Axial Misalignment Estimation Using Divided Radar Regions

Solution Overview

Problem

Conventional radar apparatuses face decreased estimation accuracy for axial misalignment angles when objects are detected at orientations with low detection accuracy, leading to increased detection errors and erroneous object positioning.

Innovation Solution

An axial misalignment estimation apparatus that acquires reflection point information, extracts stationary reflection points based on moving body speed, and selects points within divided regions to determine the axial misalignment angle, thereby reducing the number of selected points and suppressing detection errors.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If stationary reflection points are selected from all detected reflection points without division, then more points are available for estimation, but detection errors increase and estimation accuracy decreases

Engineering Contradiction:

Improveaxial misalignment angle estimation accuracyVSAvoiddetection error

Core Design Contradiction:

Measurement precisionVSObject-affected harmful factors

Solution Approach 1:

The detection region is divided into multiple divided regions, and stationary reflection points are selected separately from each divided region. This segmentation approach ensures that selected points are spatially distributed and reduces the impact of localized detection errors on the overall estimation accuracy of the axial misalignment angle.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Different divided regions may have different detection qualities. By selecting stationary reflection points from each divided region separately, the method ensures that points from regions with better detection quality contribute more to the estimation, while minimizing the influence of points from regions with poorer detection quality.

Inventive Principle:

Principle #3Local quality

2Measurement precision

If all detected reflection points are used for axial misalignment estimation, then more data is available, but the computational complexity increases

Engineering Contradiction:

Improveaxial misalignment angle estimation accuracyVSAvoidprocessing complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The detection region is divided into multiple divided regions, and stationary reflection points are selected separately from each divided region. This segmentation approach ensures that selected points are spatially distributed and reduces the impact of localized detection errors on the overall estimation accuracy of the axial misalignment angle.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Instead of using all detected reflection points, the method selectively uses only the necessary number of stationary reflection points from each divided region. This partial action approach reduces computational complexity while maintaining sufficient data for accurate estimation.

Inventive Principle:

Principle #16Partial or excessive action

3Quantity of substance

If reflection points from orientations with low detection accuracy are included, then more points are available for estimation, but the overall estimation accuracy decreases

Engineering Contradiction:

Improvenumber of stationary reflection pointsVSAvoidaxial misalignment angle estimation accuracy

Core Design Contradiction:

Quantity of substanceVSMeasurement precision

Solution Approach 1:

The detection region is divided into multiple divided regions, and stationary reflection points are selected separately from each divided region. This segmentation approach ensures that selected points are spatially distributed and reduces the impact of localized detection errors on the overall estimation accuracy of the axial misalignment angle.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Different divided regions may have different detection qualities. By selecting stationary reflection points from each divided region separately, the method ensures that points from regions with better detection quality contribute more to the estimation, while minimizing the influence of points from regions with poorer detection quality.

Inventive Principle:

Principle #3Local quality

Data Source

PatentUS12099139B2Axial misalignment estimation apparatus

Publication Date: 2024.09.24 DENSO CORP

AI summary

An axial misalignment estimation apparatus estimates an axial misalignment angle of a radar apparatus mounted in a moving body. The estimation apparatus repeatedly acquires, for each reflection point detected by the radar apparatus, reflection point information including at least a relative speed and an orientation angle. The estimation apparatus acquires a speed of the moving body and extracts a stationary reflection point estimated to be a stationary object from the reflection points based on the speed of the moving body. The estimation apparatus selects, for each divided region, the stationary reflection point included in the divided region such that a predetermined condition is met. The divided region is a detection region of the radar apparatus that is divided into a plurality of parts in at least either of a horizontal direction and a vertical direction. The estimation apparatus determines the axial misalignment angle using the stationary reflection point selected.