Method for determining an ego-velocity estimated value and an angle estimated value of targets

US11971472B2 · kind B2 · utility

Assignee

• Robert Bosch GmbH · DE

Inventors

• Gor Hakobyan · Stuttgart, DE
• Johannes Fink · Bergheim, DE

Key dates

• Filing date: Nov 29, 2021
• Grant date: Apr 30, 2024
• Expiry date: Nov 26, 2042

Classification

• Technology area (CPC G): Physics
• CPC primary: G01S2013/93274
• WIPO field: Measurement
• WIPO sector: Instruments

Abstract

A method for determining an ego-velocity estimated value and an angle estimated value of targets using a synthetic aperture radar sensor. A distance is measured between the synthetic aperture radar sensor and each respective target. A relative velocity of the respective target is measured using the Doppler effect. An angle estimation of an angle estimated value takes place, which characterizes the angle between the direction of the ego-velocity of the synthetic aperture radar and the respective target. An individual ego-velocity estimated value of the synthetic aperture radar sensor is ascertained using the relative velocity and the angle estimated value for each target. A classification and distribution of the individual ego-velocity estimated values relating to stationary targets takes place, whose individual ego-velocity estimated values are situated within a predefinable range relative to one another, and relating to moving targets, whose individual ego-velocity estimated values are situated outside the range.