US 11,789,113 B2
Object identification using radar data
Benjamin Sick, Bodolz (DE); and Michael Walter, Heerbrugg (CH)
Assigned to ZF Friedrichshafen AG, Friedrichshafen (DE)
Filed by ZF Friedrichshafen AG, Friedrichshafen (DE)
Filed on Mar. 12, 2019, as Appl. No. 16/299,912.
Claims priority of application No. 102018203684.5 (DE), filed on Mar. 12, 2018.
Prior Publication US 2019/0279366 A1, Sep. 12, 2019
Int. Cl. G06T 7/11 (2017.01); G01S 7/35 (2006.01); G01S 7/41 (2006.01); G01S 13/89 (2006.01); G01S 13/86 (2006.01); G01S 13/931 (2020.01); G01S 13/58 (2006.01); G01S 13/536 (2006.01); G06V 20/56 (2022.01); G06F 18/214 (2023.01); G01S 13/02 (2006.01)
CPC G01S 7/354 (2013.01) [G01S 7/414 (2013.01); G01S 7/415 (2013.01); G01S 7/417 (2013.01); G01S 13/536 (2013.01); G01S 13/584 (2013.01); G01S 13/867 (2013.01); G01S 13/89 (2013.01); G01S 13/931 (2013.01); G06F 18/214 (2023.01); G06T 7/11 (2017.01); G06V 20/56 (2022.01); G01S 2013/0263 (2013.01); G06T 2207/10044 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30252 (2013.01)] 3 Claims
OG exemplary drawing
 
1. An evaluation device for obtaining a segmentation of a radar recording of an environment of a radar sensor, comprising:
an input interface configured to obtain initial training data,
wherein the initial training data comprises radar data of the radar recording and initial characteristics of objects located in the environment recorded with the radar sensor,
wherein the radar sensor generates the radar recording,
wherein the radar data comprises the respective distances of these objects to the radar sensor, and the respective azimuth and elevation angles between the objects and the radar sensor belonging to these distances and the speed of the objects relative to the radar sensor, and
wherein the evaluation device is configured to forward propagate an artificial neural network with the initial training data,
wherein the evaluation device is configured to obtain second characteristics of the objects determined with the artificial neural network in the forward propagation,
wherein the evaluation device is configured to obtain weighting factors for neural connections of the artificial neural network through backward propagation of the artificial neural network with the differences between the second characteristics and the initial characteristics, and
wherein the evaluation device obtains the segmentation of the environment from a renewed forward propagation with the radar data,
wherein the evaluation device obtains a four dimensional data range containing the following dimensions of the objects: the distance of the objects, the speed of the objects, the azimuth angle of the objects, and the elevation angle of the objects relative to the radar sensor, and
wherein the evaluation device is electrically connected to a driver assistance system of a vehicle, the driver assistance system being electrically connected to the radar sensor and configured to recognize traffic objects based on the four dimensional data range.