This document includes techniques, apparatuses, and systems related to a waveguide with squint alteration, which can improve electromagnetic wave operation. In aspects, squint of electromagnetic waves pertaining to waveguides may be altered and improved. In this example, the techniques also enable the waveguide to direct electromagnetic waves according to respective chambers and one or more apertures, improving the quality of signals transmitted and received. The chambers may be divided according to a divider extending toward an opening of the waveguide, directing electromagnetic waves between the opening and the one or more apertures.

A radar apparatus mounted on a moving body includes a signal transceiver that receives one or more radar signals reflected by one or more second reflection points of one or more targets located in a scan range with a plurality of antennas, detection circuitry that detects an azimuth angle of the one or more second reflection points of the one or more targets on the basis of a correspondence between a phase difference among the plurality of antennas and an azimuth angle and a phase difference observed in the scan range among the plurality of antennas, calculation circuitry that selects the one or more second reflection points located in a second range that differs from a first range including a central axis on which the phase difference among the antennas is zero and calculates a second azimuth angle error, and correction circuitry that corrects the correspondence.

An axial misalignment estimation apparatus calculates a first estimated speed ratio that is an estimated speed ratio calculated using an orientation angle that is corrected based on an axial misalignment angle estimated in measurement cycles up to a previous measurement cycle, and calculates at least one second estimated speed ratio that is the first estimated speed ratio presuming aliasing is present at the orientation angle. The axial misalignment estimation apparatus determines, for each stationary reflection point, whether aliasing is present at the orientation angle of the stationary reflection point based on the first estimated speed ratio and the at least one second estimated speed ratio, and corrects the orientation angle of the stationary reflection point in which aliasing is determined to be present, and estimates the axial misalignment angle based on the corrected orientation angle for the stationary reflection point of which the orientation angle is corrected.

A marker used to detect an axial deviation of a radio wave axis Ar of a radar unit is provided in front of the radar unit and outside a radar field of view range set based on a filed of view angle θ of the radar unit on a vehicle. A relative position between the radar unit and the marker is different between before and after an axial deviation of the radio wave axis Ar of the radar unit occurs. Thus, an axial deviation (an amount Δ0 of axial deviation in an azimuth direction and an amount Δα of axial deviation in an elevation angle direction) of the radio wave axis Ar of the radar unit can be detected by obtaining a difference in marker detection position before and after the axial deviation by the radar unit.

The present invention relates to an apparatus and a method for controlling an alignment of a vehicle radar capable of automatically detecting a vertical angle of a target to perform an alignment in a vertical direction. The apparatus includes: a substrate; a transmitting antenna unit configured to be disposed at one side of the substrate; a receiving antenna unit configured to be disposed at the other side of the substrate; and a vertical angle detection unit configured to detect a vertical angle of a target based on a signal received from the receiving antenna unit, wherein the receiving antenna unit includes: a plurality of first antennas configured to be arranged in a row direction to a surface of the substrate; and a plurality of second antennas configured to be arranged in a column direction to the surface of the substrate.

A radar device for detecting a distance between vehicles by the transmission and reception of survey waves is mounted in a vehicle as an object detection means for detecting an object. A cruise control apparatus includes a trajectory calculation means for calculating a moving locus of a preceding vehicle traveling in front of an own vehicle on the basis of the detection result of the radar device, a route prediction means for calculating a predicted route of the vehicle on the basis of the moving locus of the preceding vehicle calculated by the trajectory calculation means, an axial deviation detection means for detecting the axial deviation of the radar device, and an invalidation processing means for invalidating the predicted route calculated by the route prediction means when it is detected that the axial deviation detection means has detected axial deviation of the radar device.

A method may include receiving at least one camera frame of a first radar target and a second radar target, determining an estimated radar pose based at least in part on the at least one received camera frame, receiving a first radar cross-section (RCS) response from the first radar target and second radar target, determining an estimated elevation angle based at least in part on the first RCS response, and determining an estimated radar angle by refining the estimated radar pose and the estimated elevation angle based on at least in part on the first RCS response.

A method for assessing measuring uncertainties of at least one environment detection sensor of an ego vehicle is disclosed. The method includes recording an environment of the ego vehicle by means of at least one environment detection sensor; detecting at least one object which is located in a region in front of the ego vehicle in the direction of travel; specifying a sensor output of at least one environment detection sensor as a ground truth when a specifiable minimum distance between the ego vehicle and the detected object is fallen short of; calculating a position of the object in relation to the ego vehicle at an earlier point in time based on data of a system for positioning; comparing a sensor output at the earlier point in time with the calculated position of the object; and assessing the measuring inaccuracy based on a result of the comparison.

A method for recognizing a motion state of an object by using a millimeter wave radar having at least one antenna is disclosed. The method includes the following steps. A region is set to select an object in the region, wherein the object has M ranges and M azimuths between the object and the at least one antenna during a first motion time. Each of the M ranges and the M azimuths are projected on a two-dimensional (2D) plane to form M frames. The M frames are sequentially arranged into a first consecutive candidate frames having a time sequence. The first consecutive candidate frames are inputted into an artificial intelligence model to determine a motion state type of the first consecutive candidate frames.

The misalignment quantity calculating apparatus determines whether a first object detected by a beam sensor is identical to a second object detected by an image sensor. Upon determining that the first object is identical to the second object, the misalignment quantity calculating apparatus calculates, as a misalignment quantity of the beam sensor, an angle between a first line segment and a second line segment; the first line segment connects a predetermined reference point of the misalignment quantity calculating apparatus and a first feature point of the first object, and the second line segment connects the predetermined reference point and a second feature point of the second object.