CN110244269A - A kind of vehicle-mounted forward direction millimetre-wave radar installation error method for self-calibrating - Google Patents
A kind of vehicle-mounted forward direction millimetre-wave radar installation error method for self-calibrating Download PDFInfo
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- CN110244269A CN110244269A CN201910559381.XA CN201910559381A CN110244269A CN 110244269 A CN110244269 A CN 110244269A CN 201910559381 A CN201910559381 A CN 201910559381A CN 110244269 A CN110244269 A CN 110244269A
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention discloses a kind of vehicle-mounted forward direction millimetre-wave radar installation error method for self-calibrating, comprising the following steps: S100, is mounted on vehicle designated mounting position to radar for preceding, guarantees the precision of installation, error is less than calibration angle, by installation errorS200, test phase, vehicle are greater than 15 kilometers of speed hourly along test road, and 4 radar corner reflectors are placed in different horizontal and vertical positions in test road both sides, every 80 milliseconds of operation test programs pair▽ β is once re-scaled；S300, vehicle operation phase, test program to speed carry out real-time monitoring, when speed for the first time be greater than 15 kilometers it is hourly when, carry out first time online automatic Calibration；According to speed itself, 4 maximum static targets of reflection power in environment are taken, it is current for calculatingThe value of Δ β is compared with the value of storage.The present invention solves the vehicle-mounted self-alignment method of forward direction millimetre-wave radar installation error by optimization to Doppler effect radar speed equation and compensation.
Description
Technical field
The present invention relates to a kind of vehicle-mounted forward direction millimetre-wave radar installation error method for self-calibrating.
Background technique
The advanced driving assistance system of forward direction application of MMW radar, such as adaptive cruise ACC system, automatic emergency brake
AEB system.By the electromagnetic wave of transmitting specific frequency (76GHz-81GHz), echo-signal is received and handled to detect front mesh
Target characterisitic parameter, such as distance, relative velocity, angle and reflection power etc..Since electromagnetic wave of the antenna to transmitting has done poly- wave
Processing, therefore the detection of radar has certain directionality, investigative range (Field of in certain angle of release perpendicular to antenna surface
view Fov).Therefore radar is equipped with certain error requirements, when mounting inclination angle spends greatly, causes antenna surface and travels
The deviation in direction is excessive, will cause the decaying of echo power and can not be accurately detected target.When mounting inclination angle degree is being allowed
Within the scope of, angular error bring can be detected error correction by demarcating.But calibrating procedure needs to dispatch from the factory in vehicle
Before, it is completed in depot with accurate expensive calibration facility.The time is not only expended, once and vehicle frame position generation slight change
(such as collision or loosening), radar is required to return to genuine and re-scales, and causes very big trouble.
Summary of the invention
The object of the invention is that providing a kind of vehicle-mounted forward direction millimetre-wave radar installation mistake to solve the above-mentioned problems
Poor method for self-calibrating.
To achieve the goals above, of the invention to be achieved through the following technical solutions: a kind of vehicle-mounted forward direction millimeter wave
Radar installation error method for self-calibrating, comprising the following steps:
S100, it is mounted on vehicle designated mounting position to radar by preceding, guarantees that the precision of installation, error are less than calibration angle
Degree, by installation error initial value horizontal installation angle error
S200, test phase, vehicle along test road be greater than 15 kilometers of speed hourly, by test road,
It tests road both sides and places 4 radar corner reflectors, the horizontal and vertical angle of placement location in different horizontal and vertical positions
Degree difference in investigative range is big, every 80 milliseconds of operation test programs to horizontal installation angle errorRight angle setting angle
Spend errorOnce re-scaled；
S300, vehicle operation phase, test program carry out real-time monitoring to speed, when speed is greater than 15 kilometers often for the first time
When hour, first time online automatic Calibration is carried out；According to speed itself, take 4 reflection powers in environment maximum quiet
Only target, it is current for calculatingThe value of Δ β is compared with the value of storage；
When deviation is greater than calibration angle, retest shows mistake if 3 tests do not pass through, and automatic Calibration loses
It loses, checks radar installation；
It is currently detectedThe difference of the last round of value of the value and storage of Δ β is in range, by storing to first n
It is current that numerical value takes weighted average to obtainΔ β value, as currently used angle correction；
Present speed be less than or environment in can not get 4 effective static targets, retried after waiting the several seconds, until next time
The condition of automatic Calibration meets.
The test program is to be obtained using one frame detectable signal of radar emission by the processing to this frame echo-signal
Each angle anti-radial velocity Vr and angle informationThe wheel speed sensors speed for reading this frame simultaneously substitutes into following formula meter
It calculatesThe value of Δ β, as calibration value；Involved formula calculates as follows:
Preferably, in the test programThe calculating of Δ β such as encounters deviation value, using maximum Likelihood come
Make estimation.
In summary the invention has the following advantages:
The present invention solves vehicle-mounted forward direction millimeter wave thunder by optimization to Doppler effect radar speed equation and compensation
Up to the self-alignment method of installation error.
Detailed description of the invention
Fig. 1 is the flow diagram of the method for the present invention.
Fig. 2 is principle of the invention structural schematic diagram.
Fig. 3 is the logic diagram of step S300 algorithm of the present invention.
Specific embodiment
The present invention is described in further detail for embodiment in reference to the accompanying drawing, but does not constitute to of the invention
Any restrictions.
It please refers to shown in Fig. 2, a kind of vehicle-mounted forward direction millimetre-wave radar installation error method for self-calibrating, comprising the following steps:
S100, it is mounted on vehicle designated mounting position to radar by preceding, guarantees that the precision of installation, error are less than calibration angle
Degree, by installation error initial value horizontal installation angle error
S200, test phase, vehicle along test road be greater than 15 kilometers of speed hourly, by test road,
It tests road both sides and places 4 radar corner reflectors, the horizontal and vertical angle of placement location in different horizontal and vertical positions
Degree difference in investigative range is big, and position itself is not necessarily to accurately, such asβ1≈0；P2 ≈ 10,
3 ≈ 0 of β,4 ≈ -5 β, every 80 milliseconds of operation test programs to horizontal installation angle errorRight angle setting angle
Spend errorOnce re-scaled；
S300, vehicle operation phase, test program carry out real-time monitoring to speed, when speed is greater than 15 kilometers often for the first time
When hour, first time online automatic Calibration is carried out；According to speed itself, take 4 reflection powers in environment maximum quiet
Only target, it is current for calculatingThe value of Δ β is compared with the value of storage；
When deviation is greater than calibration angle, retest shows mistake if 3 tests do not pass through, and automatic Calibration loses
It loses, checks radar installation；
It is currently detectedThe difference of the last round of value of the value and storage of Δ β is in range, by storing to first n
It is current that numerical value takes weighted average to obtainΔ β value, as currently used angle correction；
Present speed be less than or environment in can not get 4 effective static targets, retried after waiting the several seconds, until next time
The condition of automatic Calibration meets.
Refering to Figure 1, it is worth noting that, since Doppler effect radar can detect target and detection vehicle
Between radial velocity scalar, if target (target) be in itself it is static, and radar installation it is error free.Radar antenna face is complete
Vertical with direction of travel (x), this speed detected is exactly one for detecting vehicle travel speed itself in the target direction
Component.
The diametrically speed that Vr is detected
Vx detects vehicle travel speed
θ target and detection vehicle vertical direction angle
β90deg-θ
Target and detection vehicle angle in the horizontal direction
When radar is equipped with certain error, wherein horizontal installation angle error isRight angle setting angular error is Δ β
Due to β > > Δ β,
Wherein Vr,It can be obtained by radar detection, Vx can be obtained by reading the signal of wheel speed sensors
The light velocity in C0 air
The Doppler frequency that fd is detected
The centre frequency of f0 frequency modulation.
It please refers to shown in Fig. 3, the specific embodiment of step S300:
S301 reads current vehicle speed value Vx0 from CAN (wheel speed sensors in controller local area network)；
S302, when speed for the first time be greater than 15 kilometers it is hourly when, carry out first time online automatic Calibration；
S303 takes 4 maximum static targets of reflection power in environment according to speed itself, current for calculatingThe value of Δ β；
S304, present speed be less than or environment in can not get 4 effective static targets, retried after waiting the several seconds, directly
Condition to next automatic Calibration meets；
Finally, by currentThe value of Δ β is compared with the value of storage；
When deviation is greater than calibration angle, retest shows mistake if 3 tests do not pass through, and automatic Calibration loses
It loses, checks radar installation；
It is currently detectedThe difference of the last round of value of the value and storage of Δ β is in range, by storing to first n
It is current that numerical value takes weighted average to obtainΔ β value, as currently used angle correction.
It should be pointed out that the present disclosure is not limited to aforementioned embodiments and can be in the feelings of the spirit without departing substantially from the disclosure
It is suitably changed under condition.For example, reducing and increasing radar corner reflector, maximal possibility estimation precision is improved；For example, changing initial
Speed under different speeds repeatedly demarcate after being averaged by measurementΔβ；For example, decreasing or increasing the period of test program；
In addition, can also will be currently detected for better timely and accurately feedback dataThe value and test phase of Δ β is installed
Error initial value horizontal installation angle errorRight angle setting angular errorCompare after taking difference be currently detectedThe value of Δ β and the last round of value of storage do weighted average and obtain new fiducial value as currently used angle correction.
With illustrated embodiment for better embodiment of the invention, only it is used to facilitate to illustrate the present invention, not to the present invention
It makes any form of restriction, any those of ordinary skill in the art, if not departing from the proposed technology of the present invention
In the range of feature, using the equivalent embodiment for locally changing or modifying made by disclosed technology contents, and not
It is detached from technical feature content of the invention, in the range of still falling within the technology of the present invention feature.
Claims (3)
1. a kind of vehicle-mounted forward direction millimetre-wave radar installation error method for self-calibrating, which comprises the following steps:
S100, it is mounted on vehicle designated mounting position to radar by preceding, guarantees that the precision of installation, error are less than calibration angle, it will
Installation error initial value horizontal installation angle error
S200, test phase, vehicle, to be greater than 15 kilometers of speed hourly, by testing road, are tested along test road
4 radar corner reflectors are placed in different horizontal and vertical positions in road both sides, and the horizontal and vertical angle of placement location exists
Difference is big in investigative range, every 80 milliseconds of operation test programs to horizontal installation angle errorRight angle setting angle is missed
DifferenceOnce re-scaled；
S300, vehicle operation phase, test program carry out real-time monitoring to speed, when speed is greater than 15 kilometers per hour for the first time
When, carry out first time online automatic Calibration；According to speed itself, the maximum static mesh of 4 reflection powers in environment is taken
Mark, it is current for calculatingThe value of Δ β is compared with the value of storage；
When deviation is greater than calibration angle, retest shows mistake, automatic Calibration failure, inspection if 3 tests do not pass through
Mine survey reaches installation；
It is currently detectedThe difference of the last round of value of the value and storage of Δ β is in range, by preceding n numerical value storage
Weighted average is taken to obtain currentΔ β value, as currently used angle correction；
Present speed be less than or environment in can not get 4 effective static targets, retried after waiting the several seconds, until next automatic
The condition of calibration meets.
2. a kind of vehicle-mounted forward direction millimetre-wave radar installation error method for self-calibrating according to claim 1, it is characterised in that:
The test program is, by the processing to this frame echo-signal, to show that each angle is anti-using one frame detectable signal of radar emission
Radial velocity Vr and angle informationThe wheel speed sensors speed for reading this frame simultaneously substitutes into following formula and calculates
The value of Δ β, as calibration value；Involved formula calculates as follows:
3. a kind of vehicle-mounted forward direction millimetre-wave radar installation error method for self-calibrating according to claim 2, it is characterised in that:
In the test programThe calculating of Δ β such as encounters deviation value, and estimation is made using maximum Likelihood.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110716184A (en) * | 2019-10-18 | 2020-01-21 | 安徽江淮汽车集团股份有限公司 | Radar system angle calibration method, device, equipment and storage medium |
| CN110954882A (en) * | 2019-12-30 | 2020-04-03 | 苏州安智汽车零部件有限公司 | Radar installation calibration device and calibration method thereof |
| CN111537968A (en) * | 2020-05-12 | 2020-08-14 | 江铃汽车股份有限公司 | Angle radar calibration method and system |
| CN111624566A (en) * | 2020-07-30 | 2020-09-04 | 北汽福田汽车股份有限公司 | Radar installation angle calibration method and device |
| CN111625024A (en) * | 2020-04-28 | 2020-09-04 | 东风汽车集团有限公司 | Angle adjusting method of vehicle-mounted millimeter wave radar, BCM controller and system |
| CN111856418A (en) * | 2020-07-29 | 2020-10-30 | 深圳安智杰科技有限公司 | Vehicle-mounted radar phase calibration method and device, electronic equipment and storage medium |
| CN112578355A (en) * | 2020-12-16 | 2021-03-30 | 百度在线网络技术（北京）有限公司 | Radar calibration method, device, equipment and storage medium |
| CN112666532A (en) * | 2020-12-31 | 2021-04-16 | 上海网车科技有限公司 | Vehicle-mounted millimeter wave radar self-calibration method based on specific-shape metal |
| CN112881989A (en) * | 2019-11-29 | 2021-06-01 | 上海海拉电子有限公司 | Self-calibration method of millimeter wave radar on vehicle, electronic device and storage medium |
| CN113126046A (en) * | 2021-04-09 | 2021-07-16 | 安庆楚航电子科技有限公司 | Vehicle-mounted forward millimeter wave radar installation error self-calibration method |
| CN114646933A (en) * | 2022-05-23 | 2022-06-21 | 南京楚航科技有限公司 | 4D millimeter wave radar pitching installation error static measurement method |
| CN116482627A (en) * | 2023-04-18 | 2023-07-25 | 江苏和正特种装备有限公司 | Combined calibration method based on millimeter wave radar and monocular camera |
| CN116593973A (en) * | 2023-03-29 | 2023-08-15 | 深圳承泰科技有限公司 | Method and system for automatically calibrating installation angle of vehicle-mounted millimeter wave radar |
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2019
- 2019-06-26 CN CN201910559381.XA patent/CN110244269A/en not_active Withdrawn
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110716184A (en) * | 2019-10-18 | 2020-01-21 | 安徽江淮汽车集团股份有限公司 | Radar system angle calibration method, device, equipment and storage medium |
| CN110716184B (en) * | 2019-10-18 | 2021-08-10 | 安徽江淮汽车集团股份有限公司 | Radar system angle calibration method, device, equipment and storage medium |
| CN112881989A (en) * | 2019-11-29 | 2021-06-01 | 上海海拉电子有限公司 | Self-calibration method of millimeter wave radar on vehicle, electronic device and storage medium |
| CN112881989B (en) * | 2019-11-29 | 2024-06-04 | 上海海拉电子有限公司 | Self-calibration method of millimeter wave radar on vehicle, electronic equipment and storage medium |
| CN110954882A (en) * | 2019-12-30 | 2020-04-03 | 苏州安智汽车零部件有限公司 | Radar installation calibration device and calibration method thereof |
| CN111625024B (en) * | 2020-04-28 | 2022-02-11 | 东风汽车集团有限公司 | Angle adjusting method of vehicle-mounted millimeter wave radar, BCM controller and system |
| CN111625024A (en) * | 2020-04-28 | 2020-09-04 | 东风汽车集团有限公司 | Angle adjusting method of vehicle-mounted millimeter wave radar, BCM controller and system |
| CN111537968A (en) * | 2020-05-12 | 2020-08-14 | 江铃汽车股份有限公司 | Angle radar calibration method and system |
| CN111856418A (en) * | 2020-07-29 | 2020-10-30 | 深圳安智杰科技有限公司 | Vehicle-mounted radar phase calibration method and device, electronic equipment and storage medium |
| CN111624566A (en) * | 2020-07-30 | 2020-09-04 | 北汽福田汽车股份有限公司 | Radar installation angle calibration method and device |
| CN112578355A (en) * | 2020-12-16 | 2021-03-30 | 百度在线网络技术（北京）有限公司 | Radar calibration method, device, equipment and storage medium |
| CN112578355B (en) * | 2020-12-16 | 2024-07-19 | 百度在线网络技术（北京）有限公司 | Radar calibration method, device, equipment and storage medium |
| CN112666532A (en) * | 2020-12-31 | 2021-04-16 | 上海网车科技有限公司 | Vehicle-mounted millimeter wave radar self-calibration method based on specific-shape metal |
| CN112666532B (en) * | 2020-12-31 | 2024-09-27 | 上海网车科技有限公司 | Vehicle millimeter wave radar self-calibration method based on metal with specific shape |
| CN113126046A (en) * | 2021-04-09 | 2021-07-16 | 安庆楚航电子科技有限公司 | Vehicle-mounted forward millimeter wave radar installation error self-calibration method |
| CN114646933A (en) * | 2022-05-23 | 2022-06-21 | 南京楚航科技有限公司 | 4D millimeter wave radar pitching installation error static measurement method |
| CN116593973A (en) * | 2023-03-29 | 2023-08-15 | 深圳承泰科技有限公司 | Method and system for automatically calibrating installation angle of vehicle-mounted millimeter wave radar |
| CN116593973B (en) * | 2023-03-29 | 2024-08-20 | 深圳承泰科技有限公司 | Method and system for automatically calibrating installation angle of vehicle-mounted millimeter wave radar |
| CN116482627A (en) * | 2023-04-18 | 2023-07-25 | 江苏和正特种装备有限公司 | Combined calibration method based on millimeter wave radar and monocular camera |
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Application publication date: 20190917 |
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