Vehicle Radar-IMU Sensor Fusion for Motion and Road Separation
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Solution Overview
Problem
Existing vehicle motion estimation techniques lack accuracy and versatility, particularly in distinguishing between vehicle motion and road geometry changes, which is crucial for advanced vehicle control systems.
Innovation Solution
A sensor device utilizing a combination of an advanced antenna array radar transceiver and an IMU to synchronize measurement data in a common reference frame, enabling precise estimation of vehicle motion and orientation relative to both the external surface and inertial frame, using joint processing to distinguish between vehicle and road motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If radar techniques are used to determine vehicle speed over ground, then accurate information about vehicle motion relative to ground surface is provided, but the system cannot distinguish between vehicle motion and road geometry changes
Solution Approach 1:
The patent combines radar techniques with IMU (inertial measurement unit) and uses a vehicle dynamics model to integrate multiple data sources. This merging allows the system to distinguish between vehicle motion and road geometry changes by cross-referencing radar measurements with IMU data and theoretical vehicle behavior models.
Solution Approach 2:
The patent introduces a vehicle dynamics model as an intermediary that processes and interprets raw radar and IMU data. This model acts as a mediator that helps distinguish between actual vehicle motion and apparent motion caused by road geometry changes, thereby resolving the contradiction between measurement accuracy and adaptability.
2Reliability
If multiple sensor systems are integrated to improve motion estimation accuracy, then reliable vehicle motion information is provided, but device complexity increases
Solution Approach 1:
The patent creates a multi-functional sensor device that integrates radar, IMU, and vehicle dynamics modeling capabilities into a single system. This universal device performs multiple functions (speed measurement, orientation estimation, road geometry detection) simultaneously, improving reliability while managing complexity through functional integration rather than separate systems.
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
This approach provides accurate and reliable vehicle motion estimation, enhancing vehicle control systems by improving safety, stability, and reducing energy consumption.
Implementation Method 1
an advanced antenna array radar transceiver arranged to measure motion of the sensor device relative to an external surface
Implementation Method 2
an inertial measurement unit, IMU, fixedly mounted relative the radar transceiver and arranged to measure motion of the sensor device
Data Source
Figure 1~2
Figure 3~4A
Figure 4B~4C
AI summary
A sensor device (100A) is disclosed, which comprises an advanced antenna array radar transceiver (120A) configured to measure motion of the sensor device relative to an external surface in a reference frame of the sensor device and provide corresponding radar data, and an inertial measurement unit, IMU, (110A) configured to measure motion of the sensor device in a reference frame of the sensor device and provide corresponding IMU data. The advanced antenna array radar transceiver and the IMU are fixedly mounted relative each other. Processing circuitry (130A) is configured to determine an orientation of the sensor device relative an inertial reference frame (e.g., in terms of one or more Euler angle(s)) based on joint processing of the radar data and the IMU data. Corresponding computer system, vehicle, computer-implemented method, computer program product, and non-transitory computer-readable storage medium are also disclosed.