公开(公告)号：US12241996B1

公开(公告)日：2025-03-04

申请号：US17375707

申请日：2021-07-14

Applicant: Waymo LLC

Inventor： Ryan Fan ,  Kenneth Ho

IPC: G01S7/40 ,  G01S7/41

Abstract: An example method for using antenna array calibration to adjust radar unit operation involves receiving radar data from a radar unit coupled to a vehicle during vehicle operation in an environment, where the radar unit receives the radar data from the environment via an antenna array of the radar unit. The method also involves detecting an object in the environment based on the radar data, determining that the detected object satisfies a set of conditions, and, in response to the set of conditions being satisfied, estimating a first phase array offset for the antenna array. The method also involves comparing the first phase array offset with a second phase array offset that represents a prior calibration for the radar unit, and, based on a difference between the first and second phase array offsets exceeding a threshold difference, adjusting operation of the radar unit according to the first phase array offset.