KR20170022609A - Calibration system and method for vehicular radar - Google Patents

Calibration system and method for vehicular radar Download PDF

Info

Publication number
KR20170022609A
KR20170022609A KR1020150117813A KR20150117813A KR20170022609A KR 20170022609 A KR20170022609 A KR 20170022609A KR 1020150117813 A KR1020150117813 A KR 1020150117813A KR 20150117813 A KR20150117813 A KR 20150117813A KR 20170022609 A KR20170022609 A KR 20170022609A
Authority
KR
South Korea
Prior art keywords
radar
measurement
mounting
inflection point
characteristic
Prior art date
Application number
KR1020150117813A
Other languages
Korean (ko)
Other versions
KR101809324B1 (en
Inventor
조지훈
Original Assignee
주식회사 만도
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 만도 filed Critical 주식회사 만도
Priority to KR1020150117813A priority Critical patent/KR101809324B1/en
Publication of KR20170022609A publication Critical patent/KR20170022609A/en
Application granted granted Critical
Publication of KR101809324B1 publication Critical patent/KR101809324B1/en

Links

Images

Classifications

    • 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
    • G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • 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
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • 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
    • B60W2550/10—

Abstract

The present invention is to detect radar vehicle mounting errors by comparing radar maximum received power before and after mounting the vehicle. That is, the present invention relates to a vehicle radar calibration system and method for detecting a vehicle mounting error of a radar by comparing and verifying a tilt angle deviation corresponding to a maximum value of radar received power by varying a tilt angle of the radar before and after mounting the vehicle.
The vehicle radar calibration system of the present invention includes a radar installed at a radar mounting height at a distance from the reflector, and the radar transmits a radar signal to the reflector so that the radar signal reflected from the reflector, At least one of the tilt angles is adjusted to perform the calibration.

Description

Technical Field [0001] The present invention relates to a vehicle radar calibration system,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle radar calibration system and method, and more particularly, to detecting radar vehicle mounting errors by comparing radar maximum received power before and after vehicle mounting. That is, the present invention relates to a vehicle radar calibration system and method capable of detecting a vehicle mounting error of a radar by comparing and verifying a tilt angle deviation corresponding to a maximum value of radar received power by varying a tilt angle of the radar before and after mounting the vehicle will be.

As the number of cars increases due to the rapid spread of cars, the risk of collision between vehicles on roads is increasing day by day.

Accordingly, a variety of intelligent safety systems have been developed and applied due to the needs of consumers who desire safer, more intelligent vehicles and the development of automobile related industries.

Particularly, a lot of researches on the collision warning and avoidance between the vehicle and the preceding vehicle or between the vehicle and the succeeding vehicle are carried out by installing the radar sensor.

At this time, the mounting error must be minimized after mounting the radar sensor on the vehicle. Calibration studies of such radar performance measuring equipment have been continued.

For example, Korean Patent Laid-Open Publication No. 2015-0015067 discloses a target simulator that receives a radar signal through a receive antenna, delays a received signal through a delay line, and transmits a delayed signal via a transmit antenna, A phase difference between the delayed signals received through the plurality of reception antennas is calculated, and a phase difference between the delayed signals received through the plurality of reception antennas is corrected, and the calculated phase difference is corrected And a radar apparatus for generating and storing a phase correction value for each reception channel of each reception antenna.

In this case, however, no correction is provided before or after the radar mount, so a correction method before and after mounting is necessary.

Korean Patent Publication No. 2015-0015067 (Feb. 20, 2015)

It is an object of the present invention to provide a vehicle radar calibration system and a method for detecting a vehicle mounting error of a radar by comparing radar maximum received power before and after mounting the vehicle.

The present invention relates to a vehicle radar calibration system and a vehicle radar calibration system which can reliably perform radar mounting by detecting a vehicle mounting error of a radar by comparing and verifying a tilt angle deviation corresponding to a maximum value of radar received power by varying a tilt angle of the radar before and after mounting the vehicle There is another purpose in providing a method.

A vehicle radar calibration system according to the present invention includes a radar mounted at a radar mount height at a distance from the reflector, the radar transmitting a radar signal to the reflector, the radar signal being reflected from the reflector, The tilt angle of at least one of the tilt angles is adjusted to perform the calibration.

Here, the radar includes an antenna for transmitting and receiving a radar signal, a motor for driving the tilt angle of the antenna, a pin connected to the antenna by driving the motor to control the tilt angle of the antenna, and a stopper for limiting the tilt angle of the antenna .

Also, the radar measures the received power reflected from the reflector by varying the tilt angle by a unit angle, starting from the reference position, where the antenna abuts the stopper.

Here, the radar detects the maximum received power that is the inflection point of the received power reflected by the reflector, and stores the tilt angle of the radar.

Also, when the radar detects the maximum received power before being mounted on the vehicle and the difference between the tilt angle of the inflection point stored in the vehicle and the tilt angle of the inflection point which detects the maximum received power after being mounted on the vehicle exceeds the reference value, Notify the error.

Here, the inflection point uses the point at which the maximum received power is received among the inflection points as the inflection point.

Further, the radar includes a measurement unit for measuring the characteristics of the radar before or after the radar is mounted on the vehicle, a storage unit for storing the characteristics of the radar before the radar is mounted on the vehicle, When the difference is less than the reference value, it is determined that the mounting of the radar device is normal. If the difference is greater than the reference value, the mounting of the radar device is determined as an error.

Here, the measuring unit moves the antenna to the reference position by driving the motor until the antenna comes into contact with the stopper, measures the received power by varying the motor in units of a unit angle, and detects the maximum received power, do.

In addition, the analyzing unit determines that the measurement is normal when the maximum inflection point is confirmed, and determines that there is an error in the measurement when the maximum inflection point is not confirmed.

Here, the analyzing unit may calculate at least one of the environmental variables stored in the storage unit and at least one of the radar mount height, the reflector mount height, and the separation distance, which are environment variables used for measurement after mounting the radar on the vehicle, Calibrate the characteristics of the radar when mounted on a vehicle.

Also, the analyzing unit analyzes the difference between the characteristics stored in the storage unit and the characteristics measured after the radar is mounted on the vehicle, thereby extracting more accurate correction angle result values.

Here, the storage unit stores environmental variables of at least one of a radar mounting height, a reflector mounting height, and a separation distance.

The maximum inflection point uses the point at which the maximum received power is received among the inflection points as the inflection point.

A vehicle radar calibration method according to another embodiment of the present invention includes a radar characteristic measurement step of measuring a characteristic of a radar, a mounting radar characteristic measurement step of measuring a characteristic of a radar when the radar is mounted on a vehicle, A step of determining an abnormality in a characteristic difference value to determine whether a difference in characteristic measured in the characteristic measuring step is equal to or greater than a reference value, a step of determining whether the radar is mounted in a case where the characteristic difference is less than a reference value, And a mounting error judgment step of judging that the mounting of the radar is an error when the characteristic difference is equal to or larger than the reference value in the difference reference value abnormality confirmation step.

Here, the radar characteristic measuring step includes a reference position moving step of moving the antenna to the reference position by driving the motor until the antenna comes into contact with the stopper, a receiving power measuring step of measuring the receiving power by varying the motor unit by unit, A measurement position storing step of storing environmental variables of at least one of a mounting height, a reflector mounting height, and a separation distance; a maximum inflection point confirming step of detecting a maximum receiving power that forms a maximum inflection point in received power; And a measurement error determination step of determining that there is an error in the measurement if the maximum inflection point is not confirmed.

The mounting radar characteristic measuring step may include a reference position moving step of moving the antenna to the reference position by driving the motor until the antenna comes into contact with the stopper, a receiving power measuring step of measuring the receiving power by varying the motor unit by unit, When mounted on the vehicle based on any one of the environmental variables stored in the radar characteristic measurement step and at least one of the radar mount height, the reflector mount height, and the spacing distance, which are environmental variables used for measurement in the mounting radar characteristic measurement step A measurement position correcting step of correcting a characteristic of the radar, a maximum inflection point confirming step of detecting a maximum inflection point making a maximum inflection point in the received power, a measurement normal judging step of determining that the measurement is normal when a maximum inflection point is detected, Measurement error to determine that there is an error in the measurement if not confirmed And a single step.

Here, the maximum inflection point uses the point at which the maximum received power is received among the inflection points as the inflection point.

The vehicle radar calibration system and method according to the present invention have the advantage of detecting radar vehicle mounting errors by comparing radar maximum received power before and after mounting the vehicle.

Or the vehicle radar calibration system and method according to the present invention can detect the vehicle mounting error of the radar by comparing and verifying the tilt angle deviation corresponding to the maximum value of the radar received power by varying the tilt angle of the radar before and after mounting the vehicle, There is an advantage that it can be performed reliably.

1 is an installation view of a vehicle radar calibration system according to an embodiment of the present invention.
2 is a structural view showing the radar of FIG. 1 in detail.
3 is a graph showing received power characteristics received by the radar of FIG.
Fig. 4 is a configuration diagram showing the radar of Fig. 1 in detail.
5 is a flowchart illustrating a method of calibrating a vehicle radar according to an embodiment of the present invention.
6 is a detailed flowchart of the radar characteristic measurement step of FIG.
7 is a detailed flowchart of the mounting radar characteristic measuring step of FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood that the present invention is not intended to be limited to the specific embodiments but includes all changes, equivalents, and alternatives included in the spirit and scope of the present invention.

Hereinafter, a vehicle radar calibration system and method according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is an installation view showing a vehicle radar calibration system according to an embodiment of the present invention, and FIGS. 2 to 4 are diagrams for explaining FIG. 1 in detail.

Hereinafter, a vehicle radar calibration system according to an embodiment of the present invention will be described with reference to FIGS.

1, a vehicle radar calibration system according to an embodiment of the present invention includes a radar 100 installed at a radar mounting height 310 at a distance separated from the reflector 200 by a distance 330 The radar 100 transmits a radar signal to the reflector 200 and performs calibration by adjusting the vertical or horizontal tilt angle of the radar 100 based on the radar signal reflected from the reflector 200.

That is, the radar signal transmitted from the radar 100 may be reflected by the reflector 200 separated by the distance 330 and received by the radar 100 again. At this time, the vertically and horizontally tilted angle of the radar 100 may be varied to measure the maximum received tilt angle.

Therefore, there is an advantage that the error of the vehicle mount can be detected by comparing the tilt angle before and after mounting the radar 100 on the vehicle.

In addition, when the radar mount height 310, the reflector mount height 320, and the spacing distance 330 are changed before and after mounting the radar 100 on the vehicle, the received signal received by the radar 100 is radar 100 are mounted on the vehicle.

Accordingly, in the tilt angle measurement, the radar mount height 310, the reflector mount height 320, and the spacing distance 330 are corrected to calculate the radar mount height 310, the reflector mount height 320, 330 can be minimized.

2 is a structural view showing the radar 100 of FIG. 1 in detail. The radar 100 includes an antenna 110 for transmitting and receiving a radar signal, a motor 130 for driving a tilt angle of the antenna 110, a motor 130 connected to the antenna 110 by driving the motor 130, A pin 140 for controlling the tilt angle of the antenna 110 and a stopper 120 for limiting the tilt angle of the antenna 110. [

That is, the vertical and horizontal transmission / reception angles of the antenna 110 can be adjusted by driving the motor 130.

The pin 140 serves to push and pull the antenna 110 by driving the motor 130. The stopper 120 can be used for the motor 130 without the encoder at the starting point of the tilt angle There are advantages.

3 is a graph showing received power characteristics received by the radar 100 of FIG. At this time, the radar 100 starts the position where the antenna 110 contacts the stopper 120 at the reference position 430 and changes the tilt angle by the unit angle 420, so that the received power 440 ) Can be measured.

The radar 100 may store the tilt angle of the radar 100 by detecting a maximum received power 410 that is an inflection point of the received power 440 reflected by the reflector 200.

The radar 100 detects the maximum received power 410 before being mounted on the vehicle and detects the difference between the tilt angle of the stored inflection point and the tilt angle of the inflection point, It is possible to notify the user of the mounting error of the radar 100.

Here, the inflection point may be a point at which the maximum received power is received among the inflection points as an inflection point.

That is, the tilt angle of the radar 100 can be adjusted by the unit angle 420 from the reference position 430, and in the case of the motor 130 without the encoder, the unit angle 420 is determined according to the characteristics of the radar 100 Can be different.

At this time, the unit angle 420 can be defined based on a constant current and time.

In addition, the motor 130 may be driven for a predetermined time to start measurement at the reference position 430 so that the pin 140 can push the antenna 110.

As described above, the inflection point can be easily measured by adjusting the tilt, and the tilting angle of the inflection point before mounting of the radar 100 can be easily detected by comparing the tilting angle of the inflection point after mounting. have.

4 is a detailed view of the radar 100 of FIG. The radar 100 includes a measuring unit 101 for measuring the characteristics of the radar 100 before or after the radar 100 is mounted on the vehicle, The storage unit 103 and the analysis unit 102 for analyzing the difference between the characteristics stored in the storage unit 103 and the characteristics measured after the radar 100 is mounted on the vehicle. When the difference is less than the reference value It is determined that the mounting of the radar 100 is normal and the mounting of the radar 100 can be determined as an error when the difference is equal to or larger than the reference value.

The measuring unit 101 moves the antenna 110 to the reference position by driving the motor 130 until the antenna 110 comes into contact with the stopper 120. When the motor 130 is rotated at the unit angle 420, It is possible to measure the received power 440 and to detect the maximum received power 410 having the maximum inflection point at the received power 440. [

In addition, the analyzer 102 determines that the measurement is normal when the maximum inflection point is confirmed, and can determine that there is an error in the measurement when the maximum inflection point is not confirmed.

The analyzing unit 102 analyzes one of the environmental variables stored in the storage unit 103 and the radar mounting height 310 which is an environment variable used for measurement after mounting the radar 100 on the vehicle in the measuring unit 101 ), The reflector mounting height 320, and the spacing distance 330, and the like.

The analysis unit 102 may extract a more accurate correction angle result value by analyzing the difference between the characteristics stored in the storage unit 103 and the characteristics measured after the radar 100 is mounted on the vehicle.

Here, the storage unit 103 may store environment variables such as a radar mounting height 310, a reflector mounting height 320, and a separation distance 330.

The maximum inflection point may be a point at which the maximum received power is received among the inflection points as an inflection point.

That is, the radar 100 receives the radar signal transmitted from the reflector 200, which is transmitted from the radar 100 and is separated from the reflector 200 by the distance 330, And the radar signal can be measured by varying the horizontal tilt angle.

Accordingly, by comparing the vertical and horizontal tilt angles before the radar 100 is mounted on the vehicle and the vertical and horizontal tilt angles measured after mounting the vehicle on the vehicle, more accurate correction angle result values can be extracted, ) Can be minimized.

Therefore, there is an advantage that the error of mounting the vehicle on the radar 100 can be detected by comparing the vertical and horizontal tilt angles measured by the measuring unit 101.

On the other hand, when the antenna 110 is started from the stopper 120 and the antenna tilt angle is detected until the maximum received power 410 is detected, if the maximum received power 410 is the maximum value of the inflection point, If it is not an inflection point, error judgment can be performed.

Particularly, in order to minimize the test environment error, the tilt angle is corrected by comparing the radar mount height 310, the reflector mount height 320, and the spacing distance 330, which are environmental variables when measuring the tilt angle, 100) can be reliably determined.

5 is a flowchart showing a method of calibrating a vehicle radar according to an embodiment of the present invention. Hereinafter, a method of calibrating a vehicle radar will be described with reference to FIG.

FIGS. 6 and 7 are flowcharts for explaining FIG. 5 in detail.

Hereinafter, a vehicle radar calibration method according to another embodiment of the present invention will be described with reference to FIGS.

First, referring to FIG. 5, a method of calibrating a vehicle radar according to another embodiment of the present invention measures characteristics of a radar 100 (S100).

The characteristics of the radar 100 are measured when the radar 100 is mounted on the vehicle (S200).

It is determined whether the characteristic difference measured in the radar characteristic measuring step S100 and the mounting radar characteristic measuring step S200 is equal to or greater than a reference value (S300).

If the characteristic difference is less than the reference value in the characteristic difference reference value abnormality confirmation step S300, it is determined that the mounting of the radar device 100 is normal (S400).

(S500) in which the mounting of the radar device 100 is judged as an error when the characteristic difference is greater than or equal to the reference value in the characteristic difference reference value abnormality confirmation step S300.

That is, in the radar characteristic measuring step S100 and the mounting radar characteristic measuring step S200, the radar 100 transmits the radar signal reflected by the reflector 200 separated by the distance 330, And the radar signal can be measured by varying the vertical and horizontal tilt angles of the radar 100 so that the received signal is maximized.

As described above, by comparing the tilt angle of the inflection point before mounting of the radar 100 with the tilt angle of the inflection point after mounting, it is possible to easily detect mounting error of the radar.

FIG. 6 is a flowchart illustrating the radar characteristic measurement step S100 of FIG. 5 in detail. At this time, the radar characteristic measuring step S100 includes a reference position moving step S110 for moving the antenna 110 to the reference position by driving the motor 130 until the antenna 110 comes into contact with the stopper 120, (S120), a radar mount height (310), a reflector mount height (320), and a spacing distance (330), which measure the received power (440) A maximum inflection point identification step S140 for detecting a maximum reception power 410 which forms a maximum inflection point in the reception power 440, a measurement step S 140 for determining a maximum inflection point, And a measurement error determination step (S160) for determining that there is an error in measurement when the maximum inflection point is not confirmed.

That is, the antenna 110 tilts from the stopper 120 to the antenna tilt angle until the maximum received power 410 is detected. If the maximum received power 410 is the maximum value of the inflection point, If it is not an inflection point, error judgment can be performed.

Also, in order to minimize errors in the test environment, the radar mount height 310, the reflector mount height 320, and the spacing distance 330, which are environmental variables at the time of measurement, can be temporarily stored.

7 is a detailed flowchart of the mounting radar characteristic measurement step S200 of FIG. The mounting radar characteristic measuring step S200 includes a reference position moving step S210 for moving the antenna 110 to the reference position by driving the motor 130 until the antenna 110 comes into contact with the stopper 120, A received power measurement step S220 for measuring the received power 440 by varying the motor 130 in units of unit angles 420 and the radar characteristic measurement step S100, The characteristics of the radar 100 are corrected when mounted on the vehicle based on values such as the radar mount height 310, the reflector mount height 320, and the spacing distance 330, which are environment variables used for measurement in step S200 A maximum inflection point identification step S240 for detecting a maximum reception power 410 that forms a maximum inflection point in the received power 440, a measurement inflection point determination step S240 for determining a maximum inflection point, Determination step S250, and the maximum inflection point And a measurement error determination step (S260) for determining that there is an error in the measurement if it is not confirmed.

Here, the maximum inflection point may be a point at which the maximum received power is received among the inflection points as an inflection point.

That is, the antenna 110 tilts from the stopper 120 to the antenna tilt angle until the maximum received power 410 is detected. If the maximum received power 410 is the maximum value of the inflection point, If it is not an inflection point, error judgment can be performed.

Particularly, in order to minimize the test environment in FIG. 6 and the test environment error in FIG. 7, the radar mount height 310, the reflector mount height 320, and the spacing distance 330, which are environmental variables when measuring the tilt angle, There is an advantage that the vehicle mounting error of the radar 100 can be reliably judged by correcting the tilt angle.

In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, these functions may be stored or transmitted as one or more instructions or code on a computer readable medium. Computer-readable media includes both communication media and computer storage media including any medium that facilitates transfer of a computer program from one place to another.

The storage medium may be any available media that is accessible by a computer. By way of example, and not limitation, such computer-readable media can comprise any computer-readable medium, such as RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, And any other medium that can be used to store and be accessed by a computer. Also, any connection may be properly referred to as a computer-readable medium.

In an implementation in software, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in memory units and executed by processors. The memory unit may be implemented within the processor and external to the processor, in which case the memory unit may be communicatively coupled to the processor by various means as is known.

In a hardware implementation, the processing units may be implemented as one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays Controllers, microcontrollers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.

What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe all possible combinations of components or methods for purposes of describing the embodiments described, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the described embodiments are intended to embrace all such alterations, modifications and variations that fall within the spirit and scope of the appended claims.

Furthermore, to the extent that the term "comprising" is used in the detailed description or the claims, such term is intended to be embodied in a manner similar to that which is constructed as interpreted when used in a transitional word in the claims.

As described above, the vehicle radar calibration system and method according to the present invention are advantageous in detecting the vehicle mounting error of the radar by comparing the maximum received power of the radar before and after mounting the vehicle. The tilt angle of the radar is varied before and after mounting the vehicle, The tilt angle deviation corresponding to the maximum value of the power is compared and verified to detect the vehicle mounting error of the radar and the radar mount can be reliably performed.

Claims (4)

A radar characteristic measurement step of measuring a characteristic of the radar;
A mounting radar characteristic measurement step of measuring a characteristic of the radar when the radar is mounted on a vehicle;
A characteristic difference reference value abnormality determination step of determining whether the characteristic difference measured in the radar characteristic measurement step and the mounting radar characteristic measurement step is equal to or greater than a reference value;
Determining whether the mounting of the radar device is normal when the characteristic difference is less than the reference value in the characteristic difference reference value abnormality checking step; And
And determining a mounting of the radar as an error if the characteristic difference is equal to or greater than a reference value in the step of checking the characteristic difference reference value abnormality. The method according to claim 1,
The radar characteristic measuring step includes:
A reference position moving step of moving the antenna to a reference position by driving the motor until the antenna comes into contact with the stopper;
A received power measuring step of measuring received power by varying the motor in units of a unit angle;
A measurement position storing step of storing environmental variables of at least one of a radar mounting height, a reflector mounting height, and a separation distance;
A maximum inflection point identification step of detecting a maximum reception power having a maximum inflection point in the received power;
A measurement normal determination step of determining that the measurement is normal when the maximum inflection point is confirmed; And
And a measurement error determination step of determining an error in the measurement if the maximum inflection point is not confirmed. The method according to claim 1,
The mounting radar characteristic measuring step includes:
A reference position moving step of moving the antenna to a reference position by driving the motor until the antenna comes into contact with the stopper;
A received power measuring step of measuring received power by varying the motor in units of a unit angle;
The radar characteristic measuring method according to any one of the preceding claims, further comprising the steps of: calculating, based on at least one of the environmental variables stored in the radar characteristic measurement step and at least one of radar mount height, reflector mount height, A measurement position correcting step of correcting the characteristics of the radar when mounted;
A maximum inflection point identification step of detecting a maximum reception power having a maximum inflection point in the received power;
A measurement normal determination step of determining that the measurement is normal when the maximum inflection point is confirmed; And
And a measurement error determination step of determining an error in the measurement if the maximum inflection point is not confirmed. 4. The method according to any one of claims 2 to 3,
Wherein the maximum inflection point
Wherein a point at which a maximum received power among the plurality of inflection points is received is used as the inflection point.
KR1020150117813A 2015-08-21 2015-08-21 Calibration system and method for vehicular radar KR101809324B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020150117813A KR101809324B1 (en) 2015-08-21 2015-08-21 Calibration system and method for vehicular radar

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150117813A KR101809324B1 (en) 2015-08-21 2015-08-21 Calibration system and method for vehicular radar

Publications (2)

Publication Number Publication Date
KR20170022609A true KR20170022609A (en) 2017-03-02
KR101809324B1 KR101809324B1 (en) 2017-12-14

Family

ID=58427014

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020150117813A KR101809324B1 (en) 2015-08-21 2015-08-21 Calibration system and method for vehicular radar

Country Status (1)

Country Link
KR (1) KR101809324B1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109239685A (en) * 2018-10-19 2019-01-18 芜湖易来达雷达科技有限公司 A kind of caliberating device and its scaling method of vehicle-mounted millimeter wave radar installation site
CN109507671A (en) * 2017-09-14 2019-03-22 株式会社万都 The radar equipment of vehicle and the method that angle is estimated using the radar equipment
US10466027B2 (en) 2017-06-21 2019-11-05 Fujitsu Ten Corp. Of America System and method for marker placement
WO2021147314A1 (en) * 2020-01-23 2021-07-29 铁将军汽车电子股份有限公司 Vehicle-mounted distance probe apparatus angle calibration method

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102487201B1 (en) 2018-08-24 2023-01-10 현대자동차 주식회사 System and method for aiming radar sensor angle

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20150015067A (en) 2013-07-31 2015-02-10 주식회사 만도 Radar calibration system in vehicle

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3803588B2 (en) 2001-06-05 2006-08-02 本田技研工業株式会社 Object detection axis adjustment method for in-vehicle radar device
JP3736433B2 (en) 2001-11-14 2006-01-18 日産自動車株式会社 In-vehicle radar, inspection method thereof, and inter-vehicle distance measuring device
KR101335074B1 (en) 2012-03-02 2013-12-03 주식회사 만도 Alignment system and method of radar apparatus
JP6136524B2 (en) 2013-04-23 2017-05-31 株式会社デンソー Radar apparatus and inspection system
JP6338871B2 (en) 2014-01-31 2018-06-06 株式会社デンソーテン Radar apparatus, vehicle control system, and signal processing method

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20150015067A (en) 2013-07-31 2015-02-10 주식회사 만도 Radar calibration system in vehicle

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10466027B2 (en) 2017-06-21 2019-11-05 Fujitsu Ten Corp. Of America System and method for marker placement
CN109507671A (en) * 2017-09-14 2019-03-22 株式会社万都 The radar equipment of vehicle and the method that angle is estimated using the radar equipment
CN109239685A (en) * 2018-10-19 2019-01-18 芜湖易来达雷达科技有限公司 A kind of caliberating device and its scaling method of vehicle-mounted millimeter wave radar installation site
WO2021147314A1 (en) * 2020-01-23 2021-07-29 铁将军汽车电子股份有限公司 Vehicle-mounted distance probe apparatus angle calibration method

Also Published As

Publication number Publication date
KR101809324B1 (en) 2017-12-14

Similar Documents

Publication Publication Date Title
KR101809324B1 (en) Calibration system and method for vehicular radar
US8344940B2 (en) Apparatus and sensor for adjusting sensor vertical alignment
CN110140062B (en) Method for operating a driver assistance system of a vehicle
US10126410B2 (en) Determination of an elevation misalignment angle of a radar sensor of a motor vehicle
CN109073748B (en) Vehicle radar system and method of estimating misalignment of vehicle radar system
US9121920B2 (en) Method for operating at least one sensor of a vehicle and vehicle having at least one sensor
KR102506943B1 (en) System and method for vehicle radar inspection
CN107209252B (en) System and method for radar vertical misalignment detection
JP2015525873A (en) Misalignment processing of radar sensors for vehicles
US20160377701A1 (en) System and method for detecting mounting angle of blind spot detection sensor
CN111599036A (en) Vehicle detection system and vehicle detection method
US10794706B2 (en) Position detection system
US10520603B2 (en) Tunnel detection system and method for a motor vehicle
CN109507671B (en) Radar apparatus for vehicle and method of estimating angle using the same
KR102487201B1 (en) System and method for aiming radar sensor angle
CN111458712B (en) Apparatus and method for estimating number of targets
US20220084334A1 (en) Method for testing a sensor system of a motor vehicle
KR101997433B1 (en) Method for detecting installation position of vehicle radar sensor
JP6169119B2 (en) Ranging device and method for detecting performance degradation of ranging device
KR20140135410A (en) Adjusting method, device and system for radar alignment
KR20170028135A (en) Device and method for radar performance measurement
KR102442749B1 (en) Misalignment determination method for radar of vehicle
KR20160139464A (en) Method and device for detecting an angle of horizontality in vehicle type RADAR
KR20220075405A (en) Method for recognizing a target position of a display unit and/or control unit in a holding device, and a corresponding display unit and/or control unit
CN114945843A (en) Method for adjusting correction information in a radar system

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant