US 10,948,569 B2 · Misalignment detection for a vehicle radar sensor

Abstract

A vehicle radar system (2) that is arranged to detect a plurality of objects outside a vehicle (1) and that includes a radar detector (3) and a processing unit arrangement (4). The processing unit arrangement (4) is arranged to obtain at least one total detection angle (φdT, φdT′) relative an x-axis (7) and at least one corresponding detected target Doppler velocity (vDoppler) relative the radar detector (3) for each detected object (5, 6; 10, 11). Each detected object is classified as moving or stationary, and a relation is determined between the stationary detections and the total number of detections. The processing unit arrangement (4) further is adapted to determine whether the radar detector (3) is misaligned based on the relation, where the total detection angle (φdT, φdT′) equals the sum of a known mounting angle (φm) between the x-axis (7) and the radar detector's mounting direction (8), and a detection angle (φd, φd′). The present disclosure also relates to a corresponding method.

Claims15

Dependent claims

A vehicle radar system arranged to detect a plurality of objects outside a vehicle, the radar system comprising;

a radar detector and a processing unit arrangement, the processing unit arrangement being arranged to obtain a total detection angle relative an x-axis and at least one corresponding detected target Doppler velocity relative to the radar detector for the plurality of objects during a certain time interval, the processing unit arrangement is adapted to classify the plurality of objects as one of a moving object or a stationary object relative a surrounding environment, and to determine a relation between a number of the plurality of objects that has been classified as one of the stationary object and a total number of detections, where the processing unit arrangement further is adapted to determine whether the radar detector is misaligned based on the relation, where a total detection angle equals the sum of a known mounting angle between the x-axis and a mounting direction of the radar detector, and a correct or a misaligned detection angle.

A method for estimating a misalignment of a vehicle radar detector in a vehicle radar system that is used for detecting a plurality of objects outside a vehicle, where the method comprises the steps of;

obtaining at least one total detection angle relative an x-axis and at least one corresponding detected target Doppler velocity relative to the radar detector for detected objects of the plurality of objects during a certain time interval;
classifying the plurality of objects as one of a moving object or a stationary object relative a surrounding environment;
determining a relation between a number of the plurality of objects that has been classified as one of the stationary object and a total number of detections;
and
determining whether the radar detector is misaligned based on the relation,
where a total detection angle equals the sum of a known mounting angle between the x-axis and a mounting direction of the radar detector, and a correct or misaligned detection angle.

3 more elements

Dependencies are inferred from the claim text.

Misalignment detection for a vehicle radar sensor

Life of this patent

Misalignment detection for a vehicle radar sensor

Life of this patent

Abstract

Claims15