CN109073748B - 车辆雷达系统以及估计车辆雷达系统未对准的方法 - Google Patents
车辆雷达系统以及估计车辆雷达系统未对准的方法 Download PDFInfo
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- CN109073748B CN109073748B CN201780026047.7A CN201780026047A CN109073748B CN 109073748 B CN109073748 B CN 109073748B CN 201780026047 A CN201780026047 A CN 201780026047A CN 109073748 B CN109073748 B CN 109073748B
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 75
- 238000012545 processing Methods 0.000 claims abstract description 52
- 230000001186 cumulative effect Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims 1
- 241000764238 Isis Species 0.000 abstract 1
- 238000012360 testing method Methods 0.000 description 25
- 230000007613 environmental effect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000001419 dependent effect Effects 0.000 description 2
- 239000012491 analyte Substances 0.000 description 1
- 230000001010 compromised effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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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
- 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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
-
- 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
- G01S7/41—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
-
- 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
-
- 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
- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
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 (13)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP16167615.0A EP3239737B1 (en) | 2016-04-29 | 2016-04-29 | Misalignment detection for a vehicle radar sensor |
EP16167615.0 | 2016-04-29 | ||
PCT/EP2017/060101 WO2017186868A1 (en) | 2016-04-29 | 2017-04-27 | Misalignment detection for a vehicle radar sensor |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109073748A CN109073748A (zh) | 2018-12-21 |
CN109073748B true CN109073748B (zh) | 2022-08-23 |
Family
ID=55860757
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201780026047.7A Active CN109073748B (zh) | 2016-04-29 | 2017-04-27 | 车辆雷达系统以及估计车辆雷达系统未对准的方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10948569B2 (zh) |
EP (1) | EP3239737B1 (zh) |
CN (1) | CN109073748B (zh) |
WO (1) | WO2017186868A1 (zh) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6622167B2 (ja) * | 2016-09-26 | 2019-12-18 | 株式会社デンソー | 軸ずれ推定装置 |
DE102018200752A1 (de) * | 2018-01-18 | 2019-07-18 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Bewertung einer Winkelposition eines Objekts, und Fahrerassistenzsystem |
JP6971161B2 (ja) * | 2018-02-06 | 2021-11-24 | ヴィオニア スウェーデン エービー | 物標検出装置の製造方法、車両の製造方法及びプログラム |
US11047955B2 (en) * | 2018-07-06 | 2021-06-29 | Lyft, Inc. | Calibrating a radar antenna |
DE112019003435T5 (de) * | 2018-08-07 | 2021-04-01 | Murata Manufacturing Co., Ltd. | Radarvorrichtung |
CN109870680B (zh) * | 2018-10-26 | 2020-08-04 | 北京润科通用技术有限公司 | 一种目标分类方法及装置 |
CN109597061B (zh) * | 2018-12-28 | 2021-05-18 | 北京润科通用技术有限公司 | 一种目标运动状态判别方法及系统 |
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 |
WO2020186409A1 (zh) * | 2019-03-15 | 2020-09-24 | 深圳市大疆创新科技有限公司 | 雷达水平安装角度的校正方法、雷达和车辆 |
DE102019204604A1 (de) * | 2019-04-01 | 2020-10-01 | Robert Bosch Gmbh | Verfahren zum Ermitteln einer Dejustage eines Radarsensors |
CN110703253B (zh) * | 2019-09-20 | 2021-07-06 | 禾多科技(北京)有限公司 | 毫米波雷达水平位置确定方法 |
CN110515051B (zh) * | 2019-09-29 | 2021-07-23 | 北京润科通用技术有限公司 | 一种车载雷达安装角度值的测量方法及系统 |
CN112881989B (zh) * | 2019-11-29 | 2024-06-04 | 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 |
US20210262804A1 (en) * | 2020-02-21 | 2021-08-26 | Canon Kabushiki Kaisha | Information processing device, information processing method, and storage medium |
KR20210136543A (ko) * | 2020-05-08 | 2021-11-17 | 주식회사 만도모빌리티솔루션즈 | 레이더 센서 제어 장치 및 방법 |
CN112785854B (zh) * | 2021-01-11 | 2022-09-16 | 北京百度网讯科技有限公司 | 车辆速度检测方法、装置、设备、介质和自动驾驶车辆 |
DE102022204007A1 (de) | 2022-04-26 | 2023-10-26 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Kalibrieren eines Radarsensors |
Citations (5)
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CN102788973A (zh) * | 2011-05-17 | 2012-11-21 | 株式会社电装 | 雷达设备、校准系统和校准方法 |
CN103287358A (zh) * | 2012-02-22 | 2013-09-11 | 通用汽车环球科技运作有限责任公司 | 用于确定物体传感器未对准的方法 |
CN104793202A (zh) * | 2014-01-16 | 2015-07-22 | 通用汽车环球科技运作有限责任公司 | 多雷达成像传感器的对象融合系统 |
CN104943694A (zh) * | 2014-03-28 | 2015-09-30 | 通用汽车环球科技运作有限责任公司 | 用于确定和补偿传感器的未对准的系统和方法 |
CN105329166A (zh) * | 2015-11-24 | 2016-02-17 | 奇瑞汽车股份有限公司 | 一种汽车安全变道控制系统及方法 |
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JP4895484B2 (ja) | 2004-06-28 | 2012-03-14 | 富士通テン株式会社 | 車載用レーダ装置の軸ずれ量演算方法及び車載用レーダ軸ずれ判定方法 |
JP4265803B2 (ja) | 2005-11-22 | 2009-05-20 | 三菱電機株式会社 | レーダシステム |
JP6832166B2 (ja) * | 2017-01-17 | 2021-02-24 | 株式会社デンソーテン | レーダ装置および車速補正方法 |
JP6832167B2 (ja) * | 2017-01-17 | 2021-02-24 | 株式会社デンソーテン | レーダ装置および物標検出方法 |
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2016
- 2016-04-29 EP EP16167615.0A patent/EP3239737B1/en active Active
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2017
- 2017-04-27 WO PCT/EP2017/060101 patent/WO2017186868A1/en active Application Filing
- 2017-04-27 US US16/096,773 patent/US10948569B2/en active Active
- 2017-04-27 CN CN201780026047.7A patent/CN109073748B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN102788973A (zh) * | 2011-05-17 | 2012-11-21 | 株式会社电装 | 雷达设备、校准系统和校准方法 |
CN103287358A (zh) * | 2012-02-22 | 2013-09-11 | 通用汽车环球科技运作有限责任公司 | 用于确定物体传感器未对准的方法 |
CN104793202A (zh) * | 2014-01-16 | 2015-07-22 | 通用汽车环球科技运作有限责任公司 | 多雷达成像传感器的对象融合系统 |
CN104943694A (zh) * | 2014-03-28 | 2015-09-30 | 通用汽车环球科技运作有限责任公司 | 用于确定和补偿传感器的未对准的系统和方法 |
CN105329166A (zh) * | 2015-11-24 | 2016-02-17 | 奇瑞汽车股份有限公司 | 一种汽车安全变道控制系统及方法 |
Also Published As
Publication number | Publication date |
---|---|
WO2017186868A1 (en) | 2017-11-02 |
US20200326411A1 (en) | 2020-10-15 |
CN109073748A (zh) | 2018-12-21 |
WO2017186868A8 (en) | 2018-06-14 |
US10948569B2 (en) | 2021-03-16 |
EP3239737B1 (en) | 2018-11-28 |
EP3239737A1 (en) | 2017-11-01 |
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