FR3005509B1 - Procede et dispositif pour determiner et compenser l'angle de dereglage d'un capteur radar de vehicule - Google Patents

Procede et dispositif pour determiner et compenser l'angle de dereglage d'un capteur radar de vehicule Download PDF

Info

Publication number
FR3005509B1
FR3005509B1 FR1454127A FR1454127A FR3005509B1 FR 3005509 B1 FR3005509 B1 FR 3005509B1 FR 1454127 A FR1454127 A FR 1454127A FR 1454127 A FR1454127 A FR 1454127A FR 3005509 B1 FR3005509 B1 FR 3005509B1
Authority
FR
France
Prior art keywords
radar sensor
compensating
determining
angle
vehicle radar
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
FR1454127A
Other languages
English (en)
Other versions
FR3005509A1 (fr
Inventor
Dirk Steinbuch
Raik Schnabel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of FR3005509A1 publication Critical patent/FR3005509A1/fr
Application granted granted Critical
Publication of FR3005509B1 publication Critical patent/FR3005509B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • G01B21/24—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes for testing alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

Procédé pour déterminer et compenser un angle de déréglage (20) d'un capteur radar (2) d'un véhicule (1) consistant à : - générer des premières données contenant des informations relatives à l'orientation mesurée du capteur radar (2) par rapport au mouvement actuel du véhicule (1), - générer des secondes données contenant des informations relatives à l'orientation mesurée d'axes de références (32, 34, 35), - déterminer un angle de déréglage (20) par comparaison des premières aux secondes données générées, - compenser l'angle de déréglage (20), par le réglage de la caractéristique d'antenne du capteur radar (2). La direction d'émission (45) du lobe principal de la caractéristique d'antenne est modifiée en fonction de l'angle de déréglage (20), obtenu.
FR1454127A 2013-05-13 2014-05-07 Procede et dispositif pour determiner et compenser l'angle de dereglage d'un capteur radar de vehicule Expired - Fee Related FR3005509B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013208735.7A DE102013208735A1 (de) 2013-05-13 2013-05-13 Verfahren und Vorrichtung zum Ermitteln und Kompensieren eines Dejustagewinkels eines Radarsensors eines Fahrzeugs
DE102013208735.7 2013-05-13

Publications (2)

Publication Number Publication Date
FR3005509A1 FR3005509A1 (fr) 2014-11-14
FR3005509B1 true FR3005509B1 (fr) 2019-05-31

Family

ID=51787594

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1454127A Expired - Fee Related FR3005509B1 (fr) 2013-05-13 2014-05-07 Procede et dispositif pour determiner et compenser l'angle de dereglage d'un capteur radar de vehicule

Country Status (4)

Country Link
US (1) US9366751B2 (fr)
CN (1) CN104155634B (fr)
DE (1) DE102013208735A1 (fr)
FR (1) FR3005509B1 (fr)

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6371534B2 (ja) * 2014-02-12 2018-08-08 株式会社デンソーテン レーダ装置、車両制御システム、および、信号処理方法
DE102014225858A1 (de) * 2014-12-15 2016-06-16 Robert Bosch Gmbh Verfahren zum Kalibrieren eines mikromechanischen Sensorelements und ein System zum Kalibrieren einesmikromechanischen Sensorelements
US11370422B2 (en) * 2015-02-12 2022-06-28 Honda Research Institute Europe Gmbh Method and system in a vehicle for improving prediction results of an advantageous driver assistant system
JP6475543B2 (ja) * 2015-03-31 2019-02-27 株式会社デンソー 車両制御装置、及び車両制御方法
US10235817B2 (en) * 2015-09-01 2019-03-19 Ford Global Technologies, Llc Motion compensation for on-board vehicle sensors
DE102016204011A1 (de) * 2016-03-11 2017-09-14 Robert Bosch Gmbh Vorrichtung zur Ermittlung einer Dejustage einer an einem Fahrzeug befestigten Detektionseinrichtung
DE102016207213A1 (de) * 2016-04-28 2017-11-02 Robert Bosch Gmbh Radaranlage, Verfahren zum Betreiben einer Radaranlage und Fahrzeug mit einer Radaranlage
DE102016213329B4 (de) * 2016-07-21 2023-05-25 Robert Bosch Gmbh Verfahren zur Steuerung einer Sensorvorrichtung
US10114106B2 (en) * 2016-07-22 2018-10-30 Delphi Technologies, Inc. Automated vehicle radar system with auto-alignment for azimuth, elevation, and vehicle speed-scaling-error
US10690757B1 (en) 2016-08-25 2020-06-23 AI Incorporated Method and apparatus for improving range finding system readings
JP2018059783A (ja) * 2016-10-04 2018-04-12 株式会社デンソー 物体検出センサの軸ずれ判定方法
JPWO2018173855A1 (ja) * 2017-03-21 2020-01-23 株式会社小糸製作所 センサモジュール、センサシステム、およびセンサシステムの車両への搭載方法
DE102017215586A1 (de) 2017-09-05 2019-03-07 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung der Abweichung einer Sensorachse eines Umfeldsensors von der Fahrachse eines Fahrzeugs
JP6881175B2 (ja) * 2017-09-13 2021-06-02 トヨタ自動車株式会社 運転支援装置、および、運転支援装置の制御方法
GB201714979D0 (en) * 2017-09-18 2017-11-01 Trw Ltd Dectecting misalignment
CN107861106A (zh) * 2017-10-31 2018-03-30 加驰（厦门）智能科技有限公司 自动校正毫米波雷达纵向偏差的智能自行车及校准方法
GB2573016A (en) * 2018-04-20 2019-10-23 Trw Ltd A radar apparatus for a vehicle and method of detecting misalignment
GB2573015A (en) * 2018-04-20 2019-10-23 Trw Ltd A radar apparatus for a vehicle and method of detecting misalignment
DE102018211934A1 (de) 2018-07-18 2020-01-23 Robert Bosch Gmbh Verfahren und Vorrichtung zur Freigabe einer Fahrassistenzfunktion nach einem Unfall eines Fahrzeugs
EP3614167B1 (fr) * 2018-08-23 2022-07-20 NXP USA, Inc. Capteur radar de véhicule et procédé de fonctionnement
WO2020054392A1 (fr) * 2018-09-10 2020-03-19 日立オートモティブシステムズ株式会社 Dispositif de détection d'une déviation axiale de radar, système embarqué dans un véhicule le comprenant, et procédé de détection d'une déviation axiale de radar
US20210333358A1 (en) * 2018-11-21 2021-10-28 Lg Electronics Inc. Radar module and method of aligning the same
US20220281476A1 (en) * 2019-08-02 2022-09-08 Hitachi Astemo, Ltd. Aiming device, driving control system, and method for calculating correction amount for sensor data
CN112946587B (zh) * 2019-12-10 2024-05-17 华为技术有限公司 通信方法和装置
US11360191B2 (en) * 2019-12-27 2022-06-14 Woven Planet North America, Inc. Adaptive tilting radars for effective vehicle controls
CN111366901B (zh) * 2020-03-05 2023-11-10 北京小马慧行科技有限公司 标定车载毫米波雷达方位角度安装偏差的方法及装置
EP4256365A1 (fr) * 2020-12-10 2023-10-11 Preco Electronics, LLC Étalonnage et fonctionnement de radar de détection d'objets de véhicule à unité inertielle de mesure (imu)
EP4350384A1 (fr) 2022-10-04 2024-04-10 Robert Bosch GmbH Système à base de radar dans un véhicule et procédé d'assistance au conducteur ou de conduite automatisée
DE102022125692A1 (de) 2022-10-05 2024-04-11 Bayerische Motoren Werke Aktiengesellschaft Vorrichtung und verfahren zum feststellen eines vorliegens einer losstellung eines radarsensors eines kraftfahrzeugs

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1594602A (en) * 1975-06-04 1981-08-05 Marconi Co Ltd Radio systems and apparatus
US4121209A (en) * 1977-10-20 1978-10-17 The United States Of America As Represented By The Secretary Of The Navy Two-axis motion compensation for AMTI
US5755400A (en) * 1980-10-02 1998-05-26 Raytheon Company Inertial instrumentation correction technique
US4698489A (en) * 1982-09-30 1987-10-06 General Electric Company Aircraft automatic boresight correction
IT1237058B (it) * 1989-11-24 1993-05-13 Selenia Ind Elettroniche Dispositivo per la correzione automatica dell'errore differenziale, da applicare preferenzialmente ad un ricevitore radar di tipo monopulse
US5149011A (en) * 1991-06-20 1992-09-22 The United States Of America As Represented By The Secretary Of The Air Force Radar boresight error compensator
US5964822A (en) * 1997-08-27 1999-10-12 Delco Electronics Corp. Automatic sensor azimuth alignment
US5977906A (en) * 1998-09-24 1999-11-02 Eaton Vorad Technologies, L.L.C. Method and apparatus for calibrating azimuth boresight in a radar system
US6087995A (en) * 1999-02-17 2000-07-11 Anritsu Company Universal autoradar antenna alignment system
FR2798196B1 (fr) * 1999-09-07 2001-11-30 Thomson Csf Procede et dispositif pour l'alignement d'un radar automobile
GB2363016A (en) * 2000-05-31 2001-12-05 Roke Manor Research Automotive radar
US7813851B2 (en) * 2007-02-21 2010-10-12 Autoliv Asp, Inc. Sensing misalignment detection and estimation system
KR20120106143A (ko) * 2011-03-17 2012-09-26 현대모비스 주식회사 차량 레이더의 수평 또는 수직 방향으로의 얼라인먼트 방법
CN102508221B (zh) * 2011-10-13 2013-09-04 北京航空航天大学 一种机载激光雷达侧滚角偏差补偿方法

Also Published As

Publication number Publication date
US20140333473A1 (en) 2014-11-13
DE102013208735A1 (de) 2014-11-13
CN104155634B (zh) 2019-08-20
FR3005509A1 (fr) 2014-11-14
US9366751B2 (en) 2016-06-14
CN104155634A (zh) 2014-11-19

Similar Documents

Publication Publication Date Title
FR3005509B1 (fr) Procede et dispositif pour determiner et compenser l'angle de dereglage d'un capteur radar de vehicule
US10591304B2 (en) Method for localizing an automated motor vehicle
EP4328731A3 (fr) Dispositifs et procédés de mesure utilisant la réalité augmentée
WO2019216937A3 (fr) Système de ladar intelligent avec mises à jour de planification de mouvement à faible latence
GB2620877A8 (en) On-board positioning device-based roadside millimeter-wave radar calibration method
FR3047089B1 (fr) Procede et dispositif pour determiner la position d'un vehicule
WO2007076230A3 (fr) Procede et appareil pour obtenir une precision de localisation amelioree a l'aide d'un mappage de champ magnetique
GB2601689A (en) Determining the state of infrastructure in a region of interest
GB201204006D0 (en) Point of interest database maintenance system
SG10201403061PA (en) Control Surface Calibration System
US9386410B2 (en) Information processing apparatus, information processing method, and program
CN101685153B (zh) 麦克风间距测量方法和装置
WO2016197551A1 (fr) Dispositif de vision stéréoscopique binoculaire, procédé de réglage et dispositif de réglage correspondant, et dispositif d'affichage
EP3683038A3 (fr) Appareil de fabrication, système de fabrication, procédé de fabrication et support de mémoire
CN105717498A (zh) 激光测距仪俯仰角测量与校正***及方法
US20230341508A1 (en) Sonic pole position triangulation in a lighting system
SG2013042890A (en) Method and apparatus for offboard navigation of a robotic device
CN103645745A (zh) 一种双轴激光云高仪收发光学***光轴平行调整方法及装置
EP4235571A3 (fr) Procédé d'enregistrement d'image et appareil
WO2018163786A3 (fr) Appareil d'analyse de sujet cible, procédé d'analyse de sujet cible, appareil d'apprentissage et procédé d'apprentissage
WO2019078580A3 (fr) Procédé et dispositif de transmission de média de type immersif
WO2016198093A9 (fr) Détermination de paramètres de modèle à des fins de positionnement
FR3090488B1 (fr) Procédé d’attribution d’un capteur électronique de pression à une position d’une roue d’un véhicule automobile
EP4296707A3 (fr) Procédé de mesure d'informations et dispositif de mesure d'informations
EP3907522A3 (fr) Procédés et systèmes pour déterminer des paramètres d'alignement d'un capteur de radar

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 3

PLSC Publication of the preliminary search report

Effective date: 20170303

PLFP Fee payment

Year of fee payment: 4

PLFP Fee payment

Year of fee payment: 5

PLFP Fee payment

Year of fee payment: 6

PLFP Fee payment

Year of fee payment: 7

PLFP Fee payment

Year of fee payment: 8

ST Notification of lapse

Effective date: 20230105