METHOD FOR DETECTING ICING AT AN ANGLE-RESOLVING RADAR SENSOR IN A DRIVER ASSISTANCE SYSTEM FOR MOTOR VEHICLES
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Abstract
A method for detecting icing at an angle-resolving radar sensor in a driver assistance system for motor vehicles, in which signals of a plurality of antenna elements each having a specific angle characteristic are compared with the corresponding angle characteristics, and the azimuth angle of a located object is determined on the basis of an angle fit quality which indicates how well the signals of the antenna elements correspond to the angle characteristics for a given azimuth angle, wherein an indicator for icing is formed which is a monotonically falling function of the angle fit qualities of the located objects, with objects having a low signal-to-noise ratio being included in the indicator at the most with a reduced weighting.
11 Citations
19 Claims
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1-9. -9. (canceled)
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10. A method for detecting icing at an angle-resolving radar sensor in a driver assistance system for a motor vehicle, in which signals of a plurality of antenna elements each having a specific angle characteristic are compared with corresponding angle characteristics, and an azimuth angle of a located object is determined based on an angle fit quality which indicates how well the signals of the antenna elements correspond to angle characteristics for a given azimuth angle, the method comprising:
forming an indicator for icing which is a monotonically falling function of angle fit qualities of located objects, an object having a low signal-to-noise ratio being included in the indicator at most with a reduced weighting. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A driver assistance system for motor vehicles, comprising:
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an angle-resolving radar sensor; and an evaluation system connected downstream of the radar sensor, the evaluation system configured for detecting icing at an angle-resolving radar sensor in the driver assistance system in which signals of a plurality of antenna elements each having a specific angle characteristic are compared with corresponding angle characteristics, and an azimuth angle of a located object is determined based on an angle fit quality which indicates how well the signals of the antenna elements correspond to angle characteristics for a given azimuth angle, the evaluation system configured to form an indicator for icing which is a monotonically falling function of angle fit qualities of located objects, an object having a low signal-to-noise ratio being included in the indicator at most with a reduced weighting.
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19. A storage medium storing a computer code for driver assistance systems for motor vehicles having an angle-resolving radar sensor, the program code, when executed by a driver assistance system, causing the system to perform a method for detecting icing at an angle-resolving radar sensor in the driver assistance system, in which signals of a plurality of antenna elements each having a specific angle characteristic are compared with corresponding angle characteristics, and an azimuth angle of a located object is determined based on an angle fit quality which indicates how well the signals of the antenna elements correspond to angle characteristics for a given azimuth angle, the method comprising:
forming an indicator for icing which is a monotonically falling function of angle fit qualities of located objects, an object having a low signal-to-noise ratio being included in the indicator at most with a reduced weighting.
Specification