This axial deviation estimating device estimates an axial deviation angle of a radar device mounted on a mobile body, and includes an acquiring unit, an extracting unit, a device-system coordinates unit, and an estimating unit. The estimating unit estimates an axial deviation angle using a relational expression. The relational expression is an expression that holds between at least one unknown parameter, which includes an axial deviation angle of a coordinate axis of the radar device about a target axis which is at least one of a horizontal axis and a traveling direction axis constituting the coordinate axes of the mobile body, and at least one element included in the device-system coordinates of a road surface reflection point.

An axial misalignment estimation apparatus, mounted in a moving body, acquires reflection point information for each of reflection points detected by a radar apparatus, extracts, from the reflection points, at least a single road-surface reflection point detected by reflection on a road surface, based on the reflection point information. Based on the reflection point information, the axial misalignment estimation apparatus identifies, for each road-surface reflection point, apparatus system coordinates based on coordinate axes of the radar apparatus, and estimates an axial misalignment angle and a height of the radar apparatus using a relational expression established between at least two unknown parameters and at least two elements included in the apparatus system coordinates of the road-surface reflection point. The unknown parameters include the axial misalignment angle being a misalignment angle of a coordinate axis of the radar apparatus around a target axis, and a mounting height of the radar apparatus.

A vehicle radar inspection system and method are provided for inspecting a mounting state of a radar sensor mounted to a vehicle. The vehicle radar inspection system includes a centering portion that aligns a position of the vehicle by driving rollers, displacement sensors that are respectively disposed at front and rear sides of the centering portion, an array antenna that measures propagation intensity of a radar signal transmitted from the radar sensor, and a server that connects wireless communication with a wireless terminal of the vehicle, calculates a mounting position of the radar sensor, and detects a mounting error of the radar sensor with reference to a normal reference mounting specification.

A radar sensor for use in a vehicle is described. The radar sensor comprising: at least one transmitter and at least once receiver to transmit and receive radar signals of the radar sensor; an acceleration sensor to measure the acceleration of said radar sensor or the chassis of said vehicle; a processor coupled to said acceleration sensor to calculate a tilt in a radar signal projected from said vehicle using said measured acceleration; a memory for storing said calculated radar tilt.

Far-field antenna pattern measuring system and solution using real-time synchronization of height information helps better the detecting and tracking quality of the 3D radar, paving the way to determine the pattern's practical shape and the impacts of the ground on it to find the accurate height tracking methods. The proposed system is comprised of 5 steps: step 1: get and save height information; step 2: get and save power information; step 3: plot the obtained pattern shape; step 4: determine the obtained pattern parameters; step 5: save lobes parameters into a table and assess in the association with the simulation results.

An information acquisition section repeatedly acquires observation point information including an observation direction from a radar device. An axial misalignment acquisition section acquires an axial misalignment amount of an actual mounting direction representing the actual orientation of the radar device with respect to a reference mounting direction of the radar device. An aliasing calculation section calculates an aliasing direction of the observation direction included in the observation point information. An instantaneous determination section determines, as an actual direction, one of the observation direction and the aliasing direction that is closer to the reference mounting direction, which is estimated from the axial misalignment amount and the actual mounting direction.

The disclosed technology is a vehicle object detection radar system incorporating an inertial measurement unit (IMU). The IMU may obtain input signals of, or relating to, for example, relative motion, acceleration, object detection angle, sway and vibration of the vehicle and/or any towed trailer, and process them for relay to the vehicle operator as operating information and possibly alarms. Also, the obtained IMU signals may be relayed directly to the vehicle's object detection radar systems and central control for automatic adjustment and control thereof.

In one embodiment, a method includes accessing sensor data generated by one or more sensors of the vehicle, determining that a first beam angle of a radar of the vehicle provides insufficient radar visibility of a current road condition according to one or more criteria based on the sensor data, determining an amount of adjustment needed to adjust the first beam angle of the radar, adjusting the first beam angle of the radar to a second beam angle based on the determined amount of adjustment, and detecting one or more objects based on the second beam angle of the radar.

The present disclosure is directed to checking and updating the calibration of a sensing apparatus at an autonomous vehicle (AV). After a sensing apparatus of an AV has been initially calibrated (e.g., when the AV is manufactured) calibration of that sensing apparatus may be checked or updated using data collected from similar vehicles of a fleet of vehicles. Each of the different vehicles of this fleet may identity its location and report that location. A first of these vehicles may receive data that identifies the location of a second vehicle. A sensing apparatus of the first vehicle may then identify locations of features at the second vehicle and a processor of the sensing apparatus may perform calculations to identify whether calibration of the sensing apparatus has changed. Parameters that adjust the calibration of the sensing apparatus may then be updated to maintain calibration of a sensing apparatus within acceptable tolerances.

An electronic device includes a transmission antenna, a reception antenna, and a controller. The transmission antenna transmits a transmission wave. The reception antenna receives a reflected wave that is the reflected transmission wave. The controller detects an object that reflects the transmission wave, based on a transmission signal transmitted as the transmission wave and a reception signal received as the reflected wave. The controller configures a transmission signal in a second frame among a plurality of frames of the transmission wave differently from a transmission signal in a first frame among the plurality of frames.