CN109490855A - A kind of trailer-mounted radar scaling method, device and vehicle - Google Patents
A kind of trailer-mounted radar scaling method, device and vehicle Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The present invention relates to field of radar, propose the scaling method, device and vehicle of a kind of trailer-mounted radar, the described method includes: in t moment, pass through radar surveying target position, and assume radar error angle, the target position obtained to measurement compensates, and obtains coordinates of targets in the first coordinate data of t moment.Record the speed and angular speed of vehicle, recursion vehicle is at the position and orientation angle of t moment, it is assumed that the coordinate of target in reference frame, and according to vehicle at the position and orientation angle of t moment, the coordinate of target in reference frame is converted, obtains coordinates of targets in the second coordinate data of t moment.It repeats the above steps, obtains the first coordinate data and the second coordinate data of multiple groups target, unknown quantity radar error angle is estimated.Method of the present invention does not need to obtain a specific target, does not need to determine a certain traffic route, so that the mode of instrumentation radar error angle is more easy yet.
Description
Technical field
The present invention relates to field of radar more particularly to a kind of trailer-mounted radar scaling methods, device and vehicle.
Background technique
Millimetre-wave radar is widely used in intelligent driving industry, it can be with the position of precise measurement vehicle body surrounding objects
And velocity information, these are the necessary conditions for realizing ADAS function.The realization of ADAS function is usually based on vehicle body coordinate system, vehicle
Body coordinate system is defined as: using longitudinal direction of car central axes as x-axis, vehicle front is positive direction of the x-axis, and left side is positive direction of the y-axis；And
The metrical information of radar is based on radar fix system, and using the vertical line in radar antenna face as x-axis, front is x-axis for radar fix system
Positive direction, left side are positive direction of the y-axis.If radar is installed in main vehicle there are attitude error, will be introduced in coordinate transform process
Systematic error will affect the precision of ADAS function input information.During installing radar, the angle of accurate adjustment radar posture is
The step of taking time and effort very much.Without mechanical accurate adjustment, there may be 3~5 ° of angular errors for installation.And pass through software logarithm
According to processing, estimation radar installation imbalance angle and compensates data, then can substantially reduce radar installation imbalance angle pair
The influence of radar perceived accuracy.
The method that the error angle of estimation radar exists in the prior art, but these methods have target and road conditions
It is limited.Common method has: 1, target is placed in from vehicle central axes, adjusts radar installation position angle, so that radar
Angle measurement is less than given threshold, records angle measurement, changes position of the target on central axes, and measurement multiple groups angle is surveyed
Magnitude is averaged, and the method needs to be strict with target from vehicle central axes, and target puts error just and will affect radar imbalance
The determination at angle；2, target knows the angle true value of target according to the line-of-road movement of setting, and radar acquires a series of output measurements
Value compares the error angle for determining radar with true value, and the above method requires to know the actual position of target, needs accurate equipment
It realizes.
Summary of the invention
The problem of the technical problem to be solved by the present invention is to the calibration of radar error angle.To solve the above-mentioned problems, this hair
Bright to propose a kind of trailer-mounted radar scaling method, device and vehicle, the present invention is specifically to be realized with following technical solution:
The first aspect of the invention proposes a kind of trailer-mounted radar scaling method, which comprises
The position for detecting target by radar sensor in measurement coordinate system, obtains the measurement coordinate of target, substitutes into false
If radar error angle compensate, obtain the first coordinate data of target；
Reference frame is set, the target of false coordinate is set in reference frame, the target is measurement coordinate system
The target that middle radar sensor detects；
The coordinate of target in reference frame is transformed into measurement coordinate system, the second coordinate data of target is obtained；
It repeats the above steps, obtains the first coordinate data and the second coordinate data of multiple groups target；
According to the first coordinate data and the second coordinate data of multiple groups target, the numerical value of radar error angle is obtained.
Further, before the coordinate of target in reference frame being transformed into measurement coordinate system, the vehicle of vehicle is obtained
Fast information and angular velocity information obtain position of the vehicle in the case where measuring coordinate system according to the vehicle speed information and angular velocity information of vehicle
Set coordinate and towards angle.
Further, the position coordinates according to vehicle in the case where measuring coordinate system and towards angle and target in reference coordinate
The coordinate of target in reference frame is transformed into measurement coordinate system, obtains the second of target by the coordinate assumed under system
Coordinate data.
Specifically, t moment detects target as coordinate system, radar is measured from vehicle coordinate system, output measurement
Obtained coordinates of targets.Assuming that radar error angle is θ, the coordinate of target is corrected according to the radar error angle of hypothesis, is obtained
Obtain the first coordinate data of target under t moment.Using 0 moment from vehicle coordinate system as reference frame, it is assumed that mesh when 0 moment
Mark coordinate is (x0,y0), the target of target and t moment when 0 moment is same target.In t moment, vehicle movement
Known to speed and angular speed.Vehicle position at this time is calculated from vehicle coordinate system according to car speed and angular speed, and based on 0 moment
It sets and towards angle, obtains the vehicle location of t moment.The vehicle position information extrapolated is at 0 moment from vehicle coordinate system
In vehicle position information, according to vehicle position information obtain vehicle location coordinate.It is calculated and is surveyed according to the coordinate of vehicle location
The position coordinates of target under coordinate system are measured, the second coordinate data of target under t moment is obtained.First coordinate data and second
The unknown quantity for including in coordinate data has coordinates of targets (x when 0 moment0,y0) and radar error angle θ.Lead at the time of choosing different
Same the first coordinate data of Target Acquisition and the second coordinate data are crossed, or replaces multiple targets in a certain range, for every
A the first coordinate data of Target Acquisition and the second coordinate data.It is sat according to the first coordinate data of the multiple groups target of acquisition and second
Data are marked, parameter Estimation is carried out to radar error angle, obtains the estimated value of radar error angle.Radar Calibration is written into this estimated value
Amount, when radar is eventually in actual measurement, the estimated value of calibration radar error angle can compensate the actual measured value of radar
In, to improve radar output data precision.
Further, when obtaining the first coordinate data and the second coordinate data of multiple groups target, by multiple targets
The mode that is repeatedly detected of position obtained.
Alternatively, when obtaining the first coordinate data and the second coordinate data of multiple groups target, by multiple measurements
The mode that the position of same target is detected in coordinate system is obtained.
Further, in the first coordinate data and the second coordinate data according to multiple groups target, to obtain radar error angle
Numerical value when, the numerical value of radar error angle is estimated in a manner of parameter Estimation.The method of the parameter Estimation include Moment method estimators,
Least-squares estimation, possibility predication, Bayesian Estimation etc..
Further, the radar is millimetre-wave radar.
The second aspect of the invention proposes a kind of trailer-mounted radar caliberating device, radar sensor, vehicle speed sensor, meter
When module, the first coordinate data obtains module, the second coordinate data obtains module and radar error angle computing module；
The radar sensor is millimetre-wave radar for detecting target position, the radar；
The vehicle speed sensor is for obtaining vehicle speed information and angular velocity information；
The timing module is used to obtain the running time of vehicle；
First coordinate data obtain module exist for assuming radar error angle and to the target position detected into
After row compensation, according to the radar error angle for the target position and hypothesis detected, the first coordinate data of coordinates of targets is obtained；
Second coordinate data obtains the coordinate that module is used to assume the target before vehicle launch, according to vehicle speed information,
The coordinate of target before the vehicle launch of angular velocity information, the running time of vehicle and hypothesis obtains the second coordinate data of target；
The radar error angle computing module is used to obtain the first coordinate data and the second coordinate data of multiple groups target, root
According to the first coordinate data of multiple groups and the second coordinate data, the numerical value of radar error angle is obtained.
Further, the radar error angle computing module can be obtained more by repeatedly detecting the position of same target
The first coordinate data of group and the second coordinate data, or in such a way that the position to multiple targets is repeatedly detected, obtain
The first coordinate data of multiple groups and the second coordinate data.
Further, the radar error angle computing module obtains the number of radar error angle by way of parameter Estimation
Value.The method of the parameter Estimation includes Moment method estimators, least-squares estimation, possibility predication, Bayesian Estimation etc..
Specifically, first coordinate data and the second coordinate data are all in t moment to coordinates of targets from vehicle coordinate
The calculation expression of coordinate under system.It wherein, is the vehicle front using longitudinal direction of car central axes as x-axis from the definition of vehicle coordinate system
For positive direction of the x-axis, left side is positive direction of the y-axis.
Using t moment from vehicle coordinate system as measurement coordinate system, radar detects target, the mesh that output measurement obtains
Mark coordinate.Assuming that radar error angle is θ, the coordinate of target is corrected according to the radar error angle of hypothesis, is obtained under t moment
First coordinate data of target.Using 0 moment from vehicle coordinate system as reference frame, it is assumed that coordinates of targets when 0 moment is
(x0,y0), the target of target and t moment when 0 moment is same target.Speed and angle in t moment, vehicle movement
Known to speed.Vehicle location at this time and direction are calculated from vehicle coordinate system according to car speed and angular speed, and based on 0 moment
Angle obtains the vehicle location of t moment.The vehicle position information extrapolated is at 0 moment from the vehicle in vehicle coordinate system
Location information obtains the coordinate of vehicle location according to vehicle position information.Measurement coordinate system is calculated according to the coordinate of vehicle location
The position coordinates of lower target obtain the second coordinate data of target under t moment.First coordinate data and the second coordinate data
In include coordinates of targets (x of unknown quantity when having 0 moment0,y0) and radar error angle θ.Same mesh is measured at the time of choosing different
Mark obtains the first coordinate data of multiple groups and the second coordinate data, or is replacing multiple targets, carries out for each target multiple
Measurement obtains the first coordinate data of multiple groups and the second coordinate data.According to the first coordinate data of the multiple groups target of acquisition and
Two coordinate datas carry out parameter Estimation to radar error angle, obtain the estimated value of radar error angle.Radar is written into this estimated value
Scalar quantity, when radar is eventually in actual measurement, the estimated value of calibration radar error angle can compensate the actual survey of radar
In magnitude, to improve radar output data precision.
The third aspect of the invention proposes a kind of vehicle, and there is the vehicle trailer-mounted radar described above to demarcate dress
It sets.The vehicle has the terminal devices such as vehicle-mounted computer, and the vehicle can be executed by the program of vehicle-mounted computer operation storage
The scaling method of trailer-mounted radar described above, the software run in the vehicle-mounted computer can obtain the of multiple groups radar target
Second coordinate data of one coordinate data and radar target, according to the first coordinate data of multiple groups radar target and the second number of coordinates
According to the estimated value of acquisition unknown quantity radar error angle adds to the estimated value in radar surveying value.
By adopting the above technical scheme, a kind of trailer-mounted radar scaling method, device and vehicle of the present invention have as follows
The utility model has the advantages that
1) a kind of trailer-mounted radar scaling method, device and vehicle of the present invention propose and obtain multiple groups radar target
The first coordinate data and radar target the second coordinate data, according to the first coordinate data of multiple groups radar target with second sit
Data are marked, the method for obtaining the estimated value of unknown quantity radar error angle, the method does not need to obtain a specific target,
It does not need to determine a certain traffic route, so that the mode of instrumentation radar error angle is more easy；
2) a kind of trailer-mounted radar scaling method, device and vehicle of the present invention, by the estimation value complement of radar error angle
It repays in measured value, more accurate measurement result can be obtained, improve radar accuracy.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow chart of trailer-mounted radar scaling method provided in an embodiment of the present invention；
Fig. 2 be measured value before and after a kind of trailer-mounted radar provided in an embodiment of the present invention compensate in first time period with very
The difference schematic diagram of value；
Fig. 3 be measured value before and after a kind of trailer-mounted radar provided in an embodiment of the present invention compensate in second time period with very
The difference schematic diagram of value；
Fig. 4 is a kind of structure chart of trailer-mounted radar caliberating device provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
In several embodiments provided herein, described system embodiment is only schematical, such as institute
The division of module is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple moulds
Block or component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point,
Shown or discussed mutual coupling, direct-coupling or communication connection can be through some interfaces, module or unit
Indirect coupling or communication connection, can be electrically or other forms.
The module as illustrated by the separation member may or may not be physically separated, aobvious as module
The component shown may or may not be physical module, it can and it is in one place, or may be distributed over multiple
On network module.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
Embodiment 1:
A kind of trailer-mounted radar scaling method is provided in the embodiment of the present invention, as shown in Figure 1, which comprises
S1. t moment detects target as coordinate system, radar is measured from vehicle coordinate system, output measurement obtains
Coordinates of targets.
S2. assume that radar error angle is θ, corrects coordinates of targets according to the radar error angle of hypothesis, obtain t moment
First coordinate data of lower target.
S3. using 0 moment from vehicle coordinate system as reference frame, it is assumed that coordinates of targets when 0 moment is (x0,y0), institute
The target of target and t moment when stating for 0 moment is same target.
S4. known to the speed in t moment, vehicle movement and angular speed.According to car speed and angular speed, and it is based on 0
Moment from vehicle coordinate system, calculates vehicle location at this time and towards angle, obtains the vehicle location of t moment.The vehicle extrapolated
Location information is at 0 moment from the vehicle position information in vehicle coordinate system.
S5. the position coordinates of target under measurement coordinate system are calculated according to vehicle location, obtain target under t moment second sits
Mark data.
S6. it repeats the above steps, obtains the first coordinate data and the second coordinate data of multiple groups target, first coordinate
Data and the second coordinate data include unknown quantity be 0 moment when coordinates of targets (x0,y0) and radar error angle θ.
S7. according to the first coordinate data and the second coordinate data of the multiple groups target of acquisition, radar error angle is joined
Number estimation.
Specifically, first coordinate data and the second coordinate data are all in t moment to coordinates of targets from vehicle coordinate
The calculation expression of coordinate under system.It wherein, is the vehicle front using longitudinal direction of car central axes as x-axis from the definition of vehicle coordinate system
For positive direction of the x-axis, left side is positive direction of the y-axis.
In t moment, detection target is carried out by radar sensor, the radar is millimetre-wave radar.It obtains in t moment
From the coordinate (x of radar target under vehicle coordinate system1,y1).Assuming that radar error angle is θ, radar is lacked of proper care into angle compensation into measured value
In, the first coordinate data of the target containing unknown quantity radar error angle θ, the expression formula of first coordinate data can be obtained
It is as follows:
Wherein:
Above-mentioned formula can be carried out about etc. based on the hypothesis of radar imbalance angle, the about equation are as follows:
0 moment is the selected reference moment, at 0 moment to establish reference frame as standard from vehicle coordinate system.In t
When the moment radar detection to target equally existed in for 0 moment when reference frame in, but since radar is in t moment pair
Target is detected, thus when cannot directly obtain for 0 moment by radar target position, it is assumed that mesh when 0 moment
Mark coordinate is (x0,y0)。
Record, to the speed of t moment, angular speed and running time, can obtain vehicle speed information and angle speed since 0 moment
Information is spent, the vehicle speed information is expression formula of the speed about the time, and the angular velocity information is table of the angular speed about the time
Up to formula, after carrying out the operations modes such as integral operation, can obtain vehicle in t moment from the position coordinates under vehicle coordinate system
(xt,yt) and towards angle α.Coordinates of targets when known 0 moment is (x0,y0) and when t moment under vehicle coordinate system
Position coordinates (the x of vehiclet,yt) and towards angle α by coordinate convert, obtain the target in t moment under vehicle coordinate system
Position coordinates.Coordinate conversion can be carried out with following formula, as oneself in t moment of the target after following formula is converted
The expression formula of second coordinate data of the position coordinates under vehicle coordinate system, second coordinate data is as follows:
Wherein:
First coordinate data is expressed into formula and the second coordinate data expression formula establishes equation, shown in following formula:
In the equation, there is (x0,y0) and radar error angle be tri- unknown quantitys of θ.Therefore at the time of choosing different, such as
t1、t2、t3Etc. it is different at the time of, detect the position of same target using radar sensor, obtain the first coordinate data of multiple groups and the
Two coordinate datas, or repeatedly detected using position of the radar sensor to multiple targets, obtain the first number of coordinates of multiple groups
According to the second coordinate data.Above two method finally will all obtain multiple equatioies, and multiple equatioies of acquisition are established equation set
Afterwards, parameter Estimation is carried out to radar error angle, obtains the estimated value of radar error angle.The method of the parameter Estimation includes moments method
Estimation, least-squares estimation, possibility predication, Bayesian Estimation etc..
Further, the calibration of the radar error angle can be demarcated offline, obtain an accurate radar
This estimated value is applied in each radar detection by the estimated value of error angle.After installing radar sensor, in Calibration Field
Any position is selected to put the target that pinpoint target is detected as radar in ground, the pinpoint target can be corner reflection
Device.
Using t moment from vehicle coordinate system as measurement coordinate system, radar detects pinpoint target, and output measurement obtains
Pinpoint target coordinate.Assuming that radar error angle is θ, the coordinate of pinpoint target is entangled according to the radar error angle of hypothesis
Just, the first coordinate data of pinpoint target under t moment is obtained.Using 0 moment from vehicle coordinate system as reference frame, it is assumed that 0
Pinpoint target coordinate when the moment is (x0,y0), the pinpoint target of pinpoint target and t moment when 0 moment is same mesh
Mark.Known to speed and angular speed in t moment, vehicle movement.According to car speed and angular speed, and it was based on for 0 moment from vehicle
Coordinate system calculates vehicle location at this time and towards angle, obtains the vehicle location of t moment.The vehicle location letter extrapolated
Breath is that the coordinate of vehicle location is obtained according to vehicle position information from the vehicle position information in vehicle coordinate system at 0 moment.Root
The position coordinates that pinpoint target under measurement coordinate system is calculated according to the coordinate of vehicle location, obtain second of pinpoint target under t moment
Coordinate data.The unknown quantity for including in first coordinate data and the second coordinate data has pinpoint target coordinate when 0 moment
(x0,y0) and radar error angle θ.At the time of choosing different, the position of same target is detected using radar sensor, obtains multiple groups
First coordinate data and the second coordinate data, or repeatedly detected using position of the radar sensor to multiple targets, it obtains
Take the first coordinate data of multiple groups and the second coordinate data.It is sat according to the first coordinate data of the multiple groups pinpoint target of acquisition and second
Data are marked, parameter Estimation is carried out to radar error angle, obtains the estimated value of radar error angle.Radar Calibration is written into this estimated value
Amount, when radar is eventually in actual measurement, the estimated value of calibration radar error angle can compensate the actual measured value of radar
In, to improve radar output data precision.
Further, the calibration of the radar error angle can be demarcated in real time online.Under ordinary road scene,
A static stable objects in environment are selected according to some principles.
Using t moment from vehicle coordinate system as measurement coordinate system, radar detects stable objects, and output measurement obtains
Stable objects coordinate.Assuming that radar error angle is θ, the coordinate of stable objects is entangled according to the radar error angle of hypothesis
Just, the first coordinate data of stable objects under t moment is obtained.Using 0 moment from vehicle coordinate system as reference frame, it is assumed that 0
Stable objects coordinate when the moment is (x0,y0), the stable objects of stable objects and t moment when 0 moment are same mesh
Mark.Known to speed and angular speed in t moment, vehicle movement.According to car speed and angular speed, and it was based on for 0 moment from vehicle
Coordinate system calculates vehicle location at this time and towards angle, obtains the vehicle location of t moment.The vehicle location letter extrapolated
Breath is that the seat of vehicle location can be obtained by vehicle position information from the vehicle position information in vehicle coordinate system at 0 moment
Mark.The position coordinates that stable objects under measurement coordinate system are calculated according to the coordinate of vehicle location obtain stable objects under t moment
Second coordinate data.The unknown quantity for including in first coordinate data and the second coordinate data has pinpoint target when 0 moment
Coordinate (x0,y0) and radar error angle θ.At the time of choosing different, the position of same target is detected using radar sensor, is obtained
The first coordinate data of multiple groups and the second coordinate data, or repeatedly visited using position of the radar sensor to multiple targets
It surveys, obtains the first coordinate data of multiple groups and the second coordinate data.According to the first coordinate data of the multiple groups stable objects of acquisition and
Second coordinate data carries out parameter Estimation to radar error angle, obtains the estimated value of radar error angle.In real time by this estimated value
It compensates in radar surveying value, realizes the correction of radar error angle.
After the estimated value for obtaining radar error angle, the target position that the compensated radar detection of radar error angle is arrived will be passed through
Set and be compared with the real coordinate position of the target, by the target position arrived of radar detection of no radar imbalance angle compensation with
The real coordinate position of the target is compared, obtain imbalance angle compensation before and after, radar surveying value x, y respectively with the difference of true value
Away from.
As shown in Fig. 2, before adjustment in time range 565s to 595s, radar surveying value x is before compensation and the difference of true value
Mean value be -0.050273m, radar surveying value x is after compensation and the mean value of the difference of true value is -0.049786m.When before adjustment
Between in range 565s to 595s, radar surveying value y is before compensation and the mean value of the difference of true value is -0.21808m, radar surveying value y
After compensation and the mean value of the difference of true value is -0.072755m.
As shown in figure 3, before adjustment in time range 625s to 655s, radar surveying value x is before compensation and the difference of true value
Mean value be 0.011868m, radar surveying value x is after compensation and the mean value of the difference of true value is 0.011445m.Time before adjustment
In range s to s, radar surveying value y is before compensation and the mean value of the difference of true value is -0.088061m, and radar surveying value y is being compensated
Afterwards and the mean value of the difference of true value is 0.053479m.
Measured value before and after above-mentioned compensation and a kind of trailer-mounted radar provided in this embodiment it can be seen from the comparison of true value
Scaling method, the method can obtain the first coordinate data of multiple groups radar target and the second number of coordinates of radar target
According to, according to the first coordinate data of multiple groups radar target and the second coordinate data, the estimated value of unknown quantity radar error angle is obtained,
The estimated value is added in radar surveying value, the measurement accuracy of radar is improved, so that the position that radar provides is more nearly
True value.
Embodiment 2:
A kind of trailer-mounted radar caliberating device is provided in the embodiment of the present invention, as shown in figure 4, described device includes: radar
Sensor, vehicle speed sensor, timing module, the first coordinate data obtain module, the second coordinate data obtains module and radar loses
Angle modulation computing module.
The radar sensor is in measurement coordinate system for obtaining the coordinates of targets that radar detection is arrived, the coordinates of targets
Coordinate, the radar detection to coordinates of targets be input to the first coordinate data obtain module in, the first coordinate data obtain
Module assumes that radar error angle is θ, by radar error angle θ compensation into the coordinates of targets detected, as the first coordinate data.
The radar is millimetre-wave radar.
The vehicle speed sensor is for obtaining vehicle speed information and angular velocity information, and the timing module is for obtaining vehicle row
The temporal information sailed, the vehicle speed information, angular velocity information and temporal information are input to the second coordinate data and obtain in module, the
Two coordinate datas obtain module and assume coordinate of the target in reference frame, pass through vehicle speed information, angular velocity information and time
Coordinate of the information acquisition vehicle in the case where measuring coordinate system and towards angle, according to coordinate and direction of the vehicle in the case where measuring coordinate system
Second coordinate data of the target in measurement coordinate system is extrapolated at angle, and coordinate of the target in reference frame assumed.
The radar error angle computing module is used to obtain the first coordinate data and the second coordinate data of multiple groups target, root
According to the first coordinate data and the second coordinate data of multiple groups target, the numerical value of radar error angle is obtained.
When obtaining the first coordinate data and the second coordinate data of multiple groups target, at the time of choosing different, radar is used
Sensor detects the position of same target, obtains the first coordinate data of multiple groups and the second coordinate data, or sense using radar
Device repeatedly detects the position of multiple targets, obtains the first coordinate data of multiple groups and the second coordinate data.According to acquisition
First coordinate data and the second coordinate data carry out parameter Estimation to radar error angle, obtain the estimated value of radar error angle.Institute
The method for stating parameter Estimation includes Moment method estimators, least-squares estimation, possibility predication, Bayesian Estimation etc..
Specifically, first coordinate data and the second coordinate data are all in t moment to coordinates of targets from vehicle coordinate
The calculation expression of coordinate under system.It wherein, is the vehicle front using longitudinal direction of car central axes as x-axis from the definition of vehicle coordinate system
For positive direction of the x-axis, left side is positive direction of the y-axis.
In t moment, detection target is carried out by radar sensor, obtained in t moment from radar target under vehicle coordinate system
Coordinate (x1,y1).Assuming that radar error angle is θ, radar is lacked of proper care into angle compensation into measured value, can be obtained containing unknown quantity
First coordinate data of the target of radar error angle θ.The expression formula of first coordinate data is shown below:
Wherein:
Above-mentioned formula can be carried out about etc. based on the hypothesis of radar imbalance angle, the about equation are as follows:
At the time of 0 moment is before automobile starting, at 0 moment to establish reference frame as standard from vehicle coordinate system.
In t moment radar detection to target equally existed in for 0 moment when reference frame in, but since radar is in t
The position of target when carving and detected to target, therefore cannot directly obtain for 0 moment by radar, it is assumed that when 0 moment
The coordinates of targets is (x0,y0)。
By vehicle speed sensor and timing module, obtain since 0 moment to the speed of t moment, angular speed and when driving
Between, and expression formula and angular speed expression formula about time of the speed about the time is obtained, carry out the operations modes such as integral operation
Afterwards, can obtain vehicle in t moment from the position coordinates (x under vehicle coordinate systemt,yt) and towards angle α.When known 0 moment
The coordinates of targets is (x0,y0) and the position coordinates (x from the vehicle under vehicle coordinate system when t momentt,yt) and towards angle α
Converted by coordinate, obtain the target in t moment from the position coordinates under vehicle coordinate system.The coordinate conversion can be with such as
Lower formula carries out, and is second number of coordinates from position vehicle coordinate system under of the target in t moment after following formula is converted
According to the expression formula of second coordinate data is as follows:
Wherein:
First coordinate data is expressed into formula and the second coordinate data expression formula establishes equation, shown in following formula:
In the equation, there is (x0,y0) and radar error angle be tri- unknown quantitys of θ.Therefore at the time of choosing different, make
The position of same target is detected with radar sensor, obtains the first coordinate data of multiple groups and the second coordinate data, or use thunder
It is repeatedly detected up to position of the sensor to multiple targets, obtains the first coordinate data of multiple groups and the second coordinate data.It is above-mentioned
Two methods finally will all obtain multiple equatioies, after multiple equatioies of acquisition are established equation set, join to radar error angle
Number estimation, obtains the estimated value of radar error angle.
A kind of caliberating device of trailer-mounted radar provided in this embodiment, can be realized the calibration of trailer-mounted radar error angle, lead to
The coordinate for crossing the radar target by the coordinate of the radar target obtained using reference frame and actual measurement establishes equation, according to
Multiple equatioies carry out the solution of equation group, obtain the estimated value of unknown quantity radar error angle, which is added to radar and is surveyed
In magnitude, the measurement accuracy of radar is improved, so that the position that radar provides is more nearly true value.
Embodiment 3:
The embodiment of the present invention proposes a kind of vehicle, and the vehicle has the caliberating device of trailer-mounted radar.The vehicle tool
There are the terminal devices such as vehicle-mounted computer, the vehicle can execute vehicle described above by the program of vehicle-mounted computer operation storage
The scaling method for carrying radar, the software run in the vehicle-mounted computer can obtain the first coordinate data of multiple groups radar target with
Second coordinate data of radar target obtains unknown according to the first coordinate data of multiple groups radar target and the second coordinate data
The estimated value for measuring radar error angle, which is added in radar surveying value.
When radar sensor measures, the estimated value of radar error angle, compensation to survey in real time can be calculated in real time
In magnitude.Or can be demarcated in advance, the estimated value of a determining radar error angle is obtained, radar sensor is being used
When measuring, compensate into measured value.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of trailer-mounted radar scaling method, which is characterized in that the described method includes:
The position for detecting target by radar sensor in measurement coordinate system, obtains the measurement coordinate of target, substitutes into hypothesis
Radar error angle compensates, and obtains the first coordinate data of target；
Reference frame is set, the target of false coordinate is set in reference frame, the target is thunder in measurement coordinate system
The target detected up to sensor；
The coordinate of target in reference frame is transformed into measurement coordinate system, the second coordinate data of target is obtained；
It repeats the above steps, obtains the first coordinate data and the second coordinate data of multiple groups target；
According to the first coordinate data and the second coordinate data of multiple groups target, the numerical value of radar error angle is obtained.
2. a kind of trailer-mounted radar scaling method according to claim 1, which is characterized in that by target in reference frame
Before coordinate is transformed into measurement coordinate system, the vehicle speed information and angular velocity information of vehicle are obtained, according to the vehicle speed information of vehicle
And angular velocity information, obtain position coordinates of the vehicle in the case where measuring coordinate system and towards angle.
3. a kind of trailer-mounted radar scaling method according to claim 2, which is characterized in that according to vehicle in measurement coordinate system
Under position coordinates and the coordinate assumed towards angle and target under reference frame, by target in reference frame
Coordinate be transformed into measurement coordinate system in, obtain the second coordinate data of target.
4. a kind of trailer-mounted radar scaling method according to claim 1, which is characterized in that carrying out obtaining multiple groups target
When the first coordinate data and the second coordinate data, obtained in such a way that the position to multiple targets is repeatedly detected.
5. a kind of trailer-mounted radar scaling method according to claim 1, which is characterized in that carrying out obtaining multiple groups target
When the first coordinate data and the second coordinate data, by way of detecting the position of same target in multiple measurement coordinate systems into
Row obtains.
6. a kind of trailer-mounted radar scaling method according to claim 1, which is characterized in that in the number for obtaining radar error angle
When value, the numerical value of radar error angle is obtained by way of parameter Estimation.
7. a kind of trailer-mounted radar caliberating device, which is characterized in that radar sensor, vehicle speed sensor, timing module, the first coordinate
Data obtaining module, the second coordinate data obtain module and radar error angle computing module；
The radar sensor is for detecting target position；
The vehicle speed sensor is for obtaining vehicle speed information and angular velocity information；
The timing module is used to obtain the running time of vehicle；
First coordinate data obtains module and is used to assume that radar error angle to exist and mends to the target position detected
After repaying, according to the radar error angle for the target position and hypothesis detected, the first coordinate data of target is obtained；
Second coordinate data obtains the coordinate that module is used to assume the target before vehicle launch, according to vehicle speed information, angle speed
The coordinate of target, obtains the second coordinate data of target before degree information, the running time of vehicle and the vehicle launch of hypothesis；
The radar error angle computing module is used to obtain the first coordinate data and the second coordinate data of multiple groups target, according to more
The first coordinate data of group and the second coordinate data obtain the numerical value of radar error angle.
8. a kind of trailer-mounted radar caliberating device according to claim 7, which is characterized in that the radar error angle calculates mould
Block can obtain the first coordinate data of multiple groups and the second coordinate data, or pass through by repeatedly detecting the position of same target
The position of multiple targets is repeatedly detected, the first coordinate data of multiple groups and the second coordinate data are obtained.
9. a kind of trailer-mounted radar caliberating device according to claim 7, which is characterized in that the radar error angle calculates mould
Block obtains the numerical value of radar error angle by way of parameter Estimation.
10. a kind of vehicle, which is characterized in that the vehicle has the calibration of trailer-mounted radar described in claim 7 to 9 any one
Device.
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Application publication date: 20190319 |