Radar Sensor Mounting Angle Estimation Circuitry
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Solution Overview
Problem
Current methods for calibrating radar sensors on mobile platforms are costly, time-consuming, and require additional sensors or equipment, especially when the mounting orientation changes due to deformation, and often rely on high-quality landmarks that may not always be available.
Innovation Solution
A circuitry and method that estimate the mounting angle of radar sensors with respect to a mobile platform coordinate system using radar detection data from multiple sensors, eliminating the need for additional sensors like IMUs or cameras, and allowing online, continuous calibration during operation, without requiring overlapping fields of view or pre-defined maps.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional calibration methods using additional sensors (IMU, camera) or landmarks are used, then measurement precision of mounting angle is improved, but device complexity and cost increase
Solution Approach 1:
The radar sensor system performs self-calibration by using its own detection data from multiple targets to estimate mounting angles, eliminating the need for external sensors or landmarks. The system serves itself by processing radar detection data to determine calibration information autonomously.
Solution Approach 2:
The invention extracts calibration information directly from radar detection data of multiple targets without requiring additional sensors or external reference systems. By taking out the calibration function from the traditional sensor fusion approach and embedding it within the radar processing pipeline, the system achieves precise mounting angle estimation using only radar data.
2Measurement precision
If traditional calibration methods requiring controlled environments and landmarks are used, then measurement precision is improved, but loss of time and adaptability worsen
Solution Approach 1:
The calibration system transitions from static, pre-calibration approaches to dynamic, continuous calibration during operation. The system continuously estimates mounting angles using real-time radar detection data from multiple targets, allowing calibration to adapt to changing conditions without requiring controlled environments or stopping the mobile platform.
Solution Approach 2:
The system performs preliminary estimation of mounting angles using radar detection data before final calibration is needed. By continuously estimating velocities and positions of multiple targets and using these to calculate mounting angles in advance, the system maintains accurate calibration information ready for use.
3Measurement precision
If traditional calibration methods are used, then initial measurement precision is improved, but reliability under chassis deformation worsens
Solution Approach 1:
The system implements continuous feedback by repeatedly estimating mounting angles using current radar detection data from multiple targets. This feedback loop allows the system to detect and compensate for mounting angle changes caused by chassis deformation, maintaining reliable calibration information throughout the operational life of the mobile platform.
4Measurement precision
If additional sensors and equipment are used for calibration, then measurement precision is improved, but manufacturing cost increases
Solution Approach 1:
The radar sensor system performs multiple functions: it detects targets for navigation and simultaneously performs self-calibration for mounting angle estimation. By making the radar system multi-functional, the invention eliminates the need for dedicated calibration sensors or equipment, reducing manufacturing costs while maintaining calibration accuracy.
Data Source
AI summary
The present disclosure provides a circuitry for estimating a mounting angle of a radar sensor with respect to a mobile platform coordinate system. The circuitry is configured to estimate a first velocity of a first radar sensor, based on first radar detection data obtained from the first radar sensor, wherein the first radar detection data is indicative of at least two targets; estimate a second velocity of a second radar sensor, based on second radar detection data obtained from the second radar sensor, wherein the second radar detection data is indicative of at least two targets, and estimate the mounting angle of the first radar sensor, based on the estimated first velocity, the estimated second velocity, a predefined first mounting position of the first radar sensor with respect to the mobile platform coordinate system and a predefined second mounting position of the second radar sensor with respect to the mobile platform coordinate system.