Radar Sensor Calibration via Dynamic Vehicle Movement
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Solution Overview
Problem
Existing methods for calibrating radar sensors in motor vehicles are complex and lack precision, particularly in determining the relative position and orientation of the sensor to reference objects after manufacturing.
Innovation Solution
A method involving at least one measurement cycle where the radar sensor determines a received signal from reference objects at known positions, with the vehicle moved relative to these objects to calculate its current position and orientation, allowing for precise calibration without requiring alignment with the reference objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the vehicle is moved relative to reference objects during calibration, then calibration precision is improved, but calibration complexity increases
Solution Approach 1:
The calibration method transitions from a static vehicle position to a dynamic moving state. The vehicle is moved along a predetermined trajectory past reference objects, allowing the radar sensor to capture multiple measurements during motion. This dynamic approach enables precise determination of relative position and orientation through trajectory analysis, resolving the contradiction between improved precision and increased complexity by making the system adaptive to motion states.
Solution Approach 2:
The calibration process incorporates feedback mechanisms where the radar sensor continuously measures reference objects during vehicle movement, and the system uses these measurements to iteratively refine the calibration parameters. The predetermined trajectory serves as a reference framework, and deviations or measurements along this path provide feedback for calculating accurate relative position and orientation, thereby achieving high precision without requiring overly complex manual alignment procedures.
2Measurement precision
If multiple reference objects are used at known positions, then measurement accuracy is improved, but system complexity increases
Solution Approach 1:
The calibration space is segmented into multiple discrete reference object positions along a predetermined trajectory. Instead of using a single complex reference structure, the system divides the calibration environment into several simpler reference objects placed at known positions. The radar sensor sequentially measures these segmented reference points during vehicle movement, and the system integrates these individual measurements to achieve overall high measurement accuracy, thus reducing system complexity while maintaining precision.
Solution Approach 2:
The calibration system transitions from two-dimensional planar reference arrangements to three-dimensional spatial distribution of reference objects along a trajectory. By positioning reference objects at multiple known positions in space and utilizing the vehicle's movement through this three-dimensional configuration, the system achieves more accurate determination of relative position and orientation. This dimensional expansion provides redundant measurement information that improves accuracy without proportionally increasing system 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 simple and precise calibration of radar sensors by determining the relative position and orientation of the sensor, improving the accuracy of distance and angle measurements for driver assistance systems.
Implementation Method 1
radar sensors operate, for example, at a frequency of approximately 24 GHz or approximately 79 GHz. Radar sensors are generally used to detect an object in the area surrounding the motor vehicle. Radar sensors measure the distance between the object and the motor vehicle.
Implementation Method 2
the radar sensor emits a radar signal in the form of an electromagnetic wave. This radar signal is then reflected by the object to be detected and received again by the radar sensor as an echo.
Data Source
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AI summary
The invention relates to a method for calibrating a radar sensor (5) of a motor vehicle (1), in which at least one measurement cycle is performed with the radar sensor (5) to be calibrated, wherein in the measurement cycle a received signal is determined with the radar sensor (5) which describes a plurality of reference objects (11), each of which is located at known positions in an environment (4) of the radar sensor (5), and the radar sensor (5) is calibrated on the basis of the determined received signal and a current position (14) of the motor vehicle (1), which describes a relative position and/or an orientation of the motor vehicle (1) to the reference objects (11), wherein the motor vehicle (1) is moved relative to the reference objects (11) during the calibration and during this movement in the at least one measurement cycle the current position (14) of the motor vehicle (1) is determined on the basis of the received signal and the known positions of the reference objects (11).