Method for detecting icing at an angle-resolving radar sensor in a driver assistance system for motor vehicles

• US 8,803,726 B2
• Filed: 12/28/2009
• Issued: 08/12/2014
• Est. Priority Date: 02/27/2009
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Heilmann, Stefan, Gross, Volker, Kuehnle, Goetz, Bechler, Dirk
• Primary Examiner(s): Sotomayor, John B
• Application Number:
  US13/202,947
• Publication Number:
  US 20120049860A1
• Time in Patent Office: 1,688 Days
• Field of Search: 342/26.R, 342/26.D, 342/27, 342 70- 72, 342/90, 340/580
• US Class Current: 342/26.R
• CPC Class Codes: G01S 13/424 Stacked beam radar
• CPC Class Codes: G01S 13/56 for presence detection presence detection using near field arrangements G01V3/00, e.g. G01V3/08, G01V3/12; burglar, theft or intruder alarms with electrical actuation G08B13/22 - G08B13/26
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 13/951 ground based
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 7/4039 of sensor or antenna obstruction, e.g. dirt- or ice-coating
• CPC Class Codes: G01S 7/412 based on a comparison between measured values and known or stored values

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.

Claims

1. 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.

2. The method as recited in claim 1, wherein only objects whose signal-to-noise ratio is above a certain threshold value are included in the indicator.

3. The method as recited in claim 1, wherein the signals of the antenna elements are examined to ascertain whether the signals represent objects or ensembles of objects to which it is not possible to assign a unique azimuth angle, and such objects or ensembles remain unconsidered in the forming of the indicator.

4. The method as recited in claim 3, wherein peaks occurring in a spectra of the signals of the antenna elements are examined to ascertain whether the peaks have a shape that is characteristic of individual peaks.

5. The method as recited in claim 4, wherein the method is used for driver assistance systems having an FMCW radar as the radar sensor.

6. The method as recited in claim 4, wherein the spectra of the signals of the plurality of antenna elements are each examined for differing modulation ramps, and peaks in the spectra obtained for a plurality of modulation ramps are identified with objects on the basis of combinations of distances and relative speeds corresponding thereto, with overlapping of individual peaks being detected and eliminated in the forming of the indicator.

7. The method as recited in claim 6, wherein time progression of distances and relative speeds of the located objects is tracked and, situations in which signals of two or more objects are temporarily indistinguishable are detected, and the signals of those objects remain unconsidered in the forming of the indicator.

8. The method as recited in claim 7, wherein, for a located object, an angle fit quality for a plurality of possible azimuth angles of that object is determined and that object is considered in the forming of the indicator only if the angle fit quality as a function of the azimuth angle has a clear maximum.

9. A driver assistance system for motor vehicles, comprising:

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.

10. 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.