Radar Pose Estimation Using Camera Frames and RCS Responses

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

The accuracy of vehicle sensor systems, particularly radar sensors, is compromised by installation errors that affect the elevation angle, leading to incorrect detection ranges and fields of view, which can impact the vehicle's ability to detect objects and navigate safely.

Innovation Solution

A system that includes a radar pose estimator and an elevation angle estimator, using camera frames and radar cross-section responses to determine and refine the estimated radar pose and elevation angle, thereby detecting installation errors and ensuring accurate sensor alignment.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If radar sensors are installed on vehicles, then the vehicle can detect objects and navigate, but installation errors cause elevation angle deviations that compromise detection accuracy

Engineering Contradiction:

Improvedetection accuracyVSAvoidelevation angle accuracy

Core Design Contradiction:

ReliabilityVSMeasurement precision

Solution Approach 1:

The system uses camera frames and radar cross-section responses to continuously estimate and refine the radar pose and elevation angle, creating a feedback loop that detects and compensates for installation errors, thereby maintaining detection accuracy despite initial misalignment

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent replaces mechanical alignment methods with computational approaches using computer vision (camera frames) and signal processing (radar cross-section analysis) to determine elevation angles, eliminating the need for precise mechanical installation while achieving accurate measurement

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Measurement precision

If multiple radar targets are used to refine elevation angle estimates, then measurement precision improves, but system complexity and processing requirements increase

Engineering Contradiction:

Improveelevation angle estimation accuracyVSAvoidsystem processing complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The system uses multiple radar targets as copies of the same reference object at different positions, allowing the elevation angle to be estimated through multiple independent measurements that can be averaged or combined to improve precision without requiring a single complex reference target

Inventive Principle:

Principle #26Copying

Solution Approach 2:

The refinement process is divided into discrete steps: initial pose estimation from camera frames, first RCS response processing for preliminary elevation angle, and second RCS response processing for final refinement, breaking down the complex task into manageable segments

Inventive Principle:

Principle #1Segmentation

Data Source

PatentUS20230168363A1Method to detect radar installation error for pitch angle on autonomous vehicles

Publication Date: 2023.06.01 FORD GLOBAL TECH LLC

AI summary

A method may include receiving at least one camera frame of a first radar target and a second radar target, determining an estimated radar pose based at least in part on the at least one received camera frame, receiving a first radar cross-section (RCS) response from the first radar target and second radar target, determining an estimated elevation angle based at least in part on the first RCS response, and determining an estimated radar angle by refining the estimated radar pose and the estimated elevation angle based on at least in part on the first RCS response.