METHOD FOR ESTIMATING CORRECTION ANGLES IN A RADAR SENSOR FOR MOTOR VEHICLES

Abstract

A method for estimating correction angles in a radar sensor for motor vehicles, by which method a correction angle that considers a misalignment of the radar sensor is calculated by a statistical evaluation of positioning data that were recorded by the radar sensor. The positioning angle range of the radar sensor is subdivided into multiple sectors. The statistical evaluation of the positioning data for the different sectors is performed separately for the different sectors so that an individual correction angle is obtained for each sector.

Claims

1-4. (canceled)

5. A method for estimating correction angles in a radar sensor for motor vehicles, the method comprising: calculating a correction angle that takes a misalignment of the radar sensor into account by statistically evaluating positioning data that were recorded by the radar sensor, wherein a positioning angle range of the radar sensor is subdivided into multiple different sectors, and the statistical evaluation of the positioning data is carried out separately for the different sectors so that an individual correction angle is obtained for each sector.

6. The method as recited in claim 5, wherein a correction of the positioning angle data of an object uses a correction angle that is obtained by an interpolation between the correction angles obtained for the different sectors.

7. The method as recited in claim 5, wherein an angle-dependent portion of a systematic angle error of the radar sensor is stored for each of the different sectors, and when the stored angle-dependent portion is the same for two or more of the different sectors, the subdivision into the different sectors is modified in such a way that sectors for which a value is the same are combined to form to a larger sector.

8. The method as recited in claim 7, wherein the angle-dependent portion of the systematic angle errors is determined using the correction angles calculated in the course of the method.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0025] FIG. 1 shows an outline of a motor vehicle including a radar sensor which has an adjustment error, together with a diagram of a positioning angle range of the radar sensor.

[0026] FIG. 2 shows a block diagram of a radar sensor by which the method according to the present invention can be carried out.

[0027] FIGS. 3 and 4 show diagrams to describe methods for measuring an adjustment error of the radar sensor.

[0028] FIG. 5 shows a flow diagram for an example embodiment of the method according to the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0029] FIG. 1 shows an outline of a motor vehicle 10 which has a radar sensor 12 directed toward the front in the driving direction.

[0030] An axis A indicates a longitudinal center axis of motor vehicle 10 extended in the driving direction. In the illustrated example, radar sensor 12 is not correctly aligned with axis A but exhibits a certain adjustment error, that is, its optical axis B forms an angle δ with axis A, which indicates the adjustment error of the radar sensor.

[0031] Radar sensor 12 has a positioning angle range W, which is depicted here as a circle sector that is symmetrical with respect to optical axis B.

[0032] Plotted in addition is a Cartesian coordinate system having an axis x oriented in the driving direction and an axis y oriented in the transverse direction of the vehicle. A point P indicates the true position of an object located by radar sensor 12 in this Cartesian coordinate system.

[0033] An axis AP connects radar sensor 12 to point P. The angle between axes A and AP is the true azimuth angle of the object at point P.

[0034] Because of the adjustment error, however, radar sensor 12 ‘sees’ the object at a point P′ on an axis AP′, which is rotated by angle δ in relation to axis AP.

[0035] A point Q on an axis AQ indicates the true location of a further object that is detected by radar sensor 12. Because of the adjustment error, radar sensor 12 also sees this object at an assumed point Q′ on an axis AQ′, which is rotated by the angle δ in relation to axis AQ.

[0036] In the illustrated example, it is assumed that radar sensor 12 furthermore exhibits a systematic angle error, which has the result that the object which in truth is located at point P is detected at a location P″ on an axis AP″.

[0037] For the object that in reality is located at point Q, the angle error causes this object to be detected at a point Q″ on an axis AQ″.

[0038] In contrast to the adjustment error indicated by angle δ, which is the same for all located objects regardless of the azimuth angle under which these objects are detected, the systemic angle error is angle-dependent. In FIG. 1, the angle error for the object at point P is indicated by the angle between the axes AP′ and AP″, and for the object at point Q, the systematic angle error is given by the angle between the axes AQ′ and AQ″. It can be gathered that these angle errors differ from one another.

[0039] As will still be described in greater detail, methods are available which are able to be used to calculate a correction angle that is equal in its amount to angle δ and corrects the adjustment error, but under the assumption that no angle-dependent, systematic angle error exists. If one were to perform this correction for radar sensor 12 according to FIG. 1, then a correction angle would be obtained that does not exactly agree with angle δ. If averaging is carried out across very many objects that are essentially uniformly distributed across positioning angle range W, then a correction angle would come about that is composed of angle δ (according to the adjustment error) and the average value of the systematic angle errors. Even if it were assumed that the average value of the systemic angle error is 0°, then only the differences between points P and P′ and between Q and Q′ would be eliminated in the correction, while the deviations between P′ and P″ and Q′ and Q″ would remain because of the angle-dependent, systematic angle errors.

[0040] In order to improve the accuracy of the correction, positioning angle range W in FIG. 1 has been subdivided into multiple (i.e., four in the illustrated example) sectors S1, S2, S3 and S4, which all have the same size in the illustrated example. The adjustment error is determined individually for each of these sectors. That means that only the data of objects that were detected within this sector are taken into account in the determination of the adjustment error for one of the sectors in a statistical evaluation of the positioning data. In this way, a virtual optical axis that is rotated by a correction angle in relation to axis A is obtained for each sector. FIG. 1 shows virtual axes B1 and B4 for sectors S1 and S4 as well as associated correction angles γ1 and γ4. Axes B1 and B4 are virtual optical axes in the sense that they do not indicate the actual misalignment of radar sensor 12 but rather the apparent misalignment under consideration of the angle error that applies to the particular sector.

[0041] Once correction angles γ1-γ4 for each sector have been ascertained in this way following a certain measuring time during which sufficient statistical data were collected for each sector and radar sensor 12 supplies data for an assistance function, the azimuth angle for each detected object is corrected by the correction angle that applies to sector S1-S4 in which the object was detected.

[0042] In the illustrated example, axis AQ″, which indicates the positioning angle for the object in position Q″, lies approximately in the center of sector S4. In this case, one would directly use associated correction angle γ4 for the correction of the adjustment error and the angle error. For the object in position P, on the other hand, axis AP″ lies closer to the edge of sector S1. Starting from the plausible assumption that the angle errors and thus the correction angles vary steadily across the entire positioning angle range W, one would not directly use correction angle γ1 in this case but rather a correction angle that is obtained by an interpolation between γ1 and the corresponding correction angle for sector S2.

[0043] FIG. 2 shows, in the form of a block diagram, main components of radar sensor 12 that may be used to carry out the afore-described method. For each detected object, a transceiver unit 16 having an associated pre-evaluation unit supplies in each measuring cycle the distance d, the relative velocity of the object (which is not relevant here and thus not shown) and azimuth angle α, which may possibly be falsified by adjustment and angle errors. Distance d and azimuth angle α indicate the assumed position of a detected object in polar coordinates. A transformation unit 18 transforms the polar coordinates into Cartesian coordinates and thus supplies, among other things, coordinate y that indicates the transverse deviation of the object in relation to axis A for each object.

[0044] In an estimation module 20, correction angles γ.sub.i are determined for each sector S1-S4 of the positioning angle range. Only positioning data of objects that were detected in the sector for which the correction angle is determined are taken into account in the process.

[0045] A correction module 22 then corrects the measured azimuth angle α by the respective correction angle γ.sub.i, possibly with an interpolation between two correction angles, and supplies corrected Cartesian coordinates x*, y*, which indicate the true position P and Q for each object, with greater accuracy.

[0046] The functions of the afore-described components of the radar sensor are controlled by a control unit 24.

[0047] Based on FIGS. 3 and 4, examples of methods by which correction angles γ.sub.i are able to be estimated will now be illustrated.

[0048] FIG. 3 shows a traffic situation in which vehicle 10 equipped with radar sensor 12 tracks another vehicle 26 which travels directly ahead in the same lane. Radar sensor 12 exhibits an adjustment error indicated by angle δ. If the true position of vehicle 26 lies exactly on axis A as in the illustrated example, then radar sensor 12 measures an azimuth angle that agrees with angle δ in terms of its amount.

[0049] FIG. 4 shows the situation at a slightly later point in time. Vehicle 26 has not exactly kept its course and is now located slightly to the left of axis A. If vehicle 26 is tracked over a longer period of time and the measurement of the azimuth angle is repeated in every measuring cycle, then the measured azimuth angles will scatter uniformly around the δ value so that vehicle 26 will randomly deviate from axis A slightly to the right and then slightly to the left again. If the moving average is formed from the measured azimuth angles, then this average value will converge over time towards a limit value that indicates with high accuracy the desired correction angle, which is made up of angle δ and possibly a systematic angle error for the 0° direction of the radar sensor. The longer the measuring period and thus the greater the statistical basis, the more precisely the obtained limit value will map the “correct” correction angle.

[0050] Another method, which will likewise be described with the aid of FIGS. 3 and 4, is suitable for sectors of positioning angle range W that deviate more from axis A, such as sectors S1 and S4 in FIG. 1.

[0051] In FIG. 3, radar sensor 12 detects in one of these sectors a stationary object 28 which is located at the edge of the road and still has a relatively large distance from ego vehicle 10 in FIG. 3. In FIG. 4, vehicles 10 and 26 have moved on so that the distance of object 28 (in the x-direction) has decreased considerably.

[0052] Transformation unit 18 (FIG. 2) calculates the y-coordinate of object 28, among other things. If ego vehicle 10 constantly remains on axis A, then this coordinate y should not vary over time because object 28 is stationary (stationary objects can be identified by the fact that their radial velocity relative to the sensor multiplied by the cosine angle is inversely equal to the driving speed of the ego vehicle). Because of the misalignment error, however, transformation module 18 does not calculate the true y-coordinate of object 28 but rather the assumed y-coordinate in relation to optical axis B of the radar sensor. This assumed y-coordinate in FIG. 4 has increased considerably in comparison with FIG. 3. If this increase in the assumed y-coordinate is plotted against the distance traveled by ego vehicle 10, then a straight line is obtained (after a correction for the ego movement of the own vehicle, as the case may be), whose slope just corresponds to angle δ or the mechanical adjustment error plus the angle error for the particular sector. In this way, it is possible to obtain an estimated value for the correction angle already based on a single stationary object 28. However, this estimated value will still include a statistical measuring error. By a statistical evaluation of multiple stationary objects detected one after the other, the statistical error is able to be reduced and the accuracy therefore improved.

[0053] As may furthermore be gathered from FIGS. 3 and 4, the azimuth angle of object 28 measured by the radar sensor becomes larger the closer vehicle 10 comes to this object. In practice, the measured azimuth angle will therefore scan multiple sectors (S2, S1) of the positioning angle range so that separate evaluations for different sectors may already be carried out with the aid of a single object, and multiple correction angles are obtained as a result, which differ from one another because of the different angle errors in the particular sectors.

[0054] One possible method sequence in the method according to the present invention will now be described with the aid of the flow diagram shown in FIG. 5. The method is implemented in control unit 24 of the radar sensor, for instance.

[0055] In step ST1, positioning angle range W is subdivided into sectors, e.g., four sectors S1-S4 according to FIG. 1, or optionally also into a larger number of sectors.

[0056] In step ST2, it is checked whether the systematic angle errors of radar sensor 12 for the sectors determined in step ST1 are already known. If this is the case, then the particular sectors that exhibit the same angle error are combined into a single (possibly not contiguous) sector in step ST3.

[0057] If the angle errors are not yet known (N in step ST2), then step ST3 will be skipped.

[0058] In step ST4, the positioning data of detected objects are individually recorded by sectors.

[0059] In step ST5, it is checked whether the number of objects for which positioning data were recorded in step ST4 has already reached a certain minimum value in each sector so that the random sample is of a sufficient size for the statistical evaluation. As long as that is not the case (N), a return to step ST4 takes place and the data recording continues.

[0060] If a sufficient number of random samples has been reached in all sectors, the adjustment error is estimated sector by sector in step ST6, e.g., with the aid of one of the methods described on the basis of FIGS. 3 and 4.

[0061] In step ST7, averaging across the correction angles obtained in step ST6 is then implemented, i.e., weighted according to the random sample number in the individual sectors. This effectively leads to the determination of an average correction angle for the entire positioning angle range W. This average correction angle includes the mechanical adjustment error of radar sensor 12 on the one hand, and a constant share of the systematic angle errors that is not angle-dependent, on the other hand.

[0062] In step ST8, the angle errors are then calculated for each individual sector by subtracting the average correction angle obtained in step ST7 from the correction angle obtained in step ST6.

[0063] In step ST9, the correction angles obtained in step ST6 are compared with correction angles stored earlier for the same sectors, and a check is performed whether the correction angle is stable in all sectors, i.e., whether the deviations between the correction angles obtained in the more recent past for the same sector lie within a predefined tolerance interval. If this is not the case, then all sectors exhibiting the same angle error are combined once again in step ST10. This step is a repetition of step ST3, but now under consideration of the angle errors obtained or possibly updated only in step ST8.

[0064] In step ST11, the minimum random sample number is increased for each sector, and in step ST12, positioning data for each sector are recorded anew.

[0065] In step ST13, it is checked whether the (greater) minimum number of random samples or convergence has been reached. If that is not yet the case (N), the recording of the positioning data continues in step ST12, and steps ST12 and ST13 are repeated until the minimum number of random samples is reached. If that is the case, a return to step ST6 takes place and the loop including steps ST6 to ST12 is cyclically repeated until it is determined in step ST9 that the correction angle is stable in all sectors. It is understood that the correction angles that were obtained in the different repetitions of loop ST6 to ST13 are compared to one another in this step ST9. If the sequence of correction angles is sufficiently stable (Y), the method terminates with step ST14.

[0066] Combining sectors in steps ST3 and ST10 makes it possible to detect more objects per sector within a given time interval so that the method converges more quickly or statistical fluctuations are further suppressed in the sectors that were enlarged in this way.

[0067] In addition, if the correction angles are not yet stable in all sectors, it can optionally be checked in step ST9 whether the correction angles for at least two or more sectors exhibit a certain measure of convergence. If this is not the case, then step ST10 will be skipped and only further data are collected in the loop ST11-ST6-ST9. The combining of sectors exhibiting the same angle error will then be undertaken only for the particular sectors in which the angle errors have a sufficient measure of stability and reliability.

[0068] The described method is able to be repeated at certain time intervals during the service life of motor vehicle 10 in order to check the calibration of the radar sensor for adjustment errors and systematic angle errors. It is also possible to carry out the method in the background on a continuous basis while the radar sensor supplies data for assistance functions.

[0069] In the same way it is also possible to vary the subdivision of the positioning angle range into sectors in step ST1 in different repetitions of the present method. For example, it is possible to start off with a relatively small number of sectors in order to obtain statistically meaningful results as quickly as possible, albeit with a relatively rough acquisition of the angle-dependent angle errors, whereupon a larger number of sectors may then be used in a second step in order to determine the curve indicating the angle dependency of the systematic errors with a higher resolution. If the positioning data in the different program sequences are stored, then the database in the program sequence can be enlarged again by the greater number of sectors by utilizing also the positioning data of the earlier program sequence with the smaller number of sectors by carrying out the subdivision into the new sectors retroactively.