Radar data processing for vehicle ego-motion estimation

Patent metadata

Field	Value
Publication number	US-12130353-B2
Application number	US-202217588049-A
Country	US
Kind code	B2
Filing date	Jan 28, 2022
Priority date	Jan 29, 2021
Publication date	Oct 29, 2024
Grant date	Oct 29, 2024

Abstract

A method of determining ego-motion information of a vehicle comprising a radar sensor having a plurality of antenna elements, comprising: acquiring motion spectrum comprising a plurality of data elements, each calculated for a respective one of a plurality of Doppler bin indices and for a respective one of a plurality of spatial bin indices, each spatial bin index indicating a respective angle-of-arrival of a radar return signal at the radar sensor; and determining the ego-motion information by solving a motion equation system comprising equations of motion generated using the motion spectrum data and each relating a respective value indicating a radial velocity, a respective value indicating an angular displacement, and a variable indicating a velocity of the vehicle.

First claim

What is claimed is:

1. A method comprising:
determining ego-motion information of a vehicle including a radar sensor having a plurality of antenna elements, determining the ego-motion information comprising:
acquiring a set of motion spectrum data that is based on radar data generated by the radar sensor, the set of motion spectrum data comprising a plurality of data elements, each of the data elements calculated for a respective Doppler bin index of a plurality of Doppler bin indices and for a respective spatial bin index of a plurality of spatial bin indices, each spatial bin index being indicative of a respective angle of arrival of a radar return signal relative to an axis of the radar sensor;
determining the ego-motion information by solving a motion equation system comprising a plurality of equations of motion that are generated using the set of motion spectrum data, each equation of motion relating a respective value indicative of a radial velocity of a stationary object relative to the radar sensor, a respective value indicative of an angular displacement of the stationary object with respect to the axis of the radar sensor, and a variable indicative of a velocity of the vehicle; and
using the ego-motion information to control at least one of an Advance Driving Assistant System (ADAS) or an autonomous driving application of the vehicle;
wherein each equation of motion is of a form:
d =(− l y cos(θ+θ M )+ l x sin(θ+θ M ))ω+cos(θ+θ M ) v x +sin(θ+θ M ) v y

wherein d is indicative of a radial velocity of the stationary object,
θ is indicative of an angular displacement of the stationary target relative to the axis of the radar sensor,
θ M is indicative of a mounting angle of the radar sensor that is an angle between the axis of the radar sensor and an axis of a vehicle coordinate system of the vehicle,
l x is indicative of a mounting position of the radar sensor along an X-axis of the vehicle coordinate system, and l y is indicative of a mounting position of the radar sensor along a Y-axis of the vehicle coordinate system,
v x is indicative of an X-component of a velocity of the vehicle, and v y is indicative of a Y-component of the velocity of the vehicle,
ω is indicative of a yaw rate of the vehicle, and
the ego-motion information comprises values of v x , v y and ω.

2. The method according to claim 1 , wherein
K is a number of radar sensors each having a plurality of antenna elements mounted at K different positions on the vehicle,
K is an integer greater than or equal to two,
a respective set of motion spectrum data is acquired for each of the K number of radar sensors,
each respective set of motion spectrum data is based on radar data generated by the radar sensor,
determining the ego-motion information comprises estimating the values of v x , v y and ω by solving the motion equation system:

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Assignees

• Aptiv Technologies AG

Inventors

• Lessmann Stephanie
• Iurgel Uri
• Doerr Wolfgang

Classifications

• G01S13/931

  of land vehicles · CPC title

• G01S2013/93274

  on the side of the vehicles · CPC title

• G01S2013/93272

  in the back of the vehicles · CPC title

• G01S2013/93271

  in the front of the vehicles · CPC title

• G01S13/87

  Combinations of radar systems, e.g. primary radar and secondary radar · CPC title