CN109597037A - A kind of Radar Calibration method and device - Google Patents
A kind of Radar Calibration method and device Download PDFInfo
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- CN109597037A CN109597037A CN201811446443.8A CN201811446443A CN109597037A CN 109597037 A CN109597037 A CN 109597037A CN 201811446443 A CN201811446443 A CN 201811446443A CN 109597037 A CN109597037 A CN 109597037A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The present invention provides Radar Calibration method and device, and method includes: S1, sets gradually the first calibration point, the second calibration point on Radar Calibration line；S2, radar fix is established；S3, first coordinate, second calibration point second coordinate in radar fix system of first calibration point in radar fix system is obtained；S4, the calibrating parameters for determining radar to be calibrated；S5, radar is demarcated according to the calibrating parameters of the radar to be calibrated.The present invention, which is realized, efficiently accurately demarcate to radar.
Description
Technical field
The present invention relates to Radar Technology field more particularly to a kind of Radar Calibration method and devices.
Background technique
With vehicle intellectualized development, onboard sensor is more and more, and advanced auxiliary driving technology application is more and more wider
It is general, the forward direction radar of headstock is installed on for realizing adaptive cruise (ACC), automatic emergency brake (AEB) and other early warning function
Energy.When automobile dispatches from the factory, due to the error of measuring tool, the forward direction radar that not can guarantee headstock is just mounted on the centre of automobile
And the central axis with vehicle, and farther out due to forward direction radar range, lesser position and attitude misalignment are all to spy
It is larger to survey object effects, therefore, it is necessary to demarcate to the preceding position to radar and posture, guarantees normal effective detection mesh
Mark, to guarantee traffic safety.But prior art scaling method is more complicated.
Therefore, the prior art is further improved.
Summary of the invention
The present invention provides a kind of Radar Calibration method and device, it is intended to solve defect in the prior art, realize to radar
Efficiently accurately demarcate.
In order to achieve the above objectives, the technical solution used in the present invention are as follows:
One aspect of the present invention provides a kind of Radar Calibration method, comprising:
S1, the first calibration point, the second calibration point are set gradually on Radar Calibration line, first calibration point to radar is pacified
Fill distance of the distance greater than second calibration point to radar mounting plane of plane.
S2, radar fix system is established, the radar fix system is using radar center to be calibrated as coordinate origin, with thunder to be calibrated
The radial direction reached be the longitudinal axis, using perpendicular to y direction as horizontal axis.
S3, first coordinate of first calibration point in radar fix system, the second calibration point are obtained in radar fix system
Second coordinate.
S4, the calibrating parameters for determining radar to be calibrated, the calibrating parameters include lateral shift direction, transversal displacement,
One or more of vertical misalignment amount, yaw angle, the transversal displacement are radar fix system origin and Radar Calibration line
Vertical range, vertical range of the vertical misalignment amount between radar fix system origin and radar mounting plane, the sideway
Angle is deviation angle of the horizontal axis with respect to the horizontal center line of radar mounting plane.
S5, radar is demarcated according to the calibrating parameters of the radar to be calibrated.
Specifically, the step S5 includes:
Laterally calibration: when radar offset direction is positive, plus laterally inclined on the abscissa of radar detection target to be calibrated
Move the practical abscissa for measuring detection target；When radar offset direction is negative, in the abscissa of radar detection target to be calibrated
On subtract transversal displacement obtain detection target practical abscissa.
Specifically, the step S5 includes:
Longitudinal calibration: the reality for detecting target is measured plus vertical misalignment in the ordinate of radar detection target to be calibrated
Abscissa.
Specifically, the step S5 includes:
Yaw angle calibration: the center line of radar coverage to be calibrated is rotated along radar center, the angle value of rotation
Equal with yaw angle, direction of rotation is determined by the angle polarity of yaw angle: when yaw angle is positive value, by radar detection to be calibrated
The center line in area rotates clockwise；When yaw angle is negative value, rotated when the center line of radar coverage to be calibrated is counterclockwise.
Specifically, the transversal displacement is determined by following formula:
Wherein, Δ h indicates that transversal displacement, (x1, y1) indicate coordinate of first calibration point in radar fix system, (x2,
Y2) indicate that coordinate of second calibration point in radar fix system, L1 indicate the linear distance of the first calibration point and the second calibration point,
L2 indicates the second calibration point to the vertical range of radar mounting plane.
Specifically, the vertical misalignment amount is determined by following formula:
Wherein, Δ v indicates vertical misalignment amount, and (x1, y1) indicates coordinate of first calibration point in radar fix system, (x2,
Y2) indicate that coordinate of second calibration point in radar fix system, L1 indicate the linear distance of the first calibration point and the second calibration point,
L2 indicates the second calibration point to the vertical range of radar mounting plane.
Specifically, the yaw angle is determined by following formula:
Wherein, γ indicates yaw angle, and (x1, y1) indicates coordinate of first calibration point in radar fix system, (x2, y2) table
Show that coordinate of second calibration point in radar fix system, L1 indicate the linear distance of the first calibration point and the second calibration point, L2 table
Show the second calibration point to radar mounting plane vertical range.
Another aspect of the present invention provides a kind of Radar Calibration device, comprising:
Radar to be calibrated, the radar to be calibrated are mounted on the fixed device of radar perpendicular to the ground, the fixed dress of radar
It sets and is mounted on radar mounting plane；
First calibration point, the second calibration point, first calibration point, the second calibration point are successively set on Radar Calibration line
On, the Radar Calibration line is by the central point of radar mounting plane and vertical with radar mounting plane；First calibration point
To radar mounting plane distance be greater than second calibration point to radar mounting plane distance；
Demarcating module, first calibration point that the demarcating module is obtained according to the radar to be calibrated, the second calibration
The coordinate value of point determines the calibrating parameters of radar, and is marked according to the calibrating parameters of the radar to the radar to be calibrated
It is fixed.
Specifically, first calibration point, the second calibration point size be 15cm × 15cm.
The beneficial effects of the present invention are: the present invention obtains the coordinate of calibration point by the way that specific calibration point, radar is arranged
Position realizes efficient and accurate to radar progress to obtain the transversal displacement of radar, vertical misalignment amount and yaw angle
Calibration.
Detailed description of the invention
Fig. 1 is the flow diagram of Radar Calibration method of the invention；
Fig. 2 is the schematic diagram of radar fix system of the invention；
Fig. 3 is the structural schematic diagram of Radar Calibration device of the invention.
Specific embodiment
Specifically illustrate embodiments of the present invention with reference to the accompanying drawing, attached drawing is only for reference and illustrates use, does not constitute pair
The limitation of the invention patent protection scope.
As shown in Figure 1, on the one hand the embodiment of the present invention provides a kind of Radar Calibration method, comprising:
Step 1 sets gradually the first calibration point, the second calibration point, first calibration point to thunder on Radar Calibration line
Up to mounting plane distance be greater than second calibration point to radar mounting plane distance.
As shown in Fig. 2, radar to be calibrated is mounted on radar fixed device (such as radar board), the fixed device of radar is kept
It is perpendicular to the ground；The fixed device of radar is mounted on radar mounting plane (such as the crossbeam on vehicle head), so as to detections of radar
Target in preset range.AB is the horizontal central line of radar mounting plane in figure, and D point is the central point of radar mounting plane, warp
It crosses the central point of radar mounting plane and the straight line vertical with radar mounting plane is known as Radar Calibration line.
Due to installation error, the center O of radar to be calibrated may not be overlapped with D point, and the diameter of radar to be calibrated
To may also be not parallel with Radar Calibration line, the transversal displacement and yaw angle of radar to be calibrated have been then resulted in；And due to
The above-mentioned mounting means for demarcating radar, inevitably leads to vertical misalignment amount.
On Radar Calibration line, there are two calibration point, respectively the first calibration point C1 and the second calibration point C2, calibration for setting
Point is preferably sized to 15cm × 15cm；The linear distance of first calibration point C1 and the second calibration point C2 are L1, the second calibration point C2
Vertical range to radar mounting plane is L2.
Step 2 establishes radar fix system, and the radar fix system is using radar center to be calibrated as coordinate origin, wait mark
Determine radar radial direction be the longitudinal axis, using perpendicular to y direction as horizontal axis.
As shown in Fig. 2, O is radar center, radar fix system XOY is established.
Step 3 obtains first coordinate of first calibration point in radar fix system, the second calibration point in radar fix system
The second coordinate.
It is (x1, y1) by coordinate of radar detection the first calibration point C1 in radar fix system, the second calibration point C2 exists
Coordinate in radar fix system is (x2, y2).
Step 4, the calibrating parameters for determining radar to be calibrated, the calibrating parameters include lateral shift direction, lateral shift
One or more of amount, vertical misalignment amount, yaw angle, the transversal displacement are radar fix system origin and Radar Calibration line
Vertical range, vertical range of the vertical misalignment amount between radar fix system origin and radar mounting plane, the cross
Pivot angle is deviation angle of the horizontal axis with respect to the horizontal center line of radar mounting plane.
In the present embodiment, the determining lateral shift direction, comprising:
When abscissa x1, the x2 of the first calibration point C1, the second calibration point C2 in radar fix system are both less than zero, then sentence
The lateral shift direction for determining radar is positive；
When the value of abscissa x1, the x2 of the first calibration point C1, the second calibration point C2 in radar fix system are both less than zero,
Then determine that the lateral shift direction of radar is negative.
The transversal displacement Δ h is determined by following formula:
The vertical misalignment amount Δ v is determined by following formula:
The yaw angle γ is determined by following formula:
Step 5 demarcates radar according to the calibrating parameters of the radar to be calibrated.
In the present embodiment, carrying out calibration to radar to be calibrated includes:
Laterally calibration: when radar offset direction is positive, plus laterally on the abscissa X0 of radar detection target to be calibrated
Offset Δ h obtains the practical abscissa Xr of detection target, it may be assumed that Xr=X0+ Δ h；When radar offset direction is negative, to be calibrated
Transversal displacement Δ h is subtracted on the abscissa X0 of radar detection target and obtains the practical abscissa Xr of detection target, it may be assumed that Xr=
X0-Δh。
Longitudinal calibration: detection target is obtained plus vertical misalignment amount Δ v in the ordinate Y0 of radar detection target to be calibrated
Practical abscissa Yr, Yr=Y0+ Δ v.
Yaw angle calibration: the center line of radar coverage to be calibrated is rotated along radar center O, the angle value of rotation
Equal with yaw angle γ, direction of rotation is determined by the angle polarity of yaw angle γ: when yaw angle γ is positive value, by thunder to be calibrated
Center line up to detecting area rotates clockwise；When yaw angle γ is negative value, by the center line inverse time of radar coverage to be calibrated
Needle Shi Xuanzhuan.
As shown in Fig. 2, being formed by angle region by F1, F2 two lines is radar coverage, F3 is the angle of its angle
Bisector, the i.e. center line of radar coverage, if the yaw angle of radar to be calibrated is zero, the center line and thunder of radar coverage
Alignment up to standard is overlapped；If the yaw angle of radar to be calibrated is not zero, the center line and Radar Calibration line of radar coverage are uneven
Row, can not be accurately detected the specific location of barrier.Pass through the center O by the center line of radar coverage along radar to be calibrated
It is rotated, keeps it parallel with Radar Calibration line, so as to be accurately detected the specific location of barrier.
As shown in figure 3, another aspect of the present invention provides a kind of Radar Calibration device, comprising: radar to be calibrated, it is described wait mark
Determine radar to be mounted on the fixed device of radar perpendicular to the ground, the fixed device of radar is mounted on radar mounting plane；
First calibration point, the second calibration point, first calibration point, the second calibration point are successively set on Radar Calibration line
On, the Radar Calibration line is by the central point of radar mounting plane and vertical with radar mounting plane；First calibration point
To radar mounting plane distance be greater than second calibration point to radar mounting plane distance；
Demarcating module, first calibration point that the demarcating module is obtained according to the radar to be calibrated, the second calibration
The coordinate value of point determines the calibrating parameters of radar, and is marked according to the calibrating parameters of the radar to the radar to be calibrated
It is fixed.
In the present embodiment, first calibration point, the second calibration point size be 15cm × 15cm.
The course of work of Radar Calibration device of the invention is as described in above-mentioned Radar Calibration method, and details are not described herein.
Above disclosed is only presently preferred embodiments of the present invention, cannot limit rights protection model of the invention with this
It encloses, therefore according to equivalent variations made by scope of the present invention patent, is still within the scope of the present invention.
Claims (9)
1. a kind of Radar Calibration method characterized by comprising
S1, the first calibration point, the second calibration point are set gradually on Radar Calibration line, first calibration point is flat to radar installation
The distance in face is greater than second calibration point to the distance of radar mounting plane.
S2, radar fix system is established, the radar fix system is using radar center to be calibrated as coordinate origin, with radar to be calibrated
Radial is the longitudinal axis, using perpendicular to y direction as horizontal axis.
S3, second of first coordinate, second calibration point of first calibration point in radar fix system in radar fix system is obtained
Coordinate.
S4, the calibrating parameters for determining radar to be calibrated, the calibrating parameters include lateral shift direction, transversal displacement, longitudinal direction
One or more of offset, yaw angle, the transversal displacement are that radar fix system origin is vertical with Radar Calibration line
Distance, vertical range of the vertical misalignment amount between radar fix system origin and radar mounting plane, the yaw angle are
Deviation angle of the horizontal axis with respect to the horizontal center line of radar mounting plane.
S5, radar is demarcated according to the calibrating parameters of the radar to be calibrated.
2. Radar Calibration method according to claim 1, which is characterized in that the step S5 includes:
Laterally calibration: when radar offset direction is positive, plus transversal displacement on the abscissa of radar detection target to be calibrated
Obtain the practical abscissa of detection target；When radar offset direction is negative, subtract on the abscissa of radar detection target to be calibrated
Transversal displacement is gone to obtain the practical abscissa of detection target.
3. Radar Calibration method according to claim 1, which is characterized in that the step S5 includes:
Longitudinal calibration: the practical horizontal seat for detecting target is measured plus vertical misalignment in the ordinate of radar detection target to be calibrated
Mark.
4. Radar Calibration method according to claim 1, which is characterized in that the step S5 includes:
Yaw angle calibration: the center line of radar coverage to be calibrated is rotated along radar center, the angle value and cross of rotation
Pivot angle is equal, and direction of rotation is determined by the angle polarity of yaw angle: when yaw angle is positive value, by radar coverage to be calibrated
Center line rotates clockwise；When yaw angle is negative value, rotated when the center line of radar coverage to be calibrated is counterclockwise.
5. Radar Calibration method according to claim 2, which is characterized in that the transversal displacement is determined by following formula:
Wherein, Δ h indicates that transversal displacement, (x1, y1) indicate coordinate of first calibration point in radar fix system, (x2, y2)
Indicate that coordinate of second calibration point in radar fix system, L1 indicate the linear distance of the first calibration point and the second calibration point, L2
Indicate the second calibration point to radar mounting plane vertical range.
6. Radar Calibration method according to claim 3, which is characterized in that the vertical misalignment amount is determined by following formula:
Wherein, Δ v indicates vertical misalignment amount, and (x1, y1) indicates coordinate of first calibration point in radar fix system, (x2, y2)
Indicate that coordinate of second calibration point in radar fix system, L1 indicate the linear distance of the first calibration point and the second calibration point, L2
Indicate the second calibration point to radar mounting plane vertical range.
7. Radar Calibration method according to claim 4, which is characterized in that the yaw angle is determined by following formula:
Wherein, γ indicates yaw angle, and (x1, y1) indicates coordinate of first calibration point in radar fix system, and (x2, y2) indicates the
Coordinate of two calibration points in radar fix system, L1 indicate the linear distance of the first calibration point and the second calibration point, L2 expression the
Vertical range of two calibration points to radar mounting plane.
8. a kind of Radar Calibration device characterized by comprising radar to be calibrated, the radar to be calibrated is mounted on and ground
On the fixed device of vertical radar, the fixed device of radar is mounted on radar mounting plane；
First calibration point, the second calibration point, first calibration point, the second calibration point are successively set on Radar Calibration line, institute
Radar Calibration line is stated by the central point of radar mounting plane and vertical with radar mounting plane；First calibration point is to radar
The distance of mounting plane is greater than second calibration point to the distance of radar mounting plane；
Demarcating module, first calibration point that the demarcating module is obtained according to the radar to be calibrated, the second calibration point
Coordinate value determines the calibrating parameters of radar, and is demarcated according to the calibrating parameters of the radar to the radar to be calibrated.
9. Radar Calibration device according to claim 8, which is characterized in that first calibration point, the second calibration point
Having a size of 15cm × 15cm.
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| CN111289957A (en) * | 2020-03-10 | 2020-06-16 | 上海高仙自动化科技发展有限公司 | External parameter calibration method and device, intelligent robot and computer readable storage medium |
| CN112558043A (en) * | 2020-11-17 | 2021-03-26 | 浙江众合科技股份有限公司 | Laser radar calibration method and electronic equipment |
| CN114964138A (en) * | 2022-05-11 | 2022-08-30 | 超级视线科技有限公司 | Multi-intersection-based radar installation angle determination method and system |
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| CN111289957A (en) * | 2020-03-10 | 2020-06-16 | 上海高仙自动化科技发展有限公司 | External parameter calibration method and device, intelligent robot and computer readable storage medium |
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| CN114964138B (en) * | 2022-05-11 | 2023-09-26 | 超级视线科技有限公司 | Radar installation angle determining method and system based on multiple intersections |
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