Sensor-based determination of angular misalignment and lane configuration of a radar sensor for ACC-applications

In this article a method to determine the angular misalignment of a radar sensor in automotive cruise control (ACC) is presented. It is important to know this misalignment error to avoid errors stemming from an incorrect assignment of preceding vehicles and lanes. The algorithm determines the misalignment error with high accuracy based on the data of the radar sensor itself. The proper selection of the radar sensor data is based on additional information derived from a yaw rate sensor. The method, which further may be used for the identification of the lane configuration, has been tested successfully in simulations and also using real data measurements.