Vehicle system and cabin radar calibration method

Abstract

A vehicle and related systems and methods are provided for calibrating a sensing device within an interior cabin of the vehicle. A method includes initiating operation of an interior component of a vehicle; obtaining one or more signals from a sensing device within an interior cabin of the vehicle, where characteristics of the one or more signals are affected by operation of the interior component; determining a measured position of the internal component based at least in part on a characteristic of the one or more signals; obtaining a reference position associated with the internal component; and determining a calibration offset of a reference axis associated with the sensing device based on a relationship between the measured position and the reference position, wherein subsequent operation of the vehicle is affected by the calibration offset associated with the sensing device.

Description

Technical Field

[0001] The technical field relates generally to vehicle systems and, more particularly, to radar calibration using existing features within a vehicle interior. Background Art

[0002] Modern vehicles include various enhanced or advanced features to support the human driver in operating the vehicle. Many vehicles are capable of sensing their environment and assisting in vehicle operation. For example, autonomous vehicles or other vehicles capable of supporting an autonomous mode of operation use sensing devices such as radar, lidar, image sensors, etc. to sense their environment. Vehicle automation is classified into a numerical level from zero to five, with zero corresponding to no automation with full human control and five corresponding to full automation with no human control. Various automatic driver assistance systems such as cruise control, adaptive cruise control, and parking assist systems correspond to lower levels of automation, while true "driverless" vehicles correspond to higher levels of automation.

[0003] In addition to sensing the environment outside the vehicle, modern vehicles are increasingly evolving to include sensing capabilities for the interior of the vehicle. For example, sensors in the cabin of a vehicle may be used to determine the number of occupants in the vehicle and the relative positions of the occupants in the vehicle to support safety features (e.g., controlling airbag operation, verifying driver presence to support lower levels of autonomous operating modes, detecting vehicle occupants in a parked car, etc.). However, in addition to the number of different variables in the real-world environment, the alignment of sensors in the cabin may vary from vehicle to vehicle and over time due to manufacturing and assembly variations. Additional vehicle maintenance or service to address misalignment may be expensive, time consuming, and / or otherwise degrade the user experience. Therefore, it is desirable to provide vehicle systems and methods that are capable of managing misalignment or other anomalies with respect to sensors in the cabin. Summary of the invention

[0004] Devices for vehicles and related methods and vehicle systems are provided. A method for assisting the operation of a vehicle using a sensing device within an interior compartment of the vehicle comprises: initiating operation of an interior component of the vehicle by a control module associated with the vehicle; obtaining one or more signals from a sensing device within the interior compartment of the vehicle by the control module, wherein characteristics of the one or more signals are affected by the operation of the interior component; determining a measured position of the interior component by the control module based at least in part on the characteristics of the one or more signals; obtaining a reference position associated with the interior component by the control module; and determining a calibration offset of a reference axis associated with the sensing device by the control module based on a relationship between the measured position and the reference position, wherein subsequent operation of the vehicle is affected by the calibration offset associated with the sensing device. In one or more embodiments, subsequent operation of the vehicle includes the control module generating a user notification in a manner affected by the calibration offset associated with the sensing device.

[0005] In one or more embodiments, the sensing device is a radar, wherein the reference axis is an antenna boresight associated with the radar, and the control module initiates transmission of one or more reference electromagnetic signals by the radar, wherein obtaining the one or more signals includes obtaining one or more reflected electromagnetic signals from the radar in response to reflection of the one or more reference electromagnetic signals by an internal component, wherein the characteristic is a frequency of the one or more reflected electromagnetic signals. In one embodiment, operation of the internal component produces a Doppler shift in the one or more reflected electromagnetic signals. In another embodiment, the method includes determining an identification of the internal component based on the one or more reflected electromagnetic signals, wherein obtaining the reference position includes obtaining a reference position associated with the identification of the internal component from a data storage element. In another embodiment, initiating operation of the internal component includes initiating operation of an audio speaker within an interior passenger compartment of the vehicle. In another embodiment, initiating operation of the internal component includes initiating power seat adjustment of a seat within an interior passenger compartment of the vehicle. In another embodiment, initiating operation of the internal component includes initiating operation of a tactile device within an interior passenger compartment of the vehicle.

[0006] A non-transitory computer-readable medium including executable instructions is provided, which instructions, when executed by a processor, cause the processor to provide a calibration service, the calibration service being configurable to initiate operation of an interior component of a vehicle; obtain one or more signals from a sensing device within an interior compartment of the vehicle, wherein a characteristic of the one or more signals is affected by the operation of the interior component; determine a measured position of the interior component based at least in part on the characteristic of the one or more signals; obtain a reference position associated with the interior component; determine a calibration offset of a reference axis associated with the sensing device based on a relationship between the measured position and the reference position; and thereafter generate a user notification affected by the calibration offset associated with the sensing device. In one embodiment, the sensing device is a radar, wherein the reference axis is an antenna boresight associated with the radar. In one or more embodiments, the calibration service may also be configured to initiate transmission of one or more reference electromagnetic signals by the radar, wherein obtaining the one or more signals includes obtaining one or more reflected electromagnetic signals from the radar in response to reflection of the one or more reference electromagnetic signals by the interior component, wherein the characteristic is a frequency of the one or more reflected electromagnetic signals. In one embodiment, the operation of the interior component produces a Doppler shift in the one or more reflected electromagnetic signals. In another embodiment, the interior component is an audio speaker within an interior passenger compartment of the vehicle. In another embodiment, initiating operation of an interior component includes initiating power seat adjustment of a seat within an interior passenger compartment of the vehicle. In another embodiment, initiating operation of an interior component includes initiating operation of a haptic device within an interior passenger compartment of the vehicle.

[0007] An apparatus for a vehicle is also provided. The vehicle includes a radar within an interior passenger compartment of the vehicle, an interior component within the interior passenger compartment, and a controller coupled to the radar and the interior component, the controller being configurable by a processor to: initiate operation of the interior component; initiate transmission of one or more reference electromagnetic signals by the radar simultaneously with the operation of the interior component; obtain one or more reflected electromagnetic signals from the radar in response to reflection of the one or more reference electromagnetic signals by the interior component, wherein characteristics of the one or more reflected electromagnetic signals are affected by the operation of the interior component; determine a measured position of the interior component based at least in part on the characteristics of the one or more reflected electromagnetic signals; obtain a reference position associated with the interior component; determine a calibration offset of a reference axis associated with the radar based on a relationship between the measured position and the reference position; and thereafter provide a user notification affected by the calibration offset. In one embodiment, the interior component is an audio speaker. In another embodiment, the interior component is a vehicle seat with a power seat function. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Exemplary aspects will hereinafter be described with reference to the accompanying drawings, wherein like reference numerals denote like elements, and in which:

[0009] Figure 1 is a block diagram illustrating a vehicle system according to various embodiments;

[0010] Figure 2 is a block diagram illustrating a radar system suitable for use with a vehicle system according to various embodiments;

[0011] Figure 3 Describes a method suitable for combining with one or more embodiments described herein Figure 1 A flowchart of a calibration process implemented by a vehicle system; and

[0012] Figure 4 is a diagram showing various embodiments including a method suitable for Figure 3 Schematic diagram of the calibration process for calibrating the radar inside the cabin of a vehicle. DETAILED DESCRIPTION

[0013] The following detailed description is merely exemplary in nature and is not intended to limit application and use. In addition, it is not intended to be bound by any express or implied theory presented in the foregoing background technology, the invention content, or the following detailed description. As used herein, the term module refers to any hardware, software, firmware, electronic control component, processing logic and / or processor device, alone or in any combination, including but not limited to: application-specific integrated circuits (ASICs), electronic circuits, processors (shared, dedicated or groups) and memories that execute one or more software or firmware programs, combinational logic circuits, and / or other suitable components that provide the described functions.

[0014] The subject matter described herein may be implemented in the context of any type of sensing device that is packaged, arranged, or otherwise disposed within a vehicle interior and configured to sense, detect, or otherwise quantify one or more characteristics of the vehicle interior environment. For purposes of explanation, the subject matter is described herein in the context of a radar (or radar system) that is packaged, arranged, or otherwise disposed within a cabin or interior passenger compartment of a motor vehicle to detect or otherwise identify the presence of a driver, passenger, or other occupant of the vehicle. However, it should be understood that the subject matter described herein is not intended to be limited to any particular type of sensor or any particular type of vehicle, and may be implemented in an equivalent manner in the context of another type of sensor or sensing device (e.g., a lidar, camera, photodetector, optical sensor, image sensor, etc.) disposed within a cabin or interior compartment of any other type of vehicle (including, but not limited to, aircraft, marine vessels, buses, trains, military vehicles, etc.).

[0015] Figure 1 An exemplary system 100 is depicted that includes a radar 102 that is packaged, arranged, or otherwise disposed within an interior passenger compartment or cabin of a vehicle 110 and that is configured to sense, detect, or otherwise quantify the presence of one or more occupants within the interior cabin of the vehicle 110. In an exemplary embodiment, the radar 102 is communicatively coupled to a control module 106 associated with the vehicle 110. The control module 106 is communicatively coupled to one or more movable or actuatable components 104 that are similarly packaged, arranged, or otherwise disposed within the interior passenger compartment or cabin of the vehicle 110, wherein the control module 106 may be configured to synchronize or otherwise coordinate operation of the interior components 104 and the radar 102 to calibrate the alignment of the radar 102.

[0016] In an exemplary embodiment, the internal component 104 is implemented as any kind of component that can be actuated, excited, or otherwise operated in a manner that causes the reflected electromagnetic waves to exhibit a Doppler effect or Doppler shift at the location of the radar 102. For example, in one or more embodiments, one or more internal components 104 used to calibrate the alignment of the radar 102 include or are otherwise implemented as an audio speaker or other transducer that converts an electrical signal into physical motion. That is, in other embodiments, one or more internal components 104 may include other electrically actuated mechanical devices (e.g., seats equipped for electric seats) or tactile devices (e.g., seat massagers) that can produce a Doppler effect or Doppler shift. It should be noted that the subject matter described herein is not limited to any specific type or number of different internal components 104 that can be used to calibrate the alignment of the radar 102.

[0017] In an exemplary embodiment, the interior components 104 used to calibrate the alignment of the radar 102 are manufactured, packaged, or otherwise disposed within the interior cabin of the vehicle 110 such that they have a substantially fixed or known spatial position and orientation that does not significantly change or deviate over time during operation of the vehicle 110. For example, audio speakers on the vehicle 110 may be fixedly mounted to the body, frame, dashboard, or other structural feature of the vehicle 110 such that their position and orientation remain substantially constant throughout operation of the vehicle 110 during the life of the vehicle 110. Similarly, an actuatable seat may be fixedly mounted to the chassis or other structural feature of the vehicle 110 to establish a known position and orientation of the actuatable seat relative to the rest of the interior passenger cabin.

[0018] The control module 106 generally represents an electronic control unit (ECU), a body control module (BCM), a vehicle control unit (VCU), a controller or other electronic components on the vehicle 110, which include at least one processor and a data storage element, which can be configured in cooperation to support the subject matter described herein. In this regard, the control module 106 can be implemented as a system on a chip, an integrated circuit, or another electronic module. The processor may include or may be implemented as any customized or commercially available processor, a central processing unit (CPU), a graphics processing unit (GPU), an auxiliary processor in several processors associated with the control module 106, a semiconductor-based microprocessor (in the form of a microchip or chipset), a macroprocessor, any combination thereof, or any device generally used to execute instructions. The data storage element includes or is otherwise implemented as a non-temporary computer-readable storage device or medium, which may include volatile and non-volatile storage in a read-only memory (ROM), a random access memory (RAM), and a never-fail memory (KAM). KAM is a persistent or non-volatile memory that can be used to store various operating variables when the processor loses power. The data storage element may be implemented using any of a variety of known memory devices, such as a PROM (programmable read-only memory), an EPROM (electrical PROM), an EEPROM (electrically erasable PROM), flash memory, or any other electrical, magnetic, optical, or combination memory device capable of storing data, some of which represents executable instructions for use by the processor. The instructions may include one or more separate programs, each of which includes an ordered list of executable instructions for implementing logical functions. When executed by the processor, the instructions cause the processor to support or otherwise provide calibration services and to perform additional logic, calculations, methods, and / or algorithms for supporting the subject matter described herein.

[0019] In an exemplary embodiment, the control module 106 is coupled to an output device 108, which generally represents a component associated with the vehicle 110 that may be configured to generate or otherwise provide a user notification, alert, or other output to a driver, passenger, or other vehicle occupant in conjunction with the calibration process described herein. For example, the output device 108 may be implemented as an electronic display device that is located on the vehicle 110 or otherwise associated with another system on the vehicle 110, such as, for example, any kind of infotainment module, navigation head unit, or another similar or suitable unit resident on the vehicle 110, and the electronic display device may be integrated into a dashboard or other console within the interior passenger compartment of the vehicle 110. That is, in other embodiments, the output device 108 can be implemented as an electronic device associated with the vehicle owner or other user associated with the vehicle 110, which is separate and distinct from the vehicle 110, but is communicatively coupled to the control module 106, such as, for example, a smart phone, a desktop computer, a mobile computer (e.g., a tablet computer, a laptop computer, or a netbook computer), a video gaming device, a digital media player, a piece of home entertainment equipment, a digital camera or camcorder, a wearable computing device (e.g., a smart watch, smart glasses, smart clothing), etc.

[0020] Figure 2 Describes a suitable Figure 1 An exemplary embodiment of a radar system 200 of a radar 102 in a vehicle system 100 of the present invention. The radar system 200 includes one or more antennas 202 coupled to an output of a transmitter 204, which generally represents circuitry, hardware, software, firmware, processing logic, and / or other components that can be configured to generate an excitation signal in response to a command signal from a control module 206, which causes the one or more antennas 202 to transmit one or more electromagnetic waves to an interior passenger compartment or cabin of the vehicle. The radar system 200 also includes a receiver 208, which generally represents circuitry, hardware, software, firmware, processing logic, and / or other components coupled to the control module 206 to receive electromagnetic waves reflected from one or more objects in the interior passenger compartment or cabin of the vehicle back to the one or more antennas 202, and provide electrical signals corresponding to the received reflected electromagnetic waves to the control module 206.

[0021] As described in more detail below, based on the relationship between the received signal indicating the reflected electromagnetic waves received at the one or more antennas 202 and the command signal indicating the electromagnetic waves transmitted by the one or more antennas 202, the control module 206 can calculate or otherwise determine the distance (or range) and relative orientation (or azimuth or angle) between the location of the one or more antennas 202 and the detected object within the interior passenger compartment of the vehicle. Based on the relationship between the Doppler effect exhibited by the reflected electromagnetic waves from a particular detected object and the known excitation or actuation of a corresponding component (e.g., the interior component 104) within the interior passenger compartment of the vehicle, the specific orientation and / or distance of the component with respect to the location of the one or more antennas 202 can be identified, and the specific orientation and / or distance can be compared with the expected reference orientation and / or distance of the interior component with respect to the one or more antennas 202. In this regard, the radar system 200 may include or otherwise have access to a data storage element 212 (or memory) that stores or otherwise maintains radar reference calibration data or other information that identifies a target or reference spatial position and / or orientation of one or more antennas 202 of the radar system 200 that corresponds to an expected, designed, or desired position and / or orientation of the one or more antennas 202, as well as a target or reference distance and / or orientation corresponding to an expected spatial position of each interior vehicle component, which target or reference distance and / or orientation can be used to calibrate the orientation and / or position of one or more antennas 202 of the radar system 200 relative to the expected or desired spatial position and / or orientation of the one or more antennas 202.

[0022] Based on the difference between the observed or detected orientation and / or distance associated with the interior component and the reference orientation and / or distance associated with the interior component maintained in the data storage element 212, the control module 206 can calculate or otherwise determine a calibration offset for the reference axis of the one or more antennas 202 to be applied to the signals received from the receiver 208 to accurately locate the detected object within the interior passenger compartment of the vehicle with respect to the current orientation and spatial position of the one or more antennas 202. In an exemplary embodiment, the calibration offset is used to determine the current orientation or alignment of the boresight associated with the one or more antennas 202 with respect to a target orientation or alignment of the antenna boresight. For example, the antenna boresight of the radar system 200 may be initially designed or configured to be focused on a specific area of ​​the interior passenger compartment, such as the driver's seat of the vehicle. As the orientation or position of one or more antennas 202 changes or shifts over time, an alignment calibration process may be periodically performed to determine an updated calibration offset to allow the radar system 200 to continue to accurately detect the presence of a driver in the driver's seat, or otherwise accurately locate detected objects within the interior passenger compartment of the vehicle, even if the orientation or spatial position of the radar system 200 deviates from its originally designed or intended alignment relative to the interior passenger compartment.

[0023] In the illustrated embodiment, the control module 206 is coupled to an input / output (I / O) interface 210, which generally represents a combination of hardware, software, firmware, processing logic and / or other components associated with the radar system 200, and the interface 210 is configured to enable the control module 206 to communicate with another vehicle controller (e.g., the control module 106), for example, to receive a synchronization signal or other indicia of excitation or actuation of an internal vehicle component, which synchronization signal or other indicia is used to calibrate the alignment of the radar system 200 and / or provide an indicia of relative alignment or misalignment of the radar system 200 to the vehicle controller. For example, when the control module 206 determines that the difference between the observed or detected orientation and / or distance associated with the internal component and the reference orientation and / or distance associated with the internal component is greater than a maintenance threshold, the control module 206 may send or otherwise provide a command, instruction, signal, or other indicia to the vehicle controller to cause the vehicle controller to generate one or more user notifications or alerts to a user associated with the vehicle using an output device (e.g., output device 108) to notify the user to schedule a service appointment for maintenance to correct or otherwise address the misalignment of the radar system 200.

[0024] Control module 206 generally represents a processing system associated with radar system 200 and generally includes at least one processor, which may include or be implemented as any customized or commercially available processor, a central processing unit (CPU), a graphics processing unit (GPU), an auxiliary processor, a semiconductor-based microprocessor (in the form of a microchip or chipset), a macroprocessor, any combination thereof, or generally any device for executing instructions.

[0025] The data storage element 212 generally represents a non-temporary computer-readable storage device or medium accessible to the control module 206, which may include, for example, volatile and non-volatile storage in a read-only memory (ROM), a random access memory (RAM), and a keyless memory (KAM). A KAM is a persistent or non-volatile memory that can be used to store various operating variables when the control module 206 loses power. The data storage element may be implemented using any of a variety of known memory devices, such as a PROM (programmable read-only memory), an EPROM (electrical PROM), an EEPROM (electrically erasable PROM), a flash memory, or any other electrical, magnetic, optical, or combined memory device capable of storing data, some of which represent executable instructions used by the control module 206. The instructions may include one or more separate programs, each of which includes an ordered list of executable instructions for implementing a logical function. When executed by the control module 206, the instructions cause the control module 206 to support or otherwise provide calibration services and execute additional logic, calculations, methods, and / or algorithms for supporting the subject matter described herein.

[0026] Figure 3 An exemplary calibration process 300 suitable for implementation by a control module associated with a vehicle (such as control module 106 or control module 206 associated with radar 102, 200) is depicted to determine a calibration offset of a sensing device disposed within the vehicle using another internal component within the vehicle. For purposes of illustration, the following description may refer to the above description in conjunction with Figure 1-Figure 2 Although portions of the calibration process 300 may be performed by different elements of the vehicle system, for purposes of explanation, the subject matter may be described herein primarily in the context of the calibration process 300 as primarily performed by a calibration service at the vehicle control module 106 and / or the radar control module 206 .

[0027] Depending on the implementation, the calibration process 300 may be automatically initiated by a controller associated with the vehicle based on one or more triggering criteria. For example, in some implementations, the vehicle control module 106 may automatically initiate the calibration process 300 in response to receiving a command, signal, or other indication from a test tool to initiate calibration at a manufacturing plant after the vehicle is assembled. That is, in other implementations, the vehicle control module 106 may automatically initiate the calibration process 300 in response to detecting a door opening event (e.g., a user opening one of the vehicle trunk, the vehicle driver door, the vehicle passenger door, etc.), a seat sensor event (e.g., detecting a user occupying or vacating the driver's seat), a seat belt sensor event (e.g., detecting a driver's seat belt, a passenger seat belt, etc. being engaged or disengaged), or another vehicle entry event or vehicle exit event indicating a potential change in vehicle occupancy. In yet another implementation, the vehicle control module 106 and / or the radar control module 206 may automatically initiate the calibration process 300 in response to determining that the amount of time that has passed since the previous iteration of the calibration process 300 is greater than a threshold amount of time between calibrations. In yet other embodiments, the calibration process 300 can be automatically initiated by the vehicle control module 106 in response to detecting any other type of wake-up event for the vehicle, such as, for example, a key fob proximity detection event (e.g., when a key fob, cellular telephone, or other device capable of communicating proximity to the vehicle is within a threshold range of the vehicle), a remote command (e.g., remote start), etc.

[0028] After determining that a calibration process 300 should be initiated with respect to a particular sensing device within the vehicle interior, in an exemplary embodiment, the vehicle controller initiates operation of one or more interior vehicle components at 302 and initiates generation of one or more calibration reference signals concurrently with the operation of the interior vehicle components at 304 to facilitate receiving or otherwise obtaining a measurement signal from the sensing device at 306, wherein one or more characteristics of the measurement signal received at the sensing device are affected by the operation of the one or more interior vehicle components. For example, in an exemplary embodiment where the sensing device is implemented as an in-cabin radar 102, 200, the vehicle control module 106 initiates operation of one or more interior vehicle components 104 that are capable of reflecting a reference electromagnetic signal emitted by the radar 102, 200 back to the radar 102, 200 that exhibits a Doppler effect, Doppler shift, or other distinguishable or unique radar signature that can be mapped to or otherwise associated with the particular interior vehicle component 104. Thus, the vehicle control module 106 and / or the radar control module 206 may utilize the radar signature present in the reflected electromagnetic signal to identify the presence of a particular interior component 104 in the reflected electromagnetic signal (e.g., based on a Doppler shift in the reflected electromagnetic signal corresponding to actuation or operation of the particular interior component 104). It should be noted that the subject matter described herein is not limited to any particular type, number, or combination of interior vehicle components that may be used to support the calibration process 300, nor is the subject matter described herein limited to any particular sequence or order of operating the interior vehicle components (which may be operated sequentially or simultaneously).

[0029] In one embodiment, where the interior vehicle component 104 is implemented as an audio speaker within the cabin, the control module 106 initiates operation of the audio speaker to play a particular frequency or a sequence or pattern of different frequencies, which causes physical movement of the cone of the speaker, which in turn affects the frequency or other characteristics of the electromagnetic signal emitted by the radar 102, 200 and reflected by the speaker back to the radar 102, 200. Additionally or alternatively, where the interior vehicle component 104 is implemented as a vehicle seat equipped with a power seat function, the control module 106 initiates power seat adjustment of the vehicle seat to cause physical movement of the vehicle seat with respect to the radar 102, 200 and increase and / or decrease the exposure of the metal track or base of the vehicle seat. The movement of the vehicle seat may cause a Doppler effect or Doppler shift in the electromagnetic signal reflected by the vehicle seat, while the metal track or base provides a highly reflective object with a fixed distance and orientation to provide a distinguishable radar signature associated with the vehicle seat. In a similar manner, when the interior vehicle component 104 is implemented as a vehicle seat equipped with a haptic device or other tactile feedback functionality, the control module 106 initiates operation of the haptic device at a particular frequency or a sequence or pattern of different frequencies that causes physical movement or vibration that produces a distinguishable radar signature in a reflected electromagnetic signal that can be mapped back to the haptic device.

[0030] In embodiments where the calibration process 300 is initiated or implemented by the vehicle control module 106, the vehicle control module 106 may provide one or more commands or signals to the radar 102 and the one or more internal components 104 to synchronize or otherwise coordinate the operation of the one or more internal components 104 and the radar 102 such that the radar 102 generates, transmits, or otherwise transmits a reference electromagnetic signal while the one or more internal components 104 are operating to ensure that reflected electromagnetic signals received at the radar 102 exhibit a radar signature associated with the one or more internal components 104. For example, in some embodiments, the radar 102 and the internal components 104 may be communicatively coupled to the control module 106 via a common bus (e.g., a controller area network (CAN) bus) or other network that allows the control module 106 to provide synchronized commands or signals that are received by both the radar 102 and the one or more internal components 104 substantially simultaneously. That is, in other embodiments, where the calibration process 300 is initiated or implemented in whole or in part by the radar system 200 and / or the radar control module 206, the radar control module 206 can communicate with the vehicle control module 106 to coordinate the operation of one or more internal vehicle components 104 with the operation of the radar system 200.

[0031] Still reference Figure 3In an exemplary embodiment, the calibration process 300 calculates or otherwise determines the measured position of the corresponding interior vehicle component based on one or more characteristics of the obtained measurement signal at 308. In this regard, using the expected Doppler shift or other unique or distinguishable radar signature associated with the particular interior vehicle component 104 operated or actuated at 302, the vehicle control module 106 and / or the radar control module 206 can analyze the reflected electromagnetic signal to identify the presence of the interior vehicle component 104 in the reflected electromagnetic signal. Based on the position of the radar signature associated with the interior vehicle component 104 in the reflected electromagnetic signal, the vehicle control module 106 and / or the radar control module 206 calculates or otherwise determines the measured distance (or range) and measured orientation (pitch and azimuth) of the interior vehicle component 104 relative to the antenna boresight or other reference axis associated with the radar 102, 200.

[0032] The calibration process 300 identifies or otherwise obtains an expected reference position of a corresponding interior vehicle component corresponding to an expected or target position and orientation of the sensing device at 310, and then calculates or otherwise determines a calibration offset corresponding to the current position and orientation of the sensing device based on a difference between the measured position of the interior vehicle component and its expected reference position at 312. For example, the vehicle control module 106 and / or the radar control module 206 may read, query, or otherwise access a data store (e.g., the data store element 212) that maintains calibration data for the radar 102, 200 that identifies expected distances (or ranges) and expected orientations (or azimuths or angles) of different actuatable interior vehicle components 104 about an antenna boresight or other reference axis associated with the radar 102, 200. Based on the difference between the measured orientation and the expected orientation associated with the particular interior vehicle component 104, the vehicle control module 106 and / or the radar control module 206 uses the difference between the measured distance and the expected distance to the particular interior vehicle component 104 to calculate or otherwise determine a calibration offset that represents the amount by which a reference axis or antenna boresight of the radar 102, 200 deviates from its expected alignment. In this regard, in embodiments where a plurality of different interior vehicle components are operated at 302, the calibration process 300 may calculate a corresponding calibration offset for each different interior vehicle component and then average the different calibration offset values ​​to arrive at an average calibration offset value.

[0033] In an exemplary embodiment, the calibration process 300 compares the calibration offset indicative of the current alignment of the sensing device to a maintenance threshold at 314 to verify or otherwise confirm that the current alignment of the sensing device is within a tolerable amount of deviation from a target or expected reference alignment of the sensing device. In this regard, when the calibration offset is greater than the maintenance threshold, the calibration process 300 automatically generates one or more user notifications at 316 to notify the user that maintenance or service is required to correct the alignment of the sensing device. Thus, when the antenna boresight or other reference axis associated with the radar 102, 200 deviates from its intended alignment or orientation by an amount that limits the field of view of the radar 102, 200 relative to the area of ​​the interior passenger cabin of the vehicle that the radar 102, 200 is intended to detect or analyze, the calibration process 300 can automatically initiate the generation of a user notification that alerts the driver or other operator of the vehicle of the potential problem associated with the radar 102, 200 (e.g., by illuminating one or more dashboard indicators) so that the user can schedule service or initiate another remedial action (e.g., verifying that the radar 102, 200 is not covered or obstructed by another object) to restore normal operation of the radar 102, 200.

[0034] On the other hand, when the calibration offset is less than the maintenance threshold, the calibration process 300 utilizes the calibration threshold to detect and determine the presence of one or more occupants or other objects within the vehicle interior at 318 and provides a corresponding user notification. For example, in a manner similar to that described above at 308, after calibrating the offset to be applied to compensate for the deviation in the alignment of the radar 102, 200, the vehicle control module 106 and / or the radar control module 206 can operate the radar 102, 200 to simultaneously generate, transmit or otherwise transmit electromagnetic signals and receive corresponding reflected electromagnetic signals, which can exhibit different radar signatures indicating the presence (or absence) of vehicle occupants. For a particular observed radar signature that can be distinguished as a particular object, the vehicle control module 106 and / or the radar control module 206 calculates or otherwise determines the measured distance (or range) and measured orientation (or azimuth or angle) of the detected object relative to the current antenna boresight or other reference axis associated with the radar 102, 200, and then applies the calibrated offset to the measured position to derive a calibrated detected position of the particular object within the interior passenger compartment of the vehicle. When the calibrated detection location corresponds to the driver's seat or another discrete location within the interior passenger compartment, and the radar signature of the detected object corresponds to a human adult, the vehicle control module 106 and / or the radar control module 206 may detect or otherwise recognize the presence of the driver and initiate or otherwise perform one or more actions that result in corresponding user notifications affected by the detected object (e.g., activating or enabling the driver's side airbag and providing a corresponding indication, illuminating a fasten seat belt light, etc.). It should be noted that there are a variety of different types of user notifications that may be provided based on the detected object location, as well as a variety of different display criteria or notification criteria that may be utilized consistent with the presence, absence, or location of an object, and the present subject matter is not limited to any particular type, number, or combination of user notifications that may be affected by the calibrated offset.

[0035] Figure 4 An exemplary embodiment of a vehicle 400 is depicted that includes a radar 402 mounted or packaged on the interior of a C-pillar of an interior passenger compartment 401, the radar 402 being adapted to use Figure 3The calibration process 300 of FIG. 1 is performed using an interior audio speaker 404 for calibration. The vehicle control module 106 and / or the radar control module 206 initiates operation of the speaker 404 within the interior passenger compartment of the vehicle while operating the radar 402 to transmit a calibration reference electromagnetic signal within the interior passenger compartment, wherein operation of the speaker 404 produces a Doppler shift or other radar signature within the reflected electromagnetic signal received at the radar 402. In response to identifying the radar signature observed in the reflected electromagnetic signal corresponding to the audio speaker 404, the vehicle control module 106 and / or the radar control module 206 obtains an expected reference position of the audio speaker 404, the reference position defining an expected orientation of the axis 406 aligned between the radar 402 and the audio speaker 404. The vehicle control module 106 and / or the radar control module 206 calculates or otherwise determines a measured position 414 of the audio speaker 404, the measured position 414 defining an observed orientation of the axis 416 aligned between the radar 402 and the audio speaker 404.

[0036] Based on the difference 410 between the observed orientation axis 416 and the expected orientation axis 406, the vehicle control module 106 and / or the radar control module 206 calculates or otherwise determines a calibration offset value that will be applied to the measured position of the subsequently detected object to compensate for the calibrated or observed deviation in the antenna boresight axis from the expected orientation axis 406 to the measured orientation axis 416. Subsequently, applying the calibration offset value allows the measured object position determined using the current orientation or alignment of the radar 402 to be converted to a calibrated position relative to the interior passenger compartment 401 and the known location where the audio speaker 404 is packaged or mounted within the vehicle 400. As described above, when the difference or deviation 410 between the expected orientation axis 406 of the vehicle 400 and the observed current orientation axis 416 is greater than a threshold, the vehicle control module 106 and / or the radar control module 206 can automatically generate a user notification that the radar 402 requires maintenance or other attention, and automatically disable subsequent operation of the radar 402 (e.g., to prevent false positives or false negatives due to misalignment).

[0037] It should be noted that Figure 4 An embodiment having three interior audio speakers 404, 418, 420 (e.g., left, right, and center) is depicted, wherein in such an embodiment, the calibration process 300 may be performed to determine a respective calibration offset value for each of the audio speakers 404, 418, 420, which in turn may be averaged to arrive at an average calibration offset value to be applied to subsequent radar returns. In this regard, in embodiments where there are additional and / or different types of actuatable interior components (e.g., power seats, haptic devices, etc.), the respective calibration offset values ​​for each interior component may be averaged or otherwise combined to improve the accuracy and / or reliability of the offset values. It should be noted that although Figure 4 A two-dimensional implementation is depicted, but in practice, the calibration offset values ​​may be implemented as a vector or other representation to encompass three different orientation axes (e.g., roll, pitch, and yaw) and / or three different translation axes to provide calibration of the radar for six degrees of freedom applications.

[0038] For the sake of brevity, conventional techniques related to radars, sensors, driver assistance features, autonomous vehicles, and other functional aspects of the system (and the individual operating components of the system) may not be described in detail herein. In addition, the connecting lines shown in the various figures contained herein are intended to represent exemplary functional relationships and / or physical couplings between the various elements. It should be noted that many alternative or additional functional relationships or physical connections may exist in embodiments of the subject matter.

[0039] As used herein, the word "exemplary" means "serving as an example, instance, or illustration." Therefore, any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. All implementations described herein are exemplary implementations provided to enable those skilled in the art to make or use the invention and do not limit the scope of the invention which is defined by the claims.

[0040] Those skilled in the art will appreciate that various illustrative logic blocks, modules, circuits and algorithm steps related to the embodiments disclosed herein can be implemented as electronic hardware, computer software or a combination of the two. In terms of function and / or logic block components (or modules) and various processing steps, some embodiments are described above. However, it should be understood that such block components (or modules) can be implemented by any number of hardware, software and / or firmware components configured to perform a specified function. In order to clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits and steps have been generally described above from their functional aspects. Whether these functions are implemented as hardware or software depends on the specific application and design constraints imposed on the entire system. Experienced technicians can implement the described functions in different ways for each specific application, but such implementation decisions should not be interpreted as causing deviations from the scope of the present invention.

[0041] When implemented in software or firmware, the various elements of the system described herein are essentially code segments or instructions that perform various tasks. A program or code segment can be stored in a processor-readable medium, or sent on a transmission medium or communication path by a computer data signal contained in a carrier wave. "Computer-readable medium", "processor-readable medium" or "machine-readable medium" may include any medium that can store or transmit information. Examples of processor-readable media include electronic circuits, semiconductor storage devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. Computer data signals may include any signal that can be propagated through a transmission medium such as an electronic network channel, optical fiber, air, electromagnetic path or RF link. Code segments may be downloaded via computer networks such as the Internet, intranets, LANs, etc.

[0042] In this document, relational terms such as first and second may be used only to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Unless specifically limited by the claim language, numerical ordinals such as "first", "second", "third", etc. simply represent different individuals among a plurality and do not imply any order or sequence. Unless specifically limited by the claim language, the order of the text in any claim does not mean that the processing steps must be performed in a chronological or logical order according to that order. The processing steps may be interchanged in any order without departing from the scope of the invention as long as such interchange does not contradict the claim language and is logically consistent.

[0043] In addition, the foregoing description may refer to an element or node or feature that is "coupled" together. As used herein, unless otherwise expressly stated, "coupling" means that an element / node / feature is directly or indirectly connected to another element / node / feature (or communicates directly or indirectly with another element / node / feature), and is not necessarily mechanically connected. For example, two elements can be coupled to each other physically, electronically, logically or in any other way by one or more additional elements. Therefore, although the accompanying drawings can depict an exemplary arrangement of elements directly connected to each other, additional intermediate elements, equipment, features or parts may be present in the embodiment of the depicted theme. In addition, certain terms may also be used herein only for reference purposes, and are therefore not intended to be limited.

[0044] Although at least one exemplary aspect has been presented in the foregoing detailed description, it should be understood that there are a large number of variations. It should also be understood that the exemplary aspect or multiple exemplary aspects are merely examples and are not intended to limit the scope, applicability, or configuration of the present disclosure in any way. On the contrary, the foregoing detailed description will provide a convenient roadmap for implementing the exemplary aspect or multiple exemplary aspects for those skilled in the art. It should be understood that various changes may be made to the function and arrangement of the elements without departing from the scope of the present disclosure as set forth in the attached claims and their legal equivalents.

Claims

1. A method of using a sensing device within an interior cabin of a vehicle to assist operation of the vehicle, the method comprising: initiating operation of an interior component of the vehicle by a control module associated with the vehicle; obtaining, by the control module, one or more signals from the sensing device within the interior cabin of the vehicle, wherein characteristics of the one or more signals are affected by the operation of the interior component; determining, by the control module, a measured position of the internal component based at least in part on characteristics of the one or more signals; obtaining, by the control module, a reference position associated with the internal component; and A calibration offset of a reference axis associated with the sensing device is determined by the control module based on a relationship between the measured position and the reference position, wherein subsequent operation of the vehicle is affected by the calibration offset associated with the sensing device.

2. The method according to claim 1, wherein: The sensing device includes a radar.

3. The method according to claim 2, wherein: The reference axis includes a boresight of an antenna associated with the radar.

4. The method of claim 2, further comprising initiating, by the control module, transmission of one or more reference electromagnetic signals by the radar, wherein: Obtaining the one or more signals includes obtaining one or more reflected electromagnetic signals from the radar in response to reflection of the one or more reference electromagnetic signals by the internal component, wherein the characteristic includes a frequency of the one or more reflected electromagnetic signals.

5. The method according to claim 4, wherein: The operation of the internal components produces a Doppler shift in the one or more reflected electromagnetic signals.

6. The method of claim 4, further comprising determining an identity of the internal component based on the one or more reflected electromagnetic signals, wherein: Obtaining the reference location includes obtaining the reference location associated with the identification of the internal component from a data storage element.

7. The method according to claim 4, wherein: Initiating the operation of the internal component includes initiating the operation of at least one of: audio speakers within an interior passenger compartment of said vehicle; Power seat adjustment of seats within the interior passenger compartment of the vehicle; and A haptic device within the interior passenger compartment of the vehicle.

8. A vehicle comprising: a radar within the interior passenger compartment of said vehicle; interior components within said interior passenger compartment; as well as A controller coupled to the radar and the internal components, the controller being configurable by a processor to: initiating operation of the internal component; concurrently with said operation of said internal components, initiating transmission by said radar of one or more reference electromagnetic signals; obtaining one or more reflected electromagnetic signals from the radar in response to the internal component reflecting the one or more reference electromagnetic signals, wherein characteristics of the one or more reflected electromagnetic signals are affected by the operation of the internal component; determining a measured position of the internal component based at least in part on characteristics of the one or more reflected electromagnetic signals; obtaining a reference position associated with the internal component; determining a calibration offset of a reference axis associated with the radar based on a relationship between the measured position and the reference position; and A user notification is thereafter provided that is affected by the calibration shift.

9. The vehicle according to claim 8, wherein: The internal components include audio speakers.

10. The vehicle according to claim 8, wherein: The interior component includes a vehicle seat having a power seat function.

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