CN112881989A - Self-calibration method of millimeter wave radar on vehicle, electronic device and storage medium - Google Patents
Self-calibration method of millimeter wave radar on vehicle, electronic device and storage medium Download PDFInfo
- Publication number
- CN112881989A CN112881989A CN201911203708.6A CN201911203708A CN112881989A CN 112881989 A CN112881989 A CN 112881989A CN 201911203708 A CN201911203708 A CN 201911203708A CN 112881989 A CN112881989 A CN 112881989A
- Authority
- CN
- China
- Prior art keywords
- calibration
- self
- vehicle
- millimeter wave
- preset
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000001914 filtration Methods 0.000 claims abstract description 51
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000009434 installation Methods 0.000 claims abstract description 14
- 230000008569 process Effects 0.000 claims description 17
- 230000006870 function Effects 0.000 claims description 15
- 238000004422 calculation algorithm Methods 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 11
- 230000003068 static effect Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides a self-calibration method of a millimeter wave radar on a vehicle, electronic equipment and a storage medium, wherein the self-calibration method comprises the following steps: acquiring the motion state of the vehicle, including whether the vehicle is in a straight line and the running speed of the vehicle; when the vehicle moves straight and the running speed of the vehicle exceeds a preset speed threshold, selecting a target reference object and acquiring the radial speed of each target reference object; calculating a calibration deviation angle according to the radial speed of each target reference object, the running speed of the vehicle when the radial speed is obtained, and the installation angle of the millimeter wave radar; performing Kalman filtering on the obtained calibration deviation angle to obtain a current deviation angle; and when the number of the calibration deviation angles participating in filtering reaches a preset number threshold, taking the current deviation angle obtained at the moment as a detection result of the final deviation angle compensation millimeter wave radar. By adopting the technical scheme, the radar self-calibration can be simply and accurately carried out, and the detection precision of the radar is improved.
Description
Technical Field
The invention relates to the technical field of vehicle radars, in particular to a self-calibration method of a millimeter wave radar on a vehicle, electronic equipment and a storage medium.
Background
Automotive radar systems are initially calibrated, typically in a test facility such as an anechoic chamber, before being installed on a vehicle, and then re-installed on the vehicle without further re-calibration.
However, such calibration may not be optimal because the calibration does not compensate for the effects of the dashboard, frame, or other components of the host vehicle that may affect the response of the radar system.
Furthermore, such initial calibration cannot compensate for deviations in detection results due to aging of the radar system or other external environmental condition changes.
Disclosure of Invention
In order to overcome the technical defects, the invention aims to provide a self-calibration method of a millimeter wave radar on a vehicle, electronic equipment and a storage medium.
The invention discloses a self-calibration method of a millimeter wave radar on a vehicle, which comprises the following steps:
acquiring the motion state of the vehicle, wherein the motion state comprises whether the vehicle is in a straight line and the running speed of the vehicle;
when the vehicle moves straight and the running speed of the vehicle exceeds a preset speed threshold, selecting a target reference object and acquiring the radial speed of each target reference object;
calculating a calibration deviation angle according to the radial speed of each target reference object, the running speed of the vehicle when the radial speed is obtained, and the installation angle of the millimeter wave radar;
filtering the obtained calibration deviation angle by adopting a Kalman filtering algorithm to obtain a current deviation angle; and when the number of the calibration deviation angles participating in filtering reaches a preset number threshold, taking the current deviation angle obtained at the moment as a final deviation angle, and compensating the detection result of the millimeter wave radar by using the final deviation angle.
Preferably, the selection condition of the target reference object is as follows:
a static object;
the position of the static object is within a preset angle range in the detection range of the millimeter wave radar;
the distance between the static object and the millimeter wave radar is within a preset distance range.
Preferably, the preset speed threshold is 30 km/h;
the preset angle range is 5-35 degrees;
the preset distance range of the longitudinal distance is 10m-40 m;
the preset distance range of the lateral distance is 0-5m when the running speed of the vehicle is less than 50km/h, and is 0-10m when the running speed of the vehicle is more than or equal to 50 km/h.
Preferably, the calibration offset angle is calculated according to the following formula:
wherein, Delta alpha is a calibration deviation angle,
the radial velocity V of the target reference object when the connecting line of the target reference object and the millimeter wave radar is vertical to the installation plane of the millimeter wave radaregoAlpha is the installation angle of the millimeter wave radar as the running speed of the vehicle.
Preferably, when the number of the obtained calibration deviation angles does not reach the preset number threshold, filtering all the obtained calibration deviation angles by using a kalman filtering algorithm to obtain a current deviation angle every time a new calibration deviation angle is obtained;
when the number of the obtained calibration deviation angles reaches the preset number threshold, filtering all the obtained calibration deviation angles by adopting a Kalman filtering algorithm to obtain current deviation angles, taking the current deviation angles obtained at the moment as final deviation angles, and compensating the detection result of the millimeter wave radar by using the final deviation angles;
and after the number of the obtained calibration deviation angles exceeds the preset number threshold value, filtering all the obtained calibration deviation angles by adopting a Kalman filtering algorithm to obtain current deviation angles each time a preset number of new calibration deviation angles are obtained, updating the final deviation angles by using the current deviation angles obtained at the moment, and compensating the detection result of the millimeter wave radar by using the updated final deviation angles.
Preferably, the self-calibration method further comprises the steps of:
judging whether the final deviation angle exceeds a preset self-calibration range threshold value or not and keeping the final deviation angle stable within a first preset time after the final deviation angle exceeds the self-calibration range threshold value;
if yes, forbidding the alarm function of the radar and lighting a corresponding fault indicator lamp;
and when the judgment result is no, starting the alarm function of the radar and closing the corresponding fault indicator lamp.
Preferably, the self-calibration method further comprises the steps of:
outputting and storing the intermediate parameters of the self-calibration process into a nonvolatile memory every second preset time;
the intermediate parameters comprise one or more of current deviation angle, target reference object list, historical maximum and minimum values of deviation angle, self-calibration process percentage and effective driving mileage meeting the self-calibration process.
Preferably, the self-calibration method further comprises the steps of:
outputting and storing the intermediate parameters of the self-calibration process into a nonvolatile memory every third preset time;
the intermediate parameters include all the obtained calibration offset angles.
The invention also discloses an electronic device comprising a processor, a memory and a computer program stored on the memory and operable on the processor, wherein the computer program, when executed by the processor, implements the steps of the above method.
The invention also discloses a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the above-mentioned method.
After the technical scheme is adopted, compared with the prior art, the method has the following beneficial effects:
1. the radar self-calibration can be simply and accurately carried out, the result is accurate and reliable, and the false alarm rate of the system is effectively reduced;
2. after the final deviation angle is obtained to compensate the radar detection result, the filtering speed is reduced to continue self-calibration, the final deviation angle is updated, and the lifelong calibration is realized while the system calculation amount is reduced;
3. after the final deviation angle exceeds the self-calibration range, the alarm function of the radar is forbidden, an indicator lamp is lightened, and the user is reminded while the safety of the vehicle is guaranteed;
4. in the self-calibration process, the intermediate parameters are output to the memory at preset time intervals, so that the system can be powered on again and then the previous self-calibration process is continued.
Drawings
FIG. 1 is a flow chart of a method for self-calibration of millimeter wave radar on a vehicle in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a target reference object selection range according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of radar installation and deviation angle calculation according to an embodiment of the present invention.
Reference numerals:
the method comprises the following steps of 1-vehicle, 11-millimeter wave radar, 2-target reference object, 3-target reference object selection range, X-vehicle advancing direction, Y-direction perpendicular to the vehicle advancing direction, and X' -radar installation plane direction.
Detailed Description
The advantages of the invention are further illustrated in the following description of specific embodiments in conjunction with the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
Referring to fig. 1, a flow chart of a self-calibration method of a millimeter wave radar on a vehicle according to an embodiment of the present invention is shown, where the self-calibration method includes the following steps:
s1: and acquiring the motion state of the vehicle, wherein the motion state comprises whether the vehicle is in straight motion and the running speed of the vehicle.
Specifically, a control module in the millimeter wave radar can read a wheel speed signal to obtain the running speed of the vehicle; the control module can also read the wheel steering angle signal, thereby judging whether the vehicle is moving straight. Preferably, it may be determined that the vehicle is running straight when the angle of wheel deflection is less than a set threshold (e.g., 0.3 °). The control module in the millimeter wave radar can be connected with a control system of the vehicle, reads related signals and obtains the motion state of the vehicle.
S2: when the vehicle moves straight and the running speed of the vehicle exceeds a preset speed threshold value, selecting a target reference object and acquiring the radial speed of each target reference object.
Specifically, when it is determined that the vehicle is running straight and the running speed of the vehicle exceeds a preset speed threshold, preferably, the preset speed threshold is 30km/h, and the target reference object is selected by a millimeter wave radar installed on the vehicle. In this embodiment, the millimeter wave radar is a millimeter wave radar installed on the left and right sides behind the vehicle, and the millimeter wave radars on the left and right sides may be self-calibrated independently by using the self-calibration method of this embodiment. In other embodiments, the millimeter-wave radar may be a millimeter-wave radar installed in the front of the vehicle.
Referring to fig. 2, the target reference is selected as follows: 1) a static object; 2) the position of the static object is within a preset angle range in the detection range of the millimeter wave radar, preferably, the preset angle range is 5-35 degrees; 3) the distance between the static object and the millimeter wave radar is within a preset distance range, preferably, the preset distance range of the lateral distance is 0-5m when the running speed of the vehicle is less than 50km/h, and is 0-10m when the running speed of the vehicle is greater than or equal to 50 km/h. Specifically, when the millimeter wave radar transmits a pulse wave with a fixed frequency to scan the space, if a moving target object is encountered, the frequency difference between the frequency of the echo and the frequency of the transmitted wave is called doppler frequency. According to the Doppler frequency, the radial relative movement speed (hereinafter referred to as radial speed) of the target object to the radar can be measured; according to the time difference between the transmitted pulse and the received pulse, the distance of the target object can be measured. Further, the distance between the millimeter wave receiving antennas is fixed, generally, the distance is one half wavelength, the same transmitted radar wave is received by different antennas, the angle information can be directly calculated, then, in combination with the installation angle of the radar, the speed of the millimeter wave radar (i.e., the vehicle) in the vertical direction (i.e., the advancing direction of the vehicle) can be calculated according to the radial speed, and if the difference between the calculated speed and the obtained traveling speed of the vehicle is within a preset range, the target object is determined to be a stationary object. According to the distance between the target object and the millimeter-wave radar, the longitudinal distance (namely the advancing direction of the automobile) and the lateral distance (perpendicular to the advancing direction of the automobile) of the target object relative to the millimeter-wave radar can be obtained by combining the angle calculated by receiving radar waves by the antenna and the installation angle of the radar. In fig. 2, 3 is a selection range of the target reference object defined according to a preset angle range of the millimeter wave radar on the left side of the vehicle, a preset range of the longitudinal distance, and a preset range of the lateral distance, and when it is determined that the target object detected by the millimeter wave radar is a stationary object and is within the selection range, the target object is selected as the target reference object for the subsequent step. When the target reference object is selected, the radial relative movement speed of the target reference object to the radar, namely the radial speed, is obtained. The target reference object can be a forbidden object such as a street lamp pole and a speed limit sign.
S3: calculating a calibration deviation angle according to the radial speed of each target reference object, the running speed of the vehicle when the radial speed is obtained, and the installation angle of the millimeter wave radar;
referring to FIG. 3, when the line connecting the target reference object 2 and the millimeter wave radar 11 is perpendicular to the installation plane of the millimeter wave radar 11, the radial velocity of the target reference object 2 at that time
Running speed V of vehicleegoThe installation angle α (i.e., the acute angle between X' and Y) and the calibration deviation angle Δ α (i.e., the actual deviation angle of the radar detection target object) of the millimeter wave radar 11 have the following relationships:
thus, the calibration deviation angle Δ α is calculated according to the following formula:
it should be noted that the process of selecting the target reference object and calculating the calibration offset angle is continuously performed when the vehicle is moving straight and the traveling speed of the vehicle exceeds the preset speed threshold.
S4: filtering the obtained calibration deviation angle by adopting a Kalman filtering algorithm to obtain a current deviation angle; and when the number of the calibration deviation angles participating in filtering reaches a preset number threshold, taking the current deviation angle obtained at the moment as a final deviation angle, and compensating the detection result of the millimeter wave radar by using the final deviation angle.
Specifically, when the number of the obtained calibration deviation angles does not reach the preset number threshold, filtering all the obtained calibration deviation angles by using a kalman filtering algorithm every time a new calibration deviation angle is obtained, so as to obtain the current deviation angle. Preferably, the preset number threshold is 2500. And when the number of the obtained calibration deviation angles reaches the preset number threshold, filtering all the obtained calibration deviation angles by adopting a Kalman filtering algorithm to obtain current deviation angles, taking the current deviation angles obtained at the moment as final deviation angles, and compensating the detection result of the millimeter wave radar by using the final deviation angles.
Further, after the number of the obtained calibration deviation angles exceeds the preset number threshold value, filtering all the obtained calibration deviation angles by using a Kalman filtering algorithm every time a preset number of new calibration deviation angles are obtained, obtaining current deviation angles, updating the final deviation angles by using the current deviation angles obtained at the moment, and compensating the detection result of the millimeter wave radar by using the updated final deviation angles. Preferably, the preset number is 10, that is, after the number of the obtained calibration deviation angles exceeds the preset number threshold, every time 10 calibration deviation angles are newly obtained, filtering is performed on all the obtained calibration deviation angles, and the final deviation angle is updated by using the filtering result. After the final deviation angle is obtained to compensate the radar detection result, the filtering speed is reduced to continue filtering, and the final deviation angle is updated, so that the system calculation amount is reduced while lifelong calibration is realized.
Specifically, in the embodiment of the present application, every time a new calibration deviation angle is calculated, the event counter is added to 1, and when the event counter is in a range from 0 to 2500, filtering is performed at a first filtering speed; filtering at a second filtering speed when the event counter is 2500 to 5000; and when the event counter is greater than 5000, filtering at a third filtering speed. And when the event counter reaches 2500, compensating the detection result of the radar by taking the current deviation angle obtained by filtering as a final deviation angle. The first filtering speed is greater than the second filtering speed, and the second filtering speed is greater than the third filtering speed. The first filtering speed performs filtering once for each event counter, the second filtering speed performs filtering once for every 10 event counters, and the third filtering speed performs filtering once for every 30 event counters. The setting of the numerical values described above is only a preferred embodiment, and the specific numerical values can be flexibly set as needed.
Further, the self-calibration method of the present embodiment further includes the following steps: judging whether the final deviation angle exceeds a preset self-calibration range threshold value or not and keeping the final deviation angle stable within a first preset time after the final deviation angle exceeds the self-calibration range threshold value; if yes, disabling the alarm function of the millimeter wave radar and lightening a corresponding fault indicator lamp; and when the judgment result is no, starting the alarm function of the millimeter wave radar and closing the corresponding fault indicator lamp.
Specifically, after the final deviation angle is obtained or updated, whether the final deviation angle exceeds a preset self-calibration range threshold value is judged, when the final deviation angle exceeds the preset self-calibration range threshold value, a timer is started, whether the final deviation angle continuously exceeds the self-calibration range threshold value within a first preset time is judged, and when the final deviation angle exceeds the self-calibration range threshold value, the alarm function of the radar is disabled and a corresponding fault indicator lamp is turned on. Specifically, a DTC (fault diagnosis code) is configured in a control system of the vehicle, wherein a deviation angle of the vehicle and a radar exceeds a self-calibration range threshold, when the final deviation angle is judged to exceed a preset self-calibration range threshold and is kept exceeding within a first preset time after the final deviation angle exceeds the self-calibration range threshold, the DTC is reported, and when the system detects that the DTC is in an active (activated) state, an alarm function of the radar is disabled and a corresponding fault indicator lamp is turned on. At the moment, the deviation of the radar exceeds the self-calibration range, the detection result of the radar is no longer reliable, the continuous use of the alarm function of the radar can bring danger, the alarm function of the radar is forbidden, and a corresponding fault indicator lamp is lightened to remind a user of timely troubleshooting. While the alarm function of the radar is disabled, the detection function of the radar is not disabled and the self-calibration process continues. And when the system detects that the DTC is in a passive state, enabling an alarm function of the millimeter wave radar and turning off a corresponding fault indicator lamp. Because then the cause of the deviation angle exceeding the self-calibration range threshold may have been eliminated.
Further, the self-calibration method further comprises the following steps: and outputting and storing intermediate parameters of the self-calibration process into a nonvolatile memory every second preset time, wherein the intermediate parameters comprise one or more of the current deviation angle, a target reference object list, the historical maximum and minimum values of the deviation angle, the percentage of the self-calibration process and the effective driving mileage meeting the self-calibration process. The second preset time is preferably 6 minutes, and the previous self-calibration step can be continued after the vehicle system is powered on again by outputting the intermediate parameter at regular time, so that data loss caused by unexpected power failure of the vehicle can be prevented. The intermediate parameters may be output externally so that a technician may further optimize the self-calibration scheme based on these intermediate parameters. In some embodiments, the self-calibration method further comprises the steps of: outputting and storing the intermediate parameters of the self-calibration process into a nonvolatile memory every third preset time; the intermediate parameters include all the obtained calibration offset angles. The second time may be equal to the second preset time.
The invention also discloses an electronic device comprising a processor, a memory and a computer program stored on the memory and operable on the processor, wherein the computer program, when executed by the processor, implements the steps of the above method.
The processor may include one or more processing cores. The processor performs various functions and processes data by executing or executing a computer program (comprising: instructions, programs, sets of codes or instructions, etc.) stored in the memory and invoking the data stored in the memory. Alternatively, the processor may be implemented in hardware using at least one of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA).
The Memory may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory includes a non-transitory computer-readable medium. The memory may be used to store a computer program (including instructions, programs, code, sets of codes or instructions, etc.).
The invention also discloses a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the above-mentioned method.
The computer-readable storage medium may be various types of storage media, optionally non-transitory storage media. The computer-readable storage medium may be selected from various media that can store program codes, such as a removable storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), and the like.
It should be noted that the embodiments of the present invention have been described in terms of preferred embodiments, and not by way of limitation, and that those skilled in the art can make modifications and variations of the embodiments described above without departing from the spirit of the invention.
Claims (10)
1. A self-calibration method of a millimeter wave radar on a vehicle is characterized by comprising the following steps:
acquiring the motion state of the vehicle, wherein the motion state comprises whether the vehicle is in a straight line and the running speed of the vehicle;
when the vehicle moves straight and the running speed of the vehicle exceeds a preset speed threshold, selecting a target reference object and acquiring the radial speed of each target reference object;
calculating a calibration deviation angle according to the radial speed of each target reference object, the running speed of the vehicle when the radial speed is obtained, and the installation angle of the millimeter wave radar;
filtering the obtained calibration deviation angle by adopting a Kalman filtering algorithm to obtain a current deviation angle; and when the number of the calibration deviation angles participating in filtering reaches a preset number threshold, taking the current deviation angle obtained at the moment as a final deviation angle, and compensating the detection result of the millimeter wave radar by using the final deviation angle.
2. The self-calibration method of claim 1,
the selection conditions of the target reference object are as follows:
a static object;
the position of the static object is within a preset angle range in the detection range of the millimeter wave radar;
the distance between the static object and the millimeter wave radar is within a preset distance range.
3. The self-calibration method of claim 2,
the preset speed threshold value is 30 km/h;
the preset angle range is 5-35 degrees;
the preset distance range of the longitudinal distance is 10m-40 m;
the preset distance range of the lateral distance is 0-5m when the running speed of the vehicle is less than 50km/h, and is 0-10m when the running speed of the vehicle is more than or equal to 50 km/h.
4. The self-calibration method of claim 1,
the calibration offset angle is calculated according to the following formula:
wherein, Delta alpha is a calibration deviation angle,
the radial velocity V of the target reference object when the connecting line of the target reference object and the millimeter wave radar is vertical to the installation plane of the millimeter wave radaregoAlpha is the installation angle of the millimeter wave radar as the running speed of the vehicle.
5. The self-calibration method of claim 1,
when the number of the obtained calibration deviation angles does not reach the preset number threshold, filtering all the obtained calibration deviation angles by adopting a Kalman filtering algorithm to obtain the current deviation angle every time a new calibration deviation angle is obtained;
when the number of the obtained calibration deviation angles reaches the preset number threshold, filtering all the obtained calibration deviation angles by adopting a Kalman filtering algorithm to obtain current deviation angles, taking the current deviation angles obtained at the moment as final deviation angles, and compensating the detection result of the millimeter wave radar by using the final deviation angles;
and after the number of the obtained calibration deviation angles exceeds the preset number threshold value, filtering all the obtained calibration deviation angles by adopting a Kalman filtering algorithm to obtain current deviation angles each time a preset number of new calibration deviation angles are obtained, updating the final deviation angles by using the current deviation angles obtained at the moment, and compensating the detection result of the millimeter wave radar by using the updated final deviation angles.
6. Self-calibration method according to claim 1 or 5,
the self-calibration method further comprises the following steps:
judging whether the final deviation angle exceeds a preset self-calibration range threshold value or not and keeping the final deviation angle stable within a first preset time after the final deviation angle exceeds the self-calibration range threshold value;
if yes, forbidding the alarm function of the radar and lighting a corresponding fault indicator lamp;
and when the judgment result is no, starting the alarm function of the radar and closing the corresponding fault indicator lamp.
7. The self-calibration method of claim 1,
the self-calibration method further comprises the following steps:
outputting and storing the intermediate parameters of the self-calibration process into a nonvolatile memory every second preset time;
the intermediate parameters comprise one or more of current deviation angle, target reference object list, historical maximum and minimum values of deviation angle, self-calibration process percentage and effective driving mileage meeting the self-calibration process.
8. The self-calibration method of claim 1,
the self-calibration method further comprises the following steps:
outputting and storing the intermediate parameters of the self-calibration process into a nonvolatile memory every third preset time;
the intermediate parameters include all the obtained calibration offset angles.
9. An electronic device, characterized in that,
comprising a processor, a memory and a computer program stored on the memory and executable on the processor, which computer program, when being executed by the processor, carries out the steps of the method according to any one of claims 1-8.
10. A computer-readable storage medium, characterized in that,
the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911203708.6A CN112881989A (en) | 2019-11-29 | 2019-11-29 | Self-calibration method of millimeter wave radar on vehicle, electronic device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911203708.6A CN112881989A (en) | 2019-11-29 | 2019-11-29 | Self-calibration method of millimeter wave radar on vehicle, electronic device and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112881989A true CN112881989A (en) | 2021-06-01 |
Family
ID=76038778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911203708.6A Pending CN112881989A (en) | 2019-11-29 | 2019-11-29 | Self-calibration method of millimeter wave radar on vehicle, electronic device and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112881989A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113671453A (en) * | 2021-08-11 | 2021-11-19 | 南京隼眼电子科技有限公司 | Vehicle-mounted millimeter wave radar pitch angle error calibration method and device, storage medium and electronic equipment |
| 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 |
| CN113702930A (en) * | 2021-08-16 | 2021-11-26 | 中汽创智科技有限公司 | Method, device and equipment for calibrating installation angle of angle radar and storage medium |
| CN115201773A (en) * | 2022-09-13 | 2022-10-18 | 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 |
| CN115371719A (en) * | 2022-10-10 | 2022-11-22 | 福思(杭州)智能科技有限公司 | Parameter calibration method and device for detection equipment, storage medium and electronic device |
| CN116755047A (en) * | 2023-05-23 | 2023-09-15 | 上海保隆汽车科技股份有限公司 | Radar detection data compensation method, system, radar, vehicle and medium |
| CN117075063A (en) * | 2023-10-13 | 2023-11-17 | 大尧信息科技(湖南)有限公司 | Radar ranging self-calibration method, system, equipment and medium based on software definition |
| CN113702930B (en) * | 2021-08-16 | 2024-05-24 | 中汽创智科技有限公司 | Angular radar installation angle calibration method, device, equipment and storage medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002228749A (en) * | 2001-02-02 | 2002-08-14 | Hitachi Ltd | On-vehicle millimeter wave radar device |
| KR20120092976A (en) * | 2011-02-14 | 2012-08-22 | 주식회사 만도 | Apparatus for making a driver operate a car easily and method for correcting offset of yaw rate |
| WO2012136494A1 (en) * | 2011-04-02 | 2012-10-11 | Valeo Schalter Und Sensoren Gmbh | Method for determining a correction value for the measurement of a target angle with a radar device, driver assistance system and motor vehicle |
| US20150070207A1 (en) * | 2013-09-06 | 2015-03-12 | Valeo Radar Systems, Inc. | Method and Apparatus For Self Calibration of A Vehicle Radar System |
| US20180120414A1 (en) * | 2016-10-31 | 2018-05-03 | Delphi Technologies, Inc. | Automated vehicle radar system with self-calibration |
| CN109073748A (en) * | 2016-04-29 | 2018-12-21 | 奥托立夫开发公司 | To the misalignment detection of Radar for vehicle sensor |
| CN109425852A (en) * | 2017-08-21 | 2019-03-05 | 比亚迪股份有限公司 | The scaling method of automobile and trailer-mounted radar, device |
| CN109597061A (en) * | 2018-12-28 | 2019-04-09 | 北京润科通用技术有限公司 | A kind of target state method of discrimination and system |
| CN109870680A (en) * | 2018-10-26 | 2019-06-11 | 北京润科通用技术有限公司 | A kind of objective classification method and device |
| CN110244269A (en) * | 2019-06-26 | 2019-09-17 | 安庆楚航电子科技有限公司 | A kind of vehicle-mounted forward direction millimetre-wave radar installation error method for self-calibrating |
-
2019
- 2019-11-29 CN CN201911203708.6A patent/CN112881989A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002228749A (en) * | 2001-02-02 | 2002-08-14 | Hitachi Ltd | On-vehicle millimeter wave radar device |
| KR20120092976A (en) * | 2011-02-14 | 2012-08-22 | 주식회사 만도 | Apparatus for making a driver operate a car easily and method for correcting offset of yaw rate |
| WO2012136494A1 (en) * | 2011-04-02 | 2012-10-11 | Valeo Schalter Und Sensoren Gmbh | Method for determining a correction value for the measurement of a target angle with a radar device, driver assistance system and motor vehicle |
| US20150070207A1 (en) * | 2013-09-06 | 2015-03-12 | Valeo Radar Systems, Inc. | Method and Apparatus For Self Calibration of A Vehicle Radar System |
| CN109073748A (en) * | 2016-04-29 | 2018-12-21 | 奥托立夫开发公司 | To the misalignment detection of Radar for vehicle sensor |
| US20180120414A1 (en) * | 2016-10-31 | 2018-05-03 | Delphi Technologies, Inc. | Automated vehicle radar system with self-calibration |
| CN109425852A (en) * | 2017-08-21 | 2019-03-05 | 比亚迪股份有限公司 | The scaling method of automobile and trailer-mounted radar, device |
| CN109870680A (en) * | 2018-10-26 | 2019-06-11 | 北京润科通用技术有限公司 | A kind of objective classification method and device |
| CN109597061A (en) * | 2018-12-28 | 2019-04-09 | 北京润科通用技术有限公司 | A kind of target state method of discrimination and system |
| CN110244269A (en) * | 2019-06-26 | 2019-09-17 | 安庆楚航电子科技有限公司 | A kind of vehicle-mounted forward direction millimetre-wave radar installation error method for self-calibrating |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113671453A (en) * | 2021-08-11 | 2021-11-19 | 南京隼眼电子科技有限公司 | Vehicle-mounted millimeter wave radar pitch angle error calibration method and device, storage medium and electronic equipment |
| 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 |
| CN113702930A (en) * | 2021-08-16 | 2021-11-26 | 中汽创智科技有限公司 | Method, device and equipment for calibrating installation angle of angle radar and storage medium |
| CN113702930B (en) * | 2021-08-16 | 2024-05-24 | 中汽创智科技有限公司 | Angular radar installation angle calibration method, device, equipment and storage medium |
| CN115201773A (en) * | 2022-09-13 | 2022-10-18 | 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 |
| 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 |
| CN115371719A (en) * | 2022-10-10 | 2022-11-22 | 福思(杭州)智能科技有限公司 | Parameter calibration method and device for detection equipment, storage medium and electronic device |
| CN115371719B (en) * | 2022-10-10 | 2023-01-24 | 福思(杭州)智能科技有限公司 | Parameter calibration method and device for detection equipment, storage medium and electronic device |
| CN116755047A (en) * | 2023-05-23 | 2023-09-15 | 上海保隆汽车科技股份有限公司 | Radar detection data compensation method, system, radar, vehicle and medium |
| CN117075063A (en) * | 2023-10-13 | 2023-11-17 | 大尧信息科技(湖南)有限公司 | Radar ranging self-calibration method, system, equipment and medium based on software definition |
| CN117075063B (en) * | 2023-10-13 | 2024-01-19 | 大尧信息科技(湖南)有限公司 | Radar ranging self-calibration method, system, equipment and medium based on software definition |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112881989A (en) | Self-calibration method of millimeter wave radar on vehicle, electronic device and storage medium | |
| EP3534174B1 (en) | Malfunction detecting device | |
| CN106980111B (en) | Vehicle-mounted side rear-view anti-collision radar calibration device and calibration method thereof | |
| CN111521979B (en) | Method and device for calibrating installation angle of vehicle-mounted radar and related equipment thereof | |
| US9953532B2 (en) | Obstacle warning apparatus | |
| US20130030687A1 (en) | On-vehicle apparatus, preceding vehicle position determining apparatus, and preceding vehicle position determining method | |
| US20090128398A1 (en) | Method of Calibrating a Sensor System | |
| CN111624566B (en) | Radar installation angle calibration method and device | |
| CN105738877A (en) | Radar Alignment Apparatus And Method Of Controlling The Same | |
| US20130226400A1 (en) | Advanced diver assistance system feature performance using off-vehicle communications | |
| JP6933986B2 (en) | Target detection device, target detection method and program | |
| CN110109071A (en) | Vehicle-mounted millimeter wave blind area monitors radar setting angle automatic calibration device and method | |
| CN111007492A (en) | Detection system and method | |
| US11346939B2 (en) | Surrounding monitoring radar device | |
| JP2023165850A (en) | Electronic equipment, control method of electronic equipment, and control program of electronic equipment | |
| CN112639508A (en) | Radar axis deviation detecting device, vehicle-mounted system equipped with the same, and radar axis deviation detecting method | |
| EP3432288B1 (en) | Vehicle device with compensation of data loss when generating driving assistive data | |
| CN110018498B (en) | Method and device for preventing GNSS from being interfered by laser radar | |
| CN111356936B (en) | Method and device for detecting the position of a highly automated vehicle | |
| CN114442100A (en) | Method and device for detecting interference object and vehicle | |
| JP2017122646A (en) | Moving object detection device | |
| US11940807B2 (en) | Method for controlling a utility vehicle | |
| EP3859383A1 (en) | Electronic device, control method for electronic device, and control program for electronic device | |
| CN111289949A (en) | Blind area monitoring radar test method and device | |
| US20230260394A1 (en) | Determination device, determination method, and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |