公开(公告)号：WO2023057431A1

公开(公告)日：2023-04-13

申请号：PCT/EP2022/077535

申请日：2022-10-04

Applicant: VALEO SCHALTER UND SENSOREN GMBH

Inventor： KVICERA, Milan ,  MANDLIK, Michal ,  BRAZDA, Vladimir ,  BUSUIOC, Dan

IPC: G01S7/40 ,  G01S13/931 ,  G01S13/58 ,  G01S13/44 ,  G01S13/4454 ,  G01S2013/932 ,  G01S7/403 ,  G01S7/4034

Abstract: The present invention relates to a method for calibration of a radar system (14) of a vehicle (10) for monitoring an environment of the vehicle (10). During a movement of the vehicle (10) with the radar system (14) at least one radar signal (22) is transmitted into a monitoring area (18). With the radar system (14) at least one echo signal (26) of at least one radar signal (22) is received, which is reflected from at least one target (24). At least one phase-based target angle (ΦS) is determined from at least one phase difference of the at least one received echo signal (26), which is received with different antennas of the radar system (14), wherein the phase-based target angle (ΦS) characterizes the direction of the at least one detected target (24) with respect to a radar reference system (28S) of the radar system (14). At least one Doppler-based target angle (ΦH) is determined from at least one Doppler shift of the at least one received echo signal (26) and a vehicle velocity (vH) of the vehicle (10), wherein the Doppler-based target angle (ΦH) characterizes the direction of the at least one detected target (24) with respect to a nominal reference system (28H) defining the calibration situation with the nominal mounting of the radar system (14) at the vehicle (10). At least one angle correction value (ΔΦ) is determined from a difference of at least one phase-based target angle (ΦS) and at least one Doppler-based target angle (ΦH). The at least one angle correction value (ΔΦ) is stored with at least one of the corresponding target angles (ΦS) in a correction lookup table for the purpose of correcting phase-based target angles (ΦS) at least from subsequent measurements with the radar system (14) to corrected target angles (Φcorr).

公开(公告)号：WO2021127698A1

公开(公告)日：2021-06-24

申请号：PCT/US2020/070924

申请日：2020-12-17

Applicant: CONTINENTAL AUTOMOTIVE SYSTEMS, INC.

Inventor： BOLDUC, Andrew Phillip

IPC: G01S7/40 ,  G01S13/91 ,  G08G1/01 ,  G01S7/497 ,  G01S13/86 ,  G01S17/86 ,  G01S17/88 ,  G01S13/931 ,  G01S2013/9316 ,  G01S2013/9323 ,  G01S7/003 ,  G01S7/4026 ,  G01S7/403 ,  G01S7/4972 ,  G08G1/0116 ,  G08G1/04

Abstract: A method includes measuring, with a sensor, a distance between a vehicle in a field of view of the sensor and the sensor, receiving a V2X communication from the vehicle indicative of the positional information of the vehicle, synchronizing the measurement from the sensor with the positional information received from the vehicle, and, using the synchronized data, determining an angular offset of the sensor, the angular offset being the angle between an azimuth of the sensor and the North direction.

公开(公告)号：WO2021133892A1

公开(公告)日：2021-07-01

申请号：PCT/US2020/066805

申请日：2020-12-23

Applicant: LYFT, INC.

Inventor： IZADIAN, Jamaledin ,  EMADI, Mohammad

IPC: B60W40/02 ,  B60W60/00 ,  B60W40/076 ,  B60R21/0134 ,  G01S13/931 ,  G05D1/02 ,  G05D1/00 ,  G06N20/00 ,  G01S2013/93273 ,  G01S7/4026 ,  G01S7/403 ,  G01S7/4034

Abstract: In one embodiment, a method includes accessing sensor data generated by one or more sensors of the vehicle, determining that a first beam angle of a radar of the vehicle provides insufficient radar visibility of a current road condition according to one or more criteria based on the sensor data, determining an amount of adjustment needed to adjust the first beam angle of the radar, adjusting the first beam angle of the radar to a second beam angle based on the determined amount of adjustment, and detecting one or more objects based on the second beam angle of the radar.

公开(公告)号：WO2023057538A1

公开(公告)日：2023-04-13

申请号：PCT/EP2022/077757

申请日：2022-10-06

Applicant: VALEO SCHALTER UND SENSOREN GMBH

Inventor： KVICERA, Milan ,  MANDLIK, Michal ,  BRAZDA, Vladimir

IPC: G01S7/40 ,  G01S13/931 ,  G01S7/403 ,  G01S7/4034 ,  G01S7/4052 ,  G01S7/4086

Abstract: The invention relates to a calibration device arrangement (3), a calibration device (4) and a calibration method. The calibration device arrangement (3) comprises an automotive radar device (2) and a calibration device (4) comprising a holding unit (5) positioned at a distance (8) and calibration objects (6) positioned spaced apart on the holding unit (5). Upon radar wave emission from the radar device (2) to the calibration objects (6) a phase between individual back signals emittable from the calibration objects (6) is changeable so that a direction of arrival (13) of received back signals is changeable. The received back signals are analyzable using a fast Fourier transformation (FFT) algorithm. A peak location of each back signal in the FFT spectrum is directly correspondable to the direction of arrival (13) and distinguishable in relation to the direction of arrival (13) so that a calibration of the radar device (2) is performable.

公开(公告)号：WO2023057497A1

公开(公告)日：2023-04-13

申请号：PCT/EP2022/077666

申请日：2022-10-05

Applicant: VALEO SCHALTER UND SENSOREN GMBH

Inventor： KVICERA, Milan ,  STEJSKAL, Ondrej ,  MANDLIK, Michal

IPC: G01S7/40 ,  G01S13/931 ,  G01S7/403 ,  G01S7/4034 ,  G01S7/4086

Abstract: The invention relates to a calibration device arrangement (3), a calibration device (4) and a calibration method. The calibration device arrangement (3) comprises an automotive radar device (2) and a calibration device (4) comprising a holding unit (5) positioned at a distance (8) to the radar device (2) and calibration objects (6) positioned spaced apart in a first direction of the calibration device (4). Upon radar wave emission from the radar device (2) to all calibration objects (6), back signals receivable by the radar device (2) are analyzable using a fast Fourier transformation (FFT) algorithm. A peak location of each transformed back signal in the FFT spectrum is distinguishable and correspondable to the involved calibration object (6) so that a calibration of the radar device (2) for elevation and azimuth angles (11, 12) is performable while moving the holding unit (5) in a second direction perpendicular to the first direction.