US 11,378,668 B2Granted

Radar calibration

AssigneeFord Global Technologies, LLC

InventorsKrishanth Krishnan, Sangjin Lee, Ankit Girish Vora, Siddharth Agarwal

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Abstract

A calibration system for a radar sensor and a method of using the system are disclosed. The method may comprise (a) receiving, from a first sensor in a vehicle, a plurality of global navigation satellite system (GNSS) parameters, wherein the plurality of GNSS parameters define a unique terrestrial position of the first sensor; (b) receiving, from a radar sensor in the vehicle, a plurality of radar parameters, wherein the plurality of radar parameters define a position of a calibration target relative to the radar sensor; (c) repeating the receiving of (a) and (b) at additional unique terrestrial positions of the first sensor; (d) using the plurality of GNSS parameters received in (a) and (c) and the plurality of radar parameters received in (b) and (c), determining corresponding positions of the calibration target; and (e) using the corresponding positions of the calibration target, determining radar calibration parameters.

Claims19

Dependent claims

A method, comprising:

(a) receiving, from a first sensor in a vehicle, a plurality of global navigation satellite system (GNSS) parameters, wherein the plurality of GNSS parameters define a unique terrestrial position of the first sensor;
(b) receiving, from a radar sensor in the vehicle, a plurality of radar parameters, wherein the plurality of radar parameters define a position of a calibration target relative to the radar sensor;
(c) repeating the receiving of (a) and (b) at additional unique terrestrial positions of the first sensor, wherein the steps of (a) receiving the plurality of global navigation satellite system (GNSS) parameters from the first sensor in the vehicle, (b) receiving the plurality of radar parameters, from the radar sensor in the vehicle, and (c) repeating the receiving of the plurality of global navigation satellite system (GNSS) parameters and the plurality of radar parameters at additional unique terrestrial positions of the first sensor, are repeated to receive a threshold quantity of unique terrestrial positions;
(d) using the plurality of GNSS parameters received in (a) and (c) and the plurality of radar parameters received in (b) and (c), determining corresponding positions of the calibration target;
and
(e) using the corresponding positions of the calibration target, determining radar calibration parameters.

3 more elements

A calibration system for a radar sensor in a vehicle, comprising:

a first sensor in the vehicle;
a calibration target;
and
a computer, comprising one or more processors and memory storing instructions executable by the one or more processors, the instructions comprising to:
(a) receive, from a first sensor in the vehicle, a plurality of global navigation satellite system (GNSS) parameters, wherein the plurality of GNSS parameters define a unique terrestrial position of the first sensor;
(b) receive, from the radar sensor in the vehicle, a plurality of radar parameters, wherein the plurality of radar parameters define a position of a calibration target relative to the radar sensor;
(c) repeat the receiving of (a) and (b) at additional unique terrestrial positions of the first sensor, wherein the steps of (a) receiving the plurality of global navigation satellite system (GNSS) parameters from the first sensor in the vehicle, (b) receiving the plurality of radar parameters, from the radar sensor in the vehicle, and (c) repeating the receiving of the plurality of global navigation satellite system (GNSS) parameters and the plurality of radar parameters at additional unique terrestrial positions of the first sensor, are repeated to receive a threshold quantity of unique terrestrial positions;
(d) using the plurality of GNSS parameters received in (a) and (c) and the plurality of radar parameters received in (b) and (c), determine corresponding positions of the calibration target;
and
(e) using the corresponding positions of the calibration target, determine radar calibration parameters.

7 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/807,608Filed 3 Mar 2020
Published: US 2021/0278511 A19 Sep 2021
Granted: 5 Jul 2022
Term ends: Not estimatedThe source records don’t support an estimate.

Classification11 codes

G01S 7/4026
Of parts of a radar system: antenna boresight
G01S 7/497
Of systems according to group G01S17/00: means for monitoring or calibrating
G01S 7/4004
Means for monitoring or calibrating: of parts of a radar system
G01S 7/4082
By simulation of echoes: using externally generated reference signals, e.g. via remote reflector or transponder