Method for processing radar signals

• US 6,266,005 B1
• Filed: 12/08/1999
• Issued: 07/24/2001
• Est. Priority Date: 01/17/1998
• Status: Expired due to Term

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler Chrysler Company LLC (Stellantis NV)
• Inventors: Schneider, Robert
• Primary Examiner(s): Gregory, Bernarr E.
• Application Number:
  US09/381,238
• Time in Patent Office: 594 Days
• Field of Search: 342/25, 342/118, 342/120-127, 342/450, 342/462, 342/61, 342/70-72, 342/156, 342/417-424, 342/175, 342/189-197
• US Class Current: 342/123
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/46 Indirect determination of position data
• CPC Class Codes: G01S 13/882 for altimeters measuring height using barometric means G01C5/06
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/462 using multipath signals
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles

Abstract

For a radar device arranged above a reflecting surface, a method is suggested for estimating the height of an object above the surface. This method does not require a refined angle resolution for the radar antenna and is based solely on the processing of signals. The invention makes use of the appearance of an interference pattern for the radiation field of the radar antenna, which normally is viewed as a disadvantage, by evaluating the intensity modulation of a signal received from an object moving in radial direction to the radar device within the surveillance range. Together with the measured distance to the object, this is used to estimate a value for the height of the object above the road surface.

Claims

1. A radar signal processing method for estimating a height of an object above a reflecting surface, wherein:

a) a change over time in a distance between the object and radar device is determined;

b) an intensity modulation of a received signal is measured; and

c) information on an object height above the reflecting surface is derived from a course of the intensity modulation over an object distance.

2. A method according to claim 1, wherein the object height is estimated on a basis of a calculation rule.

3. A method according to claim 1, wherein the object height is estimated on a basis of a stored cross-referencing table.

4. A method according to claim 1, wherein a cycle length of the intensity modulation is determined as a parameter for the course of the intensity modulation over the object distance.

5. A method according to claim 4, wherein the course of the intensity modulation over the object distance or variables derived thereof are used as input variables for an object classification.

6. A method according to claim 5, wherein the course of the intensity modulation over the distance or variables derived thereof are linked to a modulation pattern, which is based on an interference of signal shares from a direct signal path between object and radar device and one that is reflected at a plane surface.

7. A method according to claim 5, wherein an explicit height is not determined, but only information on falling below a critical minimum height or exceeding a critical maximum height.

8. A method according to claim 1, wherein an explicit height is not determined, but only information on falling below a critical minimum height or exceeding a critical maximum height.

9. A method according to claim 1, wherein the course of the intensity modulation over the object distance or variables derived thereof are used as input variables for an object classification.

10. A method according to claim 9, wherein the course of the intensity modulation over the distance or variables derived thereof are linked to a modulation pattern, which is based on the interference of signal shares from a direct signal path between object and radar device and one that is reflected at a plane surface.

11. A method according to claim 10, wherein an explicit height is not determined, but only information on falling below a critical minimum height or exceeding a critical maximum height.

12. A method according to claim 9, wherein an explicit height is not determined, but only information on falling below a critical minimum height or exceeding a critical maximum height.