A MIMO radar sensor including an array of transmitting antenna elements and receiving antenna elements that are offset relative to one another in a predefined direction, and including at least two electronic chips that are associated with different selections of the transmitting antenna elements and receiving antenna elements. At least one receiving antenna element is connectable to both chips, and the array includes at least one configuration of antenna elements that is made up of a transmitting antenna element with which the chip is associated, a receiving antenna element with which the chip is associated, a transmitting antenna element with which the chip is associated, and a receiving antenna element with which the chip is associated, and in which configuration the offset between the transmitting antenna elements matches the offset between the receiving antenna elements.

The present application discloses a testing method and apparatus for a vehicle perception system, a device and a storage medium, and relates to data processing and, in particular to the field of artificial intelligence such as automatic driving, intelligent transportation, etc. A specific implementation scheme lies in: acquiring an actual speed and a perceptual speed of a test object, where the perceptual speed of the test object is a speed of the test object perceived by the vehicle perception system; determining, according to the actual speed of the test object and the perceptual speed of the test object, speed reporting delay time of the vehicle perception system, where the speed reporting delay time is used to reflect sensitivity of the vehicle perception system to perceive a speed of an obstacle.

An example method involves detecting a sensor-testing trigger. Detecting the sensor-testing trigger may comprise determining that a vehicle is within a threshold distance to a target in an environment of the vehicle. The method also involves obtaining sensor data collected by a sensor of the vehicle after the detection of the sensor-testing trigger. The sensor data is indicative of a scan of a region of the environment that includes the target. The method also involves comparing the sensor data with previously-collected sensor data indicating detection of the target by one or more sensors during one or more previous scans of the environment. The method also involves generating performance metrics related to the sensor of the vehicle based on the comparison.

A system for calibrating a plurality of user sensors includes a calibration management system comprising a processor and a node services module and a plurality of calibration nodes disposed at a plurality of geographical locations. The processor is communicably coupled to the plurality of user sensors, the node services module, and the plurality of calibration nodes and operable to: provide calibration node information to a system associated with one of the plurality of user sensors and cause the calibration node to perform at least one calibration action after providing the calibration information, the calibration action may include performing an environmental measurement and/or providing a calibration reference signal to the user sensor. The processor is also operable to provide calibration results information containing results of the calibration action to the system associated with the one of the plurality of user sensors.

A method including: detecting that an aerial vehicle is located at a reference axis of a sensor, or at a predetermined or calculated angle of the reference axis of the sensor, the method further comprising, by a processor and memory circuitry: obtaining a given position P.sub.aerial of the aerial vehicle upon its detection at the reference axis of the sensor, or upon its detection at the predetermined or calculated angle of the reference axis of the sensor, and position P.sub.sensor of the sensor, and determining, based at least on P.sub.aerial and P.sub.sensor, a cardinal direction with respect to the reference axis.

In one embodiment, a method includes providing instructions to broadcast a modulated radar chirp signal from a radar antenna of a vehicle. The modulated radar chirp signal includes data associated with the vehicle. The method includes receiving a first return signal whose waveform substantially matches the modulated chirp signal. The first return signal is the modulated radar chirp signal after reflecting off of an object in an environment surrounding the vehicle. The method includes calculating a location for the object using the first return signal, receiving, from a base station antenna, a second return signal that indicates the modulated chirp signal was received by the base station antenna, and providing instructions to establish a wireless communication session with the base station antenna.

The difference between a plurality of road surface reflection levels detected by a plurality of object detection apparatuses mounted to a vehicle is calculated, and when the difference exceeds a range of values determined in advance, a control apparatus determines that there is an abnormality in any of the plurality of object detection apparatuses. Accordingly, without causing statistical processing to be complicated, occurrence of an abnormality in the object detection apparatus can be determined less erroneously than before.

Embodiments of the present disclosure provide a method, an apparatus, a device, and a medium for determining an angle of yaw, relating to a field of automatic driving. The method includes: obtaining, during a vehicle being driving straightly on a straight road, data of each obstacle in an environment located by the vehicle, the data of each obstacle being detected by a millimeter wave radar sensor located in the vehicle, at least one metal obstacle being provided on the straight road; recognizing the metal obstacle based on the data of each obstacle, and obtaining a metal obstacle line by fitting positions of the metal obstacle at different time points; and determining an angle between the metal obstacle line and a direction of a vehicle body as an angle of yaw between the millimeter wave radar sensor and the vehicle body.

A method for checking at least one surroundings detection sensor of a vehicle involves localizing the vehicle on a digital map and identifying features of stored stationary objects of the surroundings of the vehicle in the digital map, of which it is expected that they are recognized by the surroundings detection sensor. The surroundings of the vehicle are detected by the surroundings detection sensor and it is concluded that there has been a degradation of the surroundings detection sensor when the features to be recognized according to expectations are not recognized by the surroundings detection sensor or when features actually detected by the surroundings detection sensor deviate greatly from the features to be recognized according to expectation. The digital map with the stored features of the stationary objects is retrieved for a predetermined projection horizon of a central storage unit external to the vehicle.

A method for detecting an operating capability of an environment sensor of a vehicle. The method includes: ascertaining current coordinates and current orientation of the vehicle; determining at least one object in the environment of the vehicle and a setpoint position of the object in relation to the vehicle as a function of the ascertained coordinates, the ascertained orientation, a predefined position of the environment sensor on the vehicle, and a map of the environment; detecting the environment of the vehicle using the environment sensor, and generating environment data as a function thereof; detecting an actual position of the determined object in the environment of the vehicle as a function of the environment data; and detecting an operating capability of the environment sensor and/or calibrating the environment sensor, based on the actual position of the object with the setpoint position of the object.