公开(公告)号：US10088553B2

公开(公告)日：2018-10-02

申请号：US15069547

申请日：2016-03-14

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shuqing Zeng ,  Xian Zhang ,  Xiaofeng F. Song

IPC: G01S7/40 ,  B60W40/105 ,  G01S13/08 ,  G01S13/58

Abstract: A method and sensor system are disclosed for automatically determining object sensor position and alignment on a host vehicle. A radar sensor detects objects surrounding the host vehicle in normal operation. Static objects are identified as those objects with ground speed approximately equal to zero. Vehicle dynamics sensors provide vehicle longitudinal and lateral velocity and yaw rate data. Measurement data for the static objects—including azimuth angle, range and range rate relative to the sensor—along with the vehicle dynamics data, are used in a recursive geometric calculation which converges on actual values of the radar sensor's two-dimensional position and azimuth alignment angle on the host vehicle.