Granted Patent B2

US 12,578,426 · App. 17/828,151 · Granted Mar 17, 2026

Inventors: Mayeul Jeannin (Munich, DE); Maximilian Eschbaumer (Munich, DE); Farhan Bin Khalid (Munich, DE); Dian Tresna Nugraha (Bandung, ID); Andre Roger (Munich, DE)

G01S7/40G01S13/58G01S13/89

Abstract

Claims (56)

1 . A method for processing radar signals with a radar device, comprising:

receiving respective radar signals from respective virtual receive channels, wherein each virtual receive channel corresponds to a combination of a transmit antenna element and a receive antenna element of an antenna element array;

generating respective radar data from the respective radar signals;

processing the radar data to identify one or more stationary objects; and

when a vehicle in which the radar device is installed is being steered to change direction

based on the radar data, determining an estimated radar device rotation point relative to the one or more stationary objects, based on an assumption that the one or more stationary objects have zero velocity;

determining an expected rotation point of the radar device based on an intersection of projected front wheel axis and a projected rear wheel axis of the vehicle;

determining a difference between the estimated radar device rotation point and the expected rotation point of the radar device;

determining a correction vector based on the difference;

applying the correction vector to subsequent radar data; and

detecting objects based on the corrected subsequent radar data.

2 . The method of claim 1 , comprising

when the vehicle is not being steered to change direction, determining that an expected motion of the radar device comprises an expected forward vector;

determining an estimated forward vector of the radar device based on the radar data; and

determining the correction vector based on a difference between the forward vector and the estimated forward vector of the radar device.

3 . The method of claim 1 , comprising determining the estimated radar device rotation point by performing an optical flow analysis of the one or more stationary objects.

4 . The method of claim 2 , wherein the expected forward vector is orthogonal to a rear wheel axis of the vehicle.

5 . The method of claim 1 , comprising determining a new correction vector in response to a calibration trigger signal.

6 . The method of claim 1 , comprising applying the correction vector to radar data corresponding to results of a second FFT operation of the processing of the radar data.

7 . A system for processing radar signals, comprising:

an antenna element array configured to be coupled to a radar device, the antenna element array configured to receive respective radar signals from respective virtual receive channels, wherein each virtual receive channel corresponds to a combination of a transmit antenna element and a receive antenna element of the antenna element array;

radar processing circuitry configured to

generate respective radar data from the respective radar signals;

process the radar data to determine a series of successive target maps describing a distance and relative velocity of objects proximate the system; and

channel offset correction circuitry configured to calibrate the system by

processing at least one target map to identify one or more stationary objects;

when a vehicle in which the radar device is installed is being steered to change direction

based on a plurality of successive target maps, determining an estimated radar device rotation point relative to the one or more stationary objects, based on an assumption that the one or more stationary objects have zero velocity;

determining an expected rotation point of the radar device based on an intersection of projected front wheel axis and a projected rear wheel axis of the vehicle;

determining a difference between the estimated rotation point and the expected rotation point of the radar device; and

determining a correction vector based on the difference; and

wherein the radar processing circuitry applies the correction vector to subsequently processed radar data for use in detecting objects.

8 . The system of claim 7 , wherein the channel offset correction circuitry is configured to, when the vehicle is not being steered to change direction,

determine that an expected motion of the radar device comprises an expected forward vector;

determine an estimated forward vector of the radar device based on the radar data; and

determine the correction vector based on a difference between the forward vector and the estimated forward vector of the radar device.

9 . The system of claim 7 , wherein the channel offset correction circuitry is configured to determine the estimated radar device rotation point by performing an optical flow analysis of the one or more stationary objects.

10 . The system of claim 7 , wherein the correction vector comprises a set of respective phase offsets associated with respective virtual receive channels.

11 . The system of claim 7 , comprising calibration circuitry configured to activate the channel offset correction circuitry in response to a calibration trigger signal.

12 . The system of claim 8 , wherein the expected forward vector is orthogonal to a rear wheel axis of the vehicle.

13 . Channel offset correction circuitry configured to calibrate a radar device by,

receiving radar data comprising successive target maps describing a distance and relative velocity of objects proximate the radar device;

processing at least one target map to identify one or more stationary objects; and

when a vehicle in which the radar device is installed is being steered to change direction,

based on a plurality of successive target maps, determining an estimated radar device rotation point relative to the one or more stationary objects, based on an assumption that the one or more stationary objects have zero velocity;

determining an expected rotation point of the radar device based on an intersection of projected front wheel axis and a projected rear wheel axis of the vehicle;

determining a difference between the estimated radar device rotation point and the expected rotation point of the radar device;

determining a correction vector based on the difference; and

providing the correction vector to radar processing circuitry for correcting subsequently processed radar data for use in detecting objects.

14 . The channel offset correction circuitry of claim 13 , further configured to, when the vehicle is not being steered to change direction,

determine that an expected motion of the radar device comprises an expected forward vector;

determine an estimated forward vector of the radar device based on a difference between the forward vector and the radar data; and

determine the correction vector based on the estimated forward vector of the radar device.

15 . The channel offset correction circuitry of claim 14 , wherein the expected forward vector is orthogonal to a rear wheel axis of the vehicle.

16 . The channel offset correction circuitry of claim 13 , wherein the correction vector comprises a set of respective phase offsets associated with respective virtual receive channels.

17 . The channel offset correction circuitry of claim 13 , further configured to apply the correction vector to radar data corresponding to results of a second FFT operation of processing of the radar data.

Assignments (1)

Continuity (1)

References Cited (43)