Radar Device Mounting Angle Deviation Correction
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Solution Overview
Problem
Existing radar devices face challenges in quickly and accurately detecting and correcting mounting angle deviations, which can lead to erroneous target detection and increased noise pickup, affecting automatic driving systems.
Innovation Solution
A radar device system that extracts a lateral wall parallel to the vehicle's traveling direction using function fitting processing, calculates the angle azimuth based on host vehicle speed and distance, and compares it with the detected angle azimuth to correct mounting angle deviations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a gate range is widened to capture targets in consideration of mounting angle deviation, then the probability of capturing targets is improved, but the frequency of picking up noise such as clutter increases
Solution Approach 1:
The patent replaces the mechanical approach of widening the gate range with a computational approach using function fitting. By fitting a function to the relationship between angle azimuth and relative speed, the system can accurately predict target positions without expanding the search gate, thus avoiding noise pickup while maintaining target capture probability.
Solution Approach 2:
The patent changes the parameter used for target tracking from a fixed gate range to a dynamically calculated angle azimuth derived from function fitting. This parameter change allows precise target localization based on the fitted function, eliminating the need to widen the gate range and thereby reducing noise capture.
2Measurement precision
If PTL 1 method is used to calculate accurate axle, then measurement precision is improved, but device complexity increases due to requiring a dedicated system and facility
Solution Approach 1:
The patent enables the radar device to perform self-diagnosis and self-correction of mounting angle deviations using its own measurement data. By utilizing the relationship between angle azimuth and relative speed that the radar already measures, the system can automatically detect and correct mounting errors without requiring external dedicated facilities or complex additional systems.
Solution Approach 2:
The patent makes the radar device multi-functional by enabling it to perform both its primary function of target detection and the secondary function of mounting angle self-diagnosis. The same radar measurements used for target detection are also utilized to detect mounting angle deviations, eliminating the need for separate dedicated correction systems.
3Ease of operation
If PTL 2 method is used to detect targets with relative speed of 0, then ease of operation is improved, but productivity decreases due to requiring long time to accumulate sufficient targets
Solution Approach 1:
The patent changes the detection criterion from requiring targets with relative speed of 0 to using targets with various relative speeds. By utilizing the functional relationship between angle azimuth and relative speed, the system can detect mounting angle deviations from any target, not just stationary ones, dramatically reducing the time required to accumulate sufficient data.
Solution Approach 2:
The patent focuses on the local relationship between angle azimuth and relative speed for targets detected in the vicinity of the vehicle. By performing function fitting on locally detected targets rather than requiring accumulation of rare zero-speed targets from distant locations, the system achieves rapid mounting angle detection.
Data Source
AI summary
When a deviation has occurred in a mounting angle in a radar device, the deviation is automatically detected and automatically corrected in a short time. A lateral wall parallel to a traveling direction is extracted through a function fitting process by a function fitting processing unit (112) from a distance and a relative speed which are a result of performing positioning of a radar device. Then, a calculation processing unit (114) calculates an angle azimuth β of each point extracted as the lateral wall based on a host vehicle speed calculated at the time of the function fitting and the distance to the lateral wall. A comparison processing unit (115) compares the calculated angle azimuth β with an angle azimuth Θ that is a positioning result to detect a mounting angle deviation in the radar device, and a correction processing unit (116) corrects the mounting angle deviation.