US 12,332,347 B2
Method for operating radar sensors
Ahmed Shaker Hamed Abdelghaffar, Heilbronn (DE); and Jacopo Ventura, Augsburg (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Aug. 23, 2022, as Appl. No. 17/893,419.
Claims priority of application No. 10 2021 209 772.3 (DE), filed on Sep. 6, 2021.
Prior Publication US 2023/0075921 A1, Mar. 9, 2023
Int. Cl. G01S 13/931 (2020.01); G01S 13/72 (2006.01)
CPC G01S 13/931 (2013.01) [G01S 13/72 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A method for operating radar sensors in a vehicle, comprising the following steps:
obtaining radar signals by which present targets are detected;
in a first division, dividing at least a first subset of the detected targets, based on respective distances of the at least the first subset of the detected targets from the vehicle, into primary targets whose respective distances from the vehicle are all less than a threshold value, and secondary targets whose respective distances from the vehicle are all not less than the threshold value;
feeding the primary targets to a first tracking processing, which ascertains states of the primary targets; and
feeding the secondary targets to a second tracking processing, which ascertains the states of the secondary targets by carrying out a less computing power-intensive ascertainment of the states than the first tracking device;
wherein the method further includes at least one of the following three features (I)-(III):
(I) the threshold value is dynamically set as a function of a current intrinsic speed of the vehicle and a current braking time of the vehicle;
(II) the first tracking processing implements an extended object tracking algorithm and/or a random finite set algorithm, and the second tracking processing implements a Kalman filtering and not the extended object tracking algorithm and/or random finite set algorithm; and
(III) the method further comprises:
in a second division, dividing the detected targets into (i) the first subset of targets, which are classified by the second division as being moving targets, and (ii) a second subset of targets, which are classified by the second division as being stationary targets;
based on the second division, using a combination of, selectively, the detected targets of the second subset to identify boundaries of a road;
based on the identification of the boundaries, determining, for each of one or more of the targets, whether the respective target is within the identified boundaries; and
based on the determination and based on the second division, subjecting, selectively those of the second subset of the second subset of targets that are within the boundaries to the first tracking processing irrespective of the threshold value.