CN114019494A - 具有自校准的自动车辆雷达系统 - Google Patents
具有自校准的自动车辆雷达系统 Download PDFInfo
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- CN114019494A CN114019494A CN202111318332.0A CN202111318332A CN114019494A CN 114019494 A CN114019494 A CN 114019494A CN 202111318332 A CN202111318332 A CN 202111318332A CN 114019494 A CN114019494 A CN 114019494A
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Images
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/589—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/64—Velocity measuring systems using range gates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
- G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims (11)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/339,135 US10481243B2 (en) | 2016-10-31 | 2016-10-31 | Automated vehicle radar system with self-calibration |
US15/339,135 | 2016-10-31 | ||
CN201711041885.XA CN108008376B (zh) | 2016-10-31 | 2017-10-30 | 具有自校准的自动车辆雷达系统 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711041885.XA Division CN108008376B (zh) | 2016-10-31 | 2017-10-30 | 具有自校准的自动车辆雷达系统 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN114019494A true CN114019494A (zh) | 2022-02-08 |
Family
ID=60080641
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711041885.XA Active CN108008376B (zh) | 2016-10-31 | 2017-10-30 | 具有自校准的自动车辆雷达系统 |
CN202111318332.0A Pending CN114019494A (zh) | 2016-10-31 | 2017-10-30 | 具有自校准的自动车辆雷达系统 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711041885.XA Active CN108008376B (zh) | 2016-10-31 | 2017-10-30 | 具有自校准的自动车辆雷达系统 |
Country Status (3)
Country | Link |
---|---|
US (2) | US10481243B2 (zh) |
EP (1) | EP3318889A1 (zh) |
CN (2) | CN108008376B (zh) |
Families Citing this family (23)
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US10481243B2 (en) | 2016-10-31 | 2019-11-19 | Aptiv Technologies Limited | Automated vehicle radar system with self-calibration |
US10830869B2 (en) * | 2018-05-15 | 2020-11-10 | GM Global Technology Operations LLC | Vehicle radar system and method of calibrating the same |
JP7125288B2 (ja) * | 2018-06-28 | 2022-08-24 | 株式会社デンソーテン | レーダ装置及び信号処理方法 |
US10948590B2 (en) * | 2018-07-26 | 2021-03-16 | GM Global Technology Operations LLC | Estimation and compensation of transceiver position offsets in a radar system for targets at unknown positions |
US10852393B2 (en) * | 2018-07-30 | 2020-12-01 | GM Global Technology Operations LLC | Method of calibrating a radar system |
CN109490855A (zh) * | 2018-08-28 | 2019-03-19 | 福瑞泰克智能系统有限公司 | 一种车载雷达标定方法、装置及车辆 |
DE102018214961A1 (de) * | 2018-09-04 | 2020-03-05 | Robert Bosch Gmbh | Verfahren zur Erkennung von Winkelmessfehlern bei einem Radarsensor |
US11269048B2 (en) * | 2018-10-23 | 2022-03-08 | Baidu Usa Llc | Radar sensor array for interference hunting and detection |
RU2742323C2 (ru) | 2018-12-29 | 2021-02-04 | Общество с ограниченной ответственностью "Яндекс Беспилотные Технологии" | Способ и компьютерное устройство для определения углового смещения радиолокационной системы |
WO2020181492A1 (en) * | 2019-03-12 | 2020-09-17 | SZ DJI Technology Co., Ltd. | Method and apparatus for detecting radar wave offset |
CN112050829B (zh) * | 2019-06-06 | 2023-04-07 | 华为技术有限公司 | 一种运动状态确定方法及装置 |
CN110261832B (zh) * | 2019-07-04 | 2021-04-23 | 北京行易道科技有限公司 | 一种雷达安装校准方法及系统 |
US11555919B2 (en) | 2019-10-07 | 2023-01-17 | Ford Global Technologies, Llc | Radar calibration system |
CN112881989A (zh) * | 2019-11-29 | 2021-06-01 | 上海海拉电子有限公司 | 一种车辆上毫米波雷达的自校准方法、电子设备及存储介质 |
US11686836B2 (en) * | 2020-01-13 | 2023-06-27 | Pony Ai Inc. | Real-time and dynamic localization using active doppler sensing systems for vehicles |
US11454701B2 (en) * | 2020-01-13 | 2022-09-27 | Pony Ai Inc. | Real-time and dynamic calibration of active sensors with angle-resolved doppler information for vehicles |
CN111679256B (zh) * | 2020-07-23 | 2023-09-19 | 杭州智波科技有限公司 | 汽车毫米波雷达的角度校准方法、装置、系统及存储介质 |
CN111856418A (zh) * | 2020-07-29 | 2020-10-30 | 深圳安智杰科技有限公司 | 车载雷达相位校准方法、装置、电子设备及存储介质 |
EP3985410A1 (en) * | 2020-10-15 | 2022-04-20 | Aptiv Technologies Limited | Methods and systems for calibrating a radar sensor |
GB2609663A (en) * | 2021-08-13 | 2023-02-15 | Jaguar Land Rover Ltd | Methods and apparatus for radar alignment determination |
EP4160256A1 (en) * | 2021-10-01 | 2023-04-05 | Aptiv Technologies Limited | Method and system for calibrating a radar sensor |
EP4187276A1 (en) * | 2021-11-30 | 2023-05-31 | Aptiv Technologies Limited | Method and system for estimating a radar calibration matrix |
EP4194885A1 (en) | 2021-12-09 | 2023-06-14 | Aptiv Technologies Limited | Method for determining the mobility status of a target object |
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US5832407A (en) * | 1996-04-12 | 1998-11-03 | Mitsubishi Denki Kabushiki Kaisha | Vehicle surrounding monitoring device |
CN1259675A (zh) * | 1998-07-23 | 2000-07-12 | 易通-沃拉德技术有限公司 | 抑制雷达系统中雨滴杂波的方法和装置 |
US6121919A (en) * | 1999-07-23 | 2000-09-19 | Eaton-Vorad Technologies, L.L.C. | Method and apparatus for range correction in a radar system |
CN101006359A (zh) * | 2004-11-12 | 2007-07-25 | 三菱电机株式会社 | 轴偏角推定方法及其装置 |
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2016
- 2016-10-31 US US15/339,135 patent/US10481243B2/en active Active
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2017
- 2017-10-10 EP EP17195730.1A patent/EP3318889A1/en not_active Withdrawn
- 2017-10-30 CN CN201711041885.XA patent/CN108008376B/zh active Active
- 2017-10-30 CN CN202111318332.0A patent/CN114019494A/zh active Pending
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2019
- 2019-10-29 US US16/667,095 patent/US11237248B2/en active Active
Patent Citations (10)
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US5832407A (en) * | 1996-04-12 | 1998-11-03 | Mitsubishi Denki Kabushiki Kaisha | Vehicle surrounding monitoring device |
CN1259675A (zh) * | 1998-07-23 | 2000-07-12 | 易通-沃拉德技术有限公司 | 抑制雷达系统中雨滴杂波的方法和装置 |
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US20180120414A1 (en) | 2018-05-03 |
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