A method and sensor system are disclosed for automatically determining object sensor position and alignment on a host vehicle. A radar sensor detects objects surrounding the host vehicle in normal operation. Static objects are identified as those objects with ground speed approximately equal to zero. Vehicle dynamics sensors provide vehicle longitudinal and lateral velocity and yaw rate data. Measurement data for the static objects—including azimuth angle, range and range rate relative to the sensor—along with the vehicle dynamics data, are used in a recursive geometric calculation which converges on actual values of the radar sensor's two-dimensional position and azimuth alignment angle on the host vehicle.


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    Title :

    Method of automatic sensor pose estimation


    Contributors:
    ZENG SHUQING (author) / ZHANG XIAN (author) / SONG XIAOFENG F (author)

    Publication date :

    2018-10-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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