DE102019220210A1 - Method for determining the position and / or determining the speed of at least one object and system for determining the position and / or determining the speed of at least one object - Google Patents

Abstract

The present invention creates a method for determining the position and / or determining the speed of at least one object (1a, 1b, ..., 1n) from an existing distance measurement and / or an existing relative speed measurement comprising reading in (S1) the existing distance measurement and / or the existing relative speed measurement, determining (S2a) a position of the at least one object from the existing distance measurement and / or determining (S2b) a speed of the at least one object from the existing relative speed measurement, determining (S3) expected distance and / or Relative speed measurements, forming (S4a) a residual distance between the existing distance measurement and the expected distance measurement and / or forming (S4b) a relative speed residual, determining (S5a) a position correction and / or determining (S5b) a speed correction, and determining (S6) one corrected position and / or a corrected speed.

Description

The present invention relates to a method for determining the position and / or determining the speed of at least one object and a system for determining the position and / or determining the speed of at least one object.

State of the art

Driver assistance systems can be provided in order to determine a distance from a motor vehicle driving ahead by means of radar technology. For example, the driver assistance system can include an adaptive speed assistant that can set the speed of the motor vehicle to a predetermined value and can thereby maintain a predetermined distance from a motor vehicle driving ahead. Usually, radar sensors can be provided to determine the distance to the motor vehicle driving ahead, with a radar signal being reflected on the object and being able to be received again, and a distance can be determined on the basis of the transmitted and received signals. In particular, a modulated continuous wave radar (FMCW radar) can be used for this purpose.

In the DE 10 2013 008 953 A1 describes that a system with two radar sensors can be provided, the first radar sensor simultaneously emitting a first radar signal which is received by the second radar sensor after reflection on the object, while the second radar sensor emits a second radar signal which is received after reflection on the object is received by the first radar sensor. In this way, a sum of the distances between the radar sensors and the object can be determined, which can also be referred to as the bistatic distance.

Disclosure of the invention

The present invention creates a method for determining the position and / or determining the speed of at least one object according to claim 1 and a system for determining the position and / or determining the speed of at least one object according to claim 9.

Preferred further developments are the subject of the subclaims.

Advantages of the invention

The idea on which the present invention is based consists in specifying a method for increasing the accuracy of a position determination and / or a speed determination of at least one object and a system for increasing the accuracy of a position determination and / or a speed determination of at least one object, with a measuring device already providing distances and / or provides relative speeds of at least one object.

According to the invention, in the method for determining the position and / or determining the speed of at least one object from an existing distance measurement and / or an existing relative speed measurement, the existing distance measurement and / or the existing relative speed measurement of the at least one object are read in by a measuring device, which each measure a distance and / or each carries out a relative speed measurement for at least one object by means of at least two measuring units; determining a position of the at least one object from the existing distance measurement and / or determining a speed of the at least one object from the existing relative speed measurement with knowledge of the position of the measuring units; determining expected distance and / or relative speed measurements of the object from the respective measuring units for the determined position and / or for the determined speed of the object based on the known positions of the measuring units; forming a residual distance between the existing distance measurement and the expected distance measurement and / or forming a relative speed residual between the existing relative speed measurement and the expected relative speed measurement; determining a position correction from the determined position from the residual distance and / or determining a speed correction of a determined speed and from the relative speed residual; determining a corrected position and / or a corrected speed.

Measurements or estimates of distance values and / or values of the relative speed of at least one object with respect to at least two measuring units can therefore advantageously be received by a measuring device. These measured values can be based on monostatic and possibly also bistatic distances as well as monostatic and possibly also bistatic relative speeds of objects. For more than two measuring units, such measurements can always be based on pairs of measuring units. A measurement can also be carried out in such a way that a bistatic measurement can always be carried out for a pair and a monostatic measurement can always be carried out individually for each of the measuring units. However, a pair can also designate the transmitter and receiver, two of which are used for bistatic measurements represents different measurement units and for monostatic measurements this can also represent a unit in one of the measurement units. The measuring device can transmit the measurement results to an evaluation device or control device. This can take place actively in the case of a measurement that has just taken place or it can already result from previous measurements taken and already be stored locally in the evaluation device or central control device. A mathematical relationship between on the one hand the actual position can be advantageous pk and the (actual) speed vk of an object k and on the other hand the measured relative speed sn, k, m, which can be observed by the pair (n, m) of measuring units. In this way, an actual position and speed, or at least an improved approximation for one or all of the detected objects, can be determined from the distances and relative speeds.

The position of the object can also be determined for several or all objects to be detected. Several measuring units can thus be used for an object in order to estimate its position and speed, i.e. to improve the value for position and speed in that the position and speed can be determined and compared simultaneously from data from several measuring units. Improved values of this kind can then result from a mathematical connection with improved distance and relative speed values for each measuring unit, which are referred to here as the expected distance and relative speed values.

The relative speed can relate to a speed in the viewing direction of the measuring unit to the object, with the component of the speed of the object along the bisector of the angle between the measuring unit then being able to be taken into account as the relative speed for a pair of measuring units.

The distance and the expected relative speed measurement to be expected relates to those values of the distance and the relative speed, determined back from the position and the speed of the object, for which the evaluation device would precisely determine this position and speed found. These can differ from the existing distance and relative speed values, since these are only estimates and are only correct to a certain extent.

Taking into account both the distance measurements and the relative speed measurements, an accuracy of position and speed can be improved, advantageously better than just from pure distance measurements. In this case, all existing pairs of measuring units can be used for increased accuracy, which can result in increased accuracy for distances and speeds of objects.

The method can thus advantageously be used to further process measured distances and relative speeds, whereby an increase in the accuracy of the estimation of the position of the object can be achieved; in addition, the speed of the object can be determined and the robustness of position and speed estimates can be increased and thereby a reduction in the likelihood of large deviations in the estimates. The latter can be achieved in that a large number of measured variables can be taken into account, for example from several pairs of measuring units. Furthermore, a higher number of measurements can be used to better check whether the measurements are correct, i.e. whether the network is in a functionally safer state.

The measuring device can be measured on several measuring units, the number of pairs of measuring units, so that the number of bistatic measurements Nbi, can increase with the number of measuring units N, according to Nbi = N * (N-1) / 2.

For N = 4 sensors, for example, Nbi = 6 pairs and possible bistatic measurements result.

A number of monostatic measurements can be the same as the number of sensors N. A number of bistatic measurements therefore exceeds the number of monostatic measurements for N> 3, with the advantage that this can increase disproportionately with an increasing number of measuring devices.

Overall, approximately N + Nbi = N * (N + 1) / 2 measurements can be carried out and taken into account in further processing.

In the method, the signals of all measuring devices or only a subset of them can be taken into account, in particular if, due to the arrangement of the measuring devices, it can be assumed that the field of view of some measuring devices may overlap, but not of others. For this it can make sense to reduce the system of equations from the signals of different measurement units by not taking measurements of those bistatic pairs that do not have an overlapping field of view into account, in order to save computational effort and to prevent incorrect measurements.

According to a preferred embodiment of the method, the measuring device always carries out the distance measurement and / or the relative speed measurement for only one pair of measuring units from the at least two measuring units.

According to a preferred embodiment of the method, the existing distance measurements and / or existing relative speed measurements are carried out by a plurality of pairs of measuring units.

According to a preferred embodiment of the method, the position and / or speed of the at least one object is determined from the existing distance measurement and / or from the existing speed measurement on the basis of a mathematical relationship between the distance of the object and measuring units of at least one pair.

According to a preferred embodiment of the method, the determination of distance and / or relative speed measurements to be expected, the formation of the residual distance and the determination of a position correction or a speed correction are repeated several times.

According to a preferred embodiment of the method, the determination of expected distance and / or relative speed measurements, the formation of the distance residual and the determination of a position correction or a speed correction is repeated several times until the distance residual and / or the relative speed residual compared to a previous repetition is less than changed a predetermined minimum value.

According to a preferred embodiment of the method, certain weighting of certain components of the residual distance and / or the residual relative velocity takes place.

According to a preferred embodiment of the method, this is carried out on a network of radar sensors, LIDAR sensors and / or ultrasonic sensors.

According to the invention, a system for determining the position and / or determining the speed of at least one object from an existing distance measurement and / or an existing relative speed measurement comprises a measuring device with at least two measuring units, which is set up to measure the existing distance measurement and / or the existing relative speed measurement of the at least one object to generate, wherein a distance measurement and / or a respective relative speed measurement is carried out for at least one object by means of at least two measuring units; an evaluation device which is set up to read in the existing distance measurement and / or the existing relative speed measurement of the at least one object from the measuring device, to determine a position of the at least one object from the existing distance measurement and / or a speed of the at least one object from the existing one To determine relative speed measurement with knowledge of the position of the measuring units; to determine expected distance and / or relative speed measurements of the object from the respective measuring units for the determined position and / or for the determined speed of the object based on the known positions of the measuring units; to form a distance residual between the existing distance measurement and the expected distance measurement and / or to form a relative speed residual between the existing relative speed measurement and the expected relative speed measurement; to determine a position correction from the determined position from the residual distance and / or to determine a speed correction of a determined speed and from the relative velocity residual, and to determine a corrected position and / or a corrected speed.

According to a preferred embodiment of the system, the measuring device comprises n> = 2 measuring units, by means of which bistatic distances between an object and the measuring units can be determined in pairs.

According to a preferred embodiment of the system, it comprises a network of radar sensors, LIDAR sensors and / or ultrasonic sensors and / or is connected to such a network for data exchange.

The system can also be distinguished by the features mentioned in connection with the method and their advantages, and vice versa.

Further features and advantages of embodiments of the invention emerge from the following description with reference to the accompanying drawings.

Figure list

The present invention is explained in more detail below with reference to the exemplary embodiment indicated in the schematic figures of the drawing.

• 1 eine schematische Darstellung eines Systems zum Erhöhen einer Genauigkeit einer Positionsbestimmung und/oder einer Geschwindigkeitsbestimmung zumindest eines Objekts nach einem Abtasten zumindest eines Objekts gemäß einem Ausführungsbeispiel der vorliegenden Erfindung;
• 2a eine schematische Darstellung einer Anordnung von Radarsensoren in einem System gemäß einem Ausführungsbeispiel der vorliegenden Erfindung;
• 2b eine schematische Darstellung einer Anordnung von Radarsensoren in einem System gemäß einem weiteren Ausführungsbeispiel der vorliegenden Erfindung;
• 3 eine schematische Darstellung einer Bestimmung einer Position und einer Geschwindigkeit durch ein Verfahren gemäß einem Ausführungsbeispiel der vorliegenden Erfindung; und
• 4 eine Blockdarstellung von Verfahrensschritten eines Verfahrens gemäß einem Ausführungsbeispiel der vorliegenden Erfindung.

Show it:

• 1 a schematic representation of a system for increasing the accuracy of a position determination and / or a speed determination of at least one object after scanning at least one object according to an embodiment of the present invention;
• 2a a schematic representation of an arrangement of radar sensors in a system according to an embodiment of the present invention;
• 2 B a schematic representation of an arrangement of radar sensors in a system according to a further embodiment of the present invention;
• 3 a schematic representation of a determination of a position and a speed by a method according to an embodiment of the present invention; and
• 4th a block diagram of method steps of a method according to an embodiment of the present invention.

In the figures, identical reference symbols denote identical or functionally identical elements.

1 shows a schematic representation of a system for increasing the accuracy of a position determination and / or a speed determination of at least one object after scanning at least one object according to an embodiment of the present invention.

The system 10 for determining the position and / or determining the speed of at least one object ( 1a , 1b , ..., 1n) A measuring device M with at least two measuring units comprises an existing distance measurement and / or an existing relative speed measurement ME1 , ME2 for scanning at least one object ( 1 , 1a , 1b , ..., 1n) , and / or a total number of measurement units of n> = 2, it being possible for the measurement units to be set up to transmit measurement signals at the same time. These signals can for example have predetermined frequency offsets to one another and at least one object ( k , 1 , 1a , 1b , ..., 1n) receive reflected measurement signals from at least one other measurement unit. The system 10 further comprises an evaluation device AE which is set up for this purpose (nx (n - 1 )) / 2 bistatic distances or monostatic distances to at least one object ( 1 , 1a , 1b , ..., 1n) from the reflected measurement signals ( RS1 , RS2 , ..., RSn ), wherein the frequency offset to at least one further measuring unit can be determined on a first measuring unit.

Each measurement unit ( R1 , R2 , ..., R4 ) can be a transmitting device ( T1 , T2 , ..., T4 ) and a receiving device ( E1 , E2 , ..., E4 ) for the measurement signals. The measuring units can then each have an interface in a network ST with the evaluation device AE be connected.

The evaluation device AE , is set up to measure the existing distance measurement and / or the existing relative speed measurement of the at least one object ( 1a , 1b , ..., 1n) from the measuring device (M) to determine a position of the at least one object from the existing distance measurement and / or a speed of the at least one object from the existing relative speed measurement with knowledge of the position of the measuring units ( ME1 , ME2 ) to determine; Expected distance and / or relative speed measurements of the object from the respective measuring units ( ME1 , ME2 ) for the determined position and / or for the determined speed of the object based on the known positions of the measuring units ( ME1 , ME2 ) to determine; to form a distance residual between the existing distance measurement and the expected distance measurement and / or to form a relative speed residual between the existing relative speed measurement and the expected relative speed measurement; to determine a position correction from the determined position from the residual distance and / or to determine a speed correction of a determined speed and from the relative velocity residual, and to determine a corrected position and / or a corrected speed.

2a shows a schematic representation of an arrangement of radar sensors in a system according to an embodiment of the present invention.

The 2a shows a plan view of an arrangement of, for example, eight radar sensors (measuring units) R1 , R2 , ..., R8 , for example in a vehicle F. . These radar sensors can each be arranged in an edge region of the vehicle and covering the entire circumference of the vehicle. In this way, the fields of view of at least two adjacent radar sensors can overlap.

2 B shows a schematic representation of an arrangement of radar sensors in a system according to a further exemplary embodiment of the present invention.

The 2 B shows a plan view of an arrangement of, for example, six radar sensors R1 , R2 , ..., R6 , for example in a system with a round exterior. The viewing areas SB at least Two adjacent radar sensors can advantageously overlap and a bistatic, but also a monostatic, distance and speed determination of an object 1 , 1a , ..., 1n to enable. So can the first radar sensor R1 and the second radar sensor R2 for example an overlap OL12 of their fields of view, an overlap can be similar OL16 of the first and sixth radar sensors R6 are generated, as well as other overlapping regions OL56 (fifth and sixth sensor) or OL45 (fifth and fourth sensor) or more. The sensors can, for example, be arranged equidistantly around the outside.

3 shows a schematic representation of a determination of a position and a speed by a method according to an embodiment of the present invention.

An object is shown 1 at one position p _k which is an actual speed v _k having. The mathematical relationship between distance, position, relative speed and speed is explained in more detail below, using the bistatic measurement as an example, i.e. pm ≠ pn. The monostatic case is possible by setting pm = pn. The method can therefore be used in the manner described both for purely monostatic measurements and purely bistatic measurements, as well as combinations of monostatic and bistatic measurements. The object in position pk at actual speed vk leads to the measured distance in the case of bistatic measurement by means of two measuring units at the locations pn and pm $$rn,k,m=\left|pk-pn\right|+\left|pk-pm\right|.$$

Further positions with an identical distance lie on an ellipse e around the focal points pm and pn. The observed (existing) bistatic relative speed sn, k, m corresponds to the proportion of the speed vk , which is perpendicular to the tangent tg to the ellipse e through point pk stands.

sn, k, m results from the scalar product of vk with the unit vector bn, k, m, 0, which points away from the measurement units in the direction of the above-mentioned perpendicular, by means of sn, k, m = vk bn, k, m, 0.

The perpendicular advantageously represents the bisector wh of the distances dn, k = pk - pn and dm, k = pk - pm.
So we have bn, k, m, 0 = bn, k, m / | bn, k, m |, with bn, k, m = dn, k / | dn, k | + dm, k / | dm, k |.

This results in a dependence of the (existing) measured relative speed sn, k, m on both the position pk as well as the speed vk of the object. Since measurements with certain methods, in particular with radar sensors, can allow higher accuracies in speed than in distance, it is possible to use the speed measurement for a more precise position determination than would be possible with pure distance measurements alone.

4th shows a block diagram of method steps of a method according to an embodiment of the present invention.

In the method for determining the position and / or determining the speed of at least one object from an existing distance measurement and / or an existing relative speed measurement, reading takes place S1 the existing distance measurement and / or the existing relative speed measurement of the at least one object by a measuring device which in each case carries out a distance measurement and / or in each case a relative speed measurement for at least one object by means of at least two measuring units; a determination S2a a position of the at least one object from the existing distance measurement and / or determining S2b a speed of the at least one object from the existing relative speed measurement with knowledge of the position of the measuring units; a determination S3 of expected distance and / or relative speed measurements of the object by the respective measuring units for the determined position and / or for the determined speed of the object based on the known positions of the measuring units; a making S4a a distance residual between the existing distance measurement and the expected distance measurement and / or formation S4b a relative speed residual between the existing relative speed measurement and the expected relative speed measurement; a determination S5a a position correction from the determined position from the residual distance and / or determination S5b a speed correction of a determined speed and from the relative speed residual; and a determining S6 a corrected position and / or a corrected speed.

Detailed steps according to the image scheme can be carried out as described below.

The procedure can be carried out in six steps, one of which is the steps B. , C. and D. can be executed multiple times, the iterations can serve to improve the accuracy.

In the first step I, measurements can be made with a suitable measuring device, with measured values of distances and relative speeds for each object k ( 1 , 1a , ..., 1n), which can be monostatic and / or bistatic measurements. If several measuring units are used, several measured distances r _{n, k, m} and relative speeds s _{n, k, m can} result, each of which relates to a sensor pair (m, n) and an object k can relate. For the example of N = 3 measuring units, a vector with measured distances R and a vector with measured relative speeds S can be obtained with $$\mathrm{R.}=\left(\begin{array}{c}{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="DE102019220210A1\_0013.png"\; state="\{\{state\}\}">r</figure-callout>}}_{\mathrm{1,}k\mathrm{,1}}\\ {\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="DE102019220210A1\_0013.png"\; state="\{\{state\}\}">r</figure-callout>}}_{\mathrm{1,}k\mathrm{,\; 2}}\\ {\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="DE102019220210A1\_0013.png"\; state="\{\{state\}\}">r</figure-callout>}}_{\mathrm{1,}k\mathrm{,\; 3}}\\ {\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="DE102019220210A1\_0012.png"\; state="\{\{state\}\}">r</figure-callout>}}_{\mathrm{2,}k\mathrm{,\; 2}}\\ {\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="DE102019220210A1\_0012.png"\; state="\{\{state\}\}">r</figure-callout>}}_{\mathrm{2,}k\mathrm{,\; 3}}\\ {\mathrm{<figure-callout\; id="3"\; label="r"\; filenames="DE102019220210A1\_0012.png"\; state="\{\{state\}\}">r</figure-callout>}}_{\mathrm{3,}k\mathrm{,\; 3}}\end{array}\right),\mathrm{S.}=\left(\begin{array}{c}{\mathrm{<figure-callout\; id="1"\; label="s"\; filenames="DE102019220210A1\_0013.png"\; state="\{\{state\}\}">s</figure-callout>}}_{\mathrm{1,}k\mathrm{,1}}\\ {\mathrm{<figure-callout\; id="1"\; label="s"\; filenames="DE102019220210A1\_0013.png"\; state="\{\{state\}\}">s</figure-callout>}}_{\mathrm{1,}k\mathrm{,\; 2}}\\ {\mathrm{<figure-callout\; id="1"\; label="s"\; filenames="DE102019220210A1\_0013.png"\; state="\{\{state\}\}">s</figure-callout>}}_{\mathrm{1,}k\mathrm{,\; 3}}\\ {\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="DE102019220210A1\_0012.png"\; state="\{\{state\}\}">s</figure-callout>}}_{\mathrm{2,}k\mathrm{,\; 2}}\\ {\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="DE102019220210A1\_0012.png"\; state="\{\{state\}\}">s</figure-callout>}}_{\mathrm{2,}k\mathrm{,\; 3}}\\ {\mathrm{<figure-callout\; id="3"\; label="s"\; filenames="DE102019220210A1\_0012.png"\; state="\{\{state\}\}">s</figure-callout>}}_{\mathrm{3,}k\mathrm{,\; 3}}\end{array}\right)$$

In a second step II, after reading in S1 a mathematical relationship between position, speed and distance as well as relative speed can be used and in sub-step A the position and speed of the object or several objects are initially estimated. In this case, measured values from several measuring units can be taken into account for the determination of the components of the position vector and the speed vector, and thus an overdetermined system of equations can advantageously be created for an object or each object. By solving the system of equations, one then obtains an estimate for the position and speed values of the respective object, which takes data from several measuring units into account.

In other words, from the known mathematical relationship between, on the one hand, the observed distances and relative speeds and, on the other hand, the position and speed of the object, the initial estimate of the position pk = (p _{k, x} ; p _{k, y} ; p _{k, z} ) ^{T of} the object be won ( S2a ).

p_m und p_n sind dabei die Positionen der Messeinheiten. $$\begin{array}{l}{d}_{n,k}=p_k-p_n=\left(\begin{array}{c}{d}_{n,k,x}\\ d_{n,k,y}\\ d_{n,k,z}\end{array}\right),\\ d_{m,k}=p_k-p_m=\left(\begin{array}{c}{d}_{m,k,x}\\ d_{m,k,y}\\ d_{m,k,z}\end{array}\right)\\ r_{n,k,m}=r_{n,k}+r_{m,k}=\left|d_{n,k}\right|+\left|d_{m,k}\right|\end{array}$$

somit folgt die Winkelhalbierende zwischen den zwei Messeinheiten und durch das Objekt k als $$\begin{array}{l}{b}_{n,k,m}=\frac{d_{n,k}}{\left|d_{n,k}\right|}+\frac{d_{m,k}}{\left|d_{m,k}\right|}=\\ =\left(\begin{array}{c}\frac{p_{k,x}-p_{m,x}}{r_{m,k}}+\frac{p_{k,x}-p_{n,x}}{r_{n,k}}\\ \frac{p_{k,y}-p_{m,y}}{r_{m,k}}+\frac{p_{k,y}-p_{n,y}}{r_{n,k}}\\ \frac{p_{k,z}-p_{m,z}}{r_{m,k}}-\frac{p_{k,z}-p_{n,z}}{r_{n,k}}\end{array}\right)\end{array}$$

The above-mentioned mathematical relationship can be defined as follows: $$\begin{array}{l}{p}_m=\left(\begin{array}{c}{p}_{m,x}\\ p_{m,y}\\ p_{m,z}\end{array}\right)\\ p_n=\left(\begin{array}{c}{p}_{n,x}\\ p_{n,y}\\ p_{n,z}\end{array}\right)\\ p_k=\left(\begin{array}{c}{p}_{k,x}\\ p_{k,y}\\ p_{k,z}\end{array}\right)\\ v_k=\left(\begin{array}{c}{v}_{k,x}\\ v_{k,y}\\ v_{k,z}\end{array}\right)\end{array}$$

p _m and p _n are the positions of the measuring units. $$\begin{array}{l}{d}_{n,k}=p_k-p_n=\left(\begin{array}{c}{d}_{n,k,x}\\ d_{n,k,y}\\ d_{n,k,z}\end{array}\right),\\ d_{m,k}=p_k-p_m=\left(\begin{array}{c}{d}_{m,k,x}\\ d_{m,k,y}\\ d_{m,k,z}\end{array}\right)\\ r_{n,k,m}=r_{n,k}+r_{m,k}=\left|d_{n,k}\right|+\left|d_{m,k}\right|\end{array}$$

thus the bisector follows between the two measuring units and through the object k as $$\begin{array}{l}{b}_{n,k,m}=\frac{d_{n,k}}{\left|d_{n,k}\right|}+\frac{d_{m,k}}{\left|d_{m,k}\right|}=\\ =\left(\begin{array}{c}\frac{p_{k,x}-p_{m,x}}{r_{m,k}}+\frac{p_{k,x}-p_{n,x}}{r_{n,k}}\\ \frac{p_{k,y}-p_{m,y}}{r_{m,k}}+\frac{p_{k,y}-p_{n,y}}{r_{n,k}}\\ \frac{p_{k,z}-p_{m,z}}{r_{m,k}}-\frac{p_{k,z}-p_{n,z}}{r_{n,k}}\end{array}\right)\end{array}$$

$$\begin{array}{l}\left|b_{n,k,m}\right|=({\left(\frac{p_{k,x}-p_{m,x}}{r_{m,k}}+\frac{p_{k,x}-p_{n,z}}{r_{n,k}}\right)}^2+\mathrm{...}\\ \mathrm{...}+{\left(\frac{p_{k,y}-p_{m,y}}{r_{m,k}}+\frac{p_{k,y}-p_{n,y}}{r_{n,k}}\right)}^2+\mathrm{...}\\ \mathrm{...}+{{\left(\frac{p_{k,z}-p_{m,z}}{r_{m,k}}+\frac{p_{k,z}-p_{n,z}}{r_{n,k}}\right)}^2)}^{\frac{1}{2}}\end{array}$$

$$\begin{array}{c}{s}_{n,k,m}=\langle v_k,b_{n,k,m,o}\rangle \\ =\frac{v_{k,x}}{\left|b_{n,k,m}\right|}\left(\frac{p_{k,x}-p_{m,x}}{r_{m,k}}+\frac{p_{k,x}-p_{n,x}}{r_{n,k}}\right)+\mathrm{...}\\ \mathrm{...}+\frac{v_{k,y}}{\left|b_{n,k,m}\right|}\left(\frac{p_{k,y}-p_{m,y}}{r_{m,k}}+\frac{p_{k,y}-p_{n,y}}{r_{n,k}}\right)+\mathrm{...}\\ \mathrm{...}+\frac{v_{k,z}}{\left|b_{n,k,m}\right|}\left(\frac{p_{k,z}-p_{m,z}}{r_{m,k}}+\frac{p_{k,z}-p_{n,z}}{r_{n,k}}\right)\end{array}$$

With the normalized bisector, for example as an I2 norm: $$b_{n,k,m,O}=\frac{b_{n,km}}{\left|b_{n,k,m}\right|}$$

$$\begin{array}{l}\left|b_{n,k,m}\right|=({\left(\frac{p_{k,x}-p_{m,x}}{r_{m,k}}+\frac{p_{k,x}-p_{n,z}}{r_{n,k}}\right)}^2+\mathrm{...}\\ \mathrm{...}+{\left(\frac{p_{k,y}-p_{m,y}}{r_{m,k}}+\frac{p_{k,y}-p_{n,y}}{r_{n,k}}\right)}^2+\mathrm{...}\\ \mathrm{...}+{{\left(\frac{p_{k,z}-p_{m,z}}{r_{m,k}}+\frac{p_{k,z}-p_{n,z}}{r_{n,k}}\right)}^2)}^{\frac{1}{2}}\end{array}$$

$$\begin{array}{c}{s}_{n,k,m}=〈v_k,b_{n,k,m,O}〉\\ =\frac{v_{k,x}}{\left|b_{n,k,m}\right|}\left(\frac{p_{k,x}-p_{m,x}}{r_{m,k}}+\frac{p_{k,x}-p_{n,x}}{r_{n,k}}\right)+\mathrm{...}\\ \mathrm{...}+\frac{v_{k,y}}{\left|b_{n,k,m}\right|}\left(\frac{p_{k,y}-p_{m,y}}{r_{m,k}}+\frac{p_{k,y}-p_{n,y}}{r_{n,k}}\right)+\mathrm{...}\\ \mathrm{...}+\frac{v_{k,z}}{\left|b_{n,k,m}\right|}\left(\frac{p_{k,z}-p_{m,z}}{r_{m,k}}+\frac{p_{k,z}-p_{n,z}}{r_{n,k}}\right)\end{array}$$

Here it is possible to access only part of the information, e.g. only the monostatic distance measurements (these can be the direct distances between the object and the measuring unit) in order to be able to uniquely solve a resulting system of equations with three unknowns and three equations.

From the knowledge of this position and, for example, a subset of relative speed measurements (for example the three monostatic measurements), a system of equations for the initial determination of the speed can in turn
vk = (v _{k, x} , v _{k, y} , v _{k, z} ) ^T can be solved ( S2b ). The initial estimates can also be referred to as p ^ k and v ^ k, and include different degrees of accuracy of the values for the position and the speed.

In a third step III, the current estimate for the values of pk and vk and estimated values expected from the known positions of the sensors for the distance and relative speed measurements R ^ and S ^ are calculated back, which can result from the mathematical relationship.

In a fourth step B. the deviation of the determined expected values R ^ (r ^ _{i, ki} ) and S ^ (s ^ _{i, ki} ) from the originally existing values for R (r _{i, ki} ) and S (s _{i, ki} ), with i = 1 - n, can be determined, for example as a residual formation Z, for example for three measurement units $$z=\left(\begin{array}{c}\mathrm{R.}\\ \mathrm{S.}\end{array}\right)-\left(\begin{array}{c}\widehat{\mathrm{R.}}\\ \widehat{\mathrm{S.}}\end{array}\right)=\left(\begin{array}{c}{\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="DE102019220210A1\_0013.png"\; state="\{\{state\}\}">r</figure-callout>}}_{\mathrm{1,}k\mathrm{,1}}-{\widehat{\mathrm{<figure-callout\; id="1"\; label="r\; ^"\; filenames="DE102019220210A1\_0013.png"\; state="\{\{state\}\}">r</figure-callout>}}}_{\mathrm{1,}k\mathrm{,1}}\\ {\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="DE102019220210A1\_0013.png"\; state="\{\{state\}\}">r</figure-callout>}}_{\mathrm{1,}k\mathrm{,\; 2}}-{\widehat{\mathrm{<figure-callout\; id="1"\; label="r\; ^"\; filenames="DE102019220210A1\_0013.png"\; state="\{\{state\}\}">r</figure-callout>}}}_{\mathrm{1,}k\mathrm{,\; 2}}\\ {\mathrm{<figure-callout\; id="1"\; label="r"\; filenames="DE102019220210A1\_0013.png"\; state="\{\{state\}\}">r</figure-callout>}}_{\mathrm{1,}k\mathrm{,\; 3}}-{\widehat{\mathrm{<figure-callout\; id="1"\; label="r\; ^"\; filenames="DE102019220210A1\_0013.png"\; state="\{\{state\}\}">r</figure-callout>}}}_{\mathrm{1,}k\mathrm{,\; 3}}\\ {\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="DE102019220210A1\_0012.png"\; state="\{\{state\}\}">r</figure-callout>}}_{\mathrm{2,}k\mathrm{,\; 2}}-{\widehat{\mathrm{<figure-callout\; id="2"\; label="r\; ^"\; filenames="DE102019220210A1\_0012.png"\; state="\{\{state\}\}">r</figure-callout>}}}_{\mathrm{2,}k\mathrm{,\; 2}}\\ {\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="DE102019220210A1\_0012.png"\; state="\{\{state\}\}">r</figure-callout>}}_{\mathrm{2,}k\mathrm{,\; 3}}-{\widehat{\mathrm{<figure-callout\; id="2"\; label="r\; ^"\; filenames="DE102019220210A1\_0012.png"\; state="\{\{state\}\}">r</figure-callout>}}}_{\mathrm{2,}k\mathrm{,\; 3}}\\ {\mathrm{<figure-callout\; id="3"\; label="r"\; filenames="DE102019220210A1\_0012.png"\; state="\{\{state\}\}">r</figure-callout>}}_{\mathrm{3,}k\mathrm{,\; 3}}-{\widehat{\mathrm{<figure-callout\; id="3"\; label="r\; ^"\; filenames="DE102019220210A1\_0012.png"\; state="\{\{state\}\}">r</figure-callout>}}}_{\mathrm{3,}k\mathrm{,\; 3}}\\ {\mathrm{<figure-callout\; id="1"\; label="s"\; filenames="DE102019220210A1\_0013.png"\; state="\{\{state\}\}">s</figure-callout>}}_{\mathrm{1,}k\mathrm{,1}}-{\widehat{s}}_{\mathrm{1,}k\mathrm{,1}}\\ {\mathrm{<figure-callout\; id="1"\; label="s"\; filenames="DE102019220210A1\_0013.png"\; state="\{\{state\}\}">s</figure-callout>}}_{\mathrm{1,}k\mathrm{,\; 2}}-{\widehat{s}}_{\mathrm{1,}k\mathrm{,\; 2}}\\ {\mathrm{<figure-callout\; id="1"\; label="s"\; filenames="DE102019220210A1\_0013.png"\; state="\{\{state\}\}">s</figure-callout>}}_{\mathrm{1,}k\mathrm{,\; 3}}-{\widehat{s}}_{\mathrm{1,}k\mathrm{,\; 3}}\\ {\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="DE102019220210A1\_0012.png"\; state="\{\{state\}\}">s</figure-callout>}}_{\mathrm{2,}k\mathrm{,\; 2}}-{\widehat{s}}_{\mathrm{2,}k\mathrm{,\; 2}}\\ {\mathrm{<figure-callout\; id="2"\; label="s"\; filenames="DE102019220210A1\_0012.png"\; state="\{\{state\}\}">s</figure-callout>}}_{\mathrm{2,}k\mathrm{,\; 3}}-{\widehat{s}}_{\mathrm{2,}k\mathrm{,\; 3}}\\ {\mathrm{<figure-callout\; id="3"\; label="s"\; filenames="DE102019220210A1\_0012.png"\; state="\{\{state\}\}">s</figure-callout>}}_{\mathrm{3,}k\mathrm{,\; 3}}-{\widehat{s}}_{\mathrm{3,}k\mathrm{,\; 3}}\end{array}\right)$$

In a fifth step C. can be derived from the determined residual Z and the existing estimate for pk and vk an improvement or correction of the estimate (update) Δpk ( S5a ) and Δvk ( S5b ) can be determined. These updates can result from the sensitivities of the components of the residual to changes (from correction) of the estimated position and speed of the object, whereby different components can be viewed and expressed / viewed by several or all measurement units. The sensitivities mentioned can either be obtained analytically in advance by deriving them or determined numerically during the runtime of the program by slightly changing the estimated values. The sensitivities via derivatives can be determined (analytically or numerically) via the mathematical relationship mentioned in step II.

In a sixth step D. the previously determined updates Δpk and Δvk can be used to generate new and improved (corrected) estimates pk (new) and vk to generate (new) with a higher accuracy, whereby $$p{k}^{\left(\text{New}\right)}=pk+\Delta pk;v{k}^{\left(\text{New}\right)}=vk+\Delta vk.$$

In other words, this provides a statement about how the estimation of R and S must improve so that the accuracy of the position and speed that can be determined therefrom can be corrected to the degree improved by the updates.

Iteratively repeating steps three to six can iteratively improve the estimate and approximate the actual position and speed of the object. This repetition can be terminated after a fixed number of iterations or if the residual is no longer greater than a characteristic extent (no longer noteworthy) decreases, which can indicate that the estimate is no longer improving.

Preferably 1-10 iterations can take place. An algorithm such as the Gauss-Newton algorithm or Marquardt-Levenberg algorithm can advantageously be used for the method.

The use of several measurement units and consideration of several measurement data from the respective object can bring about an optimal balance between several or all measured distance and relative speed values. As a result, individual errors from individual measurement units can have less of an influence on the position estimation and speed estimation.

Furthermore, different weights can be provided and used for the different components of the residual, which can reflect the expected accuracy of the measurements. In this way it can be ensured that those measurements with a typically higher accuracy can also have a stronger influence on the ultimately determined position and speed, as a result of which the estimation can advantageously be improved. In this case, for example, in the case of networks of measuring units, in particular radar sensors, it can be taken into account that measurements of the relative speeds can typically achieve different accuracies than measurements of the distances and that bistatic measurements can typically achieve different accuracies than monostatic measurements. It can also be taken into account here that measurement signals with a larger amplitude can have a higher robustness and accuracy than measurement signals with smaller amplitudes.

The method described can consider a moving radar target, which is viewed once at rest and once in motion, for example.

Although the present invention has been fully described above on the basis of the preferred exemplary embodiment, it is not restricted thereto, but rather can be modified in many different ways.

QUOTES INCLUDED IN THE DESCRIPTION

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Patent literature cited

• DE 102013008953 A1 [0003]

Claims (11)

Method for determining the position and / or determining the speed of at least one object (1a, 1b, ..., 1n) from an existing distance measurement and / or an existing relative speed measurement, comprising the steps: - Reading (S1) the existing distance measurement and / or the existing relative speed measurement of the at least one object (1a, 1b, ..., 1n) from a measuring device (M), which each measure a distance and / or a relative speed measurement for at least one object (1a, 1b, ..., 1n) using at least two measuring units (ME1, ME2); - Determining (S2a) a position of the at least one object from the existing distance measurement and / or determining (S2b) a speed of the at least one object from the existing relative speed measurement with knowledge of the position of the measuring units (ME1, ME2); - Determination (S3) of expected distance and / or relative speed measurements of the object from the respective measuring units (ME1, ME2) for the determined position and / or for the determined speed of the object based on the known positions of the measuring units (ME1, ME2) ; - Forming (S4a) a residual distance between the existing distance measurement and the expected distance measurement and / or forming (S4b) a relative speed residual between the existing relative speed measurement and the expected relative speed measurement; - determining (S5a) a position correction from the determined position and from the residual distance and / or determining (S5b) a speed correction of a determined speed and from the relative speed residual; - Determination (S6) of a corrected position and / or a corrected speed. Procedure according to Claim 1 , in which the measuring device (ME) always carries out the distance measurement and / or the relative speed measurement for only one pair of measuring units (ME1, ME2) from the at least two measuring units (ME1, ME2). Procedure according to Claim 1 or 2 , in which the existing distance measurements and / or existing relative speed measurements are carried out by a plurality of pairs of measuring units. Method according to one of the Claims 1 to 3 , in which the position and / or speed of the at least one object is determined from the existing distance measurement and / or the existing relative speed measurement on the basis of a mathematical relationship between the distance of the object and the measurement units of at least one pair. Method according to one of the Claims 1 to 4th , in which steps S3 to S6 are repeated a number of times. Procedure according to Claim 5 , in which steps S3 to S6 are repeated until the residual distance and / or the residual relative speed changes by less than a predetermined minimum value compared to a previous repetition. Method according to one of the Claims 1 to 6th , in which a certain weighting of certain components of the residual distance and / or the relative velocity residual takes place. Method according to one of the Claims 1 to 7th , which is carried out on a network of radar sensors, LIDAR sensors and / or ultrasonic sensors. System (10) for determining the position and / or determining the speed of at least one object (1a, 1b, ..., 1n) from an existing distance measurement and / or an existing relative speed measurement comprising - a measuring device (M) with at least two measuring units (ME1, ME2), which is set up to generate the existing distance measurement and / or the existing relative speed measurement of the at least one object (1a, 1b, ..., 1n), with a distance measurement and / or in each case a relative speed measurement for at least one object ( 1a, 1b, ..., 1n) is carried out by means of at least two measuring units (ME1, ME2); - An evaluation device (AE), which is set up to read in the existing distance measurement and / or the existing relative speed measurement of the at least one object (1a, 1b, ..., 1n) from the measuring device (M), a position of the at least one object to determine from the existing distance measurement and / or to determine a speed of the at least one object from the existing relative speed measurement with knowledge of the position of the measuring units (ME1, ME2); to determine expected distance and / or relative speed measurements of the object from the respective measuring units (ME1, ME2) for the determined position and / or for the determined speed of the object based on the known positions of the measuring units (ME1, ME2); to form a residual distance between the existing distance measurement and the expected distance measurement and / or a relative velocity residual between the existing one To form the relative speed measurement and the expected relative speed measurement; to determine a position correction from the determined position from the residual distance and / or to determine a speed correction of a determined speed and from the relative velocity residual, and to determine a corrected position and / or a corrected speed. System (10) according to Claim 9 , in which the measuring device (M) comprises n> = 2 measuring units (ME1, ME2), by means of which bistatic distances can be determined in pairs between an object and the measuring units. System (10) according to Claim 9 or 10 , which comprises a network of radar sensors, LIDAR sensors and / or ultrasonic sensors and / or is connected to such a network for data exchange.

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