Vehicle Radar Installation Angle Calculation Using Clutter Data
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Solution Overview
Problem
Existing vehicle-mounted radar systems face challenges in accurately calculating the installation angle of the radar apparatus, especially in varying environments and situations where the vehicle is not traveling straight ahead or when no stationary objects are present, leading to potential errors in obstacle detection.
Innovation Solution
A radar-installation-angle calculating device that includes radar data acquisition circuitry, data selection circuitry, radar movement estimation circuitry, and calculation circuitry to generate and process data on reflection wave intensities and Doppler velocities, allowing for the estimation of the radar moving direction and subsequent calculation of the installation angle, even in complex environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the radar apparatus uses a pre-set predetermined installation angle for obstacle detection, then the detection system is simple and easy to operate, but axis displacement from the predetermined installation angle causes detection errors and reduces reliability
Solution Approach 1:
The radar apparatus performs self-calibration by automatically calculating its own installation angle using clutter data from stationary objects in the environment. The calibration unit enables the system to self-correct installation angle deviations without external intervention, maintaining both ease of operation and detection reliability.
2Adaptability or versatility
If the radar apparatus calculates installation angle using existing methods (requiring straight-ahead travel and wall surfaces), then the calculation can be performed in limited environments, but it fails when the vehicle travels in various directions, no wall surface exists, or velocity is low
Solution Approach 1:
The installation angle calculation method uses clutter data from stationary objects that can be encountered in various driving scenarios (not limited to walls beside straight-ahead paths). By utilizing reflection waves from any stationary objects in the radar detection range, the system achieves universal applicability across different environments, vehicle directions, and velocities while maintaining calculation accuracy.
3Reliability
If the radar apparatus monitors installation angle continuously to detect axis displacement, then detection reliability improves, but the device complexity increases due to additional monitoring requirements
Solution Approach 1:
The radar apparatus uses its own existing clutter detection capability to perform installation angle monitoring without requiring separate dedicated monitoring hardware. The calibration unit leverages reflection waves that the radar already detects for obstacle detection, enabling self-monitoring functionality that improves reliability while avoiding additional device complexity.
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 accurate calculation of the radar installation angle regardless of the vehicle's environment, preventing axis displacement errors and ensuring reliable obstacle detection.
Implementation Method 1
a radar apparatus mounted on a vehicle... a radar sensor that transmits a radar wave and that receives a reflection wave
Implementation Method 2
second data group indicating Doppler velocities of the reflection points
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A first data group, which indicates reflection wave intensities from reflection points for radar directions indicating directions in which the corresponding reflection points exist relative to a radar apparatus and distances from the radar apparatus to the reflection points, and a second data group, which indicates Doppler velocities of the reflection points for the radar directions and the distances from the radar apparatus to the reflection points, are used to generate a third data group, which indicates the reflection wave intensities of the reflection points. A radar moving direction relative to a moving direction of the vehicle for each frame is generated based on the third data group. The radar moving direction when the moving direction of the vehicle is straight ahead is estimated using the radar moving direction in a predetermined number of frames, and the radar installation angle is calculated using the estimated radar moving direction.