JP2021536575A - レーダセンサにおける角度測定誤差を検出する方法 - Google Patents
レーダセンサにおける角度測定誤差を検出する方法 Download PDFInfo
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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
- G01S13/06—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
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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
- G01S13/88—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
- G01S7/4034—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
- G01S7/41—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
-
- 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
- G01S7/4039—Means for monitoring or calibrating of parts of a radar system of sensor or antenna obstruction, e.g. dirt- or ice-coating
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- 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 (6)
- 自動車(28)用の角度分解型レーダーセンサ(10)における角度測定誤差(Δφ)を検出する方法であって、
複数の静止ターゲット(20)に対してそれぞれ径方向速度(V_r)および少なくとも1つの測位角度(φ,α,β)を測定し、当該測定された測位角度に基づいて径方向速度(V_r)の予想される値を計算して測定値と比較し、1つ以上の静止ターゲット(20)に対して径方向速度(V_r)および測位角度(φ,α,β)を測定する方法において、
前記ターゲットの各々に対して、当該予想される径方向速度からの当該測定された径方向速度のずれを示す単一の指標値(q_p)を計算し、
得られた個々の指標値に対して、歪み角度誤差の角度依存性を補償するために角度に応じたスケーリングを施し、
当該スケーリングが施された個々の指標値から角度測定誤差の指標(I)を計算する、
ことを特徴とする方法。 - 請求項1に記載の方法であって、連続した測定間隔でレーダ信号の周波数をランプ状に変調するFMCWレーダについて、上記方法において前記個々の指標値の計算は、同じ測定間隔内で得られた測定結果に基づいて実行される、方法。
- 請求項2に記載の方法であって、前記個々の指標値を、前記角度に応じたスケーリングの後に合成して実効値(Q_m)を得、連続した測定間隔で得られる当該実効値に対して時間フィルタリングを施し、前記フィルタリングの結果に基づいて前記指標(I)を計算する、方法。
- 請求項1から3までのいずれか1項に記載の方法であって、2次元の角度空間において前記角度に応じたスケーリングが実行される、方法。
- 請求項1から4までのいずれか1項に記載の方法であって、当該測定された径方向速度および測位角度に基づいて前記レーダセンサ(10)のミスアライメント誤差の検出および補正を実行し、当該ミスアライメント誤差が補正された角度測定値に基づいて前記個々の指標値の計算を実行する、方法。
- 送受信ユニットと、制御・解析装置(18)とを備えた自動車用のレーダセンサであって、前記解析装置(18)は、請求項1から5までのいずれか1項に記載の方法を実施するように構成されていることを特徴とするレーダセンサ。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018214961.5A DE102018214961A1 (de) | 2018-09-04 | 2018-09-04 | Verfahren zur Erkennung von Winkelmessfehlern bei einem Radarsensor |
DE102018214961.5 | 2018-09-04 | ||
PCT/EP2019/063557 WO2020048649A1 (de) | 2018-09-04 | 2019-05-25 | Verfahren zur erkennung von winkelmessfehlern bei einem radarsensor |
Publications (2)
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JP2021536575A true JP2021536575A (ja) | 2021-12-27 |
JP7081046B2 JP7081046B2 (ja) | 2022-06-06 |
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JP2021512378A Active JP7081046B2 (ja) | 2018-09-04 | 2019-05-25 | レーダセンサにおける角度測定誤差を検出する方法 |
Country Status (8)
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US (1) | US20210165074A1 (ja) |
EP (1) | EP3847470A1 (ja) |
JP (1) | JP7081046B2 (ja) |
KR (1) | KR20210048548A (ja) |
CN (1) | CN112639510A (ja) |
DE (1) | DE102018214961A1 (ja) |
MX (1) | MX2021002355A (ja) |
WO (1) | WO2020048649A1 (ja) |
Families Citing this family (12)
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US11087115B2 (en) * | 2019-01-22 | 2021-08-10 | Infineon Technologies Ag | User authentication using mm-Wave sensor for automotive radar systems |
EP3968044A1 (en) * | 2020-04-28 | 2022-03-16 | Veoneer Sweden AB | Radar transceiver test method and system |
CN113126077B (zh) * | 2020-08-13 | 2024-03-22 | 纵目科技(上海)股份有限公司 | 盲点区域的目标检测系统、方法及介质 |
CN112305513B (zh) * | 2020-10-27 | 2023-06-30 | 重庆长安汽车股份有限公司 | 一种传感器测量参数修正方法及系统 |
DE102020007599A1 (de) * | 2020-12-11 | 2022-06-15 | Daimler Truck AG | Verfahren zur Validierung von Umgebungserfassungssensoren eines Fahrzeugs und zur Validierung von Umgebungserfassungssensoren eingerichtetes Fahrzeug |
JP2022181125A (ja) * | 2021-05-25 | 2022-12-07 | ソニーグループ株式会社 | 情報処理装置、キャリブレーションシステム及び情報処理方法 |
CN113374042B (zh) * | 2021-06-22 | 2023-03-28 | 重庆德方信息技术有限公司 | 基于雷达定位自动采集尿液的健康监测马桶 |
CN113552544B (zh) * | 2021-07-06 | 2023-09-26 | 中国人民解放军63796部队 | 一种面向实时的雷达电波折射积分迭代误差修正方法 |
CN113805147B (zh) * | 2021-07-30 | 2024-04-05 | 纵目科技(上海)股份有限公司 | 车载雷达水平测量角度自校正方法、装置、介质及设备 |
CN113850999B (zh) * | 2021-09-03 | 2022-11-25 | 杭州海康威视数字技术股份有限公司 | 车位检测装置和用于监控车位的具有雷达的摄像机装置 |
CN116087900B (zh) * | 2023-03-10 | 2023-06-06 | 中安锐达(北京)电子科技有限公司 | 一种用于一维相控阵雷达的行进间探测车载平台 |
CN116755047A (zh) * | 2023-05-23 | 2023-09-15 | 上海保隆汽车科技股份有限公司 | 雷达探测数据补偿方法、系统、雷达、车辆及介质 |
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- 2018-09-04 DE DE102018214961.5A patent/DE102018214961A1/de active Pending
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2019
- 2019-05-25 JP JP2021512378A patent/JP7081046B2/ja active Active
- 2019-05-25 CN CN201980057804.6A patent/CN112639510A/zh active Pending
- 2019-05-25 MX MX2021002355A patent/MX2021002355A/es unknown
- 2019-05-25 WO PCT/EP2019/063557 patent/WO2020048649A1/de unknown
- 2019-05-25 EP EP19726684.4A patent/EP3847470A1/de active Pending
- 2019-05-25 US US17/262,897 patent/US20210165074A1/en active Pending
- 2019-05-25 KR KR1020217009519A patent/KR20210048548A/ko unknown
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EP3847470A1 (de) | 2021-07-14 |
KR20210048548A (ko) | 2021-05-03 |
MX2021002355A (es) | 2021-04-28 |
US20210165074A1 (en) | 2021-06-03 |
JP7081046B2 (ja) | 2022-06-06 |
CN112639510A (zh) | 2021-04-09 |
WO2020048649A1 (de) | 2020-03-12 |
DE102018214961A1 (de) | 2020-03-05 |
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