Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
  • G01S13/50—Systems of measurement based on relative movement of target
  • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
  • G01S13/589—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/66—Radar-tracking systems; Analogous systems
  • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
  • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
  • G01S13/726—Multiple target tracking
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
  • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
  • G01S7/28—Details of pulse systems
  • G01S7/285—Receivers
  • G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
  • G01S7/2955—Means for determining the position of the radar coordinate system for evaluating the position data of the target in another coordinate system
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9327—Sensor installation details
  • G01S2013/93271—Sensor installation details in the front of the vehicles
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9327—Sensor installation details
  • G01S2013/93272—Sensor installation details in the back of the vehicles
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9327—Sensor installation details
  • G01S2013/93273—Sensor installation details on the top of the vehicles

Definitions

• the present invention relates to an apparatus and a method for detecting an object.
• the present invention relates to an initial estimate of a direction of travel of a detected object.
• Modern vehicles increasingly have a variety of syste men who support a driver while driving his vehicle zen or possibly a completely autonomous driving ⁇ he possible. For this it is necessary, inter alia, to detect objects, in particular other vehicles, in the environment of the own vehicle. In addition to the pure detection of objects in the vehicle environment, moreover, a direction of movement of such detected objects relative to the own vehicle is of great interest. Radar sensors are also used to detect objects in the vehicle environment.
• an object is first detected by means of such a radar sensor, as is the determination of the direction of motion of such first time the detected object is a major Her ⁇ lenge. Since, in an initial detection of a new object no information on the history of the Ob ⁇ jekts, in particular over previous positions , are known, the direction of movement of such an object must first be estimated ge.
• One possible approach here is to first assign a fixed predetermined initial direction of movement to all newly detected objects. However, this initial direction of motion may differ from the actual direction of movement of the detected object. At a Such a discrepancy, the direction of movement of the detected object can be successively corrected over time and so approaches the actual direction of movement. However, until the calculated direction of movement coincides with the actual direction of movement, a more or less long time can pass while there is a discrepancy between the calculated and the actual direction of movement.
• the present invention according to a first aspect provides an apparatus for detecting an object having the features of independent claim 1. According to a further aspect, the present invention provides a method for detecting an object. ren for detecting an object with the features of claim 8.
• An apparatus for detecting an object with a detection device, a memory and a computing device The detection device is designed to detect an object in a detection area of the detector device and to determine a position of the detected object in the detection area.
• the memory is designed to store information about a position in the detection area and a direction of movement corresponding to this position of previously detected objects.
• the computing device is designed to calculate an initial direction of movement of the object detected by the detection device. The initial direction of movement of the detected object is calculated using the information stored in the memory.
• a driver assistance system having a device according to the invention for detecting an object.
• a method for detecting an object comprising the steps of providing information about a position and a corresponding direction of movement of a previously detected object in a detection area of a detection device, and detecting another object in the detection area of the detection device.
• the procedure further comprises the steps of determining a position of the detected further object in the detection area of the detection device and determining a direction of movement of a previously detected object at the determined position of the detected further object based on the information provided about the position and the position corresponding to this position stored movement direction of previously detected objects.
• the method comprises a step for assigning an initial direction of movement to the detected further object using the direction of movement of a previously detected object at the determined position.
• the present invention is based on the realization that objects have at the same position of a detection area having a high probability of a same or at least similar ⁇ direction of movement.
• the present invention is based on the idea to take this knowledge into account and to specify objects at the same positions of a detection area as an initial movement direction ⁇ a direction of movement, as has been determined for previously detected objects at this position.
• an initial movement direction ⁇ a direction of movement By storing and providing directions of movement of previously detected objects as a function of a position in the detection area of a detection device, newly detected objects can thus be given an improved initial direction of movement.
• the discrepancy between the initial ones decreases Direction of movement and the actual direction of movement of a newly detected object.
• the reliabil ⁇ stechnik By improved initial direction of motion of a newly detected object the reliabil ⁇ stechnik the direction of movement of a detected object is thus increased from the outset.
• the calculated direction of movement of a Detek ⁇ oriented object balances it much faster to the actual direction of movement of the object.
• further processing systems such as a driver assistance system can process the information provided the detected object faster than reliable, accurate information.
• the risk of a false reaction of a processed system, such as a false alarm or a faulty control, etc. can thus be reduced.
• the detector device comprises a radar sensor.
• the initial motion estimation of newly detected objects is a major challenge.
• the improved BEWE ⁇ supply estimate for newly detected objects thus the reliability and accuracy of the information can be increased by newly detected objects especially with radar sensors.
• the device for detecting an object comprises a processing device.
• the processing means is adapted to determine, based on he ⁇ mediated positions of a detected object a movement path through the detection area of the detector device. Using the movement path in the detection area of the detector device, a Movement direction of the object to be calculated.
• the ⁇ calculate te direction of movement of the object through the detection region of the detector means may then be stored in the memory. In this way, the information about the relationship between position and movement direction can be trained within the detection range of the detector device in the device for detecting an object.
• the information stored in the memory are thus always up to date and can be adjusted in a timely manner in each case to changing ambient conditions ⁇ .
• the previously stored information can be overwritten.
• a mean value of a plurality of previously stored relationships between position and movement direction and, for example, to include an average of a predetermined number of previously calculated directions of movement for a respective position.
• the stored information is valid for a predetermined period of time. Upon expiration of the predetermined period of time, this information can be invalid angese ⁇ hen and will not be considered in the initial determination of a direction of movement.
• the processing means is adapted to calculate the movement path by means of inter polation ⁇ between an entry point of the detected object in the detection area and an exit point of the detected object from the detection range. For example, between the entry point and the entry point are assumed from ⁇ a linear movement of the detected object. Additional detected positions of an object or also a determination of the movement path are based Moreover, other detected positions of the object are also possible. In addition, more complex interpolations based on quadratic terms or higher-order terms are also possible. In this way, a simple, reliable determination of movement ⁇ directions of the detected objects are made possible.
• the information stored in the memory about the direction of movement of a previously detected object is adjusted using a proper movement of the device for detecting an object.
• the proper motion of the device for detecting an object can be determined by means of any suitable sensors and / or using data from other systems, such as a driver assistance system.
• the adjustment of the stored movement direction can be done regularly, especially continuously.
• the processing device calculates a respective direction of movement for a plurality of positions in the detection area of the detector device.
• the discrete position processing means may calculate a direction of movement within the detection area.
• the memory of the device for detecting an object is designed to store the information about the position and the corresponding direction of movement for cells or grid points of a predetermined grid within the detection range of the detector device.
• the step of providing information about a position and a corresponding moving means of the process for dismantling tetation of an object further includes the steps of determining ei ⁇ nes movement path of the previously detected object through the detection region of the detector means and calculating a movement direction of the previously detected object at a position in the detection range of the detector device.
• the movement path between an entry point of the detected Whether ⁇ jekts in the detection area and an exit point of the detected object from the detection range of the detector means is interpolated in the step of determining the movement path of the previously detected object through the detection region of the detector means. Moreover, interpolation based on alternative and / or additional detected positions is also possible.
• the step of calculating a moving direction of the previously detected object calculates the moving direction for a plurality of discrete positions of the detecting area.
• the discrete positions may lie on a predetermined grid of the detection area.
• the step of calculating a direction of movement of the previously detected object calculates the direction of movement from directions of movement of a plurality of previously detected objects.
• a plurality of previously detected objects are taken into account, each of which is at the same corresponding position. tion of the detection area of the detector device have been detected.
• the direction of movement of the previously detected object is adjusted using a determined proper motion.
• the natural movement of the system, wel ⁇ che carries out the process of the invention, in particular the detector device used in this case, other systems may be determined by any sensor or using motion data.
• the adaptation of the movement ⁇ direction of previously determined objects can be done regularly, especially continuously.
• FIG. 1 shows a schematic illustration of an apparatus for detecting an object according to an embodiment
• FIG. 2 a schematic representation of motion estimation
• FIG. 3 shows a schematic illustration of motion estimation according to an embodiment
• Figure 4 is a schematic representation as Be ⁇ riding provide information about the position and direction of movement according to one embodiment is based on the; a schematic representation of a revieweddia ⁇ gram, as it is based on a method for detecting an object according to an embodiment.
• FIG. 1 shows a schematic representation of a device 1 for detecting an object 2 according to an embodiment.
• the device 1 for detecting an object 2 comprises a detection device 10, a memory 11 and a computing device 12.
• the device 1 for detecting an object 2 may also comprise a processing device 13.
• the detection device 10 of the device 1 for detecting an object 2 may comprise, for example, a radar sensor.
• any further sensor devices for the detection of an object, in particular for the detection of an object in the environment of the device 1 are conceivable.
• the detection device 10 can be an object 2 Detect in a predefined area around the device 1 around. This detection region (indicated by the dashed lines) may comprise for example a specified differently surrounded angular range in the horizontal and / or vertical direction.
• the detection device 10 can for example detect a pre give ⁇ NEN angle range in front of or behind the vehicle and in this predetermined angular range objects such as other cars or other mobile or fixed Detect objects.
• the detection means 10 detects the whole surrounding area monitored by the device 1 so around 360 ° and objects in the entire peripheral region around the device 1 around.
• the Detektionsein ⁇ device 10 may also include a plurality of sensors for monitoring the environment.
• the detection range can be limited, for example, to a predetermined distance from the device 1, in particular to a predetermined distance from the detection device 10.
• the Detekti ⁇ ons shark 10 can detect objects 2 to a distance of 10, 50, 100 meters or any other predetermined distance.
• the distance can be detected in the 2 objects is variable or is at ⁇ fittable.
• the detection device 10 may determine the particular Po ⁇ sition of the detected object 2 in relation to the Detekti ⁇ ons stimulate 10th This determination of the position of the detected object can include, for example, a win ⁇ kelposition in azimuth and elevation. representation In addition, the determination of the position can also include the determination of the distance between detection device 10 and object 2.
• the determination of the position can also take place only in one plane, wherein, for example, the determination of the elevation angle is not included in the determination of the position. If necessary, the determined position in azimuth / elevation angle and distance can also be transformed into a two- or three-dimensional Cartesian coordinate system or into any other coordinate system.
• the exact position of the detected object 2 can first be determined by the detection device 10. There are, however, upon initial detection of a new object 2 usually initially have no Informatio ⁇ NEN about the direction before, in which the detected object 2 moves in relation to the device. 1
• the newly detected object 2 can be assigned an initial direction of movement which results from one or more directions of movement of objects which were previously detected at the location of the detection area. where the newly detected Whether ⁇ ject 2 was detected.
• information about the position and corresponding movement direction of previously detected objects can be stored and provided in a memory 11. This information about position and corresponding movement direction can be determined for example from the directions of movement of previously detected objects and stored in the memory 11. This will be explained in more detail below.
• a computing device 12 can thus read from the memory 11 information about directions of movement of the previously detected objects.
• the computing device 12 can read a corresponding direction of movement of previously detected objects from the memory 11, in particular for the position at which a new object 2 has been detected by the detection device 10. This movement direction of previously detected objects can then be assigned to a newly detected object 2 as the initial direction of movement.
• Figure 2 shows a schematic diagram of a motion estimation ⁇ at which a newly detected car 4 is first pointed in a conventional manner an initial movement towards ⁇ without accordance with the invention include the direction of movement ⁇ processing of previously detected objects.
• a detection device 1 of an object 2 in the vehicle 3 a further object, such as the vehicle 4, so this newly detected driving ⁇ convincing 4 is first assigned an arbitrary, fixed moving direction 41st
• ⁇ 41 is a standard assumption.
• a direction of movement in the direction of the own vehicle 3 could be assumed.
• the estimated course of motion 42 of the detected object 4 approaches the actual course of motion 43.
• Figure 3 shows a schematic representation of a BEWE ⁇ supply estimation according to an embodiment of the present invention.
• a further object such as the vehicle 4
• the movement direction 41a which corresponds to a direction of movement of objects
• the vehicle 4 can then be assigned to the newly detected vehicle 4 as the initial direction of movement corresponds, which have been previously detected at this position.
• a direction of movement of vehicles is already known from these vehicles. Therefore, upon initial detection, the vehicle 4 can already be assigned an initial direction of movement 41 a, which corresponds to the actual direction of movement 43.
• Figure 4 shows a schematic representation, as is loading ⁇ humor of movement directions according to one embodiment is based.
• the Detektionsbe ⁇ rich of the detection device can be discretized 10th
• the detection range of the detection ⁇ device can be divided into a grid 10th
• the thus resulting grid may in this case have correspondingly the Detektionsbe ⁇ reaching the detection device 10, of any configuration.
• the detection range of the detector device 10 are divided into a grid having a predetermined number of rows and a predetermined number of columns. If an object 2 in the detection area of the detection Gate device 10 detected, the movement of this de ⁇ tekt striving over the entire period in which the object in the detection range of the detection device
• the movement path 51 of the detected object 2 can be determined in the detection area.
• an interpolation of the movement of the object 2 in the detection area can take place.
• the motion between an entry point of the Ob ⁇ jekts 2 in the detection area and an exit point may be interpolated from the detection range.
• a determination of the movement path by means of alternative and / or additional detected positions of an object is possible. In the simplest case, this can be done a linear interpolation 52 between two points.
• any more complex interpolations, in particular in ⁇ terpolations with higher exponential coefficients are conceivable.
• a movement direction 53 can be assigned to each cell of the detection area of the detection device 10, through which the detected object 2 has moved, based on the movement thus interpolated, or also from the actually detected movement course, as in the partial image
• each cell through which the detected object 2 has moved through can be assigned the same direction of movement.
• ⁇ jekts 2 is also a movement pattern of the apparatus 1 for detecting an object and in particular a motion ⁇ extending the detection means 10 of the device 1 can be taken into account.
• the eastsver ⁇ running of the detected object 2 can be determined as an absolute movement path in the vicinity of the device 1 for the detection of an object.
• the course of movement of the device 1 for the detection of an object can be detected by means of any suitable sensors. In particular, sensors already used elsewhere can also provide data on the course of movement of the device 1 for the detection of an object, which can be used to evaluate the course of the movement.
• the device 1 for detecting an object for example, in a vehicle in tegriert ⁇ so, information about the movement pattern, for example, of components of a driver assistance ⁇ tems or provided like.
• the information about the path of movement of the device 1 for the detection of an object can in this case comprise both components of a translational movement, such as a forward or reverse ⁇ downward movement and / or lateral movement and a rotational movement (rotational movement).
• the determined direction of movement of the object 2 with respect to the device 1 for detecting an object can be compensated using the proper movements of the device 1 for detecting an object.
• the independent movement of the device 1 calculated for detecting an object from the determined direction of movement of the object 2 can be subtracted at ⁇ play.
• the absolute movement of the detected object 2 in the environment can be determined.
• the thus determined compensated Be ⁇ movement of the detected object 2 can then be used for further processing.
• the compensated movement are stored in the memory 11.
• the direction of movement of the object 2 stored in the memory 11 is regularly, in particular continuously compensated or updated, using the determined proper motion of the device 1 for detecting an object.
• each cell which is assigned a direction of movement, for example, be assigned the direction of movement in angular degree or degree of arc.
• the direction of movement in a range between 0 and 180 degrees as the direction of movement can be saved ⁇ chert.
• Zvi ⁇ rule objects is possible, the processing to the Detektionseinrich- 10 to move and objects that device from the detection 10 move away.
• a storage of the unique direction of movement in a full circle between 0 and 360 ° is possible.
• a mean value can be determined from a predetermined number of previously stored movement direction values and this mean value is newly detected Object assigned as initial direction of movement.
• assign a determined time stamp to the determined values for the direction of movement. In this case, the validity for a value of a movement direction of previously determined directions of movement can be discarded after a predetermined time, so that possibly obsolete determinations for a movement direction are not used as a basis for the assignment of new directions of movement.
• one or more cells in the detection range of the detector device 10 based on detected objects 2 has been assigned a direction of movement, can then in the detection of another, new object 2 in the detection range of the detection device 10 to simple as an initial BEWE ⁇ supply direction are allocated, as shown for example in sub-image IV.
• a direction of movement 54 is read out from the previously determined and stored ge ⁇ directions of movement corresponding to the movement direction at the position at which the new object 2 is detected.
• the ⁇ se movement direction for the position of the newly detected object 2 is then assigned to the newly detected object 2 as an initial direction of movement.
• FIG. 5 shows a schematic representation of a worndia ⁇ gram for a method for detecting an object, as it is based on an embodiment.
• step S1 information about a position and a direction of movement corresponding to this position are first provided by a previously detected object in a detection area of a detection device 10. This can be done, for example, as already described above.
• a movement path of a previously detected object by the detection range of the detection device 10 are determined.
• a moving direction of such a previously detected object at a position in the detection area of the detecting means can be calculated.
• the movement path can be calculated based on an entry point of the detected object in the detection area and an exit point of the detected object from the Detektionsbe ⁇ rich.
• a calculation of the motion ⁇ path based on additional or alternative detected positions of an object is possible. For this purpose, at ⁇ play, a linear interpolation is possible.
• the calculation of the direction of movement of a previously detected object can be calculated in particular for a plurality of discrete positions within a predetermined grid in the Detekti ⁇ ons Berlin.
• the calculation of the direction of movement can also be calculated based on a plurality of previously detected objects.
• the inventive method further comprises a
• step S3 a position of the detected further object in the detection area of the detector device 10 is determined.
• step S4 a moving direction of a previously detected object at the determined position of the detected further object 2 can be determined on the tripodge ⁇ provided information based.
• step S5 a movement direction can then be assigned to the detected further object in step S5.
• the assignment of the movement direction can be done using the directions of movement of previously detected objects at the position determined.
• the present invention relates to an improved loading ⁇ humor initial direction of movement of sensor-detected objects.
• the directions of movement of sensory objects are determined and stored. Based on these stored directions of motion ⁇ detected objects to a newly detected object can be assigned in a simple manner an initial motion ⁇ direction corresponding to a direction of movement of a previously detected object at the same location.

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

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• 2016
  • 2016-03-14 DE DE102016204113.4A patent/DE102016204113A1/de not_active Withdrawn
• 2017
  • 2017-02-14 JP JP2018541676A patent/JP6898935B2/ja active Active
  • 2017-02-14 DE DE112017000197.8T patent/DE112017000197A5/de active Pending
  • 2017-02-14 WO PCT/DE2017/200017 patent/WO2017157393A1/de active Application Filing
  • 2017-02-14 EP EP17711085.5A patent/EP3430421A1/de not_active Withdrawn
  • 2017-02-14 US US16/084,661 patent/US11703584B2/en active Active

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