Radar Sensor Calibration Using Stationary Object Angles
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Solution Overview
Problem
Current methods for calibrating radar sensors in autonomously driving vehicles are cumbersome and require factory calibration, which is costly and time-consuming.
Innovation Solution
A computer-implemented method for radar sensor calibration that uses statistical analysis to filter out non-stationary targets, determines the angle of arrival based on single-scatterer tests and Doppler angle estimation, and constructs a diagonal calibration matrix using odometry data, allowing for online calibration without initial factory calibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If factory calibration is performed, then calibration accuracy is improved, but calibration time and cost increase
Solution Approach 1:
The radar sensor performs self-calibration by utilizing stationary objects detected in the environment as natural calibration targets. The system automatically determines angles of arrival to these objects and computes calibration matrix entries without requiring external calibration equipment or factory calibration processes, enabling the sensor to calibrate itself in real-world operating conditions.
Solution Approach 2:
Stationary objects in the environment serve as intermediary calibration targets. The system uses these objects as mediators to transfer calibration information from the environment to the radar sensor, eliminating the need for direct factory calibration while maintaining accuracy through statistical analysis of multiple measurements.
2Measurement precision
If factory calibration is performed, then calibration accuracy is improved, but device complexity increases
Solution Approach 1:
The radar sensor performs self-calibration by utilizing stationary objects detected in the environment as natural calibration targets. The system automatically determines angles of arrival to these objects and computes calibration matrix entries without requiring external calibration equipment or factory calibration processes, enabling the sensor to calibrate itself in real-world operating conditions.
3Measurement precision
If statistical analysis is applied to filter non-stationary targets, then angle of arrival estimation is stabilized, but computational complexity increases
Solution Approach 1:
The system applies statistical analysis selectively to specific parameters (angle of arrival measurements) rather than processing all radar data comprehensively. By focusing computational efforts only on filtering and averaging angle measurements for stationary objects, the system achieves stabilization without requiring full-system statistical processing, thus limiting computational overhead to essential operations only.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient online calibration of radar sensors with low computational complexity, stabilizing angle of arrival estimation and eliminating the need for factory calibration, thereby reducing costs and time while improving calibration accuracy.
Implementation Method 1
Radar sensors, which may for example be used in at least partially autonomously driving vehicles, must be calibrated.
Implementation Method 2
Beside range and Doppler measurement, angle finding (AF) may be a crucial step in radar signal processing.
Data Source
AI summary
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.