An object of the present invention is to provide a method capable of calibrating a sensor function required in a safety design of a radar safety sensor in real time.

A calibration station (11) is provided on a traveling route of an unmanned vehicle (1) on which a safety sensor (3) for detecting an obstacle (2) ahead is mounted, and a standard reflection is provided at a position of a maximum measurement distance (L) of the safety sensor (3) at the calibration station (11). Prior to normal traveling of the unmanned trolley 1, the unmanned trolley 1 is moved to the calibration station 11 in advance, and the reference value obtained by measuring the standard reflector 12 with the safety sensor 3 is taught, During normal operation of the unmanned trolley 1, every time the unmanned trolley 1 reaches the calibration station 11, the measured value obtained by measuring the standard reflector 12 by the safety sensor 3 is compared with a reference value. Calibrate the sensor function of.

A radar target simulation system for simulating at least one radar target is disclosed. The radar target simulation system includes a processing circuit and an antenna array that is connected with the processing circuit. The antenna array is configured to receive a radar signal from a device under test, thereby generating an input signal. The processing circuit is configured to receive the input signal generated by the antenna array. The processing circuit is configured to simulate the at least one radar target based on the input signal. The processing circuit further is configured to simulate at least one additional event, wherein the at least one additional event is associated with at least one of the at least one radar target and an environment of the at least one radar target. The processing circuit is configured to generate an output signal for the antenna array based on the simulation of the at least one radar target and based on the simulation of the at least one additional event. Moreover, a radar target simulation method is described.

A radar system is described comprising a transceiver configured to cyclically transmit a first radar signal in a field of view and to cyclically receive a second radar signal from the field of view, and a processing unit configured to process the second radar signal to generate a detection track and detect the presence of a target in the field of view from the detection track. The radar system comprises a marker that can be placed in the field of view and is configured to emit a predetermined reflection signal when impinged upon by said first radar signal and send said predetermined reflection signal to the transceiver. The processing unit is further configured to store a predetermined diagnostic trace, and check whether the predetermined diagnostic track is present in the detection track to thereby determine whether the second radar signal contains the predefined reflection signal and, if not, to indicate a malfunction in the radar system.

A radar system is described comprising a transceiver configured to cyclically transmit a first radar signal in a field of view and to cyclically receive a second radar signal from the field of view, and a processing unit configured to process the second radar signal to generate a detection track and detect the presence of a target in the field of view from the detection track. The radar system comprises a marker that can be placed in the field of view and is configured to emit a predetermined reflection signal when impinged upon by said first radar signal and send said predetermined reflection signal to the transceiver. The processing unit is further configured to store a predetermined diagnostic trace, and check whether the predetermined diagnostic track is present in the detection track to thereby determine whether the second radar signal contains the predefined reflection signal and, if not, to indicate a malfunction in the radar system.

A simulation system for use in testing a radar system comprises a coarse delay module, a fine delay module, and a doppler shift module. The coarse delay module is configured to receive a first stream of digital data samples that are sampled from a radar signal at a sample time period or a second stream of digital data samples that are processed by another simulation system component and delay the digital data samples by a selectable first delay time that is greater than or equal to the sample time period. The fine delay module is configured to receive the digital data samples and filter the digital data samples to represent delay by a selectable second delay time that is less than the sample time period. The doppler shift module is configured to receive the digital data samples and adjust a value of a frequency content of the fine delayed samples.

In one embodiment, a method includes, by a computing system of a vehicle, providing one or more instructions configured to cause a first radar antenna to broadcast a modulated radar chirp signal. The modulated radar chirp signal may include data. The method includes receiving a first return signal that corresponds to the modulated radar chirp signal reflected off of an object in an environment. The method includes calculating a location for the object using the first return signal. The method includes receiving, from a second radar antenna, a second return signal indicating that the modulated radar chirp signal was received by the second radar antenna.

A method for calibrating a vehicular radar sensing system includes disposing two spaced apart calibrating radars at respective transmitting locations that are spaced from a vehicle calibration location at an end of line portion of a vehicle assembly line, and moving a vehicle along the vehicle assembly line, the vehicle including an electronic control unit (ECU) and a vehicular radar operable to sense exterior of the vehicle. Signals are transmitted via the first and second calibrating radars at the transmitting locations and, with the vehicle at the vehicle calibration location, the plurality of radar receivers of the vehicular radar receive the transmitted signals transmitted by the first and second calibrating radars, and the vehicular radar generates an output that is processed at the ECU. Responsive to processing at the ECU of the output of the vehicular radar, misalignment of the vehicular radar at the vehicle is determined.

A device for selectively reflecting an incident microwave signal or millimeter-wave signal includes multiple antennae disposed in an array. Each antenna has an input adapted to selectively receive a forward bias signal or a zero bias signal. The device also includes a diode disposed at each input of each antenna. The device also includes a switching device connected to each input, and configured to selectively apply a forward bias or zero bias to each of the diodes. In forward bias, each of the antennae detects the incident microwave signal or millimeter wave signal, and in zero bias, each of the antennae reflects the incident microwave signal or millimeter wave signal.

A method of emulating echo signals reflected from an elongated target during radar testing includes identifying first and second end points do the target; acquiring a radar signal from a radar sensor that includes multiple receive elements; generating emulated echo signals, responsive to the acquired radar signal, corresponding to target points on the target, including the first and second end points and reference points located on a line connecting the first and second end points, by repeatedly identifying descriptive attributes corresponding to each of the target points during an integration period of the radar sensor, where the descriptive attributes are identified by interpolating between the corresponding descriptive attributes of the first and second end points; and applying the emulated echo signals to the receive elements of the radar sensor, respectively, during the integration period, where radar sensor calculates a relative position of the target using the descriptive attributes.

A computing device receives a setup command and signals mobile robots to move sensor targets into positions within a predetermined range of a turntable. Each mobile robot may be coupled to a sensor target. Once the sensor targets are moved into the positions, calibration may be initiated, in which a vehicle is rotated using the turntable, and sensors coupled to the vehicle are calibrated based on detection of the sensor targets. The computing device may signal the mobile robots to adjust the sensor targets as needed, or, after calibration, to move into storage or charging positions