A radar apparatus for use in a vehicle (1) comprises a radar housing (6) which houses a radar sensor (7), a first 3-axis accelerometer (8) fixed so it cannot move relative to the radar sensor (7); a movable support (9) that comprises a first part (10), a second part (12), and an actuator (13) in which in use the first part (10) is fixed relative to the body (11) of the vehicle, the second part (12) is fixed relative to the radar housing (6), and the actuator is operable to move the second part relative to the first part around an axis that is fixed relative to the vehicle body by an actuator, and a signal processing apparatus (15) configured in use to determine a misalignment of the radar sensor from one or more of the signals output from the first 3-axis accelerometer (8) and one or more signals output from a second 3-axis accelerometer (16) fitted to the vehicle (1), in which the signals used are captured at different moments in time when the second part of the movable support is in two different positions.

A radar apparatus for use in a vehicle (10) comprises a radar sensor (16), a first 3-axis accelerometer (15) fixed so it cannot move relative to the radar sensor; and a signal processing apparatus (17) configured in use to determine a misalignment of the radar sensor by processing one or more of the signals output from the first 3-axis accelerometer with one or more signals output from at least one further sensor (14) fitted to the vehicle, in which the signal processing apparatus is arranged to process the signals using a scheme which determines any misalignment in pitch or roll of the radar sensor when the vehicle is stationary and additionally determines any offset in yaw when the vehicle is moving.

The present application describes a method including transmitting at least two radar signals by a radar unit of a vehicle, where a first signal is transmitted from a first location and a second signal is transmitted from a second location. The method also includes receiving a respective reflection signal associated with each of the transmitted signals. Additionally, the method includes determining, by a processor, at least one stationary object that caused a reflection. Further, the method includes based on the determined stationary object, determining, by the processor, an offset for the radar unit. The method yet further includes operating the radar unit based on the determined offset. Furthermore, the method includes controlling an autonomous vehicle based on the radar unit being operated with the determined offset.

A method for detecting angle measuring errors in an angular-resolution radar sensor for motor vehicles. For stationary radar targets, in each instance, the radial velocity and at least one locating angle are measured, and with the aid of the measured locating angle, an expected value of the radial velocity is calculated and compared to the measured value. Measurements of the radial velocities and the locating angles for one or more stationary targets are taken. For each of these targets, an individual indicator value is calculated, which indicates the difference of the measured radial velocity from the expected radial velocity. The individual indicator values obtained are subjected to angle-dependent scaling to compensate for the angular dependence of distortive angle errors. An indicator of the angle measuring error is calculated from the scaled, individual indicator values.

The present disclosure is directed toward a method and system for checking a vehicle height and radar aim of a vehicle. The method includes estimating, by a forward imaging system disposed in a vehicle, a vehicle height, and determining whether the estimated vehicle height is within a predefined height tolerance. The method further includes performing, by a radar system disposed in the vehicle, a radar alignment test to determine whether a radar device of the radar system is aligned within a predefined angular range, and adjusting the alignment of the radar device in response to the vehicle height being within the predefined height tolerance and the radar device being misaligned.

A vehicle radar device includes a radar control unit, a first antenna array, a second antenna array, a first circuit board and a second circuit board. The first antenna array is communicatively connected to the radar control unit. The first antenna array includes a plurality of first transmitting elements and a plurality of first receiving elements. The second antenna array is communicatively connected to the radar control unit. The second antenna array includes a plurality of second transmitting elements and a plurality of second receiving elements. The first antenna array is a plurality of circuit board antennas and disposed on the first circuit board. The second antenna array is a plurality of circuit board antennas and disposed on the second circuit board.

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 single-track motor vehicle or a multi-track motor vehicle with tilt technology, includes one or more environment sensors that are installed in the front of the motor vehicle and that are arranged for detecting an area in front of the motor vehicle, and a control unit. The control unit controls an actuator while the motor vehicle is travelling depending on the position of the motor vehicle that is detected by the position sensor system in such a way that when the motor vehicle is tilted along a plane perpendicular to the longitudinal axis thereof, the movable element is moved by means of the actuator so that the position of a respective environment sensor is not rotated relative to the longitudinal axis of the motor vehicle when the motor vehicle is tilted compared to the position of the respective environment sensor when the motor vehicle is not tilted.

There is provided a radar device configured to detect a target by executing signal processing on the basis of a transmission wave and a reflection wave of the transmission wave reflected on the target. An antenna unit having a plurality of antennas arranged in a vertical direction. A calculation unit configured to calculate vertical azimuths of the target on the basis of the reflection waves with respect to the transmission waves transmitted from each of the antennas, and to accumulate calculation results. An estimation unit configured to calculate moving average values of maximum values of the vertical azimuths on the basis of the calculation results accumulated by the calculation unit, and to estimate the moving average values of the maximum values, as a height of the target.

A mobile sensor calibration apparatus that is operable to be mounted to the side of a service vehicle to perform calibrations outside of a workshop environment. The mobile sensor calibration apparatus may further comprise platform members to provide an even surface for a subject vehicle having sensors needing calibration. In some embodiments, the mobile sensor calibration apparatus may be compacted and stored in the service vehicle during transportation.