US Patent 11131761 Antenna configuration for parking assist radar

A method of estimating position of an obstacle of a plurality of obstacles with a radar apparatus. An azimuth frequency, an elevation frequency and a range of the obstacle are estimated to generate an estimated azimuth frequency, an estimated elevation frequency and an estimated range of the obstacle. A metric is estimated from one or more of the estimated azimuth frequency, the estimated elevation frequency and the estimated range of the obstacle. The metric is compared to a threshold to detect an error in at least one of the estimated azimuth frequency and the estimated elevation frequency. On error detection, a sign of at least one of the estimated azimuth frequency and the estimated elevation frequency is inverted to generate a true estimated azimuth frequency and a true estimated elevation frequency respectively.