Method and device for ascertaining a misalignment of a radar sensor of a vehicle
First Claim
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1. A method for ascertaining a misalignment of a radar sensor of a vehicle, comprising:
- measuring distances between the radar sensor and each individual radar reflector of a first plurality of radar reflectors spaced apart from each other at each individual measuring point of a second plurality of measuring points spaced apart from each other;
measuring first angles between an axis of the radar sensor along which a radar emission takes place, and the radar reflectors at each measuring point;
creating a virtual map on the basis of the measured distances including measuring positions that correspond to positions of the measuring points and radar reflector positions that correspond to positions of the radar reflectors;
calculating at the measuring positions second angles between the radar reflector positions and reference axes defined on the virtual map which correspond to a vehicle longitudinal axis of the vehicle;
calculating differences between angles of the first angles and angles of the second angles respectively; and
ascertaining a misalignment angle of the misalignment using a weighted averaging of the calculated differences.
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Abstract
A method for ascertaining a misalignment of a radar sensor of a vehicle ascertains a misalignment angle of the misalignment using a weighted averaging of calculated differences between first and second angles of radar reflectors relative to various axes. Also described is a device for ascertaining this misalignment.
20 Citations
10 Claims
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1. A method for ascertaining a misalignment of a radar sensor of a vehicle, comprising:
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measuring distances between the radar sensor and each individual radar reflector of a first plurality of radar reflectors spaced apart from each other at each individual measuring point of a second plurality of measuring points spaced apart from each other; measuring first angles between an axis of the radar sensor along which a radar emission takes place, and the radar reflectors at each measuring point; creating a virtual map on the basis of the measured distances including measuring positions that correspond to positions of the measuring points and radar reflector positions that correspond to positions of the radar reflectors; calculating at the measuring positions second angles between the radar reflector positions and reference axes defined on the virtual map which correspond to a vehicle longitudinal axis of the vehicle; calculating differences between angles of the first angles and angles of the second angles respectively; and ascertaining a misalignment angle of the misalignment using a weighted averaging of the calculated differences. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A device for ascertaining a misalignment of a radar sensor of a vehicle, comprising:
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a radar sensor for; measuring distances between the radar sensor and a first plurality of radar reflectors spaced apart from each other at each individual measuring point of a second plurality of measuring points spaced apart from each other; and measuring first angles between an axis of the radar sensor, along which a radar emission takes place, and the radar reflectors at each individual measuring point; and a processor unit for; creating a virtual map on the basis of the measured distances, which includes measuring positions which correspond to positions of the measuring points, and radar reflector positions which correspond to positions of the radar reflectors; calculating second angles from the virtual map between the radar reflector positions and reference axes defined on the virtual map which correspond to a vehicle longitudinal axis of the vehicle at the measuring positions; calculating differences between angles of the first angles and angles of the second angles to which the former respectively correspond; and ascertaining a misalignment angle of the misalignment using a weighted averaging of the calculated differences.
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Specification