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 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.

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.

There is disclosed a radar device including: an information storage to store position information of a mobile entity existing independently of the radar device; and a transmission array antenna having a transmission sub-array antenna which transmit a signal to the mobile entity. The radar device estimates a parameter such as arrangement relation and a transmission phase of the sub-array antenna by using amplitude phase information in a plurality of reception sub-array antennas that have received reflected signals from the mobile entity with respect to the reception signals, and position information of the mobile entity that is stored in an information storage, and performs operation of radar using the estimated parameter. With this configuration, there can be obtained a radar device that is able to estimate a parameter such as arrangement relation and a transmission phase of a sub-array antenna without installing a transmission source of reference radio waves.

A system and method are provided and include a subject vehicle having a sensor that senses information about an environment of the subject vehicle. An actuator rotates the sensor according to a commanded angle. A controller determines a position and a trajectory path of the subject vehicle, determines an adaptive point along the determined trajectory path based on the position, and generates the commanded angle for the actuator to rotate the sensor towards the adaptive point.

A system compensates a motion of a vehicle component relative to another vehicle component or ground. One or more sensors are supported by the vehicle component. The system includes a control unit configured to perform the following acts: receiving sensor data from the one or more sensors; detecting the motion of the vehicle component; and determining compensation data to enable a compensation of deviations in sensor data that are caused by the motion.

An automated vehicle radar system capable of self-calibration includes an antenna, a transceiver, and a controller. The antenna broadcasts a radar-signal and detects a reflected-signal reflected by an object. The transceiver determines a distance, an angle, and a range-rate of the object relative to the antenna based on the radar-signal and the reflected-signal. The controller determines a speed of a host-vehicle; determines when the object is stationary based on the speed, the angle, and the range-rate; stores in a memory a plurality of detections that correspond to multiple instances of the distance, the angle, and the range-rate as the host-vehicle travels by the object; selects an ideal-response of angle versus range-rate based on the speed; determines a calibration-matrix of the system based on a difference between the plurality of detections and the ideal-response; and adjusts an indicated-angle to a subsequent-object in accordance with the calibration-matrix.

A system and method for determining if a field calibration of a subject sensor associated with a vehicle is warranted, and calibrating the subject sensor using a sensor associated with another vehicle when calibration is warranted. Reference vehicles may perform predetermined maneuvers in order to provide additional measurements for use during calibration.

Level measuring device which can compensate the distortions, caused by an STC filter, of the received signal, by measuring a reference signal which passes through the receiving branch and also through the STC filter, during the ongoing operation of the level measuring device or during manufacture. For example, after passing through the receiving branch, this reference signal can be fed to a microprocessor which can calculate the correction values of the IF signal therefrom. A switch can be provided which can switch over between the reference signal and the IF signal.

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.