US 12,066,568 B2
Device and method for calibrating a multiple-input multiple output radar sensor
Stefan Zechner, Weißensberg (DE); and Benjamin Sick, Bodolz (DE)
Assigned to ZF Friedrichshafen AG, Friedrichshafen (DE)
Appl. No. 17/423,828
Filed by ZF Friedrichshafen AG, Friedrichshafen (DE)
PCT Filed Jan. 10, 2020, PCT No. PCT/EP2020/050516
§ 371(c)(1), (2) Date Jul. 16, 2021,
PCT Pub. No. WO2020/148179, PCT Pub. Date Jul. 23, 2020.
Claims priority of application No. 10 2019 200 612.4 (DE), filed on Jan. 18, 2019.
Prior Publication US 2022/0113376 A1, Apr. 14, 2022
Int. Cl. G01S 7/40 (2006.01); G01S 13/42 (2006.01); G01S 13/931 (2020.01)
CPC G01S 7/4026 (2013.01) [G01S 7/403 (2021.05); G01S 7/4034 (2021.05); G01S 13/426 (2013.01); G01S 13/931 (2013.01); G01S 2013/93271 (2020.01)] 20 Claims
OG exemplary drawing
 
1. A device for calibrating a multiple-input multiple-output (MIMO) radar sensor, comprising:
an input interface configured to receive a target list for the MIMO radar sensor, containing angular data and channel data for a plurality of targets in a vehicle's environment, wherein the angular data comprise information regarding a target angle at which the target is located, and the channel data comprise information regarding reflection signals received from the target in individual channels in the MIMO radar sensor;
a modeling unit configured to generate model data for each of the plurality of targets, containing information regarding expected reflection signals for an assumed detection of an individual target at a target angle, at a distance to the MIMO radar sensor, on a basis of the angular data;
a processor configured to determine a model error for each of the plurality of targets, containing information regarding a discrepancy between the channel data and the model data for each target;
a selector configured to select one of the plurality of targets on a basis of the model error that has been determined, wherein the model error for the selected target is smaller than the model errors of the other targets; and
an adjustment unit configured to determine calibration coefficients containing information for adjusting the channel outputs in the MIMO radar sensor, on a basis of the model data and the channel data, wherein the calibration coefficients compensate for the discrepancies between the channel data and the model data.