CN109425852B - Calibration method and device for automobile and vehicle-mounted radar - Google Patents

Calibration method and device for automobile and vehicle-mounted radar Download PDF

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CN109425852B
CN109425852B CN201710720609.XA CN201710720609A CN109425852B CN 109425852 B CN109425852 B CN 109425852B CN 201710720609 A CN201710720609 A CN 201710720609A CN 109425852 B CN109425852 B CN 109425852B
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vehicle
automobile
preset
mounted radar
calibration
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CN109425852A (en
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庄宇
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BYD Co Ltd
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BYD Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane

Abstract

The invention discloses a calibration method and a calibration device for an automobile and a vehicle-mounted radar. The calibration method comprises the following steps: acquiring the speed of an automobile, the turning angle of an automobile steering wheel and the acceleration of the automobile; judging whether the automobile is in a uniform linear motion state or not according to the speed of the automobile, the turning angle of an automobile steering wheel and the acceleration of the automobile; if the automobile is in a uniform linear motion state, acquiring a motion relation of a preset target relative to the automobile; and calibrating the vehicle-mounted radar according to the motion relation of the preset target relative to the automobile. The calibration method does not need to additionally add a reference device, has small calibration error, convenient calibration mode and strong environmental adaptability.

Description

Calibration method and device for automobile and vehicle-mounted radar
Technical Field
The invention relates to the field of automobiles, in particular to a calibration method and a calibration device for a vehicle-mounted radar and an automobile.
Background
At present, most millimeter wave radars need to be calibrated by adding a reference device, which can be a reflector, a millimeter wave transceiver or a laser transceiver, and the reference device compares a reference position actual value fed back by the radar to be measured with a true value, or performs parameter calibration after directly measuring the installation deviation of the radar structure to be measured.
In the related art, a method for calibrating the above parameters by adding a reference device is described. The device is provided with a conical body (shown in figure 1) fixed at a reference position, and the design position of the conical body is a theoretical value; after a vehicle with a radar to be detected mounted at the front end is parked to a standard position, measuring the relative position of the conical body and the radar through the received and transmitted millimeter waves, wherein the value is an actual measurement value; further, the vehicle-mounted radar mounting position is calibrated by the difference between the theoretical value and the actual value (as shown in fig. 2).
However, the above-described technique has the following disadvantages in the vehicle radar application:
1) the calibration error is large. When the method is used for calibration, the placing deviation of the conical reference device and the deviation of the vehicle to be measured during parking can increase the error of the calibration result;
2) the comfort is not good. The method can finish radar calibration only under the ground of a specially arranged calibration field, and re-calibration may require the vehicle to return to a calibration factory;
3) and has no environmental suitability. The deviation of the transmitted beam from the designed direction caused by collision, stone-hit, snow-covered, ice-accretion, etc. during the running of the vehicle may be undetectable to the naked eye so that the user does not schedule the recalibration, but the accuracy of radar identification is affected in the actual use.
In addition, other related technologies, such as a method for directly measuring an installation error of a radar structure to be measured through a laser transceiver, have the disadvantages of poor adaptability, high calibration cost, complex process and the like.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, the invention aims to provide a calibration method of a vehicle-mounted radar. The calibration method does not need to additionally add a reference device, has small calibration error, convenient calibration mode and strong environmental adaptability.
A second object of the invention is to propose a non-transitory computer-readable storage medium.
The third purpose of the invention is to provide a calibration device of the vehicle-mounted radar.
A fourth object of the invention is to provide a motor vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a calibration method for a vehicle-mounted radar, where the method includes the following steps: acquiring the speed of an automobile, the turning angle of an automobile steering wheel and the acceleration of the automobile; judging whether the automobile is in a uniform linear motion state or not according to the speed of the automobile, the turning angle of the automobile steering wheel and the acceleration of the automobile; if the automobile is in a uniform linear motion state, acquiring a motion relation of a preset target relative to the automobile; and calibrating the vehicle-mounted radar according to the motion relation of the preset target relative to the automobile.
According to the calibration method of the vehicle-mounted radar, the speed of the vehicle, the corner of the steering wheel of the vehicle and the acceleration of the vehicle are obtained in the driving process of the vehicle, whether the vehicle is in a uniform linear motion state or not is judged according to the speed of the vehicle, the corner of the steering wheel of the vehicle and the acceleration of the vehicle, the motion relation of the preset target relative to the vehicle is obtained when the vehicle is judged to be in the uniform linear motion state, and then the vehicle-mounted radar is calibrated according to the motion relation of the preset target relative to the vehicle. The calibration method does not need to additionally add a reference device, has small calibration error, convenient calibration mode and strong environmental adaptability.
In addition, the calibration method of the vehicle-mounted radar according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the determining whether the vehicle is in a uniform linear motion state according to the vehicle speed of the vehicle, the steering angle of the steering wheel of the vehicle, and the acceleration of the vehicle includes: judging whether the turning angle of the automobile steering wheel is smaller than or equal to a preset angle and/or whether the acceleration of the automobile is smaller than or equal to a preset acceleration; if the turning angle of the automobile steering wheel is smaller than or equal to the preset angle and/or the acceleration of the automobile is smaller than or equal to the preset acceleration, judging that the automobile is in a linear running state, and acquiring the speed change rate of the automobile according to the speed of the automobile; judging whether the speed change rate of the automobile is smaller than or equal to a preset value or not; and if the speed change rate of the automobile is less than or equal to the preset value, judging that the automobile is in a uniform linear motion state.
According to an embodiment of the present invention, the calibrating the vehicle-mounted radar according to the motion relationship of the preset target with respect to the vehicle includes: acquiring a first preset characteristic value of the vehicle-mounted radar according to a preset installation angle of the vehicle-mounted radar; calculating and obtaining first calibration characteristic values of a plurality of vehicle-mounted radars at intervals of preset time according to the motion relation of the preset target relative to the automobile; and acquiring the corresponding installation angle of the vehicle-mounted radar according to each first calibration characteristic value and the first preset characteristic value respectively.
According to an embodiment of the invention, the first calibration characteristic value is calculated by the following formula:
Figure GDA0002640985370000021
wherein, KxAnd p is the distance between the vehicle-mounted radar and the preset target, and theta is the azimuth angle of the preset target relative to the vehicle-mounted radar.
According to an embodiment of the present invention, the obtaining a corresponding installation angle of the vehicle-mounted radar according to each first calibration characteristic value and the first preset characteristic value respectively includes: judging whether the difference value between the first calibration characteristic value and the first preset characteristic value is smaller than or equal to a first preset threshold value or not; if the difference value between the first calibration characteristic value and the first preset characteristic value is smaller than or equal to the first preset threshold value, calculating the installation angle of the vehicle-mounted radar according to the following formula:
Figure GDA0002640985370000031
wherein epsilon is an included angle between a coordinate system of the vehicle-mounted radar and a ground coordinate system, and alpha is an installation angle of the vehicle-mounted radar.
According to an embodiment of the present invention, the calibrating the vehicle-mounted radar according to the motion relationship of the preset target with respect to the vehicle further includes: acquiring a second preset characteristic value of the vehicle-mounted radar according to the preset installation angle of the vehicle-mounted radar and the speed of the automobile; calculating and obtaining second calibration characteristic values of the plurality of vehicle-mounted radars at intervals of the preset time according to the motion relation of the preset target relative to the automobile; and acquiring the corresponding installation angle of the vehicle-mounted radar according to each second calibration characteristic value and the second preset characteristic value respectively.
According to an embodiment of the invention, the second calibration characteristic value is calculated by the following formula:
Figure GDA0002640985370000032
wherein, KyP is the distance between the vehicle-mounted radar and the preset target, theta is the azimuth angle of the preset target relative to the vehicle-mounted radar, epsilon is the included angle between the coordinate system of the vehicle-mounted radar and the ground coordinate system,
Figure GDA0002640985370000033
the speed of the vehicle.
According to an embodiment of the present invention, the obtaining the corresponding installation angle of the vehicle-mounted radar according to each second calibration characteristic value and the second preset characteristic value respectively includes: judging whether the difference value between the second calibration characteristic value and the second preset characteristic value is smaller than or equal to a second preset threshold value or not; if the difference value between the second calibration characteristic value and the second preset characteristic value is smaller than or equal to the second preset threshold value, calculating the installation angle of the vehicle-mounted radar according to the following formula:
Figure GDA0002640985370000034
wherein alpha is the installation angle of the vehicle-mounted radar.
According to an embodiment of the present invention, the calibrating the vehicle-mounted radar according to the motion relationship of the preset target with respect to the vehicle further includes: judging whether the number of the first calibration characteristic values or the second calibration characteristic values obtained by calculation reaches a preset number or not, or judging whether the driving distance of the automobile after vehicle-mounted radar calibration reaches a preset distance or not; and if the number of the first calibration characteristic values or the second calibration characteristic values obtained by calculation reaches the preset number, or the driving distance of the automobile after the vehicle-mounted radar calibration reaches the preset distance, carrying out mathematical statistics on the obtained mounting angles of all the vehicle-mounted radars so as to obtain the actual mounting angle of the vehicle-mounted radar.
In order to achieve the above object, a second aspect of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the calibration method for a vehicle-mounted radar described above.
According to the non-transitory computer-readable storage medium of the embodiment of the invention, the automatic calibration of the vehicle-mounted radar can be realized by executing the program corresponding to the calibration method of the vehicle-mounted radar stored on the non-transitory computer-readable storage medium, no additional reference device is required, and the calibration mode is convenient and fast.
In order to achieve the above object, a third aspect of the present invention provides a calibration apparatus for a vehicle-mounted radar, the apparatus including: the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the speed of an automobile, the turning angle of an automobile steering wheel and the acceleration of the automobile; the judging module is used for judging whether the automobile is in a uniform linear motion state or not according to the speed of the automobile, the corner of the steering wheel of the automobile and the acceleration of the automobile; the second acquisition module is used for acquiring the motion relation of a preset target relative to the automobile when the automobile is in a uniform linear motion state; and the calibration module is used for calibrating the vehicle-mounted radar according to the motion relation of the preset target relative to the automobile.
According to the calibration device of the vehicle-mounted radar, the first obtaining module is used for obtaining the speed of the automobile, the corner of the steering wheel of the automobile and the acceleration of the automobile, the judging module is used for judging whether the automobile is in a uniform linear motion state or not according to the speed of the automobile, the corner of the steering wheel of the automobile and the acceleration of the automobile, the second obtaining module is used for obtaining the motion relation of the preset target relative to the automobile when the automobile is judged to be in the uniform linear motion state, and the calibration module is used for calibrating the vehicle-mounted radar according to the motion relation of the preset target relative to the automobile. The calibration device does not need to additionally add a reference device, has small calibration error, convenient calibration mode and strong environmental suitability.
In addition, the calibration device for the vehicle-mounted radar according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the determining module is specifically configured to: judging whether the turning angle of the automobile steering wheel is smaller than or equal to a preset angle and/or whether the acceleration of the automobile is smaller than or equal to a preset acceleration; when the turning angle of the automobile steering wheel is smaller than or equal to the preset angle and/or the acceleration of the automobile is smaller than or equal to the preset acceleration, judging that the automobile is in a straight-line running state, and acquiring the speed change rate of the automobile according to the speed of the automobile; and judging whether the speed change rate of the automobile is less than or equal to a preset value, and judging that the automobile is in a uniform linear motion state when the speed change rate of the automobile is less than or equal to the preset value.
According to an embodiment of the present invention, the calibration module is specifically configured to: acquiring a first preset characteristic value of the vehicle-mounted radar according to a preset installation angle of the vehicle-mounted radar; calculating and obtaining first calibration characteristic values of a plurality of vehicle-mounted radars at intervals of preset time according to the motion relation of the preset target relative to the automobile; and acquiring the corresponding installation angle of the vehicle-mounted radar according to each first calibration characteristic value and the first preset characteristic value respectively.
According to an embodiment of the invention, the first calibration characteristic value is calculated by the following formula:
Figure GDA0002640985370000041
wherein, KxAnd p is the distance between the vehicle-mounted radar and the preset target, and theta is the azimuth angle of the preset target relative to the vehicle-mounted radar.
According to an embodiment of the present invention, when the calibration module obtains the corresponding installation angle of the vehicle-mounted radar according to each first calibration characteristic value and the first preset characteristic value, the calibration module is specifically configured to: judging whether the difference value between the first calibration characteristic value and the first preset characteristic value is smaller than or equal to a first preset threshold value or not; when the difference value between the first calibration characteristic value and the first preset characteristic value is smaller than or equal to the first preset threshold value, calculating the installation angle of the vehicle-mounted radar according to the following formula:
Figure GDA0002640985370000051
wherein epsilon is an included angle between a coordinate system of the vehicle-mounted radar and a ground coordinate system, and alpha is an installation angle of the vehicle-mounted radar.
According to an embodiment of the invention, the calibration module is further configured to: acquiring a second preset characteristic value of the vehicle-mounted radar according to the preset installation angle of the vehicle-mounted radar and the speed of the automobile; calculating and obtaining second calibration characteristic values of the plurality of vehicle-mounted radars at intervals of the preset time according to the motion relation of the preset target relative to the automobile; and acquiring the corresponding installation angle of the vehicle-mounted radar according to each second calibration characteristic value and the second preset characteristic value respectively.
According to an embodiment of the invention, the second calibration characteristic value is calculated by the following formula:
Figure GDA0002640985370000052
wherein, KyP is the distance between the vehicle-mounted radar and the preset target, theta is the azimuth angle of the preset target relative to the vehicle-mounted radar, epsilon is the included angle between the coordinate system of the vehicle-mounted radar and the ground coordinate system,
Figure GDA0002640985370000053
the speed of the vehicle.
According to an embodiment of the present invention, when the calibration module obtains the corresponding installation angle of the vehicle-mounted radar according to each second calibration characteristic value and the second preset characteristic value, the calibration module is specifically configured to: judging whether the difference value between the second calibration characteristic value and the second preset characteristic value is smaller than or equal to a second preset threshold value or not; if the difference value between the second calibration characteristic value and the second preset characteristic value is smaller than or equal to the second preset threshold value, calculating the installation angle of the vehicle-mounted radar according to the following formula:
Figure GDA0002640985370000054
wherein alpha is the installation angle of the vehicle-mounted radar.
According to an embodiment of the invention, the calibration module is further configured to: judging whether the number of the first calibration characteristic values or the second calibration characteristic values obtained by calculation reaches a preset number or not, or judging whether the driving distance of the automobile after vehicle-mounted radar calibration reaches a preset distance or not; and when the number of the first calibration characteristic values or the second calibration characteristic values obtained by calculation reaches the preset number, or the driving distance of the automobile after the vehicle-mounted radar calibration reaches the preset distance, carrying out mathematical statistics on the obtained mounting angles of all the vehicle-mounted radars so as to obtain the actual mounting angle of the vehicle-mounted radar.
In order to achieve the above object, a fourth aspect of the present invention provides an automobile, which includes the calibration apparatus for an onboard radar.
According to the automobile provided by the embodiment of the invention, the calibration device of the vehicle-mounted radar is adopted, when the calibration of the vehicle-mounted radar is carried out, no additional reference device is needed, the calibration error is small, the calibration mode is convenient and fast, and the environmental suitability is strong.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic view of a radar target attachment in the related art;
FIG. 2 is a schematic illustration of radar target placement in the related art;
FIG. 3 is a flow chart of a calibration method of an on-board radar according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of the relative position of a preset target and a car according to one embodiment of the present invention;
FIG. 5 is a schematic diagram of the positions of a vehicle-mounted radar and a preset target according to an embodiment of the present invention;
FIG. 6 is a block diagram of a calibration arrangement for an on-board radar in accordance with an embodiment of the present invention;
fig. 7 is a block diagram of an automobile according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a calibration method and a calibration device for an automobile and a vehicle-mounted radar according to an embodiment of the invention with reference to the accompanying drawings.
FIG. 3 is a flow chart of a calibration method of an on-board radar according to an embodiment of the invention.
As shown in fig. 3, the calibration method includes the following steps:
s101, acquiring the speed of the automobile, the rotation angle of the steering wheel of the automobile and the acceleration of the automobile.
Specifically, the speed of the automobile can be obtained by a speed sensor arranged on the automobile during the running process of the automobile
Figure GDA0002640985370000061
Steering wheel angle sensor arranged on automobile for obtaining steering wheel angle
Figure GDA0002640985370000062
And acquiring the acceleration of the automobile through an acceleration sensor arranged on the automobile
Figure GDA0002640985370000063
And S102, judging whether the automobile is in a uniform linear motion state or not according to the speed of the automobile, the rotation angle of an automobile steering wheel and the acceleration of the automobile.
In particular, according to the speed of the vehicle
Figure GDA0002640985370000071
Corner of automobile steering wheel
Figure GDA0002640985370000072
And acceleration of the vehicle
Figure GDA0002640985370000073
Judging whether the automobile is in a uniform linear motion state comprises the following steps: judging the turning angle of the steering wheel of a vehicle
Figure GDA0002640985370000074
Whether or not less than or equal to a preset angle
Figure GDA0002640985370000075
And/or acceleration of the vehicle
Figure GDA0002640985370000076
Whether or not the acceleration is less than or equal to a preset acceleration a0. If the angle of the steering wheel of the automobile
Figure GDA0002640985370000077
Less than or equal to a preset angle
Figure GDA0002640985370000078
And/or acceleration of the vehicle
Figure GDA0002640985370000079
Less than or equal to a preset acceleration a0Judging that the automobile is in a linear running state and according to the speed of the automobile
Figure GDA00026409853700000710
Obtaining the speed change rate of the automobile
Figure GDA00026409853700000711
Further judging the speed change rate of the automobile
Figure GDA00026409853700000712
Whether or not less than or equal to a preset value v0. If the rate of change of speed of the vehicle
Figure GDA00026409853700000713
Less than or equal to a preset value v0And judging that the automobile is in a uniform linear motion state.
Wherein the content of the first and second substances,
Figure GDA00026409853700000714
a0、v0and (4) judging a threshold value for judging whether the automobile is in uniform linear motion or not. It can be understood that increasing the threshold can increase the speed of completing the automatic calibration of the vehicle-mounted radar, but correspondingly reduces the accuracy of the calibration.
It should be noted that, in order to improve the calibration accuracy of the vehicle-mounted radar, when the vehicle is in a uniform linear motion state, the calibration program of the vehicle-mounted radar may continuously collect preset target information detected by the vehicle-mounted radar, and perform subsequent corresponding data analysis steps.
S103, if the automobile is in a uniform linear motion state, obtaining the motion relation of the preset target relative to the automobile.
Specifically, as shown in fig. 4, in the ground coordinate system XOY, if the automobile is in a uniform linear motion state, the coordinates of the automobile satisfy the following formula (1):
Figure GDA00026409853700000715
wherein (x)1,y1) Is the initial coordinates of the car and,
Figure GDA00026409853700000716
the speed of the vehicle.
The coordinates of the preset target which is stationary with respect to the ground satisfy the following formula (2):
Figure GDA00026409853700000717
wherein (x)2,y2) Coordinates of a preset target.
Therefore, the motion relation of the preset target relative to the automobile can be obtained according to the expressions (1) and (2) as the following expression (3):
Figure GDA00026409853700000718
and S104, calibrating the vehicle-mounted radar according to the motion relation of the preset target relative to the automobile.
Specifically, in one embodiment, calibrating the vehicle-mounted radar according to a motion relation of a preset target relative to the vehicle includes: according to the preset installation angle alpha of the vehicle-mounted radarrObtaining a first preset characteristic value K of a vehicle-mounted radar1Wherein, in the step (A),
Figure GDA0002640985370000081
calculating and obtaining first calibration characteristic values K of a plurality of vehicle-mounted radars according to the motion relation (as the formula (3)) of a preset target relative to the vehicle at intervals of preset time (namely sampling time)x(ii) a According to each first calibration characteristic value KxAnd a first preset characteristic value K1And acquiring the corresponding installation angle alpha of the vehicle-mounted radar.
Wherein the first calibration characteristic value is calculated by the following formula (4):
Figure GDA0002640985370000082
wherein, KxAnd p is the first calibration characteristic value, ρ is the distance between the vehicle-mounted radar and the preset target N, and θ is the azimuth angle of the preset target N relative to the vehicle-mounted radar, referring to fig. 5.
In this embodiment, each first calibration characteristic value K is used as a function ofxAnd a first preset characteristic value K1Obtaining the installation angle alpha of the corresponding vehicle-mounted radar, comprising the following steps: judging a first calibration characteristic value KxAnd a first predetermined characteristic value K1Whether the difference between them is less than or equal to a first preset threshold value sigma1(ii) a If K isx-K1≤σ1Then, the installation angle α of the vehicle-mounted radar is calculated according to the following formula (5):
Figure GDA0002640985370000083
referring to fig. 4, epsilon is an included angle between a vehicle-mounted radar coordinate system X 'OY' and a ground coordinate system XOY, and alpha is an installation angle of the vehicle-mounted radar.
In this embodiment, σ1The maximum deviation between the corresponding allowable actual installation angle and the preset installation angle of the vehicle-mounted radar can be calibrated specifically according to the requirement.
In another embodiment, calibrating the vehicle-mounted radar according to the motion relation of the preset target relative to the automobile further comprises: according to the preset installation angle alpha of the vehicle-mounted radarrAnd the speed of the vehicle
Figure GDA0002640985370000084
Acquiring a second preset characteristic value K of the vehicle-mounted radar2(v) Wherein, in the step (A),
Figure GDA0002640985370000085
calculating and obtaining second calibration characteristic values K of a plurality of vehicle-mounted radars according to the motion relation (the formula (3)) of the preset target relative to the automobile at intervals of preset time (namely sampling time)y(ii) a According to each second calibration characteristic value KyAnd a second preset characteristic value K2(v) And acquiring the corresponding installation angle alpha of the vehicle-mounted radar.
Wherein the second calibration characteristic value can be calculated by the following formula (6):
Figure GDA0002640985370000091
wherein, KyIs a second calibration characteristic value, rho is the distance between the vehicle-mounted radar and a preset target N, theta is the azimuth angle of the preset target N relative to the vehicle-mounted radar, epsilon is the included angle between the coordinate system of the vehicle-mounted radar and the ground coordinate system,
Figure GDA0002640985370000092
refer to fig. 5 for the vehicle speed.
In an embodiment of the invention, each second calibration characteristic value K is used as a function ofyAnd a second preset characteristic value K2(v) Obtaining a corresponding vehicle-mounted mineThe mounting angle α, includes: judging a second calibration characteristic value KyAnd a second predetermined characteristic value K2(v) Whether or not the difference therebetween is less than or equal to a second preset threshold value sigma2(ii) a If K isy-K2(v)≤σ2Then, the installation angle of the vehicle-mounted radar is calculated according to the following formula (7):
Figure GDA0002640985370000093
wherein epsilon is an included angle between a coordinate system of the vehicle-mounted radar and a ground coordinate system, alpha is an installation angle of the vehicle-mounted radar,
Figure GDA0002640985370000094
the speed of the vehicle.
In this embodiment, σ2The maximum deviation between the corresponding allowable actual installation angle and the preset installation angle of the vehicle-mounted radar can be calibrated specifically according to the requirement.
Specifically, referring to fig. 4, a ground coordinate system XOY and a vehicle-mounted radar coordinate system X ' OY ' are shown, where Y is a coordinate axis in the same direction as the vehicle traveling direction, X is perpendicular to Y, X ' is a coordinate axis in the horizontal cross section of the vehicle-mounted radar in the normal direction of the radome, and X ' is perpendicular to Y '.
Referring to fig. 5, for any preset target N in the space, the coordinates of the preset target N detected by the vehicle-mounted radar are (ρ, θ), and the formula can be expressed by
Figure GDA0002640985370000095
The coordinates (ρ, θ) of N are converted into coordinates (X ', y') in the X 'OY' coordinate system. Meanwhile, because the coordinate system X 'OY' has a rotation angle epsilon relative to the coordinate system XOY, the corresponding relation epsilon between the rotation angle epsilon and the installation angle alpha of the vehicle-mounted radar is pi-alpha, and then the formula can be used
Figure GDA0002640985370000096
The coordinates of N are converted to coordinates (x, y) in the XOY coordinate system.
It should be noted that, in the embodiment of the present invention, the vehicle-mounted radar includes at least two rows (roots) of receiving antennas, and thus, referring to fig. 5, a distance ρ between the preset target N and the vehicle-mounted radar may be obtained through a frequency difference, an azimuth ρ of the preset target N relative to the vehicle-mounted radar may be detected and obtained through the at least two rows (roots) of receiving antennas, and meanwhile, a velocity of the preset target N in a ρ direction may also be obtained through a doppler shift effect or a 2D-FFT method. The above calculation method is well known to those skilled in the art, and is not described herein.
Taking the vehicle-mounted radar as an observation point, and taking the coordinate system XOY as an inertial reference system, the motion relation of the preset target N relative to the automobile satisfies the above equation (3), and the equation (3) is differentiated on t at two sides to obtain the following equation (8):
Figure GDA0002640985370000101
taking the Y direction of the coordinate system XOY, the formula
Figure GDA0002640985370000102
Formula (II)
Figure GDA0002640985370000103
Substituting differential expression (8) can obtain the following expression (9):
Figure GDA0002640985370000104
since ρ and θ of the preset target N based on the polar coordinate system of the vehicle-mounted radar are also functions related to time t, the composite function differential in the formula (9) is solved, and the following formula (10) is obtained:
Figure GDA0002640985370000105
the above equations (4) and (6) can be calculated from the equation (10).
It should be noted that, in the digital signal system, Δ ρ, Δ θ, Δ t may be used to replace d ρ, d θ, dt, and the error introduced thereby is infinitesimal quantity with a higher order than Δ x, so that the present invention is applied to the vehicle-mounted radar system to modulate the ramp with a faster frequency, and has a higher signal processing efficiency, thereby contributing to the improvement of the accuracy of the calibration result of the vehicle-mounted radar.
Further, when the automobile is in a uniform linear motion state, if the calibrated characteristic value detected by the radar system meets Kx-K1≤σ1And/or Ky-K2(v)≤σ2And then the vehicle-mounted radar calibration program records the calibration characteristic value, and the corresponding mounting angle of the vehicle-mounted radar can be obtained through calculation according to the above formulas (5) and (7).
In the embodiment of the invention, in order to improve the accuracy of vehicle-mounted radar calibration, whether the number of the calculated first calibration characteristic values or the second calibration characteristic values reaches a preset number or not may be further determined, or whether the driving distance of the vehicle after vehicle-mounted radar calibration reaches a preset distance or not may be further determined, so as to finish the collection of the sample.
Specifically, if the number of the first calibration characteristic values or the second calibration characteristic values obtained through calculation reaches a preset number, or the running distance of the automobile after the vehicle-mounted radar calibration reaches a preset distance, the collection of the sample is finished, and mathematical statistics processing is performed on the obtained mounting angles of all the vehicle-mounted radars to obtain the actual mounting angle of the vehicle-mounted radar.
For example, the installation angles α of the n vehicle-mounted radars are obtained through the first calibration characteristic value and the first preset characteristic valuex1,…,αxnAveraging, fitting and the like can be carried out on the vehicle-mounted radar to obtain the actual mounting angle of the vehicle-mounted radar; similarly, the installation angles alpha of the n vehicle-mounted radars are obtained through the second calibration characteristic value and the second preset characteristic valuey1,…,αynThe actual installation angle of the vehicle-mounted radar can be obtained by averaging, fitting and the like.
It should be noted that, in the embodiment of the present invention, the installation angle α of the vehicle-mounted radar may be obtained only by the first calibration characteristic value and the first preset characteristic valuexnAnd further according to αxnObtaining a vehicle radarThe actual mounting angle α; the installation angle alpha of the vehicle-mounted radar can be obtained only through the second calibration characteristic value and the second preset characteristic valueynAnd further according to αynAcquiring an actual installation angle alpha of the vehicle-mounted radar; can also obtain alphaxn、αynThen, further according to αxn、αynAnd acquiring the actual installation angle alpha of the vehicle-mounted radar.
In summary, according to the calibration method of the vehicle-mounted radar in the embodiment of the present invention, in the driving process of the vehicle, the vehicle speed of the vehicle, the steering angle of the steering wheel of the vehicle, and the acceleration of the vehicle are obtained, whether the vehicle is in the uniform linear motion state is determined according to the vehicle speed of the vehicle, the steering angle of the steering wheel of the vehicle, and the acceleration of the vehicle, when the vehicle is determined to be in the uniform linear motion state, the motion relationship of the preset target relative to the vehicle is obtained, and the vehicle-mounted radar is calibrated according to the motion relationship of the preset target relative to the vehicle. The calibration method does not need to additionally add a reference device, has small calibration error, convenient calibration mode and strong environmental adaptability.
Further, the present invention proposes a non-transitory computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the above-mentioned calibration method for a vehicle-mounted radar.
According to the non-transitory computer-readable storage medium of the embodiment of the invention, the program corresponding to the calibration method of the vehicle-mounted radar stored on the non-transitory computer-readable storage medium can be executed, no additional reference device is needed, the calibration error is small, the calibration mode is convenient and fast, and the environmental suitability is strong.
Fig. 6 is a block diagram of a calibration apparatus of an in-vehicle radar according to an embodiment of the present invention.
As shown in fig. 6, a calibration apparatus 100 for a vehicle-mounted radar includes: the device comprises a first obtaining module 10, a judging module 20, a second obtaining module 30 and a calibrating module 40.
The first obtaining module 10 is configured to obtain a speed of the vehicle, a steering angle of a steering wheel of the vehicle, and an acceleration of the vehicle. The judging module 20 is configured to judge whether the vehicle is in a uniform linear motion state according to a vehicle speed of the vehicle, a turning angle of a steering wheel of the vehicle, and an acceleration of the vehicle. The second obtaining module 30 is configured to obtain a motion relationship between the preset target and the vehicle when the vehicle is in a uniform linear motion state. The calibration module 40 is configured to calibrate the vehicle-mounted radar according to a motion relationship of a preset target relative to the vehicle.
In the embodiment of the present invention, the determining module 20 is specifically configured to: judging whether the turning angle of the automobile steering wheel is smaller than or equal to a preset angle and/or whether the acceleration of the automobile is smaller than or equal to a preset acceleration; when the turning angle of the steering wheel of the automobile is smaller than or equal to a preset angle and/or the acceleration of the automobile is smaller than or equal to a preset acceleration, judging that the automobile is in a linear running state, and acquiring the speed change rate of the automobile according to the speed of the automobile; and judging whether the speed change rate of the automobile is less than or equal to a preset value, and judging that the automobile is in a uniform linear motion state when the speed change rate of the automobile is less than or equal to the preset value.
In an embodiment of the present invention, the calibration module 40 is specifically configured to: acquiring a first preset characteristic value K of the vehicle-mounted radar according to a preset installation angle of the vehicle-mounted radar1(ii) a Calculating and obtaining first calibration characteristic values K of a plurality of vehicle-mounted radars at preset time intervals according to the motion relation of a preset target relative to the vehiclex(ii) a According to each first calibration characteristic value KxAnd a first preset characteristic value K1And acquiring the corresponding installation angle alpha of the vehicle-mounted radar.
Specifically, the first calibration characteristic value is calculated by the following formula (4):
Figure GDA0002640985370000121
wherein, KxAnd the p is the distance between the vehicle-mounted radar and the preset target, and the theta is the azimuth angle of the preset target relative to the vehicle-mounted radar.
In the embodiment of the present invention, when the calibration module 40 obtains the corresponding installation angle α of the vehicle-mounted radar according to each first calibration characteristic value and the first preset characteristic value, the calibration module is specifically configured to: judging a first calibration characteristic value KxAnd a first predetermined characteristic value K1BetweenWhether the difference of (a) is less than or equal to a first preset threshold value sigma1(ii) a At the first calibration characteristic value KxAnd a first predetermined characteristic value of K1Is less than or equal to a first preset threshold value sigma1Meanwhile, the installation angle of the vehicle-mounted radar is calculated according to the following formula (5):
Figure GDA0002640985370000122
wherein epsilon is an included angle between a coordinate system of the vehicle-mounted radar and a ground coordinate system, and alpha is an installation angle of the vehicle-mounted radar.
Further, the calibration module 40 is further configured to: according to the preset installation angle of the vehicle-mounted radar and the speed of the automobile
Figure GDA0002640985370000123
Acquiring a second preset characteristic value K of the vehicle-mounted radar2(v) (ii) a Calculating and obtaining second calibration characteristic values K of a plurality of vehicle-mounted radars according to the motion relation of the preset target relative to the vehicle at preset time intervalsy(ii) a According to each second calibration characteristic value KyAnd a second preset characteristic value K2(v) And acquiring the corresponding installation angle alpha of the vehicle-mounted radar.
Wherein the second calibration characteristic value is calculated by the following formula (6):
Figure GDA0002640985370000131
wherein, KyIs a second calibration characteristic value, rho is the distance between the vehicle-mounted radar and the preset target, theta is the azimuth angle of the preset target relative to the vehicle-mounted radar, epsilon is the included angle between the coordinate system of the vehicle-mounted radar and the ground coordinate system,
Figure GDA0002640985370000132
the speed of the vehicle.
In the embodiment of the present invention, the calibration module 40 is respectively based on each second calibration characteristic value KyAnd a second preset characteristic value K2(v) When the installation angle α of the corresponding vehicle-mounted radar is obtained, the method is specifically used for: judging a second calibration characteristic value KyAnd a second predetermined characteristic value K2(v) Whether or not the difference therebetween is less than or equal to a second preset threshold value sigma2(ii) a If the second calibration characteristic value KyAnd a second predetermined characteristic value K2(v) The difference between the two is less than or equal to a second preset threshold value sigma2Then, the installation angle of the vehicle-mounted radar is calculated according to the following formula (7):
Figure GDA0002640985370000133
wherein alpha is the installation angle of the vehicle-mounted radar.
Further, the calibration module 40 is further configured to: judging whether the number of the first calibration characteristic values or the second calibration characteristic values obtained by calculation reaches a preset number or not, or judging whether the driving distance of the automobile after vehicle-mounted radar calibration reaches a preset distance or not; and when the number of the first calibration characteristic values or the second calibration characteristic values obtained through calculation reaches a preset number, or the driving distance of the automobile after the vehicle-mounted radar calibration reaches a preset distance, carrying out mathematical statistics on the obtained mounting angles of all the vehicle-mounted radars so as to obtain the actual mounting angle of the vehicle-mounted radar.
It should be noted that, for the specific implementation of the calibration apparatus for a vehicle-mounted radar in the embodiment of the present invention, reference may be made to the specific implementation of the calibration method for a vehicle-mounted radar in the above-mentioned embodiment of the present invention, and details are not described here for reducing redundancy.
In summary, according to the calibration device of the vehicle-mounted radar in the embodiment of the present invention, the first obtaining module obtains the speed of the vehicle, the corner of the steering wheel of the vehicle, and the acceleration of the vehicle, the determining module determines whether the vehicle is in a uniform linear motion state according to the speed of the vehicle, the corner of the steering wheel of the vehicle, and the acceleration of the vehicle, the second obtaining module obtains the motion relationship of the preset target relative to the vehicle when determining that the vehicle is in the uniform linear motion state, and the calibration module calibrates the vehicle-mounted radar according to the motion relationship of the preset target relative to the vehicle. The calibration device does not need to additionally add a reference device, has small calibration error, convenient calibration mode and strong environmental suitability.
Furthermore, the invention provides an automobile.
Fig. 7 is a block diagram of an automobile according to an embodiment of the present invention. As shown in fig. 7, the automobile 1000 includes the calibration apparatus 100 of the vehicle-mounted radar of the above embodiment.
According to the automobile provided by the embodiment of the invention, the calibration device of the vehicle-mounted radar is adopted, when the calibration of the vehicle-mounted radar is carried out, no additional reference device is needed, the calibration error is small, the calibration mode is convenient and fast, and the environmental suitability is strong.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (14)

1. A calibration method of a vehicle-mounted radar is characterized by comprising the following steps:
acquiring the speed of an automobile, the turning angle of an automobile steering wheel and the acceleration of the automobile;
judging whether the automobile is in a uniform linear motion state or not according to the speed of the automobile, the turning angle of the automobile steering wheel and the acceleration of the automobile;
if the automobile is in a uniform linear motion state, acquiring a motion relation of a preset target relative to the automobile;
calibrating the vehicle-mounted radar according to the motion relation of the preset target relative to the automobile;
wherein, the calibrating the vehicle-mounted radar according to the motion relation of the preset target relative to the automobile comprises:
obtaining a first preset characteristic value K of the vehicle-mounted radar according to a preset installation angle of the vehicle-mounted radar and the following formula1：
Figure FDA0002954384680000011
Calculating and obtaining first calibration characteristic values of the plurality of vehicle-mounted radars according to the motion relation of the preset target relative to the automobile at intervals of preset time and the following formula:
Figure FDA0002954384680000012
wherein, KxThe rho is the distance between the vehicle-mounted radar and the preset target, and theta is the azimuth angle of the preset target relative to the vehicle-mounted radar;
and acquiring the corresponding installation angle of the vehicle-mounted radar according to each first calibration characteristic value and the first preset characteristic value respectively.
2. The method for calibrating the vehicle-mounted radar according to claim 1, wherein the step of judging whether the vehicle is in a uniform linear motion state according to the vehicle speed of the vehicle, the rotation angle of the steering wheel of the vehicle and the acceleration of the vehicle comprises the following steps:
judging whether the turning angle of the automobile steering wheel is smaller than or equal to a preset angle and/or whether the acceleration of the automobile is smaller than or equal to a preset acceleration;
if the turning angle of the automobile steering wheel is smaller than or equal to the preset angle and/or the acceleration of the automobile is smaller than or equal to the preset acceleration, judging that the automobile is in a linear running state, and acquiring the speed change rate of the automobile according to the speed of the automobile;
judging whether the speed change rate of the automobile is smaller than or equal to a preset value or not;
and if the speed change rate of the automobile is less than or equal to the preset value, judging that the automobile is in a uniform linear motion state.
3. The calibration method of the vehicle-mounted radar according to claim 1, wherein the obtaining of the corresponding installation angle of the vehicle-mounted radar according to each first calibration characteristic value and the first preset characteristic value respectively comprises:
judging whether the difference value between the first calibration characteristic value and the first preset characteristic value is smaller than or equal to a first preset threshold value or not;
if the difference value between the first calibration characteristic value and the first preset characteristic value is smaller than or equal to the first preset threshold value, calculating the installation angle of the vehicle-mounted radar according to the following formula:
Figure FDA0002954384680000021
wherein epsilon is an included angle between a coordinate system of the vehicle-mounted radar and a ground coordinate system, and alpha is an installation angle of the vehicle-mounted radar.
4. The calibration method of the vehicle-mounted radar according to claim 1, wherein the calibrating the vehicle-mounted radar according to the motion relation of the preset target relative to the automobile further comprises:
obtaining a second preset characteristic value K of the vehicle-mounted radar according to the preset installation angle of the vehicle-mounted radar, the speed of the automobile and the following formula2(v)：
Figure FDA0002954384680000022
Calculating and obtaining second calibration characteristic values of the plurality of vehicle-mounted radars according to the motion relation of the preset target relative to the automobile at intervals of the preset time and the following formula:
Figure FDA0002954384680000023
wherein, KyP is the distance between the vehicle-mounted radar and the preset target, theta is the azimuth angle of the preset target relative to the vehicle-mounted radar, epsilon is the included angle between the coordinate system of the vehicle-mounted radar and the ground coordinate system,
Figure FDA0002954384680000024
the speed of the vehicle;
and acquiring the corresponding installation angle of the vehicle-mounted radar according to each second calibration characteristic value and the second preset characteristic value respectively.
5. The calibration method of the vehicle-mounted radar according to claim 4, wherein the obtaining of the corresponding installation angle of the vehicle-mounted radar according to each second calibration characteristic value and the second preset characteristic value respectively comprises:
judging whether the difference value between the second calibration characteristic value and the second preset characteristic value is smaller than or equal to a second preset threshold value or not;
if the difference value between the second calibration characteristic value and the second preset characteristic value is smaller than or equal to the second preset threshold value, calculating the installation angle of the vehicle-mounted radar according to the following formula:
Figure FDA0002954384680000031
wherein alpha is the installation angle of the vehicle-mounted radar.
6. The calibration method of the vehicle-mounted radar according to claim 4, wherein the calibrating the vehicle-mounted radar according to the motion relation of the preset target relative to the automobile further comprises:
judging whether the number of the first calibration characteristic values or the second calibration characteristic values obtained by calculation reaches a preset number or not, or judging whether the driving distance of the automobile after vehicle-mounted radar calibration reaches a preset distance or not;
and if the number of the first calibration characteristic values or the second calibration characteristic values obtained by calculation reaches the preset number, or the driving distance of the automobile after the vehicle-mounted radar calibration reaches the preset distance, carrying out mathematical statistics on the obtained mounting angles of all the vehicle-mounted radars so as to obtain the actual mounting angle of the vehicle-mounted radar.
7. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein the program, when executed, implements a calibration method for a vehicle radar according to any one of claims 1 to 6.
8. A calibration device for a vehicle-mounted radar is characterized by comprising:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the speed of an automobile, the turning angle of an automobile steering wheel and the acceleration of the automobile;
the judging module is used for judging whether the automobile is in a uniform linear motion state or not according to the speed of the automobile, the corner of the steering wheel of the automobile and the acceleration of the automobile;
the second acquisition module is used for acquiring the motion relation of a preset target relative to the automobile when the automobile is in a uniform linear motion state;
the calibration module is used for calibrating the vehicle-mounted radar according to the motion relation of the preset target relative to the automobile;
the calibration module is specifically configured to:
obtaining a first preset characteristic value K of the vehicle-mounted radar according to a preset installation angle of the vehicle-mounted radar and the following formula1：
Figure FDA0002954384680000032
Calculating and obtaining a plurality of first calibration characteristic values of the vehicle-mounted radar according to the motion relation of the preset target relative to the automobile at preset time intervals and the following formula:
Figure FDA0002954384680000041
wherein, KxThe rho is the distance between the vehicle-mounted radar and the preset target, and theta is the azimuth angle of the preset target relative to the vehicle-mounted radar;
and acquiring the corresponding installation angle of the vehicle-mounted radar according to each first calibration characteristic value and the first preset characteristic value respectively.
9. The calibration device of the vehicle-mounted radar according to claim 8, wherein the determining module is specifically configured to:
judging whether the turning angle of the automobile steering wheel is smaller than or equal to a preset angle and/or whether the acceleration of the automobile is smaller than or equal to a preset acceleration;
when the turning angle of the automobile steering wheel is smaller than or equal to the preset angle and/or the acceleration of the automobile is smaller than or equal to the preset acceleration, judging that the automobile is in a straight-line running state, and acquiring the speed change rate of the automobile according to the speed of the automobile;
and judging whether the speed change rate of the automobile is less than or equal to a preset value, and judging that the automobile is in a uniform linear motion state when the speed change rate of the automobile is less than or equal to the preset value.
10. The calibration apparatus for vehicle-mounted radar according to claim 8, wherein the calibration module, when obtaining the corresponding installation angle of the vehicle-mounted radar according to each first calibration characteristic value and the first preset characteristic value, is specifically configured to:
judging whether the difference value between the first calibration characteristic value and the first preset characteristic value is smaller than or equal to a first preset threshold value or not;
when the difference value between the first calibration characteristic value and the first preset characteristic value is smaller than or equal to the first preset threshold value, calculating the installation angle of the vehicle-mounted radar according to the following formula:
Figure FDA0002954384680000042
wherein epsilon is an included angle between a coordinate system of the vehicle-mounted radar and a ground coordinate system, and alpha is an installation angle of the vehicle-mounted radar.
11. The calibration apparatus for vehicle-mounted radar according to claim 8, wherein the calibration module is further configured to:
obtaining a second preset characteristic value K of the vehicle-mounted radar according to the preset installation angle of the vehicle-mounted radar, the speed of the automobile and the following formula2(v)：
Figure FDA0002954384680000051
Calculating and obtaining a plurality of second calibration characteristic values of the vehicle-mounted radar according to the motion relation of the preset target relative to the automobile at intervals of the preset time and the following formula:
Figure FDA0002954384680000052
wherein, KyP is the distance between the vehicle-mounted radar and the preset target, theta is the azimuth angle of the preset target relative to the vehicle-mounted radar, epsilon is the included angle between the coordinate system of the vehicle-mounted radar and the ground coordinate system,
Figure FDA0002954384680000053
the speed of the vehicle;
and acquiring the corresponding installation angle of the vehicle-mounted radar according to each second calibration characteristic value and the second preset characteristic value respectively.
12. The calibration apparatus for vehicle-mounted radar according to claim 11, wherein the calibration module, when obtaining the corresponding installation angle of the vehicle-mounted radar according to each second calibration characteristic value and the second preset characteristic value, is specifically configured to:
judging whether the difference value between the second calibration characteristic value and the second preset characteristic value is smaller than or equal to a second preset threshold value or not;
if the difference value between the second calibration characteristic value and the second preset characteristic value is smaller than or equal to the second preset threshold value, calculating the installation angle of the vehicle-mounted radar according to the following formula:
Figure FDA0002954384680000054
wherein alpha is the installation angle of the vehicle-mounted radar.
13. The calibration apparatus for vehicle-mounted radar according to claim 11, wherein the calibration module is further configured to:
judging whether the number of the first calibration characteristic values or the second calibration characteristic values obtained by calculation reaches a preset number or not, or judging whether the driving distance of the automobile after vehicle-mounted radar calibration reaches a preset distance or not;
and when the number of the first calibration characteristic values or the second calibration characteristic values obtained by calculation reaches the preset number, or the driving distance of the automobile after the vehicle-mounted radar calibration reaches the preset distance, carrying out mathematical statistics on the obtained mounting angles of all the vehicle-mounted radars so as to obtain the actual mounting angle of the vehicle-mounted radar.
14. An automobile, characterized by comprising a calibration device for an on-board radar according to any one of claims 8 to 13.
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