公开(公告)号：US20180231654A1

公开(公告)日：2018-08-16

申请号：US15434492

申请日：2017-02-16

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Igal Bilik ,  Michael Slutsky ,  Shahar Villeval

IPC: G01S13/86 ,  H01Q15/18 ,  G01S7/497 ,  G01S13/93 ,  G01S17/93 ,  G01S7/40 ,  G01S17/02

CPC classification number: G01S13/865 ,  G01S7/4004 ,  G01S7/4026 ,  G01S7/497 ,  G01S13/931 ,  G01S17/023 ,  G01S17/66 ,  G01S17/89 ,  G01S17/936 ,  G01S2007/4086 ,  G01S2013/9375 ,  H01Q1/3233 ,  H01Q15/18

Abstract: A method and apparatus for calibrating a LiDAR system at a first location with a radar system at a second location. A calibration target is placed at a location and orientation with respect to the LiDAR system and the radar system. Coefficients of a plane of the calibration target are determined in a frame of reference of the LiDAR system. Coordinates of the calibration target are determined in a frame of reference of the radar system. A cost function is composed from a planar equation that includes the determined coefficients and the determined coordinates and a relative pose matrix that transforms the frame of reference of the radar system to the frame of reference of the LiDAR system. The cost function is reduced to estimate the relative pose matrix for calibration of the LiDAR system with the radar system.

公开(公告)号：US20140347206A1

公开(公告)日：2014-11-27

申请号：US14283416

申请日：2014-05-21

Applicant: Siegbert STEINLECHNER

Inventor： Siegbert STEINLECHNER

IPC: G01S7/40

CPC classification number: G01S7/40 ,  G01S7/4026 ,  G01S13/931 ,  G01S2007/403 ,  G01S2007/4086

Abstract: A method for ascertaining a misalignment of a radar sensor of a vehicle ascertains a misalignment angle of the misalignment using a weighted averaging of calculated differences between first and second angles of radar reflectors relative to various axes. Also described is a device for ascertaining this misalignment.

Abstract translation: 用于确定车辆的雷达传感器的未对准的方法使用雷达反射器相对于各个轴的第一和第二角度之间的计算的差异的加权平均来确定不对准的未对准角。 还描述了用于确定该未对准的装置。

公开(公告)号：US20080224918A1

公开(公告)日：2008-09-18

申请号：US11986854

申请日：2007-11-27

Applicant: Koji Shimizu

Inventor： Koji Shimizu

IPC: G01S13/00 ,  H01Q3/00

CPC classification number: G01S7/4026 ,  G01S13/34 ,  G01S13/584 ,  G01S13/931 ,  G01S2007/4086 ,  G01S2013/9339 ,  G01S2013/9346 ,  G01S2013/9353 ,  G01S2013/9375 ,  H01Q1/3233 ,  H01Q3/24

Abstract: A direction detection apparatus transmits radar waves, with resultant reflected waves being received as incident waves by elements of an array antenna. Normally the direction of a target object is calculated based on analyzing respective received signals from the antenna elements, in calculations utilizing an estimated total number of incident wave directions. In an antenna direction adjustment mode, an actual number of target objects, and hence actual number of incident wave directions, is utilized in place of the estimated value, thereby enabling direction detection information to be obtained which does not fluctuate with time, thus facilitating the adjustment.

Abstract translation: 方向检测装置发射雷达波，其中所产生的反射波作为入射波被阵列天线的元件接收。 通常，在利用估计的入射波方向的总数的计算中，基于分析来自天线元件的各个接收信号来计算目标物体的方向。 在天线方向调整模式中，利用实际目标对象数量和实际入射波方向数来代替估计值，从而能够获得不随时间波动的方向检测信息，从而便于 调整。

公开(公告)号：US20040066325A1

公开(公告)日：2004-04-08

申请号：US10266403

申请日：2002-10-08

Inventor： Paul Kirk Zoratti ,  Jeffrey Allen Bochenek ,  Joseph Charles Attard ,  Ammon Keefe Wright ,  Terry Joseph Anson

IPC: G01S007/40

CPC classification number: G01S7/4026 ,  G01S7/4972 ,  G01S7/52004 ,  G01S2007/403 ,  G01S2007/4034 ,  G01S2007/4086

Abstract: A method of aligning a sensor device attached to an automobile includes the steps of positioning a first detection object relative to the automobile and generating a plurality of beams at the sensor device. A beam crossing point common to first and second adjacent beams is selected, and the sensor alignment is verified by determining whether the beam crossing point is coincident with the first detection object.

公开(公告)号：US06714156B1

公开(公告)日：2004-03-30

申请号：US10302287

申请日：2002-11-22

Applicant: Faroog A. Ibrahim ,  Gerald L. Sielagoski

Inventor： Faroog A. Ibrahim ,  Gerald L. Sielagoski

IPC: G01S740

CPC classification number: G01S7/4026 ,  G01S13/931 ,  G01S2007/4086 ,  G01S2013/9321 ,  G01S2013/9375 ,  G01S2013/9389

Abstract: A method of identifying a radar requiring alignment and of adjusting the alignment of the radar fixed to a mounting assembly. The identification method includes the steps of determining a misalignment threshold, determining the misalignment angle of the radar, and creating an alignment notice if the misalignment angle exceeds the threshold. The mounting assembly for the adjustment method includes a housing and an adjustment mechanism coupled to the housing. The method includes the steps of determining a radar misalignment angle, consulting a mapping table having adjustment mechanism manipulations associated with each of a plurality of radar misalignment angles to identify an appropriate adjustment mechanism manipulation for the misalignment angle, and performing the adjustment mechanism manipulation identified in the mapping table for the determined radar misalignment angle.

Abstract translation: 识别需要对准的雷达并调整固定到安装组件上的雷达对准的方法。 识别方法包括以下步骤：确定不对准阈值，确定雷达的未对准角度，以及如果偏移角超过阈值则产生对准通知。 用于调节方法的安装组件包括壳体和联接到壳体的调节机构。 该方法包括以下步骤：确定雷达失准角度，参考具有与多个雷达未对准角度中的每一个相关联的调整机构操作的映射表，以识别对准角度的适当调节机构操纵，以及执行在 确定雷达不对准角的映射表。

公开(公告)号：US20040017308A1

公开(公告)日：2004-01-29

申请号：US10452901

申请日：2003-06-03

Inventor： Hayato Kikuchi

IPC: G01S007/40 ,  H01Q001/12

CPC classification number: G01S13/931 ,  G01S7/4026 ,  G01S7/4972 ,  G01S7/52004 ,  G01S2007/4034 ,  G01S2007/4086 ,  G01S2013/9375 ,  H01Q1/125 ,  H01Q1/3233

Abstract: A method for adjusting a detection axis of an object detection system, wherein a disk-shaped adjusting member is fixed to a reference plane on an outer face of a casing, wherein the rotational position of the adjusting member is adjusted. The adjusting member has first and second base surfaces, between which a wedge shape is formed. Rotating the adjusting member finely adjusts the angle of the second base surface relative to the reference plane of the casing, thereby resulting in the direction of the second base surface coinciding with the direction of an object detection axis of a radar mechanism part fixed within the casing. The direction of the object detection axis can be adjusted in the horizontal direction by placing a level on the second base surface of the adjusting member and adjusting the mounting angle of the casing so the level indicates a horizontal direction.

Abstract translation: 一种用于调整物体检测系统的检测轴的方法，其中盘形调节构件固定在壳体的外表面上的参考平面上，其中调节构件的旋转位置被调节。 调节构件具有形成楔形的第一和第二基面。 旋转调节构件精细地调整第二基面相对于壳体的基准面的角度，从而导致第二基面的方向与固定在壳体内的雷达机构部件的物体检测轴线的方向一致 。 物体检测轴的方向可以通过在调节构件的第二基面上放置一个水平面并调节壳体的安装角度使水平指示水平方向来调节水平方向。

公开(公告)号：US06437731B1

公开(公告)日：2002-08-20

申请号：US09656271

申请日：2000-09-06

Applicant: Jean-François Henrio ,  Jean-Paul Artis

Inventor： Jean-François Henrio ,  Jean-Paul Artis

IPC: G01S740

CPC classification number: G01S7/4026 ,  G01S2007/403 ,  G01S2007/4034 ,  G01S2007/4086 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9375 ,  G01S2013/9389

Abstract: The disclosure relates to methods and devices for adjusting and setting the alignment of the radio axis of a radar installed on a vehicle with respect to a determined direction. The method, in making use of an adjustment and setting stand comprising a goniometer-responder, consists: in acquiring the angles &agr; and &bgr;, &agr; a being the azimuthal angle at which the radar perceives the goniometer-responder and &bgr; being the angle between the determined direction and the axis of the stand; determining the azimuth &ggr; of the radar by means of the goniometer-responder when the radar, configured in test mode, sends out a continuous frequency; equalizing the azimuth &ggr; with the angle &bgr; by translating the goniometer-responder along its axis of motion; nullifying the angle of azimuth &agr; by actuating the means to adjust the radar in azimuth. The device includes a goniometer-responder used to locate the radar in azimuth and in elevation when the radar is in test mode and sends out a continuous frequency. Application: especially to the adjustment and setting of the alignment of the radio axis of a radar installed on a vehicle with respect to the thrust axis of the vehicle.

Abstract translation: 本公开涉及用于相对于确定的方向来调整和设置安装在车辆上的雷达的无线电轴的对准的方法和装置。 该方法在使用包括角度计应答器的调节和设置支架时，包括：在获取α和β角度时，αa是雷达感知测角器响应器的方位角，β是角度 确定方向和支架轴线; 当以测试模式配置的雷达发出连续频率时，通过测角计响应器确定雷达的方位角γ; 通过使测角器响应者沿着其运动轴平移来平衡角度γ与角度β; 通过启动在方位角调整雷达的方法来消除方位角α的角度。 该装置包括测角仪响应器，用于在雷达处于测试模式时定位雷达的方位角和仰角，并发出连续的频率。 适用范围：特别是车辆相对于车辆推力轴安装的雷达的无线电轴的对准调整和设定。

公开(公告)号：US06418775B1

公开(公告)日：2002-07-16

申请号：US09438182

申请日：1999-11-11

Applicant: Peter Säger ,  Thomas Landsiedel ,  Jörg Neugärtner

Inventor： Peter Säger ,  Thomas Landsiedel ,  Jörg Neugärtner

IPC: G01S740

CPC classification number: G01S7/4972 ,  G01S7/4026 ,  G01S2007/4086 ,  G01S2013/9375

Abstract: A system and method for aligning the beam path of a beam-emitting sensor arranged on a motor vehicle. Convenient and nevertheless highly precise setting of the beam direction of the beam-emitting element is possible if, when the vehicle is stationary, an external aligning beam propagating along or parallel to an actual direction of travel of the motor vehicle 1 hits a strictly planar surface on the sensor which reflects the aligning beam, the incident aligning beam and the reflected aligning beam are made to overlap as a result of the position of the sensor being changed.

Abstract translation: 一种用于对准布置在机动车辆上的射束发射传感器的光束路径的系统和方法。 如果当车辆静止时，沿着或平行于机动车辆1的实际行进方向传播的外部对准梁撞击严格平坦的表面，则方便且仍然高度精确地设置光束发射元件的光束方向是可能的 在反射对准光束的传感器上，由于传感器的位置被改变，使入射对准光束和反射的对准光束重叠。

公开(公告)号：US06275182B1

公开(公告)日：2001-08-14

申请号：US06161002

申请日：1980-06-19

Applicant: Calvin J. Meierbachtol

Inventor： Calvin J. Meierbachtol

IPC: G01S740

CPC classification number: H01Q1/421 ,  G01S7/4026 ,  G01S13/66 ,  G01S2007/403 ,  G01S2007/4034 ,  G01S2007/4086

Abstract: Disclosed is a method and apparatus for improving airborne vehicle tracking and guidance systems by reducing boresight error induced by polarization of the RF energy impinging on the vehicle radome. The radome wall is formed with a taper which gradually increases from the base near the vehicle antenna to the tip according to a disclosed formula which accounts for frequency, incidence angle, look angle, and the dielectric constant of the radome material. This taper of the radome minimizes the crossplane boresight error component magnitude which is polarization sensitive and produces a polarization insensitive inplane boresight error component. Also disclosed is a method of electronically compensating such radomes for boresight error where the radome boresight error data accumulated during testing is digitized and processed for compensating data in the vehicle electronic system to provide compensated tracking data for the vehicle guidance system.

Abstract translation: 本发明公开了一种通过减少碰撞在车辆天线罩上的射频能量偏振引起的视轴误差来改善机载车辆跟踪和引导系统的方法和装置。 根据公开的公式，天线罩壁形成有从车辆天线附近的基座逐渐增加到尖端的锥度，其表示天线罩材料的频率，入射角，视角和介电常数。 天线罩的这个锥度最小化极化敏感的交叉面视轴误差分量幅度，并产生极化不敏感的内平面视轴误差分量。还公开了一种电子补偿这样的天线罩的视轴误差，其中测试期间累积的天线罩视轴误差数据被数字化 并被处理以补偿车辆电子系统中的数据，以提供用于车辆引导系统的补偿跟踪数据。

公开(公告)号：US6114985A

公开(公告)日：2000-09-05

申请号：US975887

申请日：1997-11-21

Applicant: Mark E. Russell ,  Clifford A. Drubin

Inventor： Mark E. Russell ,  Clifford A. Drubin

IPC: G01S7/40 ,  G01S13/93

CPC classification number: G01S7/4052 ,  G01S13/931 ,  G01S2007/4086 ,  G01S2007/4095 ,  G01S2013/9357

Abstract: A test station for testing the performance of an automotive Forward Looking Sensor (FLS) in detecting one or more targets in a predetermined scene within the field of view of the FLS. The test station includes a chamber having a first end at which the FLS is disposed and a second end at which a Transmit/Receive Test (TRT) system is disposed. The TRT system includes an antenna array responsive to an RF signal transmitted by the FLS and a Transmit/Receive (TR) processor for processing the received signal in order to simulate the predetermined scene and for transmitting the processed signal back to the FLS. The TR processor includes at least one Transmit/Receive Radio Frequency (TR RF) processor module for processing the received RF signal by selectively shifting the frequency and/or adjusting the amplitude of the signal.

Abstract translation: 用于测试汽车前视传感器（FLS）在FLS视野内的预定场景中检测一个或多个目标的性能的测试站。 测试台包括具有第一端和第二端的腔室，在该第二端处设置有发射/接收测试（TRT）系统。 TRT系统包括响应于由FLS发送的RF信号的天线阵列和用于处理接收信号的发送/接收（TR）处理器，以便模拟预定场景并将处理的信号发送回FLS。 TR处理器包括至少一个发射/接收射频（TR RF）处理器模块，用于通过选择性地移动频率和/或调整信号的幅度来处理所接收的RF信号。