CN102680952A - 车辆雷达的对准方法和系统 - Google Patents
车辆雷达的对准方法和系统 Download PDFInfo
- Publication number
- CN102680952A CN102680952A CN2011102729597A CN201110272959A CN102680952A CN 102680952 A CN102680952 A CN 102680952A CN 2011102729597 A CN2011102729597 A CN 2011102729597A CN 201110272959 A CN201110272959 A CN 201110272959A CN 102680952 A CN102680952 A CN 102680952A
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- Prior art keywords
- radar
- vertical
- misalignment
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- setting angle
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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
- 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
-
- 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
-
- 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
-
- 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
-
- 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
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
-
- 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
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/36—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
- G01S13/40—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal wherein the frequency of transmitted signal is adjusted to give a predetermined phase relationship
-
- 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
- G01S2013/9321—Velocity regulation, e.g. cruise control
-
- 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
-
- 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
- G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
-
- 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 (27)
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2011-0024043 | 2011-03-17 | ||
KR1020110024043A KR101248851B1 (ko) | 2011-03-17 | 2011-03-17 | 차량 레이더의 수직 방향으로의 얼라인먼트 방법 및 시스템 |
KR1020110024044A KR20120106143A (ko) | 2011-03-17 | 2011-03-17 | 차량 레이더의 수평 또는 수직 방향으로의 얼라인먼트 방법 |
KR10-2011-0024044 | 2011-03-17 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102680952A true CN102680952A (zh) | 2012-09-19 |
CN102680952B CN102680952B (zh) | 2015-01-14 |
Family
ID=44651266
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201110272959.7A Active CN102680952B (zh) | 2011-03-17 | 2011-09-15 | 车辆雷达的对准方法和系统 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9523769B2 (zh) |
EP (1) | EP2500745A3 (zh) |
JP (2) | JP2012194169A (zh) |
CN (1) | CN102680952B (zh) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103837864A (zh) * | 2012-11-23 | 2014-06-04 | 现代摩比斯株式会社 | 车辆用雷达传感器的加装位置检测方法 |
CN104181512A (zh) * | 2013-05-22 | 2014-12-03 | 罗伯特·博世有限公司 | 用于求取车辆的雷达传感器的失准的方法和设备 |
CN104875685A (zh) * | 2014-02-27 | 2015-09-02 | 株式会社万都 | 用于车辆雷达的垂直对准装置和方法 |
CN105301565A (zh) * | 2014-06-20 | 2016-02-03 | 株式会社万都 | 车辆用雷达的对准控制装置及方法 |
CN105738877A (zh) * | 2014-12-31 | 2016-07-06 | 现代摩比斯株式会社 | 雷达对准装置及其控制方法 |
CN106662638A (zh) * | 2014-08-15 | 2017-05-10 | 罗伯特·博世有限公司 | 汽车雷达对准 |
CN105301565B (zh) * | 2014-06-20 | 2018-08-31 | 株式会社万都 | 车辆用雷达的对准控制装置及方法 |
CN108614256A (zh) * | 2016-12-12 | 2018-10-02 | 北京行易道科技有限公司 | 校准系统及方法 |
TWI684778B (zh) * | 2018-03-26 | 2020-02-11 | 為升電裝工業股份有限公司 | 用於拖掛式載具之防撞雷達裝置 |
CN113625279A (zh) * | 2020-05-08 | 2021-11-09 | 株式会社万都 | 检测雷达装置的垂直安装未对齐的装置和方法和具有该装置的雷达装置 |
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US9423498B1 (en) * | 2012-09-25 | 2016-08-23 | Google Inc. | Use of motion data in the processing of automotive radar image processing |
DE102013209530A1 (de) * | 2013-05-23 | 2014-11-27 | Robert Bosch Gmbh | Bestimmung eines elevations-dejustagewinkels eines radarsensors eines kraftfahrzeugs |
JP6321448B2 (ja) * | 2013-06-03 | 2018-05-09 | 株式会社デンソー | レーダ装置、及びプログラム |
JP6464241B2 (ja) * | 2013-06-03 | 2019-02-06 | 株式会社デンソー | レーダ装置、及びプログラム |
KR101558660B1 (ko) * | 2013-10-10 | 2015-10-07 | 현대자동차주식회사 | 멀티 계층 라이더의 빔 각도 보정 장치 및 그 방법 |
JP6146285B2 (ja) | 2013-12-02 | 2017-06-14 | 株式会社デンソー | 軸ずれ判定装置 |
JP6265149B2 (ja) * | 2014-08-27 | 2018-01-24 | 株式会社デンソー | 検出装置 |
JP6323256B2 (ja) * | 2014-08-27 | 2018-05-16 | 株式会社デンソー | 検出装置 |
US11137490B2 (en) * | 2014-09-16 | 2021-10-05 | Teknologian Tutkimuskeskus Vtt | Navigational aid with adaptive radar |
US20160223649A1 (en) * | 2015-01-30 | 2016-08-04 | Robert Bosch Gmbh | Systems and methods for radar vertical misalignment detection |
KR101649987B1 (ko) | 2015-04-13 | 2016-08-23 | 주식회사 만도 | 장착 각도 판별 장치 및 그 판별 방법 |
US10191144B2 (en) * | 2016-02-26 | 2019-01-29 | Waymo Llc | Radar mounting estimation with unstructured data |
JP2018059783A (ja) * | 2016-10-04 | 2018-04-12 | 株式会社デンソー | 物体検出センサの軸ずれ判定方法 |
US11047955B2 (en) * | 2018-07-06 | 2021-06-29 | Lyft, Inc. | Calibrating a radar antenna |
US11029390B2 (en) * | 2018-07-10 | 2021-06-08 | Ford Motor Company | Method and system for performing a vehicle height-radar alignment check to align a radar device provided in a vehicle |
JP7339114B2 (ja) * | 2019-10-09 | 2023-09-05 | 株式会社Soken | 軸ずれ推定装置 |
US11360191B2 (en) * | 2019-12-27 | 2022-06-14 | Woven Planet North America, Inc. | Adaptive tilting radars for effective vehicle controls |
US11305786B2 (en) * | 2020-05-01 | 2022-04-19 | Autoguide, LLC. | Maintaining consistent sensor output |
KR102587292B1 (ko) * | 2022-07-25 | 2023-10-12 | 서울대학교산학협력단 | 자체움직임 측정을 위한 레이더 센서 배치와 알고리즘 |
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2011
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- 2011-08-23 US US13/215,849 patent/US9523769B2/en active Active
- 2011-09-08 EP EP11180492.8A patent/EP2500745A3/en not_active Withdrawn
- 2011-09-15 CN CN201110272959.7A patent/CN102680952B/zh active Active
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2013
- 2013-06-19 JP JP2013129054A patent/JP2013213830A/ja active Pending
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Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103837864B (zh) * | 2012-11-23 | 2017-03-01 | 现代摩比斯株式会社 | 车辆用雷达传感器的加装位置检测方法 |
CN103837864A (zh) * | 2012-11-23 | 2014-06-04 | 现代摩比斯株式会社 | 车辆用雷达传感器的加装位置检测方法 |
CN104181512A (zh) * | 2013-05-22 | 2014-12-03 | 罗伯特·博世有限公司 | 用于求取车辆的雷达传感器的失准的方法和设备 |
CN104181512B (zh) * | 2013-05-22 | 2018-08-14 | 罗伯特·博世有限公司 | 用于求取车辆的雷达传感器的失准的方法和设备 |
CN104875685A (zh) * | 2014-02-27 | 2015-09-02 | 株式会社万都 | 用于车辆雷达的垂直对准装置和方法 |
CN104875685B (zh) * | 2014-02-27 | 2017-11-24 | 株式会社万都 | 用于车辆雷达的垂直对准装置和方法 |
CN105301565B (zh) * | 2014-06-20 | 2018-08-31 | 株式会社万都 | 车辆用雷达的对准控制装置及方法 |
CN105301565A (zh) * | 2014-06-20 | 2016-02-03 | 株式会社万都 | 车辆用雷达的对准控制装置及方法 |
CN106662638B (zh) * | 2014-08-15 | 2019-06-25 | 罗伯特·博世有限公司 | 汽车雷达对准 |
CN106662638A (zh) * | 2014-08-15 | 2017-05-10 | 罗伯特·博世有限公司 | 汽车雷达对准 |
CN105738877B (zh) * | 2014-12-31 | 2018-06-29 | 现代摩比斯株式会社 | 雷达对准装置及其控制方法 |
US10215844B2 (en) | 2014-12-31 | 2019-02-26 | Hyundai Mobis Co., Ltd. | Radar alignment apparatus and method of controlling the same |
CN105738877A (zh) * | 2014-12-31 | 2016-07-06 | 现代摩比斯株式会社 | 雷达对准装置及其控制方法 |
CN108614256A (zh) * | 2016-12-12 | 2018-10-02 | 北京行易道科技有限公司 | 校准系统及方法 |
TWI684778B (zh) * | 2018-03-26 | 2020-02-11 | 為升電裝工業股份有限公司 | 用於拖掛式載具之防撞雷達裝置 |
CN113625279A (zh) * | 2020-05-08 | 2021-11-09 | 株式会社万都 | 检测雷达装置的垂直安装未对齐的装置和方法和具有该装置的雷达装置 |
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US20120235851A1 (en) | 2012-09-20 |
CN102680952B (zh) | 2015-01-14 |
US9523769B2 (en) | 2016-12-20 |
JP2012194169A (ja) | 2012-10-11 |
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EP2500745A2 (en) | 2012-09-19 |
EP2500745A3 (en) | 2015-07-08 |
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