# US 12,111,389 B2 · Radar elevation angle validation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,111,389 B2 - Document ID: US12111389B2 - Status: Granted - Kind: B2 - Application number: 17/027,501 - Filed: 2020-09-21 - Published: 2022-03-24 - Granted: 2024-10-08 - Earliest claimed: 2020-09-21 - Assignees: Argo AI, LLC - Applicants: Argo AI, LLC - Inventors: Jonathan C. Berry; Duc H. Vu - Web page: https://patentgrep.com/patent/US12111389B2 ## CPC - G01S 13/865: {Combination of radar systems with lidar systems} - G01S 7/4034: {in elevation, i.e. in the vertical plane} - G01S 7/4086: {in a calibrating environment, e.g. anechoic chamber} - G01S 13/58: Velocity or trajectory determination systems; Sense-of-movement determination systems - G01S 13/931: of land vehicles - 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 ## Abstract Devices, systems, and methods are provided for radar elevation angle validation. A radar elevation angle validation device transmit, from a radar, one or more signals towards a corner reflector situated in a direction of the radar. The radar elevation angle validation device may receive, at the radar, reflected signals from the corner reflector. The radar elevation angle validation device may measure signal energy of at least one of the reflected signals. The radar elevation angle validation device may access a baseline dataset based on the measured signal energy. The radar elevation angle validation device may retrieve a radar elevation angle from the baseline dataset corresponding to the measured signal energy. The radar elevation angle validation device may compare the radar elevation angle to a validation threshold. The radar elevation angle validation device may determine a radar validation status based on the comparison. ## Claims ### Claim 1 A device, the device comprising processing circuitry coupled to storage, the processing circuitry configured to: transmit, from a radar, one or more signals towards a corner reflector situated in a direction of the radar; receive, at the radar, reflected signals from the corner reflector; measure signal energy of at least one of the reflected signals; access a baseline dataset stored in a datastore, the baseline dataset comprising a plurality of radar elevation angles indexed in the datastore by different sets of signal energy values, corner reflector elevation values, and radar-to-reflector distances; compare the measured signal energy to one or more of the plurality of signal energy values contained in the baseline dataset; retrieve a radar elevation angle from the plurality of radar elevation angles contained in the baseline dataset that is associated with a signal energy value of the plurality of signal energy values matching to the measured signal energy; compare the radar elevation angle retrieved from the baseline dataset to a validation threshold; determine whether the radar is pitched upwards or downwards based on a deviation of the radar elevation angle of the baseline dataset from the validation threshold; and determine a radar validation status based on the comparison; wherein the baseline dataset correlates signal energy values with an average energy pattern based on measurements associated with a plurality of other radars. ### Claim 2 (depends on 1) The device of claim 1, wherein the baseline dataset further comprises an elevation of the corner reflector or a distance between the radar and the corner reflector so as to be associated with a respective one of the plurality of signal energy values and a respective one of the plurality of radar elevation angles. ### Claim 3 (depends on 1) The device of claim 1, wherein the validation threshold is predefined and the radar validation status is a pass or a fail. ### Claim 4 (depends on 1) The device of claim 1, wherein the processing circuitry is further configured to: verify the radar elevation angle is greater than the validation threshold; and establish that the radar validation status is a fail. ### Claim 5 (depends on 1) The device of claim 1, wherein the processing circuitry is further configured to: verify the radar elevation angle is less than or equal to the validation threshold; establish that the radar validation status is a pass. ### Claim 6 (depends on 1) The device of claim 1, wherein a peak signal energy value indicates an optimal radar ranging. ### Claim 7 A non-transitory computer-readable medium storing computer-executable instructions which when executed by one or more processors result in performing operations comprising: transmitting, from a radar, one or more signals towards a corner reflector situated in a direction of the radar; receiving, at the radar, reflected signals from the corner reflector at the radar; measuring signal energy of at least one of the reflected signals; accessing a baseline dataset stored in a datastore, the baseline dataset comprising a plurality of radar elevation angles indexed in the datastore by different sets of signal energy values, corner reflector elevation values, and radar-to-reflector distances; comparing the measured signal energy to one or more of the plurality of signal energy values contained in the baseline dataset; retrieving a radar elevation angle from the plurality of radar elevation angles contained in the baseline dataset that is associated with a signal energy value of the plurality of signal energy values matching to the measured signal energy; comparing the radar elevation angle retrieved from the baseline dataset to a validation threshold; determining whether the radar is pitched upwards or downwards based on a deviation of the radar elevation angle of the baseline dataset from the validation threshold; and determining a radar validation status based on the comparison. ### Claim 8 (depends on 7) The non-transitory computer-readable medium of claim 7, wherein the baseline dataset further comprises an elevation of the corner reflector or a distance between the radar and the corner reflector so as to be associated with a respective one of the plurality of signal energy values and a respective one of the plurality of radar elevation angles. ### Claim 9 (depends on 7) The non-transitory computer-readable medium of claim 7, wherein the validation threshold is predefined and the radar validation status is a pass or a fail. ### Claim 10 (depends on 7) The non-transitory computer-readable medium of claim 7, wherein the operations further comprise: verifying the radar elevation angle is greater than the validation threshold; and establishing that the radar validation status is a fail. ### Claim 11 (depends on 7) The non-transitory computer-readable medium of claim 7, wherein the operations further comprise: verifying the radar elevation angle is less than or equal to the validation threshold; establishing that the radar validation status is a pass. ### Claim 12 (depends on 7) The non-transitory computer-readable medium of claim 7, wherein a peak signal energy value indicates an optimal radar ranging. ### Claim 13 (depends on 7) The non-transitory computer-readable medium of claim 7, wherein the baseline dataset comprises averages of one or more measurements using a plurality of radars. ### Claim 14 A method comprising: transmitting, from a radar, one or more signals towards a corner reflector situated in a direction of the radar; receiving, at the radar, reflected signals from the corner reflector at the radar; measuring signal energy of at least one of the reflected signals; accessing a baseline dataset stored in a datastore, the baseline dataset comprising a plurality of radar elevation angles indexed in the datastore by different sets of signal energy values, corner reflector elevation values, and radar-to-reflector distances; comparing the measured signal energy to one or more of the plurality of signal energy values contained in the baseline dataset; retrieving a radar elevation angle from the plurality of radar elevation angles contained in the baseline dataset that is associated with a signal energy value of the plurality of signal energy values matching the measured signal energy; comparing the radar elevation angle retrieved from the baseline dataset to a validation threshold; determining whether the radar is pitched upwards or downwards based on a deviation of the radar elevation angle of the baseline dataset from the validation threshold; and determining a radar validation status based on the comparison. ### Claim 15 (depends on 14) The method of claim 14, wherein the baseline dataset further comprises an elevation of the corner reflector or a distance between the radar and the corner reflector so as to be associated with a respective one of the plurality of signal energy values and a respective one of the plurality of radar elevation angles. ### Claim 16 (depends on 14) The method of claim 14, wherein the validation threshold is predefined and the radar validation status is a pass or a fail. ### Claim 17 (depends on 14) The method of claim 14, further comprising: verify the radar elevation angle is greater than the validation threshold; and establishing that the radar validation status is a fail.