| CPC G01S 7/40 (2013.01) [G01S 7/4017 (2013.01); G01S 7/4021 (2013.01); G01S 7/412 (2013.01); G01S 7/415 (2013.01)] | 19 Claims |
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1. A method comprising:
receiving, at a computing device, radar data from a radar unit coupled to a vehicle during vehicle operation in an environment, wherein the radar unit receives the radar data from the environment via an antenna array of the radar unit;
detecting an object in the environment based on the radar data;
determining that the detected object satisfies a set of conditions;
responsive to determining that the detected object satisfies the set of conditions, estimating a first phase array offset for the antenna array;
performing a comparison between the first phase array offset and a second phase array offset, wherein the second phase array offset represents a prior calibration for the radar unit;
based on a difference between the first phase array offset and the second phase array offset exceeding a threshold difference, adjusting operation of the radar unit according to the first phase array offset; and
based on the difference between the first phase array offset and the second phase array offset being less than the threshold difference, operating the radar unit according to the second phase array offset.
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