Abstract: A vehicle environment detection system (3) including a control unit arrangement (8) and at least one sensor arrangement (4) that is arranged to be mounted in an ego vehicle (1) and to provide sensor detections (9, 12) for at least two preceding target vehicles (10, 11). The control unit arrangement (8) is arranged to determine a resulting TTC, time to collision, between the ego vehicle (1) and a closest preceding target vehicle (10), based on an ego velocity (v0) and an ego acceleration (a0) for the ego vehicle (1), a first distance (r1) between the ego vehicle (1) and the closest preceding target vehicle (10), and that target velocity (v1, v2) and corresponding target acceleration (a1, a2) for a preceding target vehicle (10, 11) among the target vehicles (10, 11) that provide a lowest TTC value.

Abstract: A vehicle radar system (110) that having a control unit (120) and a radar transceiver (130) that in turn including a controllable transmitter antenna arrangement (141). The control unit (120) is adapted to control the radar transceiver (130) to generate and transmit a radar signal (124), and receive a reflected radar signal (125). The control unit (120) is adapted to control the transmitter antenna arrangement (141) to generate a first antenna radiation pattern (160) for the transmitted radar signal (124), and to control the transmitter antenna arrangement (141) to generate a plurality of second antenna radiation patterns (161, 162, 163) for the transmitted radar signal (124). In a predetermined angular direction (?) is determined which second antenna radiation pattern (162) that provides the largest receive amplitude difference (?A2) between the first antenna radiation pattern (160) and the second antenna radiation patterns (161, 162, 163), and to choose that second antenna radiation pattern (162).

Abstract: A system and method characterizes the height of targets in an environment around a vehicle. Signals are transmitted into the environment and return signals are received to determine a track corresponding to a target. For each track, bins are generated, each bin corresponding to a segment of the range, the segments having a gradually increasing size between the minimum range and maximum range. Range and magnitude values of the received return signals are determined for a selected track. A plurality of filled bins are determined, filled bins indicating that a return signal within the selected track has a range value falling within the segment corresponding to said bin. When the number of filled bins exceeds a set threshold, the return signals having range values within the segments corresponding to the filled bins are analyzed to characterize a height of the target.

Abstract: A vehicle environment detection system (3) including a control unit arrangement (8) and at least one sensor arrangement (4) that is arranged to be mounted in an ego vehicle (1) and to provide sensor detections (9, 12) for at least two preceding target vehicles (10, 11). The control unit arrangement (8) is arranged to determine a resulting TTC, time to collision, between the ego vehicle (1) and a closest preceding target vehicle (10), based on an ego velocity (v0) and an ego acceleration (a0) for the ego vehicle (1), a first distance (r1) between the ego vehicle (1) and the closest preceding target vehicle (10), and that target velocity (v1, v2) and corresponding target acceleration (a1, a2) for a preceding target vehicle (10, 11) among the target vehicles (10, 11) that provide a lowest TTC value.

Abstract: A system and method characterizes the height of targets in an environment around a vehicle. Signals are transmitted into the environment and return signals are received to determine a track corresponding to a target. For each track, bins are generated, each bin corresponding to a segment of the range, the segments having a gradually increasing size between the minimum range and maximum range. Range and magnitude values of the received return signals are determined for a selected track. A plurality of filled bins are determined, filled bins indicating that a return signal within the selected track has a range value falling within the segment corresponding to said bin. When the number of filled bins exceeds a set threshold, the return signals having range values within the segments corresponding to the filled bins are analyzed to characterize a height of the target.

Abstract: The present invention relates to a vehicle radar system (2) arranged to detect objects outside a vehicle (1). The radar system (2) a radar detector (3) and a processing unit (4). The processing unit (4) is arranged to obtain values for detected target angle (?err) and detected target Doppler velocity (vd) relative the radar detector (3) for each detected object (10a?, 10b?, 10c?, 10d?, 10e?) during a certain time interval. If there is a zero crossing (14) for a derivative (13) of a function (12) describing the progression of detected target Doppler velocity (vd) as a function of detected target angle (?err), the processing unit (4) is arranged to detect the zero crossing (14). This zero crossing (14) is indicative of a radar system misalignment (?m). The present invention also relates to a corresponding method.

Abstract: The present invention relates to a vehicle radar system (2) arranged to detect objects outside a vehicle (1). The radar system (2) a radar detector (3) and a processing unit (4). The processing unit (4) is arranged to obtain values for detected target angle (?err) and detected target Doppler velocity (vd) relative the radar detector (3) for each detected object (10a?, 10b?, 10c?, 10d?, 10e?) during a certain time interval. If there is a zero crossing (14) for a derivative (13) of a function (12) describing the progression of detected target Doppler velocity (vd) as a function of detected target angle (?err), the processing unit (4) is arranged to detect the zero crossing (14). This zero crossing (14) is indicative of a radar system misalignment (?m). The present invention also relates to a corresponding method.