CN111679256B - Angle calibration method, device and system for automobile millimeter wave radar and storage medium - Google Patents
Angle calibration method, device and system for automobile millimeter wave radar and storage medium Download PDFInfo
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- CN111679256B CN111679256B CN202010717836.9A CN202010717836A CN111679256B CN 111679256 B CN111679256 B CN 111679256B CN 202010717836 A CN202010717836 A CN 202010717836A CN 111679256 B CN111679256 B CN 111679256B
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- 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 application discloses an angle calibration method, device and system of an automobile millimeter wave radar and a computer readable storage medium, wherein the method comprises the following steps: in the current vehicle running process, tracking and measuring all targets in a measuring range of the vehicle in real time by using a radar to obtain all measuring points and moving tracks corresponding to all targets; according to each measuring point corresponding to each target, determining each static target and a corresponding target moving track from each target; analyzing each target moving track to obtain angle errors corresponding to each target moving track; and carrying out angle calibration on the angle of the radar according to each angle error. According to the radar angle calibration method, each target is independently tracked, and the radar is subjected to angle calibration according to a plurality of angle errors obtained by the moving track of each stationary target, and the stationary target has universality, so that the radar angle calibration method is not limited by scenes in the use process, and is wide in application range and high in calibration accuracy.
Description
Technical Field
The embodiment of the application relates to the technical field of automobile driving, in particular to an angle calibration method, an angle calibration device, an angle calibration system and a computer readable storage medium for an automobile millimeter wave radar.
Background
In the field of radar products related to automobile driving nowadays, the main application is in the field of automobile driving safety initiative/assistance, such as: lane Change Assist (LCA), blind spot warning (BSD), front Collision Warning (FCW), forward adaptive cruise (ACC), forward collision automatic brake (AEB), etc. The radar equipment frequency bands are mainly 24GHz, 77GHz and 79GHz, taking blind zone early warning (BSD) as an example, BSD radars are respectively installed on two sides of the inside of a rear bumper of a vehicle, and the position and the speed of the rear vehicle are calculated in real time according to rear vehicle information measured by the radars to provide blind zone early warning for the current vehicle. In this process, the angle error may distort the position and speed calculation of the rear vehicle, as shown in fig. 1, where a represents the radar, B represents the true target position, C represents the target position (i.e., the measured position of the target) of the radar due to the error calculation, and θ represents the angle error.
There are several types of reasons for the angle error: firstly, an error in the radar production process, an inherent error of hardware generated, secondly, an error in the radar installation process, and thirdly, an angle error of the radar caused by jolt or accident in the running process of the automobile. The inherent error of the radar can be measured in the production process and compensated by software, and the error in installation is mainly related to the installation precision and the process, is difficult to control to be very fine, and the error in running cannot be compensated in the production and the installation.
In the prior art, a special mounting bracket is designed for mounting millimeter wave radar equipment when a vehicle factory produces vehicles, each trolley is used for calibrating each radar after the radar is mounted, but the angle error caused in the driving process cannot be solved by the calibration, and meanwhile, if the mounting process is not standard, the mounting error cannot be completely eliminated and residual errors can exist. The other is that during the running of the automobile, the error and the installation residual error during the running are calibrated in real time, the method usually refers to other running vehicles, the running vehicles are assumed to run in a straight line, the measuring points are fitted through the straight line (ax+b), the calculated slope is converted into the angle error, however, the calibration technology is greatly limited by scenes, a large number of vehicles are usually required on the road surface, the vehicles must run in a straight line and are in an overtaking state, and the calibration error is large in the scenes that the reference vehicles cannot run in a straight line due to the fewer environments of the vehicles or the curved road.
In view of this, how to provide an angle calibration method, device, system and computer readable storage medium for millimeter wave radar of an automobile, which is not limited by a scene and has high calibration accuracy during the running of the vehicle, is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The embodiment of the application aims to provide an angle calibration method, device and system for an automobile millimeter wave radar and a computer readable storage medium, which are free from scene limitation in the use process, wide in application range and high in calibration accuracy.
In order to solve the above technical problems, an embodiment of the present application provides an angle calibration method for an automotive millimeter wave radar, including:
in the current vehicle running process, tracking and measuring all targets in a measuring range of the vehicle in real time by using a radar to obtain all measuring points and moving tracks corresponding to all the targets;
according to the measuring points corresponding to each target, determining each static target and a corresponding target moving track from each target;
analyzing each target moving track to obtain angle errors corresponding to each target moving track;
and carrying out angle calibration on the angle of the radar according to each angle error.
Optionally, in the current vehicle driving process, tracking and measuring each target in the measuring range by using a radar in real time, and obtaining each measuring point and moving track corresponding to each target comprises the following steps:
in the current vehicle running process, tracking and measuring all targets in a measuring range in real time by using a radar, and recording all sets of distance and angle information respectively corresponding to all the targets;
obtaining position coordinates of each measuring point corresponding to the corresponding target in a two-dimensional coordinate system according to each group of distance and angle information;
acquiring each target measuring point corresponding to each target in a preset time period of the current vehicle straight running;
and obtaining a movement track corresponding to each target one by one according to each target measuring point corresponding to each target.
Optionally, the process of determining the stationary target and the corresponding target moving track from the targets according to the measurement points corresponding to each target is as follows:
obtaining the moving speed of each target according to the target measuring points and the corresponding position coordinates on each moving track;
and respectively judging whether the absolute value of the difference between the moving speed of each target and the running speed of the current vehicle is smaller than a preset value, if so, the corresponding target is a stationary target, and the moving track corresponding to the stationary target is a corresponding target moving track.
Optionally, the process of analyzing each target movement track to obtain the angle error corresponding to each target movement track includes:
respectively carrying out straight line fitting on a target measurement point set corresponding to each target movement track to obtain a fitting straight line corresponding to each target movement track;
calculating the slope corresponding to each fitting straight line according to each fitting straight line;
and obtaining an angle error corresponding to the corresponding target movement track according to the slope corresponding to each fitting straight line.
Optionally, the process of performing straight line fitting on the target measurement point set corresponding to each target movement track includes:
and respectively carrying out straight line fitting on the target measurement point set corresponding to each target movement track by adopting a least square method.
Optionally, the process of performing angle calibration on the angle of the radar according to each angle error includes:
and obtaining an average angle error according to each angle error, and performing angle compensation on the angle of the radar according to the average angle error.
The application also correspondingly provides an angle calibration device of the automobile millimeter wave radar, which comprises:
the detection module is used for carrying out tracking measurement on each target in the measurement range in real time through a radar in the current vehicle running process to obtain each measurement point and each movement track corresponding to each target;
the screening module is used for determining each static target and a corresponding target moving track from each target according to each measuring point corresponding to each target;
the analysis module is used for analyzing each target movement track to obtain an angle error corresponding to each target movement track;
and the calibration module is used for carrying out angle calibration on the angle of the radar according to each angle error.
Optionally, the detection module includes:
the measuring unit is used for tracking and measuring each target in the measuring range in real time through a radar in the current vehicle running process, and recording each group of distance and angle information corresponding to each target respectively;
the conversion unit is used for obtaining the position coordinates of each measuring point corresponding to the corresponding target in the two-dimensional coordinate system according to each group of distance and angle information;
the acquisition unit is used for acquiring each target measuring point corresponding to each target in a preset time period of the current vehicle straight running;
the establishing unit is used for obtaining the movement track corresponding to each target one by one according to each target measuring point corresponding to each target.
The application also provides an angle calibration system of the millimeter wave radar of the automobile, which comprises:
a memory for storing a computer program;
and the processor is used for realizing the steps of the angle calibration method of the automobile millimeter wave radar when executing the computer program.
The application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps of the angle calibration method of the automobile millimeter wave radar when being executed by a processor.
The application provides an angle calibration method, a device, a system and a computer readable storage medium for an automobile millimeter wave radar, wherein when the angle calibration is carried out on the radar of a current vehicle in running, each target in the measuring range of the radar can be tracked and measured through the radar to obtain each measuring point and a corresponding moving track of each target, then whether the corresponding target is a static target can be determined according to each measuring point, and each corresponding angle error is obtained according to the moving track of each static target, so that the angle of the radar is calibrated according to each angle error.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required in the prior art and the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a position error corresponding to a radar measurement target in the prior art;
fig. 2 is a schematic flow chart of an angle calibration method of an automotive millimeter wave radar according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a positional relationship between a driving vehicle and a roadside lamp post according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a positional relationship between a driving vehicle and a roadside lamp post when a radar has no angle error;
FIG. 5 is a schematic diagram of the positional relationship between a driving vehicle and a roadside lamp post when an angle error exists in the radar;
fig. 6 is a schematic structural diagram of an angle calibration device for an automotive millimeter wave radar according to an embodiment of the present application.
Detailed Description
The embodiment of the application provides an angle calibration method, device and system for an automobile millimeter wave radar and a computer readable storage medium, which are free from scene limitation in the use process, wide in application range and high in calibration accuracy.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 2, fig. 2 is a flow chart of an angle calibration method of an automotive millimeter wave radar according to an embodiment of the application. The method comprises the following steps:
s110: in the current vehicle running process, tracking and measuring all targets in a measuring range of the vehicle in real time by using a radar to obtain all measuring points and moving tracks corresponding to all targets;
specifically, during the running process of the current vehicle, the radar can perform independent tracking measurement on each target in the measurement range, specifically, each target can be numbered to mark each target, during the tracking measurement process of the target, each measurement point corresponding to the target can be obtained, and according to each measurement point, a movement track corresponding to the target can be obtained, wherein the movement track is a movement track relative to the current vehicle.
S120: according to each measuring point corresponding to each target, determining each static target and a corresponding target moving track from each target;
in the application, the static target can be used as a reference target to calibrate the angle of the radar of the current vehicle, and as the radar measured target of the vehicle is all targets in the measuring range during the running process, the static targets (street lamps, buildings or plants and the like) and possibly moving targets (such as other vehicles) exist in the targets, after all the measuring points and the moving tracks corresponding to each target are obtained, whether the target is the static target or not can be further determined according to the measuring points corresponding to the corresponding target, so that each static target is screened from the targets, and the moving track corresponding to each static target is the corresponding target moving track.
S130: analyzing each target moving track to obtain angle errors corresponding to each target moving track;
specifically, since the movement of the stationary object relative to the vehicle during the running of the current vehicle is only related to the running speed and the running direction of the current vehicle, after each stationary object is determined, an angle error corresponding to the target movement track of each stationary object, that is, an angle error of the radar when tracking and measuring each stationary object, can be obtained by analyzing the target movement track of each stationary object.
S140: and carrying out angle calibration on the angle of the radar according to each angle error.
It can be understood that after the angle error corresponding to the target moving track of each stationary target is obtained, the angle of the radar can be calibrated according to each angle error, and specifically, the installation residual error and the error generated in the driving process can be calibrated. For example, the angle of the radar may be calibrated by any one of the angle errors, the angle of the radar may be calibrated by an average angle error of any plurality of angle errors, and the specific manner of calibrating the angle of the radar is not particularly limited.
Further, in the step S110, in the current vehicle driving process, tracking and measuring are performed on each target in the measurement range by using the radar in real time, so as to obtain each measurement point and each movement track corresponding to each target, which may specifically be:
in the current vehicle running process, tracking and measuring all targets in a measuring range in real time by using a radar, and recording all sets of distance and angle information corresponding to each target respectively;
obtaining position coordinates of each measuring point corresponding to the corresponding target in a two-dimensional coordinate system according to each group of distance and angle information;
acquiring each target measuring point corresponding to each target in a preset time period of the current vehicle straight running;
and obtaining a movement track corresponding to each target one by one according to each target measuring point corresponding to each target.
In this embodiment, in the process of driving the current vehicle, the radar measures each target in real time to obtain distance and angle information of each target at different positions relative to the current vehicle, that is, each target corresponds to multiple sets of distance and angle information, and taking the target 1 as an example for explanation, in the process of tracking and measuring the target 1, the radar obtains multiple sets of distance and angle information, converts each set of distance and angle information into coordinate information in an XY two-dimensional coordinate system, that is, can obtain position coordinates of measurement points corresponding to the sets of distance and angle information, and determines corresponding measurement points according to the position coordinates, where the XY two-dimensional coordinate system uses the current vehicle as an origin.
The conversion relation formula for converting each group of distance and angle information into coordinate information under an XY two-dimensional coordinate system is as follows:
X＝R*cos(At+Acar)
Y＝R*sin(At+Acar)
wherein X, Y is the coordinate position of the stationary object on the two-dimensional plane, R is the distance of the stationary object measured by the radar, at is the angle corresponding to the stationary object measured by the radar, and actar is the radar installation angle.
Therefore, the position coordinates of the measuring points corresponding to each stationary object can be obtained according to the conversion relation and the distance and angle information corresponding to each stationary object.
In order to improve the calculation accuracy of the angle error, that is, the calibration accuracy, each measurement point of each stationary target measured in a certain time zone of the current vehicle traveling straight can be selected, each measurement point of each stationary target in the preset time zone is used as each target measurement point of each stationary target, and the movement track of the corresponding stationary target is obtained according to each target measurement point.
Further, the process of determining the stationary target and the corresponding target movement track from the targets according to the measurement points corresponding to each target may specifically be:
obtaining the moving speed of each target according to the target measuring points and the corresponding position coordinates on each moving track;
and respectively judging whether the absolute value of the difference between the moving speed of each target and the running speed of the current vehicle is smaller than a preset value, if so, the corresponding target is a stationary target, and the moving track corresponding to the stationary target is a corresponding target moving track.
It should be noted that, according to each target measurement point and the corresponding position coordinate of each target, the moving speed of the corresponding target can be obtained, for the stationary target, the moving speed should be equal to the running speed of the current vehicle, and of course, considering that there is an error in the moving speed extracted according to each target measurement point and the corresponding position coordinate obtained in the tracking process, it can be determined whether the target is the stationary target through a determination condition that the absolute value of the difference between the moving speed of the target and the running speed of the current vehicle is smaller than a preset value. That is, when |vtrack-vcar| < Vth, the corresponding target is a stationary target, where Vtrack is a moving speed of the target, vcar is a running speed of the current vehicle, and Vth is a preset value, where the preset value may specifically be 1m/s, or may be other specific values, and the specific values may be determined according to actual situations, and the present application is not limited in particular. In addition, in order to secure the reliability of the judgment result, it is generally required that the running speed of the current vehicle is not lower than 40Km/h.
Further, the process of analyzing each target movement track in S130 to obtain the angle error corresponding to each target movement track may specifically be:
respectively performing straight line fitting on the target measurement point set corresponding to each target movement track to obtain a fitting straight line corresponding to each target movement track;
calculating the slope corresponding to each fitting straight line according to each fitting straight line;
and obtaining an angle error corresponding to the corresponding target movement track according to the slope corresponding to each fitting straight line.
It should be noted that, for the target movement track of each stationary target, which includes a plurality of target measurement points, each target measurement point on the same target movement track is linearly regressed, each target measurement point is linearly fitted by using a straight line (ax+b), a fitted straight line is obtained, a slope is calculated for the fitted straight line, and then an angle error corresponding to the corresponding target movement track (i.e., corresponding stationary target) is obtained according to the slope. Typically, the above method results in an angle error corresponding to each stationary object, i.e. an angle error that occurs when tracking measurements for each stationary object separately.
Specifically, a least square method may be adopted to perform straight line fitting on the target measurement point set corresponding to each target movement track. Of course, a recursive method or other methods may be used to perform the straight line fitting, and the present application is not limited to any specific method.
It should be further noted that, in order to further improve the calibration accuracy, in this embodiment, the average angle error may be obtained according to each angle error, and the angle of the radar may be compensated according to the average angle error.
That is, after obtaining the respective angle errors corresponding to each stationary object, the respective angle errors may be averaged to obtain an average angle error, and then the angle of the radar is compensated according to the average angle error, so as to improve the calibration accuracy.
Specifically, the average angle error may be stored in the radar, and then the above steps S110 to S140 may be re-executed again to perform the cyclic on-line calibration on the radar angle.
The following description will be given by taking an LCA scenario (that is, a scenario in which a radar is located at a rear side of a vehicle) and a single lamp post is located at a road edge as an example:
when the current vehicle runs and passes through the roadside lamp area, the radar in the vehicle detects the lamp post and gradually moves away from the lamp post, as shown in fig. 3, wherein A1, A2, A3 and A4 respectively represent a first frame of vehicle position, a second frame of vehicle position, a third frame of vehicle position and a fourth frame of vehicle position, B0 represents the roadside lamp post position, the distance of the radar detecting the lamp post gradually moves away, firstly, the radar is converted into a self coordinate system of the current vehicle under the condition that the radar mounting angle is free, the current vehicle is positioned at the origin of the two-dimensional coordinate system, as shown in fig. 4, wherein O represents the current vehicle, and B1, B2, B3 and B4 respectively represent a first frame of lamp post ideal position, a second frame of lamp post ideal position, a third frame of lamp post ideal position and a fourth frame of lamp post ideal position of the lamp post under the self two-dimensional coordinate system of the current vehicle, and the lamp post displacement distance between frames is consistent with the advancing distance of the current frame of the vehicle. When the radar installation angle has errors, the error can cause the lamp post XY position to shift, as shown in fig. 5, at this time, the track formed by each target measurement point in fig. 5 is represented by oblique lines, wherein O represents the current vehicle, B1', B2', B3', and B4' represent the actual positions of the lamp posts in the first frame, the actual positions of the lamp posts in the second frame, the actual positions of the lamp posts in the third frame and the actual positions of the lamp posts in the fourth frame under the two-dimensional coordinate system of the current vehicle respectively, and the oblique displacement amount of the lamp posts is consistent with the running distance of the current frame of the vehicle because the lamp posts are stationary targets, so that the stationary targets can be identified by comparing the moving speed of the tracking targets with the running speed of the current vehicle, and then corresponding fitting straight lines and slopes are obtained by fitting the target measurement points, so that corresponding angle errors are obtained, and the installation angle of the radar is compensated.
In addition, it should be noted that, for the complex combination situation of the stationary object at the roadside, for example, there is a scene (for example, a large shrub at the roadside) where multiple reflection points are gathered together, the reflection points form a point cloud with multiple points, and each point in the point cloud is from each part of the stationary object, so in practical application, the target can be subjected to group target tracking/multi-frame artificial intelligent matching, and the group target tracking method and the artificial intelligent method can adopt any disclosed algorithm, which is not described in detail in the present application.
Therefore, when the radar of the current vehicle in running is subjected to angle calibration, each target in the measuring range of the radar can be tracked and measured through the radar to obtain each measuring point and corresponding moving track of each target, then whether the corresponding target is a static target or not can be determined according to each measuring point, and each corresponding angle error is obtained according to the moving track of each static target, so that the angle of the radar is calibrated according to each angle error, namely, the radar is calibrated according to a plurality of angle errors obtained by independently tracking each target and according to the moving track of each static target.
On the basis of the embodiment, the application further provides an angle calibration device of the automobile millimeter wave radar, and particularly relates to fig. 6. The device comprises:
the detection module 21 is configured to track and measure each target in a measurement range in real time by using a radar during a current vehicle running process, so as to obtain each measurement point and each movement track corresponding to each target;
the screening module 22 is configured to determine, according to each measurement point corresponding to each target, each stationary target and a corresponding target movement track from each target;
the analysis module 23 is configured to analyze each target movement track to obtain an angle error corresponding to each target movement track;
the calibration module 24 is configured to perform angle calibration on the angle of the radar according to each angle error.
Optionally, the detection module 21 includes:
the measuring unit is used for tracking and measuring each target in the measuring range in real time through a radar in the current vehicle running process, and recording each group of distance and angle information corresponding to each target respectively;
the conversion unit is used for obtaining the position coordinates of each measuring point corresponding to the corresponding target in the two-dimensional coordinate system according to each group of distance and angle information;
the acquisition unit is used for acquiring each target measuring point corresponding to each target in a preset time period of the current vehicle straight running;
the establishing unit is used for obtaining the movement track corresponding to each target one by one according to each target measuring point corresponding to each target.
It should be noted that, the angle calibration device of the automobile millimeter wave radar provided in the present embodiment has the same beneficial effects as the angle calibration method of the automobile millimeter wave radar provided in the above embodiment, and for a specific description of the angle calibration method of the automobile millimeter wave radar related in the present embodiment, please refer to the above embodiment, and the disclosure is not repeated herein.
On the basis of the embodiment, the application also provides an angle calibration system of the millimeter wave radar of the automobile, which comprises:
a memory for storing a computer program;
and the processor is used for realizing the steps of the angle calibration method of the automobile millimeter wave radar when executing the computer program.
For example, the processor in this embodiment is configured to perform tracking measurement on each target in a measurement range in real time by using a radar in a current vehicle running process, so as to obtain each measurement point and each movement track corresponding to each target; according to each measuring point corresponding to each target, determining each static target and a corresponding target moving track from each target; analyzing each target moving track to obtain angle errors corresponding to each target moving track; and carrying out angle calibration on the angle of the radar according to each angle error.
On the basis of the embodiment, the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps of the angle calibration method of the automobile millimeter wave radar when being executed by a processor.
The computer readable storage medium may include: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
It should also be noted that in this specification, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. An angle calibration method for an automotive millimeter wave radar is characterized by comprising the following steps:
in the current vehicle running process, tracking and measuring all targets in a measuring range of the vehicle in real time by using a radar to obtain all measuring points and moving tracks corresponding to all the targets;
according to the measuring points corresponding to each target, determining each static target and a corresponding target moving track from each target;
analyzing each target moving track to obtain angle errors corresponding to each target moving track;
performing angle calibration on the angle of the radar according to each angle error; wherein:
in the current vehicle running process, tracking and measuring each target in the measuring range by using a radar in real time, and obtaining each measuring point and each moving track corresponding to each target comprises the following steps:
in the current vehicle running process, tracking and measuring all targets in a measuring range in real time by using a radar, and recording all sets of distance and angle information respectively corresponding to all the targets;
obtaining position coordinates of each measuring point corresponding to the corresponding target in a two-dimensional coordinate system according to each group of distance and angle information;
acquiring each target measuring point corresponding to each target in a preset time period of the current vehicle straight running;
obtaining a movement track corresponding to each target one by one according to each target measuring point corresponding to each target;
the process of determining the stationary target and the corresponding target moving track from the targets according to the measuring points corresponding to the targets comprises the following steps:
obtaining the moving speed of each target according to the target measuring points and the corresponding position coordinates on each moving track;
and respectively judging whether the absolute value of the difference between the moving speed of each target and the running speed of the current vehicle is smaller than a preset value, if so, the corresponding target is a stationary target, and the moving track corresponding to the stationary target is a corresponding target moving track.
2. The angle calibration method of the millimeter wave radar for an automobile according to claim 1, wherein the process of analyzing each of the target movement tracks to obtain the angle error corresponding to each of the target movement tracks respectively comprises:
respectively carrying out straight line fitting on a target measurement point set corresponding to each target movement track to obtain a fitting straight line corresponding to each target movement track;
calculating the slope corresponding to each fitting straight line according to each fitting straight line;
and obtaining an angle error corresponding to the corresponding target movement track according to the slope corresponding to each fitting straight line.
3. The angle calibration method of the millimeter wave radar for automobile according to claim 2, wherein the process of respectively performing straight line fitting on the target measurement point set corresponding to each of the target movement tracks is:
and respectively carrying out straight line fitting on the target measurement point set corresponding to each target movement track by adopting a least square method.
4. The angle calibration method of the millimeter wave radar for automobiles according to claim 1, wherein the process of angle calibrating the angle of the radar according to each angle error is as follows:
and obtaining an average angle error according to each angle error, and performing angle compensation on the angle of the radar according to the average angle error.
5. An angle calibration device for an automotive millimeter wave radar, comprising:
the detection module is used for carrying out tracking measurement on each target in the measurement range in real time through a radar in the current vehicle running process to obtain each measurement point and each movement track corresponding to each target;
the screening module is used for determining each static target and a corresponding target moving track from each target according to each measuring point corresponding to each target;
the analysis module is used for analyzing each target movement track to obtain an angle error corresponding to each target movement track;
the calibration module is used for carrying out angle calibration on the angle of the radar according to each angle error; wherein:
the detection module comprises:
the measuring unit is used for tracking and measuring each target in the measuring range in real time through a radar in the current vehicle running process, and recording each group of distance and angle information corresponding to each target respectively;
the conversion unit is used for obtaining the position coordinates of each measuring point corresponding to the corresponding target in the two-dimensional coordinate system according to each group of distance and angle information;
the acquisition unit is used for acquiring each target measuring point corresponding to each target in a preset time period of the current vehicle straight running;
the establishing unit is used for obtaining a movement track corresponding to each target one by one according to each target measuring point corresponding to each target;
the screening module is used for:
obtaining the moving speed of each target according to the target measuring points and the corresponding position coordinates on each moving track;
and respectively judging whether the absolute value of the difference between the moving speed of each target and the running speed of the current vehicle is smaller than a preset value, if so, the corresponding target is a stationary target, and the moving track corresponding to the stationary target is a corresponding target moving track.
6. An angle calibration system for an automotive millimeter wave radar, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the angle calibration method of the automotive millimeter wave radar according to any one of claims 1 to 4 when executing the computer program.
7. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the angle calibration method of an automotive millimeter wave radar according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN112213734B (en) * | 2020-09-30 | 2023-05-23 | 北京环境特性研究所 | Distance measurement interpolation method and device, photoelectric tracking system and computer readable medium |
| CN112731320A (en) * | 2020-12-29 | 2021-04-30 | 福瑞泰克智能系统有限公司 | Method, device and equipment for estimating error data of vehicle-mounted radar and storage medium |
| CN112833915B (en) * | 2020-12-31 | 2022-01-04 | 广州文远知行科技有限公司 | Sensor correction method, sensor correction device, movable carrier and storage medium |
| CN112666532A (en) * | 2020-12-31 | 2021-04-16 | 上海网车科技有限公司 | Vehicle-mounted millimeter wave radar self-calibration method based on specific-shape metal |
| CN112950999A (en) * | 2021-03-01 | 2021-06-11 | 成都安智杰科技有限公司 | Automobile early warning method and device, electronic equipment and storage medium |
| CN112782658A (en) * | 2021-03-17 | 2021-05-11 | 成都安智杰科技有限公司 | Radar angle calibration method and device |
| CN113126046A (en) * | 2021-04-09 | 2021-07-16 | 安庆楚航电子科技有限公司 | Vehicle-mounted forward millimeter wave radar installation error self-calibration method |
| CN113406582A (en) * | 2021-06-21 | 2021-09-17 | 安徽江淮汽车集团股份有限公司 | Angle radar installation deviation compensation method |
| CN113447899B (en) * | 2021-06-29 | 2024-02-02 | 上海为彪汽配制造有限公司 | Method and system for mounting and testing vehicle-mounted millimeter wave radar |
| CN113702929A (en) * | 2021-08-16 | 2021-11-26 | 中汽创智科技有限公司 | Vehicle-mounted radar installation angle calibration method, device, equipment and storage medium |
| CN113805149A (en) * | 2021-09-09 | 2021-12-17 | 四川豪智融科技有限公司 | Vehicle radar self-adaptive angle calibration method |
| CN115201773B (en) * | 2022-09-13 | 2022-12-13 | 长沙莫之比智能科技有限公司 | Vehicle-mounted millimeter wave radar installation angle error correction method based on point cloud speed |
| JP2024056405A (en) * | 2022-10-11 | 2024-04-23 | 株式会社デンソー | ANGLE ERROR ESTIMATION DEVICE AND ANGLE ERROR ESTIMATION METHOD |
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