Abstract: A method for a cooperative radar sensor network having a plurality of individual radar sensors, for estimating an angle of a radar target or for preparing the radar sensor network therefor. An association that associates a control vector (A?) having bistatic components with each of a plurality of angles is determined. A measurement vector associated with a detected radar target is calculated, wherein the measurement vector has bistatic components.

Abstract: A method for sensor data processing of sensor data of a surroundings sensor. The method includes providing the sensor data of the surroundings sensor acquiring at least one target object in the surroundings of the sensor, calculating a point cloud including a spatial distribution of a plurality of points assigned to respective reflections of the target object from the sensor data, inputting the points and the information sections of the sensor data respectively assigned to them into a trained processing model, calculating feature vectors assigned the points by the processing model depending on the input, outputting the points and the assigned feature vectors for further processing by a further processing model. A processing device is also described.

Abstract: A computer device and method for examining a radar system equipped with at least two transmitting and receiving units, each having at least two antenna elements. The method includes: selecting a first radar signal, emitted by a first transmitting and receiving unit of the radar system and received by a second transmitting and receiving unit of the radar system, and a second radar signal, which is emitted by the second transmitting and receiving unit and received by the first transmitting and receiving unit, ascertaining a phase difference between the first radar signal and the second radar signal and specifying alignment information with regard to a relative tilt of the first transmitting and receiving unit in relation to the second transmitting and receiving unit, taking into account the ascertained phase difference.

Abstract: A method for operating a surroundings acquisition device of a vehicle. An evaluation unit of the vehicle receives an external acquisition request that contains at least one request assignment in which a request enable signal is assigned to a specific region of a map and a specific time-of-day interval, wherein the evaluation unit uses the map to ascertain whether the vehicle is in the specific region during the time-of-day interval, and wherein the surroundings acquisition device is activated by means of the evaluation unit using the request enable signal when the vehicle is in the specific region during the time-of-day interval.

Abstract: A method for detecting erroneous antenna signals from a radar sensor having a plurality of antennas. A subset of the antenna signals is formed by omitting at least one antenna signal from a complete set of the antenna signals. A direction to an object is estimated using the subset and an antenna pattern of the radar sensor and, in so doing, a correlation value of the subset of the antenna signals with the antenna pattern in the estimated direction is determined. The at least one omitted antenna signal for the subset is classified as erroneous if the correlation value satisfies a selection condition.

Abstract: A computer device and a method for examining a radar system equipped with at least two transmitting and receiving units which each include at least one respective antenna element. The method includes: defining at least one probability distribution for at least one object with respect to a probable position of the respective object in an angular spectrum based on radar signals transmitted by the at least two transmitting and receiving units, reflected on the at least one object and received by the transmitting and receiving units, determining an average width of the probability distributions in the angular spectrum defined within a given time interval and within a given angular range of the angular spectrum, and defining position information relating to a displacement of at least one of the transmitting and receiving units out of its respective target position taking into account the determined average width.

Abstract: A method for calibrating a radar sensor. The method includes storing an antenna pattern, which assigns a control vector to each of a plurality of angles, before the radar sensor is put into operation; performing radar measurements for one or more targets; respectively storing the receive signals for each target in a measured value vector for the target; calculating the deviation of the measured value vector from the control vector for each target; statistically evaluating the calculated deviations for all targets; and compensating the antenna pattern or the radar measurements with the statistically evaluated deviation.

Abstract: A MIMO radar sensor including an array of transmitting antenna elements and receiving antenna elements that are offset relative to one another in a predefined direction, and including at least two electronic chips that are associated with different selections of the transmitting antenna elements and receiving antenna elements. At least one receiving antenna element is connectable to both chips, and the array includes at least one configuration of antenna elements that is made up of a transmitting antenna element with which the chip is associated, a receiving antenna element with which the chip is associated, a transmitting antenna element with which the chip is associated, and a receiving antenna element with which the chip is associated, and in which configuration the offset between the transmitting antenna elements matches the offset between the receiving antenna elements.

Abstract: A method for the phase calibration of a MIMO radar sensor having an array of transmitting and receiving antenna elements that are offset from each other in at least one direction, and high-frequency modules, which are each assigned to a part of the array. The array is subdivided into transmitting subarrays and receiving subarrays in such a manner, that each subarray is assigned to exactly one of the high-frequency modules and at least two receiving subarrays, which belong to different high-frequency modules, are offset from each other in the at least one direction and are aligned with each other in the direction perpendicular to it. The method includes a calibration which corrects a receiving control vector with the aid of a known relationship between first and second comparison variables for the respective receiving subarrays.

Abstract: A method for angle estimation based on signals of a radar sensor with angular resolution in at least one dimension. The radar sensor includes a MIMO-enabled antenna array with at least three transmitting antennas and at least three receiving antennas. A cross-path model represented by a control matrix and models reflections of transmitted and/or received signals on a reflective surface is used to estimate a location angle of a radar target. The control matrix includes a Kronecker product Atx ?Arx of two submatrices, one, Atx, representing the arrangement of the transmitting antennas and the other, Arx, representing the arrangement of the receiving antennas. For calculating a DML estimation function, a matrix product Y=AHrx·X·A*tx is calculated approximately using an FFT from the submatrices and a reception matrix X that specifies the complex amplitudes of the signals received with different combinations of antennas.

Abstract: A MIMO radar sensor includes: an antenna arrangement including first and second arrays, in each of which a respective plurality of antennas are offset relative to one another in a first direction, the first and second arrays being offset from each other in a second direction that is perpendicular to the first direction, the antennas of the first and second arrays being more strongly focused in the second direction than in the first direction in each case, and, in each of at least one of the first and second antenna arrays, at least two of the antennas of the respective array being offset from one another in the second direction and the antennas of the respective array being symmetrically arranged relative to an axis running in the second direction; a high frequency element; and a control and evaluation device for evaluating output from the high frequency element regarding the antennas.

Abstract: A MIMO radar sensor for motor vehicles, having an antenna assemblage on a rectangular circuit board whose edges define a y direction and a z direction. The antenna assemblage includes at least two arrays of transmitting antennas and at least two arrays of receiving antennas. Transmitting antennas within each array are offset from one another in a z direction, and the two arrays of the transmitting antennas are offset from one another in a y direction. The receiving antennas within each array are offset from one another in a y direction, and the two arrays of the receiving antennas are offset from one another in a z direction. A high-frequency module is disposed in a central region of the circuit board between the arrays of the transmitting and receiving antennas.

Abstract: An improved evaluation of radar signals, in particular radar signals received by a Uniform Linear Array (ULA) antenna. Through the application of a plurality of different beamformings to the radar signals, drops in the gain can be compensated by the beamforming.

Abstract: An estimation is described of the speed of objects with the aid of a radar sensor that includes multiple transmitting antennas. Multiple nested sequences of frequency ramps are emitted with the aid of multiple transmitting antennas. An individual phase encoding takes place for each transmitting antenna with the aid of a harmonic code. For estimating the speed of the object, the ambiguities due to the code multiplex are resolved.

Abstract: A radar device. The radar device includes a transceiver apparatus that comprises at least three transmit antennas and at least three receive antennas or comprises at least two transmit antennas and at least two receive antennas having two-dimensional beam forming, wherein the transceiver apparatus is configured to emit radar radiation using the transmit antennas, to receive radar radiation using the receive antennas, and to generate radar data on the basis of the received radar radiation. The radar device further comprises an evaluation apparatus that is configured to establish whether radar radiation has propagated between the transceiver apparatus and the at least one target either directly or at least partly by way of at least one reflection by evaluating the radar data using a multitarget angle estimation model, wherein the multitarget angle estimation model takes the propagation of radar radiation along at least four paths into consideration.

Abstract: A method for evaluating an angular position of an object recognized on the basis of radar data, the radar data being ascertained by a radar device. The method includes: ascertaining of an intrinsic speed of the radar device; ascertaining a relative speed of the recognized object in relation to the radar device, using the ascertained radar data; ascertaining at least one angular test region using the ascertained intrinsic speed and the ascertained relative speed, the at least one angular test region corresponding to possible stationary objects that have a relative speed that substantially corresponds to the ascertained relative speed; and ascertaining whether an azimuth angle of the recognized object lies in the ascertained angular test region.

Abstract: A method and device for determining a relative velocity of a radar target. An FMCW radar measurement is carried out 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 same time interval, the sequences being temporally interleaved. Received signals are mixed down to baseband signals. From the baseband signals, a two-dimensional spectrum is calculated separately for each of the sequences by two-dimensional Fourier transformation, transformation taking place ramp for ramp in the first dimension and transformation taking place via a ramp index in the second dimension. Based on the positions of a peak in at least two of the two-dimensional spectra of the baseband signals, a value is determined for the relative velocity of a radar target.

Abstract: A radar sensor system and a method for operating a radar sensor system. The radar sensor system includes: at least one first sub-sensor system and a second sub-sensor system, each for generating sensor data, each sub-sensor system including an antenna array including at least one receiving antenna and at least one transmitting antenna; a control device, by which each sub-sensor system is independently transferrable from a normal operation into a silent operation; and a data fusion device, which is designed to fuse the sensor data exclusively of the sub-sensor systems during the normal operation with one another for generating output data.

Abstract: A method for signal evaluation in a locating system that includes multiple radar sensors whose locating ranges overlap one another. The method includes evaluating the signal of a first of the radar sensors and identifying distance cells that are not empty, for at least one of these distance cells: selecting a second of the radar sensors and determining a distance range in which the objects situated in the distance cell would have to be situated from the viewpoint of the second radar sensor, and classifying the object configuration in the distance range, based on the signal of the second radar sensor.

Abstract: A radar device. The radar device includes a transceiver unit that includes at least three transmitting antennas and at least three receiving antennas, the transceiver unit being designed to emit radar radiation with the aid of the transmitting antennas, to receive radar radiation with the aid of the receiving antennas, and to generate radar data based on the received radar radiation. The radar device further includes an evaluation unit, which is configured to estimate, by evaluating the radar data, at least one angle of at least one target using a 2-target angle estimation model, the 2-target angle estimation model taking the propagation of the radar radiation along four paths into account.