Calibration process for vehicular radar sensing system

A method for calibrating a vehicular radar system, the method comprising:

• obtaining a vehicle comprising a radar sensor of the vehicular radar system, the radar sensor sensing exterior of the vehicle, wherein the radar sensor has a principal axis of sensing, and wherein the radar sensor has an azimuth misalignment representing a difference between the principal axis of sensing of the radar sensor and an intended principal axis of sensing for the radar sensor;
• positioning a first object at a first location relative to the radar sensor on the intended principal axis of sensing for the radar sensor, wherein the first location has a first distance between the first object and the radar sensor;
• capturing, via the radar sensor, sensor data with the first object at the first location;
• determining, via processing by a data processor of sensor data captured by the radar sensor with the first object at the first location, a first sensed location of the first object relative to the radar sensor;
• positioning a second object at a second location relative to the radar sensor on the intended principal axis of sensing for the radar sensor, wherein the second location has a second distance between the second object and the radar sensor that is different than the first distance between the first object and the radar sensor;
• capturing, via the radar sensor, sensor data with the second object at the second location;
• determining, via processing by the data processor of sensor data captured by the radar sensor with the second object at the second location, a second sensed location of the second object relative to the radar sensor;
• determining the azimuth misalignment of the radar sensor based at least in part on the first sensed location of the first object and the second sensed location of the second object;
• and
• calibrating the vehicular radar system based at least in part on the determined azimuth misalignment of the radar sensor.

A method for calibrating a vehicular radar system, the method comprising:

• obtaining a vehicle comprising a radar sensor of the vehicular radar system, the radar sensor sensing exterior of the vehicle, wherein the radar sensor has a principal axis of sensing, and wherein the radar sensor has an elevation misalignment representing a difference between the principal axis of sensing of the radar sensor and an intended principal axis of sensing for the radar sensor;
• positioning an object at a first location relative to the radar sensor on the intended principal axis of sensing for the radar sensor, wherein the first location has a first distance between the object and the radar sensor;
• capturing, via the radar sensor, sensor data with the object at the first location;
• determining, via processing by a data processor of sensor data captured by the radar sensor with the object at the first location, a first sensed location of the object relative to the radar sensor;
• changing the location of the radar sensor relative to the object along the intended principal axis of sensing for the radar sensor from the first location to a second location relative to the object wherein the second location has a second distance between the object and the radar sensor that is different than the first distance between the object and the radar sensor;
• capturing, via the radar sensor, sensor data with the object at the second location;
• determining, via processing by the data processor of sensor data captured by the radar sensor with the object at the second location, a second sensed location of the object relative to the radar sensor;
• determining the elevation misalignment of the radar sensor based at least in part on the first sensed location of the object and the second sensed location of the object;
• and
• calibrating the vehicular radar system based at least in part on the determined elevation misalignment of the radar sensor.