CN113093128A - Method and device for calibrating millimeter wave radar, electronic equipment and road side equipment - Google Patents
Method and device for calibrating millimeter wave radar, electronic equipment and road side equipment Download PDFInfo
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Abstract
The disclosure provides a method and a device for calibrating a millimeter wave radar, electronic equipment, a computer readable storage medium and a computer program product, and relates to the technical field of artificial intelligence such as computer vision and intelligent traffic. One embodiment of the method comprises: generating lane topology information under a millimeter wave radar coordinate system according to a sensing result of the millimeter wave radar on a vehicle running in a target area; generating lane line topology information under a map coordinate system according to map data of a target area, wherein the system establishing mode of a millimeter wave radar coordinate system is the same as that of the map coordinate system; and determining actual parameters of the lane topology information matched with the lane line topology information based on the preset deviation amount, and calibrating the millimeter wave radar by using the actual parameters. By applying the embodiment, not only can calibration be carried out on site without calibration personnel, but also the calibration precision is improved, so that the requirement of a vehicle-road cooperative scene on the precision can be met.
Description
Technical Field
The present disclosure relates to the field of data processing technologies, and in particular, to the field of artificial intelligence technologies such as computer vision and intelligent transportation, and in particular, to a method and an apparatus for calibrating a millimeter wave radar, an electronic device, a roadside device, a computer-readable storage medium, and a computer program product.
Background
Vehicle-road coordination is a concept under intelligent traffic. The 'intelligent level' of the vehicle and the road is finally required to be improved in vehicle-road cooperation so as to achieve the purpose of safe and automatic driving, and the intelligence of the vehicle-road cooperation is another process realized by unmanned driving. The intelligent process is divided into intelligent equipment upgrading covering vehicles and roads and algorithm upgrading, wherein the most important intelligent equipment is a sensor.
The prior art generally adopts a laser radar deployed on the roadside as a roadside sensor, or only uses a radar deployed on a vehicle.
Disclosure of Invention
The disclosed embodiments provide a method, an apparatus, an electronic device, a roadside device, a computer-readable storage medium, and a computer program product for calibrating a millimeter wave radar.
In a first aspect, an embodiment of the present disclosure provides a method for calibrating a millimeter wave radar, including: generating lane topology information under a millimeter wave radar coordinate system according to a sensing result of the millimeter wave radar on a vehicle running in a target area; generating lane line topological information under a map coordinate system according to map data of a target area; the system establishing mode of the millimeter wave radar coordinate system is the same as that of the map coordinate system; and determining actual parameters of the lane topology information matched with the lane line topology information based on a preset deviation amount, calibrating the millimeter wave radar by using the actual parameters, and using the deviation amount to correct the sensing precision error of the millimeter wave radar.
In a second aspect, an embodiment of the present disclosure provides an apparatus for calibrating a millimeter wave radar, including: the lane topology information generating unit is configured to generate lane topology information under a millimeter wave radar coordinate system according to a sensing result of the millimeter wave radar on a vehicle running in the target area; a lane line topology information generating unit configured to generate lane line topology information in a map coordinate system according to map data of the target area; the system establishing mode of the millimeter wave radar coordinate system is the same as that of the map coordinate system; and the calibration parameter calculation unit is configured to determine that the lane topology information is matched with the actual parameters of the lane line topology information based on a preset deviation amount, and calibrate the millimeter wave radar by using the actual parameters, wherein the deviation amount is used for correcting the perception accuracy error of the millimeter wave radar.
In a third aspect, an embodiment of the present disclosure provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method for calibrating millimeter wave radar as described in any one of the implementations of the first aspect when executed.
In a fourth aspect, embodiments of the present disclosure provide a roadside apparatus including the electronic apparatus as described in the third aspect.
In a fifth aspect, embodiments of the present disclosure provide a non-transitory computer-readable storage medium storing computer instructions for enabling a computer to implement a method for calibrating millimeter wave radar as described in any one of the implementations of the first aspect when executed.
In a sixth aspect, the disclosed embodiments provide a computer program product comprising a computer program, which when executed by a processor, is capable of implementing the method for calibrating a millimeter wave radar as described in any of the implementations of the first aspect.
According to the method, the device, the electronic equipment, the road side equipment, the computer readable storage medium and the computer program product for calibrating the millimeter wave radar, firstly, lane topology information is generated under a millimeter wave radar coordinate system according to a sensing result of the millimeter wave radar on a vehicle running in a target area; sequentially or simultaneously, generating lane line topology information under a map coordinate system according to the map data of the target area, wherein the system establishing mode of the millimeter wave radar coordinate system is the same as that of the map coordinate system; and then, determining actual parameters of the lane topology information matched with the lane line topology information based on a preset deviation amount for correcting the perception accuracy error of the millimeter wave radar, and calibrating the millimeter wave radar by using the actual parameters.
According to the technical scheme, the sensing result of the millimeter wave radar in the same area and high-precision map data are used as two kinds of input data, then the relevant topological information for describing the lane is generated under respective coordinate systems, under the condition that the system establishing modes of the two coordinate systems are the same, the external parameters of the millimeter wave radar can be accurately calibrated through the corresponding relation of topological structures under different coordinate systems, and further the requirement on the sensing precision under a vehicle-road cooperation scene can be met when the millimeter wave radar is used as a road side sensor.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
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Other features, objects and advantages of the disclosure will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is an exemplary system architecture to which the present disclosure may be applied;
fig. 2 is a flowchart of a method for calibrating a millimeter wave radar according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of another method for calibrating a millimeter wave radar provided by the embodiments of the present disclosure;
fig. 4 is a block diagram of a device for calibrating a millimeter wave radar according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device suitable for executing a method for calibrating a millimeter wave radar according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness. It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict.
In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information of the related user all accord with the regulations of related laws and regulations, necessary security measures are taken, and the customs of the public order is not violated.
Fig. 1 illustrates an exemplary system architecture 100 to which embodiments of the disclosed methods, apparatus, electronic devices, roadside devices, computer-readable storage media, and computer program products for calibrating millimeter-wave radar may be applied.
As shown in FIG. 1, system architecture 100 may include a map database 101, a millimeter wave radar 102, a network 103, and a calibration server 104. Network 103 is the medium used to provide a communication link between map database 101 and millimeter wave radar 102 and calibration server 104. Network 103 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.
The map database 101 stores high-precision map data of each area, including a traffic facility position, a lane position, and the like; the millimeter-wave radar 102 is used for determining the position information of a reflector by receiving a reflected millimeter-wave signal, and the millimeter-wave radar 102 is erected on the road side and used for sensing the track of a running vehicle as an example in the disclosure; the calibration server 104 is configured to complete external reference calibration of the millimeter wave radar according to the respectively received high-precision map data and sensing results.
The data collection, data transmission, and data processing between the execution bodies can be implemented by applications installed on the execution bodies, for example, a map query application installed on the map database 101 acquires high-precision map data in a target area, and a calibration parameter calculation application installed on the calibration server 104 implements data processing. In addition, to ensure the normal operation of the main body application, other security applications, such as applications for network quality monitoring, anomaly monitoring, and repair, may also be installed on the execution main body.
The map database 101 and the calibration server 104 may be hardware or software. When the map database 101 is hardware, it may be various electronic devices that store the desired map data, including but not limited to smart phones, tablets, laptop portable computers, and desktop computers or servers; when the map database 101 is software, it may be installed in the electronic devices listed above, and may be implemented as a plurality of pieces of software or software modules, or may be implemented as a single piece of software or software modules, which is not specifically limited herein. When the calibration server 104 is hardware, it may be implemented as a distributed server cluster composed of multiple servers, or may be implemented as a single server; when the calibration server 104 is software, it may be implemented as multiple pieces of software or software modules, or may be implemented as a single piece of software or software module, and is not limited herein.
The calibration server 104 may provide various services through various built-in applications, and taking an external reference calibration type application that may provide an external reference calibration service for a millimeter wave radar to be calibrated as an example, the calibration server 104 may implement the following effects when running the external reference calibration type application: first, the sensing result of the vehicle traveling in the sensing area thereof over a period of time is acquired from millimeter wave radar 102 through network 103, and high-precision map data of the same area is acquired from map database 101 through network 103; secondly, generating lane topological information under a millimeter wave radar coordinate system according to the sensing result, and generating lane line topological information under a map coordinate system according to the high-precision map data, wherein the system establishing mode of the millimeter wave radar coordinate system is the same as that of the map coordinate system; and finally, determining actual parameters of the lane topology information matched with the lane line topology information based on a preset deviation amount for correcting the perception accuracy error of the millimeter wave radar, and calibrating the millimeter wave radar by using the actual parameters.
It should be noted that the sensing result of the millimeter wave radar and the high-precision map data may be acquired from the millimeter wave radar 102 and the map database 101 in real time, and may be stored locally in the calibration server 104 in advance in various ways. Thus, when server 105 detects that such data is already stored locally (e.g., a pending calibration task remaining before processing is initiated), it may choose to retrieve such data directly from locally, in which case exemplary system architecture 100 may also not include millimeter wave radar 102, map database 101, and network 104.
The method for calibrating the millimeter wave radar provided in the following embodiments of the present disclosure is generally executed by the calibration server 104 having stronger computing capability and more computing resources, and accordingly, the device for calibrating the millimeter wave radar is generally disposed in the calibration server 104.
It should be understood that the number of map databases, millimeter wave radars, networks, and calibration servers in FIG. 1 are merely illustrative. There may be any number of destination map databases, millimeter wave radar, networks, and calibration servers, as desired for implementation.
Referring to fig. 2, fig. 2 is a flowchart of a method for calibrating a millimeter wave radar according to an embodiment of the present disclosure, where the process 200 includes the following steps:
step 201: generating lane topology information under a millimeter wave radar coordinate system according to a sensing result of the millimeter wave radar on a vehicle running in a target area;
millimeter wave radars are radars that operate in the millimeter wave band (millimeter wave) for detection. Usually, the millimeter wave is in the frequency domain of 30 to 300GHz (with a wavelength of 1 to 10 mm). Millimeter-wave radar has some of the advantages of both microwave and photoelectric radar because the wavelength of millimeter-wave waves is intermediate between microwave and centimeter waves. Compared with optical probes such as infrared, laser and television, the millimeter wave probe has strong capability of penetrating fog, smoke and dust and has the characteristics of all weather (except heavy rainy days) all day long. In addition, the millimeter wave seeker is anti-interference, can distinguish and identify very small targets, can identify a plurality of targets simultaneously, and has the advantages of being small in imaging capacity and small in size.
The millimeter wave radar has the advantages, and is applied to the perception of the vehicle running track in the area under the scene of vehicle-road cooperation, so that intelligent traffic is realized under the assistance of big data. It should be understood that, when hardware such as millimeter wave radar is generated and leaves a factory, a manufacturer can calibrate internal parameters of the hardware, the internal parameters are independent of a specific application scene, and after the millimeter wave radar is specifically deployed on a certain road section, the external parameters of the hardware need to be calibrated by combining various conditions of an actual application scene, so that the sensing precision of the hardware in the actual application scene is improved.
The object to be calibrated is external parameters of the millimeter wave radar, technical personnel carry out a series of calibration on the spot in a conventional mode, calibration is carried out after the most appropriate parameters are determined, the cost of manpower and material resources is high, the precision of the conventional calibration mode is rough, and the requirement of a vehicle-road cooperation scene on the precision cannot be met.
This step is intended to generate, by an executing subject (for example, the server 105 shown in fig. 1) of the method for calibrating a millimeter wave radar, lane topology information in a millimeter wave radar coordinate system according to a result of perception of a vehicle traveling within a target area by the millimeter wave radar.
Similar to the laser radar, the millimeter wave radar also determines the position information of the object reflecting the radio frequency signal by receiving the radio frequency signal, so that the millimeter wave radar perceives a position point at each moment, the position point describes the distance from the millimeter wave radar, and the position points at each moment are 'strung', so that the track information of the object can be obtained.
When the millimeter wave radar is deployed at an intersection, the object is usually a vehicle or a pedestrian, and when the vehicle is taken as a main target, it can be understood that: most of the traveling tracks of vehicles follow the traffic regulations, i.e., travel within a required lane range (the lane range is determined by lane lines on the left and right sides), and thus the range of the determined lane can be roughly and roughly determined by a large amount of accumulated vehicle track information.
Step 202: generating lane line topological information under a map coordinate system according to map data of a target area;
on the basis of step 201, this step is intended to generate lane line topology information in a map coordinate system from the map data of the target area by the execution subject described above.
It should be understood that the current map data generally has higher precision, and especially compared with the general lane topology information determined by the millimeter wave radar based on the track information before the external parameter is calibrated, in order to calibrate the external parameter of the millimeter wave radar, the lane line topology information determined based on the high-precision map data is used as accurate information by the present disclosure, so that the calibration of the external parameter of the millimeter wave radar is completed by using the accurate lane line topology information.
It should be noted that, in order to complete the calibration, the millimeter wave radar coordinates describing the lane topology information and the map coordinate system describing the lane line topology information should be respectively established based on the same system establishing manner, that is, the two coordinate systems follow the same coordinate system establishing manner, so as to prevent the difficulty brought by the coordinate system establishing manner for the subsequent matching.
Specifically, the millimeter wave radar coordinate system and the map coordinate system may be established by using a variety of system establishing methods, for example, any one of coordinate systems such as a polar coordinate system, a planar rectangular coordinate system, a spatial rectangular coordinate system, and a cartesian coordinate system.
Step 203: and determining actual parameters of the lane topology information matched with the lane line topology information based on the preset deviation amount, and calibrating the millimeter wave radar by using the actual parameters.
On the basis of step 202, this step is intended to determine, by the execution subject described above, that the lane topology information matches the actual parameters of the lane line topology information, thereby calibrating the external parameters of the millimeter wave radar based on the calculated actual parameters. Because the sensing precision of the millimeter wave radar with the external parameter not calibrated is limited, the actual parameter is determined based on the deviation amount for correcting the sensing precision error of the millimeter wave radar, so that the accuracy of the finally determined actual parameter is improved.
In the technical scheme provided by this embodiment, the sensing result of the millimeter wave radar in the same region and the high-precision map data are used as two kinds of input data, and then the relevant topological information describing the lane is generated under the respective coordinate systems, so that under the condition that the system establishing modes of the two coordinate systems are the same, the external parameters of the millimeter wave radar can be accurately calibrated through the corresponding relation of the topological structures under the different coordinate systems, and further, the requirement on the sensing precision under the vehicle-road cooperation scene can be met when the millimeter wave radar is used as a road side sensor.
To further the understanding of the implementation process of steps 201-202, the present disclosure also gives specific examples herein based on polar coordinate-based modeling specifically:
establishing a millimeter wave radar-polar coordinate system by taking the installation position of the millimeter wave radar as the origin of the coordinate system according to the system establishing mode of polar coordinates;
acquiring a map reference point of a preset map, and establishing a map-polar coordinate system according to a system establishing mode of polar coordinates;
correspondingly, the step 201 is changed to: generating lane topology information under a millimeter wave radar-polar coordinate system according to a sensing result of a millimeter wave radar on a vehicle running in a target area;
correspondingly, the step 202 is changed to: and generating the topological information of the lane lines under a map-polar coordinate system according to the map data of the target area.
Different from a conventional system establishing mode, the system establishing mode of the polar coordinate system is more consistent with the working characteristics of the millimeter wave radar, and therefore the effect is better when the polar coordinate system is adopted.
Referring to fig. 3, fig. 3 is a flowchart of another method for calibrating a millimeter wave radar according to an embodiment of the present disclosure, where the process 300 includes the following steps:
step 301: acquiring the track of a vehicle running in a target area, which is sensed by a millimeter wave radar at each moment;
step 302: accumulating the perceived track of the vehicle at each moment to obtain a vehicle track accumulation graph;
step 303: generating lane topology information according to the vehicle track accumulation graph under a millimeter wave radar coordinate system;
in step 201, the embodiment of the present disclosure provides a specific implementation manner through steps 301 to 303, that is, a vehicle track accumulation map is obtained by accumulating information of vehicle tracks perceived by a millimeter wave radar at each time, and then the vehicle track accumulation map describes lane topology information in a millimeter wave radar coordinate system.
Step 304: generating lane line topological information under a map coordinate system according to map data of a target area;
this step is the same as step 202 shown in fig. 2, and please refer to the corresponding parts in the previous embodiment for the same contents, which will not be described herein again.
Step 305: determining a second deviation value based on the real track of the vehicle running in the target area, and calculating an actual parameter which enables the lane topological information and the lane line topological information to be in a preset matching position;
on the basis of steps 303 and 304, this step is intended to calculate actual parameters that bring the lane topology information and the lane line topology information into a preset matching position, on the basis of the second deviation amount determined by the executing body specifically based on the real trajectory. Wherein the real trajectory of the vehicle can be acquired by a position sensor arranged on the vehicle.
Assuming that both the millimeter wave radar coordinate system and the map coordinate system adopt a polar coordinate system establishing mode, similar line segments pass through the same point in the polar coordinate system and can be converged into curves of different point clusters under the condition of noise, and the step can optimize the polar coordinate high-precision map lane line topology and the millimeter wave radar generated lane topology to the best matching position through optimization. It should be understood that there is a corresponding relationship between the two pieces of topology information, so that when the two pieces of topology information are in the best matching position, the effect at this time can be considered as the effect of making the millimeter wave radar be in the most appropriate external reference calibration.
Because the given lane position of the millimeter wave radar which does not finish external reference calibration is not accurate, only the approximate direction of the orientation of the millimeter wave radar can be given, and therefore the deviation amount between the vehicle track sensed by the millimeter wave radar and the vehicle track is obtained through the real track calculation of the vehicle in the step; then, the deviation amount is used to correct the lane topology of the locus generation perceived by the millimeter wave radar. And finally, calculating a conversion relation between the two topological structures, and finishing the external reference calibration of the millimeter wave radar.
Step 306: and calibrating the millimeter wave radar by using the actual parameters.
It should be understood that, there is no cause, effect or dependency relationship between the specific implementation manners provided in steps 301 to 303 and the specific implementation manner provided in step 305, and different lower level implementation manners given for different upper level technical solutions may form different embodiments from the embodiment shown in the flow 200, and the embodiment only exists as a preferred embodiment in which two specific implementation manners exist at the same time.
In addition to the determination of the second deviation amount based on the real trajectory of the vehicle traveling in the target area, which was employed in step 305 in the above embodiment, the same, similar, or better correction effect can be achieved by using or combining the first deviation amount determined based on the installation position of the millimeter wave radar.
In order to deepen understanding, the disclosure also provides a specific implementation scheme by combining a specific application scenario:
the millimeter wave radar for the vehicle-road cooperative scene is used by acquiring parameters of the millimeter waves, and calibration is to acquire the parameters of the millimeter wave radar. The embodiment is designed according to the real-time data characteristics of the millimeter wave radar used in the traffic scene and the data characteristics of the intersection, and comprises three parts: 1) data collected by road section equipment and a high-precision map; 2) extracting a topological structure; 3) the radar calibration algorithm is discussed below:
1) data and high-precision map that the way end equipment gathered:
in the scene of vehicle-road cooperation, in some places, under the condition of newly installing a millimeter wave radar, due to the inconsistency of the problems of construction period, cooperation of each unit and the like, the sensor cannot be timely calibrated. At this time, the only condition may be to give a high-precision map of a certain section of road, and then to be able to acquire some basic information of the radar-perceived obstacle after power-on. At this time, the input data required for completing the calibration is a high-precision map, and the millimeter wave radar to be calibrated arranged on the road side senses the state of the vehicle passing through the sensing area. The input data is collected without visiting the site;
2) extracting a topological structure:
according to the sensed superposition information (which can be represented as a vehicle track information accumulation graph) of the track of the vehicle, constructing lane topology information under a millimeter wave radar coordinate system; and constructing the lane line topological information under the high-precision map coordinate system according to the same region data extracted from the database of the high-precision map. And the millimeter wave radar coordinate system and the high-precision map coordinate system are established based on polar coordinates.
3) The calibration algorithm of the millimeter wave radar is as follows:
by utilizing the characteristic that similar line segments pass through the same point under polar coordinates and can be converged into curves of different point clusters under the condition of noise, the polar coordinate high-precision map lane line topology and the millimeter wave radar lane topology can be optimized to the optimal matching position by an optimization means. And finishing external parameter calibration of the millimeter wave radar based on the parameters corresponding to the optimal matching position.
Because the given lane position of the millimeter wave radar which does not finish external reference calibration is not accurate, only the approximate direction of the orientation of the millimeter wave radar can be given, and therefore the deviation amount between the vehicle track sensed by the millimeter wave radar and the vehicle track is obtained through the real track calculation of the vehicle in the step; then, the deviation amount is used to correct the lane topology of the locus generation perceived by the millimeter wave radar. And finally, calculating a conversion relation between the two topological structures, and finishing the external reference calibration of the millimeter wave radar.
Through the two parts, calibration parameters of the millimeter wave radar can be conveniently obtained, and the scheme is safe, simple and easy to use in actual operation.
In order to deepen the understanding of the key steps in the solution of the calibration parameters of the millimeter wave radar, the following explanation is made again:
1) in the millimeter wave radar calibration process, reliable data are needed to be used, and influences of factors such as noise and false detection are removed, so that information recorded on the road side of the radar is preprocessed, and a radar track superposition point density map in the radar visual direction is obtained by superposing information of social vehicles under the radar visual angle.
The information processing formula may be:
wherein the frame ismap_radarIs a point location density graph of accumulated driving tracks, and the accumulation mode in the acc (star) representation history window
Is to estimate the classification strategy, remove abnormal tracks, ultra-short tracks, etc., traceset_radarRepresenting the trajectory of the radar input.
2) According to the framemap_radarCalculation lane topological structure radar under millimeter wave radar view angletopologyWhile extracting hd from the high-precision maptopologyThen the two topological results and the radar coordinate origin (radar)ori) The parameters R and T of the radar are obtained by putting the following parameter calculation formula into the radar, and then the parameters of the radar can be used after being checked and corrected:
(R，T)＝argminmax{clustersize(radarori，radartopology，hdtopology)}}；
wherein R and T are finally optimized radar parameters, clustersizeIs the measurement of the cluster of the lane lines under the polar coordinates, when the argminmax function finds the maximum possible matching degree of the topological structure derived by radar estimation and the topological structure of the high-precision map, the integral cluster is ensured at the same timesizeAnd when the minimum value is reached, the optimal R and T optimization result can be obtained.
With further reference to fig. 4, as an implementation of the methods shown in the above figures, the present disclosure provides an embodiment of an apparatus for calibrating a millimeter wave radar, where the embodiment of the apparatus corresponds to the embodiment of the method shown in fig. 2, and the apparatus may be applied to various electronic devices.
As shown in fig. 4, the apparatus 400 for calibrating millimeter wave radar of the present embodiment may include: lane topology information generation section 401, lane line topology information generation section 402, and calibration parameter calculation section 403. The lane topology information generating unit 401 is configured to generate lane topology information in a millimeter wave radar coordinate system according to a sensing result of the millimeter wave radar on a vehicle traveling in the target area; a lane line topology information generating unit 402 configured to generate lane line topology information in a map coordinate system according to map data of the target area; the system establishing mode of the millimeter wave radar coordinate system is the same as that of the map coordinate system; and a calibration parameter calculation unit 403 configured to determine that the lane topology information matches an actual parameter of the lane line topology information based on a preset deviation amount, and calibrate the millimeter wave radar using the actual parameter.
In the present embodiment, in the apparatus 400 for calibrating a millimeter wave radar: the specific processing of the lane topology information generating unit 401, the lane line topology information generating unit 402, and the calibration parameter calculating unit 403 and the technical effects thereof can be respectively referred to the related descriptions of step 201 and step 203 in the corresponding embodiment of fig. 2, and are not described herein again.
In some optional implementations of the present embodiment, the lane topology information generating unit 401 may be further configured to:
acquiring the track of a vehicle running in a target area, which is sensed by a millimeter wave radar at each moment;
accumulating the perceived track of the vehicle at each moment to obtain a vehicle track accumulation graph;
and generating lane topology information according to the vehicle track accumulation graph under a millimeter wave radar coordinate system.
In some optional implementations of the present embodiment, the calibration parameter calculating unit 403 may include a parameter calculating subunit configured to determine that the lane topology information matches the actual parameters of the lane line topology information, the parameter calculating subunit being further configured to:
and calculating actual parameters which enable the lane topology information and the lane line topology information to be in preset matching positions.
In some optional implementations of this embodiment, the calibration parameter calculation unit 403 may include a deviation quantum unit configured to be based on a preset deviation amount, the deviation quantum unit being further configured to:
determining a first deviation amount based on the installation position of the millimeter wave radar;
and/or
The second deviation amount is determined based on a true trajectory of the vehicle traveling within the target area.
In some optional implementation manners of this embodiment, the system establishing manner adopted by the millimeter wave radar coordinate system and the map coordinate system is any one of the following:
polar coordinate system, planar rectangular coordinate system, spatial rectangular coordinate system, and cartesian coordinate system.
In some optional implementations of this embodiment, the apparatus 400 for calibrating a millimeter wave radar further includes:
the millimeter wave radar-polar coordinate system establishing unit is configured to establish a millimeter wave radar-polar coordinate system by taking the installation position of the millimeter wave radar as the origin of the coordinate system and according to the system establishing mode of polar coordinates;
the map-polar coordinate system establishing unit is configured to acquire a map reference point of a preset map and establish a map-polar coordinate system according to a polar coordinate system establishing mode;
correspondingly, the lane topology information generating unit is further configured to:
generating lane topology information under a millimeter wave radar-polar coordinate system according to a sensing result of a millimeter wave radar on a vehicle running in a target area;
correspondingly, the lane line topology information generation unit is further configured to:
and generating the topological information of the lane lines under a map-polar coordinate system according to the map data of the target area.
In the technical scheme provided by the embodiment, the sensing result and the high-precision map data of the millimeter wave radar in the same area are used as two input data, then the relevant topological information describing the lane is generated under respective coordinate systems, and under the condition that the two coordinate systems are established in the same way, the external parameters of the millimeter wave radar can be accurately calibrated through the corresponding relation of topological structures under different coordinate systems, so that the requirement on the sensing precision under the vehicle-road cooperation scene can be met when the millimeter wave radar is used as a road side sensor.
The present disclosure also provides an electronic device, a readable storage medium and a computer program product, and a roadside device according to embodiments of the present disclosure.
FIG. 5 illustrates a schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 5, the apparatus 500 comprises a computing unit 501 which may perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The calculation unit 501, the ROM 502, and the RAM 503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
A number of components in the device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, or the like; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508, such as a magnetic disk, optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The computing unit 501 may be a variety of general-purpose and/or special-purpose processing components having processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 501 performs the respective methods and processes described above, such as a method for calibrating a millimeter wave radar. For example, in some embodiments, the method for calibrating millimeter wave radar may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 500 via the ROM 502 and/or the communication unit 509. When the computer program is loaded into RAM 503 and executed by the computing unit 501, one or more steps of the method for calibrating a millimeter wave radar described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured by any other suitable means (e.g., by means of firmware) to perform the method for calibrating millimeter wave radar.
Optionally, the roadside device may include a communication component and the like in addition to the electronic device, and the electronic device may be integrated with the communication component or may be separately disposed. The electronic device can acquire data, such as pictures and videos, of a sensing device (such as a roadside camera may also be referred to as a roadside camera), so as to perform image video processing and data calculation. Optionally, the electronic device itself may also have a sensing data acquisition function and a communication function, for example, an AI camera, and the electronic device may directly perform image video processing and data calculation based on the acquired sensing data.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The Server may be a cloud Server, which is also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service extensibility in the conventional physical host and Virtual Private Server (VPS) service.
In the technical scheme provided by this embodiment, the sensing result of the millimeter wave radar in the same region and the high-precision map data are used as two kinds of input data, and then the relevant topological information describing the lane is generated under the respective coordinate systems, so that under the condition that the system establishing modes of the two coordinate systems are the same, the external parameters of the millimeter wave radar can be accurately calibrated through the corresponding relation of the topological structures under the different coordinate systems, and further, the requirement on the sensing precision under the vehicle-road cooperation scene can be met when the millimeter wave radar is used as a road side sensor.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (16)
1. A method for calibrating a millimeter wave radar, comprising:
generating lane topology information under a millimeter wave radar coordinate system according to a sensing result of the millimeter wave radar on a vehicle running in a target area;
generating lane line topological information under a map coordinate system according to the map data of the target area; the system establishing mode of the millimeter wave radar coordinate system is the same as that of the map coordinate system;
determining actual parameters of the lane topology information matched with the lane line topology information based on a preset deviation value, and calibrating the millimeter wave radar by using the actual parameters; and the deviation amount is used for correcting the sensing precision error of the millimeter wave radar.
2. The method of claim 1, wherein the generating of the lane topology information in the millimeter wave radar coordinate system according to the sensing result of the millimeter wave radar on the vehicle traveling in the target area comprises:
acquiring the track of the vehicle running in the target area, which is sensed by the millimeter wave radar at each moment;
accumulating the perceived track of the vehicle at each moment to obtain a vehicle track accumulation graph;
and generating the lane topology information according to the vehicle track accumulation graph under the millimeter wave radar coordinate system.
3. The method of claim 1, wherein the determining that the lane topology information matches actual parameters of the lane line topology information comprises:
and calculating actual parameters which enable the lane topological information and the lane line topological information to be in preset matching positions.
4. The method of claim 1, wherein the based on a preset deviation amount comprises:
determining a first deviation amount based on the installation position of the millimeter wave radar;
and/or
A second deviation amount is determined based on a true trajectory of the vehicle traveling within the target area.
5. The method of claim 1, wherein the millimeter wave radar coordinate system and the map coordinate system are established in any one of the following manners:
polar coordinate system, planar rectangular coordinate system, spatial rectangular coordinate system, and cartesian coordinate system.
6. The method of claim 5, further comprising:
establishing a millimeter wave radar-polar coordinate system by taking the installation position of the millimeter wave radar as the origin of the coordinate system and according to the system establishing mode of polar coordinates;
acquiring a map reference point of a preset map, and establishing a map-polar coordinate system according to a system establishing mode of polar coordinates;
correspondingly, the generating of the lane topology information under the millimeter wave radar coordinate system according to the sensing result of the millimeter wave radar on the running vehicle in the target area comprises:
generating the lane topology information under the millimeter wave radar-polar coordinate system according to the sensing result of the millimeter wave radar on the running vehicle in the target area;
correspondingly, the generating of the lane line topology information in the map coordinate system according to the map data of the target area includes:
and generating lane line topological information under the map-polar coordinate system according to the map data of the target area.
7. An apparatus for calibrating a millimeter wave radar, comprising:
the lane topology information generating unit is configured to generate lane topology information under a millimeter wave radar coordinate system according to a sensing result of the millimeter wave radar on a vehicle running in the target area;
a lane line topology information generating unit configured to generate lane line topology information in a map coordinate system according to map data of the target area; the system establishing mode of the millimeter wave radar coordinate system is the same as that of the map coordinate system;
a calibration parameter calculation unit configured to determine, based on a preset deviation amount, that the lane topology information matches an actual parameter of the lane line topology information, and calibrate the millimeter wave radar using the actual parameter; and the deviation amount is used for correcting the sensing precision error of the millimeter wave radar.
8. The apparatus of claim 7, wherein the lane topology information generation unit is further configured to:
acquiring the track of the vehicle running in the target area, which is sensed by the millimeter wave radar at each moment;
accumulating the perceived track of the vehicle at each moment to obtain a vehicle track accumulation graph;
and generating the lane topology information according to the vehicle track accumulation graph under the millimeter wave radar coordinate system.
9. The apparatus of claim 7, wherein the calibration parameter calculation unit comprises a parameter calculation subunit configured to determine that the lane topology information matches actual parameters of the lane line topology information, the parameter calculation subunit further configured to:
and calculating actual parameters which enable the lane topological information and the lane line topological information to be in preset matching positions.
10. The apparatus of claim 7, wherein the calibration parameter calculation unit comprises a deviation quantum unit configured to be based on a preset deviation amount, the deviation quantum unit further configured to:
determining a first deviation amount based on the installation position of the millimeter wave radar;
and/or
A second deviation amount is determined based on a true trajectory of the vehicle traveling within the target area.
11. The apparatus of claim 7, wherein the millimeter wave radar coordinate system and the map coordinate system are established in any one of the following manners:
polar coordinate system, planar rectangular coordinate system, spatial rectangular coordinate system, and cartesian coordinate system.
12. The apparatus of claim 11, further comprising:
the millimeter wave radar-polar coordinate system establishing unit is configured to establish a millimeter wave radar-polar coordinate system by taking the installation position of the millimeter wave radar as a coordinate system origin according to a system establishing mode of polar coordinates;
the map-polar coordinate system establishing unit is configured to acquire a map reference point of a preset map and establish a map-polar coordinate system according to a polar coordinate system establishing mode;
correspondingly, the lane topology information generating unit is further configured to:
generating the lane topology information under the millimeter wave radar-polar coordinate system according to the sensing result of the millimeter wave radar on the running vehicle in the target area;
correspondingly, the lane line topology information generation unit is further configured to:
and generating lane line topological information under the map-polar coordinate system according to the map data of the target area.
13. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method for calibrating millimeter wave radar of any of claims 1 to 6.
14. A roadside apparatus comprising the electronic apparatus of claim 13.
15. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method for calibrating a millimeter wave radar of any of claims 1 to 6.
16. A computer program product comprising a computer program which, when executed by a processor, implements a method for calibrating a millimeter wave radar according to any one of claims 1 to 6.
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| CN202110384091.3A CN113093128A (en) | 2021-04-09 | 2021-04-09 | Method and device for calibrating millimeter wave radar, electronic equipment and road side equipment |
| PCT/CN2021/135144 WO2022213632A1 (en) | 2021-04-09 | 2021-12-02 | Millimeter-wave radar calibration method and apparatus, and electronic device and roadside device |
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| CN202110384091.3A CN113093128A (en) | 2021-04-09 | 2021-04-09 | Method and device for calibrating millimeter wave radar, electronic equipment and road side equipment |
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