CN110109071A - Vehicle-mounted millimeter wave blind area monitors radar setting angle automatic calibration device and method - Google Patents
Vehicle-mounted millimeter wave blind area monitors radar setting angle automatic calibration device and method Download PDFInfo
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- CN110109071A CN110109071A CN201910334630.5A CN201910334630A CN110109071A CN 110109071 A CN110109071 A CN 110109071A CN 201910334630 A CN201910334630 A CN 201910334630A CN 110109071 A CN110109071 A CN 110109071A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
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Abstract
The invention discloses vehicle-mounted millimeter wave blind area monitoring radar setting angle automatic calibration device and methods, belong to technical field of automotive electronics, including Radar Calibration control module, Radar Calibration processing module and CAN bus equipment；The Radar Calibration control module is used to be arranged the operating mode and calibrating parameters of radar；The Radar Calibration processing module is used to complete the processing work to Radar Calibration parameter and data；The CAN bus equipment is used to complete the communication connection work between caliberating device and radar；The Radar Calibration control module, Radar Calibration processing module are electrically connected with CAN bus equipment.The present invention can adaptive different depots, different automobile types to the installation requirement of vehicle-mounted millimeter wave radar shadown monitoring system, associated calibration parameter is adjusted by caliberating device, radar setting angle problem of calibrating after efficiently solving the installation of vehicle factor production line volume production vehicle radar, meets user to the use demand of radar.
Description
Technical field
The present invention relates to technical field of automotive electronics, and in particular to it is automatic that vehicle-mounted millimeter wave blind area monitors radar setting angle
Caliberating device and method.
Background technique
In automobile industry of today, the drive safety of vehicle is got more and more attention, and also becomes major automobile vendor
Main selling point.Rear of vehicle is the blind area of driver during driving vehicle, therefore surpasses in high speed lane-change, front vehicle
Traffic accident can all be caused when vehicle, low-reverse and cause injures and deaths, vehicle-mounted millimeter wave radar shadown monitoring system can detect target
Distance, relative velocity and orientation, and have working frequency high, wavelength is short, and antenna size is small, adaptable, can be in the dark
The advantages that normal work.Currently, domestic vehicle-mounted millimeter wave radar shadown monitoring system or a Newly Sprouted Things, many technologies are thin
How section eliminates installation bring system after being installed to vehicle all in exploratory stage, vehicle-mounted millimeter wave radar shadown monitoring system
Error, i.e. vehicle-mounted millimeter wave radar shadown monitoring system identification problem, which are one, technical problem to be solved.For different vehicles
Factory, different automobile types, radar installation site are very different, though same vehicle in the case where installation site is essentially identical,
There is also some deviations in mounting bracket sheet metal structural and installation operation, to cause vehicle-mounted millimeter wave radar shadown monitoring system
The detecting error united to road target affects the properties of product of vehicle-mounted millimeter wave radar shadown monitoring system, and there are certain
Security risk.Millimetre-wave radar blind area monitoring system needs to be pacified at left and right sides of the tailstock respectively when carrying out vehicle installation
The radar for being mounted on main driving room side rear, is called main radar here, the radar for being mounted on copilot room side rear is known as by dress
From radar.
How vehicle-mounted millimeter wave blind area monitoring radar setting angle automatic calibration device is designed, under assigned work mode,
Vehicle-mounted millimeter wave radar shadown, which is respectively completed, by the caliberating device monitors system main radar and from the installation staking-out work of radar,
It eliminates and, since radar installs bring systematic error, meets the requirement after radar installation in different automobile types, it has also become one
Item urgent problem to be solved.
Summary of the invention
Technical problem to be solved by the present invention lies in: vehicle-mounted millimeter wave radar shadown monitoring system how is solved in difference
Radar Calibration problem in vehicle provides vehicle-mounted millimeter wave blind area monitoring radar setting angle automatic calibration device.
The present invention is that solution above-mentioned technical problem, the present invention include Radar Calibration control mould by the following technical programs
Block, Radar Calibration processing module and CAN bus equipment；
The Radar Calibration control module is used to be arranged the operating mode and calibrating parameters of radar, the Radar Calibration control
Module includes radar operation mode setup module, Radar Calibration mode setup module and Radar Calibration control switch, the radar
Operating mode setup module is used to be arranged the operating mode of radar, and the Radar Calibration mode setup module is for being arranged radar
Calibration mode, the Radar Calibration control switch are used to start or stop the staking-out work of radar, and the radar operation mode is set
Set module, Radar Calibration mode setup module is electrically connected with Radar Calibration control switch；
The Radar Calibration processing module is used to complete the processing work to Radar Calibration parameter and data, the radar
Calibration processing module includes Radar Calibration data reception module, Radar Calibration data preprocessing module, the calculating of Radar Calibration parameter
Module, Radar Calibration result output module, Radar Calibration result memory module, the Radar Calibration data reception module is for connecing
Nominal data is received, the Radar Calibration data preprocessing module is used for rejecting abnormalities data, and the Radar Calibration parameter calculates mould
Block is used to that data to be coordinately transformed obtain with integration objective data, and the Radar Calibration result output module is for exporting calibration
As a result, the Radar Calibration result memory module is for storing Radar Calibration result and calibrating parameters；
The CAN bus equipment is used to complete the communication connection work between caliberating device and radar；
The Radar Calibration control module, Radar Calibration processing module are electrically connected with CAN bus equipment.
Preferably, the radar includes radar selftest module, Radar Targets'Detection module, radar clutter processing module, thunder
Up to alert process module, radar communication module and Radar Calibration module, self-test of the radar selftest module for radar works,
The Radar Targets'Detection module is used to carry out detection work to target point, the radar clutter processing module be used for clutter into
Row processing, the radar alert process module are used to alarm to driver, and the radar communication module is for connecting radar and its
His equipment, the Radar Calibration module is for completing entire staking-out work, the radar selftest module, Radar Targets'Detection mould
Block, radar clutter processing module, radar alert process module, Radar Calibration module are electrically connected with radar communication module.
Preferably, the operating mode of the radar is normal mode of operation and staking-out work mode, in normal mode of operation
Middle radar passes through radar selftest module, Radar Targets'Detection module, radar clutter processing module, radar alert process module and thunder
It is worked normally up to communication module, radar passes through Radar Targets'Detection module and Radar Calibration module in staking-out work mode
Carry out staking-out work.
Preferably, the CAN bus equipment includes CAN bus connecting line and CAN communication module, and main radar is total by CAN
Line connecting line and caliberating device carry out physical connection, and from radar and main radar connection communication, master and slave radar includes a radar
Demarcate processing module.
Vehicle-mounted millimeter wave blind area monitors radar setting angle automatic calibration method, comprising the following steps:
S101: installation caliberating device is simultaneously connect with vehicle body network
It will be installed as required in Radar Calibration device, master and slave radar is connected to vehicle body network by CAN bus；
S102: real-time reception information of vehicles
Starting vehicle is simultaneously in vehicle in movement, starts the vehicle bodies such as master and slave radar real-time reception target data and speed
Information；
S103: radar start calibration process
Radar Calibration control module is enabled, it is calibration work that current radar operating mode, which is arranged, by Radar Calibration control module
Calibrating parameters and calibration mode, master and slave radar start calibration process is arranged in operation mode；
S104: radar carries out real-time detection to target
Master and slave radar carries out real-time detection to target, and the target data received is sent to Radar Calibration processing module；
S105: handling target data, completes staking-out work
Radar Calibration processing module receive target data, rejecting abnormalities data, call Radar Calibration parameter calculating module into
Row Radar Calibration parameter calculates, and finally obtains the Radar Calibration parameter met the requirements, and synchronous preservation, completes Radar Calibration work
Make.
Preferably, the Radar Calibration control module treatment process the following steps are included:
S201: starting Radar Calibration control module configures CAN communication equipment parameters, receives the body informations such as speed,
Radar Calibration parameter is set, and it is staking-out work mode that radar, which is arranged,；
S202: starting Radar Calibration processing module carries out the calculating of Radar Calibration parameter after radar receives order；
S203: Radar Calibration control module waits the calibration result of Radar Calibration result output module, and calls radar mark
Determine result memory module to store Radar Calibration parameter and Radar Calibration result, to complete Radar Calibration control processing stream
Journey.
Preferably, the Radar Calibration processing module treatment process the following steps are included:
S301: the Radar Calibration instruction that Radar Calibration control module is sent is received, according to calibration command reception target data；
S302: calling Radar Calibration data preprocessing module to carry out processing and abnormal data elimination to target data, calls
Radar Calibration parameter calculating module is coordinately transformed processing to pretreated target data, is transformed into directly by polar data
Angular data generates corresponding target data under rectangular coordinate system；
S303: carrying out data accumulation processing according to rule by Radar Calibration parameter calculating module, generate one group it is stable
Target integrated data sequence；
S304: receiving the Radar Calibration that Radar Calibration control module is sent terminates order, and Radar Calibration parameter is called to calculate
Module calculates Radar Calibration parameter, and judges that Radar Calibration calculates whether goodness meets required precision, if being unsatisfactory for required precision,
Then add up to generate new integrated data sequence, if meeting required precision, Radar Calibration result memory module is called to store radar
Calibration result.
Preferably, the calibration mode refers to the distance of a certain fixed interval of the calibration duration and setting according to setting
Section carries out staking-out work to radar using Radar Calibration processing module, and the calibrating parameters include Radar Calibration angle and radar
Calibrated and calculated goodness, the calibration result include Radar Calibration angle, Radar Calibration calculate goodness and calibration whether Success Flag,
The Radar Calibration angle includes main radar calibration angle with from Radar Calibration angle, and it includes master that the Radar Calibration, which calculates goodness,
Radar Calibration calculates goodness and calculates goodness with from Radar Calibration, calculates goodness to show that the target angle for participating in calculating stablizes journey
Whether degree and radar automatic Calibration calculated result meet the requirements.
The present invention has the advantage that vehicle-mounted millimeter wave blind area monitoring radar setting angle is marked automatically compared with prior art
Determine device and method, the installation requirement of system can be monitored to vehicle-mounted millimeter wave radar shadown according to different depots, different automobile types,
Associated calibration parameter is adjusted by caliberating device, the radar mark after efficiently solving the installation of vehicle factor production line volume production vehicle radar
Determine problem, meets user to the use demand of radar, monitor system product in automotive electronics for vehicle-mounted millimeter wave radar shadown
Being widely used for field provides more unified calibration tool；And have easy to operate, maintainable height, equipment performance steady
The advantages that determining can not only meet installation accuracy requirement of the vehicle-mounted millimeter wave radar shadown monitoring system to different automobile types；And
It solves the radar assembly problem in vehicle factor high-volume producing line production process, provides preferable components assembly for user and set
It is standby, meet actual demand of the depot user to radar installation calibration.
Detailed description of the invention
Fig. 1 is overall structure schematic block diagram of the invention；
Fig. 2 is staking-out work flow diagram of the invention；
Fig. 3 is Radar Calibration control module treatment process flow diagram of the invention；
Fig. 4 is the flow diagram of Radar Calibration processing module treatment process of the invention；
Fig. 5 is the connection schematic diagram of master and slave radar and CAN bus of the invention.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
As shown in Figure 1, the present embodiment provides a kind of technical solutions: it is automatic that vehicle-mounted millimeter wave blind area monitors radar setting angle
Caliberating device, including Radar Calibration control module, Radar Calibration processing module and CAN bus equipment；
Radar Calibration control module is used to be arranged the operating mode and calibrating parameters of radar, and Radar Calibration control module includes
Radar operation mode setup module, Radar Calibration mode setup module and Radar Calibration control switch, radar operation mode setting
Module is used to be arranged the operating mode of radar, and Radar Calibration mode setup module is used to be arranged the calibration mode of radar, radar mark
Control switch is determined for starting or stoping the staking-out work of radar, and radar operation mode setup module, Radar Calibration mode are arranged
Module is electrically connected with Radar Calibration control switch；
Radar Calibration processing module is used to complete the processing work to Radar Calibration parameter and data, and Radar Calibration handles mould
Block includes Radar Calibration data reception module, Radar Calibration data preprocessing module, Radar Calibration parameter calculating module, radar mark
Determine result output module, Radar Calibration result memory module, Radar Calibration data reception module is for receiving nominal data, radar
Nominal data preprocessing module is used for rejecting abnormalities data, and Radar Calibration parameter calculating module is for being coordinately transformed data
Integration objective data are obtained, Radar Calibration result output module is used for exporting calibration result, Radar Calibration result memory module
In storage Radar Calibration result and calibrating parameters；
CAN bus equipment is used to complete the communication connection work between caliberating device and radar；
Radar Calibration control module, Radar Calibration processing module are electrically connected with CAN bus equipment.
Radar includes radar selftest module, Radar Targets'Detection module, radar clutter processing module, radar alert process mould
Block, radar communication module and Radar Calibration module, self-test of the radar selftest module for radar work, Radar Targets'Detection module
For carrying out detection work to target point, radar clutter processing module is for handling clutter, radar alert process module
For alarming to driver, for radar communication module for connecting radar and other equipment, Radar Calibration module is entire for completing
Staking-out work, radar selftest module, Radar Targets'Detection module, radar clutter processing module, radar alert process module, radar
Demarcating module is electrically connected with radar communication module.
The operating mode of radar is normal mode of operation and staking-out work mode, and radar passes through thunder in normal mode of operation
Up to selftest module, Radar Targets'Detection module, radar clutter processing module, radar alert process module and radar communication module into
Row works normally, and radar carries out calibration work by Radar Targets'Detection module and Radar Calibration module in staking-out work mode
Make.
As shown in Fig. 2, the present embodiment additionally provides vehicle-mounted millimeter wave blind area monitoring radar setting angle automatic calibration method,
The following steps are included:
S101: installation caliberating device is simultaneously connect with vehicle body network
It will be installed as required in Radar Calibration device, master and slave radar is connected to vehicle body network by CAN bus；
S102: real-time reception information of vehicles
Starting vehicle is simultaneously in vehicle in movement, starts the vehicle bodies such as master and slave radar real-time reception target data and speed
Information；
S103: radar start calibration process
Radar Calibration control module is enabled, it is calibration work that current radar operating mode, which is arranged, by Radar Calibration control module
Calibrating parameters and calibration mode, master and slave radar start calibration process is arranged in operation mode；
S104: radar carries out real-time detection to target
Master and slave radar carries out real-time detection to target, and the target data received is sent to Radar Calibration processing module；
S105: handling target data, completes staking-out work
Radar Calibration processing module receive target data, rejecting abnormalities data, call Radar Calibration parameter calculating module into
Row Radar Calibration parameter calculates, and finally obtains the Radar Calibration parameter met the requirements, and synchronous preservation, completes Radar Calibration work
Make.
As shown in figure 3, Radar Calibration control module treatment process the following steps are included:
S201: starting Radar Calibration control module configures CAN communication equipment parameters, receives the body informations such as speed,
Radar Calibration parameter is set, and it is staking-out work mode that radar, which is arranged,；
S202: starting Radar Calibration processing module carries out the calculating of Radar Calibration parameter after radar receives order；
S203: Radar Calibration control module waits the calibration result of Radar Calibration result output module, after demarcating successfully, and
Radar Calibration result memory module is called to store Radar Calibration parameter and Radar Calibration result, to complete Radar Calibration
Control process flow.
As shown in figure 4, Radar Calibration processing module treatment process the following steps are included:
S301: the Radar Calibration instruction that Radar Calibration control module is sent is received, according to calibration command reception target data；
S302: calling Radar Calibration data preprocessing module to handle according to pre-set criteria target data, rejects different
Regular data calls Radar Calibration parameter calculating module to be coordinately transformed processing to pretreated target data, projects to thunder
Up under the rectangular coordinate system of place, corresponding rectangular co-ordinate data are generated, and each mesh is calculated according to automatic Calibration treatment process
The corresponding rectangular co-ordinate setting angle of punctuate, by stages carry out section accumulation to the rectangular co-ordinate data of generation, so as to form
Integration objective data under one group of rectangular coordinate system；
S303: carrying out data accumulation processing according to rule by Radar Calibration parameter calculating module, generate one group it is stable
Target integrated data sequence.Radar Design setting angle is preset in calibrating parameters computing module as Object selection reference value and mesh
Selected distance requirement is marked, a certain range of target of Radar Design setting angle is distributed according to the selection of Object selection required distance
Form stable target sequence；
S304: receiving the Radar Calibration that Radar Calibration control module is sent terminates order, and Radar Calibration parameter is called to calculate
Module calculates Radar Calibration parameter, and judges that Radar Calibration calculates whether goodness meets required precision, if being unsatisfactory for required precision,
Then add up to generate new integrated data sequence, if meeting required precision, Radar Calibration result memory module is called to store radar
Calibration result.
As shown in figure 5, CAN bus equipment includes CAN bus connecting line and CAN communication module, main radar passes through CAN bus
Connecting line and caliberating device carry out physical connection and are not directly accessed caliberating device from radar from radar and main radar connection communication,
Master and slave radar includes a Radar Calibration processing module.
The present invention takes full advantage of moving target direction with vehicle body parallel and movement position is in side rear blind area this is several
What feature, using the geometrical relationship of target Doppler speed and speed, the azimuth of target that radar measures can by geometric transformation
To obtain Radar Calibration angle；According to characteristic factors such as target kinetic characteristic, target movement positions, corresponding Preprocessing Algorithm is utilized
The abnormal datas such as a large amount of clutters, false target are eliminated, these abnormal datas is reduced and is adversely affected to Radar Calibration bring；
Using a certain fixed interval data accumulation processing method, generates one group and gradually tend towards stability and a limited number of integration objective numbers
According to, efficiently solve vehicle-mounted millimeter wave radar shadown monitoring system storage of a large amount of target acquisition data under High Data Rate ask
Topic；Iterative data fitting calibrating method is proposed, rejects in integration objective data sequence quality one by one according to respective rule most
Poor integration objective data calculate newly-generated integration objective data sequence circulation, finally obtain and meet required precision
Radar Calibration parameter efficiently solves the Radar Calibration error that Radar Calibration process is generated by external environment influence.
In conclusion the vehicle-mounted millimeter wave blind area monitoring radar setting angle automatic calibration device and method of the present embodiment,
Caliberating device can be passed through according to different depots, different automobile types to the installation requirement of vehicle-mounted millimeter wave radar shadown monitoring system
Associated calibration parameter is adjusted, the Radar Calibration after efficiently solving the problems, such as the installation of vehicle factor production line volume production vehicle radar meets
Use demand of the user to radar, monitor system product for vehicle-mounted millimeter wave radar shadown makes extensively in vehicle electric field
With providing more unified calibration tool；And have many advantages, such as that easy to operate, maintainable high, equipment performance is stablized, no
It only can satisfy installation accuracy requirement of the vehicle-mounted millimeter wave radar shadown monitoring system to different automobile types；And solves vehicle factor
Radar assembly problem in high-volume producing line production process provides preferable components assembly equipment for user, meets depot
Actual demand of the user to radar installation calibration.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (7)
1. vehicle-mounted millimeter wave blind area monitors radar setting angle automatic calibration device, it is characterised in that: controlled including Radar Calibration
Module, Radar Calibration processing module and CAN bus equipment；
The Radar Calibration control module is used to be arranged the operating mode and calibrating parameters of radar, the Radar Calibration control module
Including radar operation mode setup module, Radar Calibration mode setup module and Radar Calibration control switch, the radar work
Mode setting module is used to be arranged the operating mode of radar, and the Radar Calibration mode setup module is used to be arranged the calibration of radar
Mode, the Radar Calibration control switch are used to start or stop the staking-out work of radar, and mould is arranged in the radar operation mode
Block, Radar Calibration mode setup module are electrically connected with Radar Calibration control switch；
The Radar Calibration processing module is used to complete processing work to Radar Calibration parameter and data, at the Radar Calibration
Managing module includes Radar Calibration data reception module, Radar Calibration data preprocessing module, Radar Calibration parameter calculating module, thunder
Up to calibration result output module, Radar Calibration result memory module, the Radar Calibration data reception module is for receiving calibration
Data, the Radar Calibration data preprocessing module are used for rejecting abnormalities data, and the Radar Calibration parameter calculating module is used for
Data are coordinately transformed to obtain integration objective data, the Radar Calibration result output module is used to export calibration result,
The Radar Calibration result memory module is for storing Radar Calibration result and calibrating parameters；
The CAN bus equipment is used to complete the communication connection work between caliberating device and radar；
The Radar Calibration control module, Radar Calibration processing module are electrically connected with CAN bus equipment.
2. vehicle-mounted millimeter wave blind area according to claim 1 monitors radar setting angle automatic calibration device, feature exists
In: the radar includes radar selftest module, Radar Targets'Detection module, radar clutter processing module, radar alert process mould
Block, radar communication module and Radar Calibration module, self-test of the radar selftest module for radar work, the radar target
Detection module is used to carry out target point detection work, and the radar clutter processing module is described for handling clutter
Radar alert process module is used to alarm to driver, and the radar communication module is described for connecting radar and other equipment
Radar Calibration module is for completing entire staking-out work, the radar selftest module, Radar Targets'Detection module, at radar clutter
Reason module, radar alert process module, Radar Calibration module are electrically connected with radar communication module.
3. vehicle-mounted millimeter wave blind area according to claim 1 monitors radar setting angle automatic calibration device, feature exists
In: the operating mode of radar is divided into normal mode of operation and staking-out work mode, and radar passes through radar in normal mode of operation
Selftest module, Radar Targets'Detection module, radar clutter processing module, radar alert process module and radar communication module carry out
It works normally, radar carries out staking-out work by Radar Targets'Detection module and Radar Calibration module in staking-out work mode.
4. vehicle-mounted millimeter wave blind area monitors radar setting angle automatic calibration method, which is characterized in that use such as claim
The described in any item vehicle-mounted millimeter wave blind areas 1-3 monitor radar setting angle automatic calibration device, comprising the following steps:
S101: installation caliberating device is simultaneously connect with vehicle body network
It will be installed as required in Radar Calibration device, master and slave radar is connected to vehicle body network by CAN bus connecting line；
S102: real-time reception information of vehicles
Starting vehicle is simultaneously in vehicle in movement, starts the body informations such as master and slave radar real-time reception target data and speed；
S103: radar start calibration process
Radar Calibration control module is enabled, it is staking-out work mould that current radar operating mode, which is arranged, by Radar Calibration control module
Calibrating parameters and calibration mode, master and slave radar start calibration process is arranged in formula；
S104: radar carries out real-time detection to target
Master and slave radar carries out real-time detection to target, and the target data received is sent to Radar Calibration processing module；
S105: handling target data, completes staking-out work
Radar Calibration processing module receives target data, and rejecting abnormalities data call Radar Calibration parameter calculating module to carry out thunder
It is calculated up to calibrating parameters, finally obtains the Radar Calibration parameter met the requirements, and synchronous preservation, complete Radar Calibration work.
5. vehicle-mounted millimeter wave blind area according to claim 4 monitors radar setting angle automatic calibration method, feature exists
In: the Radar Calibration control module treatment process the following steps are included:
S201: starting Radar Calibration control module configures CAN bus equipment parameters, receives the body informations such as speed, setting
Radar Calibration parameter, and it is staking-out work mode that radar, which is arranged,；
S202: starting Radar Calibration processing module carries out the calculating of Radar Calibration parameter after radar receives order；
S203: Radar Calibration control module waits the calibration result of Radar Calibration result output module, and calls Radar Calibration knot
Fruit memory module stores Radar Calibration parameter and Radar Calibration result, to complete Radar Calibration control process flow.
6. vehicle-mounted millimeter wave blind area according to claim 5 monitors radar setting angle automatic calibration method, feature exists
In: the Radar Calibration processing module treatment process the following steps are included:
S301: the Radar Calibration instruction that Radar Calibration control module is sent is received, according to calibration command reception target data；
S302: calling Radar Calibration data preprocessing module to carry out processing and abnormal data elimination to target data, calls radar
Calibrating parameters computing module is coordinately transformed processing to pretreated target data, is transformed into right angle by polar data and sits
Data are marked, corresponding target data under rectangular coordinate system is generated；
S303: data accumulation processing is carried out according to rule by Radar Calibration parameter calculating module, generates one group of stable target
Integrated data sequence；
S304: receiving the Radar Calibration that Radar Calibration control module is sent terminates order, calls Radar Calibration parameter calculating module
Radar Calibration parameter is calculated, and judges that Radar Calibration calculates whether goodness meets required precision, if being unsatisfactory for required precision, tires out
The integrated data sequence of family planning Cheng Xin calls Radar Calibration result memory module to store Radar Calibration if meeting required precision
As a result.
7. vehicle-mounted millimeter wave blind area according to claim 6 monitors radar setting angle automatic calibration method, feature exists
In: the calibration mode refers to the distance segment of a certain fixed interval of the calibration duration and setting according to setting, utilizes radar mark
Determine processing module and staking-out work is carried out to radar；The calibrating parameters include that Radar Calibration angle and Radar Calibration calculate goodness；
The calibration result include Radar Calibration angle, Radar Calibration calculate goodness and calibration whether Success Flag；The Radar Calibration
Angle include main radar calibration angle with from Radar Calibration angle；It includes main radar calibrated and calculated that the Radar Calibration, which calculates goodness,
Goodness calculates goodness with from Radar Calibration.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110641393A (en) * | 2019-08-14 | 2020-01-03 | 惠州市德赛西威智能交通技术研究院有限公司 | Automatic calibration method for vehicle-mounted radar, vehicle with driving assistance function and radar |
| CN111190150A (en) * | 2020-01-13 | 2020-05-22 | 江铃汽车股份有限公司 | Vehicle-mounted radar self-learning calibration method and system |
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| CN112526466A (en) * | 2020-12-03 | 2021-03-19 | 苏州测迅智能汽车科技有限公司 | Millimeter wave radar calibration test method based on environment |
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| CN113267778A (en) * | 2021-06-18 | 2021-08-17 | 珠海上富电技股份有限公司 | Vehicle-mounted millimeter wave radar factory detection device and method |
| CN113552546A (en) * | 2021-07-23 | 2021-10-26 | 北京经纬恒润科技股份有限公司 | Method and device for calibrating installation angle of vehicle-mounted radar |
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| CN113777569B (en) * | 2021-11-10 | 2022-02-15 | 济南和普威视光电技术有限公司 | Radar-linked photoelectric automatic dynamic calibration method and system |
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