Methods and system for determining an angle of a detection
A computer implemented method for determining an angle of a detection comprises the following steps carried out by computer hardware components: acquiring a range rate of the detection; determining a pair of candidate angles of the detection based on the range rate; acquiring a beamvector of the detection; determining a correlation between the beamvector and a reference vector; and determining the angle of the detection based on the pair of candidate angles and based on the correlation.
1. A computer-implemented method for determining an angle of a detection,
the method comprising:
acquiring a range rate of the detection;
determining a pair of candidate angles of the detection that are located symmetrically around a pre-determined axis based on the range rate;
acquiring a beamvector of the detection;
determining a correlation between the beamvector and a reference vector that is based on a reflection point along the pre-determined axis; and
determining the angle of the detection based on the pair of candidate angles that are located symmetrically around the pre-determined axis and based on the correlation between the beamvector and the reference vector.
2. The computer-implemented method of claim 1 ,
wherein the detection comprises a radar detection.
3. The computer-implemented method of claim 1 ,
wherein the detection comprises a radar detection of a stationary object.
4. The computer-implemented method of claim 1 ,
wherein the detection comprises a radar detection of a non-stationary object.
5. The computer-implemented method of claim 1 ,
wherein the beamvector comprises sensor data from a plurality of antennas of an antenna array.
6. The computer-implemented method of claim 5 ,
wherein the antenna array is planar.
7. The computer-implemented method of claim 1 ,
wherein the correlation is based on at least one of:
a product of the beamvector and the reference vector; or
a calibration matrix.
8. The computer-implemented method of claim 7 ,
further comprising multiplying the calibration matrix by the reference vector.
9. The computer-implemented method of claim 1 ,
wherein the pre-determined axis is parallel to a direction of travel of the vehicle.
10. The computer-implemented method of claim 1 ,
wherein the reference vector is parallel to the pre-determined axis.
11. The computer-implemented method of claim 1 ,
wherein the determining of the angle of the detection is based further on a sign of a coefficient of the correlation.
12. A system comprising:
at least one processor configured to:
acquire a range rate of a detection;
determine a pair of candidate angles of the detection that are located symmetrically around a pre-determined axis based on the range rate;
acquire a beamvector of the detection;
determine a correlation between the beamvector and a reference vector that is based on a reflection point originating from the pre-determined axis; and
determine an angle of the detection based on the pair of candidate angles that are located symmetrically around a pre-determined axis and the correlation between the beamvector and the reference vector.
13. The system of claim 12 ,
wherein the detection comprises a radar detection of a stationary object.
14. The system of claim 12 ,
wherein the detection comprises a radar detection of a non-stationary object.
15. The system of claim 12 ,
wherein the beamvector comprises sensor data from a plurality of antennas of an antenna array.
16. The system of claim 15 ,
wherein the antenna array is planar.
17. The system of claim 12 ,
wherein the correlation is based on at least one of:
a product of the beamvector and the reference vector; or
a calibration matrix.
18. The system of claim 17 ,
wherein the processor is further configured to multiply the calibration matrix by the reference vector.
19. The system of claim 12 ,
wherein the determination of the angle of the detection is based further on a sign of a coefficient of the correlation.
20. At least one non-transitory computer readable medium comprising instructions that, when executed by at least one processor, cause the processor to:
acquire a range rate of a detection;
determine a pair of candidate angles of the detection that are located symmetrically around a pre-determined axis based on the range rate;
acquire a beamvector of the detection;
determine a correlation between the beamvector and a reference vector that is based on a reflection point originating from the pre-determined axis; and
determine an angle of the detection based on the pair of candidate angles that are located symmetrically around the pre-determined axis and the correlation between the beamvector and the reference vector.