Zenuity Ab

Joakim Sörstedt

Tony Gustafsson

Erik Stenborg

Roza Maghsood

Mats Kvarnström

Andreas Löfman

Linlin Guo

A method of determination of the alignment angles of two or more road vehicle () borne radar sensors () for a road vehicle radar auto-alignment controller () starting from initially available rough estimates of alignment angles. From at least two radar sensors () are obtained signals related to range, azimuth and range rate to detections. The detections are screened () to determine detections from stationary targets. From the determined detections from stationary targets is derived a linearized signal processing model involving alignment angles, longitudinal and lateral velocity and yaw-rate of the road vehicle (). A filter algorithm is applied to estimate the alignment angles. Based on the estimated alignment angles are produced signals suitable for causing a road vehicle () radar auto-alignment controller () to perform radar offset compensation.

Method of determination of alignment angles of radar sensors for a road vehicle radar auto-alignment controller

Described herein is a method and arrangement () for sourcing of location information, generating and updating maps () representing the location. From at least two road vehicle () passages at the location is obtained () vehicle registered data on the surrounding environment from environment sensors and positioning data from consumer-grade satellite positioning arrangements and from at least one of an inertial measurement unit and a wheel speed sensor. The positioning data is smoothed () to establish continuous trajectories for the respective vehicles (). Individual surrounding environment maps are created using the data from each respective vehicle () passage at the location. From the individual surrounding environment maps are identified submaps () sharing area segments. Pairs of submaps () sharing area segments are cross-correlated (). The information from the pairwise cross-correlation () of submaps () is used for optimizing each submaps () offset relative a full map () of the surrounding environment and the submaps () are merged into the full map ().

Method and arrangement for sourcing of location information, generating and updating maps representing the location

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Gothenburg, Sweden

Joakim Sörstedt