Patent ID: 11899100
Assignee: ZENUITY AB
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A method of determining alignment angles of at least two or more road vehicle borne radar sensors for producing signals suitable to cause a road vehicle radar auto-alignment controller to perform radar offset compensation starting from initially available rough estimates of the alignment angles, the method comprising:
obtaining, from the at least two or more road vehicle borne radar sensors, signals related to range, azimuth, and range rate to detections;
screening the obtained signals from the at least two or more road vehicle borne radar sensors to determine detections from stationary targets;
deriving, from the determined detections from stationary targets based on the obtained signals from the at least two or more road vehicles borne radar sensors, a linearized signal processing model involving the alignment angles, longitudinal and lateral velocity, and yaw-rate of the road vehicle, the linearized signal processing model linearized with respect to alignment angles having the initially available rough estimates of the alignment angles;
applying a Kalman filter algorithm to the linearized signal processing model to estimate the alignment angles for the at least two or more road vehicle borne radar sensors by combining the obtained signals from all of the at least two or more road vehicle borne radar sensors;
producing, based on the estimated alignment angles, the signals suitable to cause the road vehicle radar auto-alignment controller to perform the radar offset compensation.