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

Claim 9:
10. 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;
estimating the alignment angles for the at least two or more road vehicle borne radar sensors by applying a Kalman filter algorithm to the linearized signal processing model by combining the obtained signals from all of the at least two or more road vehicle borne radar sensors; and
performing the radar offset compensation, based on the estimated alignment angles, by the road vehicle radar auto-alignment controller.