Aptiv Technologies Limited

Aptiv Technologies Ag

Konstantin Statnikov

Alexander Ioffe

Uri Iurgel

Wolfgang Doerr

Ahmad Pishehvari

Honghui Yan

Markus Stefer

Carlos A Alcalde

Prashant J Narula

Prasant J Narula

The present disclosure relates to a method and a system for estimating a radar calibration matrix. According to the method, an initial calibration matrix is received, and via a radar sensor, radar detections are acquired from the external environment of the radar sensor. A plurality of beam vectors is determined which are derived from the radar detections, and a correction matrix is estimated based on the plurality of beam vectors. The initial calibration matrix and the correction matrix are combined in order to estimate a refined radar calibration matrix which is utilized as calibration matrix when applying the radar sensor.

Method and system for estimating a radar calibration matrix

A computer implemented method for calibrating a radar sensor comprises the following steps carried out by computer hardware components: acquiring a plurality of radar detection data sets; for each of the plurality of radar detection data sets, determining an angle of arrival of the radar detection data under the assumption that the respective radar detection data set is related to a stationary object; for each of the plurality of radar detection data sets, determining a respective set of candidate entries of a calibration matrix of the radar sensor based on the respective angles of arrival determined for the respective plurality of radar detection data sets; and determining a set of entries of the calibration matrix of the radar based on the plurality of sets of candidate entries.

Methods and systems for calibrating a radar sensor

A computer-implemented method for determining a position of a vehicle is disclosed, wherein the vehicle is equipped with a sensor for capturing scans of a vicinity of the vehicle, wherein the method comprises at least the following steps carried out by computer-hardware components: capturing at least one scan by means of the sensor with a plurality of sensor data samples given in a sensor data representation; determining, from a database, a predefined map with at least one element is given in a map data representation; determining a transformed map by transforming the at least one element of the predefined map from the map data representation into the sensor data representation; matching at least a subset of the sensor data samples of the at least one scan and the at least one element of the transformed map; and determining the position of the vehicle based on the matching.

Method for determining a position of a vehicle

A method is provided for calibrating a radar sensor. According to the method, a plurality of radar detections is acquired via the radar sensor, and an angle of arrival is determined for each of the radar detections. Equidistant bins of an electric angle are defined which are related to the angle of arrival, and the radar detections are assigned to the equidistant bins of the electric angle. Based on the assignment, a reconstructed array manifold is determined for calibrating the radar sensor.

Method and system for calibrating a radar sensor

A vehicle-based method of determining the extent to which a target object is a single point scattering center is provided, wherein the vehicle comprises a radar system including at least one radar transmit element adapted to send a radar signal towards the target object, and a plurality of receiver channels (elements or antennas), each being adapted to receive radar signals reflected from the target object. According to the method, a radar signal is transmitted from the at least one radar transmit element to the target object, and signals being reflected by the target object are received at the receiver channels. A frequency transformation of the reflected signals is performed in order to create a range-Doppler map for each of the plurality of receiver channels. Furthermore, a beam vector is generated by selecting a respective value from each of the range-Doppler maps as an element of the beam vector corresponding to a respective receiver channel. The beam vector is processed by a Fourier transform and a peak amplitude from the Fourier transform is calculated. Finally, a reference value is calculated which depends on the elements of the beam vector, and the peak amplitude is compared with the reference value in order to determine the extent to which the target object is a single point scattering center.

Method for testing a target object as single point scattering center

A vehicle-based method of determining the extent to which a target object is a single scatterer, said vehicle including a radar system including a radar transmit element, adapted to send a radar signal towards said target object, and an antenna receive array comprising a plurality M of a receive elements, providing a corresponding plurality of N radar receive channels, and adapted to receive radar signals reflected from said target object, said method comprising: a) transmitting a radar signal from said radar transmit element to said target object; b) receiving the reflected signal of the signal transmitted in step a) from the target object at said plurality of receiver elements; c) for each antenna element or channel, processing the received signal to provide amplitude or power data in the frequency domain; d) with respect to the data in step c), for each receive element/channel, determining the frequency with the maximum amplitude or power; e) determining the degree of variability of the results of step d) with respect to each receive element/channel; f) determining the extent to which the target object is a single scatterer based on the result of step e).

Single scatterer test using amplitude and a plurality of receive elements

A vehicle-based method to determine the suitability of an object in the vicinity of a vehicle as a suitable positional landmark, comprising the steps of: a) emitting a plurality of radar signals from a vehicle; b) detecting the radar returns from said emitted radar signals reflected by said object; c) analyzing at least one parameter of at least one radar return to determine the extent to which said object is a stationary object; d) analyzing at least one parameter of at least one radar return to determine the extent to which said object is a single scatterer; e) analyzing at least one parameter of a plurality of radar returns to determine the extent to which said parameter varies with the azimuthal angle between said vehicle and said object, f) determining the suitability of said landmark for the results of steps c), d) and e).

Method to determine the suitability of a radar target as a positional landmark

A tunnel detection system for a motor vehicle comprises a radiofrequency signal receiver provided to receive a radiofrequency signal coming from a source external to the vehicle; a controller communicating with the radiofrequency signal receiver, the controller being configured to detect at least one amplitude variation in the radiofrequency signal received by the receiver; the controller is configured to determine at least one correspondence level representative of the difference between the detected amplitude variation in the radiofrequency signal and at least one predetermined reference signal amplitude variation representative of the amplitude variation in a signal received by the receiver when the receiver travels into a tunnel; the controller is configured to compare the determined correspondence level with a predetermined minimum correspondence threshold, and detect the tunnel being travelled through by the detection system when the determined correspondence level is greater than or equal to the predetermined minimum correspondence threshold.

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Dusseldorf, Germany

Konstantin Statnikov