CN107710010B - 车辆雷达系统和用于估计车辆雷达系统失准的方法 - Google Patents
车辆雷达系统和用于估计车辆雷达系统失准的方法 Download PDFInfo
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- CN107710010B CN107710010B CN201680033680.4A CN201680033680A CN107710010B CN 107710010 B CN107710010 B CN 107710010B CN 201680033680 A CN201680033680 A CN 201680033680A CN 107710010 B CN107710010 B CN 107710010B
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- 238000000034 method Methods 0.000 title claims description 27
- 238000012937 correction Methods 0.000 claims abstract description 40
- 238000012545 processing Methods 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 9
- 238000005457 optimization Methods 0.000 claims description 6
- 230000001131 transforming effect Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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
-
- 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
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
-
- 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
-
- 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
- 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
- G01S13/343—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 using sawtooth modulation
-
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
-
- 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
-
- 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
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
-
- 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
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)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (14)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP15171549.7A EP3104189B1 (en) | 2015-06-11 | 2015-06-11 | Misalignment estimation for a vehicle radar system |
EP15171549.7 | 2015-06-11 | ||
PCT/EP2016/063241 WO2016198563A1 (en) | 2015-06-11 | 2016-06-10 | Misalignment estimation for a vehicle radar system |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107710010A CN107710010A (zh) | 2018-02-16 |
CN107710010B true CN107710010B (zh) | 2020-12-25 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201680033680.4A Active CN107710010B (zh) | 2015-06-11 | 2016-06-10 | 车辆雷达系统和用于估计车辆雷达系统失准的方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10656246B2 (zh) |
EP (1) | EP3104189B1 (zh) |
CN (1) | CN107710010B (zh) |
WO (1) | WO2016198563A1 (zh) |
Families Citing this family (23)
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US10191144B2 (en) * | 2016-02-26 | 2019-01-29 | Waymo Llc | Radar mounting estimation with unstructured data |
US10545221B2 (en) | 2017-05-23 | 2020-01-28 | Veoneer, Inc. | Apparatus and method for detecting alignment of sensor in an automotive detection system |
US10732262B2 (en) | 2017-12-18 | 2020-08-04 | Veoneer Us, Inc. | Apparatus and method for detecting alignment of sensor in an automotive detection system |
CN110609285B (zh) * | 2018-06-14 | 2023-07-14 | 安波福电子(苏州)有限公司 | 用于车辆自动制动的控制装置及控制方法 |
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 |
JP6970065B2 (ja) * | 2018-09-06 | 2021-11-24 | 株式会社Soken | 物体検出装置 |
US11126197B2 (en) * | 2018-11-19 | 2021-09-21 | Waymo Llc | Verification of iterative closest point alignments for autonomous vehicles |
DE102018133693B3 (de) | 2018-12-28 | 2020-06-04 | Volkswagen Aktiengesellschaft | Verfahren zur Kalibrierung der Ausrichtung eines sich bewegenden Objektsensors |
EP3693759B1 (en) * | 2019-02-08 | 2023-10-04 | Tata Consultancy Services Limited | System and method for tracking motion of target in indoor environment |
DE102019204604A1 (de) * | 2019-04-01 | 2020-10-01 | Robert Bosch Gmbh | Verfahren zum Ermitteln einer Dejustage eines Radarsensors |
US11181617B2 (en) * | 2019-06-10 | 2021-11-23 | GM Global Technology Operations LLC | Ultra short range radar sensor systems and methods |
CN110231601A (zh) * | 2019-07-01 | 2019-09-13 | 百度在线网络技术(北京)有限公司 | 传感器误差补偿方法、装置、设备及存储介质 |
CN110716184B (zh) * | 2019-10-18 | 2021-08-10 | 安徽江淮汽车集团股份有限公司 | 雷达系统角度标定方法、装置、设备及存储介质 |
US11402468B2 (en) * | 2019-12-30 | 2022-08-02 | Woven Planet North America, Inc. | Systems and methods for blind online calibration of radar systems on a vehicle |
US11378668B2 (en) | 2020-03-03 | 2022-07-05 | Ford Global Technologies, Llc | Radar calibration |
CN111366901B (zh) * | 2020-03-05 | 2023-11-10 | 北京小马慧行科技有限公司 | 标定车载毫米波雷达方位角度安装偏差的方法及装置 |
DE102020203392A1 (de) * | 2020-03-17 | 2021-09-23 | Robert Bosch Gesellschaft mit beschränkter Haftung | Ermitteln einer Einbaukonfiguration eines Sensors für Kraftfahrzeuge |
CN114636993A (zh) * | 2020-12-16 | 2022-06-17 | 华为技术有限公司 | 一种激光雷达与imu的外参标定方法、装置及设备 |
CN112763995B (zh) * | 2020-12-24 | 2023-09-01 | 阿波罗智联(北京)科技有限公司 | 雷达标定方法、装置、电子设备和路侧设备 |
CN112731320A (zh) * | 2020-12-29 | 2021-04-30 | 福瑞泰克智能系统有限公司 | 车载雷达误差数据的估计方法、装置、设备及存储介质 |
US11782126B2 (en) | 2021-02-24 | 2023-10-10 | Nxp B.V. | System and method for automotive radar sensor orientation estimation using radar detection information of arbitrary detections |
CN113740817B (zh) * | 2021-08-24 | 2024-04-05 | 珠海格力电器股份有限公司 | 微波雷达控制方法、电子装置、微波雷达及存储介质 |
US20230150518A1 (en) * | 2021-11-15 | 2023-05-18 | Waymo Llc | Calibration of sensors in autonomous vehicle applications |
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2015
- 2015-06-11 EP EP15171549.7A patent/EP3104189B1/en active Active
-
2016
- 2016-06-10 US US15/735,079 patent/US10656246B2/en active Active
- 2016-06-10 CN CN201680033680.4A patent/CN107710010B/zh active Active
- 2016-06-10 WO PCT/EP2016/063241 patent/WO2016198563A1/en active Application Filing
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GB2334842A (en) * | 1998-02-27 | 1999-09-01 | Jaguar Cars | Vehicular sensor |
DE19964020A1 (de) * | 1999-12-30 | 2001-07-05 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Dejustageerkennung bei einem Kraftfahrzeug-Radarsystem |
GB2363016A (en) * | 2000-05-31 | 2001-12-05 | Roke Manor Research | Automotive radar |
US7443335B2 (en) * | 2005-11-22 | 2008-10-28 | Mitsubishi Denki Kabushiki Kaisha | Radar system |
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CN104395777A (zh) * | 2012-06-28 | 2015-03-04 | 奥托立夫开发公司 | 车辆雷达传感器的失准处理 |
Also Published As
Publication number | Publication date |
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WO2016198563A1 (en) | 2016-12-15 |
US10656246B2 (en) | 2020-05-19 |
CN107710010A (zh) | 2018-02-16 |
EP3104189A1 (en) | 2016-12-14 |
EP3104189B1 (en) | 2020-09-30 |
US20200033444A1 (en) | 2020-01-30 |
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