Granted Patent B2

US 12,455,366 · App. 18/055,258 · Granted Oct 28, 2025

Inventors: Arthur Hipke (Leonberg, DE); Benedikt Loesch (Stuttgart, DE)

Assignee: ROBERT BOSCH GMBH

G01S13/584G01S13/34G01S13/931

Abstract

Claims (24)

1. A method for determining a relative velocity of a radar target, the method comprising:

(a) carrying out an FMCW radar measurement in which a ramp-shaped frequency-modulated transmit signal is sent whose modulation pattern includes a first sequence of ramps succeeding one another offset by a time interval, and at least one further sequence of ramps succeeding one another offset by the time interval, the first and the at least one further sequences being temporally interleaved;

(b) mixing down received signals to baseband signals, and, from the baseband signals, calculating a two-dimensional spectrum separately for each of the first and at least one further sequences by two-dimensional Fourier transformation, transformation taking place ramp for ramp in a first dimension, and transformation taking place via a ramp index in s second dimension,

(c) based on positions of a peak in at least two of the two-dimensional spectra of the baseband signals, determining a value for the relative velocity of a radar target;

wherein each spectra of the two-dimensional spectra formed for the first and the at least one further sequences is transformed by multiplication with a beamforming function that is a function of a velocity variable and of a time offset of the first and the at least one further associated sequences to the first of the sequences, and the relative velocity of the radar target is determined based on a coherent sum of the transformed spectra.

2. The method as recited in claim 1 , wherein the beamforming function is formed according to a delay-and-sum method.

3. The method as recited in claim 1 , wherein the beamforming function is formed according to a minimum variance distortionless response (MVDR) method.

4. The method as recited in claim 1 , wherein, for radar sensors having a plurality of transmit antennas and/or a plurality of receive antennas, after the coherent summation of the transformed spectra, a non-coherent or coherent summation via the transmit and/or receive antennas takes place, and a detection of individual radar targets takes place based on a result of the non-coherent or coherent summation.

5. The method as recited in claim 1 , wherein the time interval with which the ramps of an individual sequence of the first and the at least one further sequences succeed one another is selected such that an undersampling takes place in the second dimension, and in which the resolution of resulting ambiguities takes place based on the transformed spectra.

6. The method as recited in claim 1 , wherein, for a radar sensor that moves with an own velocity relative to its environment, the beamforming function is selected such that sensitivity of the radar sensor is reduced for targets whose relative velocity is opposite and equal to the own velocity of the sensor.

7. The method as recited in claim 1 , wherein the beamforming function is selected such that sensitivity of the radar sensor is increased for targets that have a relative velocity zero.

8. A method for determining a relative velocity of a radar target, the method comprising:

(a) carrying out an FMCW radar measurement in which a ramp-shaped frequency-modulated transmit signal is sent whose modulation pattern includes a first sequence of ramps succeeding one another offset by a time interval, and at least one further sequence of ramps succeeding one another offset by the time interval, the first and the at least one further sequences being temporally interleaved;

(b) mixing down received signals to baseband signals, and, from the baseband signals, calculating a two-dimensional spectrum separately for each of the first and at least one further sequences by two-dimensional Fourier transformation, transformation taking place ramp for ramp in a first dimension, and transformation taking place via a ramp index in s second dimension,

(c) based on positions of a peak in at least two of the two-dimensional spectra of the baseband signals, determining a value for the relative velocity of a radar target;

wherein each spectra of the two-dimensional spectra formed for the first and the at least one further sequences is transformed by multiplication with a beamforming function that is a function of a velocity variable and of a time offset of the first and the at least one further associated sequences to the first of the sequences, and the relative velocity of the radar target is determined based on a coherent sum of the transformed spectra,

wherein the time interval with which the ramps of an individual sequence of the first and the at least one further sequences succeed one another is selected such that an undersampling takes place in the second dimension, and in which the resolution of resulting ambiguities takes place based on the transformed spectra,

wherein, a distinction is made between single-target scenarios and multiple-target scenarios based on comparison of spectral power in the transformed and non-transformed spectra.

9. An FMCW radar sensor, comprising:

a control and evaluator configured to determining a relative velocity of a radar target, the control and evaluator configured to:

(a) carry out an FMCW radar measurement in which a ramp-shaped frequency-modulated transmit signal is sent whose modulation pattern includes a first sequence of ramps succeeding one another offset by a time interval, and at least one further sequence of ramps succeeding one another offset by the time interval, the first and the at least one further sequences being temporally interleaved;

(b) receive the signals converted to baseband signals, via a mixer, and, from the baseband signals, calculate a two-dimensional spectrum separately for each of the first and at least one further sequences by two-dimensional Fourier transformation, transformation taking place ramp for ramp in a first dimension, and transformation taking place via a ramp index in s second dimension,

(c) based on positions of a peak in at least two of the two-dimensional spectra of the baseband signals, determine a value for the relative velocity of a radar target;

wherein each spectra of the two-dimensional spectra formed for the first and the at least one further sequences is transformed by multiplication with a beamforming function that is a function of a velocity variable and of a time offset of the first and the at least one further associated sequences to the first of the sequences, and the relative velocity of the radar target is determined based on a coherent sum of the transformed spectra.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (31)