Method and device for evaluating signals or data of an object detection system

• US 20060064206A1
• Filed: 10/16/2003
• Published: 03/23/2006
• Est. Priority Date: 12/20/2002
• Status: Abandoned Application

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Zimmermann, Uwe, Merkel, Rudolf, Uhler, Werner, Pruksch, Achim
• Application Number:
  US10/532,694
• Publication Number:
  US 20060064206A1
• Time in Patent Office: Days
• US Class Current: 701/1
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: G01S 13/10 using transmission of interrupted, pulse modulated waves determination of distance by phase measurement G01S13/32
• CPC Class Codes: G01S 13/581 using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations

Abstract

A system for detecting objects, in particular for a motor vehicle, is proposed in which, with a radar sensor, the radar signals reflected by the object are processed for ascertaining the distance (d) and/or the relative or approach speed (Cv) of the object. The digital signals from at least one channel (I, Q) of the radar sensor are processed until a first evaluation capability is obtained as a distance signal (d) or as an approach speed signal (Cv), with which it is defined which data are ascertained and will be made available to an interface (6) between the radar sensor and a downstream control unit (7).

Claims

1. A method for evaluating the data from a system for detecting objects, in particular for a motor vehicle, in which

with a radar sensor, the radar signals reflected from the object are processed to ascertain the distance (d) and/or the relative or approach speed (Cv) of the object, characterized in that

the digital signals of at least one channel (I, Q) of the radar sensor are processed until a first evaluation capability is obtained as a distance signal (d) or as an approach speed signal (Cv);

and that

a mode switchover (4) for the evaluation as a distance signal (d) as an approach speed signal (Cv) is effected, with which it is defined which data will be ascertained and made available to an interface (6) between the radar sensor and a downstream control unit (7);

2. The method as recited in claim 1, characterized in that

the digital signals from at least one channel (I, Q) of the radar sensor, after each sampling operation, are delivered to a data buffer with a predetermined slot width and then, within the slot width, are processed (1, 2) by means of a median filtration operation;

and that

the thus-processed signals are further processed jointly in the following evaluation modes (3, 5, 6).

3. The method as recited in claim 1, characterized in that

within a first evaluation mode for distance measurement (d), the digital signals are subjected to a background correction and after that a rationalization of the signal to be evaluated is performed (3).

4. The method as recited in claim 3, characterized in that

the digital signals are processed (3) with a matching filter.

5. The method as recited in claim 3, characterized in that

within a second evaluation mode for measuring the approach speed (Cv) of the object, the background correction and the rationalization are skipped.

6. The method as recited in claim 1, characterized in that

when there is more than one channel (I, Q) in the radar sensor, a gain compensation (3, 4) is performed at different levels of the channels (I, Q).

7. The method as recited in claim 1, characterized in that

the signals processed in the evaluation modes are subjected to a data compression (5).

8. A circuit arrangement for performing the method as recited in claim 1, characterized in that

in the radar sensor, there are storage means and computation modules for performing and switching over the evaluation modes;

and that

in the radar sensor, there is an interface controller (6), by which the radar sensor can be connected to a downstream control unit (7).

9. The circuit arrangement as recited in claim 8, characterized in that

the interface controller (6) is constructed such that the data are prepared for connection to a standardized bus system (CAN bus).

10. A data processing program for performing the method as recited in claim 1 and/or for controlling the storage means and/or the digital computation modules.