Simulated degraded sensor data may be generated for use in training a model. For instance, first sensor data collected by a sensor of a perception system of an autonomous vehicle may be received and converted into the simulated degraded sensor data for a particular degrading condition, such as a weather-related degrading condition. Then, the simulated degraded sensor data may be used to train a model for evaluating performance of the perception system to detect objects external to the autonomous vehicle under one or more conditions.

Low-cost devices and methods for measuring radar transmission and/or reflectance of coated articles, as well as methods for forming coatings on articles are provided. An exemplary low-cost radar transmission and reflection measurement device includes a radar transmitter that emits a radar signal, a radar target to which the radar signal is directed, and a radar receiver that receives the radar signal. Further, the exemplary low-cost device includes a sample holder located between the radar transmitter and the radar target and between the radar target and the radar receiver. The sample holder receives a sample including a coating. The low-cost device also includes a controller connected to the radar transmitter and radar receiver. The controller measures a radar signal loss due to the coating.

A method for detecting blockage of a radar sensor (105) by processing a radar signal (115, 116, 117) received by the radar sensor (105). The method includes obtaining (S1) the radar signal (115, 116, 117), determining (S2) a range-Doppler representation (300) of the radar signal such that received radar signal energy (311) is represented as a function of distance (d0-d13) and relative velocity (v0-v7), determining (S4) predetermined azimuth angles (θ.sub.1, θ.sub.2, θ.sub.3) for the radar sensor (105) and calculating (S31) a relative velocity (v0, v3, v5) for each predetermined azimuth angle (θ.sub.1, θ.sub.2, θ.sub.3). The method further includes obtaining (S5) a first distribution (301) and at least one other distribution (302, 303) of received energy (311) over distance in the range-Doppler representation (300) for a first azimuth angle (θ.sub.1) and at least one other azimuth angle (θ.sub.2, θ.sub.3), generating (S7) a measure of similarity for the distributions, and detecting (S8) blockage of the radar sensor (105) if the measure of similarity satisfies a similarity criterion.

A detection system includes a first-sensor, a second-sensor, and a controller. The first-sensor is mounted on a host-vehicle. The first-sensor detects objects in a first-field-of-view. The second-sensor is positioned at a second-location different than the first-location. The second-sensor detects objects in a second-field-of-view that at least partially overlaps the first-field of view. The controller is in communication with the first-sensor and the second-sensor. The controller selects the second-sensor to detect an object-of-interest in accordance with a determination that an obstruction blocks a first-line-of-sight between the first-sensor and the object-of-interest.

A method for monitoring a sensor system. Sensor data of the sensor system are read in and information of the sensor data from different elevations of the sensor data is projected as image data into an azimuthal image plane. The information from at least two image areas of the image plane is evaluated in a spatially resolved manner in order to recognize a local sensor blindness of the sensor system. A blindness notification for an image area is output if the sensor blindness is recognized in the image area.

A system may be configured to detect an obstruction on sensor at least partially obstructing or distorting a portion of the field of view of the sensor. The system may also be configured to mitigate the effects of the obstruction or at least partially remove the obstruction from the sensor. The system may be configured to receive one or more signals from a sensor configured to generate signals indicative of an environment, which may include one or more objects, in which the sensor is present. The system may be configured to determine, for example, classify, based at least in part on the one or more signals, an obstruction or distortion on a surface of the sensor, and initiate a response, based at least in part on the determination, to mitigate effects of the obstruction and/or at least partially remove the obstruction.

An apparatus for emitting electromagnetic radiation and receiving partial radiation reflected by objects, and determines the instantaneous performance of its system detection. The apparatus includes a device for emitting a frequency-modulated transmit signal that has at least two signal sequences which have ramps, each succeeding one another in the frequency characteristic, with gaps in between, the signal sequences being interleaved with each other with a predetermined time offset so that in each case a first ramp of each of the signal sequences is output before a second ramp of one of the at least two signal sequences is output. The apparatus includes a mixer, an analog-to-digital converter, a transform device, and a device for detecting phase noise. The phase changes of the receive signals are compared over all two-dimensional spectra to a precalculated model, and the cause of the phase noise is ascertained with the aid of predetermined criteria.

Systems, methods and circuitries are disclosed for compressing radar data. In one example, a radar sender unit includes adaptive compression circuitry configured to determine tuning data, wherein the tuning data is based on one or more operating conditions; compress radar data based on the tuning data; and transmit the compressed radar data to a radar control unit for further processing.

Low-cost devices for measuring radar transmission and/or reflectance of coated articles are provided. An exemplary low-cost radar transmission and reflection measurement device includes a radar transmitter that emits a radar signal, a radar target to which the radar signal is directed, and a radar receiver that receives the radar signal. Further, the exemplary low-cost device includes a sample holder located between the radar transmitter and the radar target and between the radar target and the radar receiver. The sample holder receives a sample including a coating. The low-cost device also includes a controller connected to the radar transmitter and radar receiver. The controller measures a radar signal loss due to the coating.

A failure detection apparatus (10) acquires, as target data, sensor data output in a past reference period by a sensor (31), such as a millimeter wave radar or LiDAR (Light Detection And Ranging), mounted on a moving body (100). The failure detection apparatus (10) determines whether detected data indicating a characteristic of a detected object indicated by normal data, which is sensor data output when the sensor (31) is normal, is included in the acquired detected data in the past reference period. In this way, the failure detection apparatus (10) determines whether a failure has occurred in the sensor (31).