EP1352375B1 - Method and device for estimating movement parameters of targets - Google Patents

Description

a) Vorsehen einer Sensorik an dem Objekt, wobei die Sensorik dazu vorgesehen ist, Signale auszusenden und zu empfangen, um Messwerte r_i, v_r,i für den Zielobjektabstand r und/oder für die relative Radialgeschwindigkeit v_r des Zielobjekts zu erfassen,

b) Erfassen von Messwerten r_i,v_r,i, und

c) Auswerten der erfassten Messwerte r_i, v_r,i und Angeben der Parameterwerte.

The present invention relates to a method for specifying parameter values relating to the relative kinematic behavior of an object, in particular a first vehicle, and a target object, in particular a second vehicle, wherein based on the parameter values, a statement can be made as to whether the object and the target object is expected to collide. The method includes, among other things, the steps:

a) provision of a sensor system on the object, the sensor system being designed to transmit and receive signals in order to acquire measured values r _i , v _{r, i} for the target distance r and / or for the relative radial speed v _{r of} the target object,

b) acquiring measured values r _i , v _{r, i} , and

c) evaluating the acquired measured values r _i , v _{r, i} and specifying the parameter values.

The invention further relates to a device for outputting parameter values that relate to the relative kinematic behavior of an object, in particular a first vehicle, and a target object, in particular a second vehicle, wherein based on the parameter values, a statement can be made as to whether the object and the target object is expected to collide. In this case, the device comprises: a sensor system which is arranged on the object, wherein the sensor system is, inter alia, provided to transmit and receive signals to readings r _i , v _{r, i} for the target distance r and / or for the to detect relative radial velocity v _{r of} the target object, and means for evaluating the measured values r _i , v _{r, i} recorded by the sensor system and for outputting the parameter values.

State of the art

For example, in the field of motor vehicle technology, methods for indicating or devices for outputting parameter values are required which relate or describe the relative kinematic behavior of a first vehicle and a second vehicle or any obstacle in order, for example, to make statements about a possible collision with the aid of these parameter values or performing a dead-angle detection. For this purpose, sensors are used, for example optical sensors, capacitive sensors, ultrasonic sensors or radar sensors with which the distance r between the vehicles and / or the relative radial speed v _{r of} the second vehicle are measured within an area to be monitored. It is known to determine the radial component of the relative radial acceleration a _{r of} the second vehicle from these measured values by differentiation of the radial speed. Furthermore, it is known, for example, to determine the radial velocity by evaluating the Doppler frequency or by differentiating the distance. According to the prior art, the normal components of the distance, the speed and the acceleration perpendicular to the front area of the motor vehicle are calculated from the measured values of a plurality of spatially distributed sensors by triangulation. For triangulation so several spatially distributed transmitting or receiving units or sensors are required, which causes a high hardware cost. Another problem occurring in the prior art is that even when using multiple sensors under certain circumstances, only one sensor receives a usable signal for an evaluation. Since in this case the triangulation is not feasible, for example, an imminent collision can not be detected.

From US 6,014,601 an alarm system is provided for a driver, by means of a radar or laser measuring device, the relative speed of the vehicle to objects and the distance to the objects and from this the relative acceleration determined the detected object to own vehicle. Furthermore, a Speed sensor designed to determine your own speed as well a detection of the road condition. The determined values become a safe following distance calculated and compared with a current distance. This will be an expected Collision time calculated to the driver by means of a linear light indicator represents the risk of collision with the detected object.

From EP 1035 533 A2 a method and a device for distance control for a vehicle known in which a relative speed and a relative distance between the vehicle and a preceding vehicle is determined and from these Quantities generates a control signal for a distance control device of the vehicle becomes. Furthermore, it is provided that from the relative speed and the relative distance A hazard measure is determined, which with a the individual driving behavior of the Vehicle operator representing the vehicle, the adaptive factor is weighted, and in that a control signal which initiates a deceleration of the vehicle is generated when the weighted, vehicle operator adapted hazard measure with an adaptive factor Threshold exceeds.

From US 5,600,561 a vehicle distance computing device is known, which by means of a laser distance measuring device Emits light signals and receives again and out of the measured transit time of these light signals the distance and the current azimuth angle the optical scanner determines the position of the object with respect to of the sensor can be calculated. The object positions obtained are compared to earlier ones Object positions compared and hereby carried out an object tracking, from which a relative velocity of the object is computable by the number of reflections and the strength of the laser reflections are taken into account.

Advantages of the invention

The process according to the invention contains the steps specified in claim 1.

Characterized in that step c) of the inventive method based on the received from only one receiver Signals is feasible, that is, no triangulation is performed, the hardware cost can be reduced and even if only one sensor is one for one appropriate evaluation receives usable signal Safe predictions can be made.

The same applies to the device according to the invention according to claim 9, in the means of evaluation on the basis of received only one of the sensors associated receiver Perform signals.

The following statements refer to both inventive method as well as the invention Contraption.

While not intended to be limiting, the parameter values preferably relate to one or more of the following: relative acceleration a of the target, relative radial acceleration a _{r of} the target, relative velocity v of the target, relative radial velocity v _{r of} the target, Offset Δy between the object and the target object, the angle α between the vectors of the relative velocity v of the target object and the relative radial velocity v _{r of} the target object or between the vectors of the relative acceleration a of the target object and the relative radial acceleration a _{r of} the target object. Preferably, the parameter values for some of these parameters are estimated from the present measurements and the parameter values for other parameters are determined from the estimated parameter values.

For this purpose, preferably a vector p provided that contains at least some of the searched parameters, this vector p form p = [a, v 0 , α 0 ] may have. It is provided that a is the relative acceleration of the target object, v _{0 is} the relative initial velocity of the target object in the first measurement and α _{0 is} the angle between the relative velocity vectors v of the target object and the relative radial velocity v _{r of} the target object or the angle between the vectors of the relative acceleration a of the target object and the relative radial acceleration a _{r of} the target object in the first measurement. The first measurement refers to the first measurement of a plurality of different times t _i measurements taken, where i = 1, 2, .... The times t _i may, but need not be equidistant. For example, measured values could also be recorded at equidistant target distances.

According to one embodiment of the present invention, it is provided that target object distances r _i are measured at different times t _i , and that the target object distance r is determined by the relationship: r = f ( p , t) = (r 0 cos (α 0 ) + v 0 t + at 2 / 2) 2 + (r 0 sin (α 0 )) 2 where r _{0 is} the target distance in the first measurement, v _{0 is} the relative initial velocity of the target in the first measurement, a is the relative acceleration of the target, t is the time, and α _{0 is} the angle between the vectors of the relative Velocity v of the target object and the relative radial velocity v _{r of} the target object or the angle between the vectors of the relative acceleration a of the target object and the relative radial acceleration a _{r of} the target object in the first measurement. In particular, in this embodiment, the parameter values for the in the vector p contained parameters are estimated over a standard, as will be explained later. The estimate may also be made using the values t _i , r _i ² after squaring the given equation for simplicity.

According to the invention, it is provided that relative radial velocities v _{r, i} are measured at different times t _i , and that the relative radial velocity v _{r of} the target object is determined by the relationship: v r = f ( p , t) = (v 0 + at) (r 0 cos (α 0 ) + v 0 t + at 2 / 2) (r 0 cos (α 0 ) + v 0 t + at 2 / 2) 2 + (r 0 sin (α 0 )) 2 is described. The parameters r ₀ , v ₀ , a, t and α ₀ correspond to the parameters of the first embodiment.

A further embodiment of the invention provides that target distances r _i and relative radial speeds v _{r, i} are measured at different times t _i , and that the relative radial speed v _{r of} the target object is determined by the relationship: v r = f ( p , t, r) = (v 0 + at) (r 0 cos (α 0 ) + v 0 t + at 2 / 2 r is described. Again, the parameters r ₀ , v ₀ , a, t and α ₀ correspond to the parameters of the first embodiment.

The embodiments just described may optionally suitable combination or mathematical be reformulated.

The norms underlying the following statements is known in the art. For a closer Description is directed to: G. Grosche, V. Ziegler, D. Ziegler: Supplementary chapters on I. N. Bronstein. K.A. Semendyayev Paperback of Mathematics, 6th Edition, B.G. Teubner publishing house Leipzig, 1979.

For the estimation of the parameter values, in the context of the first embodiment, a norm Q (p) is preferably defined as follows: Q ( p ) = Q 1 ( p ) = ∥r i k - f k ( p , t i ) ∥, with k = 1 or k = 2

mit k = 1 oder k = 2An example of the definition of the standard Q ( p ) may provide the following form in the context of the first embodiment:

with k = 1 or k = 2

Another example of the definition of the standard Q ( p ) may provide the following form in the context of the first embodiment: Q ( p ) = Q 12 ( p ) = max (| r i k - f k ( p , t i ) |) with k = 1 or k = 2

In order to estimate the parameter values, in the context of the second embodiment, preferably a standard Q ( p ) defined as follows: Q ( p ) = Q 2 ( p ) = ∥v i k - f k ( p , t i ) ∥, with k = 1 or k = 2

mit k = 1 oder k = 2An example of the definition of the standard Q ( p ) may provide the following form in the context of the second embodiment:

with k = 1 or k = 2

Another example of the definition of the standard Q ( p ) may provide the following form in the context of the second embodiment: Q ( p ) = Q 22 ( p ) = max (| v i k - f k ( p , t i ) |) with k = 1 or k = 2

In order to estimate the parameter values, in the context of the third embodiment, preferably a standard Q ( p ) is defined as follows. Q ( p ) = Q 3 ( p ) = ∥v i k - f k ( p , t i , r i ) ∥, with k = 1, or k = 2.

mit k = 1 oder k = 2An example of the definition of the standard Q ( p ) may provide the following form in the context of the third embodiment:

with k = 1 or k = 2

Another example of the definition of the standard Q ( p ) may provide the following form in the context of the third embodiment: Q ( p ) = Q3 32 ( p ) = max (| v i k - f k ( p , t i , r i ) |) with k = 1 or k = 2

As mentioned, the parameter values for those in the vector p are preferably estimated based on the measured values.

In this context, it is preferred that the parameter values for the vector p estimated parameters are estimated from the times t _i and the measured values r _i for the target distances and / or the measured values v _{r, i} for the relative radial speed of the target object via an optimization method by setting the minimum of the norm Q ( p ) is determined.

mit k = 1 oder k = 2, oder

mit k = 1 oder k = 2, oder

mit k = 1 oder k = 2
hat, ist die dem Fachmann bekannte Methode der kleinsten Fehlerquadrate.A suitable optimization method that can be used, for example, if the standard Q ( p ) form

with k = 1 or k = 2, or

with k = 1 or k = 2, or

with k = 1 or k = 2
has, is known to those skilled method of least squares.

In some cases, for the sake of simplicity, it may be assumed that the relative acceleration a of the target object is constant and / or that the acceleration vector a is parallel to the velocity vector v is. Accordingly, a linear course of the relative velocity v of the target object is then assumed. In this connection, it is possible, for example, to assume that the relative acceleration a = 0 m / s ² . Furthermore, it may be assumed that the relative acceleration a = 0 m / s ² is when the relative velocity v is greater than a predetermined threshold, and that the relative acceleration a ≠ 0 m / s ² is when the relative velocity v is smaller than the predetermined limit.

If the estimated parameter values for the vector p contained parameters, the offset .DELTA.y between the object and the target object via the relationship Δy = r 0 sin (α 0 ) be determined.

bestimmt werden.From the estimated parameter values of the vector p Furthermore, the instantaneous angle α (t) between the relative velocity vectors v of the target object and the relative radial velocity v _{r of} the target object or between the vectors of the relative acceleration a of the target object and the relative Radial acceleration a _{r of} the target object via the relationship

be determined.

It is also possible from the estimated parameter values of the vector p parameters include the relative instantaneous velocity v (t) of the target object via the relationship v (t) = v 0 + at to determine.

Also, the amount of relative instantaneous radial velocity of the target object may be calculated from the estimated parameter values of the vector in the vector p contained parameters about the relationship | v r (T) | = | (V 0 + at) cos (α) | be determined.

When an angle β between a normal of the object and the vector of the target distance r equals the angle α between the relative velocity vectors v of the target object and the relative radial velocity v _{r of} the target object or between the relative acceleration vectors a of the target object and the relative radial acceleration a _{r of} the target object, v _n = v, a _n = a and x = rcos (α) apply to the normal components related to the object. In this case, the time t _{1 of} an eventual collision can be calculated from the estimated parameter values in the vector p contained parameters about the relationship t 1 = - v 0 2 2r 0 acos (α 0 ) | A | - v 0 a be determined. When passing by, t _{1 is} the time point with the smallest target distance in point P.

Furthermore, it can be provided that, using the estimated parameter values, that in the vector p parameters include an error metric ( p ) about the relationship e 1 ( p ) = ∥r k i - f k (p, t i ) ∥, with k = 1 or k = 2, or e 2 ( p ) = ∥v k i - f k (p, t i ) ∥, with k = 1 or k = 2, or e 3 ( p ) = ∥v k i - f k (p, t i , r i ) ∥, with k = 1 or k = 2
is defined. The error measure e ( p ) is provided to make an error estimate for the estimated parameter values and / or for the parameter values derived from the estimated parameter values. The error measure e ( p ) allows, for example, the definition of thresholds, which can be adapted to the respective application. If these threshold values are exceeded or fallen short of, then, for example, the parameter values for individual parameters can be classified as invalid.

Regarding provided in the device according to the invention Medium is advised that this Means by the expert without problems by suitable hardware and software or other circuits can.

drawings

The invention is described below with reference to the associated Drawings explained in more detail.

Figur 1

eine geometrische Darstellung des Objekts und des Zielobjekts; und

Figur 2

eine Darstellung der verschiedenen Parameter.

Show it:

FIG. 1

a geometric representation of the object and the target object; and

FIG. 2

a representation of the various parameters.

Description of the embodiments

FIG. 1 shows an object in the form of a first vehicle total provided with the reference numeral 10. At the first Vehicle 10, a sensor 11 is arranged. The Normal to the front of the first motor vehicle 10th is denoted by 13. A target object in the form of a second Vehicle is generally denoted by the reference numeral 12 Mistake. Overall, FIG. 1 shows the case of a passage, that is, there is no collision. Of the Distance between the first vehicle 10 and the second Vehicle 12 is characterized by a vector r, the front of the first vehicle 10 normal Component is marked with x. Between the vectors r and x an angle β is included. If the second vehicle 12 is at the point P is the Offset between the first vehicle 10 and the second Vehicle 12 Δy, the initial distance between the point P and the second vehicle 12 through the vector z is marked.

Based on the offset Δy can either pass by or an impending collision can be detected. Of the Offset Δy in this case is in the horizontal plane (Azimuth) assumed. It is useful with a small opening angle in the vertical direction (elevation) to eat. For example, if you want the height of the Target object, that is the offset in the vertical direction, determine, so is a small opening angle in Azimuth suitable. In principle, the measurement of the offset also in a horizontal or vertical plane arbitrarily inclined plane with correspondingly flat antenna diagram possible. Measure the offset in two orthogonal planes (e.g., elevation and Azimuth), the target coordinates r are the target coordinates clearly determined in the monitored room.

In Figure 2, some important parameters are given. The Initial position of the first vehicle 10 and the second Vehicle 12 corresponds to that of FIG. 1. In FIG. 2 The vector arrows show the kinematic behavior of the second vehicle 12. In practice, however, move usually both the first vehicle 10 and the second vehicle 12, or the target object is not through a second vehicle, but by a fixed Target object formed. Therefore, here as above spoken of relative sizes.

The vectors v _r and a _r indicate the relative radial velocity and the relative radial acceleration of the second vehicle 12, respectively. The vectors v and a indicate the relative velocity and relative acceleration of the second vehicle 12, wherein an angle α is included between the vectors v _r and v and a _r and a, respectively. The direction perpendicular to the radial components of tangential components of the relative radial velocity v _r respectively of the relative radial acceleration a _r of the second vehicle are V _t or a _t specified, wherein by the vectors v _t and a _t or v and a of the point P defined.

The preceding description of the embodiments in accordance with the present invention is illustrative only Purposes and not for the purpose of limiting the Invention. Within the scope of the invention are various Changes and modifications possible without the scope to leave the invention and its equivalents, the are defined by the following claims.

Claims (16)

1. Method for indication of parameter values which relate to the relative kinematic behaviour of an object (10), in particular of a first vehicle (10), and of a target object (12), in particular of a second vehicle (12), in which case a statement can be made on the basis of the parameter values as to whether the object (10) and the target object (12) are predicted to collide, having the following steps:

   a) provision of a sensor system (11) on the object (10), with the sensor system (11) being provided in order to transmit and to receive signals in order to record measured values r_i, v_r,i for the target object distance r and/or for the relative radial velocity v_r of the target object (12),

   b) recording of measured values r_i, v_r,i, and

   c) evaluation of the recorded measured values r_i, v_r,i on the basis of the signals received by a receiver, characterized in that relative radial velocities v_r,i of the target object (12) are measured at different times t_i in order to record measured values r_i, v_r,i and in that the relative radial velocity v_r of the target object (12) is described using the relationship:

   

   where r₀ is the target object distance in the first measurement, v₀ is the relative initial velocity of the target object (12) in the first measurement, a is the relative acceleration of the target object (12), t is the time and α₀ is the angle between the vectors of the relative velocity v of the target object (12) and the relative radial velocity v_r of the target object (12), or the angle between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a_r of the target object (12) in the first measurement.
2. Method according to Claim 1, characterized in that the parameter values relate to at least one or more of the following parameters: the relative acceleration a of the target object (12), the relative radial acceleration a_r of the target object (12), the relative velocity v of the target object (12), the relative radial velocity v_r of the target object (12), the offset Δy between the object (10) and the target object (12), the angle α between the vectors of the relative velocity v of the target object (12) and the relative radial velocity v_r of the target object (12), or between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a_r of the target object (12).
3. Method according to Claim 1 or Claim 2, characterized in that a vector p which contains at least some of the sought parameters is provided, with the vector p being in the form: p = [a,v0 ,α 0 ] where a is the relative acceleration of the target object (12), v₀ is the relative initial velocity of the target object (12) in the first measurement and α₀ is the angle between the vectors of the relative velocity v of the target object (12) and the relative radial velocity v_r of the target object (12), or the angle between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a_r of the target object (12) in the first measurement.
4. Method according to one of the preceding claims, characterized in that target object distances r_i are measured at different times t_i in the step b), and in that the target object distance r is described by the relationship: r = f( p ,t) = r 0 cos(α 0 ) + v 0 t + at 2 / 2) 2 + (r 0 sin(α 0 )) 2 where r₀ is the target object distance in the first measurement, v₀ is the relative initial velocity of the target object (12) in the first measurement, a is the relative acceleration of the target object (12), t is the time and α₀ is the angle between the vectors of the relative velocity v of the target object (12) and the relative radial velocity v_r of the target object (12), or the angle between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a_r of the target object (12) in the first measurement.
5. Method according to one of the preceding claims, characterized in that target object distances r_i and relative radial velocities v_r,i are measured at different times t_i in step b), and in that the relative radial velocity v_r of the target object (12) is described by the relationship:

   

   where r₀ is the target object distance in the first measurement, v₀ is the relative initial velocity of the target object (12) in the first measurement, a is the relative acceleration of the target object (12), t is the time and α₀ is the angle between the vectors of the relative velocity v of the target object (12) and the relative radial velocity v_r of the target object (12), or the angle between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a_r of the target object (12) in the first measurement.
6. Method according to one of the preceding claims, characterized in that a norm Q( p ) is defined as follows in order to estimate the parameter values: Q( p ) = Q 1 ( p ) = ∥r k i - f k ( p ,t i ),∥ where k = 1 or k = 2, or Q( p ) = Q 2 ( p ) = ∥v k i - f k ( p ,t i ),∥ where k = 1 or k = 2, or Q( p ) = Q 3 ( p ) = ∥v k i -f k ( p ,t i ,r i ),∥ where k = 1 or k = 2.
7. Method according to Claim 3 or one of Claims 4 to 6, to the extent that these are dependent on Claim 3 characterized in that the parameter values for the parameters contained in the vector p are estimated on the basis of the measured values.
8. Method according to Claim 6, characterized in that the parameter values for the parameters contained in the vector p are estimated on the basis of the times t_i and the measured values r_i for the target object distances and/or the measured values v_i for the relative radial velocities using an optimization method, by determining the minimum of the norm Q( p ).
9. Apparatus for emitting parameter values which relate to the relative kinematic behaviour of an object (10), in particular of a first vehicle (10), and of a target object (12), in particular of a second vehicle (12), in which case a statement can be made on the basis of the parameter values as to whether the object (10) and the target object (12) are predicted to collide, having:

   a sensor system (11) which is arranged on the object (10) with the sensor system (11) being provided in order to transmit and to receive signals in order to record measured values r_i, v_r,i for the target object distance r and/or for the relative radial velocity v_r of the target object (12), and

   means for evaluation of the measured values r_i, v_r,i recorded by the sensor system and for emitting parameter values, in which case the evaluation can be carried out on the basis of the signals which are received by only one of the receivers associated with the sensor system (11),

   characterized in that the sensor system (11) records measured values for relative radial velocities v_r,i of the target object (12) at different times t_i, and in that the means describe the relative radial velocity v_r of the target object (12) using the relationship:

   

   where r₀ is the target object distance in the first measurement, v₀ is the relative initial velocity of the target object (12) in the first measurement, a is the relative acceleration of the target object (12), t is the time and α₀ is the angle between the vectors of the relative velocity v of the target object (12) and the relative radial velocity v_r of the target object (12), or the angle between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a_r of the target object (12) in the first measurement.
10. Apparatus according to Claim 9, characterized in that the parameter values relate to at least one or more of the following parameters: the relative acceleration a of the target object (12), the relative radial acceleration a_r of the target object, the relative velocity v of the target object (12), the relative radial velocity v_r of the target object (12), the offset Δy between the object (10) and the target object (12), the angle α between the vectors of the relative velocity v of the target object (12) and the relative radial velocity v_r of the target object (12), or between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a_r of the target object (12).
11. Apparatus according to Claim 9 or Claim 10, characterized in that a vector p which contains at least some of the sought parameters is provided for evaluation of the measured values r_i, v_r,i recorded by the sensor system (11), with the vector p being in the form p = [a,v0 ,α 0 ] where a is the relative acceleration of the target object (12), v₀ is the relative initial velocity of the target object (12) in the first measurement and α₀ is the angle between the vectors of the relative velocity v of the target object (12) and the relative radial velocity v_r of the target object (12), or the angle between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a_r of the target object (12) in the first measurement.
12. Apparatus according to one of Claims 9 to 11, characterized in that the sensor system (11) records measured values for target object distances r_i at different times t_i, and in that the means describe the target object distance r using the relationship: r = f( p ,t) = r 0 cos(α 0 ) + v 0 t + at 2 /2) 2 + (r 0 sin(α 0 )) 2 where r₀ is the target object distance in the first measurement, v₀ is the relative initial velocity of the target object (12) in the first measurement, a is the relative acceleration of the target object (12), t is the time and α₀ is the angle between the vectors of the relative velocity v of the target object (12) and the relative radial velocity V_r of the target object (12), or the angle between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a_r of the target object (12) in the first measurement.
13. Apparatus according to one of Claims 9 to 12, characterized in that the sensor system (11) records measured values for target object distances r_i and measured values for relative radial velocities v_r,i at different times t_i, and in that the means describe the relative radial velocity v_r of the target object (12) using the relationship:

    

    where r₀ is the target object distance in the first measurement, v₀ is the relative initial velocity of the target object (12) in the first measurement, a is the relative acceleration of the target object (12), t is the time and α₀ is the angle between the vectors of the relative velocity v of the target object (12) and the relative radial velocity v_r of the target object (12), or the angle between the vectors of the relative acceleration a of the target object (12) and the relative radial acceleration a_r of the target object (12) in the first measurement.
14. Apparatus according to one of Claims 9 to 13, characterized in that the means for estimation of the parameter values define a norm Q( p ): Q( p ) = Q 1 ( p ) = ∥r k i - f k ( p ,t i ),∥ where k = 1 or k = 2, or Q( p ) = Q 2 ( p ) = ∥v k i -f k ( p ,t i ),∥ where k = 1 or k = 2, or Q( p ) = Q 3 ( p ) = ∥v k i -f k ( p ,t i ,r i ),∥ where k = 1 or k = 2.
15. Apparatus according to Claim 11, characterized in that the means estimate the parameter values for the parameters contained in the vector p on the basis of the measured values.
16. Apparatus according to Claim 14, characterized in that the means estimate the parameter values for the parameters contained in the vector p on the basis of the times t_i and the measured values r_i for the target object distances and/or the measured values v_i for the relative radial velocities using an optimization method, by determining the minimum of the norm Q( p ).

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