1. Method for determining directional information of at least one target object (5) in a radar system (2) for a vehicle (1), wherein the following steps are carried out:

-providing first detection information (201) by at least two receiving antennas (31, 32) of the radar system (2), the first detection information (201) being specific for a first radar signal (221) emitted by a first transmitting antenna (21) of the radar system (2);

-providing second detection information (202) by the at least two receiving antennas (31, 32) of the radar system (2), the second detection information (202) being specific for a second radar signal (222) emitted by a second transmitting antenna (22) of the radar system (2);

-performing a first angle determination (111) from the first and second detection information (201, 202) in order to ascertain therefrom first angle information (231), such that the first angle information (231) is specific to the first and second radar signals (221, 222);

-performing a second angle determination (112) from the first or second detection information (201, 202) in order to ascertain therefrom second angle information (232), such that the second angle information (232) is specific to one of the radar signals (221, 222);

-performing at least one comparison (110) of the first angle information (231) and the second angle information (232) in order to detect an ambiguity in the first angle determination (111) for determining the direction information.

2. Method according to claim 1, characterized in that the following steps are carried out before carrying out the first and second angle determinations (111, 112):

-carrying out a processing (105) of the detection information (201, 202) in order to ascertain a distance (r) and a relative velocity (v) to the target object (5).

3. A method as claimed in claim 2, characterized in that a compensation value (p) for the first angle determination (111) is determined from the ascertained relative velocity (v).

4. Method according to claim 3, characterized in that the ambiguity exists in the manner of an ambiguity of the ascertained relative velocity (v) and causes a phase error in the compensation value (p).

5. Method according to claim 4, characterized in that correction values for the phase errors are provided, wherein the following steps are provided:

-performing a third angle determination (113) from the first and second detection information (201, 202) in order to ascertain therefrom third angle information (233), wherein the correction value is applied differently from the first angle determination (111).

6. A method as claimed in claim 5, characterized in that in the implementation of the at least one comparison (110) additionally the third angle information (233) is compared with the second angle information (232) in order to ascertain a first deviation (241) of the first and second angle information (231, 232) and a second deviation (242) of the second and third angle information (232, 233) by means of the comparisons (110) in order to determine the direction information from the deviations (241, 242).

7. Method according to claim 6, characterized in that if the first deviation (241) is smaller than the second deviation (242), the direction information is determined from the first angle information (231), otherwise the direction information is determined from the third angle information (233).

8. Method according to one of the preceding claims, characterized in that the emission of the first radar signal (221) by means of the first transmission antenna (21) and the emission of the second radar signal (222) by means of the second transmission antenna (22) are carried out alternately in time.

9. Method according to one of the preceding claims, characterized in that the emission of the first radar signal (221) by means of the first transmitting antenna (21) and the emission of the second radar signal (222) by means of the second transmitting antenna (22) are carried out offset in time.

10. Method according to one of the preceding claims, characterized in that first detection information (201) is ascertained from the reception signals of the receiving antennas (31, 32) in such a way that the first detection information (201) is specific to a first radar signal (221) emitted by a first transmitting antenna (21) of the radar system (2), reflected on the target object (5) and delayed by a first time of flight, the first detection information (201) having a first phase difference in relation to the direction (d) of the target object (5) and in relation to the mutual distance of the receiving antennas (31, 32); and ascertaining second detection information (202) from the reception signals of the receiving antennas (31, 32), such that the second detection information (202) is specific to a second radar signal (222) emitted by a second transmitting antenna (22) of the radar system (2), reflected on the target object (5) and delayed by a second time of flight, the second detection information (202) having a second phase difference as a function of the direction (d) of the target object (5) and the distance of the receiving antennas (31, 32) from one another; and the first detection information (201) has a third phase difference with respect to the second detection information (202) in relation to the direction (d) of the target object (5) and the mutual spacing of the transmission antennas (21, 22); and the first and second phase differences have a phase deviation from each other due to the relative velocity (v) of the target object (5), which phase deviation is compensated for determining the third phase difference on the basis of the measurement of the relative velocity (v) in order to carry out a first angle determination (111) on the basis of the third phase difference.

11. Method according to claim 10, characterized in that the compensation of the phase deviation takes place by a compensation value (p) which is not explicitly defined by the measured relative velocity (v).

12. Method according to one of the preceding claims, characterized in that the at least two receiving antennas (31, 32) are implemented as at least four receiving antennas (31, 32).

13. Method according to one of the preceding claims, characterized in that the first and in particular the third angle determination (111, 113) is carried out by means of a Multiple Input Multiple Output (MIMO) method and the second angle determination (112) is carried out by means of a Single Input Multiple Output (SIMO) method.

14. Radar system (2) for a vehicle (1), having an electronic processing device (4) for carrying out the steps of the method according to one of the preceding claims.

15. Computer program comprising instructions which, when executed by a processing device (4) of a radar system (2) according to claim 14, cause the processing device to carry out the steps of the method according to one of claims 1 to 13.

Background

It is known from the prior art to use radar systems, such as modulated continuous wave radar devices, also known as FMCW (frequency modulated continuous wave radar), for object detection in vehicles. As is known, for example, from document WO2018/071077a2, it is possible in such radar systems to utilize a plurality of transmitting and receiving antennas in order to ascertain directional information in addition to information about the spacing and relative speed with respect to the detected object. In this regard, Multiple Input Multiple Output (MIMO) or Single Input Multiple Output (SIMO) transmission schemes and signal processing are also contemplated. If radar signals are emitted by different transmitting antennas of the radar system, different times of flight of these radar signals result when they are reflected on an object and reach a receiving antenna. The time-of-flight difference, and therefore the phase difference of the radar signals with respect to each other, is related to the mutual spacing of the transmitting antennas. The analysis of the phase difference may facilitate the angular determination of the angle of incidence or emergence in the receiving or transmitting antenna and in turn the determination of the directional information about the direction of the object relative to the vehicle.

If the radar signals are emitted by different transmitting antennas not simultaneously but in a time-sequential manner, the time-of-flight difference (and thus the phase difference) can additionally be influenced on the basis of the relative speed between the object and the vehicle. However, in order to obtain a phase difference specific to the direction information, the phase difference may be compensated according to the relative velocity. There is however another problem in that the relative speed is no longer unambiguously determined in the case of relative speeds exceeding the maximum speed, and the wrong compensation value is used for this compensation. This leads to an ambiguity in the angle determination, in particular in the relative speed. The maximum speed is here related to the resolving power of the radar system.

Disclosure of Invention

It is therefore an object of the present invention to at least partly overcome the above-mentioned disadvantages. In particular, the object of the invention is to provide an improved solution for compensating the influence of the relative velocity on the phase difference.

The above object is solved by a method having the features of claim 1, by a radar system having the features of claim 14 and by a computer program having the features of claim 15. Further features and details of the invention emerge from the corresponding dependent claims, the description and the drawings. The features and details described in connection with the method according to the invention are naturally also applicable in connection with the radar system according to the invention and the computer program according to the invention and vice versa, respectively, so that the disclosure with regard to the individual inventive aspects is always mutually referred to or can be referred to.

The object is solved in particular by a method for determining directional information of at least one target object in a radar system for a vehicle. The directional information of the target object is understood here to mean information about the direction of the target object relative to the radar system or the vehicle. For example, the information includes an explanation about the angle between the radar system and the target object. Conclusions about these direction information can thus be obtained by determining the angle of incidence and/or the angle of emergence of the radar signal of the radar system.

In the method according to the invention, it is therefore provided that the following steps are carried out, preferably in succession or in any desired order, wherein individual and/or all steps can also be carried out repeatedly:

providing first detection information by at least two (different and spaced-apart) receiving antennas of the radar system, wherein preferably the first detection information is specific to a first radar signal emitted by a first transmitting antenna of the radar system (and in particular reflected on a target object and delayed due to time of flight);

providing second detection information by the at least two receiving antennas of the radar system, wherein preferably the second detection information is specific to a second radar signal emitted by a second transmitting antenna of the radar system (and in particular reflected on the target object and delayed due to the time of flight);

-performing a first angle determination from the first and second detection information in order to ascertain therefrom first angle information, such that the first angle information is specific to the first and second radar signals, in particular in terms of MIMO;

-performing a second angle determination from the first or second detection information in order to ascertain therefrom second angle information such that the second angle information is specific to one of the (emitted first or second) radar signals, in particular in terms of SIMO;

-performing at least one comparison of the first angle information with the second angle information in order to detect an ambiguity (uineintoutigkeit) in the first angle determination for determining the direction information.

The ambiguity may be an ambiguity in the determination of the (measured) relative velocity of the target object (hereinafter also simply referred to as velocity ambiguity). The determination of the relative velocity may be achieved by processing the detection information. The ambiguity may be due to the limited resolving power of the radar system, as already described above. Since the actual relative velocity of the target object may affect the phase difference between the first and second radar signals (emitted, reflected and received), if the second radar signal is emitted later than the first radar signal, the measured relative velocity may be used to compensate for this effect. Since the measured relative velocity is ambiguous if possible, errors in the compensation can result here. The implementation of the second angle determination and the subsequent comparison can, however, check and, if necessary, correct the compensation.

It is conceivable that at least one of the angle determinations, in particular the first angle determination and/or the third angle determination, is/are carried out in accordance with a MIMO transmission scheme (multiple input multiple output) and/or a MIMO processing in the radar system. Additionally, one of the angle determinations, in particular the second angle determination, may be implemented in accordance with SIMO transmission scheme (single input multiple output) and/or SIMO processing. In this case, the phase difference between the first and second radar signals can be evaluated in order to draw conclusions about the different times of flight and therefore about the angle of incidence and angle of emergence of the radar signals and ultimately also about the direction information, i.e. the direction of the target object relative to the radar system.

In a further possible embodiment, it can be provided that the following steps are carried out before the angle determination is carried out:

processing of the detection information is carried out in order to ascertain the distance (i.e. the distance) and the relative speed to the target object.

The processing may include at least one or preferably two fourier transforms of the respective detection information. Specifically, two-dimensional fourier transform may be performed on all of the detection information so as to obtain information on the distance of the target object and the relative speed of the target object, respectively.

The transmit antennas may also be denoted by Tx (x denotes the serial number of the transmit antenna, i.e. first, second, etc.), and the receive antennas correspondingly by Rx. Each of the detection information may be generated from another Tx-Rx combination, i.e. from the received radar signal (i.e. the received signal) of the determined receive antenna Rx, and may be specific to the emitted transmission signal of the determined transmit antenna Tx. In other words, the transmitted and reflected radar signals of each of the transmitting antennas can be received in each of the receiving antennas, so that each of the received signals is assigned to the receiving antenna that received the received signal and to the transmitting antenna that transmitted the received signal. Each of these received signals by different transmit and receive antennas may then form one of the received information.

The received information can each relate to digital information, which is obtained, for example, by means of analog-to-digital conversion. In this way, the processing of the detection information can be realized by the electronic processing means for data processing of the radar system.

The first detection information is generated in particular by the received radar signal emitted by the first transmitting antenna and is therefore specific to the first transmitting antenna and the first radar signal. The second detection information is in particular derived fromThe received radar signal emitted by the second transmit antenna results and is therefore specific to the second transmit antenna and the second radar signal. Further, the detection information may be divided into detection information generated from a radar signal received through the first receiving antenna and detection information generated from a radar signal received through the second, third receiving antennas, and the like. From this combination, M · K pieces of detection information are thus generated, which can be converted into a frequency spectrum, also called range-doppler or RV (range-velocity) map, respectively, by fourier transformation. An averaging of the frequency spectrum can then take place and a local maximum can be searched for here, which lies above the detection threshold. In this way, the relevant reflection can be ascertained. The (first and/or third) angle determination can then be carried out by means of MIMO and an analysis of the phase and amplitude can be carried out in order to determine the directional information. MIMO here applies a plurality of Tx and Rx transmit or receive antennas to thereby constitute a virtual antenna layout. The corresponding emitted radar signal may have a duration T_CAnd a plurality of frequency modulated ramps (chirps) of bandwidth B. In this case, the time T can be measured_MDuring which each transmit antenna Tx outputs N ramps as a corresponding radar signal. The radar signals can thus each be configured as electromagnetic waves.

Provision can preferably be made for compensation values for the first and/or third angle determination to be determined from the ascertained (i.e. measured) relative velocity. The time-of-flight differences between the transmitting antennas likewise lead, like the time-of-flight differences between the receiving antennas, to a phase difference corresponding to the angle of emergence or angle of incidence. However, the time multiplexing of the transmission antennas also causes an influence of the phase difference, that is, a deviation in the phase shift manner according to the target velocity (i.e., relative velocity) of the target object. However, the phase shift can still be compensated by the following equation (also called velocity compensation):

where k is the wavenumber of the radar signal and v is the (measured) target velocity.It may be a compensation value which is used to compensate for the phase shift in the angle determination. In the simplest case, the values can be used for this purposeTo the phase difference present in the detection information (or the resulting spectrum).

It can be provided that the ambiguity exists in the manner of the ambiguity of the ascertained relative velocity and leads to a phase error in the compensation value. It can therefore be problematic that the highest achievable relative velocities in the RV diagram are:

where Δ v is the velocity resolution. Higher speed flip (umklappen) so that for the measured relative speed the following applies:

v_mess＝mod(v+v_max,2·v_max)-v_max

undefined relative velocity thus leads to phase errors

Nevertheless, this ambiguity can be tolerated first of all, since the actual relative speed is only achievable in the subsequent method steps, which is costly close to it. In order to be able to ascertain the direction information in this way, however, it is already possible to apply a correction value which represents an odd inversion of the relative speed and is furthermore 0. Since in radar analysis the speed reliability test can only be carried out after the angle is determined, an undefined speed measurement must be usedError compensation of phase shift andthus resulting in erroneous measurement angles (i.e., directional information). According to the invention, it is therefore possible to specify the detection of the speed ambiguity during the angle determination and to specify a correction of the compensation based thereon. The invention is based on the consideration that the speed compensation must be carried out only in the MIMO case. In contrast, if only one transmit antenna Tx is applied, compensation is unnecessary. Thus, the MIMO angle estimation, i.e. for example the first and third angle determination, can be compared with the angle determination by means of Tx (SIMO angle estimation) for unambiguous and ambiguous velocity assumptions. Information of velocity ambiguity can then be provided to subsequent modules of the radar system.

It is furthermore possible to provide one or the correction values for the phase error, wherein the following steps are provided:

a third angle determination is carried out from the first and second detection information in order to ascertain the third angle information therefrom, wherein the correction value is applied differently from the first angle determination.

It is also possible that the first and third angle determinations process the first and second detection information, in particular compare them with one another, in order to ascertain the first or third angle information. In contrast, the second angle determination may apply only one of the (first or second) detection information, and thus may ascertain the second angle information without taking into account the detection information not applied. The second angle information may thus be specific for radar signals of only one of the transmit antennas, in contrast to the first and third angle information may be specific for radar signals of both or all transmit antennas. The first and third angle determinations may however also be implemented differently. Both may be based on MIMO processing. Furthermore, speed compensation may be necessary in both angle determinations. Since it is necessary to apply the correction value on the basis of the ambiguity, in the first angle determination the correction value of 0 can be applied, i.e. no correction value is applied, while in the third angle determination a correction value of in particular pi can be applied for the odd inversion of the relative speed. Thus "testing" two possibilities.

In addition, it is optionally provided that in the implementation of the at least one comparison, the third angle information is additionally compared with the second angle information in order to ascertain a first deviation of the first and second angle information and a second deviation of the second and third angle information by means of the comparison in order to determine the direction information from the deviations. The first and third angle information resulting from the different corrections can thus be compared with the second angle information next to the angle determinations, so that the one of the first and third angle information which is closest to the second angle information is selected for the determination of the direction information. The ambiguity in the second angle information does not lead to errors, since no speed compensation is carried out for the second angle determination. It is therefore advantageous if the first deviation is smaller than the second deviation, then the direction information is determined from the first angle information, and if not from the third angle information.

A further advantage within the scope of the invention is achieved in that the emission of the first radar signal by the first transmitting antenna and the emission of the second radar signal by the second transmitting antenna are carried out alternately in time. Alternatively or additionally, it can be provided that the emission of the first radar signal by the first transmitting antenna and the emission of the second radar signal by the second transmitting antenna are carried out offset in time. This means in particular that: the individual ramps of the radar signal are emitted without overlap. It is thereby possible to ascertain the detection information in such a way that it is specific to a certain radar signal of a certain transmitting antenna and can therefore be assigned to this transmitting antenna.

Preferably, provision can be made for the reception signals of the receiving antennas to ascertain first detection information such that the first detection information is specific to a first radar signal emitted by a first transmitting antenna of the radar system and/or reflected at the target object and/or delayed by a first time of flight, wherein the first detection information (relative to one another) has a first phase difference as a function of the direction of the target object (relative to the radar system) and as a function of the distance of the receiving antennas from one another; and/or second detection information is ascertained from the received signals of the receiving antennas in such a way that the second detection information is specific to a second radar signal emitted by a second transmitting antenna of the radar system and/or reflected at the target object and/or delayed by a second time of flight, wherein the second detection information has (relative to one another) a second phase difference in relation to the direction of the target object and in relation to the distance of the receiving antennas; and/or the first detection information has a third phase difference with respect to the second detection information in relation to the direction of the target object and the mutual spacing of the transmitting antennas, so that the third phase difference can be specific to the exit angle of the radar signal from the transmitting antennas; and the first and/or second phase difference may be specific for an angle of incidence of the radar signal on the respective receive antenna; and/or the first and second phase differences have a phase deviation from each other due to the relative speed of the target object, wherein the phase deviation can be compensated for determining the third phase difference on the basis of the measurement of the relative speed, in order to carry out the first and/or third angle determination on the basis of the third phase difference. In this way the advantages of the MIMO transmission scheme can be exploited very reliably.

In addition, it may be advantageous within the scope of the invention for the compensation of the phase deviation, i.e. the speed compensation, to be carried out by a compensation value which is not explicitly defined by the measured relative speed. This ambiguity can be caused by a limited resolution and thus a limited measurement range for the relative velocity.

Furthermore, it is conceivable within the scope of the invention for the at least two receiving antennas to be designed as at least four or at least six receiving antennas. If necessary, it is also possible to provide additional receiving antennas. This increases the operational capability of the radar system.

It is also conceivable that the first angle determination and in particular the third angle determination are carried out by means of a MIMO method, while the second angle determination is carried out by means of a SIMO method.

The invention also relates to a radar system for a vehicle, such as a passenger car or a truck. The radar system may have (in particular electronic) processing means in order to carry out the steps of the method according to the invention. The radar system according to the invention thus brings with it the same advantages as have been described in detail with reference to the method according to the invention. It is possible for the radar system to be embodied as a modulated continuous wave radar device, in particular as an FMCW radar.

The invention also relates to a computer program comprising instructions which, when the method according to the invention is executed by a processing device, cause the processing device to execute the steps of the method according to the invention. The computer program according to the invention thus brings with it the same advantages as have been described in detail with reference to the radar system according to the invention. The processing device may have, for example, at least one processor which reads a computer program from a memory for executing the computer program.

Drawings

Additional advantages, features and details of the invention result from the following description, in which embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description may be essential for the invention in each case individually or in any combination. In the figure:

FIG. 1 shows a schematic diagram of portions of a radar system according to the present invention;

FIG. 2 shows a schematic diagram of portions of a radar system according to the present invention;

fig. 3 shows a schematic visualization of the method according to the invention;

FIG. 4 shows a schematic diagram of the method steps;

fig. 5 shows a view of a transmission scheme of the method according to the invention.

Detailed Description

In the following figures, the same reference numerals are applied for the same technical features in different embodiments.

Fig. 1 shows a radar system 2 for a vehicle 1, which has a processing device 4 for carrying out the steps of the method according to the invention. The radar system 2 may comprise at least one radar sensor 3, which in turn has at least two transmitting antennas 21, 22 and at least two receiving antennas 31, 32 (see fig. 2). Furthermore, the radar system 2 can be used to carry out a determination of the directional information of the at least one target object 5 by means of the method according to the invention. The target object 5 is located outside the vehicle 1 and has a direction d, a distance r and a speed v with respect to the vehicle 1. The ascertainment of these parameters r, v and d is shown in further detail in fig. 2. According to a first method step, provision of first detection information 201 by the at least two receiving antennas 31, 32 of the radar system 2 can be carried out, wherein the first detection information 201 is specific to a first radar signal 221 emitted by a first transmitting antenna 21 of the radar system 2, reflected on the target object 5 and delayed by the time of flight. According to a second method step, provision of second detection information 202 by the at least two receiving antennas 31, 32 of the radar system 2 can also be carried out, wherein the second detection information 202 is specific to a second radar signal 222 emitted by the second transmitting antenna 22 of the radar system 2, reflected at the target object 5 and delayed by the time of flight. The detection information 201, 202 can be ascertained as digital information by the processing device 4 from the signals received by the receiving antennas 31, 32.

The parameters r, v and d can be ascertained according to fig. 3 by the subsequent processing 105 of the detection information 201, 202. First angle determination 111 can then be carried out from first and second detection information 201, 202 in order to ascertain first angle information 231 therefrom, such that first angle information 231 is specific to first and second radar signals 221, 222 (and thus to both transmitting antennas 21, 22). Provision may then be made for second angle determination 112 to be carried out from first or second detection information 201, 202 in order to ascertain second angle information 232 therefrom, such that second angle information 232 is specific (only) to one of radar signals 221, 222 or (only) to one of transmitting antennas 21, 22. A third angle determination 113 from the first and second detection information 201, 202 may also be provided in order to ascertain third angle information 233, so that the third angle information 233 is specific to the first and second radar signals 221, 222 (and thus to the two transmitting antennas 21, 22). The first and third angle determinations 111, 113 may thus be implemented identically. A comparison 110 of the first angle information 231 with the second angle information 232 can then be carried out in order to detect an ambiguity in the first angle determination 111 for determining the direction information.

This process is visualized in further detail in fig. 4. The compensation value p for the first and third angle determinations 111, 113 can thus be determined from the ascertained parameter v, i.e. the ascertained relative velocity v. This may also lead to phase errors in the compensation value p, since ambiguity may exist in the form of ambiguity of the ascertained relative velocity v. The correction value for the phase error can thus be provided and taken into account in step 114. A third angle determination 113 from the first and second detection information 201, 202 can then be carried out in order to ascertain third angle information 233 therefrom, wherein the correction value is applied differently from the first angle determination 111. The background here is that there are two possible correction values (0 and pi), of which only one correction value may be correct. Different ones of these correction values are therefore utilized in the first and third angle determinations 111, 113. In addition, third angle information 233 can then be compared with second angle information 232 when carrying out the at least one comparison 110 in order to ascertain a first deviation 241 of the first and second angle information 231, 232 and a second deviation 242 of the second and third angle information 232, 233 from these comparisons 110. In this way, the direction information can be determined from the deviations 241, 242. According to decision step 115, if the first deviation 241 is smaller than the second deviation 242, the direction information is determined from the first angle information 231, otherwise the direction information is determined from the third angle information 233.

The emission of radar signals 221, 222 at time t and an exemplary representation of frequency f are exemplarily shown in fig. 5. It can be seen that the respective emitted radar signals 221, 222 may have a duration T_CAnd a sharp ramp (chirp) with bandwidth B. In this case, the time T can be measured_MDuring which N ramps are output by each transmit antenna 21, 22.

Reference numeral 221 or 222 above the ramp indicates the correspondence of the ramp with the radar signal 221, 222, respectively. The ramp with the solid line thus corresponds to the first radar signal 221, while the ramp with the dashed line corresponds to the second radar signalSignal 222. The emission of radar signals 221, 222 is therefore at measurement time T_MThe internal operations are carried out at different times and alternately by different transmission antennas 21, 22.

The corresponding detection information 201, 202 may be measured at time T_MAnd then combined by the received signals of the receiving antennas 31, 32. In addition, the time T is measured_MThe processing 105 of the detection information 201, 202 may then be performed. M Tx transmit antennas may be operated in time multiplexing according to the MIMO transmission scheme, and K Rx receive antennas are scanned at a reception side. The detection information 201, 202 can be formed from the scanned signals received at the receiving antennas 31, 32.

The above description of various embodiments merely describes the invention within the scope of various examples. It goes without saying that the individual features of the individual embodiments can be combined with one another as far as technically expedient without departing from the scope of the invention.

List of reference numerals

1 vehicle

2 radar system

3 Radar sensor

4 treatment device

5 target object

21 first transmitting antenna

22 second transmitting antenna

31 first receiving antenna

32 second receiving antenna

105 treatment

110 compare

111 first angle determination

112 second angle determination

113 third angle determination

114 provision of correction values

115 deciding

201 first detection information

202 second detection information

221 first radar signal, Tx0

222 second radar signal, Tx1

231 first angle information

232 second angle information

233 third angle information

241 first deviation

242 second deviation

d direction

f frequency

p offset value

Distance r

time t

v relative velocity

Bandwidth of B

T_MMeasuring time

T_CDuration of the ramp