Method of determination of alignment angles of radar sensors for a road vehicle radar auto-alignment controller

A method of determining alignment angles of at least two or more road vehicle borne radar sensors for producing signals suitable to cause a road vehicle radar auto-alignment controller to perform radar offset compensation starting from initially available rough estimates of the alignment angles, the method comprising:

• obtaining, from the at least two or more road vehicle borne radar sensors, signals related to range, azimuth, and range rate to detections;
• screening the obtained signals from the at least two or more road vehicle borne radar sensors to determine detections from stationary targets;
• deriving, from the determined detections from stationary targets based on the obtained signals from the at least two or more road vehicles borne radar sensors, a linearized signal processing model involving the alignment angles, longitudinal and lateral velocity, and yaw-rate of the road vehicle, the linearized signal processing model linearized with respect to alignment angles having the initially available rough estimates of the alignment angles;
• estimating the alignment angles for the at least two or more road vehicle borne radar sensors by applying a Kalman filter algorithm to the linearized signal processing model by combining the obtained signals from all of the at least two or more road vehicle borne radar sensors;
• and
• performing the radar offset compensation, based on the estimated alignment angles, by the road vehicle radar auto-alignment controller.

A method of performing radar offset compensation of at least two or more road vehicle borne radar sensors, the method comprising:

• obtaining, from the at least two or more road vehicle borne radar sensors, signals related to range, azimuth, and range rate to detections;
• screening the obtained signals from the at least two or more road vehicle borne radar sensors to determine detections from stationary targets;
• deriving, from the determined detections from stationary targets based on the obtained signals from the at least two or more road vehicles borne radar sensors, a linearized signal processing model involving alignment angles, longitudinal and lateral velocity, and yaw-rate of the road vehicle, the linearized signal processing model linearized with respect to initially available rough estimates of the alignment angles;
• estimating the alignment angles for the at least two or more road vehicle borne radar sensors by applying a Kalman filter algorithm to the linearized signal processing model by combining the obtained signals from all of the at least two or more road vehicle borne radar sensors;
• and
• causing a road vehicle radar auto-alignment controller to perform the radar offset compensation of two or more road vehicle borne radar sensors based on the estimated alignment angles.