Kompensationseinrichtung zur Kompensation der Einbautoleranzen eines Abstandssensors an einem Fahrzeug

Kompensationseinrichtung zur Kompensation der Einbautoleranzen eines Abstandssensors an einem Fahrzeug, mit einem geometrisch vorbestimmten Sollabstrahlwinkel (8a) wenigstens eines Strahles (8) des Abstandssensors (5) relativ zum Fahrzeug (2) und einem tatsächlich vorliegenden toleranzbehafteten Istabstrahlwinkel (8b), und mit einer an den Abstandssensor (5) angeschlossenen Auswerteelektronik (20) zur Bestimmung der aktuellen Objektabstände und aktuellen Objektwinkel erfasster Objekte (3) relativ zum Fahrzeug (2) während des Fahrbetriebs, dadurch gekennzeichnet, dass die Auswerteelektronik (20) weiter eine Einrichtung (15) zur Bildung eines Mittelwertes der aktuellen Objektwinkel über eine vorgebbare Zeit zu einem Objektwinkelmittelwert aufweist, wobei der Objektwinkelmittelwert dem Sollrichtungswinkel (8a) eines geradlinig vorausfahrenden Objekts (3) entspricht, und die Kompensationseinrichtung in der Weise ausgebildet ist, dass ein Korrekturdifferenzwinkel (16) zwischen dem ermittelten ...

Verfahren und Vorrichtung zur Bestimmung ob ein von mehreren Sensoren detektiertes Objekt identisch ist und Verfahren und Vorrichtung zur Positionskorrektur in einem Multisensor-System

VORAUSFAHRZEUG-AUSWAHLVORRICHTUNG

In einer Vorausfahrzeug-Auswahlvorrichtung werden für jedes sich voraus befindende Objekt eine relative Position, eine relative Geschwindigkeit und Breiteninformation, die eine laterale Breite angibt, ermittelt. Eine laterale Position des sich voraus befindenden Objekts in Bezug auf eine Fahrtrichtung des eigenen Fahrzeugs wird unter Verwendung der Breiteninformation des sich voraus befindenden Objekts korrigiert. Auf der Grundlage der relativen Position des sich voraus befindenden Objekts, dessen laterale Position korrigiert wurde, wird für jedes sich voraus befindende Objekt eine Wahrscheinlichkeit für eine Fahrspur des eigenen Fahrzeugs berechnet. Ein vorausfahrendes Fahrzeug wird auf der Grundlage der berechneten Eigenfahrzeug-Fahrspurwahrscheinlichkeit aus den sich voraus befindenden Objekten ausgewählt. Auf der Grundlage eines Werts eines korrelierten Parameters, der eine Korrelation mit einem Fehler in der lateralen Position oder einem Fehler in der Breiteninformation aufweist, wird ...

Verfahren zum automatischen Kalibrieren eines Umfeldsensors, insbesondere eines Lidar-Sensors, eines Fahrzeugs auf Grundlage von Belegungskarten sowie Recheneinrichtung

Die Erfindung betrifft ein Verfahren zum Kalibrieren eines Umfeldsensors eines Fahrzeugs, umfassend die Schritte: Empfangen von Sensordaten von dem Umfeldsensor für zumindest zwei Zeitpunkte, wobei die Sensordaten eine Umgebung des Fahrzeugs beschreiben, Bestimmen von jeweiligen Belegungskarten für die zumindest zwei Zeitpunkte, wobei die Belegungskarten zumindest bereichsweise übereinstimmende Bereiche der Umgebung beschreiben, Empfangen von Positionsdaten für die zumindest zwei Zeitpunkte, wobei die Positionsdaten eine aktuellen Position des Fahrzeugs beschreiben, wobei eine Verschiebung von zumindest einem Punkt in den Belegungskarten und eine Änderung der Position des Fahrzeugs zwischen den zumindest zwei Zeitpunkten bestimmt werden und anhand eines Vergleichs der Verschiebung des zumindest einen Punkts und der Änderung der Position eine Abweichung eines Einbauwinkels des Umfeldsensors von einem Soll-Einbauwinkel geschätzt wird.

Verfahren zum Kalibrieren eines Umfeldsensors eines Fahrzeugs anhand von Daten eines Referenz-Umfeldsensors unter Berücksichtigung von Belegungskarten, Recheneinrichtung sowie Sensorsystem

Die Erfindung betrifft ein Verfahren zum Kalibrieren eines Umfeldsensors eines Fahrzeugs, umfassend die Schritte: Empfangen von Sensordaten von dem Umfeldsensor und Bestimmen einer Belegungskarte anhand der Sensordaten, wobei die Belegungskarte einen ersten Bereich einer Umgebung des Fahrzeugs beschreibt, Empfangen von Referenz-Sensordaten von einem Referenz-Umfeldsensor des Fahrzeugs und Bestimmen einer Referenz-Belegungskarte anhand der Referenz-Sensordaten, wobei die Referenz-Belegungskarte einen zweiten Bereich der Umgebung beschreibt, welcher mit dem ersten Bereich zumindest bereichsweise übereinstimmt, Bestimmen von zumindest einem Merkmal in der Belegungskarte, welches mit zumindest einem Merkmal in der Referenz-Belegungskarte übereinstimmt, Bestimmen einer räumlichen Verschiebung zwischen dem zumindest einen Merkmal in der Belegungskarte und dem zumindest einen Merkmal in der Referenz-Belegungskarte, und Schätzen einer Abweichung eines Einbauwinkels des Umfeldsensors von einem Soll-Einbauwinkel ...

Vorrichtung zum Bestimmen und Korrigieren der Ablenkung der Hauptachse in einer Fahrzeug-Hinderniserkennungsvorrichtung, und System zum Regeln des Abstandes zu einem vorausfahrenden Fahrzeug

Monitoring apparatus and method

Sensor alignment method and system

Simplified radar ground controlled approach system including adaptations for surveillance, precision approach, taxi and height finding

Improvements in or relating to radar antennae

PROCEDURE FOR THE ANTENNA ANGLE CALIBRATION BY RELATIVE RANGE FINDING

RADAR RECOGNITION PROCEDURE OF AN ACQUAINTANCE OF A GOAL, ON A CERTAIN HEIGHT IS IN THE PROXIMITY OF OTHER GOALS, ON THE SAME HEIGHT THE CONDITION.

Deep draft semi-submersible offshore structure

MOTION DETECTION BASED ON BEAMFORMING DYNAMIC INFORMATION

In a general aspect, motion is detected using wireless signals. In one example, beamforming dynamic information is obtained based on a set of wireless signals transmitted through a space from a first wireless communication device to a second wireless communication device. Motion of an object in the space is detected based on the beamforming dynamic information.

BIAS ESTIMATING METHOD FOR A TARGET TRACKING SYSTEM

The present invention is in general related to automatic alignment in multisensor target tracking. The process of the invention repeatedly generates estimates for sensor bias errors (b) by minimising a function, given on one hand by the magnitude of the discrepancy between measurements (M) and a measuring model, where the measuring model is a function of the unknown target location and unknown bias parameters, and on the other by the bias parameters and their predetermined statistical distributions (15). In a preferred embodiment of the present invention, the minimising step is performed by linearising components of the function around an approximate target position (normally obtained from the tracker (10)) and around nominal (typically zero) bias errors, and the function is subsequently minimised with respect to target positions as well as to the bias parameters (b). In addition, possible time dependence of the bias parameters are modelled by the incorporation of process noise.

Verfahren und Vorrichtung bei einer Schiffsradaranlage zur Beseitigung von Richtungsfehlern zufolge der Schwankungen des Schiffes

Radargerät zum Erfassen von Objektbewegungen.

Es wird ein stationäres Radargerät vorgestellt, welches nebst einer Mehrzahl von stationären Empfangsantennen (6) auch eine Mehrzahl von stationären Sendeantennen (4) zum Aussenden von Primär-Radiowellen aufweist. Ein frequenzmoduliertes Sendesignal wird in zwei Sequenzen erzeugt: Während der ersten Sequenzen wird eine Mehrzahl von aufeinanderfolgenden ersten Chirps durch eine der Sendantennen (4) ausgesandt. Aus der zeitlichen Entwicklung der entsprechenden ersten Empfangssignale wird eine Dopplerverschiebung beziehungsweise eine Geschwindigkeit errechnet. Die zweiten Sequenzen sind intermittierend mit den ersten Sequenzen und beinhalten je einen oder mehrere zweite Chirps, wobei die zweiten Chirps von unterschiedlichen Sendeantennen (4) erzeugt werden. Die von den zweiten Chirps bewirkten zweiten Empfangssignale werden ausgewertet, um durch Korrelation von Empfangssignalen, die auf von verschiedenen Sendeantennen ausgehende zweite Chirps zurückgehen und verschiedenen Empfangsantennen ...

Delay line null command generator test set for sarcalm

A null command generator test apparatus capable of operating in either the open or closed loop configuration for testing the Sarcalm system. When operating in an open loop configuration the null command generator test apparatus utilizes the normalized voltage output of the null command generator as the estimator for the beam pointing error. When operating in the closed loop configuration, the test apparatus utilizes either the voltage output of the null command generator or the angle difference between the line of sight to the target and the null direction of the antenna servo simulator to estimate the dynamic pointing errors.

All weather strike system (AWTSS) and method of operation

An AWTSS is shown to be made up of an improved synthetic aperture radar (SAR) for generating radar maps with various degrees of resolution required for navigation of an aircraft and detection of ground targets in the presence of electronic countermeasures and clutter. The SAR consists, in effect, of four frequency-agile radars sharing quadrants of a single array antenna mounted within a radome on a "four axis" gimbal with a sidelobe cancelling subarray mounted at the phase center of each quadrant. Motions sensors are also mounted on the single array antenna to provide signals for compensating for vibration and stored compensating signals are used to compensate for radome-induced errors. In addition, a signal processor is shown which is selectively operable to generate radar maps of any one of a number of desired degrees of resolution, such processor being adapted to operate in the presence of clutter or jamming signals.

METHOD FOR ANGLE DETERMINATION FOR MOVING ASSEMBLIES, AND APPARATUS

In an installation including first and second components, a radar sensor that has at least two channels, each arranged to be spatially at a distance from the other, is motion-coupled to the first component, and at least two coding radar targets, each arranged to be spatially at a distance from an adjacent target, are motion-coupled to the second component. A signal is sent to each of the radar targets using one of the at least two channels of the radar sensor. At least one coded signal is respectively sent by the radar targets upon or after receiving such a signal, one of the at least two coded signals being received by one or more channels of the radar sensor from each target. The temporal relationship between at least two of the received coded signals is acquired and used to determine an angle between the first and second components.

PROCESSING POINT CLOUDS OF VEHICLE SENSORS HAVING VARIABLE SCAN LINE DISTRIBUTIONS USING TWO-DIMENSIONAL INTERPOLATION AND DISTANCE THRESHOLDING

A method for processing point clouds having variable spatial distributions of scan lines includes receiving a point cloud frame generated by a sensor configured to sense a vehicle environment. Each of the points in the frame has associated two-dimensional coordinates and an associated parameter value. The method also includes generating a normalized point cloud frame by adding interpolated points not present in the received frame, at least by, for each interpolated point, identifying one or more neighboring points having associated two-dimensional coordinates that are within a threshold distance of two-dimensional coordinates for the interpolated point, and calculating an estimated parameter value of the interpolated point using, for each of the identified neighboring points, a distance between the two-dimensional coordinates and the parameter value associated with the identified neighboring point. The method also includes generating, using the normalized point cloud frame, signals descriptive ...

SYSTEM AND METHOD FOR VEHICLE RADAR INSPECTION

The present disclosure provides a system and method for a vehicle radar inspection. A system for inspecting an assembled state of a radar sensor mounted in a vehicle may include a center portion configured to align the vehicle to a reference inspection position; a mobile terminal configured to connect with an external source of communication; a scan portion configured to photograph the radar sensor at a plurality of scan positions using a terahertz wave; and a server configured to match a plurality of scan images photographed by the scan portion, to detect a three-dimensional coordinate of the radar sensor, to transmit a sensor correction value through the mobile terminal, wherein the sensor correction value is determined based on an assembly tolerance that compares with a design plan of the vehicle, and to correct a sensor angle value of the radar sensor.

SENSOR CALIBRATION

This disclosure is directed to calibrating sensors for an autonomous vehicle. First sensor data and second sensor data can be captured by one or more sensors representing an environment. The first sensor data and the second sensor data can be associated with a grid in a plurality of combinations to generate a plurality of projected data. A number of data points of the projected data occupying a cell of the grid can be summed to determine a spatial histogram. An amount of error (such as an entropy value) can be determined for each of the projected data, and the projected data corresponding to the lowest entropy value can be selected as representing a calibrated configuration of the one or more sensors. Calibration data associated with the lowest entropy value can be determined and used to calibrate the one or more sensors, respectively.

Axial deviation determining method for on-vehicle radar

An on-vehicle radar and a method of determining an axial deviation of the radar using stationary objects free of erroneous determination are disclosed. The amount of axial deviation of the radar is determined from the calculated stationary object line based on the distribution of stationary objects. In the case where such a factor for determining the calculated stationary object line as to reduce the calculation accuracy of axial deviation is detected in the distribution of stationary objects, the calculation of the amount of the particular axial deviation is canceled.

Method for reducing angular blur in radar pictures

The invention refers to a method for reducing angular blur in radar pictures achieved in range bin based detection systems. A variable S(x,y) such as amplitude, power or the like is measured as a function of an angle x and a distance y. According to the invention an expression of the ty ...

Method and device for generating a modulated continuous-wave radar signal

A method for measuring an elevation angle and/or azimuth angle with an antenna array. Identical transmitted signals that are formed of successive linear-frequency-modulated ramps are transmitted through the transmitting antennas of the antenna array using time division multiplexing, wherein the time division multiplexing is achieved through alternating attenuation of the signals transmitted by the transmitting antennas. Echoes of the transmitted signals are received by the receiving antennas and are down-converted to a baseband and sampled. The down-converted and sampled echoes are transformed by an FFT into a 2D image domain. Phase differences are determined from the image data, and, in order to compensate for a systematic error present because of the lack of separation of the two transmitted signals, an error-compensated elevation angle and/or an error-compensated azimuth angle is determined by means of a compensation.

Radar level gauging using corner reflector formed by product surface and tank wall

A method of determining a filling level of a product in a tank having a tank wall, the method comprising: generating and transmitting an electromagnetic first transmit signal; propagating the first transmit signal through a tank atmosphere towards a corner reflector formed by the surface of the product and the tank wall where the surface of the product meets the tank wall, the corner reflector being at a known horizontal distance from the radar level gauge system; receiving an electromagnetic first reflection signal resulting from reflection of the first transmit signal at the corner reflector; determining a measure indicative of a propagation direction of the first reflection signal; and determining the filling level based on the measure indicative of the propagation direction of the first reflection signal and the known horizontal distance between the radar level gauge system and the corner reflector.

Vorwärtssichtsensor für Kraftfahrzeuge

Measuring section for aligning space sensor, has straight roadway and beacon arranged at one end of roadway, in middle of roadway and on lateral strips are arranged adjacent to roadway

The measuring section (4) has straight roadway (3) and a beacon (6) at one end (5) of the roadway. The beacon is arranged in the middle of the roadway. The measuring section also has beacons (10, 12) arranged on the lateral strips (9,11) arranged adjacent to the roadway. An independent claim is also included for a method for aligning a space sensor on a vehicle.

Verfahren zur Justierung der Ausrichtung einer Sensoreinheit und Vorrichtung zur Durchführung des Verfahrens

Eine in einem Kraftfahrzeug zur Abstandsermittlung und/oder Objekterfassung eingesetzte Sensoreinheit muß zur Vermeidung von Fehlfunktionen bezüglich dem Kraftfahrzeug korrekt ausgerichtet sein. Zur Ausrichtung wird üblicherweise eine Reflektorplatte parallel zur Hinterradachse des Kraftfahrzeugs aufgestellt und ein Strahl von der Sensoreinheit zur Reflektorplatte ausgesendet. Die Ausrichtung der Sensoreinheit erfolgt dann in Abhängigkeit des zur Sensoreinheit zurückreflektierten Anteils des ausgesendeten Strahls. Das neue Verfahren und die neue Vorrichtung sollen mit geringem Arbeitsaufwand eine genaue Ausrichtung der Sensoreinheit ermöglichen. DOLLAR A Beim neuen Verfahren wird das Kraftfahrzeug mit seinen Hinterrädern auf zwei drehbare parallele Rollen gefahren, beispielsweise auf die Rollen eines Bremsenprüfstands. Die Reflektorplatte ist parallel zu den Drehachsen der Rollen ausgerichtet. Durch Drehung der Rollen und der Hinterräder wird die Hinterradachse des Kraftfahrzeugs parallel ...

Arrangement for aligning an antenna of a vehicle distance warning device

A device for aligning a directional antenna of a radar distance warning device of a vehicle has an alignment spotlight connected to the directional antenna to form a rigid unit adjustably mounted on the vehicle via an adjusting board. This rigid unit is aligned by aligning the optical axis of the light cone of the alignment spotlight with the aid of a vehicle-related optical verification device, particularly a headlight adjusting device. The alignment spotlight can be removable, or the vehicle headlight can be used for alignment.

Improvements in or relating to radio locating systems

... 653,330. Radiolocation. DEPARTMENT OF COMMERCE, DIRECTOR OF THE OFFICE OF TECHNICAL SERVICES OF. Feb. 27, 1948, No. 5950. Convention date, Aug. 1, 1945. [Class 40 (vii)] A pulsed radar system has a cathode-ray tube plan-position indicator 10 with variable azimuth and range markers 28 and 24 which can be lined up on a selected target by means of hand wheels 32 and 58 respectively, together with an auxiliary cathode-ray tube 20 to provide an expanded presentation of a small sector 30 as a B-type display having its origin representative of the intersection of said variable markers. Hand wheel 32 is coupled to the azimuth marker and the azimuth sweep unit 38 for the auxiliary indicator via a magnetic clutch 34 and friction sleeve 35. Hand wheel 58 is similarly coupled to the range marker unit 66 via clutch 62 and sleeve 64. The hand wheels are also respectively coupled via magnetic clutches 49 and 77 to potentiometers 52 and 80 to provide variable D.C. deflecting potentials to the indicator ...

SERVOMECHANISM FOR THE CONTROLLING OF A MOTOR VEHICLE

Reducing antenna boresight error

Radar mounting estimation with unstructured data

The present application describes a method including transmitting at least two radar signals by a radar unit of a vehicle, where a first signal is transmitted from a first location and a second signal is transmitted from a second location. The method also includes receiving a respective reflection signal associated with each of the transmitted signals. Additionally, the method includes determining, by a processor, at least one stationary object that caused a reflection, Further, the method includes, based on the determined stationary object, determining, by the processor, an offset for the radar unit The method yet further includes operating the radar unit based on the determined offset. Furthermore, the method includes controlling an autonomous vehicle based on the radar unit being operated with the determined offset.

Radar mounting estimation with unstructured data

The present application describes a method including transmitting at least two radar signals by a radar unit of a vehicle, where a first signal is transmitted from a first location and a second signal is transmitted from a second location. The method also includes receiving a respective reflection signal associated with each of the transmitted signals. Additionally, the method includes determining, by a processor, at least one stationary object that caused a reflection, Further, the method includes, based on the determined stationary object, determining, by the processor, an offset for the radar unit The method yet further includes operating the radar unit based on the determined offset. Furthermore, the method includes controlling an autonomous vehicle based on the radar unit being operated with the determined offset.

DRIVING ASSISTANT APPARATUS, DRIVING ASSISTANT METHOD, MOVING OBJECT, AND PROGRAM

The present invention pertains to a driving support device, a method, a mobile body, and a program, whereby appropriate driving support can be provided. The driving support device comprises a control unit that performs driving support processing for the host vehicle, on the basis of peripheral vehicle information relating to peripheral vehicles present in an area corresponding to the number of occupants in the host vehicle. The present invention can be applied to a mobile body such as an automobile, etc.

NOVEL SENSOR ALIGNMENT PROCESS AND TOOLS FOR ACTIVE SAFETY VEHICLE APPLICATIONS

A method and tools for virtually aligning object detection sensors on a vehicle without having to physically adjust the sensors. A sensor misalignment condition is detected during normal driving of a host vehicle by comparing different sensor readings to each other. At a vehicle service facility, the host vehicle is placed in an alignment target fixture, and alignment of all object detection sensors is compared to ground truth to determine alignment calibration parameters. Alignment calibration can be further refined by driving the host vehicle in a controlled environment following a leading vehicle. Final alignment calibration parameters are authorized and stored in system memory, and applications which use object detection data henceforth adjust the sensor readings according to the calibration parameters.

Vehicle control apparatus and vehicle control method

A vehicle control apparatus performs traveling control of a vehicle based on a detection result of a radar apparatus that detects a target in the periphery of an own vehicle. The vehicle control apparatus calculates a shaft misalignment angle that is a misalignment amount of an attachment angle of the radar apparatus and a shaft misalignment direction, and sets a detection range over which a target to be subjected to traveling control of the own vehicle is detected. Until elapse of a predetermined initial period after startup, a width in a lateral direction of the detection range is reduced based on a predetermined initial angle that is the misalignment amount of the attachment angle of the radar apparatus. After the elapse of the initial period after startup, the width in the lateral direction of the detection range is reduced based on calculation values of the shaft misalignment angle and the shaft misalignment direction.

Test Bench for Testing a Distance Sensor Operating with Electromagnetic Waves

A test bench () is described and shown for testing a distance sensor () operating with electromagnetic waves, wherein the distance sensor () to be tested comprises at least one sensor radiating element () for radiating a transmission signal () and a sensor receiving element () for receiving a reflection signal, with a receptacle () for holding the distance sensor () to be tested, with an at least partially movable connecting member () in the radiation area of a distance sensor () held in the receptacle (), with at least one test bench receiving element () held in the connecting member () for receiving a transmission signal () radiated by the sensor radiating element (), and with at least one test bench radiating element () held in the connecting member () for radiating a test bench transmitting signal () as a simulated reflection signal. 1. A test bench for testing a distance sensor operating with electromagnetic waves , wherein the distance sensor to be tested includes at least one sensor radiating element for radiating a transmission signal and a sensor receiving element for receiving a reflection signal , the test bench comprising:a receptacle for holding the distance sensor to be tested;an at least partially movable connecting member in the radiation area of a distance sensor held in the receptacle;a test bench receiving element held in the connecting member for receiving a transmission signal radiated by the sensor radiating element; anda test bench radiating element held in the connecting member for radiating a test bench transmitting signal as a simulated reflection signal;wherein the test bench receiving element and the test bench radiating element are arranged together in a movable part of the connecting member.2. The test bench according to claim 1 , wherein the test bench receiving element and the test bench radiating element are arranged together in a plurality of different movable parts of the connecting member.3. The test bench according to claim 1 , ...

Method and apparatus for calibrating azimuth boresight in a radar system

A method and apparatus for calibrating azimuth boresight in a radar system. Antenna boresight misalignment can cause radar systems to inaccurately determine the position of targets relative to a platform vehicle. These errors can be corrected by detecting and accurately measuring a boresight offset angle defined as the angle between the radar antenna boresight and the direction of travel of the host platform vehicle. Several antenna boresight calibration techniques are described. A first technique calculates the boresight offset angle by obtaining target range and azimuth angle measurements at two instants in time. The boresight offset angle is determined by the geometric relationship of the offset angle, target range and azimuth values obtained at two successive time instants. A refined approach obtains target range and azimuth values at several successive time instants, calculating interim boresight offset angles at each time instant. The boresight offset angle is computed by averaging ...

Moving body transmitter and receiver axis adjusting system

METHOD AND DEVICE FOR GENERATING A MODULATED CONTINUOUS-WAVE RADAR SIGNAL

A method for measuring an elevation angle and/or azimuth angle with an antenna array. Identical transmitted signals that are formed of successive linear-frequency-modulated ramps are transmitted through the transmitting antennas of the antenna array using time division multiplexing, wherein the time division multiplexing is achieved through alternating attenuation of the signals transmitted by the transmitting antennas. Echoes of the transmitted signals are received by the receiving antennas and are down-converted to a baseband and sampled. The down-converted and sampled echoes are transformed by an FFT into a 2D image domain. Phase differences are determined from the image data, and, in order to compensate for a systematic error present because of the lack of separation of the two transmitted signals, an error-compensated elevation angle and/or an error-compensated azimuth angle is determined by means of a compensation.

SYSTEM AND METHOD FOR END OF LINE TEST AND CALIBRATION OF ANGULAR SCANNING RADAR

Systems and methods for calibrating a radar sensor based upon synthetic aperture radar (SAR) principles are described herein. A relative motion is induced between a radar sensor and a calibration target in the field-of-view of the radar sensor. The radar sensor receives returns from the calibration target. The radar sensor outputs, based upon the relative motion between the radar sensor and the calibration target, detections that are indicative of locations of points on the calibration target. A computing system generates calibration data based upon the detections, the calibration data comprising a correction factor between a position measured by the radar sensor and a corresponding true position of an object. The computing system programs the radar sensor based on the calibration data such that subsequent to being programmed, the radar sensor outputs detections based upon radar returns and the calibration data.

METHOD AND DEVICE FOR CALIBRATING ASSISTANCE SYSTEMS OF VEHICLES

AUTOMOBILE CALIBRATION DEVICE

СПОСОБ УСТРАНЕНИЯ ЛОЖНЫХ ПЕЛЕНГОВ В ПАССИВНОЙ РАДИОЛОКАЦИОННОЙ СТАНЦИИ ПРИ ЕДИНИЧНОМ ОБЗОРЕ ВРАЩАЮЩЕЙСЯ АНТЕННО-ФИДЕРНОЙ СИСТЕМЫ

Изобретение относится к радиотехнике и может быть использовано в радиолокационных системах (РЛС) с зеркальной и рупорной антенной для пеленгации источников излучения с повышенной разрешающей способностью при равносигнальном амплитудном методе пеленгации. Технический результат заключается в снижении вероятности ложного пеленга на источники излучения при использовании способов пеленгации, основанных на селекции ложных пеленгов, в пассивной РЛС при единичном обзоре вращающейся антенно-фидерной системы (АФС). В заявленном способе осуществляют цифровую запись амплитудно-азимутальной характеристики (ААХ) в оцениваемом азимутальном диапазоне с малой дискретизацией, выбираемой в зависимости от точностных характеристик пеленгования. При увеличении боковых лепестков применяют суммарные и разностные закономерности, которые позволяют также определить ложный пеленг, так как одновременно имеют периодический характер. Таким образом возможно создать способ селекции ложных пеленгов в пассивной РЛС при единичном ...

Radareinrichtung und Zieldetektierverfahren

Radareinrichtung (1), die aufweist:eine Abfrageeinheit (13b), die ein stark reflektierendes Objekt auf der Basis einer Signalstärke abfragt, welche von einem Frequenzspektrum eines Schwebungssignals angezeigt wird, das durch Mischen eines frequenzmodulierten und emittierten Sendesignals und eines Empfangssignals erzeugt wird, das eine in dem Sendesignal gebildete und an einem Ziel reflektierte Reflexionswelle ist, wobeidie Abfrageeinheit (13b) bestimmt, ob die Leistung größer ist als ein vorbestimmter Schwellwert für ein stark reflektierendes Objekt, und die Abfrageeinheit (13b) bestimmt, dass das Ziel mit einer Leistung, die größer ist als der Schwellwert für das stark reflektierende Objekt, ein stark reflektierendes Objekt ist;eine Schätzeinheit (13c), die auf der Basis eines relativen Abstands zu dem stark reflektierenden Objekt eine geschätzte Ausrichtung schätzt, welche eine Ausrichtung eines Objekts ist, von dem angenommen wird, dass es in der Umgebung des stark reflektierenden Objekts ...

Verfahren zur Justierung eines Abstandssensors eines Kraftfahrzeugs

Verfahren zur Justierung eines Abstandssensors (4) eines Kraftfahrzeugs (1), wobei der Abstandssensor (4) den Abstand des Kraftfahrzeugs (1) zu Hindernissen mittels Radarstrahlen erkennt und eine Justierung des Abstandssensors (4) bezogen auf das Kraftfahrzeug (1) erfolgt, dadurch gekennzeichnet, dass das Kraftfahrzeug (1) auf einen Fahrwerkmeßstand gebracht und mittels des Fahrwerksmeßstandes die geometrische Fahrachse des Kraftfahrzeugs (1) ermittelt und anschließend der Abstandssensor (4) parallel zur geometrischen Fahrachse justiert wird, wobei zur Justierung des Abstandssensors (4) elektromagnetische Wellen in gebündelter Form ausgesendet werden (5), deren Richtung mit der Hauptrichtung der Radarkeule übereinstimmt, und der Abstandssensor (4) so eingestellt wird, dass die elektromagnetischen Wellen auf einen Meßpunkt (12, 204) auftreffen, der zumindest in Bezug auf einen Bezugspunkt (7, 8; 201, 202) festgelegt wird, der durch die geometrische Fahrachse des Kraftfahrzeuges (1) vorgegeben ...

Radarsensoranordnung und Kraftfahrzeug

Radarsensoranordnung (1) für ein Kraftfahrzeug (2, 16), umfassend wenigstens zwei Antennenmodule (3, 4) mit jeweils einer Sendeeinheit zum Aussenden von Radarsignalen und einer Empfangseinheit zum Empfangen von Radarsignalen, wobei die Antennenmodule (3, 4) auf einem gemeinsamen Substrat (5) angeordnet sind, das elastisch oder plastisch verformbar ist und wenigstens eine Schaltungskomponente aufweist, die mit jedem der auf dem Substrat (5) angeordneten Antennenmodule (3, 4) verbindbar oder verbunden ist, wobei die wenigstens eine Schaltungskomponente in einem Chip oder Modul integriert ist.

ZIELERFASSUNGSVORRICHTUNG UND PROGRAMM

Eine erste Spezifizierungseinrichtung spezifiziert einen ersten Bereich, der einen ersten Erfassungspunkt aufweist, der von einem ersten Ziel auf einer x-y-Ebene stammt, auf der eine Breitenrichtung eines Fahrzeugs als eine x-Achse und eine Längsrichtung des Fahrzeugs als eine y-Achse definiert sind. Eine zweite Spezifizierungseinrichtung spezifiziert einen zweiten Bereich, der einen zweiten Erfassungspunkt aufweist, der von einem zweiten Ziel auf der x-y-Ebene stammt, auf der Grundlage einer Richtung des zweiten Erfassungspunkts und einer Zielbreite, die eine Breite entlang der x-Achse des zweiten Ziels ist. Eine Bestimmungseinrichtung bestimmt, dass das erste und das zweite Ziel dasselbe Ziel sind, vorausgesetzt, dass ein Überlappungsabschnitt zwischen beiden existiert. Eine Schätzeinrichtung schätzt eine Zielbreite wahren Werts auf der Grundlage der Richtung des zweiten Erfassungspunkts und des ersten Erfassungspunkts, vorausgesetzt, dass das erste und das zweite Ziel dasselbe Ziel sind ...

Abstandssensor mit einer Kompensationseinrichtung für einen Dejustagewinkel an einem Fahrzeug

The invention relates to a distance sensor, comprising a sensor for a vehicle and a means of compensating for travel, not just in a straight line, but also in bends with angle misalignment and curved trajectories. A sensor (2), which is arranged offset from the mid-axis of the vehicle (5), measures an angle (alpha sensor), which cuts the extended mid-axis of the vehicle (5) at the target object, a preceding vehicle (6). A yaw detector (3) is additionally used to compensate for the curve of bends in the road, thus permitting the determination of angle and distance in bends.

Mikroprozessorgesteuerte Regelung eines Sicherheitsabstandes bei Kurvenfahrt

Verfahren zur Erkennung und Korrektur einer Fehlstellung eines Abstandssensors und ein Fahrassistenzsystem für Fahrzeuge

Es wird ein Verfahren und ein System zur Erkennung sowie gegebenenfalls Korrektur einer Fehlstellung von Abstandsensoren (01) beschrieben, bei dem mit den Abstandsensoren (01) durch Abtasten von quer zu dem Abstandsensor (01) relativ bewegter Objekte (02) in der Umgebung ein Signalprofil (03) erzeugt wird, aus dem geometrische Daten (12) extrahiert werden. Bei dem Verfahren ist vorgesehen, dass das Signalprofil (03) beobachtet und statistisch ausgewertet wird, wobei eine ausgeprägte Asymmetrie des Signalprofils (03) als Hinweis auf eine Fehlstellung des Abstandsensors (01) gedeutet wird.

Verfahren zur Ausrichtung eines Sensors in einem abstandsbezogenen Fahrgeschwindigkeitsregelsystem bei einem Fahrzeug

Halterung für ein justierbares Radarsensorgehäuse

A radar system for ships

... 1,069,382. Ship's radar. BOFORS A.B. June 24, 1964 [June 28, 1963], No. 26190/64. Heading H4D. In a ship-borne radar system using a vertical fan beam (A), Fig. 1 (not shown), and comprising an expanded scale display 7, Fig. 2, of part of the area scanned by the antenna, bearing fluctuations in the display caused by lurching movements of the ship, are corrected for by obtaining and feeding to the radar display a signal proportional to the difference between the angle (x). Fig. 1, in the horizontal plane (H) between the bearing (A 1 ) to a target (M) in the beam (A) and visible on the display and the cant axis (O) about which the rotational plane (D) of the antenna is momentarily inclined relative to the horizontal plane, and the angle (#) in said rotational plane, between the antenna bearing (A 2 ) when receiving echoes from the target and said cant axis. Fig. illustrates the involved space geometry wherein (A) represents the antenna lobe which is perpendicular to the antenna plane (D) and ...

A radar apparatus for a vehicle and method of detecting misalignment

A radar apparatus for use in a vehicle comprises a housing 6 which houses a radar sensor 7, and a first 3-axis accelerometer 8 fixed in position relative to the sensor. The apparatus further includes a movable support 9 comprising a first part 10, a second part 12 and an actuator 13 to which the first part is fixed relative to the body 11 of the vehicle. The second part is fixed relative to the housing and the actuator is operable to move the second part relative to the first part around an axis that is fixed relative to the vehicle body. A signal processing apparatus 15 is configured to determine a misalignment of the radar sensor using one or more signals output from the first 3-axis accelerometer and one or more signals output from a second 3-axis accelerometer 16 that is fixed in position relative to the vehicle. The signals used are captured at different times when the second part of the movable support is in two different positions.

METHOD AND APPARATUS FOR THE CONTROL OF THE SAFETY DISTANCE BETWEEN A VEHICLE AND PRECEDING VEHICLES

Adaptive doppler radar systems and methods

Techniques are disclosed for systems and methods to provide remote sensing imagery for mobile structures. A remote sensing imagery system includes a remote sensing assembly with a housing mounted to a mobile structure and a coupled logic device. The logic device is configured to receive radar returns corresponding to a detected target from the radar assembly, determine a target radial speed corresponding to the detected target, determine an adaptive target speed threshold, and then generate remote sensor image data based on the remote sensor returns, the target radial speed, and the adaptive target speed threshold. Subsequent user input and/or the sensor data may be used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure.

DEVICE AND PROCEDURE FOR THE ADJUSTMENT OF DISTANCE MEASURING EQUIPMENT

PROCEDURE AND DEVICE FOR THE MOTOR VEHICLE RADAR DEVICE ADJUSTMENT

ORIENTATION DEVICE FOR A RADAR DEVICE

A method of generating accurate estimates of azimuth and elevation angles of a target for a phased-phased array rotating radar

SAR IMAGING METHOD FOR INTERFEROMETRIC ANALYSES

The present invention concerns a SAR imaging method (40) for interferometric analyses, comprising: receiving raw SAR data related to two or more SAR acquisitions of one and the same area of the earth's surface carried out by means of one or more synthetic aperture radars; and processing the raw SAR data so as to generate SAR images. The method is characterized in that, for each SAR acquisition, the respective raw SAR data related to said SAR acquisition are processed on the basis of two different sets of processing parameters, which include: a first set that is the same for all the SAR acquisitions and which comprises focusing Doppler parameters computed on the basis of physical Doppler parameters related to all the SAR acquisitions; and a respective second set, which comprises respective radiometric equalization Doppler parameters related to said SAR acquisition and computed on the basis of respective physical Doppler parameters related to said SAR acquisition. In particular, processing ...

RADAR SYSTEM INCLUDING STABILIZATION CALIBRATION ARRANGEMENT

A radar system includes a stabilization calibration arrangement wherein a module stores particular parameters for relating the radar system to a gyro which provides stabilizing data for the radar system. The storage module, the radar system and the gyro are mounted on the same mounting platform so that the particular calibration features remain with the mounting platform. With the arrangement described, the radar system is independent of the gyro and can be of a generic configuration as is advantageous for stabilization calibration purposes.

Method for compensation of the effect of antenna off-pointing in an SAR image and radar implementing such a method

The SAR is provided formed from a plurality of elementary images issued from successive emission spots, the elementary images overlapping zones of overlap, the measurement of the off-pointing is carried out on the basis of the difference between the energies received from two successive spots in a zone of overlap, the compensation being applied to the antenna reception gain in light of the measurement.

Calibration device of on-board radar

The present application relates to the field of automobile maintenance and device calibration, and discloses an on-board radar calibration device. The on-board radar calibration device includes a bracket assembly, a beam assembly, a sliding member, and a calibration laser. The beam assembly is mounted on the bracket assembly, and is movable relative to the bracket assembly in a vertical direction. The sliding member is mounted on the beam assembly and is movable relative to the beam assembly in a horizontal direction, the sliding member including a first surface and a second surface opposite to each other and being provided with a mounting through hole, and the mounting through hole penetrating the first surface and the second surface. The calibration laser is accommodated in the mounting through hole and is configured to emit a laser beam toward a to-be-calibrated automobile. In the present application, the calibration laser can horizontally slide in synchronization with the sliding member ...

Winkelverschiebungsbestimmungsvorrichtung zum Bestimmen der Winkelverschiebung der Radarzentralachse zur Verwendung in einem Erfassungssystem für sich selbstbewegende Hindernisse

Winkelverschiebungsbestimmungsvorrichtung zum Bestimmen einer Winkelverschiebung θshift einer Radarwellenabstrahlungszentralachse (95) einer Radarvorrichtung, die in einem Erfassungssystem für sich selbst bewegende Hindernisse (93) verwendet wird, das dafür vorgesehen ist, einen Abstand zu einem mittels der Radarvorrichtung verfolgten Ziel und dessen Winkelrichtung zu bestimmen, welche aufweist: einen Objektidentifizierungsschaltkreis (5), der eine relative Position (X, Y) und eine relative Geschwindigkeit (Vx, Vy) des Zieles in Bezug auf ein Systemfahrzeug (91), das mit dem Erfassungssystem für sich selbst bewegende Hindernisse ausgerüstet ist, in Zyklen auf der Grundlage des Abstandes (L) zu dem Ziel und dessen Winkelrichtung (θ), die mittels des Erfassungssystems für sich selbst bewegende Hindernisse bestimmt werden, bestimmt und der auf der Grundlage der relativen Geschwindigkeit des Zieles bestimmt, ob das Ziel ein sich bewegendes Objekt oder ein stationäres Objekt ist; und einen Winkelverschiebungsbestimmungsschaltkreis ...

Vorrichtung zur Kalibrierung wenigstens eines Radarsensors

Vorrichtung zur Kalibrierung wenigstens eines Radarsensors (25) mit einer in einem definierten Abstand im rechten Winkel zur Fahrzeuglängsachse mittig vor einem Fahrzeug (30) mit wenigstens einem, vorzugsweise in dessen Fahrzeugfront integrierten, Radarsensor zu positionierenden Kalibrierungstafel (1), wobei an dieser Kalibrierungstafel (1) eine Winkelverstellplatte (12) derart winkelverstellbar einhängbar ist, dass eine ferromagnetische Befestigungsplatte (13) der Winkelverstellplatte (12) in ihrem Anstellwinkel verstellbar ist.

FAHRZEUGFAHRTREGELUNGSVORRICHTUNG UND FAHRZEUGFAHRTREGELUNGSVERFAHREN

Eine Radarvorrichtung (12) zum Detektieren eines Abstands zwischen Fahrzeugen durch die Übertragung und den Empfang von Überwachungswellen ist in einem Fahrzeug als ein Objektdetektionsmittel zum Detektieren eines Objekts montiert. Eine Fahrtregelungsvorrichtung (10) umfasst ein Bewegungsbahnberechnungsmittel (25) zum Berechnen eines sich bewegenden Orts eines vorausfahrenden Fahrzeugs, das vor einem eigenen Fahrzeug fährt, auf der Basis des Detektionsergebnisses der Radarvorrichtung, ein Routenvoraussagemittel (21) zum Berechnen einer vorausgesagten Route des Fahrzeugs auf der Basis des sich bewegenden Orts des vorausfahrenden Fahrzeugs, der von dem Bewegungsbahnberechnungsmittel berechnet wird, ein Axiale-Abweichung-Detektionsmittel (32) zum Detektieren der axialen Abweichung der Radarvorrichtung und ein Ungültigerklärungsverarbeitungsmittel (33) zum Ungültigerklären der von dem Routenvoraussagemittel berechneten vorausgesagten Route, wenn es detektiert wird, dass das Axiale-Abweichung-Detektionsmittel ...

Einstelleinrichtung und Verfahren zum Justieren eines Sensors zur Objektdetektion an einem Fahrzeug

Die Erfindung betrifft eine Einstelleinrichtung (1) zur Justierung eines Sensors zur Objektdetektion an einem Fahrzeug, mit einer Tragvorrichtung (3), die Befestigungsmittel (5) zur Befestigung der Tragvorrichtung (3) an einem Sensor zur Objektdetektion aufweist, wobei die Tragvorrichtung (3) wenigstens ein Anbindungsmittel (7) aufweist, das eingerichtet ist zur Verbindung einer Spaltschablone (9) mit der Tragvorrichtung (3), und wobei die Einstelleinrichtung (1) eine Neigungs-Richteinrichtung (11) aufweist, die an der Tragvorrichtung (3) angeordnet ist.

Verfahren und Vorrichtung zum Justieren einer Einbauanordnung für Radar, sowie Radar justiert von diesem Verfahren oder dieser Vorrichtung

VERFAHREN ZUR EVALUIERUNG UND STEUERUNG EINER RADARANLAGE

Monitoring alignment of sensor in automatic breaking system

Embodiments of the invention provide a monitoring apparatus for monitoring one or more target objects in an environment external to a host vehicle by means of at least one sensor, the apparatus being arranged to trigger at least one action responsive to the speed of the host vehicle and detection of predetermined relative movement between the host vehicle and the one or more target objects thereby to reduce a risk of collision of the host vehicle with the one or more target objects, the apparatus being further arranged to determine whether the at least one sensor is correctly aligned with respect to the host vehicle, wherein when the monitoring apparatus commences monitoring of the environment the apparatus is arranged not to trigger the at least one action until the apparatus has determined that the at least one sensor is correctly aligned. The at least one action could be applying the brakes.

Adaptive doplar radar systems and methods

A device for aligning a directional antenna of a radar distance warning device of a vehicle

Antenna positioning system

A device positioning system 1, suitable for missile seeker and system development and test, which comprises: a device (preferably an antenna module) 2 suspended in a position by a plurality of tethers 3 within a frame 5, wherein the device 2 position may be changed by adjustments to the tethers 3. The tether 3 adjustments may include changing the length or tension of at least one tether or simultaneously pulling and releasing at least one tether. The antenna module 2 may be an antenna array assembly base with a rigid structure designed to operate with the acceleration loads imposed by the tether positioning system. Various material may be used in forming the system including woods, metals, plastics and composite materials. The antenna array assembly may be positioned in a central location to face a unit under test (UUT) with a plurality of antennae directed at the centre of the UUT. Each of the tethers may be attached to the periphery of the antenna module by an articulated joint with a ...

PROCEDURE FOR THE EVALUATION AND CONTROLLING OF A RADAR FACILITY

HALFDIPPING OFFSHORE STRUCTURE WITH LARGE DEPTH

Radar mounting estimation with unstructured data

RADAR MOUNTING ESTIMATION WITH UNSTRUCTURED DATA The present application describes a method including transmitting at least two radar signals by a radar unit of a vehicle, where a first signal is transmitted from a first location and a second signal is transmitted from a second location. The method also includes receiving a respective reflection signal associated with each of the transmitted signals. Additionally, the method includes determining, by a processor, at least one stationary object that caused a reflection. Further, the method includes based on the determined stationary object, determining, by the processor, an offset for the radar unit. The method yet further includes operating the radar unit based on the determined offset. Furthermore, the method includes controlling an autonomous vehicle based on the radar unit being operated with the determined offset.

Ground-based geo-referenced interferometric radar

A system and method for geo-referencing a main measuring instrument which operates in an Instrument Coordinate System. The method includes the steps of deploying the main measuring instrument on a deployment surface. An auxiliary measuring instrument is used to measure the position of a plurality of external reference points in a Master Coordinate System as well as a plurality of local reference points on the main measuring instrument in the Master Coordinate System. An inclinometer associated with the main measuring instrument, obtains an orientation reading for the deployed main measuring instrument. A processor then uses the orientation reading and the measured positions of the external reference points and the local reference points on the main measuring instrument, to geo-reference the main measuring instrument so that measurements made therewith are automatically output in the Master Coordinate System.

AZIMUTH CORRECTION FOR RADAR ANTENNA ROLL AND PITCH

... 2120235 9311446 PCTABS00022 A vehicle mounted radar system has an antenna (12) which rotates about a reference axis (19). During angular movement of the antenna with respect to the reference axis, a radar indicated target azimuth ( ') is modified to provide a corrected target azimuth ( ) which is substantially indicative of the actual or true target azimuth. A tracking system (25) uses a predicted radar indicated target position (Pn+1(X,Y)) for target tracking and correlation. The tracking system uses a smoothed target position (STP(X,Y)), indicative of actual target position, for providing a visual display (39) of target track.

METHOD AND DEVICE FOR CALIBRATING A VEHICLE SENSOR

A method for calibrating a vehicle sensor of a motor vehicle. The method includes: ascertaining sensor data for a plurality of measuring points in time during a total measuring time period, the total measuring time period being subdivided into partial measuring time periods, and the motor vehicle moving relative to objects in surroundings of the motor vehicle; for each partial measuring time period, computing positions of the objects based on the ascertained sensor data; for each partial measuring time period, computing a partial measuring time period sinogram based on the computed positions; computing a total measuring time period sinogram by adding the partial measuring time period sinograms and correcting using a factor that is a function of the partial measuring time period sinograms; ascertaining an orientation of the vehicle sensor based on the total measuring time period sinogram; and calibrating the vehicle sensor based on the ascertained orientation.

Method and device for ascertaining and compensating for a misalignment angle of a radar sensor of a vehicle

A method for ascertaining and compensating for a misalignment angle of a radar sensor of a vehicle, includes generating a first set of data which contains information about a measured alignment of the radar sensor with respect to an instantaneous movement of the vehicle; generating a second set of data which contains information about a measured alignment of the reference axes defined at the vehicle with respect to the instantaneous movement of the vehicle; ascertaining a misalignment angle by comparing the generated first set of data to the generated second set of data; compensating for the ascertained misalignment angle by changing an emission direction of the main lobe of the antenna characteristic as a function of the ascertained misalignment angle.

APPARATUS AND METHOD FOR CALIBRATING A ZERO POINT OF A RADAR FOR A VEHICLE

An apparatus and a method for calibrating a zero point of a radar for a vehicle are provided. A horizontal angle shift, a vertical angle shift, and a rotational angle shift of the radar for the vehicle are corrected based on angles (a horizontal angle, a vertical angle, and a rotation angle) formed with a first reference reflector and angles (a horizontal angle, a vertical angle, and a rotational angle) formed with a second reference reflector, thereby calibrating the zero point of the radar for the vehicle with higher accuracy.

RADAR AXIS DISPLACEMENT AMOUNT CALCULATION DEVICE AND RADAR AXIS DISPLACEMENT CALCULATION METHOD

A processor generates first position information on a relative position between a camera and a radar, acquires, from the radar, second position information on a relative position between the radar and a reflector, the second position information being generated by using an arrival direction of the radar transmission wave, and calculates a displacement amount by comparing the first position information and the second position information with each other.

Methods and systems for local to global frame transformation

A method includes measuring, with a sensor, a distance between a vehicle in a field of view of the sensor and the sensor, receiving a V2X communication from the vehicle indicative of the positional information of the vehicle, synchronizing the measurement from the sensor with the positional information received from the vehicle, and, using the synchronized data, determining an angular offset of the sensor, the angular offset being the angle between an azimuth of the sensor and the North direction.

RADAR-VORRICHTUNG MIT EINER ANORDNUNG ZUR EICHUNG DER STABILISIERUNG

Verfahren zum Justieren eines an einem Fahrzeug angeordneten Radarsensors

Bei einem Verfahren zum Justieren eines an einem Fahrzeug angeordneten Radarsensors mit drei fächerförmig ausgesandten Radarkeulen, von denen eine zentral und die beiden anderen seitlich unter demselben Winkel verlaufen, ist eine Reflektorplatte im Abstand vom Fahrzeug und mit definierter Lage angeordnet. Die Platte ist um eine vertikale Achse schwenkbar und die Lageabweichung der Reflektorplatte wird von einer Ideallage bestimmt, bei der die beiden seitlichen Radarkeulen ein zumindest annähernd gleiches Reflexionssignal liefern.

Kalibrierungsvorrichtung eines Kfz-Assistenzsystems

Eine Kalibrierungsvorrichtung, umfassend:einen Grundträger;eine auf dem Grundträger montierte Stütze, wobei die Stützeeine Hubführungsschiene mit zwei vertikalen Stangen, wobei die beiden vertikalen Stangen in vertikaler Richtung parallel und im Abstand voneinander angeordnet sind; undeine in vertikaler Richtung angeordnete Hubschrauberstange umfasst;einen Motor, der so konfiguriert ist, dass er die Hubschrauberstange zur Drehung antreibt;eine Trägeranordnung, die an der Hubführungsschiene montiert und so konfiguriert ist, dass sie sich relativ zur Hubführungsschiene bewegt, wobei die Trägeranordnung Folgendes umfasst:ein Tragglied, wobei das Tragglied umfasst:einen Stützkörper;einen beweglichen Block, der fest an dem Stützkörper angebracht ist, wobei der bewegliche Block über Gewinde mit der Hubschrauberstange verbunden ist, wobei die Hubschrauberstange so konfiguriert ist, dass sie den beweglichen Block so antreibt, dass er sich in vertikaler Richtung bewegt, wenn sich die Hubschrauberstange ...

Vorrichtung zur Kalibrierung von Assistenzsystemen von Fahrzeugen

Vorrichtung zur Kalibrierung von Assistenzsystemen in Fahrzeugen, umfassend – eine fahrbare Kalibrierungswand (11) und – zwei Radaufnehmer (20), die jeweils an den beiden Vorderrädern des Fahrzeuges (34) befestigbar sind, wobei die Kalibrierungswand (11) ein Fahrgestell (12) umfasst, auf dem ein Haltegestell (15) aufgerichtet ist, an dem eine Kalibriertafel (1) mit aufgedrucktem oder sonstig aufgebrachtem, austauschbarem Kalibrierungs-Soll-Bild höhenverstellbar befestigt ist und zusätzlich zwischen dem Fahrgestell (12) und der Kalibriertafel (1) ein Justagebalken (4), dessen Längserstreckung größer, gleich einer üblichen Fahrzeugbreite ist, parallel zur Erstreckungsebene der Kalibriertafel (1) höhenverstellbar an dem Haltegestell (15) befestigt ist, wobei der Justagebalken (4) jeweils im Endbereich seiner Längserstreckung mit Justagebalken-Spiegeln (3) versehen ist, wobei diese Justagebalken-Spiegel (3) auf der gleichen Seite des Justagebalkens (4) angeordnet sind wie das Kalibrierungs-Soll-Bild ...

VORWÄRTSSICHTSENSOR FÜR KRAFTFAHRZEUGE

Method of setting the axis of a radar inside a vehicle which can detect at least one azimuth angle between the vehicle and a preceding vehicle

The method involves determining at least two points on the vehicle, forming at least two isosceles triangles with a common base defined by a line through the two points and with sides of different lengths, and defining a line connecting the apices (22,23) and its extension as the vehicle axis (5). A radar antenna is mounted on the vehicle at a point separate from the vehicle axis and a parallel line through this point defined as the offset axis. A reflector is placed at a point at an azimuth angle to the antenna position and used as the radar detection target to set the radar antenna angle so that the detected azimuth angle equals a desired value.

Co-boresighting a tracking sensor and a radar antenna

A method of co-boresighting a radar antenna 21 and a tracking sensor 22 carried by a marine vessel which has a reference 26 mounted on it comprises aligning the boresight of the sensor with the reference, generating a reference radar signal at the reference, encompassing all frequencies at which the radar operates, for aligning the antenna with the reference, then tracking a moving target 25 with both the antenna and sensor and recording the far-field deviation (Figure 4) between their boresights, and finally realigning the boresights to the reference whilst also applying an offset to the boresight of the antenna to account for the far-field deviation. Since the sensor has long range focus a telescope 27 is used to align it with the reference. Preferably the reference is a mast with a target 28 for aligning the sensor and a narrow beam radar generator 24 for aligning the antenna, and is additionally equipped with a mirror 32 to reflect a light source 33 mounted by the antenna to align the ...

Improvements in or relating to remote position control apparatus

... 890,819. Radar. DECCA RECORD CO. Ltd. Dec. 20, 1960 [Dec. 28, 1959], No. 44031/59. Class 40(7). [Also in Group XL(b)] In a remote position control apparatus, a rotatable follower element, e.g. the deflection coils or the resolver of a P.P.I. radar apparatus, is driven by a motor synchronously with a continuously rotating member, e.g. a radar aerial, and switches are associated with the member and the follower which each produce a pulse during each revolution, the pulses feeding a bi-stable circuit which controls the engagement of a clutch in the drive from the motor to the follower, thereby to make the angular position of the follower correspond exactly to the position of the rotating member. As applied to a radar apparatus having rotating deflection coils, the coil holder 21 is required to be kept in synchronism with the aerial 12 driven by a motor 16. A generator 19 driven from the aerial shafting feeds a synchronous motor 20 which, via a clutch, drives the coil holder 21. A switch 22 ...

A DEVICE FOR ALIGNING A DIRECTIONAL ANTENNA OF A RADAR DISTANCE WARNING DEVICE OF A VEHICLE

METHOD AND APPARATUS FOR REDUCING THE AMOUNT OF SHIPBOARD-COLLECTED CALIBRATION DATA

Method for an antenna angular calibration by relative distance measuring

Method for operating at least one sensor of a vehicle and vehicle having at least one sensor

A method is provided for operating a sensor of a vehicle. The sensor is configured to detect objects within a detection range and the method includes, but is not limited to detecting an object with the sensor. In addition, a position of the object is determined with data from the sensor. Furthermore, position data emitted by the object is received with a receiving apparatus of the vehicle and the position of the object is determined with the position data. Moreover, the position determined with the sensor is compared with the position of the object and comparative data is determined and an automatic adjustment of the sensor and/or output of a message inside the vehicle is made depending on the comparative data.

Bench-top measurement method, apparatus and system for phased array radar apparatus calibration

A method for determining beamformer scattering parameters for a plurality of phased array radar antenna subarrays that each include a radiating (e.g., dipole) component and a beamformer component provides for obtaining for the plurality of phased array radar antenna subarrays a plurality of electromagnetic measurements at a plurality of ports. Analogous electromagnetic measurements are obtained for a reference subarray including a radiating component but absent a beamformer component. The plurality of phased array radar antenna subarray electromagnetic measurements and the reference subarray electromagnetic measurements provide a plurality of beamformer scattering parameter values for the plurality of phased array radar antenna subarrays that may be used in modeling and calibrating a phased array radar apparatus that may be assembled from the plurality of phased array radar antenna subarrays.

FMCW Radar Sensor System Having a Device for Detecting a Radome Coating

An FMCW radar sensor system is described having an antenna covered by a radome, a mixer for mixing a frequency-modulated transmission signal with a signal received by the antenna, a device for recording the mixed product of the mixer as a time-dependent signal, a device for calculating the spectrum of the time-dependent signal, and a device for detecting a reflecting coating on the radome, characterized in that the device for detecting the reflecting coating is configured for analyzing the time-dependent signal and for determining the extent of reflection on the radome based on the amplitude of this signal.

Imaging system

An imaging system ( 1 ) comprises a transmitter ( 3, 6 ), a receiver ( 3, 4, 6 ), an antenna array ( 2 ); and a controller ( 4, 5, 10, 11 ) for directing the transmitter, the receiver, and the antenna array to scan a volume containing an object. The controller has multiple distributed processors ( 15 ) to calculate antenna control pattern data during rim-time. The processor ( 4, 5 ) assesses misalignment of antennae using a receiver placed in the imaging volume, and monitors level of energy received by the receiver and compares it with a reference energy level. Also, the controller performs on-the-fly modification of antenna control pattern data according to real time conditions such as mechanical misalignment of the transmitter, the receiver, or of one or more antennas. The controller may generate three-dimensional offset vectors to provide a profile of the offset across the scan volume, and the position of an antenna may be moved to compensate for the mechanical misalignment.

Antenna alignment fixture

An alignment apparatus configured to be mounted to a radar array antenna having a generally planar face for aligning the antenna includes a rigid frame defining a plane generally parallel to the face of the antenna when the rigid frame is mounted to the antenna. A flexible member is associated with the rigid frame and is configured to flex relative to the rigid frame. The apparatus further includes an optical source for emitting a light beam and a target. One of the optical source and the target is associated with the flexible member and the other of the optical source and the target is associated with the rigid frame. A distance between the path of the light beam and the target is indicative of the degree of misalignment between the flexible member and the rigid frame.

Method for determining object sensor misalignment

A vehicle system and method that can determine object sensor misalignment while a host vehicle is being driven, and can do so without requiring multiple sensors with overlapping fields-of-view. In an exemplary embodiment where the host vehicle is traveling in generally a straight line, the present method uses an object sensor to track the path of a stationary object as it moves through the sensor's field-of-view and compares the sensed object path to an expected object path. If the sensed and expected paths of the stationary object deviate by more than some amount, then the method determines that the object sensor is skewed or otherwise misaligned.

Vehicle radar with beam adjustment

Methods and systems are provided for controlling a radar system of a vehicle. Sensor information pertaining to an environment for the vehicle is received from a first sensor as the vehicle is operated. A beam of the radar system is adjusted by a processor based on the sensor information.

Adaptive doppler radar systems and methods

Techniques are disclosed for systems and methods to provide remote sensing imagery for mobile structures. A remote sensing imagery system includes a remote sensing assembly with a housing mounted to a mobile structure and a coupled logic device. The logic device is configured to receive radar returns corresponding to a detected target from the radar assembly, determine a target radial speed corresponding to the detected target, determine an adaptive target speed threshold, and then generate remote sensor image data based on the remote sensor returns, the target radial speed, and the adaptive target speed threshold. Subsequent user input and/or the sensor data may be used to adjust a steering actuator, a propulsion system thrust, and/or other operational systems of the mobile structure.

Air traffic control antenna and system

Systems and methods relating to air traffic control and navigational aids for aircraft. An antenna system uses a multi-sector sensor that uses two vertical column antenna arrays per sector. Each pair of vertical column antenna arrays produces two beams that are off a boresight for each pair of antenna arrays. Wide angle monopulse processing is used to determine an azimuth or angle of arrival for an aircraft using at least one pair of the vertical column antenna arrays. Predetermined correction factors are applied to the azimuth for specific elevation values and, for elevation values without predetermined correction factors, interpolation between known predetermined correction values to arrive at the corrector factor to be applied.

SECONDARY RADAR IMPROVING AERIAL SAFETY VIA VERY-LONG-RANGE ADS-B DETECTION

The secondary radar includes an antenna having a radiation pattern forming a sum channel, designated SUM, a radiation pattern forming a difference channel, designated DIFF, and a pattern forming a control channel, designated CONT, the targets are located by implementing the following steps: detecting ADS-B squitters received via the CONT channel, via the SUM channel and via the DIFF channel; measuring at least the power of the squitters and their azimuth with respect to the radar; the location of a target transmitting ADS-B squitters being computed by exploiting at least the detection of one ADS-B squitter, in light of the latitudinal and longitudinal position of the radar and of the azimuthal measurement with respect to the radar, the position cell, designated the CPR cell, coded in the squitter being selected via the azimuthal measurement. 2. The method according to claim 1 , wherein claim 1 , in the case where two CPR positions coded in said squitter are possibly positioned in the same azimuthal sector claim 1 , said two positions are discriminated between using the measured power and the altitude that is coded in said ADS-B squitter claim 1 , the retained position being the position of highest likelihood according to an estimator based on the visibility of said target and to the consistency of the power received by the radar with the distance from the target to the radar.4. The method according to claim 1 , comprising a step wherein claim 1 , said targets being detected and located via their ADS-B squitters before the interrogation coverage of said radar claim 1 , said targets are associated with ADS-B tracks as soon as they enter into said interrogation coverage claim 1 , allowing them to be acquired by said secondary radar claim 1 , then said tracks are momentarily unlocked on their entry into said operational radar coverage in order to allow a potentially locked state thereof claim 1 , i.e. whether they are locked to another radar claim 1 , i.e. the absence ...

Methods and Systems for Clearing Sensor Occlusions

A method is provided that involves identifying a target region of an environment of an autonomous vehicle to be monitored for presence of moving objects. The method also involves operating a first sensor to obtain a scan of a portion of the environment that includes at least a portion of the target region and an intermediate region between the autonomous vehicle and the target region. The method also involves determining whether a second sensor has a sufficiently clear view of the target region based on at least the scan obtained by the first sensor. The method also involves operating the second sensor to monitor the target region for presence of moving objects based on at least a determination that the second sensor has a sufficiently clear view of the target region. Also provided is an autonomous vehicle configured to perform the method.

Method as well as system for determining the three-dimensional alignment of components of a radar system

A method for determining the three-dimensional alignment of components of a radar system is described. The radar system is provided that comprises at least one portion which is permeable by radar signals. The radar system is imaged by using millimeter waves emitted by an imaging system. In the image obtained, it is determined the highest magnitude reflection coinciding with at least one of an expected location and an expected distance of the surface of a first component of the radar system being of interest. At least one of the position and the distance of that surface is determined. From the measurement, the relative phase information received from each portion of that surface at the determined position and/or the determined distance is obtained. Processing the phase information obtained so as to obtain the azimuth and tilt of the surface. Further, a testing system is described.

Enhancement of vehicle radar system robustness based on elevation information

Systems and methods implemented in a vehicle involve obtaining elevation information and determining a change in elevation of the vehicle. A method includes determining that the change in elevation indicates an increase or a decrease in the elevation of the vehicle. The method also includes adjusting, for a radar system of the vehicle, a range of detection or a detection threshold that defines a minimum reflected energy required to declare a detection based on the determining that the change in elevation indicates the increase or the decrease in the elevation of the vehicle.

Estimating In-Plane Velocity from an Arbitrary Radar Return

Techniques for accurately determining a velocity of a radar (or ultrasonic, sonar) device and/or a moveable platform associated with the radar device may comprise fitting a model to a set of Doppler values received from the device, and determining the velocity based at least in part on the model. Fitting the model to the set may comprise determining a residual between an estimated Doppler value generated by the model and a measured Doppler value and altering a parameter of the model based at least in part on an asymmetrical loss function and the residual. The asymmetrical loss function may comprise a first portion that comprises a square of the residual and a second portion that is linearly proportional to the residual. The second portion may be based at least in part on an estimated velocity and/or estimated Doppler value and may account for out-of-plane returns.

Method and Apparatus For Self Calibration of A Vehicle Radar System

A radar sensor for use within a vehicle includes self calibration functionality for performing angle calibrations for the sensor when the sensor is mounted within the vehicle. In at least one embodiment, the radar sensor collects information on stationary infrastructure around the vehicle for use in calibration operations. The infrastructure information may be used to generate a Doppler Monopulse Image (DMI) or other graph for the sensor. A clutter ridge within the DMI or other graph may then be analyzed to determine calibration data for the sensor.

RECEIVER, RADAR APPARATUS INCLUDING RECEIVER, VEHICLE INCLUDING RECEIVER, AND COMMUNICATION SYSTEM INCLUDING RECEIVER

A receiver accurately performs, using an annihilation filter, angle estimation in two-dimensional directions of an incoming wave. The receiver operates with at least two linear array antenna. The receiver may be implemented in a radar apparatus includes the receiver, as well as a vehicle and a communication system, which also include the receiver. 1. A receiver comprising:{'claim-text': ['input a plurality of first reception signal groups each including first reception signals received at a plurality of first reception antennas that are part of a first linear array antenna, a number of the first reception signals being larger than a number of incoming waves by one, and', 'apply a first annihilation filter (AF) to the first reception signal groups to estimate azimuth angle phase differences of the incoming waves for respective of the first reception antennas, the estimate of azimuth angle phase differences for the first reception antennas being based on phases that occur at zeros of a transfer function of the first AF;'], '#text': 'azimuth angle phase difference first estimation circuitry configured to'}{'claim-text': ['input a plurality of second reception signal groups each including second reception signals received at a plurality of second reception antennas that are part of a second linear array antenna arranged at a height that is different than the first linear array antenna, a number of the second reception signals being larger than the number of the incoming waves by one, and', 'apply a second AF to the second reception signal groups to estimate azimuth angle phase differences of the incoming waves for respective of the second reception antennas, the estimate of the azimuth angle phase differences of the incoming waves for the second reception antennas being based on phases that occur at zeros of a transfer function of the second AF;'], '#text': 'azimuth angle phase difference second estimation circuitry configured to'}incoming wave signal first estimation ...

Method, apparatus, device, and medium for determining angle of yaw

Embodiments of the present disclosure provide a method, an apparatus, a device, and a medium for determining an angle of yaw, relating to a field of automatic driving. The method includes: obtaining, during a vehicle being driving straightly on a straight road, data of each obstacle in an environment located by the vehicle, the data of each obstacle being detected by a millimeter wave radar sensor located in the vehicle, at least one metal obstacle being provided on the straight road; recognizing the metal obstacle based on the data of each obstacle, and obtaining a metal obstacle line by fitting positions of the metal obstacle at different time points; and determining an angle between the metal obstacle line and a direction of a vehicle body as an angle of yaw between the millimeter wave radar sensor and the vehicle body.

Radar device, radar system, and method for adjusting radar antenna

The present invention enables an antenna angle to be adjusted without an operator entering a detection target area of a radar device. This radar system is provided with a radar device installed with an antenna directed toward a specific detection target area, a reference reflective body installed in a prescribed position outside the detection target area, and a radar controller which controls an antenna angle of the radar device. The radar controller controls the antenna angle of the radar device on the basis of a positional relationship between the antenna of the radar device, the reference reflective body, and the detection target area, and on the basis of a receiving result of a reflected wave from the reference reflective body obtained by the antenna.

Signal processing device, signal processing method, program, and information processing device

The present technology relates to a signal processing device, a signal processing method, a program, and an information processing device capable of reducing processing of folding correction of velocity measured by a radar. The signal processing device includes a measurement unit that measures, on the basis of an output signal from a radar, a distance and relative velocity of a reflector that reflects a transmission signal from the radar, and a correction unit that performs folding correction of measured velocity of the reflector on the basis of correlation between a measured distance and measured velocity of the reflector at a certain measurement time, and a measured distance and measured velocity of the reflector at a time before the measurement time. The present technology can be applied to, for example, a system that senses an object around a vehicle.

Method and Apparatus for Recognizing an Absorptive Radome Coating

A method and an apparatus for recognizing an absorptive radome coating on an apparatus for emitting electromagnetic radiation and receiving partial radiation reflected at objects is disclosed. The radome covers at least one antenna of the apparatus. A mixer mixes a frequency-modulated transmission signal with the signal received by the at least one antenna, the mixed product of the mixer is subjected to analog-to-digital conversion, the digitized signal is transformed into a two-dimensional spectrum, and the two-dimensional spectrum is mapped with a transfer function. The two-dimensional spectrum that was mapped with the transfer function is correlated with correlation matrices in order to carry out pattern recognition.

Radar apparatus and signal processing method of radar apparatus

A radar apparatus includes a targeting unit that irradiates a radar wave and recognizes a detection subject using a reflected wave thereof. The targeting unit extracts, as a target, a peak that is confirmed to have historical connection over measurement cycles equal to or more than a predetermined targeting threshold, from peaks extracted from a power spectrum generated by frequency analysis. A rainy-weather determining unit determines that weather is rainy when a number of erroneous detections is greater than a predetermined rainy-weather determination threshold. The number of erroneous detections is a number of peaks that have been detected in a previous measurement cycle or earlier by the targeting unit and are not confirmed to have historical connection to a peak detected in a current measurement cycle. A parameter updating unit updates the targeting threshold so as to be a larger value as the number of erroneous detections increases when the rainy-weather determining unit determines that the weather is rainy.

System and method for providing target threat assessment in a collision avoidance system on a vehicle

A system and method for providing target selection and threat assessment for vehicle collision avoidance purposes that employ probability analysis of radar scan returns. The system determines a travel path of a host vehicle and provides a radar signal transmitted from a sensor on the host vehicle. The system receives multiple scan return points from detected objects, processes the scan return points to generate a distribution signal defining a contour of each detected object, and processes the scan return points to provide a position, a translation velocity and an angular velocity of each detected object. The system selects the objects that may enter the travel path of the host vehicle, and makes a threat assessment of those objects by comparing a number of scan return points that indicate that the object may enter the travel path to the number of the scan points that are received for that object.

Radar apparatus and radar method

A radar apparatus includes a plurality of transmission antennae and a radar transmitter that transmits transmission signals by using the plurality of transmission antennae. In a virtual reception array including a plurality of virtual antennae formed of a plurality of reception antennae and the plurality of transmission antennae, disposition positions of at least two of the virtual antennae are the same as each other, and, transmission intervals of the transmission signals that are sequentially transmitted from transmission antennae corresponding to the at least two virtual antennae among the plurality of transmission antennae are an equal interval.

Mounting angle learning device

A learning selection unit selects execution of learning by a rapid learning unit at a learning moment if the number of times of learning is less than a number threshold value, and selects execution of learning by an accurate learning unit at the learning moment if the number of times of learning is greater than the number threshold value. The number of times of learning indicates how many times a learned value has been updated by the time learning at the learning moment is started.

Apparatus and method for detecting mounting angle of radar

The present disclosure relates to an apparatus and a method for detecting a radar mounting angle. The present disclosure provides an apparatus for detecting the radar mounting angle that includes a controller configured to determine a vehicle driving state of the vehicle, select a moving target when the vehicle driving state of the vehicle is determined to be straight driving, store a position of the moving target and generate a moving target driving lane of the moving target based on position information on the moving target, and detect a radar mounting angle of the vehicle using the generated moving target driving lane of the moving target.

Three-dimensional alignment of radar and camera sensors

A system and method to perform a three-dimensional alignment of a radar and a camera with an area of overlapping fields of view position a corner reflector within the area. The method includes obtaining sensor data for the corner reflector with the radar and the camera, and iteratively repositioning the corner reflector within the area and repeating the obtaining the sensor data. A rotation matrix and a translation vector are determined that align the radar and the camera such that a three-dimensional detection by the radar projects to a location on a two-dimensional image obtained by the camera according to the rotation matrix and the translation vector.

Vehicle Sensor Field Calibration Utilizing Other Vehicles

A system and method for determining if a field calibration of a subject sensor associated with a vehicle is warranted, and calibrating the subject sensor using a sensor associated with another vehicle when calibration is warranted. Reference vehicles may perform predetermined maneuvers in order to provide additional measurements for use during calibration.

Motion Detection by a Central Controller Using Beamforming Dynamic Information

In a general aspect, motion is detected using wireless signals. In one example, a wireless signal transmitted through a space from a first wireless communication device is received at a second wireless communication device. Dynamic beamforming information is based on the wireless signal. The second wireless communication device uses the dynamic beamforming information to detect motion in the space, or transmits the dynamic beamforming information to the first wireless communication device for use in detecting motion in the space.

Processing point clouds of vehicle sensors having variable scan line distributions using voxel grids

A method for processing point clouds having variable spatial distributions of scan lines includes receiving a point cloud portion corresponding to an object in a vehicle environment, the point cloud portion including scan lines arranged according to a particular spatial distribution. The method also includes constructing a voxel grid corresponding to the received point cloud portion. The voxel grid includes a plurality of volumes in a stacked, three-dimensional arrangement, and constructing the voxel grid includes (i) determining an initial classification of the object, (ii) setting one or more parameters of the voxel grid based on the initial classification, and (iii) associating each volume of the plurality of volumes with an attribute specifying how many points, from the point cloud portion, fall within that volume. The method also includes generating, using the constructed voxel grid, signals descriptive of a current state of the environment through which the vehicle is moving.

Controlling vehicle sensors based on road configuration

A method for controlling a first sensor configured to sense an environment through which a vehicle is moving includes receiving sensor data generated by one or more sensors of the vehicle as the vehicle moves through the environment, identifying, by one or more processors and based on at least a portion of the received sensor data, one or more road portions along which the vehicle is expected to travel, and determining, by one or more processors, a configuration of the identified road portions, at least in part by determining a slope of at least one of the identified road portions. The method also includes determining, by one or more processors analyzing at least the determined configuration, an elevation of a field of regard of the first sensor that satisfies one or more visibility criteria, and causing the first sensor to be adjusted in accordance with the determined elevation.

SYNTHETIC APERTURE RADAR METHOD AND SYNTHETIC APERTURE RADAR DEVICE

A synthetic aperture radar method for remote sensing of the surface of the Earth by means of a radar device on a flying object moving in an azimuth direction above the surface of the Earth, wherein the radar device includes an array of antenna elements for transmitting radar pulses in a transmitting operation and for receiving radar echoes of these radar pulses reflected at the surface of the Earth in a receiving operation. A calibration mode is carried out in which 1. A method for remote sensing of the surface of the Earth by means of a synthetic aperture radar (SAR) device comprising:providing a flying object configured to move in an azimuth direction above the surface of the Earth, wherein the radar device includes an array of antenna elements;transmitting radar pulses; and calibrating the transmitted radar pulses and radar echoes such that the transmission of the radar pulses is carried out with a predetermined pulse repetition rate so that only echo signals of a single radar echo are received by all antenna elements of the array at the same point in time;', 'recording the radar echoes in a plurality of receiving channels, wherein a different antenna element is assigned to a respective receiving channel, and in the respective receiving channel the echo signals received by the assigned antenna element are digitized and directly stored independently of the other receiving channels, thereby obtaining digitized radar data for each receiving channel; and', 'processing the digitized radar data of the respective receiving channels to determine a set of calibrated parameters of the radar device or the SAR normal operating mode., 'receiving radar echoes of said radar pulses (RP) reflected at the surface of the Earth, wherein the radar device is configured such that, in an SAR normal operating mode for obtaining SAR images, simultaneously a plurality of radar echoes from different radar pulses are received and are separated from one another by means of digital beamforming ...

Method for angle determination for moving assemblies, and apparatus

In an installation including first and second components, a radar sensor that has at least two channels, each arranged to be spatially at a distance from the other, is motion-coupled to the first component, and at least two coding radar targets, each arranged to be spatially at a distance from an adjacent target, are motion-coupled to the second component. A signal is sent to each of the radar targets using one of the at least two channels of the radar sensor. At least one coded signal is respectively sent by the radar targets upon or after receiving such a signal, one of the at least two coded signals being received by one or more channels of the radar sensor from each target. The temporal relationship between at least two of the received coded signals is acquired and used to determine an angle between the first and second components.

Method for determining misalignment of an object sensor

A vehicle system and method that can determine object sensor misalignment while a host vehicle is being driven, and can do so within a single sensor cycle through the use of stationary and moving target objects and does not require multiple sensors with overlapping fields of view. In an exemplary embodiment where the host vehicle is traveling in a generally straight line, one or more object misalignment angle(s) α o between an object axis and a sensor axis are calculated and used to determine the actual sensor misalignment angle α.

METHOD AND APPARATUS FOR DETECTING RADAR WAVE OFFSET

A method includes receiving first measurement data acquired by a radar based on radar signals reflected by a member of a movable device. The method also includes calculating an angle based on the first measurement data. The method also includes comparing the angle with a predetermined reference angle to obtain a difference. The method also includes adjusting an obstacle detection angle of the radar based on the difference. The method further includes causing the radar to scan an environment in the adjusted obstacle detection angle. 1. A movable platform , comprising:a body; and obtain the measurement data using one or more members of a movable platform as the detection target;', 'determine detection information relating to the one or more members of the movable platform based on the measurement data; and', 'determine whether the distance measuring sensor needs to be calibrated based on the detection information., 'a distance measuring sensor mounted on the body, the distance measuring sensor comprising a signal transceiver and a controller electrically coupled with the signal transceiver, the signal transceiver configured to obtain measurement data relating to a detection target, the controller configured to2. The movable platform of claim 1 , wherein the detection information comprises at least one of geometric dimension information claim 1 , location information claim 1 , an azimuth angle of the one or more members relative to the distance measuring sensor claim 1 , a tilt angle of the one or more members relative to the distance measuring sensor claim 1 , coordinates of the one or more members relative to the distance measuring sensor claim 1 , a length of the one or more members claim 1 , a height of the one or more members claim 1 , a width of the one or more members claim 1 , or a shape of the one or more members.3. The movable platform of claim 1 , wherein the distance measuring sensor comprises at least one of a microwave radar claim 1 , a laser radar claim ...

Detection system and method

A detection system includes a first-sensor, a second-sensor, and a controller. The first-sensor is mounted on a host-vehicle. The first-sensor detects objects in a first-field-of-view. The second-sensor is positioned at a second-location different than the first-location. The second-sensor detects objects in a second-field-of-view that at least partially overlaps the first-field of view. The controller is in communication with the first-sensor and the second-sensor. The controller selects the second-sensor to detect an object-of-interest in accordance with a determination that an obstruction blocks a first-line-of-sight between the first-sensor and the object-of-interest.

Precipitation determining device

A radar device includes a transmission part that transmits a radar wave which has been frequency-modulated such that one measurement cycle has a rising section in which a frequency increases and a falling section in which a frequency decreases, a reception part that derives respective beat signals of the rising section and the falling section, and a signal processor that performs a precipitation determining process on the basis of an analysis of the beat signals. In the precipitation determining process, in the absence of objects other than precipitation objects from a transmission range of the radar wave, it is determined whether a spectral similarity of the frequency spectra of the rising and falling section with precipitation reference spectra is not less than a threshold, and if the spectral similarity is not less than the threshold as a result of the determination, it is determined that precipitation is present.

Systems and methods for enhanced reception

Various communication systems may benefit from enhanced reception methods. For example, various transponders and surveillance systems may benefit from reception methods that can distinguish between overlapping pulses from multiple sources. A method can include receiving, at an antenna, a first series of pulses from a first source. The method can also include receiving, at the antenna, a second series of pulses from a second source. The first series and the second series can at least partially overlap each other. The method can further include de-interleaving the first series from the second series using at least one non-time-domain technique.

Sensor data anomaly detection system and method for a vehicle

A sensor data anomaly detection system for a vehicle includes one or more processors and a memory in communication with the one or more processors that stores an anomaly detection module and an anomaly correction module. The anomaly detection module causes the one or more processors to analyze one or more signals from at least one sensor of the vehicle for at least one potential anomaly and compare correlating information from one or more external sources to the at least one potential anomaly to confirm when the potential anomaly is an actual anomaly The anomaly correction module causes the one or more processors to correct the actual anomaly in the one or more signals to generate a corrected signal when the actual anomaly is present.

Radar Mounting Estimation with Unstructured Data

The present application describes a method including transmitting at least two radar signals by a radar unit of a vehicle, where a first signal is transmitted from a first location and a second signal is transmitted from a second location. The method also includes receiving a respective reflection signal associated with each of the transmitted signals. Additionally, the method includes determining, by a processor, at least one stationary object that caused a reflection. Further, the method includes based on the determined stationary object, determining, by the processor, an offset for the radar unit. The method yet further includes operating the radar unit based on the determined offset. Furthermore, the method includes controlling an autonomous vehicle based on the radar unit being operated with the determined offset.

Method for operating a mimo radar

In a method for operating a MIMO radar, an influence of an object motion on an angle estimate is substantially eliminated, and a time multiplex schema having a transmission sequence and transmission instants of transmitters of the MIMO radar is identified by optimizing the following mathematical relationship: d _ pulses , opt = arg   max d _ pulses  [ Var S  ( d _ pulses ) - ( Cov S  ( d _ pulses , t ) ) 2 / Var S  ( t _ ) ] in which: d pulses,opt is optimized positions of the transmitters in the sequence in which they transmit; d pulses is positions of the transmitters in the sequence in which they transmit; t is transmission instants; Var S is sample variance; and Cov S is sample covariance.

System and method for determining of and compensating for misalignment of a sensor

Methods and systems for determining a misalignment angle for a sensor in a vehicle are provided. The method, for example, may include, but is not limited to determining, by a processor, when an object detected in sensor data acquired by the sensor is a stationary object, and calculating, by the processor, the misalignment angle of the sensor based upon sensor data associated with the stationary object.

SURROUNDINGS SENSOR WITH A MOVABLE SENSOR UNIT FOR MOTOR VEHICLES

The invention relates to a sensor system () for a motor vehicle, comprising a sensor housing and an active or passive sensor () arranged therein and held on a movable sensor holder (), having a sensor technology based on radiation detection and a measurement apparatus assigned to the sensor () and a control apparatus, coupled to said measurement apparatus, for the sensor holder (), wherein the sensor housing has a cover () that is signal-transmissive for the sensor () on its side located in the detection direction of the sensor (), and wherein the detection range () of the sensor () in the region of the signal-transmissive cover () has a lower extent than the signal-transmissive cover (), wherein the sensor system () is characterized in that the measurement apparatus is designed such that it is suitable for checking, in the detection range of the sensor (), whether and in which section the signal-transmissive cover () has a region with reduced signal transmissivity (), wherein the measurement apparatus interacts with the control apparatus in such a way that the control apparatus is able to change the position of the sensor () in such a way that the region with reduced signal transmissivity () lies outside the detection range () of the sensor (). The invention furthermore relates to a method for operating such a sensor system () and to a motor vehicle that is equipped with such a sensor system (). 1. A sensor system for a vehicle , comprising a sensor housing and an active or passive sensor arranged therein and held on a movable sensor holder with sensor technology based on radiation wave detection as well as a measuring device associated with the sensor and a control device , coupled to said measuring device , for the sensor holder , wherein the sensor housing has a signal-transmissive cover for the sensor on its side located in the detection direction of the sensor and wherein the detection area of the sensor in the area of the signal-transmissive cover has a ...

Determination of an indicator for a blindness of a radar sensor

A method for determining an indicator for a blindness of a radar sensor, includes: controlling the radar sensor to transmit a transmission signal in the form of at least two successive frequency ramps having the same ramp slope and in the same frequency range, and to receive detection signals associated with the frequency ramps; examining, for multiple frequencies, whether a ratio between the received powers in the frequency spectra of the received signals, at a respective frequency, corresponds to a ratio between the transmission powers of the associated frequency ramps; and determining an indicator for a blindness of the radar sensor based on the result of the examinations.

Object detection device and object detection method

Provided is an object detection device ( 13 ) using a detection means ( 11 ) to transmit probe waves, receive reflected waves from an object ( 50 ) in a detection range, and acquire, as first detection information on the object, a position based on the reflected waves, to detect the object. The device includes an image information acquisition means, determination region setting means, and an object locating means. The image information acquisition means acquires, as second detection information on the object, a position based on an image of an area within the detection range, the image being captured by an image capturing means ( 12 ). The determination region setting means sets a determination region in the detection range. The object locating means locates the object, based on the first detection information, if pieces of the first and second detection information are present in the determination region.

Sensor device

A sensor device ( 4 ) is designed to detect road users along a stretch of a roadway and comprises a transmission and/or reception unit for emitting and/or receiving a transmission radiation. Said sensor device ( 4 ) is characterized in that the same includes at least one ascertainment unit for ascertaining an actual position and/or an actual orientation of the sensor device ( 4 ).

Apparatus for detecting axial misalignment of beam sensor

An apparatus for detecting axial misalignment of a beam sensor calculates, based on a result of first target recognition tasks by a beam recognition unit and a result of second target recognition tasks by an image recognition unit, a percentage of the number of times at least one preceding vehicle, which is running in front of an own vehicle, is recognized by the pair of the first and second target recognition tasks to the number of times the at least one preceding vehicle is recognized by at least the image recognition task. The apparatus detects misalignment of the beam axis of the beam sensor in the vertical plane including the beam axis of the beam sensor in accordance with the calculated percentage.

Method for detecting a screening of a sensor device of a motor vehicle by an object, computing device, driver-assistance system and motor vehicle

The invention relates to a method for detecting a screening of a sensor device ( 4 ) of a motor vehicle ( 1 ) by an object ( 8 ), in which at least one echo signal, captured by the sensor device ( 4 ), that characterizes a spacing between the sensor device ( 4 ) and the object ( 8 ) is received (S 1 ) by means of a computing device ( 3 ), a capture region (E) for the sensor device ( 4 ) is determined, and on the basis of the at least one received echo signal it is checked whether the capture region (E) of the sensor device ( 4 ) is being screened by the object ( 8 ), at least in some regions, wherein the at least one echo signal is assigned by means of the computing device ( 3 ) to a discrete spacing value (B 1, B 2, B 3 ) from a plurality of discrete spacing values (B 1, B 2, B 3 ), for each of the discrete spacing values (B 1, B 2, B 3 ) a power value (P) is determined (S 2 ) on the basis of the echo signal, and on the basis of the power values (P) a decision is made by means of a classifier as to whether at least a predetermined proportion of the capture region (E) of the sensor device ( 4 ) is being screened (S 6 ) by the object ( 8 ).

Radar apparatus mounted on moving body and azimuth angle correction method for use in radar apparatus mounted on moving body

A radar apparatus mounted on a moving body includes a signal transceiver that receives one or more radar signals reflected by one or more second reflection points of one or more targets located in a scan range with a plurality of antennas, detection circuitry that detects an azimuth angle of the one or more second reflection points of the one or more targets on the basis of a correspondence between a phase difference among the plurality of antennas and an azimuth angle and a phase difference observed in the scan range among the plurality of antennas, calculation circuitry that selects the one or more second reflection points located in a second range that differs from a first range including a central axis on which the phase difference among the antennas is zero and calculates a second azimuth angle error, and correction circuitry that corrects the correspondence.

Driving assistance apparatus and adjustment method thereof

A driving assistance apparatus of a vehicle includes a first sensor, a second sensor and a control unit. The first sensor obtains a position of an object with respect to the first sensor. The second sensor obtains a position of an object with respect to the vehicle. The control unit assists driving of the vehicle utilizing first vehicle relative position for an object detected by the first sensor which indicates a position of that object with respect to the vehicle. The control unit obtains the first vehicle relative position based on a correction angle formed between a reference axis of the vehicle and a reference axis of the first sensor. The correction angle is obtained based on a position of a target with respect to the first sensor obtained by the first sensor, and a position of the target with respect to the vehicle obtained by the second sensor.

Signal processing device, radar device and signal processing method

A signal processing device, includes: an azimuth estimation unit configured to estimate an arrival azimuth of a radio wave based on a reception signal of plural antennas; an estimated reception signal calculation unit configured to calculate an estimated reception signal based on an estimation result of the arrival azimuth, for comparison with the reception signal; a residual signal calculation unit configured to calculate a residual signal which is a difference between the reception signal and the estimated reception signal; and a determination unit configured to determine whether the estimation result of the arrival azimuth is correct based on the residual signal.

Method and system for simulating a target

A method for simulating a trajectory of a radar target includes the procedures of determining a simulated trajectory of the simulated target and determining a simulating vehicle trajectory for a simulating vehicle. The simulating vehicle trajectory is defined according to a simulation profile. The simulation profile at least includes a spatial simulation profile and a signal delay profile. The method further includes the procedures of maneuvering the simulating vehicle according the spatial simulation profile, receiving a radar signal by the simulating vehicle and retransmitting a signal toward the radar at least according to the signal delay profile.

Elevation angle estimation in horizontal antenna array with doppler and velocity measurements

A vehicle, radar system of the vehicle and method of determining an elevation of an object. The radar system includes a transmitter that transmits a reference signal and a receiver that to receive at least one echo signal related to reflection of the reference signal from an object. The receiver includes an antenna array having a plurality of horizontally-spaced antenna elements. A processor determines a first uncertainty curve associated with an azimuth measurement related to the at least one echo signal, determines a second uncertainty curve associated with a Doppler measurement and a velocity measurement related to the at least one echo signal, and locates an intersection of the first uncertainty curve and the second uncertainty curve to determine the elevation of the object.

Automobile calibration device

The present invention relates to the fields of automobile maintenance and device calibration technologies and discloses an automobile calibration device. The automobile calibration device includes: a stand apparatus; a supporting assembly, mounted at the stand apparatus and movable in a vertical direction with respect to the stand apparatus; and a drive assembly, configured to drive the supporting assembly to move in the vertical direction with respect to the stand apparatus. In the foregoing manner, the supporting assembly can automatically ascend or descend and manual adjustment of the supporting assembly is avoided.

Frequency agile radar system

A frequency agile radar system allows tracking of noncooperative targets with high accuracy. The system is particularly useful in an automatic landing system aboard an aircraft carrier. The radar employs an electronically steered planar array antenna system in which a symmetrical pencil beam of 1° beamwidth is steered in 1/2° steps in a raster scan. A space-stabilized acquisition window allows target acquisition, and target scanning modes are chosen as a function of target range. At far range, target scan is effected by those four beam raster positions which bracket the target whereas when the target is at near range where its cross section is larger than a single beamwidth, the raster is "ballooned" to paint or cover the target fully. The computed track of the target provides a continuing update of autopilot command signals radioed to the target to bring it to and hold it on a selected glideslope which effects the automatic landing.

Method for determining losses in a transilluminated surface of a radar sensor, radar sensor and driver assistance system with such a radar sensor

The method involves measuring an operating point of a mixer (22) by a subtraction element (28), a threshold value comparator (30), a multiplier and a measuring resistor, where the mixer mixes radar signals with reference signals. Presence of a loss source is detected by a displacement of the operating point. Error signals are output by the subtraction element, the threshold value comparator, the multiplier and the measuring resistor when displacement of the operating point exceeds a threshold value in relation to a normal value. An independent claim is also included for a driver assistance system comprising a radar sensor.

Method for adjusting a sensor for ranging and direction finding in an vehicle

Method of adjusting a vehicle sensor for determining the distance or spacing of the vehicle from an object and the direction of objects relative to the vehicle requires extremely precise adjustment of the measurement device, thus requiring that the adjustment takes place in a garage or workshop, when the vehicle must be kept while the work is being carried out. To avoid the problem of rendering the vehicle unusable, the adjustment can be carried out continually during vehicle travel by using spacing (distance) and directional angle sensors and by employing timed tracking of the objects and calculating the direction vectors, from which is calculated the relative position of the roadway to the vehicle and from this is determined the measured direction of travel, the latter being continually calculated via yaw-rate sensors and the vehicle speed.

Method and device for status detection in a system for automatic longitudinal and / or transverse control in a motor vehicle

The invention relates to a method and device for identifying the state of a system for effecting the automatic longitudinal and/or lateral control of a motor vehicle functioning according to the radar principle and/or lidar principle. The invention is especially provided for identifying a dirty and/or completely obscured sensor, whereby the state identification depends on at least two indicators (In) which are formed from signals that are received and/or emitted by the sensor.

Method for detecting icing of a radar sensor serving to detect objects of a driver assistance system provided in a motor vehicle

Verfahren zur Erfassung einer Vereisung eines der Erfassung von Objekten dienenden Radarsensors eines in einem Kraftfahrzeug vorgesehenen Fahrerassistenzsystems, wobei eine den Betrieb des Radarsensors steuernde Steuerungseinrichtung die vom Radarsensor gegebenen Messsignale, die das Vorhandensein eines Objekts anzeigen, auswertet und anhand eines Messsignals Objektdaten, umfassend einen Abstand des Objekts und/oder die Relativgeschwindigkeit des Objekts zum Radarsensor und/oder die seitliche Ablage des Objekts zu einer im Signalfächer des Radarsensors liegenden ausgezeichneten Achse, ermittelt, wobei innerhalb des vorbestimmten Zeitintervalls die Messsignale erfasst werden, zu denen Objektdaten ermittelt werden, deren Abstand <= 3 , insbesondere <= 2mm, zum Radarsensor ist, wobei die Anzahl gezählter Messsignale mit einem Schwellwert verglichen wird und ein Erreichen oder Überschreiten des Schwellwerts im Rahmen der Vereisungserfassung berücksichtigt wird. Method for detecting icing of a radar sensor serving to detect objects of a driver assistance system provided in a motor vehicle, wherein a control device controlling the operation of the radar sensor evaluates the measurement signals given by the radar sensor indicating the presence of an object and using a measurement signal object data comprising a distance of the object and / or the relative speed of the object to the radar sensor and / or the lateral storage of the object to a lying in the signal fan of the radar sensor excellent axis determined, within the predetermined time interval, the measurement signals are detected, to which object data are determined whose distance < = 3, in particular <= 2 mm, to the radar sensor, wherein the number of counted measurement signals is compared with a threshold value and reaching or exceeding the threshold value is taken into account during the icing detection.

All weather tactical strike system (AWTSS) and method of operation

An AWTSS is shown to be made up of an improved synthetic aperture radar (SAR) for generating radar maps with various degrees of resolution required for navigation of an aircraft and detection of ground targets in the presence of electronic countermeasures and clutter. The SAR consists, in effect, of four frequency-agile radars sharing quadrants of a single array antenna mounted within a radome on a "four axis" gimbal with a sidelobe cancelling subarray mounted at the phase center of each quadrant. Motion sensors are also mounted on the single array antenna to provide signals for compensating for vibration and stored compensating signals are used to compensate for radomeinduced errors. In addition, a signal processor is shown which is selectively operable to generate radar maps of any one of a number of desired degrees of resolution, such processor being adapted to operate in the presence of clutter or jamming signals.

DETECTION OF BLOCKED RADAR SENSOR

A method for detecting blockage of a radar sensor () by processing a radar signal () received by the radar sensor (). The method includes obtaining (S) the radar signal (), determining (S) a range-Doppler representation () of the radar signal such that received radar signal energy () is represented as a function of distance (d-d) and relative velocity (v-v), determining (S) predetermined azimuth angles (θ, θ, θ) for the radar sensor () and calculating (S) a relative velocity (v, v, v) for each predetermined azimuth angle (θ, θ, θ). The method further includes obtaining (S) a first distribution () and at least one other distribution () of received energy () over distance in the range-Doppler representation () for a first azimuth angle (θ) and at least one other azimuth angle (θ, θ), generating (S) a measure of similarity for the distributions, and detecting (S) blockage of the radar sensor () if the measure of similarity satisfies a similarity criterion. 1. A method for detecting blockage of a radar sensor by processing a radar signal received by the radar sensor , where the method comprises the steps of:obtaining the radar signal;determining a range-Doppler representation of the radar signal by processing the obtained radar signal such that received radar signal energy is represented as a function of distance and relative velocity;determining predetermined azimuth angles for the radar sensor, where each of the predetermined azimuth angle corresponds to a respective relative velocity; andcalculating a relative velocity for each of the predetermined azimuth angle;obtaining a first distribution of received energy over distance in the range-Doppler representation for a first azimuth angle;obtaining at least one other distribution of received energy over distance in the range-Doppler representation for at least one other azimuth angle, different from the first azimuth angle;generating a measure of similarity by comparing the first distribution of detected energy over ...

Method for adjusting correction information in a radar system

A method for automatically adjusting correction information in a radar system of a vehicle. The method includes: performing at least one acquisition of at least one item of acquisition information by a radar sensor, the acquisition information being specific to at least one item of angle information and one item of distance information relating to at least one detected object in an environment of the vehicle. An identification of a reference object is performed in the environment on the basis of the acquisition information. An ascertainment of the distance information relating to the reference object is performed on the basis of the acquisition information. The adjustment of the correction information is performed on the basis of the ascertained distance information relating to the reference object in order to provide a correction of the angle information.

測距装置の軸調整方法及び軸ずれ検出方法並びに測距装置

(57)【要約】 【課題】 特に左右方向における軸調整作業が、より短 時間で高精度かつ容易に実現できる測距装置或いはその 軸調整方法を提供する。 【解決手段】 自車両と先行車が同一線状を直進走行し ている直線走行状況であるときに採取した先行車の検出 データのみを、有効な検出データとして複数抽出し、こ の検出データを統計処理して得られた先行車の平均的中 心位置に検出エリアの中心位置が一致するように、内部 パラメータを設定変更する自動調整機能を測距装置の制 御回路７に設け、自車両を先行車に追従させて同一直線 上を安定して直進させつつ、制御回路７の前記自動調整 機能を作動させて軸調整を行う。

一种飞机雷达系统校靶装置及其使用方法

本发明涉及飞机雷达领域，具体的说是涉及一种飞机雷达系统校靶装置及其使用方法，包括电脑、激光跟踪仪、电子水平仪、伺服机构、靶标装置，电脑通过电缆分别与激光跟踪仪和伺服机构连接，激光跟踪仪安装在伺服机构上，伺服机构安装在电子水平仪上，靶标装置接收激光跟踪仪信号。激光跟踪仪发出激光测量信号到校靶装置，靶标装置的光电传感器将靶标位置信号反馈到激光跟踪仪，计算机通过伺服机构对激光跟踪仪进行控制，实现激光跟踪仪对靶标基准点对准。本发明不会对雷达造成伤害。大大减少测量面积，同时取消了靶板的摆放工作，降低了劳动成本，缩短飞机的生产周期，提升飞机的作战性能。

基于多旋翼飞行器的雷达相位标校方法

本发明涉及航天器测控领域，提供一种基于多旋翼飞行器的雷达相位标校方法，包括：挂载有信标的多旋翼飞行器起飞；根据实时接收到的多旋翼飞行器的GPS位置信息，计算其与天线的距离以及天线相对地面的方位角和俯仰角，并引导天线指向信标；当当前多旋翼飞行器与天线的距离以及天线相对地面的仰角同时满足远场标校条件时，控制多旋翼飞行器在空中定点悬停，并控制天线对准信标；控制天线相对地面的方位角或俯仰角正偏或负偏，利用跟踪接收机完成当前频点下的雷达相位标校；切换信标与天线的通信频点或者通信链路进入下一次标校；本发明可以在满足远场标校条件的前提下，加快天线对目标的捕获速度，实现不同频点的相位标校，并提高标校精度。

The travel controlling system and travel control method of vehicle

在车辆中，作为检测物体的物体检测单元，搭载有通过探测波的发送和接收来检测车辆间距离的雷达装置(12)。行驶控制装置(10)具备：基于雷达装置的检测结果来计算在本车辆前方行驶的前行车辆的移动轨迹的轨迹计算单元(25)；基于由轨迹计算单元计算出的前行车辆的移动轨迹来计算本车辆的预测行进路线的行进路线预测单元(21)；检测雷达装置的轴偏移的轴偏移检测单元(32)；以及在由轴偏移检测单元检测出产生了雷达装置的轴偏移的情况下，使由行进路线预测单元计算出的预测行进路线无效的无效处理单元(33)。

Judgment device and vehicle

Radar apparatus and blockage detection method thereof

레이더 장치 및 그의 이물질 탐지방법에 관한 것으로, 주변으로 레이더 신호를 송신하고 표적으로부터 반사되는 신호를 수신하는 송수신부 및 상기 송수신부를 통해 수신된 신호를 이용해서 레이더 검지정보를 생성하는 제어부를 포함하고, 상기 제어부는 상기 송수신부를 통해 수신된 검지신호의 신호레벨을 미리 설정된 한계레벨과 비교해서 레이더 장치 전방의 이물질 존재 여부를 탐지하는 신호처리부를 포함하는 구성을 마련하여, 레이더 장치 전방의 이물질을 탐지하고, 이물질이 존재하는 경우 이물질 발생 사실을 경고하도록 알람신호를 발생할 수 있다.

Radar sensor misalignment detection for a vehicle

A system and method for detecting a level of misalignment of a vehicle sensor, such as a radar sensor, compared to a reference sensor also associated with the vehicle. The reference sensor may comprise a different type of sensor, such as an optical sensor, motion sensor, or position sensor. One or more reference sensors may be utilized in detecting a level of misalignment.

Central axis deflection amount calculating device, central axis deflection amount correcting device, and inter-vehicle control device of vehicle obstacle detection device

Method and device for compensating for doppler expansions

Eine Vorrichtung (100) zum Kompensieren von wetterunabhängigen Doppleraufweitungen in Radarsignalen eines Wetterradarsystems (200) ist offenbart. Die Vorrichtung umfasst: eine Empfangseinrichtung (110) zum Empfangen einer Darstellung (50) der Radarsignale, eine Ermittlungseinrichtung (120) und eine Kompensationseinrichtung (130). Die Empfangseinrichtung (110). Die Darstellung umfasst Pixel einer Entfernung-Doppler-Matrix umfasst. Die Ermittlungseinrichtung (120) ist ausgebildet, um für die Pixel (75) Azimutwinkel (Azi) durch Feinpeilung zu ermitteln. Die Kompensationseinrichtung (130) ist ausgebildet, um wetterunabhängige Dopplerverschiebungen für die Pixel (75) basierend auf den ermittelten Azimutwinkel (Azi; AziMopu) zu korrigieren und so die wetterunabhängigen Doppleraufweitungen zu kompensieren und als eine kompensierte Darstellung (150) bereitzustellen. A device (100) for compensating for weather-independent Doppler spreads in radar signals of a weather radar system (200) is disclosed. The device comprises: a receiving device (110) for receiving a representation (50) of the radar signals, a determination device (120) and a compensation device (130). The receiving device (110). The representation comprises pixels of a range-doppler matrix. The determination device (120) is designed to determine the azimuth angle (Azi) for the pixels (75) by means of fine positioning. The compensation device (130) is designed to correct weather-independent Doppler shifts for the pixels (75) based on the determined azimuth angle (Azi; AziMopu) and thus to compensate for the weather-independent Doppler expansion and provide it as a compensated representation (150).

Radar device for aircraft with radiation angle control function and radiation angle control method of radar device for aircraft

본 발명은, 전파 레이다를 방사하여 물체 신호를 감지하는 안테나유닛; 상기 안테나유닛와 전파를 송수신하도록 고정 설치되는 송수신기유닛; 및 상기 안테나유닛을 상기 송수신기로부터 제1 틸트축을 기준으로 상대 회전이 가능하도록 결합시키는 제1 로터리 조인트;를 포함하되, 상기 안테나기구부는, 전파 레이다를 방사하는 슬롯 어레이(slot array)형 일면을 갖도록 연장 형성된 안테나부; 상기 안테나부의 일단에 설치되어, 전파를 전달하는 도파관부; 상기 안테나부을 상기 도파관부로부터 제2 틸트축을 기준으로 상대 회전이 가능하도록 결합시키는 제2 로터리 조인트; 및 상기 안테나부의 다른 일단에 설치되어, 회전 동력을 제공하는 서보모터;를 더 포함하는, 방사각 조절 기능을 갖는 항공기용 레이다 장치에 관한 것이다. 본 발명에 따른 항공기용 레이다 방사 장치 및 레이다 장치의 방사각 조절 방법은 항공기의 지면으로부터 고도, 자세 등의 정보 및 탐지 대상 지역의 위치, 거리 등의 정보와 연동되어 레이다 방사각을 효율적으로 틸팅 조절할 수 있는 효과가 있다.

Monitoring apparatus and method

Automatic sensor azimuth alignment

This disclosure relates to a system for automatically measuring and compensating for any angle of misalignment of a forward-looking sensor of a vehicle. The sensor provides data representing the azimuth angle and the range of a target such as another vehicle. For each angle and range reading of the sensor, the location point of the target is estimated; after a series of such readings, the trajectory line of the target is estimated. The angle of misalignment is estimated from the angle between the trajectory line and the path of travel of the host vehicle. In subsequent readings of the sensor, the estimated angle of misalignment is subtracted from the measured azimuth angle to produce an accurate azimuth angle of the target. The accurate azimuth angle is provided for use by another unit such as a collision warning system and/or an intelligent cruise control.

Vehicle control method and vehicle warning method

In order to occur a collision warning to prevent the collision in accurate by detecting the preceding vehicle or target, a vehicle lane position estimation device comprising a means for measuring a distance between said host vehicle and said preceding vehicle or a oncoming vehicle, a direction angle from said host vehicle, an angular velocity and a velocity of said host vehicle, a means for calculating lateral and longitudinal distance between said host vehicle and said preceding vehicle or said oncoming vehicle, a means for capturing a front stationary object, a means for obtaining movement of the preceding vehicle or position of the oncoming vehicle, and a means to estimate a lane position of said front stationary object from a relationship of the stationary object being captured and the preceding vehicle being obtained and a positional relationship with the oncoming vehicle.

Automatic range finder and remote controller braking system

An automatic range finder and remote controlled braking system is provided. When mounted to a vehicle, this system senses the distance between the equipped vehicle and any other vehicle or object in front of it and sets off a warning alarm when the separating distance is less than some preset value. As the distance continues to close, when the distance closes to some preset braking distance, a braking alarm is activated, and controlled breaking, proportional to the rate of change of distance with respect to time commences. The actual distance is always displayed. Additional braking is accomplished by applying increased breaking force to the conventional brake pedal while a panic button can be used to disable the automatic braking entirely. The beamwidth of the corner reflector type antenna is controlled for calibration purposes by adjusting the lateral placement of the radiating dipole using a motor and worm drive system.

Method and device for aligning radar mount direction, and radar aligned by the method or device

A radar mount direction alignment device to be used for aligning the transmit/receive direction of a radar device 2 D mounted on a member on which a radar device is to be mounted, such as a vehicle 1. The radar mount direction alignment device has receiving sections b 9, b 10 for receiving a signal emitted from the radar device 2 D, and transmission sections a 9, a 10 for transmitting a signal to the radar device 2 D. The radar mount direction alignment device has the function of emitting, toward the radar device 2 D, a signal which, upon receipt of a signal output from the radar device 2 D, behaves as if having been received at and reflected from a position farther from the radar device 2 D than a distance between the radar device 2 D and the radar mount direction alignment device.

Method and device for aligning radar mount direction, and radar aligned by the method or device

A radar mount direction alignment device to be used for aligning the transmit/receive direction of a radar device 2 D mounted on a member on which a radar device is to be mounted, such as a vehicle 1 . The radar mount direction alignment device has receiving sections b 9 , b 10 for receiving a signal emitted from the radar device 2 D, and transmission sections a 9 , a 10 for transmitting a signal to the radar device 2 D. The radar mount direction alignment device has the function of emitting, toward the radar device 2 D, a signal which, upon receipt of a signal output from the radar device 2 D, behaves as if having been received at and reflected from a position farther from the radar device 2 D than a distance between the radar device 2 D and the radar mount direction alignment device.

Determination device and vehicle

本发明提供一种能够判定路上卷扬物的种类的判定装置以及车辆。车载用判定装置具备：第一获取单元，其获取由第一传感器检测到的本车辆的周边信息；第二获取单元，其获取由与上述第一传感器不同种类的第二传感器检测到的上述本车辆的周边信息；以及判定单元，其基于由上述第一获取单元获取到的上述周边信息以及由上述第二获取单元获取到的上述周边信息的双方，对上述本车辆的周边的路上卷扬物的种类进行判定。

Radar sensor covering detection system and method for vehicle

본 발명에 따르면, 레이더 센서의 전자기파를 송신하고, 송신한 전자기파가 감지 타겟에서 반사된 전자기파를 수신하는 송수신부; 송수신부의 전방에 위치되고, 송수신부를 외부로부터 커버링하는 레이더 커버; 및 송수신부에서 수신되는 전자기파의 방향 또는 강도를 기반으로 레이더 커버가 외부로부터 전부 또는 일부가 가려짐을 판단하는 판단부;를 포함하는 차량 레이더 센서의 가림 검출 시스템이 소개된다.

For determining the out-of-alignment method of object sensor

本发明涉及用于确定物体传感器未对准的方法。一种车辆系统和方法可在主车辆被驱动时确定物体传感器未对准，并且无需具有重叠视野的多个传感器就可这样做。在主车辆沿大致直线行驶的示例性实施例中，本方法在物体移动通过传感器的视野时使用物体传感器跟踪静止物体的路线，并将感测物体路线与预期物体路线作比较。如果静止物体的感测和预期路线偏差超过某个量，那么该方法确定所述该物体传感器歪斜或以其它方式未对准。

System for Correcting Misalignment of Radar Installment Angle and Method thereof

본 발명은 차량 레이더 오차 보정 시스템 및 그 방법에 관한 것으로서, 특히 주행 중 충격 등 외부 요인에 의해 발생하는 차량과 레이더 간의 장착각도 오차를 보정하는 시스템 및 그 방법에 관한 것이다. The present invention relates to a vehicle radar error correction system and a method thereof, and in particular, to a system and method for correcting a mounting angle error between a vehicle and a radar caused by external factors such as impact while driving.

Method for detecting loss of sensitivity of a fmcw radar locating device by diffuse sources of loss

The invention relates to a method for detecting losses of sensitivity of a FMCW radar locating device by diffuse sources of loss (30), wherein a transmission signal is emitted by the radar locating device, the frequency of which is periodically modulated in sequential modulation ramps, and at least one performance characteristic of at least a frequency portion of a signal received by the radar locating device is evaluated. The invention is characterized in that the performance of the transmission signal varies cyclically, in each case after completing a modulation ramp, and the loss of sensitivity is determined on the basis of differences in the performance characteristics of the signals which are received at sequential modulation ramps with identical modulation.

Radar sensor and method for detection precipitation with a radar sensor

The method involves emitting the transmitting signal (S), whose frequency is changed periodically in successive modulation ramps. A criterion of signals is applied, which receives the modulation ramp during driving through. Another criterion of a comparison of signals is applied, which receives two following each other modulation ramps during driving through.

Determination of an indicator of blindness of a radar sensor

Verfahren zur Bestimmung eines Indikators für eine Erblindung eines Radarsensors, umfassend: – Steuern des Radarsensors, um ein Sendesignal in Form von wenigstens zwei aufeinanderfolgenden Frequenzrampen (30; 32) mit gleicher Rampensteigung (M) und im gleichen Frequenzbereich (fs) zu senden und zu den Frequenzrampen (30: 32) zugehörige Detektionssignale zu empfangen, – Untersuchen, für mehrere Frequenzen (k), ob die Empfangsleistungen (P1; P2) in den Frequenzspektren der Empfangssignale bei einer jeweiligen Frequenz (k) in einem Verhältnis zueinander stehen, welches einem Verhältnis der Sendeleistungen (Ps1; Ps2) der zugehörigen Frequenzrampen (30; 32) entspricht, und – Bestimmen eines Indikators für eine Erblindung des Radarsensors anhand des Ergebnisses der Untersuchungen; sowie Radarsensor, mit einer Steuer- und Auswerteeinrichtung (12), die dazu eingerichtet ist, das Verfahren zur Bestimmung eines Indikators für eine Erblindung des Radarsensors durchzuführen. A method of determining an indicator of blindness of a radar sensor, comprising: controlling the radar sensor to transmit and transmit a transmit signal in the form of at least two consecutive frequency ramps (30; 32) of equal ramp slope (M) and in the same frequency range (fs) - For multiple frequencies (k), examine whether the received powers (P1, P2) in the frequency spectra of the received signals at a respective frequency (k) are in a relationship to one another, which corresponds to one another Ratio of the transmission powers (Ps1; Ps2) of the associated frequency ramps (30; 32), and - determining an indicator of blindness of the radar sensor based on the result of the investigations; and radar sensor, with a control and evaluation device (12) which is adapted to perform the method for determining an indicator for a blindness of the radar sensor.

Method for detecting loss of sensitivity of an FMCW radar locating device by diffuse sources of loss

A method for the detection of sensitivity losses of an FMCW radar locating device due to diffuse sources of loss, in which the radar locating device emits a transmit signal whose frequency is periodically modulated in successive modulation ramps, and at least one power characteristic of at least one frequency portion of a signal received by the radar locating device is evaluated, wherein the power of the transmit signal is varied cyclically, in each case after the completion of a modulation ramp, and the sensitivity losses are determined on the basis of differences in the power characteristics of signals received during successive modulation ramps having identical modulation.

Method for detecting sensitivity losses of an FMCW radar detector by diffuse loss sources

Verfahren zur Detektion von Empfindlichkeitseinbußen eines FMCW-Radarortungsgerätes durch diffuse Verlustquellen (30), bei dem vom Radarortungsgerät ein Sendesignal emittiert wird, dessen Frequenz periodisch in aufeinanderfolgenden Modulationsrampen moduliert wird, und mindestens ein Leistungsmerkmal mindestens eines Fequenzanteils eines vom Radarortungsgerät empfangenen Signals ausgewertet wird, dadurch gekennzeichnet, daß die Leistung des Sendesignals zyklisch, jeweils nach Vollendung einer Modulationsrampe variiert wird und die Empfindlichkeitseinbuße anhand von Unterschieden in den Leistungsmerkmalen von Signalen bestimmt wird, die bei aufeinanderfolgenden Modulationsrampen mit identischer Modulation empfangen werden. A method for detecting loss of sensitivity of an FMCW Radarortungsgerätes by diffuse loss sources (30), wherein the Radarortungsgerät a transmission signal is emitted, whose frequency is modulated periodically in successive modulation ramps, and at least one performance of at least one frequency component of a received signal from the Radarortungsgerät signal is evaluated characterized in that the power of the transmission signal is varied cyclically, each time a modulation ramp is completed, and the sensitivity degradation is determined by differences in the performance characteristics of signals received at successive modulation ramps of identical modulation.

Radar sensor and method for detecting precipitation with a radar sensor

Bei dem Verfahren zur Detektion von Niederschlag mit einem Radarsensor emittiert der Radarsensor einin aufeinanderfolgenden Modulationsrampen (31, 32) verändert wird. Von dem Radarsensor empfangene Signale werden zur Feststellung von Niederschlag anhand von zwei unterschiedlichen Kriterien ausgewertet. Das Verfahren ist dadurch ausgezeichnet, dass ein erstes Kriterium Signale betrifft, die bei einem Durchfahren einer Modulationsrampe (31, 32) empfangen werden, und ein zweites Kriterium einen Vergleich von Signalen betrifft, die bei einem Durchfahren von mindestens zwei aufeinanderfolgenden Modulationsrampen (31, 31', 32, 32') empfangen werden. In the method for detecting precipitation using a radar sensor, the radar sensor emits a change in successive modulation ramps (31, 32). Signals received by the radar sensor are evaluated to determine precipitation based on two different criteria. The method is characterized in that a first criterion relates to signals that are received when passing through a modulation ramp (31, 32), and a second criterion relates to a comparison of signals that are received when passing through at least two successive modulation ramps (31, 31 ', 32, 32') can be received.

Radar sensor and method for detecting precipitation using a radar sensor

In the method for detecting precipitation using a radar sensor, the radar sensor emits a transmission signal, whose frequency is varied periodically in successive modulation ramps. Signals received by the radar sensor are analyzed to determine precipitation on the basis of two different criteria. In the method, a first criterion relates to signals which are received during a pass-through of a modulation ramp, and a second criterion relates to a comparison of signals which are received during a pass-through of at least two successive modulation ramps.

Vehicle radar device

Method for recognizing a blocked state of a radar device and driver assistance device

Verfahren zum Erkennen eines blockierten Zustands eines Radargeräts (3, 4) in einem Kraftfahrzeug (1), bei welchem das Radargerät (3, 4) ein Sendesignal sendet, ein Empfangssignal (E1, E2) empfängt und durch eine Auswertung des Empfangssignals (E1, E2) Objekte (11) in einer Umgebung des Kraftfahrzeugs (1) ortet, wobei bei der Auswertung ein solcher Anteil (17) des Empfangssignals (E1,E2) analysiert wird, welcher einem von einem Boden (14) reflektierten Anteil des Sendesignals entspricht, und abhängig vom Ergebnis der Analyse der blockierte Zustand des Radargeräts (3, 4) erkannt wird, dadurch gekennzeichnet, dass ein Verhältnis (SNR) einer Amplitude (Ax) des Empfangssignals (E1,E2) in dem Frequenzbereich (17), in welchem Reflektionen des Sendesignals von dem Boden (14) erwartet werden, zu einem Referenzwert (PR) ermittelt wird und abhängig von dem Verhältnis (SNR) der blockierte Zustand erkannt wird, wobei eine Rauschleistung (PR) als Referenzwert verwendet wird und der blockierte Zustand abhängig von dem Verhältnis (SNR) der Amplitude (Ax) des Empfangssignals (E1,E2) in dem Frequenzbereich (17), in welchem Reflektionen des Sendesignals von dem Boden (14) erwartet werden, zu der Rauschleistung (PR) erkannt wird und als Rauschleistung (PR) ein Mittelwert der Amplitude (Ax) des Empfangssignals (E1,E2) in einem Frequenzbereich außerhalb des Frequenzbereichs (17), in welchem Reflektionen des Sendesignals von dem Boden (14) erwartet werden, verwendet wird.

Motor vehicle radar for detecting objects around vehicle

Bei einer Radarvorrichtung gemäß der vorliegenden Erfindung handelt es sich um eine Radarvorrichtung zur Erfassung eines Objekts in der Umgebung eines Fahrzeugs, mit einem Senderabschnitt (21) zum Abstrahlen einer frequenzmodulierten Sendewelle, einem Empfängerabschnitt (1) zum Empfang einer Funkwelle, die von einem der gesendeten Welle ausgesetzten Objekt zurückgestrahlt wird, und zum Mischen der empfangenen Funkwelle mit einem Teil der gesendeten Welle zum Erhalt von Schwebungssignalen, sowie einem Signalverarbeitungsabschnitt (24, 25, 26, 27) zur Analyse von Frequenzen der Schwebungssignale zur Erfassung des Objekts in der Umgebung des Fahrzeugs. Diese Radarvorrichtung ist derart eingerichtet, daß ein erster Schwellwert (44) und ein zweiter Schwellwert (45), der höher als der erste Schwellwert (44) ist, für Signalpegel eines Frequenzspektrums der Schwebungssignale eingestellt sind. Weiterhin ist der Signalverarbeitungsabschnitt zur Erfassung des Objekts in der Umgebung des Fahrzeugs unter Verwendung einer Schwebungsfrequenz mit einem Signalpegel oberhalb des zweiten Schwellwerts (45) und zum Vergleich des Frequenzspektrums mit dem ersten Schwellwert (44) in einem vorbestimmten Frequenzbereich (43) eingerichtet, um zu bestimmen, ob Schmutz auf dem Senderabschnitt (21) oder auf dem Empfängerabschnitt (1) vorhanden ist.

Device for detecting a performance-reducing coating on a cover of a radar system

Vorrichtung (1) zur Detektion eines leistungsmindernden Belags (2) auf einer Abdeckung (3) eines Radarsystems (4) eines Kraftfahrzeuges mit einer Sende- (5) und einer Empfangseinrichtung (6), dadurch gekennzeichnet, dass eine der Empfangseinrichtung (6) nachgeschaltete Auswerteeinrichtung (7) vorgesehen ist, welche ein aktuelles Signal (8) aus einem die Abdeckung (3) umfassenden Nahbereich des Radarsystems (4) mit einem Referenzsignal desselben Nahbereichs für einen störungsfreien Betrieb des Radarsystems (4) vergleicht, wobei aus dem Vergleich des aktuellen Signals (8) mit dem Referenzsignal auf eine Anwesenheit des leistungsmindernden Belags (2) geschlossen werden kann, wobei das Referenzsignal bei einem störungsfreien Betrieb des Radarsystems (4) aktualisiert wird, wobei ein störungsfreier Betrieb dann gegeben ist, wenn ein Empfangssignal (9) von einer Fahrbahnoberfläche mit einer vorgegebenen Mindestamplitude erfasst wird. Device (1) for detecting a power-reducing lining (2) on a cover (3) of a radar system (4) of a motor vehicle having a transmitting (5) and a receiving device (6), characterized in that one of the receiving device (6) connected downstream Evaluation device (7) is provided, which compares a current signal (8) comprising the cover (3) near range of the radar system (4) with a reference signal of the same short range for trouble-free operation of the radar system (4), wherein from the comparison of the current Signal (8) with the reference signal on a presence of the power-reducing pad (2) can be closed, wherein the reference signal is updated in a trouble-free operation of the radar system (4), wherein a trouble-free operation is given when a received signal (9) of a road surface is detected with a predetermined minimum amplitude.

Detection of a mal-adjustment of a radar sensor of a vehicle

The method involves detecting existence of adjustment of a radar sensor (10) in elevation direction based on a characteristic i.e. frequency spectrum characteristic, of a surface clutter signal, where the characteristic depends on an angular orientation of the sensor in the elevation direction. The surface clutter signal is received by the sensor, and an adjustment angle of the sensor in elevation direction is determined. A numerical value of the adjustment angle is determined based on the characteristic of the signal.

Calibration method and device for horizontal alignment of vehicle radar

차량용 레이더의 수평 정렬 보정 방법이 개시된다. 상기 수평 정렬 보정 방법은 표적정보 획득부가 차량용 레이더로부터 수신한 프레임 데이터로부터 고정 표적 정보를 생성하여 직선 산출부로 전송하는 단계와 상기 직선 산출부가 상기 전송된 고정 표적 정보를 선형 커브 피팅법(Linear Curve Fitting)에 적용하여 가상 직선을 산출하는 단계와 주행 방향 직선 추출모듈이 차량 조향 센서로부터 수신한 센싱 정보에 따라 차량의 주행 방향 직선을 산출하는 단계와 차이각 획득 모듈이 상기 산출된 가상 직선 및 주행 방향 직선 사이의 각도 차이를 계산하는 단계 및 정렬 보정 처리 모듈이 상기 계산된 각도 차이에 따라 상기 차량용 레이더의 수평 정렬을 보정하는 단계를 포함한다.

Weather radar antenna directivity gross error calibration method and related product

本发明涉及天线校准技术领域，公开了一种天气雷达天线指向性粗差校准方法及相关产品，所述方法包括：将所述天气雷达天线的方位角指向性粗差C A 校准至第一目标方位角范围内，以及，将所述天气雷达天线的俯仰角指向性粗差C E 校准至第二目标俯仰角范围内，其中，所述第一目标方位角范围和所述第二目标俯仰角范围构成太阳法有效扫描范围。将太阳法的有效扫描范围作为天线指向性粗差校准的参考值，将雷达天线的指向性粗差校准在太阳法有效扫描范围内，从而确保太阳法有效，完成天气雷达天线的定标，解决了因天气雷达天线链路发生变化时天线指向性粗差太大而导致无法采用太阳法完成定标的问题。