US 12,392,871 B2
Reconstruction of elevation information from radar data
Gor Hakobyan, Stuttgart (DE); and Kilian Rambach, Stuttgart (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Jan. 12, 2021, as Appl. No. 17/147,079.
Claims priority of application No. 102020200728.4 (DE), filed on Jan. 22, 2020.
Prior Publication US 2021/0223388 A1, Jul. 22, 2021
Int. Cl. G01S 7/41 (2006.01); G01S 13/06 (2006.01); G01S 13/90 (2006.01); G01S 13/931 (2020.01)
CPC G01S 7/417 (2013.01) [G01S 13/06 (2013.01); G01S 13/90 (2013.01); G01S 13/931 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method for a vehicle, the method comprising the following steps:
during a drive of the vehicle:
recording with at least one radar device of the vehicle, radar data that form a two-dimensional spatial distribution of at least one physical measured variable;
feeding the radar data as input values to at least one generator module of the vehicle that is configured as a neural network and generating, from the input values, surroundings output values that represent elevation angles from which radar radiation was reflected to the radar device from at least one object;
generating, by the vehicle, a representation of surroundings of the vehicle based on the surroundings output values; and
performing, by the vehicle, an automated drive control of the vehicle according to the representation of surroundings;
wherein the method includes at least one of the following two features (I)-(II):
(I) (i) the feeding of the radar data includes dividing the input values into a plurality of segments, each of the segments formed of a respective contiguous portion of the input values, (ii) the generating of the surroundings output values includes separately processing each of the segments to obtain a respective set of segment output values and forming from the respective sets of segment output values, the surroundings output values as a single contiguous three-dimensional distribution, and (iii) with respect to each segment of at least two of the plurality of segments, representations of the segment output values of the respective segment are interspersed amongst the representations of the segment output values of one or more other ones of the segments, and are therefore non-contiguous, within the single contiguous three-dimensional distribution; and
(II) the generating of the surroundings output values includes (i) generating a plurality of two-dimensional spatial distributions, with respect to a predefined coordinate space, of the at least one physical measured variable, each of the plurality of two-dimensional spatial distributions corresponding to a respective elevation region, and (ii) stacking the plurality of two-dimensional spatial distributions to form a contiguous three-dimensional distribution spanning the respective elevation regions of the plurality of two-dimensional spatial distributions.