VEONEER SWEDEN AB

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 (φ) is determined which second antenna radiation pattern ( 162 ) that provides the largest receive amplitude difference (ΔA 2 ) 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 ).

An automotive radar transceiver system ( 400 ), including a radar transceiver ( 450 ) arranged to transmit radar signals in time-frequency resources dynamically allocated ( 310, 330 ) by a remote scheduler function ( 320 ). The system further having an environment perception system ( 430 ) arranged to obtain environment data indicative of a surrounding traffic environment of the radar transceiver ( 450 ), and a radar resource requirement prediction module ( 440 ) configured to estimate a future time-frequency resource requirement for radar operation, based on the environment data. Wherein the radar transceiver ( 450 ) is arranged to request time-frequency resources for radar operation from the remote scheduler function ( 320 ) based on the estimated future time-frequency resource requirement.

An automotive radar system ( 100 ) including first and second radar sensors ( 110, 120 ) transmitting a radar signal, and a processor ( 130 ). Each radar sensor ( 110, 120 ) determines ranges to one or more targets ( 140 ), where each determined range is associated with a complex value (Vmn) in a range vector. The processor ( 130 ) determines a difference in the ranges determined by the first and second radar sensors ( 110, 120 ). The processor ( 130 ) converts the difference in ranges to an intermediate frequency, IF, phase value ( IF ) by relating the difference in ranges to the radar bandwidth (BW). The processor ( 130 ) adjusts the complex values (Vmn) in the range vectors by the IF phase value (ϕ IF ) and determines an angle (a) to at least one of the targets ( 140 ) based on the adjusted complex values in the range vectors from each radar sensor ( 110, 120 ).

A bracket ( 10 ) adapted to be mounted to a pane of a motor vehicle including a base part ( 11 ) and at least one fixation arrangement ( 12 a, 12 b, 12 c ) configured to mount a camera carrier ( 35 ) carrying at least one camera ( 14 ) to the bracket ( 10 ). Each of the fixation arrangements ( 12 a, 12 b, 12 c )-including a holder ( 13 a, 13 b, 13 c ) and a spring element ( 15 ) configured to exert an elastic locking force on a pin ( 19 ) of the camera carrier ( 35 ). The spring element ( 15 ) includes a base element ( 17 ) configured to be held in the holder ( 13 ) and an angled leg ( 16 ) in the region of a first end ( 44 ) of the base element ( 17 ). The holder ( 13 a, 13 b, 13 c ) forms a hole ( 18 ) configured to receive the angled leg ( 16 ) in a mounted state, wherein in the mounted state the hole ( 18 ) limits the movement of the angled leg ( 16 ) and thus of the spring element ( 15 ) in both longitudinal directions of the elongate base element ( 17 ).

At least one detector ( 2 ) for visible and/or IR radiation on board of a vehicle ( 100 ) is used to determine if an entity ( 200 ) is approaching the vehicle ( 100 ). If so, sensors ( 4 ) for vibration and/or acceleration are activated. Signals from these sensors ( 4 ) are used to determine if a contact between the entity ( 200 ) and the vehicle ( 100 ) has occurred. The contact may be classified based on these signals. The at least one detector ( 2 ) may include a camera ( 21 ). At least one camera ( 5, 21 ) on board of the vehicle may be used to record image data pertaining to a time-interval about the contact. A warning may be triggered if a contact between the entity ( 200 ) and the vehicle ( 100 ) is likely.

A radar system for coordinated automotive radar transmission, comprising a cellular access network node configured to establish a primary time synchronized frame structure ( 310 ) for cellular radio transmissions over a first local area in a first frequency band (F 1 ), wherein the primary time synchronized frame structure ( 310 ) is at least partly defined by one or more transmitted synchronization signals ( 320 ), and one or more automotive radar transceivers arranged to determine a radar time reference (T 0 ) from the one or more synchronization signals ( 320 ), and to establish a secondary time synchronized frame structure ( 330 ) for radar transmissions over at least part of the first local area in a second frequency band (F 2 ), wherein the secondary time synchronized frame structure ( 330 ) is at least partly defined by the radar time reference (T 0 ).

A vehicle radar sensor unit ( 2 ) having an antenna arrangement ( 3 ), a transceiver arrangement ( 4 a, 4 b, 4 c, 4 d ) and a processing unit ( 6 ). The antenna arrangement ( 3 ) includes at least one transmitter array antenna ( 7 ) and at least two receiver antennas ( 24, 25, 26; 27, 28, 29; 30, 31, 32; 33, 34, 35 ), where each transmitter array antenna ( 7 ) have at least two sub-antennas ( 12, 13, 14, 15, 16, 17, 18, 19 ) that are vertically spaced from each other, where each sub-antenna ( 12, 13, 14, 15, 16, 17, 18, 19 ) have at least one antenna element ( 20, 21 ), and where each receiver antenna ( 24, 25, 26; 27, 28, 29; 30, 31, 32; 33, 34, 35 ) have a plurality of series fed antenna elements ( 22, 23 ) formed in a vertically extending column. Each sub-antenna ( 12, 13, 14, 15, 16, 17, 18, 19 ) is connected to the transceiver arrangement ( 4 a, 4 b, 4 c, 4 d ) that is adapted to feed the corresponding sub-antenna ( 12, 13, 14, 15, 16, 17, 18, 19 ) with a controllable phase, such that each transmitter array antenna ( 7 ) is adapted to provide a transmitter antenna beam ( 36 1 , 36 2 ) that is controllable in an elevation direction ( 40 1 , 40 2 ).

A vehicle radar system ( 3 ) adapted to be placed in an ego vehicle ( 1 ) and comprising a control unit ( 4 ) and at least one transceiver arrangement ( 5 ) arranged to generate and transmit an FMCW signal ( 6; 6 a, 6′ a; 6 b, 6′ b ) and to receive reflected signals ( 7 ) that have been reflected by one or more target objects ( 14, 15 ), each target object having an associated determined target object velocity (v 2 , v 3 ). The FMCW signal ( 6 ) comprises a corresponding plurality of frequency ramps (r 1 , r 2 ), where each one has a certain duration time (t r1 , t r2 ). The control unit ( 4 ) is adapted to control the transceiver arrangement ( 5 ) to generate at least two pluralities ( 6 a, 6′ a; 6 b, 6′ b, 6 c, 6′ c ) of ramps (r 1 , r 2 ). The ramps (r 1 ) in each plurality ( 6 a, 6′ a ) of ramps (r 1 ) are adapted to have a ramp period time (t T1 ) that differs from the ramp period time (t T2 , t T3 , t T4 ) in all other pluralities ( 6 b, 6′ b, 6 c, 6′ c ) of ramps (r 1 , r 2 ). The ramp period times (t T1 , t T2 , t T3 , t T4 ) are based on a determined ego vehicle velocity (v 1 ), the determined target object velocity (v 2 , v 3 ), or a combination of both.

A method and apparatus for processing a transceiver signal ( 115 ) detected by a transceiver ( 110 ). The method includes obtaining (S 1 ) a processed signal from the transceiver signal ( 115 ), the processed signal having frames ( 200, 300 ) corresponding to respective time intervals (t 1 , t 2 , t 3 , t 4 ), wherein the frames define bins ( 210, 310 ) configured according to a quantized resolution (dr) of the transceiver signal ( 115 ). The method further includes obtaining (S 2 ) data related to a relative motion of the transceiver ( 110 ) during a time interval (t 1 , t 2 , t 3 , t 4 ) and initializing (S 3 ) a residual distance to zero. For each frame ( 200, 300 ) and each respective time interval (t 1 , t 2 , t 3 , t 4 ) the method further includes determining (S 4 ) a shift distance (ds 1 , ds 3 ) corresponding to a sum of the residual distance and a distance value (d 1 , d 2 ) corresponding to a relative motion of the transceiver ( 110 ) in the respective time interval (t 1 , t 2 , t 3 , t 4 ) and rounding (S 5 ) the determined shift distance (ds 1 , ds 3 ) with respect to the distance resolution (dr) to a rounded shift distance. The method then further includes updating (S 6 ) the residual distance based on a difference between the determined shift distance (ds 1 , ds 3 ) and the rounded shift distance, and generating (S 7 ) an adjusted frame ( 304 ) by shifting the bins ( 310 ) of the frame by the rounded shift distance to account for relative transceiver motion with respect to the object ( 150 ) in the respective time interval. The method finally includes processing (S 8 ) the signal by integrating bin values ( 210, 310 ) over the adjusted frames ( 300 ).

A driver assistance apparatus and method for a driver assistance apparatus for verifying the safe operation of the apparatus. It is important to verify that operating instructions that dictate the operation of a driver assistance system are verified. The apparatus includes a safety electronic control unit and the safety electronic control unit includes operating instructions stored thereon that dictate the operation of the safety electronic control unit. The safety electronic control unit further includes a verified hash storage for storing a verified hash value of at least a portion of the operating instructions. The safety electronic control unit is configured to implement a verification routine, which includes calculating, using a hash function, a test hash value of the at least a portion of the operating instructions; comparing the test hash value with the verified hash value, and if the test hash value is not equal to the verified hash value, performing a safety routine.