CN109709525A - A kind of scaling method and radar of radar - Google Patents
A kind of scaling method and radar of radar Download PDFInfo
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- CN109709525A CN109709525A CN201910163981.4A CN201910163981A CN109709525A CN 109709525 A CN109709525 A CN 109709525A CN 201910163981 A CN201910163981 A CN 201910163981A CN 109709525 A CN109709525 A CN 109709525A
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Abstract
The application is suitable for automobile technical field, provides the scaling method and radar of a kind of radar, comprising: the relative coordinate of the vehicle body test point of predetermined number is obtained by radar detection to be calibrated, the radar is installed on the rearview mirror position of automobile；It is based on the relative coordinate, all vehicle body test point fittings is in alignment, and using the straight line as the vehicle body edge detection line of the automobile；Calculate the vehicle body edge detection line to the automobile the practical line in vehicle body edge angle, and using the angle as detection angle；Angle correct is carried out to the radar according to the detection angle.By the above method, efficiency when being corrected to the radar being installed at automobile rearview mirror position can be effectively improved.
Description
Technical field
This application involves automobile technical field more particularly to the scaling methods and radar of a kind of radar.
Background technique
Currently, radar is installed on position of rear view mirror in partial automobile, to enhance the blind area monitoring capability of rearview mirror.Installation
Shi Leida and car body longitudinally have a fixed angle (i.e. setting angle), vehicle in production due to the deviation of technique not
It can guarantee that setting angle and the defined setting angle of radar are completely the same, need to demarcate setting angle to guarantee reality
Application effect.
Existing car radar calibration technique is usually that radar simulator or corner reflector are erected at radar rear and matched
Standby vehicle ajusts equipment to be demarcated, and calibration efficiency is lower, influences the production capacity of vehicle.
Summary of the invention
In view of this, the embodiment of the present application provides the scaling method and radar of a kind of radar, to solve in the prior art
Efficiency lower problem when being demarcated to the radar for being installed on automobile rearview mirror position.
The first aspect of the embodiment of the present application provides a kind of scaling method of radar, comprising:
The relative coordinate of the vehicle body test point of predetermined number is obtained by radar detection to be calibrated, the radar is installed on
The rearview mirror position of automobile；
It is based on the relative coordinate, all vehicle body test point fittings is in alignment, and using the straight line as institute
State the vehicle body edge detection line of automobile；
Calculate the vehicle body edge detection line to the automobile the practical line in vehicle body edge angle, and the angle is made
For detection angle；
Angle correct is carried out to the radar according to the detection angle.
The second aspect of the embodiment of the present application provides a kind of radar, comprising:
Probe unit, the relative coordinate of the vehicle body test point for obtaining predetermined number by radar detection to be calibrated,
The radar is installed on the rearview mirror position of automobile；
Fitting unit, it is for being based on the relative coordinate, all vehicle body test point fittings are in alignment, and by institute
State vehicle body edge detection line of the straight line as the automobile；
Computing unit, for calculate the vehicle body edge detection line to the automobile the practical line in vehicle body edge angle,
And using the angle as detection angle；
Unit is corrected, for carrying out angle correct to the radar according to the detection angle.
The third aspect of the embodiment of the present application provides a kind of radar, including memory, processor and is stored in described
In memory and the computer program that can run on the processor, the processor are realized when executing the computer program
The step of the method that the embodiment of the present application first aspect provides.
The fourth aspect of the embodiment of the present application provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, and the computer program realizes the embodiment of the present application when being executed by one or more processors
On the one hand the step of the method provided.
Existing beneficial effect is the embodiment of the present application compared with prior art:
The embodiment of the present application obtains the relative coordinate of the vehicle body test point of predetermined number, base by radar detection to be calibrated
It is in the relative coordinate, all vehicle body test point fittings is in alignment, and using the straight line as the vehicle of the automobile
Body edge detection line obtains radar to the actual detection result of vehicle body with this；Then the vehicle body edge detection line is calculated to institute
The angle of the practical line in vehicle body edge of automobile is stated, and using the angle as detection angle, and according to the detection angle to institute
It states radar and carries out angle correct.It, can be in the case where ajusting equipment without using vehicle, to being installed on automobile by the above method
Radar at position of rear view mirror is efficiently corrected.
Detailed description of the invention
It in order to more clearly explain the technical solutions in the embodiments of the present application, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some of the application
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the implementation process schematic diagram of the scaling method of radar provided by the embodiments of the present application；
Fig. 2 is the schematic diagram of radar provided by the embodiments of the present application；
Fig. 3 is the schematic diagram for the radar that the another embodiment of the application provides；
Fig. 4 is the schematic diagram of radar detection vehicle body test point provided by the embodiments of the present application；
Fig. 5 is the schematic diagram of detection angle provided by the embodiments of the present application.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, so as to provide a thorough understanding of the present application embodiment.However, it will be clear to one skilled in the art that there is no these specific
The application also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, so as not to obscure the description of the present application with unnecessary details.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " instruction is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this present specification merely for the sake of description specific embodiment
And be not intended to limit the application.As present specification and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in present specification and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
In order to illustrate technical solution described herein, the following is a description of specific embodiments.
Fig. 1 is the implementation process schematic diagram of the scaling method of radar provided by the embodiments of the present application, as shown, the side
Method may comprise steps of:
Step S101 obtains the relative coordinate of the vehicle body test point of predetermined number by radar detection to be calibrated, described
Radar is installed on the rearview mirror position of automobile.
In practice, radar is installed on the position where the rearview mirror of automobile, when installation, it is desirable that the detection plane of radar with
Body of a motor car is at predetermined angular, but because of fabrication error and installation error, the detection plane and automobile of radar after often installing
The angle of vehicle body is not predetermined angular.
Car body is rigid material, reflexive very strong, and the side edge of entire car body is a series of anti-for radar
Penetrate the set of target point, thus radar detection to car body reflection point can draw a straight line.
In one embodiment, the predetermined number are as follows:
Wherein, M indicates that the predetermined number, L indicate the radar to the distance of the preset of automobile tail, Δ R expression
The distance resolution of the radar.
Preset can be it is artificial preset, due to being plane or curved surface at automobile tail, so needing true in advance
Determine the position of preset.
Illustratively, it is assumed that radar resolution ratio 10cm, the distance of the preset of radar to automobile tail are 3m, then
Predetermined number is 30.
In one embodiment, the relative coordinate is coordinate of the vehicle body test point in radar fix system.
Wherein, the origin of the radar fix system is the detection plane of the radar and the intersection point of body of a motor car, the spy
Survey plane be the radar and the plane vertical with the normal of the radar, the longitudinal axis of the radar fix system is institute
Straight line where stating body of a motor car and the direction from automobile tail to automobile head are the forward direction of the longitudinal axis, the radar fix
The horizontal axis of system and the axis oriented normal.
Referring to fig. 4, Fig. 4 is the schematic diagram of radar detection vehicle body test point provided by the embodiments of the present application.As shown, figure
Middle O point is the origin of radar fix system, and the horizontal axis of radar fix system is the x-axis in figure, and the longitudinal axis is the y-axis in figure.Radar detection
The coordinate of each point at the body side edge arrived is (x1,y1),(x2,y2)……(xn,yn)。
Step S102 is based on the relative coordinate, and all vehicle body test point fittings is in alignment, and will be described straight
Vehicle body edge detection line of the line as the automobile.
Can according to least square method can by these point fitting it is in alignment, obtained linear equation be y=kx+b.
The linear equation is based on radar fix system.
Step S103, calculate the vehicle body edge detection line to the automobile the practical line in vehicle body edge angle, and will
The angle is as detection angle.
In one embodiment, it is described calculate the vehicle body edge detection line to the automobile the practical line in vehicle body edge
Angle, and using the angle as detection angle, comprising:
α=arctan (k)；
Wherein, α is the detection angle, and k is slope of the vehicle body edge detection line in the radar fix system.
It is the schematic diagram of detection angle provided by the embodiments of the present application referring to Fig. 5, Fig. 5.As shown, vehicle body edge detection
The angle (α in such as figure) of the practical line in the vehicle body edge of line and automobile, practical is in vehicle body edge detection line and radar fix system
The angle of positive x-axis, therefore only the slope of vehicle body edge detection line need to be converted to angle.
Step S104 carries out angle correct to the radar according to the detection angle.
It is in one embodiment, described that angle correct is carried out to the radar according to the detection angle, comprising:
If the detection angle is equal to 0, stop correcting.
If the detection angle is not equal to 0, the actual installation angle of the radar is obtained, by the actual installation angle
It is added to obtain correction angle with the detection angle, and the radar is written into the correction angle, the setting angle is institute
State the angle of the detection plane of radar and the horizontal axis forward direction of the radar fix system.
In practice, if radar actual installation angle is consistent with the specification angle being written in radar, the vehicle body detected
Edge detection line is overlapped with the practical line in vehicle body edge, i.e. α=0；As α ≠ 0, i.e., misalignment angle is α, by actual setting angle
In addition correction angle can be obtained in misalignment angle.
Wherein, the actual installation angle of radar refers to the installation angle of radar and vehicle body, i.e. physical installation angle.In other words
It says, the specification angle being written inside the actual physical installation angle of radar and radar may be inconsistent.Illustratively, it is assumed that
The specification angle being written inside radar is θ, and the detection angle detected is α, illustrates that the actual physical installation angle of radar is θ
+α.So only θ+α need to be re-write radar.
After the completion of correction, the angle being written inside radar is consistent with actual physical installation angle, detect again with into
Row verifying, available vehicle body edge detection line are overlapped with the practical line in vehicle body edge, that is, correct successfully；If unsuccessful, again
Correction.
The embodiment of the present application obtains the relative coordinate of the vehicle body test point of predetermined number, base by radar detection to be calibrated
It is in the relative coordinate, all vehicle body test point fittings is in alignment, and using the straight line as the vehicle of the automobile
Body edge detection line obtains radar to the actual detection result of vehicle body with this；Then the vehicle body edge detection line is calculated to institute
The angle of the practical line in vehicle body edge of automobile is stated, and using the angle as detection angle, and according to the detection angle to institute
It states radar and carries out angle correct.It, can be in the case where ajusting equipment without using vehicle, to being installed on automobile by the above method
Radar at position of rear view mirror is efficiently corrected.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present application constitutes any limit
It is fixed.
Fig. 2 is the schematic diagram of radar provided by the embodiments of the present application, for ease of description, is only shown and the embodiment of the present application
Relevant part.
Radar shown in Fig. 2 can be the software unit being built in existing terminal device, hardware cell or soft or hard knot
The unit of conjunction can also be used as independent pendant and be integrated into the terminal device, is also used as independent terminal device and deposits
?.
The radar 2 includes:
Probe unit 21, the opposite of vehicle body test point for obtaining predetermined number by radar detection to be calibrated are sat
Mark, the radar are installed on the rearview mirror position of automobile.
Fitting unit 22, it is for being based on the relative coordinate, all vehicle body test point fittings is in alignment, and will
Vehicle body edge detection line of the straight line as the automobile.
Computing unit 23, for calculate the vehicle body edge detection line to the automobile the practical line in vehicle body edge folder
Angle, and using the angle as detection angle.
Unit 24 is corrected, for carrying out angle correct to the radar according to the detection angle.
Optionally, the predetermined number are as follows:
Wherein, M indicates that the predetermined number, L indicate the radar to the distance of the preset of automobile tail, Δ R expression
The distance resolution of the radar.
Optionally, the relative coordinate is coordinate of the vehicle body test point in radar fix system.
The origin of the radar fix system is the detection plane of the radar and the intersection point of body of a motor car, the detection plane
For the radar and the plane vertical with the normal of the radar, the longitudinal axis of the radar fix system be the automobile
Straight line where vehicle body and the direction from automobile tail to automobile head are the forward direction of the longitudinal axis, the cross of the radar fix system
Axis and the axis oriented normal.
Optionally, the computing unit 23 is used for:
α=arctan (k)；
Wherein, α is the detection angle, and k is slope of the vehicle body edge detection line in the radar fix system.
Optionally, the correction unit 24 includes:
Stopping modular stops correcting if being equal to 0 for the detection angle.
Correction module obtains the actual installation angle of the radar, by institute if being not equal to 0 for the detection angle
It states actual installation angle to be added to obtain correction angle with the detection angle, and the radar, institute is written into the correction angle
State the angle of the horizontal axis forward direction of detection plane and the radar fix system that setting angle is the radar.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Fig. 3 is the schematic diagram of radar provided by the embodiments of the present application.As shown in figure 3, the radar 3 of the embodiment includes: place
It manages device 30, memory 31 and is stored in the computer program that can be run in the memory 31 and on the processor 30
32.The processor 30 realizes the step in the scaling method embodiment of above-mentioned each radar when executing the computer program 32
Such as step S101 to S104 shown in FIG. 1 suddenly,.Alternatively, the processor 30 is realized when executing the computer program 32
State the function of each module/unit in each Installation practice, such as the function of module 21 to 24 shown in Fig. 2.
Illustratively, the computer program 32 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 31, and are executed by the processor 30, to complete the application.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 32 in the radar 3 is described.For example, the computer program 32 can be divided into
Probe unit, fitting unit, computing unit, correction unit, each unit concrete function are as follows:
Probe unit, the relative coordinate of the vehicle body test point for obtaining predetermined number by radar detection to be calibrated,
The radar is installed on the rearview mirror position of automobile.
Fitting unit, it is for being based on the relative coordinate, all vehicle body test point fittings are in alignment, and by institute
State vehicle body edge detection line of the straight line as the automobile.
Computing unit, for calculate the vehicle body edge detection line to the automobile the practical line in vehicle body edge angle,
And using the angle as detection angle.
Unit is corrected, for carrying out angle correct to the radar according to the detection angle.
Optionally, the predetermined number are as follows:
Wherein, M indicates that the predetermined number, L indicate the radar to the distance of the preset of automobile tail, Δ R expression
The distance resolution of the radar.
Optionally, the relative coordinate is coordinate of the vehicle body test point in radar fix system.
The origin of the radar fix system is the detection plane of the radar and the intersection point of body of a motor car, the detection plane
For the radar and the plane vertical with the normal of the radar, the longitudinal axis of the radar fix system be the automobile
Straight line where vehicle body and the direction from automobile tail to automobile head are the forward direction of the longitudinal axis, the cross of the radar fix system
Axis and the axis oriented normal.
Optionally, the computing unit is used for:
α=arctan (k)；
Wherein, α is the detection angle, and k is slope of the vehicle body edge detection line in the radar fix system.
Optionally, the correction unit includes:
Stopping modular stops correcting if being equal to 0 for the detection angle.
Correction module obtains the actual installation angle of the radar, by institute if being not equal to 0 for the detection angle
It states actual installation angle to be added to obtain correction angle with the detection angle, and the radar, institute is written into the correction angle
State the angle of the horizontal axis forward direction of detection plane and the radar fix system that setting angle is the radar.
The radar 3 may include, but be not limited only to, processor 30, memory 31.It will be understood by those skilled in the art that
Fig. 3 is only the example of radar 3, does not constitute the restriction to radar 3, may include components more more or fewer than diagram, or
Person combines certain components or different components, such as the radar can also be set including input-output equipment, network insertion
Standby, bus etc..
Alleged processor 30 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 31 can be the internal storage unit of the radar 3, such as the hard disk or memory of radar 3.It is described
Memory 31 is also possible to the External memory equipment of the radar 3, such as the plug-in type hard disk being equipped on the radar 3, intelligence
Storage card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card)
Deng.Further, the memory 31 can also both include the internal storage unit of the radar 3 or set including external storage
It is standby.The memory 31 is for other programs and data needed for storing the computer program and the radar.It is described to deposit
Reservoir 31 can be also used for temporarily storing the data that has exported or will export.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
Scope of the present application.
In embodiment provided herein, it should be understood that disclosed device/radar and method can pass through
Other modes are realized.For example, device described above/radar embodiment is only schematical, for example, the module or
The division of unit, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units
Or component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, institute
Display or the mutual coupling or direct-coupling or communication connection discussed can be through some interfaces, device or unit
INDIRECT COUPLING or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the application realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier signal and
Telecommunication signal.
Embodiment described above is only to illustrate the technical solution of the application, rather than its limitations；Although referring to aforementioned reality
Example is applied the application is described in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution should all
Comprising within the scope of protection of this application.
Claims (10)
1. a kind of scaling method of radar characterized by comprising
The relative coordinate of the vehicle body test point of predetermined number is obtained by radar detection to be calibrated, the radar is installed on automobile
Rearview mirror position；
It is based on the relative coordinate, all vehicle body test point fittings is in alignment, and using the straight line as the vapour
The vehicle body edge detection line of vehicle；
Calculate the vehicle body edge detection line to the automobile the practical line in vehicle body edge angle, and using the angle as visit
Measuring angle；
Angle correct is carried out to the radar according to the detection angle.
2. the scaling method of radar as described in claim 1, which is characterized in that the predetermined number are as follows:
Wherein, M indicates that the predetermined number, L indicate the radar to the distance of the preset of automobile tail, described in Δ R is indicated
The distance resolution of radar.
3. the scaling method of radar as described in claim 1, which is characterized in that the relative coordinate is the vehicle body test point
Coordinate in radar fix system；
The origin of the radar fix system is the detection plane of the radar and the intersection point of body of a motor car, and the detection plane is institute
State radar and the plane vertical with the normal of the radar, the longitudinal axis of the radar fix system be the body of a motor car
Place straight line and direction from automobile tail to automobile head are the forward direction of the longitudinal axis, the horizontal axis of the radar fix system with
The axis oriented normal.
4. the scaling method of radar as claimed in claim 3, which is characterized in that the calculating vehicle body edge detection line arrives
The angle of the practical line in vehicle body edge of the automobile, and using the angle as detection angle, comprising:
α=arctan (k)；
Wherein, α is the detection angle, and k is slope of the vehicle body edge detection line in the radar fix system.
5. the scaling method of radar as claimed in claim 4, which is characterized in that it is described according to the detection angle to the thunder
Up to progress angle correct, comprising:
If the detection angle is equal to 0, stop correcting；
If the detection angle is not equal to 0, the actual installation angle of the radar is obtained, by the actual installation angle and institute
It states detection angle to be added to obtain correction angle, and the radar is written into the correction angle, the setting angle is the thunder
The angle of the horizontal axis forward direction of the detection plane and the radar fix system that reach.
6. a kind of radar characterized by comprising
Probe unit, the relative coordinate of the vehicle body test point for obtaining predetermined number by radar detection to be calibrated are described
Radar is installed on the rearview mirror position of automobile；
Fitting unit, it is for being based on the relative coordinate, all vehicle body test point fittings is in alignment, and will be described straight
Vehicle body edge detection line of the line as the automobile；
Computing unit, for calculate the vehicle body edge detection line to the automobile the practical line in vehicle body edge angle, and will
The angle is as detection angle；
Unit is corrected, for carrying out angle correct to the radar according to the detection angle.
7. radar as claimed in claim 6, which is characterized in that the predetermined number are as follows:
Wherein, M indicates that the predetermined number, L indicate the radar to the distance of the preset of automobile tail, described in Δ R is indicated
The distance resolution of radar.
8. radar as claimed in claim 6, which is characterized in that the relative coordinate is the vehicle body test point in radar fix
Coordinate in system；
The origin of the radar fix system is the detection plane of the radar and the intersection point of body of a motor car, and the detection plane is institute
State radar and the plane vertical with the normal of the radar, the longitudinal axis of the radar fix system be the body of a motor car
Place straight line and direction from automobile tail to automobile head are the forward direction of the longitudinal axis, the horizontal axis of the radar fix system with
The axis oriented normal.
9. a kind of radar, including memory, processor and storage can be run in the memory and on the processor
Computer program, which is characterized in that the processor is realized when executing the computer program as claim 1 to 5 is any
The step of item the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 5 of realization the method.
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| CN201910163981.4A CN109709525B (en) | 2019-03-05 | 2019-03-05 | Radar calibration method and radar |
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| CN201910163981.4A CN109709525B (en) | 2019-03-05 | 2019-03-05 | Radar calibration method and radar |
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| CN110515051A (en) * | 2019-09-29 | 2019-11-29 | 北京润科通用技术有限公司 | A kind of measurement method and system of trailer-mounted radar established angle angle value |
| CN110596664A (en) * | 2019-10-28 | 2019-12-20 | 北京润科通用技术有限公司 | Vehicle-mounted radar deflection angle estimation method and device |
| CN110646772A (en) * | 2019-10-12 | 2020-01-03 | 森思泰克河北科技有限公司 | Radar installation parameter calibration method and device |
| CN111398924A (en) * | 2020-04-29 | 2020-07-10 | 上海英恒电子有限公司 | Radar installation angle calibration method and system |
| CN111537967A (en) * | 2020-05-09 | 2020-08-14 | 森思泰克河北科技有限公司 | Radar deflection angle correction method and device and radar terminal |
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