CN109709525B - Radar calibration method and radar - Google Patents
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- CN109709525B CN109709525B CN201910163981.4A CN201910163981A CN109709525B CN 109709525 B CN109709525 B CN 109709525B CN 201910163981 A CN201910163981 A CN 201910163981A CN 109709525 B CN109709525 B CN 109709525B
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Abstract
The application is suitable for the technical field of automobiles, and provides a radar calibration method and a radar, which comprise the following steps: obtaining relative coordinates of a preset number of vehicle body detection points through detection of a radar to be calibrated, wherein the radar is arranged at the position of a rearview mirror of an automobile; fitting all the vehicle body detection points into a straight line based on the relative coordinates, and taking the straight line as a vehicle body edge detection line of the automobile; calculating an included angle from the vehicle body edge detection line to a vehicle body edge actual line of the automobile, and taking the included angle as a detection angle; and carrying out angle correction on the radar according to the detection angle. By the method, the efficiency of correcting the radar arranged at the position of the automobile rearview mirror can be effectively improved.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to a radar calibration method and a radar.
Background
At present, radars are installed at the positions of rearview mirrors in some automobiles so as to enhance the blind area monitoring capability of the rearview mirrors. When the radar and the vehicle body are installed, a fixed included angle (namely, an installation angle) is formed longitudinally, and the installation angle of the radar cannot be guaranteed to be completely consistent with the specified installation angle due to process deviation when the vehicle is produced, so that the actual application effect is guaranteed by calibrating the installation angle.
In the existing automobile radar calibration technology, a radar simulator or an angle reflector is generally erected behind a radar and is equipped with a vehicle alignment device for calibration, so that the calibration efficiency is low, and the productivity of a vehicle is influenced.
Disclosure of Invention
In view of this, the embodiment of the present application provides a calibration method for a radar and a radar, so as to solve the problem in the prior art that the efficiency is low when the radar installed in the position of an automobile rearview mirror is calibrated.
A first aspect of an embodiment of the present application provides a radar calibration method, including:
obtaining relative coordinates of a preset number of vehicle body detection points through detection of a radar to be calibrated, wherein the radar is arranged at the position of a rearview mirror of an automobile;
fitting all the vehicle body detection points into a straight line based on the relative coordinates, and taking the straight line as a vehicle body edge detection line of the automobile;
calculating an included angle from the vehicle body edge detection line to a vehicle body edge actual line of the automobile, and taking the included angle as a detection angle;
and carrying out angle correction on the radar according to the detection angle.
A second aspect of an embodiment of the present application provides a radar, including:
the detection unit is used for obtaining the relative coordinates of a preset number of vehicle body detection points through detection of a radar to be calibrated, wherein the radar is arranged at the position of a rearview mirror of an automobile;
the fitting unit is used for fitting all the vehicle body detection points into a straight line based on the relative coordinates, and the straight line is used as a vehicle body edge detection line of the automobile;
the calculation unit is used for calculating an included angle from the vehicle body edge detection line to a vehicle body edge actual line of the automobile and taking the included angle as a detection angle;
and the correction unit is used for carrying out angle correction on the radar according to the detection angle.
A third aspect of an embodiment of the present application provides a radar including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method provided in the first aspect of the embodiment of the present application when executing the computer program.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by one or more processors, performs the steps of the method provided by the first aspect of embodiments of the present application.
Compared with the prior art, the embodiment of the application has the advantages that:
according to the method and the device, relative coordinates of a preset number of vehicle body detection points are obtained through radar detection to be calibrated, all the vehicle body detection points are fitted into a straight line based on the relative coordinates, and the straight line is used as a vehicle body edge detection line of the automobile, so that an actual detection result of the radar on the vehicle body is obtained; and then calculating an included angle from the vehicle body edge detection line to a vehicle body edge actual line of the automobile, taking the included angle as a detection angle, and carrying out angle correction on the radar according to the detection angle. By the method, the radar installed at the position of the automobile rearview mirror can be effectively corrected without using a vehicle straightening device.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic implementation flow diagram of a calibration method for a radar provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of a radar provided by an embodiment of the present application;
FIG. 3 is a schematic view of a radar provided in accordance with yet another embodiment of the present application;
FIG. 4 is a schematic diagram of a radar detection vehicle body detection point provided by the embodiment of the application;
fig. 5 is a schematic diagram of a detection angle provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Fig. 1 is a schematic implementation flow diagram of a calibration method for a radar provided in an embodiment of the present application, and as shown in the figure, the method may include the following steps:
and S101, acquiring relative coordinates of a preset number of vehicle body detection points through detection of a radar to be calibrated, wherein the radar is arranged at the position of a rearview mirror of an automobile.
In practice, the radar is installed at the position of a rearview mirror of an automobile, and the detection plane of the radar is required to form a specified angle with the automobile body during installation.
The automobile body is made of rigid materials and has strong reflectivity, and the side edge of the whole automobile body is a set of a series of reflection target points for the radar, so that the reflection points of the automobile body detected by the radar can be connected into a straight line.
In one embodiment, the preset number is:
wherein M represents the preset number, L represents the distance from the radar to a preset point at the tail of the automobile, and Delta R represents the distance resolution of the radar.
The preset point can be manually preset, and the position of the preset point needs to be preset due to the fact that the tail of the automobile is a plane or a curved surface.
For example, if the radar distance resolution is 10cm and the distance from the radar to the preset point at the tail of the vehicle is 3m, the preset number is 30.
In one embodiment, the relative coordinates are coordinates of the vehicle body detection point in a radar coordinate system.
The origin of the radar coordinate system is the intersection point of a detection plane of the radar and an automobile body, the detection plane is a plane where the radar is located and perpendicular to a normal line of the radar, a longitudinal axis of the radar coordinate system is a straight line where the automobile body is located, the direction from the tail of the automobile to the head of the automobile is the positive direction of the longitudinal axis, and a transverse axis of the radar coordinate system is perpendicular to the longitudinal axis.
Referring to fig. 4, fig. 4 is a schematic diagram of a radar detection vehicle body detection point provided by the embodiment of the present application. As shown in the figure, the point O in the figure is the origin of the radar coordinate system, the horizontal axis of the radar coordinate system is the x-axis of the figure, and the vertical axis of the radar coordinate system is the y-axis of the figure. The coordinate of each point of the vehicle body side edge detected by the radar is (x)1,y1),(x2,y2)……(xn,yn)。
And S102, fitting all the vehicle body detection points into a straight line based on the relative coordinates, and taking the straight line as a vehicle body edge detection line of the automobile.
These points can be fitted to a straight line according to the least squares method, resulting in the equation of the straight line being y-kx + b. The linear equation is based on a radar coordinate system.
And S103, calculating an included angle from the vehicle body edge detection line to a vehicle body edge actual line of the automobile, and taking the included angle as a detection angle.
In one embodiment, the calculating an included angle from the body edge detection line to a body edge actual line of the automobile and taking the included angle as a detection angle includes:
α＝arctan(k)；
wherein α is the detection angle, and k is the slope of the body edge detection line in the radar coordinate system.
Referring to fig. 5, fig. 5 is a schematic diagram of the detection angle provided by the embodiment of the present invention, as shown in the figure, the included angle between the body edge detection line and the actual line of the body edge of the automobile (e.g. α in the figure) is actually the included angle between the body edge detection line and the positive x-axis in the radar coordinate system, so that only the slope of the body edge detection line needs to be converted into an angle.
And step S104, carrying out angle correction on the radar according to the detection angle.
In one embodiment, the angle correcting the radar according to the detection angle includes:
if the detection angle is equal to 0, the correction is stopped.
If the detection angle is not equal to 0, acquiring the actual installation angle of the radar, adding the actual installation angle and the detection angle to obtain a correction angle, and writing the correction angle into the radar, wherein the installation angle is the included angle between the detection plane of the radar and the positive direction of the transverse axis of the radar coordinate system.
In practice, if the actual installation angle of the radar is consistent with the standard angle written in the radar, the detected vehicle body edge detection line is overlapped with the vehicle body edge actual line, namely α is equal to 0, and when α is not equal to 0, namely the deviation angle is α, the actual installation angle is added with the deviation angle to obtain the correction angle.
In other words, the actual physical installation angle of the radar and the standard angle written in the radar may be inconsistent, for example, if the standard angle written in the radar is theta, and the detected detection angle is α, the actual physical installation angle of the radar is theta + α, then theta + α only needs to be rewritten in the radar.
After the correction is finished, the angle written in the radar is consistent with the actual physical installation angle, the detection is carried out again for verification, and the coincidence of the vehicle body edge detection line and the vehicle body edge actual line can be obtained, namely the correction is successful; if not, then recalibrate.
According to the method and the device, relative coordinates of a preset number of vehicle body detection points are obtained through radar detection to be calibrated, all the vehicle body detection points are fitted into a straight line based on the relative coordinates, and the straight line is used as a vehicle body edge detection line of the automobile, so that an actual detection result of the radar on the vehicle body is obtained; and then calculating an included angle from the vehicle body edge detection line to a vehicle body edge actual line of the automobile, taking the included angle as a detection angle, and carrying out angle correction on the radar according to the detection angle. By the method, the radar installed at the position of the automobile rearview mirror can be effectively corrected without using a vehicle straightening device.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 2 is a schematic diagram of a radar provided in an embodiment of the present application, and for convenience of explanation, only a part related to the embodiment of the present application is shown.
The radar shown in fig. 2 may be a software unit, a hardware unit, or a combination of software and hardware unit built in the existing terminal device, may also be integrated into the terminal device as an independent pendant, and may also exist as an independent terminal device.
The radar 2 includes:
the detection unit 21 is configured to obtain relative coordinates of a preset number of vehicle body detection points through detection by a radar to be calibrated, where the radar is installed at a position of a rearview mirror of an automobile.
And the fitting unit 22 is used for fitting all the vehicle body detection points into a straight line based on the relative coordinates, and taking the straight line as a vehicle body edge detection line of the automobile.
And the calculating unit 23 is used for calculating an included angle from the vehicle body edge detection line to the vehicle body edge actual line of the automobile, and taking the included angle as a detection angle.
A correction unit 24 for angle-correcting the radar according to the detection angle.
Optionally, the preset number is:
wherein M represents the preset number, L represents the distance from the radar to a preset point at the tail of the automobile, and Delta R represents the distance resolution of the radar.
Optionally, the relative coordinate is a coordinate of the vehicle body detection point in a radar coordinate system.
The origin of the radar coordinate system is the intersection point of a detection plane of the radar and an automobile body, the detection plane is a plane where the radar is located and perpendicular to a normal line of the radar, a longitudinal axis of the radar coordinate system is a straight line where the automobile body is located, the direction from the tail of the automobile to the head of the automobile is the positive direction of the longitudinal axis, and a transverse axis of the radar coordinate system is perpendicular to the longitudinal axis.
Optionally, the calculating unit 23 is configured to:
α＝arctan(k)；
wherein α is the detection angle, and k is the slope of the body edge detection line in the radar coordinate system.
Optionally, the correction unit 24 includes:
and the stopping module is used for stopping correction if the detection angle is equal to 0.
And the correction module is used for acquiring the actual installation angle of the radar if the detection angle is not equal to 0, adding the actual installation angle and the detection angle to obtain a correction angle, writing the correction angle into the radar, and setting the installation angle to be the included angle between the detection plane of the radar and the positive direction of the transverse axis of the radar coordinate system.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Fig. 3 is a schematic diagram of a radar provided in an embodiment of the present application. As shown in fig. 3, the radar 3 of this embodiment includes: a processor 30, a memory 31 and a computer program 32 stored in said memory 31 and executable on said processor 30. The processor 30, when executing the computer program 32, implements the steps in the above-described embodiments of the radar calibration method, such as the steps S101 to S104 shown in fig. 1. Alternatively, the processor 30, when executing the computer program 32, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 21 to 24 shown in fig. 2.
Illustratively, the computer program 32 may be partitioned into one or more modules/units that are stored in the memory 31 and executed by the processor 30 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 32 in the radar 3. For example, the computer program 32 may be divided into a detection unit, a fitting unit, a calculation unit, and a correction unit, and each unit has the following specific functions:
the detection unit is used for detecting and obtaining relative coordinates of a preset number of vehicle body detection points through a radar to be calibrated, and the radar is installed at the position of a rearview mirror of an automobile.
And the fitting unit is used for fitting all the vehicle body detection points into a straight line based on the relative coordinates, and taking the straight line as a vehicle body edge detection line of the automobile.
And the calculation unit is used for calculating an included angle from the vehicle body edge detection line to the vehicle body edge actual line of the automobile and taking the included angle as a detection angle.
And the correction unit is used for carrying out angle correction on the radar according to the detection angle.
Optionally, the preset number is:
wherein M represents the preset number, L represents the distance from the radar to a preset point at the tail of the automobile, and Delta R represents the distance resolution of the radar.
Optionally, the relative coordinate is a coordinate of the vehicle body detection point in a radar coordinate system.
The origin of the radar coordinate system is the intersection point of a detection plane of the radar and an automobile body, the detection plane is a plane where the radar is located and perpendicular to a normal line of the radar, a longitudinal axis of the radar coordinate system is a straight line where the automobile body is located, the direction from the tail of the automobile to the head of the automobile is the positive direction of the longitudinal axis, and a transverse axis of the radar coordinate system is perpendicular to the longitudinal axis.
Optionally, the computing unit is configured to:
α＝arctan(k)；
wherein α is the detection angle, and k is the slope of the body edge detection line in the radar coordinate system.
Optionally, the correction unit includes:
and the stopping module is used for stopping correction if the detection angle is equal to 0.
And the correction module is used for acquiring the actual installation angle of the radar if the detection angle is not equal to 0, adding the actual installation angle and the detection angle to obtain a correction angle, writing the correction angle into the radar, and setting the installation angle to be the included angle between the detection plane of the radar and the positive direction of the transverse axis of the radar coordinate system.
The radar 3 may include, but is not limited to, a processor 30, a memory 31. It will be appreciated by those skilled in the art that fig. 3 is merely an example of a radar 3 and does not constitute a limitation of the radar 3 and may include more or less components than those shown, or some components in combination, or different components, e.g. the radar may also include input output devices, network access devices, buses, etc.
The Processor 30 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 31 may be an internal storage unit of the radar 3, such as a hard disk or a memory of the radar 3. The memory 31 may also be an external storage device of the radar 3, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) and the like provided on the radar 3. Further, the memory 31 may also include both an internal storage unit of the radar 3 and an external storage device. The memory 31 is used for storing the computer program and other programs and data required by the radar. The memory 31 may also be used to temporarily store data that has been output or is to be output.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/radar and method may be implemented in other ways. For example, the above-described apparatus/radar embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (8)
1. A calibration method of a radar is characterized by comprising the following steps:
obtaining relative coordinates of a preset number of vehicle body detection points through detection of a radar to be calibrated, wherein the radar is arranged at the position of a rearview mirror of an automobile; the relative coordinates are coordinates of the vehicle body detection points in a radar coordinate system;
the origin of the radar coordinate system is the intersection point of a detection plane of the radar and an automobile body, the detection plane is a plane where the radar is located and is perpendicular to the normal line of the radar, the longitudinal axis of the radar coordinate system is a straight line where the automobile body is located, the direction from the tail of the automobile to the head of the automobile is the positive direction of the longitudinal axis, and the transverse axis of the radar coordinate system is perpendicular to the longitudinal axis;
fitting all the vehicle body detection points into a straight line based on the relative coordinates, and taking the straight line as a vehicle body edge detection line of the automobile;
calculating an included angle from the vehicle body edge detection line to a vehicle body edge actual line of the automobile, and taking the included angle as a detection angle;
and carrying out angle correction on the radar according to the detection angle.
2. A method for calibrating a radar according to claim 1, wherein the predetermined number is:
wherein M represents the preset number, L represents the distance from the radar to a preset point at the tail of the automobile, and Delta R represents the distance resolution of the radar.
3. The radar calibration method according to claim 1, wherein the calculating an angle from the body edge detection line to the actual body edge line of the automobile and using the angle as the detection angle comprises:
α＝arctan(k)；
wherein α is the detection angle, and k is the slope of the body edge detection line in the radar coordinate system.
4. A method for calibrating a radar according to claim 3, wherein said angle correcting the radar according to the detection angle comprises:
if the detection angle is equal to 0, stopping correction;
if the detection angle is not equal to 0, acquiring the actual installation angle of the radar, adding the actual installation angle and the detection angle to obtain a correction angle, and writing the correction angle into the radar, wherein the installation angle is the included angle between the detection plane of the radar and the positive direction of the transverse axis of the radar coordinate system.
5. A radar, comprising:
the detection unit is used for obtaining the relative coordinates of a preset number of vehicle body detection points through detection of a radar to be calibrated, wherein the radar is arranged at the position of a rearview mirror of an automobile; the relative coordinates are coordinates of the vehicle body detection points in a radar coordinate system;
the origin of the radar coordinate system is the intersection point of a detection plane of the radar and an automobile body, the detection plane is a plane where the radar is located and is perpendicular to the normal line of the radar, the longitudinal axis of the radar coordinate system is a straight line where the automobile body is located, the direction from the tail of the automobile to the head of the automobile is the positive direction of the longitudinal axis, and the transverse axis of the radar coordinate system is perpendicular to the longitudinal axis;
the fitting unit is used for fitting all the vehicle body detection points into a straight line based on the relative coordinates, and the straight line is used as a vehicle body edge detection line of the automobile;
the calculation unit is used for calculating an included angle from the vehicle body edge detection line to a vehicle body edge actual line of the automobile and taking the included angle as a detection angle;
and the correction unit is used for carrying out angle correction on the radar according to the detection angle.
6. The radar of claim 5 wherein said predetermined number is:
wherein M represents the preset number, L represents the distance from the radar to a preset point at the tail of the automobile, and Delta R represents the distance resolution of the radar.
7. A radar comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any one of claims 1 to 4 are implemented by the processor when executing the computer program.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
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| CN110441753B (en) * | 2019-09-19 | 2021-03-30 | 森思泰克河北科技有限公司 | Radar occlusion detection method and radar |
| CN110515051B (en) * | 2019-09-29 | 2021-07-23 | 北京润科通用技术有限公司 | Method and system for measuring installation angle value of vehicle-mounted radar |
| CN110646772B (en) * | 2019-10-12 | 2021-07-30 | 森思泰克河北科技有限公司 | Radar installation parameter calibration method and device |
| CN110596664B (en) * | 2019-10-28 | 2022-07-12 | 北京润科通用技术有限公司 | Vehicle-mounted radar deflection angle estimation method and device |
| CN113311422A (en) * | 2020-02-27 | 2021-08-27 | 富士通株式会社 | Coordinate conversion method and device and data processing equipment |
| CN111398924B (en) * | 2020-04-29 | 2023-07-25 | 上海英恒电子有限公司 | Radar installation angle calibration method and system |
| CN111537967B (en) * | 2020-05-09 | 2022-05-31 | 森思泰克河北科技有限公司 | Radar deflection angle correction method and device and radar terminal |
| CN113918963B (en) * | 2021-09-10 | 2023-07-18 | 广州博依特智能信息科技有限公司 | Authority authorization processing method and system based on business requirements |
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