DE102010024328B4 - Radar device with situation-adaptive modulation switching and control method - Google Patents

Radar device with situation-adaptive modulation switching and control method

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Publication number
DE102010024328B4
DE102010024328B4 DE102010024328.0A DE102010024328A DE102010024328B4 DE 102010024328 B4 DE102010024328 B4 DE 102010024328B4 DE 102010024328 A DE102010024328 A DE 102010024328A DE 102010024328 B4 DE102010024328 B4 DE 102010024328B4
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Prior art keywords
radar
radar sensor
modulation
situation
sensor
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DE102010024328.0A
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German (de)
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DE102010024328A1 (en
Inventor
Manfred Holzmann
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Audi AG
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Audi AG
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06Systems determining position data of a target
    • G01S13/08Systems for measuring distance only
    • G01S13/32Systems for measuring distance only using transmission of continuous unmodulated waves, amplitude-, frequency- or phase-modulated waves
    • G01S13/34Systems for measuring distance only using transmission of continuous unmodulated waves, amplitude-, frequency- or phase-modulated waves using transmission of frequency-modulated waves and the received signal, or a signal derived therefrom, being heterodyned with a locally-generated signal related to the contemporaneous transmitted signal to give a beat-frequency signal
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/87Combinations of radar systems, e.g. primary radar and secondary radar
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/86Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/862Combination of radar systems with sonar systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/86Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865Combination of radar systems with lidar systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/86Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867Combination of radar systems with cameras
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323Alternative operation using light waves
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324Alternative operation using ultrasonic waves

Abstract

A radar device for a vehicle (1) having - a first radar sensor (2), - a control device (4) for controlling the first radar sensor and for modifying the modulation of the first radar sensor, - an environment detecting device (5) for detecting an environment situation, in which the vehicle is located, wherein - with the control device (4), the modulation of the first radar sensor (2) in dependence on the detected situation is adjustable, characterized in that - the Umweisfassungseinrichtung (5) a camera and / or a laser and / or an ultrasonic sensor comprises, - the radar device comprises a second radar sensor (3), and - the control device (4) is designed, depending on the surrounding situation for setting the modulation of the first radar sensor (2), a parameter set for the first radar sensor (2) and for setting the modulation of the second radar sensor (3) a further parameter set for the second radar sensor (3) select.

Description

  • 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.
  • From the publication DE 10 2007 062 566 A1 a vehicle is known with a device for detecting the vehicle apron. The device has at least two identical and separately operating sensor devices for detecting the long range in front of the motor vehicle, which are arranged offset on both sides of the vehicle longitudinal axis and whose detection ranges overlap at least partially. In this case, the sensor devices can be radar sensors which can be operated simultaneously and / or with a time delay in the CW and / or FMCW modulation mode. In addition, a sensor device can work as a master and the second sensor device as a slave.
  • In addition, in the document DE 10 2004 059 915 A1 a radar system described in which a switch for switching between two different directional characteristics is provided in particular for different distance ranges of two transmitting antennas. At the receiving end, a common evaluation of the digitized signals of two receiving antennas takes place in the sense of a correlation of the receiving antenna signals.
  • Further, the document discloses DE 10 2004 019 651 A1 a so-called blind spot sensor system for detecting and / or classifying objects in a defined monitoring area of a motor vehicle by means of radar technology. A radial field of view of the first radar beam is inclined towards the direction of travel of the motor vehicle and the radial field of view of a second radar beam is oriented substantially perpendicular to the direction of travel such that the viewing areas of the radar beams partially overlap and together cover the dimensions of the surveillance area. At least one of the radar beams can be operated both in the CW and in the FMCW modulation mode. The CW and FMCW signals are transmitted alternately in time (CW = Continuous Wave; FMCW = Frequency Modulated Continuous Wave).
  • Of the DE 199 35 265 A1 is a system for controlling a radar device for a vehicle refer. The system measures the distance and the relative speed between the vehicle and another object by means of electromagnetic waves, wherein the signal emitted by the radar device can be modulated as a function of the surrounding situation of the motor vehicle.
  • In the DE 10 2006 049 879 A1 a radar system for a motor vehicle is described. The radar system has a plurality of built-in radar sensors for monitoring the apron of the motor vehicle, wherein at least two of the radar sensors are LRR sensors.
  • Finally, that is DE 102 54 202 A1 a system for detecting the occupancy in a vehicle, which comprises a microwave transmitting and receiving device and means for reflecting microwaves, wherein the signal transmitted by the microwave transmitting device, regardless of the environment situation maintains its modulation.
  • It takes place in the known systems, with the exception of the DE 199 35 265 A1 However, no modulation of the modulation due to certain traffic situations, 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.
  • Despite such a dual radar system, there are problematic environmental situations that can lead to target loss or delayed target detection (eg, approaching). Examples of problematic situations can be:
    • 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
  • The object of the present invention is therefore to be able to detect targets or objects more reliably even in problematic situations.
  • According to the invention this object is achieved by a radar device for a vehicle with
    • A first radar sensor, and
    • A control device for controlling the first radar sensor and for changing the modulation of the first radar sensor,
    as well as comprehensive
    • - 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.
  • The surroundings detection device comprises a camera and / or a laser and / or an ultrasound sensor. Furthermore, the radar device comprises a second radar sensor. The control device is furthermore designed to select a parameter set for the first radar sensor as a function of the surrounding situation for setting the modulation of the first radar sensor and to select a further parameter set for the second radar sensor for setting the modulation of the second radar sensor.
  • In addition, the invention provides a method for controlling a radar device for a vehicle, which has a first radar sensor
    • 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.
  • Furthermore, depending on the surrounding situation for setting the modulation of the first radar sensor, a parameter set for the first radar sensor and, depending on the surrounding situation for setting the modulation of a second radar sensor, a further parameter set for the second radar sensor is selected by the control device. The environment situation is detected by means of an environment detection device, which is designed as a camera and / or as a laser and / or ultrasound sensor.
  • 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 one embodiment, one of the two radar sensors, regardless of the environment situation, its modulation firmly retained. This is the case, for example, with a master radar sensor which retains its modulation while the modulation of the slave radar sensor is changed as a function of the environment. 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.
  • 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 to specific 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.
  • 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.
  • 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 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.
  • 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.
  • 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 a further embodiment, a multi-path propagation of the signals of the radar sensors is recognizable with the surroundings detection device and dependent thereon by the control device the modulation adjustable. Thus, the common source of error, namely the multipath propagation, be attenuated in their effects.
  • 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.
  • The present invention will now be explained in more detail with reference to the accompanying drawings, in which:
  • 1 a schematic view of a motor vehicle with a Doppelradarvorrichtung invention;
  • 2 a driving situation with guard rail reflection;
  • 3 a radar acquisition of two objects at low resolution; and
  • 4 a radar acquisition of two objects at higher resolution.
  • The embodiments described in more detail below represent preferred embodiments of the present invention.
  • 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 1 is a motor vehicle 1 shown schematically, which is equipped with a Doppelradarsystem or a Doppelradarvorrichtung. This Doppelradarvorrichtung has here two radar sensors 2 and 3 , In principle, of course, more radar sensors can be present. The two radar sensors 2 and 3 can be hierarchically subordinate to each other. For example, the radar sensor could 2 the master radar sensor and the radar sensor 3 represent the slave radar sensor. This has significance, for example, if controls are installed in the master radar sensor which also control the slave radar sensor. If a common control device 4 is provided, as in the example of 1 is formed independently of the two radar sensors, a hierarchical arrangement of the radar sensors is not given or less important.
  • The control device 4 controls the radar sensors 2 and 3 at. In particular, she is able to send parameter sets for the modulation to the radar sensors. In the present example, the parameter sets P1, P2,..., Pn are in the control device 4 stored. They are available on demand.
  • 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.
  • Also integrated in the motor vehicle 1 is an environment detection device 5 , The environment detection device 5 detects an environment situation of the motor vehicle 1 and Z. As well as the presence of a guard rail, which favors reflections. So it captures features outside the vehicle 1 , From this she derives an environment situation. A corresponding information about the environment situation, it provides the controller 4 to disposal. This selects depending on a suitable parameter set for the radar sensor 2 and another parameter set (possibly also another type of modulation) for the radar sensor 3 , The two sets of parameters can be the same, but they will usually be different. For example, in the radar sensor 2 regardless of the surrounding situation, a parameter set is loaded which corresponds to a general mode. This means that the radar sensor 2 operated with a modulation that provides good values for a large part of the surrounding situations on average. The second radar sensor 3 however, it is operated with a situation-specific parameter set. This means that he is running in a special mode. Since the Doppelradarvorrichtung thus operates both radar sensors in different modes, the advantages can be used by both modulations.
  • The environment detection device 5 can capture a wide range of physical variables from the environment. It may for example comprise a camera, a laser, an ultrasonic sensor and the like. But it can also be used as an input converter, the radar sensors 2 and 3 use yourself. It is then closed from the radar images themselves to a specific environment situation, and the radar sensors are provided depending on it with suitable parameter sets or controlled in a suitable manner. The detection of a problematic situation can therefore also be carried out by means of identifiers which are determined by an analysis of the radar spectra and indicate interferences or multipath propagation.
  • The environment detection device recognizes, for example, according to 2 with a camera or the radar itself a guardrail 6 , A guardrail usually leads to multipath propagation or interference of the radar signals. In 2 measures for example a radar system of a vehicle 7 the distance to the vehicle in front 8th , The radar signal takes on the one hand the direct way 9 , But it can also lead the way 10 over the guardrail 6 take, because at this there is a guardrail mirroring. The resulting signals of the radar system lead to interference and, in the event of destructive interference, possibly to extinction, so that the radar system of the vehicle 7 the vehicle 8th missed inaccurately or even no longer recognizes. Another effect of such interference situations may be the erroneous recognition of a non-existent object as a target object or a faulty lateral location determination. Now that this problem is known and the vehicle 7 the guardrail 6 detects with its environment detection device, it can change the modulation of the radar system accordingly. This can then safely the vehicle ahead 8th be recorded.
  • Another embodiment will now be described with reference to 3 and 4 explained. The problematic situation here is that a target object moves into a borderline situation. Such a movement can be traced or extrapolated by target trajectories. Typically, in a radar system, objects are detected in a dv plane (d stands for distance and v for speed). In this dv-level, a grid can be defined that consists of fields of equal size. Now, for example, a first object in a field 11 detected, its movement can be traced using the fields in which it is registered over time. For example, this first object moves according to the target trajectory 12 on a field 13 In which a second object has been registered, this can lead to a problematic situation, especially if both objects are then in the field 13 are located.
  • The environment detection device recognizes this problematic situation already from the Zieltrajektorie and therefore increases the resolution of the radar system, especially in the field 13 , This is in 4 shown. In the present example, the resolution is increased in the velocity direction. This can be achieved by favorably changing the parameters which determine the velocity resolution of the radar system (eg, integration time). It can then with the increased resolution, the second object 14 and the first object 15 in the field 13 be determined separately. With this increased resolution then this problematic situation can be mastered.
  • 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.
  • 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.
  • 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).

Claims (8)

  1. Radar device for a vehicle ( 1 ) with - a first radar sensor ( 2 ), and - a control device ( 4 ) for controlling the first radar sensor and for modifying the modulation of the first radar sensor, 5 ) for detecting an environment situation in which the vehicle is located, wherein With the control device ( 4 ) the modulation of the first radar sensor ( 2 ) is adjustable as a function of the detected situation, characterized in that - the surroundings detection device ( 5 ) comprises a camera and / or a laser and / or an ultrasonic sensor, - the radar device comprises a second radar sensor ( 3 ), and - the control device ( 4 ) is adapted, depending on the surrounding situation, for setting the modulation of the first radar sensor ( 2 ) a parameter set for the first radar sensor ( 2 ) and for adjusting the modulation of the second radar sensor ( 3 ) a further parameter set for the second radar sensor ( 3 ).
  2. Radar apparatus according to claim 1, wherein the modulation of the first radar sensor ( 2 ) is an FMCW modulation.
  3. Radar apparatus according to claim 2, wherein a signal of the first radar sensor ( 2 ), which is FMCW-modulated, has at least two different frequency increases.
  4. Radar device according to one of the preceding claims, wherein the first radar sensor ( 2 ) sends a signal to the surroundings detection device ( 5 ), which is then used to record the surrounding situation.
  5. Radar device according to one of the preceding claims, wherein with the surroundings detection device ( 5 ) a movement of an object can be detected and in dependence on the movement of the object, the modulation of the first radar sensor ( 2 ) will be changed.
  6. Radar device according to claim 5, wherein the movement of the object through the surroundings detection device ( 5 ) is determined in a speed-distance plane, and wherein the speed and the distance of the object relative to the vehicle ( 1 ) be determined.
  7. Vehicle ( 1 ) with a radar device according to one of the preceding claims.
  8. Method for controlling a radar device for a vehicle ( 1 ), a first radar sensor ( 2 ) by changing the modulation of the first radar sensor ( 2 ), - detecting an environment situation in which the vehicle ( 1 ), - adjusting the modulation of the first radar sensor ( 2 ) as a function of the detected situation, characterized in that, depending on the surrounding situation, for setting the modulation of the first radar sensor ( 2 ) a parameter set for the first radar sensor ( 2 ) and depending on the environment situation for adjusting the modulation of a second radar sensor ( 3 ) another parameter set for the second radar sensor ( 3 ) by the control device ( 4 ) and that the environment situation by means of an environment detection device ( 5 ), which is designed as a camera and / or as a laser and / or as an ultrasonic sensor, is detected.
DE102010024328.0A 2010-06-18 2010-06-18 Radar device with situation-adaptive modulation switching and control method Active DE102010024328B4 (en)

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DE102013210256A1 (en) * 2013-06-03 2014-12-04 Robert Bosch Gmbh Interference suppression on an fmcw radar
DE102013021454A1 (en) * 2013-12-14 2015-06-18 Jenoptik Robot Gmbh Method and device for monitoring an environment of a traffic monitoring system
US10429503B2 (en) * 2014-07-03 2019-10-01 GM Global Technology Operations LLC Vehicle cognitive radar methods and systems
US10495732B2 (en) 2014-07-03 2019-12-03 GM Global Technology Operations LLC Vehicle radar methods and systems
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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DE19935265A1 (en) * 1999-07-27 2001-02-08 Bosch Gmbh Robert System for measuring the distance and the relative speed between objects
DE10254202A1 (en) * 2002-11-20 2004-06-17 Siemens Ag System and method for detecting seat occupancy in a vehicle
DE102006049879A1 (en) * 2006-10-23 2008-04-24 Robert Bosch Gmbh Radar system for use in adaptive cruise control-system of motor vehicle i.e. passenger car, has radar sensors integrated in front in vehicle and monitoring front end of vehicle, where two of radar sensors are long range radar sensors

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