CN111398924A - Radar installation angle calibration method and system - Google Patents
Radar installation angle calibration method and system Download PDFInfo
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- CN111398924A CN111398924A CN202010356705.2A CN202010356705A CN111398924A CN 111398924 A CN111398924 A CN 111398924A CN 202010356705 A CN202010356705 A CN 202010356705A CN 111398924 A CN111398924 A CN 111398924A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The embodiment of the invention discloses a method and a system for calibrating a radar installation angle. The method comprises the following steps: acquiring position point information of candidate vehicles in a monitoring range of a vehicle to be detected; the position point information is obtained by monitoring through a radar arranged on a vehicle to be detected; performing linear fitting according to the position point information, and determining a track line of a target vehicle positioned on an adjacent lane of the vehicle to be detected; and determining the current installation angle of the radar according to the characteristic parameters of the trajectory line and the standard installation angle of the radar. According to the technical scheme, the problems that the real-time calibration of the installation angle of the radar is difficult to carry out and the installation angle determining process is complicated are solved, the real-time determination of the installation angle of the radar is realized, and the calibration accuracy of the installation angle of the radar is effectively improved in a simple calculation mode.
Description
Technical Field
The embodiment of the invention relates to the technical field of automation, in particular to a method and a system for calibrating a radar installation angle.
Background
With the improvement of the range and precision requirements of the intelligent vehicle on the detection of the targets around the vehicle, the requirement of vehicle-mounted target detection cannot be met only by installing the millimeter wave radar in front of the intelligent vehicle. The blind area monitoring radar at the rear of the vehicle can detect the distance, the relative speed and the direction of a target, and has the advantages of high working frequency, short wavelength, small antenna size, strong adaptability, normal work in the dark and the like.
However, due to different vehicle types, mounting bracket framework differences, human factors and the like, a certain gap exists between the actual mounting angle of the radar and the designed mounting angle, if angle correction is not performed, detection errors can be caused, misjudgment of the relative direction of the target vehicle and surrounding vehicles can be caused, and potential safety hazards exist.
The existing radar installation angle calibration method has the problems of complex process, more design parameters, need of a special auxiliary measuring tool and the like, and is low in calibration accuracy and difficult to realize accurate calibration on the radar installation angle simply and quickly.
Disclosure of Invention
The embodiment of the invention provides a method and a system for calibrating a radar installation angle, which are used for improving the accuracy of radar installation angle calibration and further improving the safety of vehicle running.
In an embodiment, an embodiment of the present invention provides a radar installation angle calibration method, including:
acquiring position point information of candidate vehicles in a monitoring range of a vehicle to be detected; the position point information is obtained by monitoring through a radar arranged on a vehicle to be detected;
performing linear fitting according to the position point information, and determining a track line of a target vehicle positioned on an adjacent lane of the vehicle to be detected;
and determining the current installation angle of the radar according to the characteristic parameters of the trajectory line and the standard installation angle of the radar.
In another embodiment, an embodiment of the present invention further provides a radar installation angle calibration system, where the system includes:
the position point information acquisition module is used for acquiring the position point information of candidate vehicles in the monitoring range of the vehicle to be detected; the position point information is obtained by monitoring through a radar arranged on a vehicle to be detected;
the trajectory line acquisition module is used for performing linear fitting according to the position point information and determining a trajectory line of a target vehicle positioned on an adjacent lane of the vehicle to be tested;
and the current installation angle determining module is used for determining the current installation angle of the radar according to the characteristic parameters of the trajectory line and the standard installation angle of the radar.
In the embodiment of the invention, the candidate vehicle position point information in the monitoring range of the vehicle to be tested is monitored by the radar arranged on the vehicle to be tested, the straight line fitting is carried out according to the position point information, the track line of the target vehicle positioned on the adjacent lane of the vehicle to be tested is determined, so that the track information of the target vehicle on the adjacent lane is accurately obtained in real time, the current installation angle of the radar is determined according to the characteristic parameters of the track line and the standard installation angle of the radar, the real-time calibration of the installation angle is realized, and the current installation angle is calculated according to the characteristic parameters of the track line and the standard installation angle by means of the characteristic that the running track of the target vehicle on the adjacent lane is a straight line, so that the calibration accuracy of the current installation angle.
Drawings
Fig. 1 is a flowchart of a radar installation angle calibration method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of location point information collection according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating an exemplary radar operating mode transition according to an embodiment of the present invention;
FIG. 4 is a first schematic diagram of an angular relationship provided in accordance with an embodiment of the present invention;
FIG. 5 is a second schematic diagram of an angular relationship provided in accordance with an embodiment of the present invention;
fig. 6 is a flowchart of a radar installation angle calibration method according to another embodiment of the present invention;
FIG. 7 is a third schematic view of an angular relationship provided in accordance with an embodiment of the present invention;
fig. 8 is a flowchart of a radar installation angle calibration method according to another embodiment of the present invention;
fig. 9 is a schematic structural diagram of a radar installation angle calibration system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a radar installation angle calibration method according to an embodiment of the present invention. The radar installation angle calibration method provided by the embodiment can be suitable for determining the radar installation angle on the vehicle to be tested, and typically, the embodiment of the invention can be suitable for calibrating the current installation angle of the radar in the blind area of the vehicle to be tested in real time on an actual road. The method may be specifically implemented by a radar installation angle calibration system, which may be implemented in software and/or hardware, which may be integrated in the vehicle under test. Referring to fig. 1, the method of the embodiment of the present invention specifically includes:
s110, obtaining position point information of candidate vehicles in a monitoring range of the vehicle to be detected; and the position point information is obtained by monitoring through a radar arranged on the vehicle to be detected.
The vehicle to be tested is a vehicle needing to calibrate the installation angle of the radar configured on the vehicle. The vehicle to be detected can be a vehicle which is stationary on the lane or a vehicle which runs on the lane. The candidate vehicles in the monitoring range of the vehicle to be tested can be vehicles which can be monitored by a radar on the vehicle to be tested, vehicles which normally run on a lane adjacent to the vehicle to be tested, vehicles which overtake from the rear of the vehicle to be tested and vehicles on other lanes, wherein the average running speed of the vehicles is higher than the average running speed of the vehicle to be tested. In this application embodiment, install the radar on the vehicle that awaits measuring can be for being located the radar of the vehicle blind area that awaits measuring, can be main radar, also can be for following the radar, and main radar and follow the radar and can mark simultaneously. As shown in fig. 2, the radar 2 mounted on the vehicle 1 to be measured acquires position point information of the target vehicle 4 for calibrating the mounting angle of the radar 2, and the radar 3 mounted on the vehicle 1 to be measured acquires position point information of the target vehicle 5 for calibrating the mounting angle of the radar 2.
When the radar is calibrated at present, a known running track of a vehicle to be measured relative to a target vehicle needs to be designed in advance, and the installation angle of the radar on the vehicle to be measured is calculated based on relevant parameters of the known running track and data monitored by the radar. The technical scheme can not realize real-time performance, only can specially set calibration scenes and calibration time to calibrate the radar installation angle, and carries out calibration calculation of a plurality of radars based on known various diversified tracks, so that the calculation process is complicated. In the embodiment of the application, the position point information of the candidate vehicle in the monitoring range of the vehicle to be detected is directly obtained, the real-time calibration of the radar installation angle can be realized, and the radar installation angle is not limited by a calibration scene and calibration time. In addition, the radar installation angle is determined according to the linear track of the target vehicle on the adjacent lane by considering the characteristic that the track of the target vehicle on the adjacent lane is a straight line parallel to the lane, so that the calculation process is simplified, and the calculation accuracy is improved. The position point information of the target vehicle is obtained through the radar monitoring, so that the detection data can be accurately obtained without other measuring tools, and the referability of the detection data is improved.
In the embodiment of the application, the working modes of the radar can be set, and the working modes comprise a radar self-calibration mode, a radar calibration verification mode and a radar normal detection mode. Under the radar self-calibration mode, the system realizes the first calibration of the installation angle of the radar. In the radar calibration verification mode, the radar is calibrated again mainly when the radar is started again or is collided and loosened, the method for calibrating again can be the same as the method for calibrating for the first time and is compared with the result of calibrating for the first time to determine a new current installation angle, for example, when the difference value between the radar installation angle obtained by calibrating again and the radar installation angle obtained by calibrating for the first time is smaller than the preset threshold difference value, the result of calibrating for the first time is considered to be accurate, the installation angle is not updated, and if the difference value is larger than or equal to the preset threshold difference value, the number of the current installation angles obtained by calibrating again is large, the reliability is high, and the installation angle of the radar is updated according to the current installation angle obtained by calibrating again. Under the normal detection mode of the radar, the radar detects obstacles around the vehicle to be detected so as to realize safety reminding. As shown in fig. 3, the conversion between the three operating modes of the radar is: and entering a normal detection mode if the self calibration is successful and the calibration verification is successful.
And S120, performing straight line fitting according to the position point information, and determining the track line of the target vehicle positioned on the adjacent lane of the vehicle to be detected.
The target vehicle is positioned on the adjacent lane of the vehicle to be detected, so the vehicle runs along the adjacent lane, the running track is a straight line, and the position points are subjected to straight line fitting to obtain the track line of the target vehicle. The line fitting method may be a least squares method. In this embodiment of the present application, performing straight line fitting according to the position point information to obtain a trajectory line of the target vehicle includes: performing linear fitting according to the position point information to obtain a candidate trajectory line; and selecting the candidate trajectory line with the correlation degree larger than a preset correlation degree threshold value as the trajectory line of the target vehicle positioned on the adjacent lane of the vehicle to be detected.
Because the candidate vehicles in the monitoring range of the vehicle to be detected are not necessarily vehicles which run on the adjacent lane of the vehicle to be detected in a straight line, but may also be vehicles which change lanes from the rear of the vehicle to be detected to the adjacent lane, the radar on the vehicle to be detected can always monitor the position point information of the target vehicle, but because the target vehicle runs in a lane changing manner, the running track of the target vehicle is not a straight line parallel to the lane, and therefore the track line obtained under the condition needs to be removed. The method comprises the steps of obtaining a candidate trajectory line through straight line fitting according to position point information of a target vehicle, calculating a correlation parameter of the candidate trajectory line, namely the fitting degree between the candidate trajectory line and a position point obtained through fitting, and if the correlation is smaller than or equal to a preset correlation threshold, indicating that the fitting degree between the candidate trajectory line and the position point is low and the deviation is large, removing the candidate trajectory line, and selecting the candidate trajectory line with the correlation larger than the preset correlation threshold as the trajectory line of the target vehicle.
In this embodiment of the application, before performing straight line fitting according to the position point information to obtain a trajectory line of the target vehicle, the method further includes: converting position point information in polar coordinates obtained by monitoring of a radar into position point information in a vehicle body coordinate system with the radar as an origin; and processing the position point information in the vehicle body coordinate system with the radar as the origin by adopting a filtering algorithm.
Illustratively, the position point information of the target vehicle acquired by the radar is polar coordinate information
Which is shown in fig. 4, where R is the radial distance between the target vehicle and the radar,
the included angle between the connecting line of the target vehicle and the radar and the normal line of the radar. Establishing a vehicle body coordinate system which takes the radar as the origin of coordinates and takes the direction parallel to the vehicle body of the vehicle to be measured as the direction of an x axis, and converting the position point information of the target vehicle in polar coordinates
Converting into position point information (x, y) in a coordinate system of the vehicle body with the radar as a coordinate origin so as to facilitate subsequent calculation, wherein the conversion formula is as follows:
wherein, α0Is a standard installation angle. Due to the fact that accidental errors can occur in the data acquisition process of the radar, the obtained position point information of the target vehicle is inaccurate, and abnormal values exist in the position point information due to the fact that the position point of the target vehicle deviates from the position point of the straight track, the position point information can be filtered to remove the abnormal values, accuracy of the position point is improved, and accuracy of radar installation angle calibration is improved. The filtering method can adopt Kalman filtering; and screening the target vehicle trajectory line which suddenly deviates from the straight lane according to the linear correlation of least square fitting.
And S130, determining the current installation angle of the radar according to the characteristic parameters of the trajectory line and the standard installation angle of the radar.
For example, the target vehicle on the adjacent lane should have a running track that is a straight line parallel to the vehicle body, and when the radar is installed at a different angle from the standard installation angle, the target vehicle detected by the radar has a running track that forms an angle θ with the x-axis in the coordinate system of the vehicle body, as shown in fig. 5. Therefore, the included angle theta can be determined according to the characteristic parameters of the target vehicle track line, the current installation angle of the radar is calculated by combining the standard installation angle, and the real-time determination of the installation angle of the radar is realized.
In the embodiment of the invention, the position point information of the target vehicle positioned on the vehicle to be detected is obtained by monitoring the radar arranged on the vehicle to be detected, the linear fitting is carried out according to the position point information to obtain the track line of the target vehicle, so that the track information of the target vehicle on the lane is accurately obtained in real time, the current installation angle of the radar is determined according to the characteristic parameters of the track line and the standard installation angle of the radar, the instantaneity of the installation angle is realized, and the current installation angle is calculated according to the characteristic parameters of the track line and the standard installation angle by means of the characteristic that the running track of the target vehicle on the adjacent lane is a straight line, so that the accuracy of determining the current installation angle is effectively improved.
Fig. 6 is a flowchart of a radar installation angle calibration method according to another embodiment of the present invention. In the embodiment of the present invention, details that are not described in detail in the embodiment are described in the above embodiment in order to further optimize S130 in the above embodiment. Referring to fig. 6, the method for calibrating the installation angle of the radar provided by this embodiment may include:
s131, determining the slope of the trajectory line.
Illustratively, the slope of the trajectory line is determined according to a target vehicle trajectory line expression obtained by fitting a straight line.
And S132, determining a deflection angle between the trajectory line and a coordinate axis of a vehicle body coordinate system with the radar as an origin according to the slope.
The deflection angle is an included angle formed by the running track of the target vehicle and an x axis in a vehicle body coordinate system. Illustratively, the conversion between the deflection angle θ and the slope k is:
θ＝arctan(k)*π/180；
thus, the deflection angle θ is determined from the determined value of the slope k.
And S133, determining the current installation angle of the radar according to the deflection angle and the standard installation angle of the radar.
In this embodiment of the present application, determining the current installation angle of the radar according to the deflection angle and the standard installation angle of the radar includes: and determining the current installation angle of the radar according to the difference value of the deflection angle and the standard installation angle of the radar.
For example, as shown in fig. 4, 5 and 7, there may be three relationships between the standard mounting angle and the current mounting angle:
as shown in fig. 7, α0>α, the slope k of the target track straight line is a negative value, and the corresponding angle is-theta;
as shown in fig. 5, α0<α, the slope k of the target track straight line is a positive value, and the corresponding angle is + theta;
as shown in fig. 4, α0α, the slope k of the target trajectory line is zero, corresponding toThe angle is 0 degree;
from the geometric relationship, the current installation angle α may be determined as:
α＝α0–θ。
according to the technical scheme of the embodiment of the invention, the deflection angle formed by the running track of the target vehicle and the x axis in the vehicle body coordinate system is determined according to the slope of the linear track of the target vehicle, and the current installation angle of the radar is determined according to the deflection angle and the standard installation angle, so that the current installation angle of the radar can be accurately determined in real time, the radar can determine the relative position of surrounding obstacles according to the current installation angle, and safety accidents caused by detection errors are avoided.
Fig. 8 is a flowchart of a radar installation angle calibration method according to another embodiment of the present invention. In the embodiment of the present invention, details that are not described in detail in the embodiment are described in the above embodiment in order to further optimize S130 in the above embodiment. Referring to fig. 8, the method for calibrating the installation angle of the radar provided in this embodiment may include:
s1311, determining candidate installation angles of the radar according to the characteristic parameters of the track line of the target vehicle and the standard installation angle of the radar.
In the application, the number of the target vehicles can be at least one, and for each target vehicle, the position point information in the driving process of the target vehicle is detected, and the track line is determined according to the position point information, so that a candidate installation angle is determined. If a plurality of target vehicles are detected, a plurality of candidate installation angles are obtained.
And S1321, clustering the candidate installation angles.
Due to the uncertainty of the motion track of the target vehicle (the running track with rapid lane change, transverse traffic lane change and the like) and the uncertainty of data acquisition, the track of the target vehicle is not a straight line, the track line of the target vehicle running on the adjacent lane in a straight line manner is selected according to the linear correlation degree of straight line fitting, and the candidate installation angle with deviation is filtered through the clustering processing of the candidate installation angle, so that the candidate installation angle with high accuracy is obtained.
And S1331, determining the current installation angle of the radar according to the clustering result.
In the embodiment of the present application, determining the current installation angle of the radar according to the clustering result includes: selecting the class with the most candidate installation angles according to the clustering result; if the number of the candidate installation angles contained in the category is larger than the preset number, determining the current installation angle of the radar according to the candidate installation angles in the category; and if the number of the candidate installation angles contained in the class is less than or equal to the preset number, continuously acquiring the position point information of the new candidate vehicle and determining the new candidate installation angles until the number of the candidate installation angles in the class containing the largest candidate installation angles meets the preset condition. Determining a current installation angle of the radar according to the candidate installation angles in the class, including: and determining the current installation angle of the radar according to the average value of the candidate installation angles in the class.
Illustratively, for the resulting candidate installation angle (α)1，α2，α3……αi) And clustering, selecting the class containing the most candidate installation angles from the obtained classes, and if the number of the candidate installation angles in the class containing the most candidate installation angles is greater than the preset number, indicating that the reliability of the candidate installation angles in the class is higher and being capable of being used as a reference for determining the current installation angle. The average of the candidate mounting angles in the class may be taken as the current mounting angle and stored. If the number of the candidate installation angles in the class containing the largest candidate installation angles is smaller than or equal to the preset number, the fact that the class contains fewer elements and has low reliability is indicated, in order to guarantee the accuracy of the current installation angles, position point information of a new target vehicle can be continuously collected, straight line fitting is conducted to obtain a track line, the candidate installation angles are determined according to characteristic parameters of the track line and standard installation angles, clustering processing is conducted until the number of the candidate installation angles in the class containing the largest candidate installation angles obtained through clustering processing is larger than the preset number, the average value of the candidate installation angles in the class is used as the current installation angle to be stored, and therefore the accuracy of determining the current installation angle is improved,the problem that the accuracy of radar detection is influenced due to the fact that the installation angle determination error is caused by the fact that the candidate installation angle determined by the accidental data is used as the current installation angle is solved.
After the current installation angle of the radar is determined, when the radar is in a normal detection mode, position point information in polar coordinates of surrounding obstacles is detected
Coordinate conversion is carried out on the position point information (x ', y') in a vehicle body coordinate system with the radar as a coordinate origin, and the position point information (x ', y') is as follows:
through the bringing-in of the angle deviation and the conversion, the accurate determination of the position point of the obstacle is realized, and the influence on the safety judgment and the reminding of the system caused by the deviation of the detection position of the obstacle due to the deviation of the installation angle of the radar is avoided.
According to the technical scheme of the embodiment of the invention, the candidate installation angles with larger deviation are removed through clustering processing, and the current installation angle is determined according to the candidate installation angles with similar numerical values and a larger number, so that the accuracy of determining the current installation angle is improved.
Fig. 9 is a schematic structural diagram of a radar installation angle calibration system according to an embodiment of the present invention. The system can be suitable for determining the condition of the radar installation angle on the vehicle to be tested, and typically, the embodiment of the invention can be suitable for calibrating the current radar installation angle of the blind area of the vehicle to be tested on the actual road in real time. The system can be realized in a software and/or hardware mode, and can be integrated in the radar installation angle calibration device. Referring to fig. 9, the system specifically includes:
the position point information acquiring module 210 is configured to acquire position point information of candidate vehicles within a monitoring range of a vehicle to be detected; the position point information is obtained by monitoring through a radar arranged on a vehicle to be detected;
the trajectory line obtaining module 220 is configured to perform linear fitting according to the position point information, and determine a trajectory line of a target vehicle located on an adjacent lane of the vehicle to be tested;
a current installation angle determining module 230, configured to determine a current installation angle of the radar according to the characteristic parameter of the trajectory line and a standard installation angle of the radar.
In an embodiment of the present application, the trajectory line obtaining module 220 includes:
the candidate trajectory determining unit is used for performing straight line fitting according to the position point information to obtain a candidate trajectory;
and the correlation comparison unit is used for selecting the candidate trajectory line with the correlation degree larger than a preset correlation threshold value as the trajectory line of the target vehicle positioned on the adjacent lane of the vehicle to be detected.
In an embodiment of the present application, the system further includes:
the coordinate conversion module is used for converting position point information in polar coordinates obtained by monitoring the radar into position point information in a vehicle body coordinate system with the radar as an origin;
and the filtering module is used for processing the position point information in the vehicle body coordinate system with the radar as the origin by adopting a filtering algorithm.
In an embodiment of the present application, the current installation angle determining module 230 includes:
a slope determination unit for determining a slope of the trajectory line;
the deflection angle determining unit is used for determining the deflection angle between the trajectory line and a coordinate axis of a vehicle body coordinate system with the radar as an origin according to the slope;
and the installation angle determining unit is used for determining the current installation angle of the radar according to the deflection angle and the standard installation angle of the radar.
In an embodiment of the present application, the installation angle determining unit includes:
and the difference value determining subunit is used for determining the current installation angle of the radar according to the difference value of the deflection angle and the standard installation angle of the radar.
In an embodiment of the present application, the current installation angle determining module 230 includes:
the candidate installation angle determining unit is used for determining a candidate installation angle of the radar according to the characteristic parameters of the track line of the target vehicle and the standard installation angle of the radar;
the clustering processing unit is used for clustering the candidate installation angles;
and the clustering processing result analysis unit is used for determining the current installation angle of the radar according to the clustering processing result.
In this embodiment of the present application, the clustering result analyzing unit includes:
the class selection subunit is used for selecting the class with the most candidate installation angles according to the clustering result;
the first judgment subunit is used for determining the current installation angle of the radar according to the candidate installation angles in the category if the number of the candidate installation angles included in the category is greater than the preset number;
and the second judging subunit is used for continuously acquiring the position point information of the new candidate vehicle and determining the new candidate installation angle if the number of the candidate installation angles contained in the class is less than or equal to the preset number until the number of the candidate installation angles in the class containing the largest candidate installation angle meets the preset condition.
In an embodiment of the present application, the first determining subunit is specifically configured to:
and determining the current installation angle of the radar according to the average value of the candidate installation angles in the class.
The radar installation angle calibration system provided by the embodiment of the application can execute the radar installation angle calibration method provided by any embodiment of the application, and has corresponding functional modules and beneficial effects of the execution method.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A radar installation angle calibration method is characterized by comprising the following steps:
acquiring position point information of candidate vehicles in a monitoring range of a vehicle to be detected; the position point information is obtained by monitoring through a radar arranged on a vehicle to be detected;
performing linear fitting according to the position point information, and determining a track line of a target vehicle positioned on an adjacent lane of the vehicle to be detected;
and determining the current installation angle of the radar according to the characteristic parameters of the trajectory line and the standard installation angle of the radar.
2. The method of claim 1, wherein performing a straight line fit to determine a trajectory line of a target vehicle located on an adjacent lane of the vehicle under test based on the location point information comprises:
performing linear fitting according to the position point information to obtain a candidate trajectory line;
and selecting the candidate trajectory line with the correlation degree larger than a preset correlation degree threshold value as the trajectory line of the target vehicle positioned on the adjacent lane of the vehicle to be detected.
3. The method of claim 1, wherein, based on the position point information, a straight line is fitted before determining a trajectory line of a target vehicle located on an adjacent lane of the vehicle under test, the method further comprising:
converting position point information in polar coordinates obtained by monitoring of a radar into position point information in a vehicle body coordinate system with the radar as an origin;
and processing the position point information in the vehicle body coordinate system with the radar as the origin by adopting a filtering algorithm.
4. The method of claim 1, wherein determining a current mounting angle of the radar from the characteristic parameters of the trajectory line and a standard mounting angle of the radar comprises:
determining a slope of the trajectory line;
determining a deflection angle between the trajectory line and a coordinate axis of a vehicle body coordinate system with the radar as an origin according to the slope;
and determining the current installation angle of the radar according to the deflection angle and the standard installation angle of the radar.
5. The method of claim 4, wherein determining a current installation angle of the radar from the yaw angle and a standard installation angle of the radar comprises:
and determining the current installation angle of the radar according to the difference value of the deflection angle and the standard installation angle of the radar.
6. The method of claim 1, wherein determining a current mounting angle of the radar from the characteristic parameters of the trajectory line and a standard mounting angle of the radar comprises:
determining a candidate installation angle of the radar according to the characteristic parameters of the track line of the target vehicle and the standard installation angle of the radar;
clustering the candidate installation angles;
and determining the current installation angle of the radar according to the clustering result.
7. The method of claim 6, wherein determining the current installation angle of the radar according to the clustering result comprises:
selecting the class with the most candidate installation angles according to the clustering result;
if the number of the candidate installation angles contained in the category is larger than the preset number, determining the current installation angle of the radar according to the candidate installation angles in the category;
and if the number of the candidate installation angles contained in the class is less than or equal to the preset number, continuously acquiring the position point information of the new candidate vehicle and determining the new candidate installation angles until the number of the candidate installation angles in the class containing the largest candidate installation angles meets the preset condition.
8. The method of claim 7, wherein determining the current installation angle of the radar from the candidate installation angles in the class comprises:
and determining the current installation angle of the radar according to the average value of the candidate installation angles in the class.
9. A radar installation angle calibration system, the system comprising:
the position point information acquisition module is used for acquiring the position point information of candidate vehicles in the monitoring range of the vehicle to be detected; the position point information is obtained by monitoring through a radar arranged on a vehicle to be detected;
the trajectory line acquisition module is used for performing linear fitting according to the position point information and determining a trajectory line of a target vehicle positioned on an adjacent lane of the vehicle to be tested;
and the current installation angle determining module is used for determining the current installation angle of the radar according to the characteristic parameters of the trajectory line and the standard installation angle of the radar.
10. The system of claim 8, wherein the trajectory acquisition module comprises:
the candidate trajectory determining unit is used for performing straight line fitting according to the position point information to obtain a candidate trajectory;
and the correlation comparison unit is used for selecting the candidate trajectory line with the correlation degree larger than a preset correlation threshold value as the trajectory line of the target vehicle positioned on the adjacent lane of the vehicle to be detected.
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