Automated vehicle radar system with auto-alignment for azimuth, elevation, and vehicle speed-scaling-error
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01S-007/40
G01S-013/86
G01S-013/60
G01S-007/41
G01S-013/93
G01S-013/00
출원번호
US-0216866
(2016-07-22)
등록번호
US-10114106
(2018-10-30)
발명자
/ 주소
Schiffmann, Jan K.
Liu, Yu
Schwartz, David A.
Zhu, Xumin
출원인 / 주소
DELPHI TECHNOLOGIES, INC.
대리인 / 주소
Hazelton, Lawrence D.
인용정보
피인용 횟수 :
0인용 특허 :
6
초록▼
In accordance with one embodiment, a radar system with auto-alignment suitable for use in an automated vehicle is provided. The system includes a radar-sensor, a speed-sensor, and a controller. The radar-sensor is used to detect objects present in a field-of-view proximate to a host-vehicle on which
In accordance with one embodiment, a radar system with auto-alignment suitable for use in an automated vehicle is provided. The system includes a radar-sensor, a speed-sensor, and a controller. The radar-sensor is used to detect objects present in a field-of-view proximate to a host-vehicle on which the radar-sensor is mounted. The radar-sensor is operable to determine a measured-range-rate (dRm), a measured-azimuth-angle (Am), and a measured-elevation-angle (Em) to each of at least three objects present in the field-of-view. The speed-sensor is used to determine a measured-speed (Sm) of the host-vehicle. The controller is in communication with the radar-sensor and the speed-sensor. The controller is configured to simultaneously determine a speed-scaling-error (Bs) of the measured-speed, an azimuth-misalignment (Ba) of the radar-sensor, and an elevation-misalignment (Be) of the radar-sensor based on the measured-range-rate, the measured-azimuth-angle, and the measured-elevation-angle to each of the at least three objects, while the host-vehicle is moving.
대표청구항▼
1. A radar system with auto-alignment, said system comprising: a radar-sensor used to detect objects present in a field-of-view proximate to a host-vehicle on which the radar-sensor is mounted, said radar-sensor operable to determine a measured-range-rate (dRm), a measured-azimuth-angle (Am), and a
1. A radar system with auto-alignment, said system comprising: a radar-sensor used to detect objects present in a field-of-view proximate to a host-vehicle on which the radar-sensor is mounted, said radar-sensor operable to determine a measured-range-rate (dRm), a measured-azimuth-angle (Am), and a measured-elevation-angle (Em) to each of at least three objects present in the field-of-view;a speed-sensor used to determine a measured-speed (Sm) of the host-vehicle; anda controller in communication with the radar-sensor and the speed-sensor, said controller configured to simultaneously determine a speed-scaling-error (Bs) of the measured-speed, an azimuth-misalignment (Ba) of the radar-sensor, and an elevation-misalignment (Be) of the radar-sensor based on the measured-range-rate, the measured-azimuth-angle, and the measured-elevation-angle to each of the at least three objects, while the host-vehicle is moving, wherein the system includes a yaw-rate-sensor used to determine a yaw-rate of the host-vehicle, wherein the controller is further configured to determine a side-slip-angle (Ys) of the host-vehicle based on the yaw-rate, and further determine the speed-scaling-error, the azimuth-misalignment, and the elevation-misalignment based on the side-slip-angle. 2. The system in accordance with claim 1, wherein, said controller further configured to determine an actual-speed (Sa) based on the measured-speed and the speed-scaling-error, an actual-azimuth-angle (Aa) to the objects based on the azimuth-misalignment and the measured-azimuth-angle, and an actual-elevation-angle (Ea) to the objects based on the elevation-misalignment and the measured-elevation-angle. 3. The system in accordance with claim 1, wherein each of the at least three objects is characterized as stationary.
Kull Wolfgang,DEX ; Lauer Wolfgang,DEX ; Reichmann Thomas,DEX, Use of a device in a vehicle, using which the environment of the vehicle can be identified by means of radar beams.
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