Bobaru Alexandru, Nafornita Corina, Copacean George, Vesa Vladimir Cristian, Skutek Michael
Communications Department, Politehnica University of Timisoara, 300223 Timisoara, Romania.
Hella Romania, 300011 Timisoara, Romania.
Sensors (Basel). 2023 Jul 29;23(15):6785. doi: 10.3390/s23156785.
One of the fundamental sensors utilized in the Advanced Driver Assist System (ADAS) is the radar sensor. Automotive-related functions need highly precise detection and range of traffic and surroundings; otherwise, the whole ADAS performance suffers. The radar placement beneath a bumper or a cover, the age or exposure to accidents or vehicle vibration, vehicle integration, and mounting tolerances will impact the angular performance of the radar sensor. In this research, we present an unsupervised online method for elevation mounting angle error compensation and a method for bumper and environmental error compensation in the azimuth direction. The proposed methods need no specific calibration jig and may be used to replace traditional initial calibration methods; they also enable ongoing calibration throughout the sensor's lifespan. A first proposed standalone method for vertical alignment uses stationary radar targets reflected from the environment to calculate a vertical misalignment angle with a line-fitting algorithm. The vertical mounting error compensation approach delivers two types of correction values: a dynamic value that converges quickly in the case of minor accidents and a more stable correction value that converges slowly but offers a long-term compensation value over the sensor's lifespan. A second proposed solution uses the vehicle velocity and radar targets properties, like relative velocity and measured azimuth angle, to calculate an individual azimuth correction curve. Real-world data collected from drive testing with a 77 GHz series automobile radar was used to analyze the performance of the proposed methods, yielding encouraging results.
先进驾驶辅助系统（ADAS）中使用的基本传感器之一是雷达传感器。与汽车相关的功能需要对交通和周围环境进行高精度检测和测距；否则，整个ADAS的性能都会受到影响。雷达安装在保险杠或盖板下方、使用年限、是否经历过事故或车辆振动、车辆集成情况以及安装公差等都会影响雷达传感器的角度性能。在本研究中，我们提出了一种用于仰角安装角度误差补偿的无监督在线方法以及一种用于方位角方向上保险杠和环境误差补偿的方法。所提出的方法不需要特定的校准夹具，可用于替代传统的初始校准方法；它们还能在传感器的整个使用寿命期间进行持续校准。首先提出的一种用于垂直校准的独立方法利用从环境反射的静止雷达目标，通过直线拟合算法计算垂直失准角度。垂直安装误差补偿方法提供两种校正值：一种动态值，在发生小事故时能快速收敛；另一种更稳定的校正值，收敛较慢，但能在传感器的使用寿命期间提供长期补偿值。提出的第二种解决方案利用车辆速度和雷达目标特性，如相对速度和测量的方位角，来计算单独的方位角校正曲线。使用从配备77 GHz系列汽车雷达的驾驶测试中收集的实际数据来分析所提出方法的性能，结果令人鼓舞。
