A method for calibrating a vehicular radar sensing system includes disposing two spaced apart calibrating radars at respective transmitting locations that are spaced from a vehicle calibration location at an end of line portion of a vehicle assembly line, and moving a vehicle along the vehicle assembly line, the vehicle including an electronic control unit (ECU) and a vehicular radar operable to sense exterior of the vehicle. Signals are transmitted via the first and second calibrating radars at the transmitting locations and, with the vehicle at the vehicle calibration location, the plurality of radar receivers of the vehicular radar receive the transmitted signals transmitted by the first and second calibrating radars, and the vehicular radar generates an output that is processed at the ECU. Responsive to processing at the ECU of the output of the vehicular radar, misalignment of the vehicular radar at the vehicle is determined.

A radar system includes a transmitter including a power amplifier (PA) for amplifying a local oscillator (LO) signal, to generate an amplified signal. The radar system also includes a receiver including an IQ generator for generating an I signal based on the LO signal and for generating a Q signal based on the LO signal and a low noise amplifier (LNA) for amplifying a looped back signal, to generate a receiver signal. The receiver also includes a first mixer for mixing the receiver signal and the I signal, to generate a baseband I signal and a second mixer for mixing the receiver signal and the Q signal, to generate a baseband Q signal. Additionally, the radar system includes a waveguide loopback for guiding the amplified signal from the transmitter to the receiver as the looped back signal.

A sensor unit for a vehicle includes an external sensor, a cleaning nozzle and a housing. The external sensor is configured to obtain information of an external environment, and to have a sensing area being set forward in a travel direction of the vehicle through an exposed surface exposed to the external environment. The cleaning nozzle has an injection port that is located in front of the exposed surface to inject a cleaning fluid to the exposed surface from above of the exposed surface in a yaw axis direction of the vehicle to clean the exposed surface. The housing is provided to hold the external sensor therein. The housing is configured to define a recess that is recessed toward a rearward in the travel direction from the exposed surface below the exposed surface in the yaw axis direction.

A sensor unit for a vehicle includes an external sensor, a cleaning nozzle and a housing. The external sensor is configured to obtain information of an external environment, and to have a sensing area being set forward in a travel direction of the vehicle through an exposed surface exposed to the external environment. The cleaning nozzle has an injection port that is located in front of the exposed surface to inject a cleaning fluid to the exposed surface from above of the exposed surface in a yaw axis direction of the vehicle to clean the exposed surface. The housing is provided to hold the external sensor therein. The housing is configured to define a recess that is recessed toward a rearward in the travel direction from the exposed surface below the exposed surface in the yaw axis direction.

Sensors coupled to a vehicle are calibrated, optionally using a dynamic scene with sensor targets around a motorized turntable that rotates the vehicle to different orientations. One vehicle sensor captures a representation of one feature of a sensor target, while another vehicle sensor captures a representation of a different feature of the sensor target, the two features of the sensor target having known relative positioning on the target. The vehicle generates a transformation that maps the captured representations of the two features to positions around the vehicle based on the known relative positioning of the two features on the target.

Sensors coupled to a vehicle are calibrated, optionally using a dynamic scene with sensor targets around a motorized turntable that rotates the vehicle to different orientations. One vehicle sensor captures a representation of one feature of a sensor target, while another vehicle sensor captures a representation of a different feature of the sensor target, the two features of the sensor target having known relative positioning on the target. The vehicle generates a transformation that maps the captured representations of the two features to positions around the vehicle based on the known relative positioning of the two features on the target.

Systems and methods of adjusting zone associated risks of a coverage zone covered by one or more sensors of an autonomous driving vehicle (ADV) operating in real-time are disclosed. As an example, the method includes defining a performance limit detection window associated with a first sensor based on a mean time between failure (MTBF) lower limit of the first sensor and a MTBF upper limit of the first sensor. The method further includes determining whether an operating time of the ADV operating in autonomous driving (AD) mode is within the performance limit detection window associated with the first sensor. The method further includes in response to determining that the operating time of the ADV operating in AD mode is within the performance limit detection window of the first sensor, adjusting a zone associated risk of the coverage zone to a performance risk of a second sensor.

A method for evaluating an angular position of an object recognized on the basis of radar data, the radar data being ascertained by a radar device. The method includes: ascertaining of an intrinsic speed of the radar device; ascertaining a relative speed of the recognized object in relation to the radar device, using the ascertained radar data; ascertaining at least one angular test region using the ascertained intrinsic speed and the ascertained relative speed, the at least one angular test region corresponding to possible stationary objects that have a relative speed that substantially corresponds to the ascertained relative speed; and ascertaining whether an azimuth angle of the recognized object lies in the ascertained angular test region.

An axis deviation angle estimation device estimates a vertical axis deviation angle of a radar device based on roadside object information including information on a plurality of reflection points on a roadside object and road surface information including information on a plurality of reflection points on a road surface. The vertical axis deviation angle is an angle of deviation of an actual mounting direction from a reference mounting direction in a vertical direction. The actual mounting direction is an actual direction of the radar device, and the reference mounting direction is a direction of the radar device when the radar device is mounted in a reference state.

An axis deviation angle estimation device estimates a vertical axis deviation angle of a radar device based on roadside object information including information on a plurality of reflection points on a roadside object and road surface information including information on a plurality of reflection points on a road surface. The vertical axis deviation angle is an angle of deviation of an actual mounting direction from a reference mounting direction in a vertical direction. The actual mounting direction is an actual direction of the radar device, and the reference mounting direction is a direction of the radar device when the radar device is mounted in a reference state.