Procedure for estimating the elevation of a target object using a radar data fusion

摘要

System (10) for a vehicle (12) for estimating the elevation of at least one target object (20) using a one-dimensional scanning radar and a data fusion, the system (10) includes:a first one-dimensional lateral scanning radar sensor (16), which has a first working range and a first beaming angle (a) half the size of the angle formed by a linear divergent beam limitation (26) of the radar sensor (16) and is trained to generate a first feedback signal,depends on the relative distance between the first sensor (16) and each target object (20);a second one-dimensional lateral scanning radar sensor (18), having a second working range and a second beaming angle (b), half as large as the angle formed by a linear divergent radar sensor (18) and trained to generate a second feedback signal,depends on the relative distance between the second sensor (18) and each target object (20);andat least one inclination gauge (36), which is designed to measure a first and a second vertical operating angle (c) for the first and second radar sensors (16, 18), the radar sensors (16, 18) for each horizontal angle under the operating angles (c) and a change in the operating angle (c)can be determined by measuring the inclination of the vehicle (12);at least one digital fusion processor (22), with the first and second sensors (16, 18) and with the inclination meter (36)is communicatively coupled and trained to determine a relative signal value based on the first and second feedback signals and to take into account the absolute change in operating angle (c);where the processor (22) is also trained to estimate the Elevation of each of at least one target object (20) based on the relative signal value only if the absolute change in operating angle (c) does not exceed a predetermined threshold value.