CN110641393B - Automatic calibration method for vehicle-mounted radar, vehicle with driving assistance function and radar - Google Patents
Automatic calibration method for vehicle-mounted radar, vehicle with driving assistance function and radar Download PDFInfo
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- CN110641393B CN110641393B CN201910746808.7A CN201910746808A CN110641393B CN 110641393 B CN110641393 B CN 110641393B CN 201910746808 A CN201910746808 A CN 201910746808A CN 110641393 B CN110641393 B CN 110641393B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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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
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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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Abstract
The invention relates to a vehicle, wherein an angle radar of the vehicle is prestored with a unique serial number and a plurality of communication identification codes, and the communication identification codes can be automatically distributed as follows: determining a fixed communication identification code of each angle radar and position automatic identification by randomly using one of a plurality of communication identification codes to send information to the control host to realize binding with the control host: and determining the self installation position according to the information of the gear, the speed and the direction angle of the vehicle and the information of the speed and the azimuth angle of the target detected by the self, and storing the self installation position. The automatic calibration method for the vehicle-mounted radar can automatically distribute the communication identification code (communication ID) and automatically identify the installation position after the radar is assembled on the vehicle, thereby realizing the radar with indifference production and assembly angles, saving the labor and material cost, reducing the management and control cost of production and assembly links, and avoiding manual errors through automatic identification.
Description
Technical Field
The invention relates to a vehicle with intelligent driving assistance, in particular to an automatic calibration method for a vehicle-mounted radar, a vehicle with driving assistance function and a radar.
Background
The four corners of the existing intelligent vehicle with the automatic or semi-automatic driving function are all provided with general automatic driving, and the arrangement of millimeter wave angle radar sensors by automatic driving needs to install one millimeter wave angle radar at each of the four corners of the vehicle so as to realize 360-degree blind-area-free detection coverage of the whole vehicle. Meanwhile, in order to save the wiring of the vehicle body and the cost of the system, most of the time, the angle radars are hung in the same CAN network. The four angle radars have no difference in principle design, but the control host needs to know the specific communication address and installation position of each angle radar so as to know which radar the detection target is obtained by and in which direction. The existing method comprises the following steps: all angle radars share one communication cable, and each angle radar is burnt with different communication identification codes in advance, namely communication ID, and the installation position is defined in advance. In the vehicle assembly stage, an assembly worker needs to identify the position where a certain corner radar is to be installed, and meanwhile, the matching requirements of differentiated manufacturing management are provided for various links of corner radar production and manufacturing, warehouse logistics, assembly line distribution and the like. In actual engineering operation, material and labor cost are wasted due to differential design and manufacturing management, errors are easy to make, and rework cost is high.
Disclosure of Invention
The invention aims to provide an automatic calibration method for a vehicle-mounted radar, which can realize indifference production and assembly angle radar.
An automatic calibration method for vehicle-mounted radars is used for automatically distributing communication identification codes and automatically identifying positions of angle radars loaded on a vehicle, the angle radars on the vehicle are communicated with a control host through a vehicle body bus, each angle radar is prestored with a unique serial number and a plurality of communication identification codes, and the automatic calibration method for the vehicle-mounted radars comprises the following steps:
automatic allocation of communication identification codes: each angle radar determines a fixed communication identification code of each angle radar in a mode of randomly using one of a plurality of communication identification codes to send information to the control host to realize binding with the control host; and
and (3) automatic position identification: when the vehicle runs in a preset environment, each angle radar determines the installation position of the angle radar according to the gear, the speed and the direction angle information of the vehicle and the speed and the azimuth angle information of the target detected by the angle radar in combination, and sends the determined installation position of the angle radar to the control host for storage.
As an embodiment, the allocating of the communication identification code specifically includes the steps of: each angle radar randomly uses one of a plurality of communication identification codes to send a unique serial number of the angle radar to the control host; the control host receives the unique serial number, confirms whether a communication identification code corresponding to the unique serial number is recorded, and if not, sends a handshake signal to a corresponding angle radar and records the communication identification code and the unique serial number in a one-to-one corresponding relation; and recording the communication identification code used for the previous time by the angle radar which receives the handshake signal from the control host within a preset time period after the unique serial number is sent as a fixed communication identification code, sending the unique serial number of the angle radar to the control host by randomly using one of the communication identification codes again until the handshake signal from the control host is received within the preset time period after the unique serial number of the angle radar is sent, and finishing the binding with the control host.
Preferably, the unique sequence code is a unique serial number obtained in the production of the angle radar.
As an embodiment, the preset environment comprises at least two stationary reference targets, wherein at least one stationary reference target is arranged right in front of or right behind the vehicle, and the rest stationary reference targets are arranged at one of the following positions: vehicle left front, vehicle left side, vehicle left rear, vehicle right front, vehicle right side, vehicle right rear.
The invention also provides a vehicle with the driving assisting function, which comprises four corner radars arranged at four corners of the vehicle and a control host computer communicated with the four corner radars through a vehicle body bus. When the four corner radars are installed on a vehicle body, each radar is pre-stored with a unique serial number and a plurality of communication identification codes, and does not store self installation position information; an automatic allocation program and an automatic position identification program of a communication identification code are prestored in each angle radar, and the automatic allocation program of the communication identification code executes the following steps when being executed: judging whether a fixed communication identification code is stored in the control host, and if not, randomly sending a unique serial number of the control host to the control host by using one of a plurality of communication identification codes; and recording the communication identification code used at the previous time as a fixed communication identification code when a handshake signal from the control host is received within a preset time period after the unique serial number is sent, and sending the unique serial number to the control host by randomly using one of the plurality of communication identification codes again when the handshake signal from the control host is not received within the preset time period until the handshake signal from the control host is received within the preset time period after the unique serial number is sent and recording the fixed communication identification code. The location auto-id program, when executed, performs the steps of: and each angle radar determines the installation position of the angle radar by combining the speed and azimuth angle information of the target detected by the angle radar according to the gear, the speed and the direction angle information of the vehicle and stores the installation position.
Preferably, the unique sequence code is a unique serial number obtained in the production of the angle radar.
The present invention also provides a radar for a vehicle, which is pre-stored with a unique serial number, a plurality of communication identification codes, an automatic allocation program of the communication identification codes, and an automatic position identification program, and does not store self-installation position information. The automatic assignment program of communication identification codes performs the following steps when executed: judging whether a fixed communication identification code is stored in the communication terminal, and if not, randomly sending out the unique serial number of the communication terminal by using one of a plurality of communication identification codes; and recording the communication identification code used at the previous time as a fixed communication identification code when a preset handshake signal is received in a preset time period after the unique serial number of the communication identification code is sent, and sending out the unique serial number of the communication identification code by randomly using one of the plurality of communication identification codes again when the preset handshake signal is not received in the preset time period until the preset handshake signal is received in the preset time period after the unique serial number of the communication identification code is sent and the fixed communication identification code is recorded. The location auto-id program, when executed, performs the steps of: and determining the self installation position according to the information of the gear, the speed and the direction angle of the vehicle and the information of the speed and the azimuth angle of the target detected by the self, and storing the self installation position.
Preferably, the unique sequence code is a unique serial number obtained in radar production.
The automatic calibration method for the vehicle-mounted radar can automatically distribute the communication identification code (communication ID) and automatically identify the installation position after the radar is assembled on the vehicle, thereby realizing the radar with indifference production and assembly angles, saving the labor and material cost, reducing the management and control cost of production and assembly links, and avoiding manual errors through automatic identification.
Drawings
FIG. 1 is a schematic diagram illustrating a vehicle traveling in a predetermined environment according to an embodiment.
Detailed Description
The following describes the automatic calibration method of the vehicle-mounted radar in further detail with reference to specific embodiments and accompanying drawings.
As shown in fig. 1, in a preferred embodiment, one corner radar 11 is respectively disposed at four corners of the vehicle of the present invention, and the four corner radars 11 are connected to a control host 13 in the vehicle body through a vehicle body bus 12, such as but not limited to a CAN bus. When the four corner radars 11 are mounted on the vehicle body, each radar is pre-stored with a unique serial number, a plurality of communication identification codes, an automatic distribution program of a communication identification code and an automatic position identification program, and does not store self mounting position information, so that the corner radars can be produced and assembled without difference.
Wherein the automatic assignment procedure of the communication identification codes is used for enabling each angle radar to determine the fixed communication identification code of each angle radar by randomly using one of a plurality of communication identification codes to send information to the control host to realize the binding with the control host, and when executed, the automatic assignment procedure specifically executes the following steps S101 and S103.
S101, judging whether the communication identification code is stored in the communication terminal, and if not, randomly sending out the unique serial number of the communication terminal by using one of a plurality of communication identification codes. And in response, the control host confirms whether the communication identification code corresponding to the unique serial number is recorded or not after receiving the information which is sent by the angle radar and comprises the unique serial number, if not, the control host sends a handshake signal to the corresponding angle radar, simultaneously records the communication identification code and the unique serial number in a one-to-one correspondence relationship, and if the communication identification code corresponding to the unique serial number is recorded, the control host does not return the handshake signal. The unique sequence code is a unique serial number obtained in the production of the angle radar.
S103, when a handshake signal from the control host is received within a preset time period, for example, 500 milliseconds after the unique serial number is sent, recording the communication identifier used last time as a fixed communication identifier, and when the handshake signal from the control host is not received within the preset time period, sending the unique serial number to the control host again by randomly using one of the plurality of communication identifiers until the handshake signal from the control host is received within the preset time period after the unique serial number is sent, thereby completing the binding with the control host.
And the position automatic identification program is used for enabling the angle radar 11 to determine the self installation position by combining the speed and azimuth angle information of the target detected by the self radar according to the gear, the speed and the direction angle information of the vehicle and sending the determined self installation position to the control host for storage. Wherein the program is executed such that the vehicle should travel in a preset environment. The radar can judge that the vehicle is always driven forwards according to the obtained data of the vehicle body state, such as the gear is in the D gear and the vehicle speed is available, and then the radar can determine which observation position of four vehicle corners the radar is located at through the relative movement direction of the static target and the position of the radar in the environment, namely the installation position of the radar can be determined. In theory, the angle radar 11 can utilize the reflection of the actual use environment to achieve the confirmation of the installation position, but considering that the actual environment has some unpredictability, at least two static reference targets should be set in the preset environment, wherein at least one static reference target is set right in front of or right behind the vehicle, and the rest static reference targets are set at one of the following positions: vehicle left front, vehicle left side, vehicle left rear, vehicle right front, vehicle right side, vehicle right rear.
In the present embodiment, two stationary reference targets are provided, one stationary reference target 21 being disposed directly in front of the vehicle and the other stationary reference target 22 being disposed in front of the vehicle on the left. When the vehicle runs, the position of the radar can be determined according to the relative motion of the two static reference targets and each radar, for example, the target is far away from the radar body in the initial stage, and the radar is arranged behind the vehicle in the advancing direction; the target is close to the radar body, and the radar is installed in front of the advancing direction of the radar. The dotted line in the figure indicates the angular radar front direction. In a first preset time period after the vehicle is started, determining that the installation position of the angle radar which detects the static target in the left front and the right front of the angle radar is a left front angle, and determining that the installation position of the angle radar which detects the static target in the left front of the angle radar is a right front angle; and in a second preset time period after the vehicle is started, only the angle radar which detects the static target at the front right of the vehicle determines that the installation position of the angle radar is a left rear angle, and the angle radar which does not detect the static target in the first preset time period and the second preset time period determines that the installation position of the angle radar is a right rear angle. The first preset time period may be determined according to a preset environmental condition and a specific state of the vehicle during the vehicle test, for example, one of the stationary reference targets may be set at a position where the vehicle starts, the speed per hour is greater than 2km, and the moving distance exceeds 5 meters, so as to obtain the first preset time. The second preset time may be determined with reference to the determination manner of the first preset time.
In other embodiments, when at least two static reference targets are respectively arranged right in front of the vehicle and right in front of the vehicle, in a first preset time period after the vehicle is started, only the angle radar which detects the static target in front of the self right determines that the self-installation position is a front left angle, and the angle radars which detect the static target in front of the self left and right determine that the self-installation position is a front right angle; and in a second preset time period after the vehicle is started, only the angle radar which detects the static target in the front left direction determines that the installation position of the angle radar is the right rear angle, and the angle radar which does not detect the static target in the first preset time period and the second preset time period determines that the installation position of the angle radar is the left rear angle.
In other embodiments, when at least two static reference targets are respectively arranged right behind and in front of the vehicle, the angle radar which only detects the static target in front of the left or right of the vehicle in a first preset time period after the vehicle is started determines that the installation position of the angle radar is the front left corner in a second preset time period; the method comprises the steps that a static target is detected only in the left front of the radar in a first preset time period and is in a far state, and an angle radar which detects the static target in the right front of the radar in a second preset time period determines the installation position of the radar as a left rear angle; in a first preset time period and a second preset time period, only the angle radar which detects a static target at the front right of the angle radar and is far away from the target determines that the installation position of the angle radar is a left rear angle, and the angle radar which does not detect the static target in the first preset time period and the second preset time period determines that the installation position of the angle radar is a right front angle.
In other embodiments, when at least two stationary reference targets are respectively arranged right behind and right in front of the vehicle, the stationary target is detected only in the left front or right front of the vehicle within a first preset time period after the vehicle is started, and the angle radar which does not detect the stationary target within a second preset time period determines that the installation position of the vehicle is the right front angle; the method comprises the steps that a static target is detected only in the front right of the radar in a first preset time period and is in a far state, and an angle radar which detects the static target in the front left of the radar in a second preset time period determines that the installation position of the radar is a right rear angle; in a first preset time period and a second preset time period, only detecting a static target in the left front of the radar and determining the installation position of the radar as a left rear corner by using an angle radar with the target in a far state; and determining that the self installation position is a left front corner by the angle radar which does not detect the static target in the first preset time period and the second preset time period.
After the angle radar confirms the self installation position, the angle radar is stored and sent to the control host computer for recording, and the information detected by the angle radar is correctly used by the vehicle intelligent auxiliary system.
After the automatic calibration method of the vehicle-mounted radar is adopted, only the communication identification code (communication ID) of the angle radar needs to be allocated once in the vehicle manufacturing stage, the installation position is identified, and the communication identification code does not need to be allocated and identified again unless the angle radar has a fault and needs to be replaced and other special conditions. The identification of the installation position of the angle radar can be executed at the last station before the vehicle is off-line, namely when the state of each part of the vehicle is initialized or taught.
In the description of the present invention, it is to be understood that terms such as "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, which indicate orientations or positional relationships, are used based on the orientations or positional relationships shown in the drawings only for the convenience of describing the present invention and for the simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
While the invention has been described in conjunction with the specific embodiments set forth above, it is evident that many alternatives, modifications, and variations will be apparent to those skilled in the art in light of the foregoing description. Accordingly, it is intended to embrace all such alternatives, modifications, and variations that fall within the spirit and scope of the appended claims.
Claims (7)
1. An automatic calibration method for vehicle-mounted radars is used for automatically distributing communication identification codes and automatically identifying positions of angle radars loaded on a vehicle, the angle radars on the vehicle are communicated with a control host through a vehicle body bus, each angle radar is prestored with a unique serial number and a plurality of communication identification codes, and the automatic calibration method for the vehicle-mounted radars comprises the following steps:
automatic allocation of communication identification codes: each angle radar determines a fixed communication identification code of each angle radar in a mode of randomly using one of a plurality of communication identification codes to send information to the control host to realize binding with the control host; and
and (3) automatic position identification: when the vehicle runs in a preset environment, each angle radar determines a self-installation position according to the information of a vehicle gear, a vehicle speed and a direction angle and by combining the information of the speed and the azimuth angle of a target detected by the radar and sends the determined self-installation position to the control host for storage;
the allocation of the communication identification code specifically comprises the following steps:
each angle radar randomly uses one of a plurality of communication identification codes to send a unique serial number of the angle radar to the control host;
the control host receives the unique serial number, confirms whether a communication identification code corresponding to the unique serial number is recorded, and if not, sends a handshake signal to a corresponding angle radar and records the communication identification code and the unique serial number in a one-to-one corresponding relation; and
the angle radar which receives the handshake signals from the control host within the preset time period after sending the unique serial number of the angle radar records the communication identification code used for the previous time as a fixed communication identification code, the angle radar which does not receive the handshake signals from the control host within the preset time period randomly uses one of the plurality of communication identification codes again to send the unique serial number of the angle radar to the control host until the handshake signals from the control host are received within the preset time period after sending the unique serial number of the angle radar, and the angle radar is bound with the control host.
2. The automatic calibration method for the vehicle-mounted radar according to claim 1, wherein the unique sequence code is a unique serial number obtained in the production of the angular radar.
3. The automatic calibration method for the vehicle-mounted radar according to claim 1, wherein the preset environment comprises at least two static reference targets, at least one of the static reference targets is arranged right in front of or right behind the vehicle, and the rest of the static reference targets are arranged at one of the following positions: vehicle left front, vehicle left side, vehicle left rear, vehicle right front, vehicle right side, vehicle right rear.
4. A vehicle with a driving assisting function comprises four corner radars arranged at four corners of the vehicle and a control host computer communicated with the four corner radars through a vehicle body bus, and is characterized in that when the four corner radars are installed on a vehicle body, each radar is prestored with a unique serial number and a plurality of communication identification codes and does not store self installation position information; an automatic allocation program and an automatic position identification program of a communication identification code are prestored in each angle radar, and the automatic allocation program of the communication identification code executes the following steps when being executed:
judging whether a fixed communication identification code is stored in the control host, and if not, randomly sending a unique serial number of the control host to the control host by using one of a plurality of communication identification codes; and
recording a communication identification code used at the previous time as a fixed communication identification code when a handshake signal from the control host is received within a preset time period after the unique serial number of the communication identification code is sent, and sending the unique serial number of the communication identification code to the control host again by randomly using one of the plurality of communication identification codes when the handshake signal from the control host is not received within the preset time period until the handshake signal from the control host is received within the preset time period after the unique serial number of the communication identification code is sent and recording the fixed communication identification code;
the location auto-id program, when executed, performs the steps of:
and each angle radar determines the installation position of the angle radar by combining the speed and azimuth angle information of the target detected by the angle radar according to the gear, the speed and the direction angle information of the vehicle and stores the installation position.
5. The vehicle of claim 4, wherein the unique serial number is a unique serial number obtained at the time of production of the angle radar.
6. A radar for a vehicle, characterized in that: the radar is prestored with a unique serial number, a plurality of communication identification codes, an automatic distribution program of the communication identification codes and an automatic position identification program, and does not store self-installation position information; the automatic assignment program of communication identification codes performs the following steps when executed:
judging whether a fixed communication identification code is stored in the communication terminal, and if not, randomly sending out the unique serial number of the communication terminal by using one of a plurality of communication identification codes; and
recording a communication identification code used at the previous time as a fixed communication identification code when a preset handshake signal is received in a preset time period after the unique serial number of the communication identification code is sent, and sending the unique serial number of the communication identification code of the communication;
the location auto-id program, when executed, performs the steps of:
and determining the self installation position according to the information of the gear, the speed and the direction angle of the vehicle and the information of the speed and the azimuth angle of the target detected by the self, and storing the self installation position.
7. Radar according to claim 6, characterised in that the unique sequence code is a unique serial number obtained at the time of radar production.
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