Unsupervised radar antenna calibration
A system for unsupervised radar calibration of a vehicle is contemplated. The system may include a radar having a plurality of antennas configured to transmit radar signals and responsively receive reflected signals. The system may further include a calibration controller configured to determine a plurality of detections from the reflected signals corresponding with unsupervised objects in the vicinity of the vehicle, and based on the detections, to generate a calibration matrix sufficient for calibrating the radar.
1. A system for unsupervised radar calibration on a vehicle, the system comprising:
a radar located on the vehicle and having a plurality of antennas, wherein the plurality of antennas are configured to transmit radar signals and responsively receive reflected signals; and
a calibration controller for performing the unsupervised radar calibration, wherein the calibration controller is configured to determine a plurality of detections from the reflected signals corresponding with unsupervised objects in a vicinity of the vehicle, and based on the detections, to generate a calibration matrix utilized for calibrating the radar and the calibration controller is configured to perform a detection process to determine the detections, the detection process including a pre-processing process and a detection filtering process, the pre-processing process includes identifying a plurality of candidates from the reflected signals, the candidates corresponding with the reflected signals having a power above a candidate threshold whereby the power is determined following the corresponding reflected signals undergoing an analog to digital conversion, a range fast Fourier transform (FFT), a Doppler FFT, and an incoherent summation.
2. The system of claim 1 wherein the detection filtering process includes identifying the detections as the candidates remaining after eliminating the candidates occurring while a velocity of the vehicle is below a vehicle threshold, eliminating the candidates having a power below a filter threshold, eliminating the candidates within a group having less than a peak power, and eliminating the candidates with an array response having a difference between beamforming FFT and Doppler FFT in excess of a directional threshold.
3. The system according to claim 2 wherein the calibration controller is configured to perform a calibration process to generate the calibration matrix according to a calibration function, wherein the calibration function is based on a steering vector for the detections within a boresight direction of the antennas.
4. The system according to claim 3 wherein the calibration function is represented as follows:
Cal
(
θ
)
=
SV
(
θ
)
A
Det
AR
e
j
ϕ
Det
AR
SV
(
-
Direction
)
where A Det AR is an amplitude of an array response for the detection and ϕ Det AR is a phase of the array response.
5. The system according to claim 4 wherein the calibration matrix is generated according to a matrix function, the matrix function being represented as follows:
CalMat
[
i
,
j
]
=
Cal
(
θ
i
)
j
θ i are directions corresponding to index i and j indicates a vector index.
6. The system according to claim 5 wherein the calibration controller is configured to perform a calibration update process to update the calibration matrix according to an update calibration process, wherein the update calibration process includes phase wrapping a normalization of the detections, generating a filter coefficient, and filtering the phase wrapped normalized detections.
7. A system for unsupervised radar calibration on a vehicle, the system comprising:
a radar having a plurality of antennas, wherein the plurality of antennas are configured to transmit radar signals and responsively receive reflected signals; and
a calibration controller configured to perform the unsupervised radar calibration by determining a plurality of detections from the reflected signals corresponding with stationary, unsupervised objects in a vicinity of the vehicle, to normalize the detections to mitigate amplitude and phases biases of the antennas, and to adjust a current calibration matrix to an updated calibration matrix according to the normalized detections, the updated calibration matrix utilize for unsupervised calibration of the antennas.
8. The system according to claim 7 wherein the calibration controller is configured to perform a detection process to determine the detections, the detection process including a pro-processing process and a detection filtering process.
9. The system according to claim 8 wherein the pre-processing process includes identifying a plurality of candidates from the reflected signals, the candidates corresponding with the reflected signals having a power above a candidate threshold whereby the power is determined following the corresponding reflected signals undergoing an analog to digital conversion, a range fast Fourier transform (FFT), a Doppler FFT, and an incoherent summation.
10. The system of claim 9 wherein the detection filtering process includes identifying the detections as the candidates remaining after eliminating the candidates occurring while a velocity of the is below a vehicle threshold, eliminating the candidates having a power below a filter threshold, eliminating the candidates within a group having less than a peak power, and eliminating the candidates with an array response having a difference between beamforming FFT and Doppler FFT in excess of a directional threshold.
11. The system according to claim 10 wherein the calibration controller is configured to perform a calibration process to generate the current calibration matrix according to a calibration function, wherein the calibration function is based on a steering vector for the detections within a boresight direction of the antennas.
12. The system according to claim 11 wherein the calibration controller is configured to perform a calibration update process to update the current calibration matrix to the updated calibration matrix, wherein the calibration update process includes phase wrapping the normalized detections, generating a filter coefficient, and filtering the phase wrapped normalized detections.
13. A calibration controller configured to calibrate a radar on a vehicle, the calibration controller comprising:
a plurality of instructions stored on a non-transitory computer readable storage medium, the instructions being executable with a processor on the calibration controller to:
determine reflected signals received at the radar in response to radar signals previously transmitted from the radar;
determine a plurality of detections from the reflected signals corresponding with stationary, unsupervised objects in a vicinity of the vehicle;
normalize the detections to mitigate amplitude and phases biases of the radar; and
adjust a current calibration matrix to an updated calibration matrix according to the normalized detections, the updated calibration matrix utilized for calibrating the radar.
14. The controller according to claim 13 wherein the instructions are executable to determine the detections according to a detection process, the detection process including a pre-processing process and a detection filtering process.
15. The controller according to claim 14 wherein the pre-processing process includes identifying a plurality of candidates from the reflected signals, the candidates corresponding with the reflected signals having a power above a candidate threshold whereby the power is determined following the corresponding reflected signals undergoing an analog to digital conversion, a range fast Fourier transform (FFT), a Doppler FFT, and an incoherent summation.
16. The controller according to claim 15 wherein the detection filtering process includes identifying the detections as the candidates remaining after eliminating the candidates occurring while a velocity of the vehicle is below a vehicle threshold, eliminating the candidates having a power below a filter threshold, eliminating the candidates within a group having less than a peak power, and eliminating the candidates with an array response having a difference between beamforming FFT and Doppler FFT in excess of a directional threshold.
17. The controller according to claim 16 wherein the instructions are executable to perform a calibration process to generate the current calibration matrix according to a calibration function, wherein the calibration function is based on a steering vector for the detections within a boresight direction of the radar.
18. The controller according to claim 13 wherein the instructions are executable to perform a calibration update process to update the current calibration matrix to the updated calibration matrix, wherein the calibration update process includes phase wrapping the normalized detections, generating a filter coefficient, and filtering the phase wrapped normalized detections.