Delphi Develops Radar Sensor Alignment Algorithm for Automotive Active Safety System

雷达传感器对准算法在车辆运行时每秒执行超过40倍。在1毫秒内，必须基于雷达传感器提供的数据以及车辆速度，传感器在车辆上的位置来计算未对准角度，以及其指向角度。

In the past, Delphi system engineers handed off a MATLAB prototype algorithm to software engineers for implementation in C. This approach had several drawbacks. When the software engineers had a heavy workload, they often could not begin working on a C implementation for weeks. Communication was challenging because system engineers and offshore software engineers were separated by several time zones. Software engineers sometimes misinterpreted the prototype algorithm and delivered C code that failed to meet the design and performance requirements.

凭借高需求的主动安全系统，Delphi只需四周即可改进新雷达产品的雷达传感器对准算法。下载188bet金宝搏他们需要一种方法，使系统工程师能够提供自己的生产C代码。

Delphi采用MATLAB和MATLAB编码器开发和实施雷达传感器对准算法。

Liang used MATLAB to analyze recorded sensor data captured from road testing a real vehicle. With huge amounts of testing data and the help of powerful MATLAB built-in functions, Liang realized and verified a radar sensor alignment algorithm that calculates sensor misalignment angles from raw radar detection and host vehicle speed. The algorithm computes the least squares solution to a system of linear equations. It also estimates the computed angle’s accuracy based on the residual of the least squares solution.

To verify the algorithm, Liang ran simulations using recorded sensor and vehicle data in MATLAB. He then used MATLAB scripts to process huge amounts of vehicle data to verify the accuracy of the sensor misalignment angle calculated by the algorithm.

他使用MATLAB编码器从算法生成C代码。他通过在MATLAB测试代码中调用MEX函数并将生成的代码的结果与原始MATLAB算法的结果进行比较，在几分钟内完成每个迭代来验证C代码。

最初，在ARM10处理器上运行的生成的C代码计算超过3毫秒的未对准角度。梁删除了冗余逻辑，组合循环，并在MATLAB代码中执行了其他优化，直到生成的代码在小于1毫秒的计算中完成了吞吐量要求。

在计划中，梁先生为软件集成团队提供了改进算法的已验证的C代码，以集成到生产系统中。

Delphi already uses this radar sensor alignment algorithm in active safety systems in production vehicles for several OEMs, with no reported defects.

Liang and his co-workers have used MATLAB and MATLAB Coder to design and implement several other production algorithms, including a target selection algorithm that uses fusion tracks information, camera vision objects, and host vehicle information to select appropriate targets for OEMs’ active safety features.