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WO2000075687A1 - Procede permettant d'effectuer des mesures radar et utilisation dudit procede pour l'etalonnage du systeme radar - Google Patents

Procede permettant d'effectuer des mesures radar et utilisation dudit procede pour l'etalonnage du systeme radar Download PDF

Info

Publication number
WO2000075687A1
WO2000075687A1 PCT/SE2000/001191 SE0001191W WO0075687A1 WO 2000075687 A1 WO2000075687 A1 WO 2000075687A1 SE 0001191 W SE0001191 W SE 0001191W WO 0075687 A1 WO0075687 A1 WO 0075687A1
Authority
WO
WIPO (PCT)
Prior art keywords
radar
measurements
vehicle
yaw rate
radar system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/SE2000/001191
Other languages
English (en)
Inventor
Magnus Kamel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CelsiusTech Electronics AB
Original Assignee
CelsiusTech Electronics AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CelsiusTech Electronics AB filed Critical CelsiusTech Electronics AB
Priority to AU55834/00A priority Critical patent/AU5583400A/en
Publication of WO2000075687A1 publication Critical patent/WO2000075687A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
    • G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation

Definitions

  • a radar system according to the present invention is schematically shown.
  • the radar system is mounted on a vemcle 110 and includes a radar sensor 100, signal processing means 130 and a yaw rate sensor 140.
  • the radar sensor 100 is located m the front of the vehicle 110 and transmits a radar microwave signal 105 which is reflected by objects (not shown) positioned m front of the vehicle 110.
  • the radar sensor 100 receives the reflected signal and transfers radar measurement data derived from the reflected signal to the signal processing means 130, which is electrically connected to the radar sensor 100.
  • the yaw rate sensor 140 is a horizontal curvature sensor electrically connected to the signal processing means 130.
  • step S5 ⁇ is updated based on the difference between the first and the second estimation using equation 2.12 and, for example, an LMS algorithm for calculating the amplification K .
  • the resulting ⁇ (t + 1) is stored m the non-volatile memory and will be used m the next iteration of equation 2.12. If, m step S6, radar measurements according to step S3 have been performed with respect to a minimum number of stationary objects, for example 300, the process continues to step S7, otherwise the process returns to step S3.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

La présente invention concerne un procédé permettant d'effectuer des mesures radar à l'aide d'un système radar embarqué à bord d'un véhicule. On compare alors les résultats de premières et de secondes mesures relatives à la position d'un objet. On associe ces mesures à des erreurs de paramètres supposées que l'on déduit de la comparaison et que l'on prend en considération pour les mesures radar futures. Ainsi, l'étalonnage du système radar se fait simultanément aux mesures radar normales.
PCT/SE2000/001191 1999-06-08 2000-06-08 Procede permettant d'effectuer des mesures radar et utilisation dudit procede pour l'etalonnage du systeme radar Ceased WO2000075687A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU55834/00A AU5583400A (en) 1999-06-08 2000-06-08 Method for performing radar measurements and use of the method for calibrating the radar system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE9902140-4 1999-06-08
SE9902140A SE9902140L (sv) 1999-06-08 1999-06-08 Förfarande vid utförande av radarmätningar

Publications (1)

Publication Number Publication Date
WO2000075687A1 true WO2000075687A1 (fr) 2000-12-14

Family

ID=20415973

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2000/001191 Ceased WO2000075687A1 (fr) 1999-06-08 2000-06-08 Procede permettant d'effectuer des mesures radar et utilisation dudit procede pour l'etalonnage du systeme radar

Country Status (3)

Country Link
AU (1) AU5583400A (fr)
SE (1) SE9902140L (fr)
WO (1) WO2000075687A1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1103823A3 (fr) * 1999-11-27 2002-05-15 Volkswagen Aktiengesellschaft Procédé pour ajuster un capteur de détection sur la distance et la direction d'un véhicule
WO2005038489A1 (fr) * 2003-10-17 2005-04-28 Daimlerchrysler Ag Dispositif pour determiner la vitesse de rotation d'un vehicule autour de son axe vertical
DE102004056400A1 (de) * 2004-11-23 2006-05-24 Daimlerchrysler Ag Verfahren zur Dejustageerkennung eines in einem Fahrzeug angeordneten Abstandssensor sowie Abstandssensor mit Sendereinrichtung in einem Fahrzeug
WO2011051287A1 (fr) * 2009-10-28 2011-05-05 Ifm Electronic Gmbh Procédé et dispositif d'étalonnage d'un système de caméra 3d à durée de trajet
WO2013118121A1 (fr) * 2012-02-11 2013-08-15 Ilan Saul Barak Capteur hyperfréquence de fréquence cardiaque sans contact
CN109507652A (zh) * 2018-11-29 2019-03-22 驭势（上海）汽车科技有限公司 一种车载雷达标定方法、装置、车载设备及存储介质
DE102006045165B4 (de) * 2006-09-25 2020-01-23 Robert Bosch Gmbh Fahrerassistenzsystem mit winkelauflösendem Ortungssensor
DE102018133693B3 (de) 2018-12-28 2020-06-04 Volkswagen Aktiengesellschaft Verfahren zur Kalibrierung der Ausrichtung eines sich bewegenden Objektsensors
WO2022030446A1 (fr) * 2020-08-06 2022-02-10 株式会社デンソー Dispositif d'estimation de déplacement axial
CN116593973A (zh) * 2023-03-29 2023-08-15 深圳承泰科技有限公司 一种车载毫米波雷达自动校准安装角度的方法和系统

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5495254A (en) * 1992-11-19 1996-02-27 Mazda Motor Corporation Detection and calibration of horizontal error in a scanning type radar device
US5670963A (en) * 1995-03-17 1997-09-23 Toyota Jidosha Kabushiki Kaisha Radar apparatus of automotive vehicle for producing accurate beam axis correction value
EP0899581A2 (fr) * 1997-08-27 1999-03-03 Delco Electronics Corporation Alignement automatique d'un senseur à vision en avant pour véhicule
WO1999026082A1 (fr) * 1997-11-18 1999-05-27 Daimlerchrysler Ag Procede de traitement de signaux radar

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5495254A (en) * 1992-11-19 1996-02-27 Mazda Motor Corporation Detection and calibration of horizontal error in a scanning type radar device
US5670963A (en) * 1995-03-17 1997-09-23 Toyota Jidosha Kabushiki Kaisha Radar apparatus of automotive vehicle for producing accurate beam axis correction value
EP0899581A2 (fr) * 1997-08-27 1999-03-03 Delco Electronics Corporation Alignement automatique d'un senseur à vision en avant pour véhicule
WO1999026082A1 (fr) * 1997-11-18 1999-05-27 Daimlerchrysler Ag Procede de traitement de signaux radar

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1103823A3 (fr) * 1999-11-27 2002-05-15 Volkswagen Aktiengesellschaft Procédé pour ajuster un capteur de détection sur la distance et la direction d'un véhicule
WO2005038489A1 (fr) * 2003-10-17 2005-04-28 Daimlerchrysler Ag Dispositif pour determiner la vitesse de rotation d'un vehicule autour de son axe vertical
DE102004056400A1 (de) * 2004-11-23 2006-05-24 Daimlerchrysler Ag Verfahren zur Dejustageerkennung eines in einem Fahrzeug angeordneten Abstandssensor sowie Abstandssensor mit Sendereinrichtung in einem Fahrzeug
DE102006045165B4 (de) * 2006-09-25 2020-01-23 Robert Bosch Gmbh Fahrerassistenzsystem mit winkelauflösendem Ortungssensor
WO2011051287A1 (fr) * 2009-10-28 2011-05-05 Ifm Electronic Gmbh Procédé et dispositif d'étalonnage d'un système de caméra 3d à durée de trajet
US9726754B2 (en) 2009-10-28 2017-08-08 Ifm Electronic Gmbh Method and device for calibrating a 3D TOF camera system
WO2013118121A1 (fr) * 2012-02-11 2013-08-15 Ilan Saul Barak Capteur hyperfréquence de fréquence cardiaque sans contact
EP2811908A4 (fr) * 2012-02-11 2015-10-28 Sensifree Ltd Capteur hyperfréquence de fréquence cardiaque sans contact
US9713434B2 (en) 2012-02-11 2017-07-25 Sensifree Ltd. Microwave contactless heart rate sensor
CN109507652A (zh) * 2018-11-29 2019-03-22 驭势（上海）汽车科技有限公司 一种车载雷达标定方法、装置、车载设备及存储介质
CN109507652B (zh) * 2018-11-29 2021-04-16 驭势（上海）汽车科技有限公司 一种车载雷达标定方法、装置、车载设备及存储介质
DE102018133693B3 (de) 2018-12-28 2020-06-04 Volkswagen Aktiengesellschaft Verfahren zur Kalibrierung der Ausrichtung eines sich bewegenden Objektsensors
US11486988B2 (en) 2018-12-28 2022-11-01 Volkswagen Aktiengesellschaft Method for calibrating the alignment of a moving object sensor
WO2022030446A1 (fr) * 2020-08-06 2022-02-10 株式会社デンソー Dispositif d'estimation de déplacement axial
JP2022030095A (ja) * 2020-08-06 2022-02-18 株式会社Soken 軸ずれ推定装置
JP7481196B2 (ja) 2020-08-06 2024-05-10 株式会社Soken 軸ずれ推定装置
CN116593973A (zh) * 2023-03-29 2023-08-15 深圳承泰科技有限公司 一种车载毫米波雷达自动校准安装角度的方法和系统

Also Published As

Publication number Publication date
SE9902140D0 (sv) 1999-06-08
AU5583400A (en) 2000-12-28
SE9902140L (sv) 2000-12-09

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