Example embodiments disclosed herein relate to receiving, using a computer system in a vehicle, ground truth data that relates to a current state of the vehicle in an environment. A plurality of sensors may be coupled to the vehicle and controlled by a plurality of parameters. The vehicle may be configured to operate in an autonomous mode in which the computer system controls the vehicle in the autonomous mode based on data obtained by the plurality of sensors. The example embodiments also relate to obtaining perceived environment data that relates to the current state of the vehicle in the environment as perceived by at least one of the plurality of sensors, comparing the perceived environment data to the ground truth data, and adjusting one or more of the plurality of parameters based on the comparison.

A method of determining an alignment error of an antenna is described, wherein the antenna is installed at a vehicle and in cooperation with a detection device, and wherein the detection device is configured to determine a plurality of detections. Determining the plurality of detections comprises emitting a first portion of electromagnetic radiation through the antenna, receiving a second portion of electromagnetic radiation through the antenna, and evaluating the second portion of electromagnetic radiation in dependence of the first portion of electromagnetic radiation in order to localize areas of reflection of the first portion of electromagnetic radiation in the vicinity of the antenna. The method comprises determining a first detection and at least a second detection by using the detection device, and determining the alignment error by means of a joint evaluation of the first detection and the second detection.

A method and sensor system are disclosed for automatically determining object sensor position and alignment on a host vehicle. A radar sensor detects objects surrounding the host vehicle in normal operation. Static objects are identified as those objects with ground speed approximately equal to zero. Vehicle dynamics sensors provide vehicle longitudinal and lateral velocity and yaw rate data. Measurement data for the static objects—including azimuth angle, range and range rate relative to the sensor—along with the vehicle dynamics data, are used in a recursive geometric calculation which converges on actual values of the radar sensor's two-dimensional position and azimuth alignment angle on the host vehicle.

A method and a device for ascertaining a misalignment of at least one detection unit fastened on a vehicle with respect to the intended sensor main beam direction. The device includes at least one detection unit which emits signals and receives partial signals which have been reflected on objects, and ascertains the distance and the azimuth angle of the reflecting objects, and further includes an evaluation unit, to which the ascertained positions of the at least one detection unit are forwarded, and the determination of a misalignment takes place in the evaluation unit by comparing the stored alignment of the sensor main beam direction and the ascertained angle of the object extension with respect to the sensor main beam direction, this taking place under the assumption that the vehicle is moving on average, in parallel to the object extension, for the period during which the misalignment is ascertained.

The embodiments of the present disclosure relate to a radar control device, method and system. Specifically, a radar control device according to the present disclosure may include a receiver configured to receive first forward driving information which is a detection result of a front of a host vehicle from a lidar and second forward driving information which is a detection result of the front of the host vehicle from a radar; a straight line determiner configured to, in the case that an object around the host vehicle is continuously detected in a predetermined direction based on the first forward driving information and the second forward driving information, determine a first straight line based on the first forward driving information, and determine a second straight line based on the second forward driving information; and a controller configured to determine a correction angle of the radar based on an intersection angle between the first straight line and the second straight line, and generate a control signal for an angle correction of the radar according to the correction angle.

Examples of imaging systems are described herein which may implement microwave or millimeter wave imaging systems. Examples described may implement partitioned inverse techniques which may construct and invert a measurement matrix to be used to provide multiple estimates of reflectivity values associated with a scene. The processing may be partitioned in accordance with a relative position of the antenna system and/or a particular beamwidth of an antenna. Examples described herein may perform an enhanced resolution mode of imaging which may steer beams at multiple angles for each measurement position.

A method for checking at least one driving environment sensor of a vehicle is provided. The vehicle is located on a digital map, features of stored stationary objects in an environment of the vehicle, which are expected to be recognized by the driving environment sensor, are identified in the digital map and the environment of the vehicle is sensed using the driving environment sensor. A degradation of the driving environment sensor is deduced if the features to be recognized according to expectations are not recognized by the driving environment sensor or if features actually recognized by the driving environment sensor deviate strongly from the features to be recognized according to expectations.

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 estimation device mounted to a mobile object comprises an acquisition unit, an extraction unit, and an estimation unit. The acquisition unit acquires reflection point information for each of a plurality of reflection points detected by a radar device mounted to the mobile object. The extraction unit extracts, among the plurality of reflection points, at least one road surface reflection point detected by reflection on a road surface, based on at least the reflection point information. The estimation unit estimates a device height which is the height of the radar device mounted to the mobile object, based on at least a road surface reflection point distance which is the distance from the radar device to the 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.