Methods and system for determining an angle of a detection

Patent metadata

Field	Value
Publication number	US-11774574-B2
Application number	US-202217584277-A
Country	US
Kind code	B2
Filing date	Jan 25, 2022
Priority date	Jan 26, 2021
Publication date	Oct 3, 2023
Grant date	Oct 3, 2023

Abstract

A computer implemented method for determining an angle of a detection comprises the following steps carried out by computer hardware components: acquiring a range rate of the detection; determining a pair of candidate angles of the detection based on the range rate; acquiring a beamvector of the detection; determining a correlation between the beamvector and a reference vector; and determining the angle of the detection based on the pair of candidate angles and based on the correlation.

First claim

What is claimed is:

1. A computer-implemented method for determining an angle of a detection,
the method comprising:
acquiring a range rate of the detection;
determining a pair of candidate angles of the detection that are located symmetrically around a pre-determined axis based on the range rate;
acquiring a beamvector of the detection;
determining a correlation between the beamvector and a reference vector that is based on a reflection point along the pre-determined axis; and
determining the angle of the detection based on the pair of candidate angles that are located symmetrically around the pre-determined axis and based on the correlation between the beamvector and the reference vector.

2. The computer-implemented method of claim 1 ,
wherein the detection comprises a radar detection.

3. The computer-implemented method of claim 1 ,
wherein the detection comprises a radar detection of a stationary object.

4. The computer-implemented method of claim 1 ,
wherein the detection comprises a radar detection of a non-stationary object.

5. The computer-implemented method of claim 1 ,
wherein the beamvector comprises sensor data from a plurality of antennas of an antenna array.

6. The computer-implemented method of claim 5 ,
wherein the antenna array is planar.

7. The computer-implemented method of claim 1 ,
wherein the correlation is based on at least one of:
a product of the beamvector and the reference vector; or
a calibration matrix.

8. The computer-implemented method of claim 7 ,
further comprising multiplying the calibration matrix by the reference vector.

9. The computer-implemented method of claim 1 ,
wherein the pre-determined axis is parallel to a direction of travel of the vehicle.

10. The computer-implemented method of claim 1 ,
wherein the reference vector is parallel to the pre-determined axis.

11. The computer-implemented method of claim 1 ,
wherein the determining of the angle of the detection is based further on a sign of a coefficient of the correlation.

12. A system comprising:
at least one processor configured to:
acquire a range rate of a detection;
determine a pair of candidate angles of the detection that are located symmetrically around a pre-determined axis based on the range rate;
acquire a beamvector of the detection;
determine a correlation between the beamvector and a reference vector that is based on a reflection point originating from the pre-determined axis; and
determine an angle of the detection based on the pair of candidate angles that are located symmetrically around a pre-determined axis and the correlation between the beamvector and the reference vector.

13. The system of claim 12 ,
wherein the detection comprises a radar detection of a stationary object.

14. The system of claim 12 ,
wherein the detection comprises a radar detection of a non-stationary object.

15. The system of claim 12 ,
wherein the beamvector comprises sensor data from a plurality of antennas of an antenna array.

16. The system of claim 15 ,
wherein the antenna array is planar.

17. The system of claim 12 ,
wherein the correlation is based on at least one of:
a product of the beamvector and the reference vector; or
a calibration matrix.

18. The system of claim 17 ,
wherein the processor is further configured to multiply the calibration matrix by the reference vector.

19. The system of claim 12 ,
wherein the determination of the angle of the detection is based further on a sign of a coefficient of the correlation.

20. At least one non-transitory computer readable medium comprising instructions that, when executed by at least one processor, cause the processor to:
acquire a range rate of a detection;
determine a pair of candidate angles of the detection that are located symmetrically around a pre-determined axis based on the range rate;
acquire a beamvector of the detection;
determine a correlation between the beamvector and a reference vector that is based on a reflection point originating from the pre-determined axis; and
determine an angle of the detection based on the pair of candidate angles that are located symmetrically around the pre-determined axis and the correlation between the beamvector and the reference vector.

Assignees

• Aptiv Tech Ltd

Inventors

• Iurgel Uri
• Lessmann Stephanie
• Stefer Markus

Classifications

• G01S13/68 Primary

  for angle tracking only · CPC title

• G01S13/08 Primary

  Systems for measuring distance only (indirect measurement G01S13/46) · CPC title

• G01S13/4463 Primary

  using phased arrays · CPC title

• G01S13/931

  of land vehicles · CPC title

• G01S7/02

  of systems according to group G01S13/00 · CPC title