Circuitry and method
The present disclosure provides a circuitry for estimating a mounting angle of a radar sensor with respect to a mobile platform coordinate system. The circuitry is configured to estimate a first velocity of a first radar sensor, based on first radar detection data obtained from the first radar sensor, wherein the first radar detection data is indicative of at least two targets; estimate a second velocity of a second radar sensor, based on second radar detection data obtained from the second radar sensor, wherein the second radar detection data is indicative of at least two targets, and estimate the mounting angle of the first radar sensor, based on the estimated first velocity, the estimated second velocity, a predefined first mounting position of the first radar sensor with respect to the mobile platform coordinate system and a predefined second mounting position of the second radar sensor with respect to the mobile platform coordinate system.
1 . A circuitry for a mobile platform having a mobile platform coordinate system, the circuitry being configured to:
estimate a first velocity of a first radar sensor based on first radar detection data obtained from the first radar sensor, the first radar detection data being indicative of at least two targets;
estimate a second velocity of a second radar sensor based on second radar detection data obtained from the second radar sensor, the second radar detection data being indicative of at least two targets;
estimate a third velocity of a third radar sensor based on third radar detection data obtained from the third radar sensor, the third radar detection data being indicative of at least two targets;
estimate each of a mounting angle of the first radar sensor, a mounting angle of the second radar sensor, a mounting angle of the third radar sensor, and an ego-motion of the mobile platform by simultaneously solving for each of the mounting angle of the first radar sensor, the mounting angle of the second radar sensor, the mounting angle of the third radar sensor, and the ego-motion of the mobile platform using an overdetermined equation system based on:
the estimated first velocity of the first radar sensor,
the estimated second velocity of the second radar sensor,
the estimated third velocity of the third radar sensor,
a predefined first mounting position of the first radar sensor with respect to the mobile platform coordinate system,
a predefined second mounting position of the second radar sensor with respect to the mobile platform coordinate system, and
a predefined third mounting position of the third radar sensor with respect to the mobile platform coordinate system; and
control movement of the mobile platform based upon the ego-motion.
2 . The circuitry of claim 1 ,
wherein the first radar detection data indicates a radial velocity and an azimuth angle of each of the at least two targets with respect to the first radar sensor,
wherein the second radar detection data indicates a radial velocity and an azimuth angle of each of the at least two targets with respect to the second radar sensor, and
wherein the third radar detection data indicates a radial velocity and an azimuth angle of each of the at least two targets with respect to the third radar sensor.
3 . The circuitry of claim 1 , wherein the simultaneous estimating of each of the mounting angle of the first radar sensor, the mounting angle of the second radar sensor, the mounting angle of the third radar sensor, and the ego-motion of the mobile platform includes estimating, using the overdetermined equation system based on the estimated first velocity, the estimated second velocity, the estimated third velocity, the predefined first mounting position, the predefined second mounting position, and the predefined third mounting position, a longitudinal velocity of the mobile platform coordinate system and a yaw rate of the mobile platform coordinate system.
4 . The circuitry of claim 1 , wherein the estimating of the first velocity is based on a previously estimated first velocity used as prior.
5 . The circuitry of claim 1 , wherein the circuitry is further configured to filter the estimated mounting angle of the first radar sensor based on a Kalman filter for reducing noise of the estimated mounting angle of the first radar sensor.
6 . The circuitry of claim 1 , wherein the at least two targets indicated by the first radar detection data, the at least two targets indicated by the second radar detection data, and the at least two targets indicated by the third radar detection data each represent stationary targets.
7 . The circuitry of claim 6 ,
wherein the first radar detection data is further indicative of a moving target, and
wherein the circuitry is further configured to distinguish the moving target from the stationary targets based on a statistical analysis of the first radar detection data.
8 . The circuitry of claim 1 , wherein the estimating of the first velocity is based on a Random Sample Consensus algorithm.
9 . The circuitry of claim 1 , wherein the simultaneous estimating of each of the mounting angle of the first radar sensor, the mounting angle of the second radar sensor, the mounting angle of the third radar sensor, and the ego-motion of the mobile platform is based on a non-linear least squares algorithm.
10 . The circuitry of claim 1 , wherein the first radar sensor, the second radar sensor, and the third radar sensor include Multiple Input Multiple Output Doppler radar sensors.
11 . A method for a mobile platform having a mobile platform coordinate system, the method comprising:
estimating a first velocity of a first radar sensor based on first radar detection data obtained from the first radar sensor, the first radar detection data being indicative of at least two targets;
estimating a second velocity of a second radar sensor based on second radar detection data obtained from the second radar sensor, the second radar detection data being indicative of at least two targets;
estimating a third velocity of a third radar sensor based on third radar detection data obtained from the third radar sensor, the third radar detection data being indicative of at least two targets;
estimating each of a mounting angle of the first radar sensor, a mounting angle of the second radar sensor, a mounting angle of the third radar sensor, and an ego-motion of the mobile platform by simultaneously solving for each of the mounting angle of the first radar sensor, the mounting angle of the second radar sensor, the mounting angle of the third radar sensor, and the ego-motion of the mobile platform using an overdetermined equation system based on:
the estimated first velocity of the first radar sensor,
the estimated second velocity of the second radar sensor,
the estimated third velocity of the third radar sensor,
a predefined first mounting position of the first radar sensor with respect to the mobile platform coordinate system,
a predefined second mounting position of the second radar sensor with respect to the mobile platform coordinate system, and
a predefined third mounting position of the third radar sensor with respect to the mobile platform coordinate system; and
controlling movement of the mobile platform based upon the ego-motion.
12 . The method of claim 11 ,
wherein the first radar detection data indicates a radial velocity and an azimuth angle of each of the at least two targets with respect to the first radar sensor,
wherein the second radar detection data indicates a radial velocity and an azimuth angle of each of the at least two targets with respect to the second radar sensor, and
wherein the third radar detection data indicates a radial velocity and an azimuth angle of each of the at least two targets with respect to the third radar sensor.
13 . The method of claim 11 , wherein the simultaneous estimating of each of the mounting angle of the first radar sensor, the mounting angle of the second radar sensor, the mounting angle of the third radar sensor, and the ego-motion of the mobile platform includes estimating, using the overdetermined equation system based on the estimated first velocity, the estimated second velocity, the estimated third velocity, the predefined first mounting position, the predefined second mounting position, and the predefined third mounting position, a longitudinal velocity of the mobile platform coordinate system and a yaw rate of the mobile platform coordinate system.
14 . The method of claim 11 , wherein the estimating of the first velocity is based on a previously estimated first velocity used as prior.
15 . The method of claim 11 , further comprising filtering the estimated mounting angle of the first radar sensor based on a Kalman filter for reducing noise of the estimated mounting angle of the first radar sensor.
16 . The method of claim 11 , wherein the at least two targets indicated by the first radar detection data, the at least two targets indicated by the second radar detection data, and the at least two targets indicated by the third radar detection data each represent stationary targets.
17 . The method of claim 16 ,
wherein the first radar detection data is further indicative of a moving target, and
wherein the method further comprises distinguishing the moving target from the stationary targets based on a statistical analysis of the first radar detection data.
18 . The method of claim 11 , wherein the estimating of the first velocity is based on a Random Sample Consensus algorithm.
19 . The method of claim 11 , wherein the simultaneous estimating of each of the mounting angle of the first radar sensor, the mounting angle of the second radar sensor, the mounting angle of the third radar sensor, and the ego-motion of the mobile platform is based on a non-linear least squares algorithm.
20 . The method of claim 11 , wherein the first radar sensor, the second radar sensor, and the third radar sensor include Multiple Input Multiple Output Doppler radar sensors.