and the algorithm differs much from those for exterior radar sensing.
[0020] The advantage of radar systems is that in contrast to passive camera systems the radar system operates also in the night as it illuminates actively the scene. Active camera systems need an illumination in the light spectrum which can be visible for the human eye (compare to the glooming of infrared cameras). Radar systems work in the microwave range which is completely invisible for the human eye. In addition it penetrates into materials and can transmit through. So the integration behind plastic covers and textiles as well is possible while camera based systems need an opening to look through.
[0021 ] In one embodiment, the radar detection system has nearly fixed and constant antenna lobes over the whole frequency range from 24.00 GHz up to 24.25 GHz; however, the invention is not restricted to this frequency range. The frequency can be lower, higher or overlapping. Furthermore the invention applies to both conventional Doppler radars (CW-radars) and or FMCW radars.
[0022] The radar sensor system for sensing occupancy status within an automotive vehicle shown in Fig. comprises an antenna system (Tx) for illuminating at least one occupiable position within the vehicle with an outgoing radar signal. At least one sensor (Radar Sensor) is receiving (via RX) at least one sensor signal reflected as a result of the outgoing radar signal. A processing circuitry (Interior Radar Algorithm) is coupled to the radar sensor.
[0023] At least one accelerometer is operatively coupled to the processing circuitry. The accelerometer may be an existing accelerometer in the car, such as an accelerometer of the airbag control unit, or a dedicated accelerometer embedded into the radar sensor. It will be noted that several (different) accelerometers may be read out by the processing circuitry.
[0024] The processing circuitry is configured and operable for obtaining accelerometer data containing information regarding vibration or motion of said automotive vehicle from the accelerometer and for generating, based on the at least one sensor signal and on the accelerometer data, one or more occupancy status signals (CPS), the occupancy status signal indicating a property related to said at least one occupiable position.
[0025] Due to the use of the accelerometer data, external influences, vibrations and vehicle motion may be filtered out and the classification of the occupancy status is improved.

Claims

Claims
1 . A method for sensing occupancy status within an automotive vehicle using a radar sensor system, the radar sensor system comprising an antenna system, at least one sensor and processing circuitry, the method comprising illuminating, using the antenna system, at least one occupiable position within the vehicle with an outgoing radar signal; receiving, using at least one sensor, at least one sensor signal reflected as a result of the outgoing radar signal, obtaining accelerometer data value from at least one accelerometer, said accelerometer data containing information regarding vibration or motion of said automotive vehicle and supplying said accelerometer data to said processing circuitry; operating the processing circuitry for generating, based on the at least one sensor signal and on the accelerometer data, one or more occupancy status signals, the occupancy status signal indicating a property related to said at least one occupiable position, wherein said generating one or more occupancy status signals comprises applying, based on said accelerometer data, offset removal to said sensor signal to generate a modified signal; and generating said one or more occupancy status signals based on the modified signals.
2. The method of claim 1 , wherein the one or more occupancy status signals comprise an occupant detection signal, indicating whether or not an occupant is present in the occupiable position, an occupant classification signal, indicating a classification for an occupant present in the occupiable position, and/or an occupant vital signs signal, indicating the extent to which vital signs are exhibited in the occupiable position or by an occupant in the occupiable position.
3. A radar sensor system for sensing occupancy status within an automotive vehicle, the system comprising: an antenna system for illuminating at least one occupiable position within the vehicle with an outgoing radar signal; at least one sensor for receiving at least one sensor signal reflected as a result of the outgoing radar signal, and a processing circuitry coupled to the at least one sensor, the processing circuitry being operable for obtaining accelerometer data from at least one accelerometer, said accelerometer data containing information regarding vibration or motion of said automotive vehicle, and for generating, based on the at least one sensor signal and on the accelerometer data, one or more occupancy status signals, the occupancy status signal indicating a property related to said at least one occupiable position, wherein said generating one or more occupancy status signals comprises applying, based on said accelerometer data, offset removal to said sensor signal to generate a modified signal; and generating said one or more occupancy status signals based on the modified signals.
The radar sensor system according to claim 3, wherein the one or more occupancy status signals comprise an occupant detection signal, indicating whether or not an occupant is present in the occupiable position, an occupant classification signal, indicating a classification for an occupant present in the occupiable position, and/or an occupant vital signs signal, indicating the extent to which vital signs are exhibited in the occupiable position or by an occupant in the occupiable position.
The radar sensor system according to any one of claims 3 to 4, wherein said at least one accelerometer is a dedicated accelerometer and forms an integral part of said radar sensor.
6. The radar sensor system according to any one of claims 3 to 4, wherein said at least one accelerometer is an accelerometer associated to existing vehicle components, such as an airbag control unit accelerometer.
PCT/EP2015/070740 2014-09-10 2015-09-10 Radar sensing of vehicle occupancy WO2016038148A1 (en)

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CN201580048677.5A CN107076843B (en) 2014-09-10 2015-09-10 Radar sensing of vehicle occupancy
US15/510,437 US20170282828A1 (en) 2014-09-10 2015-09-10 Radar sensing of vehicle occupancy
EP15762612.8A EP3191864B1 (en) 2014-09-10 2015-09-10 Radar sensing of vehicle occupancy

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