DE102020107530A1 - Method for fault detection in a radar system - Google Patents

Abstract

The invention relates to a method for fault detection in a radar system (2) for a vehicle (1), the following steps being carried out: ) the received radar signal (210) is specific for the detection of a target object (5), - performing the interference detection (110) in the detection information (200), at least one adaptive threshold value (230) being used for this purpose, the at least one threshold value (230) be adapted to the acquisition information (200) with hardware support.

Description

The present invention relates to a method for fault detection in a radar system for a vehicle. The invention also relates to a radar system for a vehicle.

It is known from the prior art that radar systems are used, inter alia, in vehicles in order to monitor the surroundings of the vehicle. Such radar systems can have at least one radar sensor on the vehicle, each with at least one transmitting and receiving antenna. The radar sensors enable the detection of target objects in the vicinity of the vehicle. To determine parameters of the captured target objects, such as B. a distance, a relative speed or a direction of the target object in relation to the vehicle, extensive signal processing can be carried out. Nevertheless, the computing power of the hardware used for signal processing is often limited, so that the computing complexity of the signal processing must be reduced. In addition, the increasing use of radar systems in road traffic can lead to mutual interference between the radar sensors of different vehicles. These disturbances, such as interference, can significantly impair the functionality of the radar systems.

The font US 2017 0363711 A1 shows a generic method.

The increasing spread of radar systems has the disadvantage that different radar systems can negatively influence one another. Such interference from mutually influencing radar systems is also referred to as interference.

It is often a problem that the interference cannot be reliably detected or eliminated in a radar system.

It is therefore an object of the present invention to at least partially remedy the disadvantages described above. In particular, it is the object of the present invention to propose an improved solution for fault detection.

The above object is achieved by a method with the features of claim 1 and by a radar system with the features of claim 14. Further features and details of the invention emerge from the respective subclaims, the description and the drawings. Features and details that are described in connection with the method according to the invention naturally also apply in connection with the radar system according to the invention and vice versa, so that with regard to the disclosure of the individual aspects of the invention, reference is or can always be made to the individual aspects of the invention.

• - Bereitstellen wenigstens einer (insbesondere digitalen) Erfassungsinformation, welche für ein von wenigstens einer Empfangsantenne des Radarsystems empfangenes Radarsignal zur Detektion des Zielobjekts spezifisch ist,
• - Durchführen der Störungserkennung bei der Erfassungsinformation, wobei vorzugsweise hierzu mindestens ein oder mehrere adaptive Schwellenwerte verwendet werden.

The object is achieved in particular by a method for operating a radar system, in particular for detecting faults in the radar system, it being possible for the radar system to be designed for use in a vehicle. The vehicle is, for example, a passenger vehicle or a truck with at least one driver assistance function in which the radar system can be functionally integrated. The radar system can be designed to detect at least one target object in the vicinity of the vehicle. In particular, it is provided that the following steps are carried out, preferably one after the other or in any order, with individual and / or all steps also being able to be carried out repeatedly:

• - Provision of at least one (in particular digital) item of detection information which is specific for a radar signal received by at least one receiving antenna of the radar system for the detection of the target object,
• Carrying out the fault detection in the detection information, with at least one or more adaptive threshold values preferably being used for this purpose.

It can be provided that the fault detection is carried out at least partially with hardware support. In particular, in the case of fault detection, (at least) the threshold value (s) can be adapted (that is, adapted) to the detection information with hardware support and, optionally, even the entire fault detection can be carried out with hardware support. This has the advantage that, in addition to a possibly otherwise software-based solution for processing the detection information, a hardware solution is provided for (at least partially) fault detection. Hardware (that is to say an electronic arrangement, such as an integrated circuit) can accordingly be provided in order to execute at least one algorithm for fault detection and thus to support it. In this case, the complete fault detection or at least the adaptation of the at least one threshold value can be provided by the hardware. Specifically, z. B. the disturbances caused by interference in the time domain in the detection information can be detected by means of the hardware. The hardware can be provided as a dedicated circuit arrangement for adapting the at least one threshold value, and in particular a microchip.

For a clearer and simpler differentiation, the processing of the detection information and the adaptation of the at least one threshold value (optionally also with the further fault detection) are treated as different processes. The processing can be downstream of the adaptation of the at least one threshold value or the entire fault detection and can be carried out for the specific detection of the target object, such as e.g. B. to determine at least one parameter of the target object. The fault detection can be used to detect at least one fault before processing and to inform processing about it.

For example, the disturbance detection can take place in that the disturbance positions of at least one disturbance (such as an interference in the radar signal) are found with the aid of classic outlier tests. The fault detection can conventionally be implemented and carried out in software on a digital signal processor (DSP) on which the other processing of the detection information for the detection of the target object also takes place. However, this results in the problem that the processor cannot carry out any further tasks during the fault detection, so that downstream algorithms wait for the result of the fault detection. For example, the processing of the detection information includes an algorithm for interference correction, which is therefore dependent on the result of the fault detection. In addition, the problem can arise that the fault detection has to be carried out in a technically complex manner with at least one adaptive threshold value. For example, the raw radar data (that is to say for example the detection information) can no longer be present in the time domain than the data from the analog-digital converter of the radar system. In order to reduce the amount of data, the radar system - i. H. upstream of processing and fault detection - windowing and Fourier transformation (FFT) are carried out. The raw radar data in the time domain are therefore not immediately available for further processing and fault detection. The data can only be transformed back into the time domain using an Inverse Fourier Transformation (IFFT) in order to enable fault detection. The data, i.e. H. In particular, the transformed acquisition information is now weighted with a window function. A constant threshold value is therefore no longer sufficient for fault detection. A conventional problem here is that the algorithms for fault detection are subject to severe runtime and memory restrictions and therefore have to be implemented in a technically very simple manner. An adaptive adjustment of threshold values is therefore only possible to a limited extent with known solutions.

According to the invention, it can therefore be provided that the disturbances (in particular caused by interference) are detected in the time domain with hardware support. A considerable advantage in runtime can be achieved in this way, since tasks can be carried out in parallel on the processor. Improved performance in fault detection can also be achieved, since no constant threshold value has to be used. For the hardware-supported adaptation of the at least one threshold value, it may be necessary for a signal processing unit (signal processing unit) provided specifically for this to be provided in the radar system. The adaptation can therefore, if necessary, be carried out by an adaptation device which has the signal processing unit.

To detect the at least one target object, the radar system can first transmit the radar signal as a transmission signal s (t) via at least one transmission antenna. The transmission signal includes, for. B. several sequentially output frequency-modulated ramps (hereinafter also referred to as chirps). The chirps can thus have a varying frequency. Here comes z. B. a linear frequency modulation is used, in which the frequency changes linearly within a predetermined bandwidth for a respective chirp. The transmitted signal s (t) reflected to the at least one target object and delayed by a signal propagation time can then be detected as a received signal e (t) by at least one receiving antenna of the radar system. The detection information can be determined from this received radar signal e (t) by further steps. For example, the baseband signal b (t) can be obtained from the mixture of the transmitted signal s (t) and the received signal e (t), with the frequency f _b = f _s -f _e . Here, f _{s is} the frequency of the transmitted signal s (t) and f _{e is} the frequency of the received signal e (t). The frequency f _b depends on the signal propagation time τ and thus on the distance from the target object.

In order to carry out the detection of the at least one target object, detection information can be determined on the basis of the received signal e (t), and in particular on the basis of the baseband signal b (t). For example, the detection information results from the digitized baseband signal b (t) or from a windowing and frequency analysis of the baseband signal b (t). Correspondingly, the detection information can be digital information, that is to say data values. If N chirps are output, then the duration of each chirp is T1 / N. After the period T1, the acquisition information can be processed within the period T2-T1. The entire measuring cycle thus has a duration T2, so that the transmission of the Transmission signal s (t) can repeat. T2 thus defines a transmission signal distance.

During the time period T1, the individual values of the received signal e (t) can be recorded, so that the detection information is derived from the recorded values and, if necessary, preprocessing (such as down-mixing and / or analog-to-digital conversion and / or windowing and Fourier transformation) is formed. The recorded values can be understood as a matrix in which the values are stored one after the other in an MxN matrix with M samples per chirp and N chirps in a two-dimensional manner until the end of the time period T1. The detection information can correspond to this two-dimensional configuration. A first of the dimensions can be specific for a distance to the target object, the other (second) of the dimensions for the Doppler frequency and thus for the relative speed of the target object. On the basis of this matrix, at least one spectrum can then be determined by at least one Fourier transformation of the matrix, from which the relative speed and / or the distance of the at least one target object in the vicinity of the vehicle can be determined.

• - Durchführen einer Verarbeitung der wenigstens einen Erfassungsinformation für die Detektion des Zielobjekts durch eine Verarbeitungsvorrichtung, und insbesondere für eine Korrektur einer durch die Störungserkennung detektierten Störung.

According to a further advantage, it can be provided that after the fault detection has been carried out, in particular the detection of a fault caused by an interference in the radar signal, the following step is provided:

• Execution of processing of the at least one item of detection information for the detection of the target object by a processing device, and in particular for a correction of a disturbance detected by the disturbance detection.

If the detection information is not available in the time domain but already in the frequency domain, at least for the first dimension, the distance to the target object can already be determined by the processing on the basis of the detection information. In addition, further Fourier transformations can be provided during processing in order to, for. B. to determine the relative speed and / or the direction of the target object. The processing device is designed, for example, as a microcontroller and / or as an integrated circuit and / or as a DSP.

It can be provided that the adaptation of the at least one threshold value is carried out in parallel with the processing of the detection information. For this purpose, an adaptation device (optionally provided separately from the processing device) can be provided for adapting the at least one threshold value. Both the processing device and the adaptation device can have at least one processor of their own, so that a distribution of the load for the execution of the processing steps is possible here.

It is also advantageous if the hardware-supported adaptation of the at least one threshold value is carried out by an electronic adaptation device, with the adaptation device optionally being able to be designed separately from the processing device. Nevertheless, it may be possible for the processing device and the adaptation device to be arranged on a common printed circuit board so that, for example, the detection information or information about at least one fault detected by the fault detection can be exchanged between the processing device and the adaptation device. It can also be provided that the electronic adaptation device and the processing device are part of a common microcontroller.

In a further possibility, it can be provided that the processing is carried out on a software basis by a computer program which is executed by the processing device, and / or that the adaptation of the at least one threshold value (possibly separately) is carried out on a hardware basis by the adaptation device. In the broader sense, this is understood to mean that the adaptation of the at least one threshold value is carried out by separate hardware (the adaptation device) without the aid of the computer program. This enables processing and adaptation to be parallelized. In the narrower sense, this is understood to mean that the adaptation of the at least one threshold value is not programmed into the hardware by means of a computer program, but rather is permanently programmed into the hardware or is carried out by a circuit arrangement. In other words, it can be a circuit arrangement of the adaptation device that is dedicated to the adaptation of the at least one threshold value. The adjustment device can, for. B. be provided by the same hardware component as the processing device, or alternatively be implemented separately in terms of hardware.

• - eine Entfernung zu dem Zielobjekt,
• - eine Geschwindigkeit des Zielobjekts relativ zum Fahrzeug,
• - eine Richtung des Zielobjekts.

It is also optionally conceivable that the processing includes at least one frequency analysis in order to determine at least one parameter of the target object from the detection information. It can also be possible for the parameter to include at least one of the following parameters:

• - a distance to the target object,
• - a speed of the target object relative to the vehicle,
• - a direction of the target object.

During processing, not only one target object but, if necessary, several target objects can be detected and their parameters can be determined. To identify the target objects, e.g. B. a peak work detection (peak detection) can be carried out in the detection information.

Furthermore, it can be provided within the scope of the invention that a downward conversion and / or an analog-to-digital conversion and / or at least one frequency analysis and / or windowing based on the received radar signal is carried out as preprocessing steps in order to provide the detection information. It can be provided that these preprocessing steps are carried out additionally and / or independently and / or autonomously and / or in parallel and / or separately from the processing and / or the fault detection. Independent hardware can therefore be provided to carry out the preprocessing steps. Thus, in a further possibility, provision can be made for the downward conversion and / or the analog-digital conversion and / or the frequency analysis and / or the windowing to be carried out with hardware support when the acquisition information is provided.

It is also advantageous if, within the scope of the invention, when performing the fault detection, the detection information is first transformed into the time domain in order to obtain transformed detection information (in the time domain) in order to generate at least one disturbance (in the time domain) in the transformed detection information in particular detect. This additional step may only be required for fault detection, but not for processing the detection information.

A further advantage can be that the disturbance is detected by comparing the transformed detection information with the at least one threshold value, with the adaptation of the at least one threshold value to the detection information preferably being carried out to match the at least one threshold value to a modification, in particular weighting, to adapt the transformed acquisition information by windowing carried out when the acquisition information is provided. The windowing is used in particular before a frequency analysis, in particular Fourier transformation, to provide the detection information. However, this inevitably involves the modification of the detection information, so that this must be taken into account when using the at least one threshold value. The adaptive threshold value adjustment is a reliable way of doing this.

• - Bereitstellen wenigstens eines ersten Erfassungswertes und weiterer Erfassungswerte aus der Erfassungsinformation, welche für das empfangene Radarsignal im Zeitbereich spezifisch sind, insbesondere durch eine inverse Fouriertransformation der Erfassungsinformation, bevorzugt damit eine transformierte Erfassungsinformation im Zeitbereich (bezogen auf das Radarsignal) erhalten wird,
• - Durchführen eines Vergleichs des wenigstens einen ersten Erfassungswertes mit den weiteren Erfassungswerten, um eine Abweichung der Erfassungswerte zueinander zu ermitteln,
• - Anpassen eines der Schwellenwerte bzw. des Schwellenwertes für diesen wenigstens einen ersten Erfassungswert anhand des Vergleichs.

It is also conceivable that the adaptation of the at least one threshold value comprises the following steps:

• - Provision of at least one first detection value and further detection values from the detection information which are specific for the received radar signal in the time domain, in particular by means of an inverse Fourier transformation of the detection information, preferably so that transformed detection information in the time domain (based on the radar signal) is obtained,
• - Carrying out a comparison of the at least one first detection value with the further detection values in order to determine a discrepancy between the detection values,
• Adaptation of one of the threshold values or the threshold value for this at least one first detection value on the basis of the comparison.

This procedure can then be repeated for further detection values, each of these detection values being defined once as the first detection value in order to successively compare each of the detection values from the detection information and to adapt a threshold value for this. A concrete example of this procedure can be found in the determination of mean values described below.

• - Bereitstellen von Erfassungswerten aus der Erfassungsinformation, welche für das empfangene Radarsignal im Zeitbereich spezifisch sind,
• - Bestimmen von Mittelwerten für Teilabschnitte der Erfassungswerte,
• - Anpassen der Schwellenwerte anhand der Mittelwerte, sodass für die Teilabschnitte jeweils einer der Schwellenwerte anhand des Mittelwerts, insbesondere proportional zum Mittelwert, dieses Teilabschnittes definiert wird.

It is accordingly advantageous if the adaptation of the (several) threshold values comprises the following steps:

• - Provision of detection values from the detection information which are specific for the received radar signal in the time domain,
• - Determination of mean values for subsections of the recorded values,
• Adaptation of the threshold values on the basis of the mean values, so that one of the threshold values is defined for the subsections using the mean value, in particular proportional to the mean value, of this subsection.

This enables the detection information to be subdivided in order to take into account the modification caused by the windowing.

Advantageously, it can be provided in the invention that the fault detection is carried out in the manner of an interference detection. This means that the malfunction can be detected in the malfunction detection can be detected as a disturbance caused by an interference in the radar signal.

• - eine Erfassungsanordnung zum Bereitstellen wenigstens einer Erfassungsinformation, welche für ein von wenigstens einer Empfangsantenne des Radarsystems empfangenes Radarsignal zur Detektion des Zielobjekts spezifisch ist,
• - eine Anpassungsvorrichtung zum Durchführen einer Störungserkennung bei der Erfassungsinformation.

The invention also relates to a radar system for a vehicle, in particular for the detection of at least one target object in the vicinity of the vehicle, comprising:

• a detection arrangement for providing at least one detection information item which is specific for a radar signal received by at least one receiving antenna of the radar system for detecting the target object,
• an adaptation device for performing a fault detection in the detection information.

It can be provided here that the adaptation device is designed to carry out the fault detection at least partially with hardware support. Specifically, it can be provided that the adaptation device is designed to use at least one or more adaptive threshold values for fault detection and preferably to adapt the threshold value or values to the detection information with hardware support. The radar system according to the invention thus has the same advantages as have been described in detail with reference to a method according to the invention. In addition, the radar system can be suitable for carrying out a method according to the invention. The radar system is e.g. B. designed as a continuous wave radar system, in particular FMCW (frequency modulated continuous wave radar).

• 1 eine schematische Darstellung eines Fahrzeuges mit einem erfindungsgemäßen Radarsystem in einer Seitenansicht,
• 2 eine schematische Darstellung zur Visualisierung eines erfindungsgemäßen Verfahrens,
• 3 eine schematische Darstellung von Teilen eines erfindungsgemäßen Radarsystems,
• 4 eine weitere schematische Darstellung zur Visualisierung eines erfindungsgemäßen Verfahrens,
• 5 eine weitere schematische Darstellung zur Visualisierung eines erfindungsgemäßen Verfahrens,
• 6 eine weitere schematische Darstellung zur Visualisierung eines erfindungsgemäßen Verfahrens.

Further advantages, features and details of the invention emerge from the following description, in which exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description can each be essential to the invention individually or in any combination. Show it:

• 1 a schematic representation of a vehicle with a radar system according to the invention in a side view,
• 2 a schematic representation for the visualization of a method according to the invention,
• 3 a schematic representation of parts of a radar system according to the invention,
• 4th a further schematic representation to visualize a method according to the invention,
• 5 a further schematic representation to visualize a method according to the invention,
• 6th a further schematic representation for the visualization of a method according to the invention.

In the following figures, the same reference numerals are used for the same technical features from different exemplary embodiments.

In 1 is a radar system 2 for a vehicle 1 for the detection of at least one target object 5 in an environment 6th of the vehicle 1 shown. The radar system can do this 2 at least one receiving antenna 20th to receive a radar signal 210 for the detection of the target object 5 exhibit. The receiving antenna can also be used 20th with a processing device 3 and / or with a detection arrangement 40 according to 3 be electrically connected to at least one detection information 200 from the received radar signal 210 to provide and further process. Thus, the detection information is 200 for that from the receiving antenna 20th of the radar system 2 received radar signal 210 specific.

The processing device 3 can have electronics and / or a microcontroller to transmit a signal via a transmitting antenna of the radar system, which is not explicitly shown 2 to send out. The transmitted radar signal 210 can from the target object 5 reflected and delayed by a transit time from the receiving antenna 20th received as a received signal. Then the received signal from the processing device 3 converted into a baseband signal. About the detection of the at least one target object 5 detection information can be determined on the basis of the received signal, and in particular on the basis of the baseband signal. For example, the detection information results from the digitized baseband signal or from preprocessing steps such as windowing and subsequent frequency analysis of the baseband signal.

As in 3 is shown, an adjustment device 30th to carry out a fault detection 110 in the acquisition information 200 be provided.

In 2 is a method according to the invention for fault detection 110 in the radar system 2 for the vehicle 1 shown with more details. In a first process step, windowing takes place 105 and a frequency analysis 106 such as a Fourier transform as preprocessing steps for providing the detection information 200 . This is then done Performing the fault detection 110 in the acquisition information 200 . This may require a further frequency analysis 106 is performed to from the acquisition information 200 transformed detection information 201 to obtain. After performing the fault detection 110 can perform processing 120 the at least one detection information item 200 for the detection of the target object 5 through your processing device 3 be provided.

In 4th is the transformed detection information 201 visualized with further details. The transformed acquisition information 201 can have several acquisition values 206 have which for fault detection 110 repeated as the first detection value 207 and other detection values 208 can be set. This is not a fixed assignment, but an iteratively changing assignment to the individual recording values 206 to check.

In 5 and 6th is the transformed detection information 201 for example as amplitude X shown over time t. It can be seen that, as a result of the preprocessing steps, the signal shape differs from the actual signal shape of the radar signal 210 deviates in the time domain. This depends on the weighting due to the windowing 105 together. For this reason, the detection of a fault 240 This is only possible with difficulty, since this is a simple comparison with a fixed threshold value 230 would be insufficient. In 5 it can be seen that an exemplary malfunction shown 240 shows up in a peak which has a lower amplitude X than the maximum amplitude X the transformed detection information 201 . Thus the disorder 240 not detectable in this way.

Therefore, it can be used in fault detection 110 it can be provided that at least one or more adaptive threshold values 230 be used. The thresholds 230 are adaptive in order to be able to adapt to the deviating signal shape. As the complexity of this altered waveform increases, so is the use of multiple thresholds 230 advantageous. The use of several threshold values is therefore exemplified below 230 described. These adaptive thresholds 230 are in 6th shown simplified as a dashed curve. According to 3 can set the thresholds 230 hardware-supported to the acquisition information 200 be adjusted, so by an adjustment device 30th . The adjustment device 30th is z. B. executed as a processor or as (at least) part of a microcontroller. The adjustment device 30th and the processing device 3 can have the same components at least in part, such as the same microcontroller. In this way, by comparing the transformed detection information 201 with the thresholds 230 the disorder 240 are detected, with the adjustment of the threshold values 230 to the acquisition information 200 this is done using the thresholds 230 to the weighting of the transformed detection information 201 by one in the provision of the acquisition information 200 windowing carried out 105 adapt.

• - Bereitstellen wenigstens eines ersten Erfassungswertes 207 und weiterer Erfassungswerte 208 aus der Erfassungsinformation 200, welche für das empfangene Radarsignal 210 im Zeitbereich spezifisch sind, insbesondere durch eine inverse Fouriertransformation der Erfassungsinformation 200,
• - Durchführen eines Vergleichs des wenigstens einen ersten Erfassungswertes 207 mit den weiteren Erfassungswerten 208, um eine Abweichung der Erfassungswerte 206 zueinander zu ermitteln,
• - Anpassen eines der Schwellenwerte 230 für diesen wenigstens einen ersten Erfassungswert 207 anhand des Vergleichs.

the end 4th it can be seen that the adjustment of the thresholds 230 may include the following steps:

• - Providing at least one first detection value 207 and other detection values 208 from the acquisition information 200 which for the received radar signal 210 are specific in the time domain, in particular by an inverse Fourier transformation of the detection information 200 ,
• - Carrying out a comparison of the at least one first detection value 207 with the other detection values 208 to detect a deviation in the detection values 206 to determine each other,
• - Adjusting one of the thresholds 230 for this at least one first detection value 207 based on the comparison.

In concrete terms, mean values for subsections of the detection values can be achieved by such a procedure 206 be determined to the thresholds 230 to be adjusted based on the mean values.

The above explanation of the embodiments describes the present invention exclusively in the context of examples. Of course, individual features of the embodiments can be freely combined with one another, provided that they are technically sensible, without departing from the scope of the present invention.

List of reference symbols

1

vehicle

2

Radar system

3

Processing device

5

Target object

6th

Surroundings

20th

Receiving antenna

30th

Adjustment device

40

Registration order

105

Windowing

106

Frequency analysis

110

Fault detection

120

processing

200

Acquisition information

201

transformed acquisition information

206

Detection values

207

first detection value

208

further acquisition values

210

Radar signal

230

Threshold value (s)

240

disturbance

X

amplitude

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• US 20170363711 A1 [0003]

Claims (15)

Method for fault detection in a radar system (2) for a vehicle (1), the following steps being carried out: - Provision of at least one item of detection information (200) which is used for a radar signal ( 210) is specific to the detection of a target object (5), - performing the fault detection (110) in the detection information (200), at least one adaptive threshold value (230) being used for this purpose, characterized in that the at least one threshold value (230) is hardware-supported is adapted to the detection information (200). Procedure according to Claim 1 , characterized in that after the failure detection (110) has been carried out, the following step is provided: processing (120) of the at least one item of detection information (200) for the detection of the target object (5) by a processing device (3). Procedure according to Claim 2 , characterized in that the hardware-supported adaptation of the at least one threshold value (230) is carried out by an electronic adaptation device (30). Procedure according to Claim 3 , characterized in that the processing (120) is carried out on a software basis by a computer program which is carried out by the processing device (3), and in that the adaptation of the at least one threshold value (230) is carried out on a hardware basis by the adaptation device (30). Method according to one of the Claims 2 until 4th characterized in that the processing (120) comprises at least one frequency analysis (106) in order to determine at least one parameter of the target object (5) from the detection information (200). Procedure according to Claim 5 , characterized in that the parameter comprises at least one of the following parameters: - a distance to the target object (5), - a speed of the target object (5) relative to the vehicle (1), - a direction of the target object (5). Method according to one of the Claims 2 until 6th , characterized in that a downward conversion and / or an analog-digital conversion and / or at least one frequency analysis (106) and / or a windowing (105) is carried out on the basis of the received radar signal (210) in order to provide the detection information (200) . Procedure according to Claim 7 , characterized in that when the acquisition information (200) is provided, the downward conversion and / or the analog-digital conversion and / or the frequency analysis (106) and / or the windowing (105) are carried out with hardware support. Method according to one of the preceding claims, characterized in that when the fault detection (110) is carried out, the acquisition information (200) is first transformed into the time domain in order to obtain transformed acquisition information (201) in the time domain in order to be able to use the transformed acquisition information (201 ) to detect at least one fault (240). Procedure according to Claim 9 , characterized in that the disturbance (240) is detected by comparing the transformed detection information (201) with the at least one threshold value (230), the adaptation of the at least one threshold value (230) to the detection information (200) being carried out for this purpose, to adapt the at least one threshold value (230) to a modification of the transformed acquisition information (201) by windowing (105) carried out when the acquisition information (200) is provided. Method according to one of the preceding claims, characterized in that the adaptation of the at least one threshold value (230) comprises the following steps: - Providing at least one first detection value (207) and further detection values (208) from the detection information (200) which are for the received radar signals (210) are specific in the time domain, in particular by an inverse Fourier transformation of the detection information (200), - performing a comparison of the at least one first detection value (207) with the further detection values (208) to determine a deviation of the detection values (206) from one another - adapting one of the at least one threshold value (230) for this at least one first detection value (207) on the basis of the comparison. Method according to one of the preceding claims, characterized in that a plurality of adaptive threshold values are provided, the adaptation of the threshold values (230) comprising the following steps: - Provision of detection values (206) from the detection information (200) which are relevant for the received radar signal ( 210) are specific in the time domain, - Determination of mean values for subsections of the detection values (206), - Adjustment of the threshold values (230) based on the average values, so that one of the threshold values (230) for the subsections is based on the average value, in particular proportional to the average value, this subsection is defined. Method according to one of the preceding claims, characterized in that the fault detection (110) is carried out in the manner of an interference detection. Radar system (2) for a vehicle (1), comprising: - a detection arrangement (40) for providing at least one detection information item (200) which is specific for a radar signal (210) received by at least one receiving antenna (20) of the radar system (2) for the detection of a target object (5), - An adaptation device (30) for performing a fault detection (110) on the detection information (200), the adaptation device (30) being designed to use at least one adaptive threshold value (230) for the fault detection (110), and the at least one threshold value (230) to be adapted to the acquisition information (200) with hardware assistance. Radar system according to Claim 14 , characterized in that the radar system (2) is designed to use a method according to one of the Claims 1 until 13th to execute.

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