Methods and systems for calibrating a radar sensor

Patent metadata

Field	Value
Publication number	US-12153158-B2
Application number	US-202117502000-A
Country	US
Kind code	B2
Filing date	Oct 14, 2021
Priority date	Oct 15, 2020
Publication date	Nov 26, 2024
Grant date	Nov 26, 2024

Abstract

A computer implemented method for calibrating a radar sensor comprises the following steps carried out by computer hardware components: acquiring a plurality of radar detection data sets; for each of the plurality of radar detection data sets, determining an angle of arrival of the radar detection data under the assumption that the respective radar detection data set is related to a stationary object; for each of the plurality of radar detection data sets, determining a respective set of candidate entries of a calibration matrix of the radar sensor based on the respective angles of arrival determined for the respective plurality of radar detection data sets; and determining a set of entries of the calibration matrix of the radar based on the plurality of sets of candidate entries.

First claim

What is claimed is:

1. A computer-implemented method comprising:
acquiring a plurality of radar detection data sets with a radar sensor mounted on a vehicle that is driving on a street, the plurality of radar detection data sets being related to a plurality of objects, and the plurality of objects including at least one stationary object and at least one non-stationary object;
determining sets of candidate entries of a calibration matrix of a radar sensor by, for each of the plurality of radar detection data sets by:
determining an angle of arrival of radar detection data of the respective radar detection data set based on an assumption that the respective radar detection data set is related to a stationary object;
determining a set of candidate entries based on the angle of arrival determined for the respective radar detection data set; and
identifying and filtering out any radar detection data sets from the plurality of radar detection data sets that relate to a non-stationary object; and

determining a set of entries of the calibration matrix of the radar sensor based on the sets of candidate entries for the remaining radar detection data sets from the plurality of radar detection data sets after the filtering.

2. The computer-implemented method of claim 1 , further comprising, for each of the plurality of radar detection data sets, determining whether the respective radar detection data set is related to a single scatterer.

3. The computer-implemented method of claim 2 , further comprising filtering out and disregarding any radar detection data sets that are not determined to be related to a single scatterer.

4. The computer-implemented method of claim 1 , further comprising determining odometry data related to the vehicle on which the radar sensor that acquires the plurality of radar detection data sets is mounted.

5. The computer-implemented method of claim 4 , wherein the determining the odometry data comprises determining at least one of: a speed of the vehicle or a yaw rate of the vehicle.

6. The computer-implemented method of claim 4 , wherein the determining the set of candidate entries for the respective radar detection data set is based further on the odometry data.

7. The computer-implemented method of claim 1 , wherein the set of candidate entries comprises diagonal elements of the calibration matrix.

8. The computer-implemented method of claim 1 , wherein the set of entries comprises diagonal elements of the calibration matrix.

9. The computer-implemented method of claim 1 , further comprising, for each of the plurality of radar detection data sets, determining a Doppler frequency shift for the respective radar detection data set.

10. The computer-implemented method of claim 9 , wherein the determining the set of candidate entries for the respective radar detection data set is based further on the Doppler frequency shift for the respective radar detection data set.

11. A system comprising:
at least one processor;
a non-transitory computer readable medium comprising instructions that, when executed by the at least one processor, cause the system to:
acquire a plurality of radar detection data sets with a radar sensor mounted on a vehicle that is driving on a street, the plurality of radar detection data sets being related to a plurality of objects, and the plurality of objects including at least one stationary object and at least one non-stationary object;
determine sets of candidate entries of a calibration matrix of a radar sensor by, for each of the plurality of radar detection data sets by:
determining an angle of arrival of radar detection data of the respective radar detection data set based on an assumption that the respective radar detection data set is related to a stationary object;
determining a set of candidate entries based on the angle of arrival determined for the respective radar detection data set; and
identifying and filtering out any radar detection data sets from the plurality of radar detection data sets that relate to a non-stationary object; and

determine a set of entries of the calibration matrix of the radar sensor based on the sets of candidate entries for the remaining radar detection data sets from the plurality of radar detection data sets after the filtering.

12. The system of claim 11 , wherein the instructions further cause the system to, for each of the plurality of radar detection data sets, determine whether the respective radar detection data set is related to a single scatterer.

13. The system of claim 12 , wherein the instructions further cause the system to filter out and disregard any radar detection data sets that are not determined to be related to a single scatterer.

14. The system of claim 11 , wherein:
the instructions further cause the system to determine odometry data related to the vehicle on which the radar sensor that acquires the plurality of radar detection data sets is mounted; and
the odometry data comprises at least one of: a speed of the vehicle or a yaw rate of the vehicle.

15. The system of claim 14 , wherein the determination of the set of candidate entries for the respective radar detection data set is based further on the odometry data.

16. The system of claim 11 , wherein the set of candidate entries comprises diagonal elements of the calibration matrix.

17. The system of claim 11 , wherein the set of entries comprises diagonal elements of the calibration matrix.

18. The system of claim 11 , wherein the instructions further cause the system to, for each of the plurality of radar detection data sets, determine a Doppler frequency shift for the respective radar detection data set.

19. The system of claim 18 , wherein the determination of the set of candidate entries for the respective radar detection data set is based further on the Doppler frequency shift for the respective radar detection data set.

20. A non-transitory computer readable medium comprising instructions that, when executed by at least one processor, cause the at least one processor to:
acquire a plurality of radar detection data sets with a radar sensor mounted on a vehicle that is driving on a street, the plurality of radar detection data sets being related to a plurality of objects, and the plurality of objects including at least one stationary object and at least one non-stationary object;
determine sets of candidate entries of a calibration matrix of a radar sensor by, for each of the plurality of radar detection data sets by:
determining an angle of arrival of radar detection data of the respective radar detection data set based on an assumption that the respective radar detection data set is related to a stationary object; determining a set of candidate entries based on the angle of arrival determined for the respective radar detection data set; and
identifying and filtering out any radar detection data sets from the plurality of radar detection data sets that relate to a non-stationary object; and
determine a set of entries of the calibration matrix of the radar sensor based on the sets of candidate entries for the remaining radar detection data sets from the radar detection data sets after the filtering.

Assignees

• Aptiv Technologies AG

Inventors

• Statnikov Konstantin
• Alcalde Carlos A

Classifications

• G01S13/931

  of land vehicles · CPC title

• G01S5/06

  Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements (G01S5/12 takes precedence) · CPC title

• G01S7/4091

  during normal radar operation · CPC title

• G01S7/403

  in azimuth, i.e. in the horizontal plane · CPC title

• G01S2013/932

  using own vehicle data, e.g. ground speed, steering wheel direction · CPC title