A method for simulating a trajectory of a radar target includes the procedures of determining a simulated trajectory of the simulated target and determining a simulating vehicle trajectory for a simulating vehicle. The simulating vehicle trajectory is defined according to a simulation profile. The simulation profile at least includes a spatial simulation profile and a signal delay profile. The method further includes the procedures of maneuvering the simulating vehicle according the spatial simulation profile, receiving a radar signal by the simulating vehicle and retransmitting a signal toward the radar at least according to the signal delay profile.

An electronic device comprises: a transmission antenna configured to transmit transmission waves; a reception antenna configured to receive reflected waves resulting from reflection of the transmission waves; and a controller. The controller is configured to detect an object reflecting the transmission waves, based on a transmission signal transmitted as the transmission waves and a reception signal received as the reflected waves. The controller is configured to set a range of detection of the object, for each frame of the transmission waves.

A computer implemented method for determining alignment parameters of a radar sensor comprises the following steps carried out by computer hardware components: determining measurement data using the radar sensor, the measurement data comprising a range-rate measurement, an azimuth measurement, and an elevation measurement; determining a velocity of the radar sensor; and determining the misalignment parameters based on the measurement data and the velocity, the misalignment parameters comprising an azimuth misalignment, an elevation misalignment, and a roll misalignment.

A mechanism is provided for estimating mounting orientation yaw and pitch of a radar sensor without need of prior knowledge or information from any other sensor on an automobile. Embodiments estimate the sensor heading (e.g., azimuth) due to movement of the automobile from radial relative velocities and azimuths of radar target detections. This can be performed at every system cycle, when a new radar detection occurs. Embodiments then can estimate the sensor mounting orientation (e.g., yaw) from multiple sensor heading estimations. For further accuracy, embodiments can also take into account target elevation measurements to either more accurately determine sensor azimuth and yaw or to also determine mounting pitch orientation.

A radar device includes radar transmission and receiving circuits. The radar transmission circuit transmits one or more transmission signals, each having a transmission period Tr. The radar receiving circuit receives one or more reflected signals in which the transmission signals are reflected by an object and estimates a direction of the object based on the reflected signals. The radar transmission circuit includes Nt transmission antennas. A control circuit sets a transmission gap period between a first and second periods, with the transmission gap period being a period during which the transmission signals are not transmitted. The first period is equal to an integral multiple of a period Np, the period Np is equal to or more than Nt times the transmission period Tr, and the second period is set after the first period and is equal to an integral multiple of the period Np.

Techniques for accurately determining a velocity of a radar (or ultrasonic, sonar) device and/or a moveable platform associated with the radar device may comprise fitting a model to a set of Doppler values received from the device, and determining the velocity based at least in part on the model. Fitting the model to the set may comprise determining a residual between an estimated Doppler value generated by the model and a measured Doppler value and altering a parameter of the model based at least in part on an asymmetrical loss function and the residual. The asymmetrical loss function may comprise a first portion that comprises a square of the residual and a second portion that is linearly proportional to the residual. The second portion may be based at least in part on an estimated velocity and/or estimated Doppler value and may account for out-of-plane returns.

An object sensing apparatus including: an object sensor mounted at a front upper portion of a vehicle; a vertical-tilting mechanism to allow the object sensor to tilt around a horizontal axis; and a horizontal-rotating mechanism to allow the object sensor to rotate around a vertical axis.

A method for determining the three-dimensional alignment of components of a radar system is described. The radar system is provided that comprises at least one portion which is permeable by radar signals. The radar system is imaged by using millimeter waves emitted by an imaging system. In the image obtained, it is determined the highest magnitude reflection coinciding with at least one of an expected location and an expected distance of the surface of a first component of the radar system being of interest. At least one of the position and the distance of that surface is determined. From the measurement, the relative phase information received from each portion of that surface at the determined position and/or the determined distance is obtained. Processing the phase information obtained so as to obtain the azimuth and tilt of the surface. Further, a testing system is described.

Systems and methods implemented in a vehicle involve obtaining elevation information and determining a change in elevation of the vehicle. A method includes determining that the change in elevation indicates an increase or a decrease in the elevation of the vehicle. The method also includes adjusting, for a radar system of the vehicle, a range of detection or a detection threshold that defines a minimum reflected energy required to declare a detection based on the determining that the change in elevation indicates the increase or the decrease in the elevation of the vehicle.

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.