CN111398924B - Radar installation angle calibration method and system - Google Patents
Radar installation angle calibration method and system Download PDFInfo
- Publication number
- CN111398924B CN111398924B CN202010356705.2A CN202010356705A CN111398924B CN 111398924 B CN111398924 B CN 111398924B CN 202010356705 A CN202010356705 A CN 202010356705A CN 111398924 B CN111398924 B CN 111398924B
- Authority
- CN
- China
- Prior art keywords
- radar
- installation angle
- candidate
- determining
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The embodiment of the invention discloses a radar installation angle calibration method and system. The method comprises the following steps: acquiring position point information of a candidate vehicle in a monitoring range of a vehicle to be detected; the position point information is obtained through radar monitoring installed on a vehicle to be detected; performing straight line fitting according to the position point information, and determining a track line of a target vehicle positioned on an adjacent lane of the vehicle to be detected; and determining the current installation angle of the radar according to the characteristic parameters of the track line and the standard installation angle of the radar. The radar installation angle calibration method and device solve the problems that the radar installation angle is difficult to calibrate in real time and the installation angle determination process is complex, achieve the effect of determining the radar installation angle in real time and effectively improve the radar installation angle calibration accuracy in a concise calculation mode.
Description
Technical Field
The embodiment of the invention relates to the technical field of automation, in particular to a radar installation angle calibration method and system.
Background
Along with the improvement of the range and the precision requirement of the intelligent vehicle on the detection of the targets around the vehicle, the requirement of vehicle-mounted target detection cannot be met only by installing a millimeter wave radar in front of the intelligent vehicle. The blind area monitoring radar at the rear of the vehicle can detect the distance, the relative speed and the direction of a target, has the advantages of high working frequency, short wavelength, small antenna size, strong adaptability, capability of working normally in the dark and the like, more and more intelligent vehicles start to be installed to the radar to monitor the distance, the direction and the speed information of the target vehicle or the obstacle at the rear of the driver, and the safe driving at the rear is realized by utilizing the information.
However, due to different vehicle types, different mounting bracket architectures, human factors and the like, a certain gap exists between the actual mounting angle of the radar and the design mounting angle, if angle correction is not performed, detection errors can be caused, misjudgment of the relative directions of the target vehicle and surrounding vehicles is caused, and potential safety hazards exist.
The existing radar installation angle calibration method has the problems of complicated process, more design parameters, and the like, and needs to aid in a special auxiliary measuring tool, and the calibration accuracy is low, so that the radar installation angle is difficult to accurately calibrate simply and quickly.
Disclosure of Invention
The embodiment of the invention provides a radar installation angle calibration method and a radar installation angle calibration system, which are used for improving the accuracy of radar installation angle calibration and further improving the safety of vehicle running.
In one embodiment, the embodiment of the invention provides a radar installation angle calibration method, which comprises the following steps:
acquiring position point information of a candidate vehicle in a monitoring range of a vehicle to be detected; the position point information is obtained through radar monitoring installed on a vehicle to be detected;
performing straight line fitting according to the position point information, and determining a track line of a target vehicle positioned on an adjacent lane of the vehicle to be detected;
and determining the current installation angle of the radar according to the characteristic parameters of the track line and the standard installation angle of the radar.
In another embodiment, the embodiment of the invention also provides a radar installation angle calibration system, which comprises:
the position point information acquisition module is used for acquiring position point information of the candidate vehicle in the monitoring range of the vehicle to be detected; the position point information is obtained through radar monitoring installed on a vehicle to be detected;
the track line acquisition module is used for carrying out straight line fitting according to the position point information and determining a track line of a target vehicle positioned on an adjacent lane of the vehicle to be detected;
and the current installation angle determining module is used for determining the current installation angle of the radar according to the characteristic parameters of the track line and the standard installation angle of the radar.
In the embodiment of the invention, the radar installed on the vehicle to be detected is used for monitoring the position point information of the candidate vehicle in the monitoring range of the vehicle to be detected, and the linear fitting is carried out according to the position point information, so that the track line of the target vehicle positioned on the adjacent lane of the vehicle to be detected is determined, the track information of the target vehicle on the lane is accurately obtained in real time, the current installation angle of the radar is determined according to the characteristic parameters of the track line and the standard installation angle of the radar, the real-time calibration of the installation angle is realized, the current installation angle is calculated according to the characteristic parameters of the track line and the standard installation angle by means of the characteristic that the running track of the target vehicle on the adjacent lane is a straight line, and the accuracy of the calibration of the current installation angle is effectively improved.
Drawings
FIG. 1 is a flow chart of a radar installation angle calibration method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of location point information acquisition according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a radar operation mode conversion according to an embodiment of the present invention;
FIG. 4 is a first schematic view of an angular relationship according to an embodiment of the present invention;
FIG. 5 is a second schematic view of an angular relationship according to an embodiment of the present invention;
FIG. 6 is a flowchart of a radar installation angle calibration method according to another embodiment of the present invention;
FIG. 7 is a third schematic view of an angular relationship according to an embodiment of the present invention;
FIG. 8 is a flowchart of a radar installation angle calibration method according to another embodiment of the present invention;
fig. 9 is a schematic structural diagram of a radar installation angle calibration system according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Fig. 1 is a flowchart of a radar installation angle calibration method according to an embodiment of the present invention. The radar installation angle calibration method provided by the embodiment of the invention can be suitable for determining the condition of the radar installation angle on the vehicle to be tested, and typically, the embodiment of the invention can be suitable for calibrating the current radar installation angle of the blind area of the vehicle to be tested on an actual road in real time. The method can be executed by a radar installation angle calibration system, the system can be realized by a software and/or hardware mode, and the system can be integrated in a vehicle to be tested. Referring to fig. 1, the method in the embodiment of the present invention specifically includes:
s110, acquiring position point information of a candidate vehicle in a monitoring range of a vehicle to be detected; the position point information is obtained through radar monitoring installed on the vehicle to be detected.
The vehicle to be tested is a vehicle for calibrating the installation angle of the radar. The vehicle to be tested can be a vehicle which is stationary on a lane, or can be a vehicle which runs on the lane. The candidate vehicles in the monitoring range of the vehicle to be detected can be vehicles which can be monitored by the radar on the vehicle to be detected, can be vehicles which normally run on adjacent lanes of the vehicle to be detected, can be vehicles with average running speed larger than the average running speed of the vehicle to be detected, overtake from the rear of the vehicle to be detected, and can also be vehicles on other lanes. In the embodiment of the application, the radar installed on the vehicle to be tested can be a radar located in a blind area of the vehicle to be tested, can be a master radar, can also be a slave radar, and can be calibrated at the same time. As shown in fig. 2, the radar 2 mounted on the vehicle 1 to be measured acquires position point information of the target vehicle 4, which is used for calibrating the mounting angle of the radar 2, and the radar 3 mounted on the vehicle 1 to be measured acquires position point information of the target vehicle 5, which is used for calibrating the mounting angle of the radar 2.
At present, when the radar is calibrated, a known running track of the vehicle to be tested relative to the target vehicle needs to be designed in advance, and the installation angle of the radar on the vehicle to be tested is calculated based on the related parameters of the known running track and the data monitored by the radar. The scheme cannot realize real-time performance, only can specially set a calibration scene and calibration time, calibrate the radar installation angle, and perform calibration calculation of a plurality of radars based on known various diversified tracks, and the calculation process is complicated. In the embodiment of the application, the position point information of the candidate vehicle in the monitoring range of the vehicle to be detected is directly obtained, so that the real-time calibration of the radar installation angle can be realized, and the limitation of a calibration scene and calibration time is avoided. In addition, the characteristics that the track of the target vehicle on the adjacent lane is a straight line parallel to the lane are considered, and the radar installation angle is determined according to the straight line track of the target vehicle on the adjacent lane, so that the calculation process is simplified, and the calculation accuracy is improved. The radar monitors the position point information of the target vehicle, so that the detection data can be accurately obtained without other measuring tools, and the referenceability of the detection data is improved.
In the embodiment of the application, the working modes of the radar can be set, including a radar self-calibration mode, a radar calibration verification mode and a radar normal detection mode. In a radar self-calibration mode, the system achieves first calibration of the radar installation angle. In the radar calibration verification mode, the method for recalibrating is mainly aimed at the condition that the radar is restarted or the radar is subjected to collision looseness, the recalibration method can be the same as the method for first calibration, and is compared with the result of first calibration to determine a new current installation angle, for example, when the difference between the radar installation angle obtained by recalibration and the radar installation angle obtained by first calibration is smaller than a preset threshold value difference, the first calibration result is considered to be accurate, the installation angle is not updated, and if the difference is larger than or equal to the preset threshold value difference, and the number of the current installation angles obtained by recalibration is large, the reliability is high, and the installation angle of the radar is updated according to the current installation angle obtained by recalibration. In a radar normal detection mode, the radar detects obstacles around the vehicle to be detected so as to realize safety reminding. As shown in fig. 3, the transition between the three modes of operation of the radar is: and if the self-calibration is successful and the calibration verification is successful, entering a normal detection mode.
And S120, performing straight line fitting according to the position point information, and determining a track line of a target vehicle positioned on an adjacent lane of the vehicle to be detected.
Because the target vehicle is a vehicle positioned on an adjacent lane of the vehicle to be detected, the running of the target vehicle is along the adjacent lane, and the running track is a straight line, so that the position points are subjected to straight line fitting, and the track line of the target vehicle is formed. The straight line fitting method may be a least squares method. In this embodiment of the present application, performing straight line fitting according to the location point information to obtain a trajectory line of the target vehicle includes: performing straight line fitting according to the position point information to obtain candidate track lines; and selecting a candidate track line with the correlation degree larger than a preset correlation degree threshold value as a track line of a target vehicle positioned on an adjacent lane of the vehicle to be tested.
Since the candidate vehicles in the monitoring range of the vehicle to be detected are not necessarily vehicles which travel on the adjacent lanes of the vehicle to be detected in a straight line, and may also be vehicles which change lanes from the rear of the vehicle to be detected to the adjacent lanes, the radar on the vehicle to be detected can always monitor the position point information of the target vehicle, but the travel track of the target vehicle is not a straight line parallel to the lanes due to the variable lane travel of the target vehicle, so that the track line obtained in the situation needs to be eliminated. The method comprises the steps of obtaining a candidate track line through straight line fitting according to position point information of a target vehicle, calculating a correlation parameter of the candidate track line, namely fitting degree between the candidate track line obtained through fitting and a position point, if the correlation degree is smaller than or equal to a preset correlation threshold value, indicating that the fitting degree between the candidate track line and the position point is low, and enabling deviation to be large, so that the candidate track line is removed, and selecting the candidate track line with the correlation degree larger than the preset correlation threshold value as the track line of the target vehicle.
In this embodiment of the present application, before performing straight line fitting according to the location point information to obtain a track line of the target vehicle, the method further includes: converting the position point information in the polar coordinates obtained by radar monitoring into position point information in a vehicle body coordinate system taking the radar as an origin; and processing the position point information in the vehicle body coordinate system with the radar as an origin by adopting a filtering algorithm.
Illustratively, due to radar acquisitionIn polar coordinate informationThe representation, as shown in FIG. 4, where R is the radial distance between the target vehicle and the radar, +.>Is the included angle between the connecting line of the target vehicle and the radar and the normal line of the radar. Establishing a vehicle body coordinate system which takes a radar as a coordinate origin and takes the direction parallel to the vehicle body of the vehicle to be detected as the x-axis direction, and carrying out +.> The position point information (x, y) in the vehicle body coordinate system with the radar as the origin of coordinates is converted, so that the subsequent calculation is facilitated, and the conversion formula is as follows:
wherein alpha is 0 Is a standard installation angle. Because the radar possibly has inaccurate position point information of the target vehicle caused by accidental errors in the data acquisition process, and the position point of the target vehicle deviates from the position point of the linear track, abnormal values exist in the position point information, the filtering processing can be carried out on the position point information to remove the abnormal values, so that the accuracy of the position point is improved, and the accuracy of radar installation angle calibration is further improved. The filtering method can adopt Kalman filtering; for a target vehicle trajectory line suddenly deviating from a straight-ahead lane, screening is performed according to the linear correlation of the least squares fit.
S130, determining the current installation angle of the radar according to the characteristic parameters of the track line and the standard installation angle of the radar.
For example, the driving track of the target vehicle on the adjacent lane should be a straight line parallel to the vehicle body, and when the radar installation angle deviates from the standard installation angle, the driving track of the target vehicle detected by the radar forms an included angle θ with the x-axis in the vehicle body coordinate system, as shown in fig. 5. Therefore, according to the characteristic parameters of the track line of the target vehicle, the included angle theta can be determined, and then the current installation angle of the radar is calculated by combining the standard installation angle, so that the real-time determination of the radar installation angle is realized.
In the embodiment of the invention, the radar arranged on the vehicle to be detected is used for monitoring and obtaining the position point information of the target vehicle positioned on the vehicle to be detected, and the linear fitting is carried out according to the position point information to obtain the track line of the target vehicle, so that the track information of the target vehicle on the lane is accurately obtained in real time, the current installation angle of the radar is determined according to the characteristic parameters of the track line and the standard installation angle of the radar, the real-time performance of the installation angle is realized, the current installation angle is calculated according to the characteristic parameters of the track line and the standard installation angle by means of the characteristic that the running track of the target vehicle on the adjacent lane is a straight line, and the accuracy of determining the current installation angle is effectively improved.
Fig. 6 is a flowchart of a radar installation angle calibration method according to another embodiment of the present invention. The embodiment of the present invention is further optimized for S130 in the above embodiment, and details not described in detail in this embodiment are detailed in the above embodiment. Referring to fig. 6, the radar installation angle calibration method provided in the present embodiment may include:
s131, determining the slope of the track line.
Illustratively, the slope of the trajectory is determined from a target vehicle trajectory expression obtained by straight line fitting.
And S132, determining a deflection angle between the trajectory line and a coordinate axis of a vehicle body coordinate system taking the radar as an origin according to the slope.
The deflection angle is an included angle formed by the running track of the target vehicle and the x axis in the vehicle body coordinate system. Illustratively, the conversion relationship between the deflection angle θ and the slope k is:
θ＝arctan(k)*π/180；
accordingly, the deflection angle θ is determined from the value of the determined slope k.
S133, determining the current installation angle of the radar according to the deflection angle and the standard installation angle of the radar.
In this embodiment of the present application, determining the current installation angle of the radar according to the deflection angle and the standard installation angle of the radar includes: and determining the current installation angle of the radar according to the deflection angle and the difference value of the standard installation angle of the radar.
As illustrated in fig. 4, 5 and 7, there may be three relationships between the standard mounting angle and the current mounting angle:
as shown in fig. 7, α 0 >Alpha, the slope k of the target track line is a negative value, and the corresponding angle is-theta;
as shown in fig. 5, α 0 <Alpha, the slope k of the target track line is a positive value, and the corresponding angle is +theta;
as shown in fig. 4, α 0 =α, the target trajectory line slope k is zero, the corresponding angle is 0 degrees;
from the geometric relationship, the current installation angle α may be determined as:
α＝α 0 –θ。
according to the technical scheme, the deflection angle formed by the running track of the target vehicle and the x-axis in the vehicle body coordinate system is determined according to the slope of the linear track of the target vehicle, and the current installation angle of the radar is determined according to the deflection angle and the standard installation angle, so that the current installation angle of the radar is accurately determined in real time, the radar can determine the relative positions of surrounding obstacles according to the current installation angle, and safety accidents caused by detection errors are avoided.
Fig. 8 is a flowchart of a radar installation angle calibration method according to another embodiment of the present invention. The embodiment of the present invention is further optimized for S130 in the above embodiment, and details not described in detail in this embodiment are detailed in the above embodiment. Referring to fig. 8, the radar installation angle calibration method provided in the present embodiment may include:
s1311, determining a candidate installation angle of the radar according to the characteristic parameters of the track line of the target vehicle and the standard installation angle of the radar.
In the present application, the number of the target vehicles may be at least one, and for each target vehicle, position point information during the running process of the target vehicle is detected, and a trajectory line is determined according to the position point information, so as to determine a candidate installation angle. If a plurality of target vehicles are detected, a plurality of candidate mounting angles are obtained.
S1321, clustering the candidate installation angles.
Because of uncertainty of the motion trail of the target vehicle (the running trail with rapid lane change, transverse lane change and the like) and uncertainty of data acquisition, the trail of the target vehicle is possibly not a straight line, the trail of the target vehicle which runs straight on the adjacent lane is selected according to the linear correlation degree of straight line fitting, and then the candidate installation angle with deviation is filtered through clustering processing of the candidate installation angle, so that the candidate installation angle with high accuracy is obtained.
S1331, determining the current installation angle of the radar according to the clustering result.
In this embodiment of the present application, determining, according to a clustering result, a current installation angle of a radar includes: selecting the class with the largest candidate installation angle according to the clustering result; if the number of the candidate installation angles contained in the class is larger than the preset number, determining the current installation angle of the radar according to the candidate installation angles in the class; if the number of the candidate installation angles contained in the class is smaller than or equal to the preset number, continuously acquiring the position point information of the new candidate vehicle and determining the new candidate installation angle until the number of the candidate installation angles in the class with the largest candidate installation angle meets the preset condition. Determining the current installation angle of the radar according to the candidate installation angles in the class, wherein the method comprises the following steps: and determining the current installation angle of the radar according to the average value of the candidate installation angles in the class.
Illustratively, for the resulting candidate mounting angles (α 1 ，α 2 ，α 3…… α i ) And clustering, namely selecting the class with the most candidate installation angles from the obtained classes, and if the number of the candidate installation angles in the class with the most candidate installation angles is larger than the preset number, indicating that the reliability of the candidate installation angles in the class is higher, wherein the class can be used as a reference for determining the current installation angle. The average value of the candidate installation angles in the class can be used as the current installation angle and stored. If the number of the candidate installation angles is smaller than or equal to the preset number in the class with the largest candidate installation angle, the number of the candidate installation angles is smaller than or equal to the preset number, the elements contained in the class are indicated to be less, the reliability is lower, in order to ensure the accuracy of the current installation angle, position point information of a new target vehicle can be continuously collected, linear fitting is carried out to obtain a track line, the candidate installation angles are confirmed according to characteristic parameters and standard installation angles of the track line, clustering is carried out until the number of the candidate installation angles is larger than the preset number in the class with the largest candidate installation angle obtained by clustering, average values of the candidate installation angles in the class are used as the current installation angle, the accuracy of determining the current installation angle is improved, and the problem that the accuracy of radar detection is affected due to the fact that the candidate installation angle confirmed by accidental data is used as the current installation angle is avoided.
After the current installation angle of the radar is determined, when the radar is in a normal detection mode, detecting and obtaining position point information in polar coordinates of surrounding obstaclesThe position point information (x ', y') in the vehicle body coordinate system with the radar as the origin of coordinates is obtained by converting the coordinates:
through the carrying-in of the angle deviation and the conversion, the accurate determination of the position point of the obstacle is realized, and the influence on the safety judgment and reminding of the system caused by the deviation of the installation angle of the radar on the detection position of the obstacle is avoided.
According to the technical scheme provided by the embodiment of the invention, the candidate installation angles with larger deviation are removed through clustering treatment, and the current installation angle is determined according to the candidate installation angles with similar values and larger number, so that the accuracy of determining the current installation angle is improved.
Fig. 9 is a schematic structural diagram of a radar installation angle calibration system according to an embodiment of the present invention. The system can be suitable for determining the radar installation angle of the vehicle to be tested, and typically, the embodiment of the invention can be suitable for calibrating the current radar installation angle of the blind area of the vehicle to be tested on an actual road in real time. The system may be implemented in software and/or hardware and may be integrated into a radar installation angle calibration device. Referring to fig. 9, the system specifically includes:
the location point information obtaining module 210 is configured to obtain location point information of a candidate vehicle within a monitoring range of the vehicle to be detected; the position point information is obtained through radar monitoring installed on a vehicle to be detected;
the trajectory acquisition module 220 is configured to perform straight line fitting according to the location point information, and determine a trajectory of a target vehicle located on an adjacent lane of the vehicle to be tested;
the current installation angle determining module 230 is configured to determine a current installation angle of the radar according to the characteristic parameter of the trajectory line and the standard installation angle of the radar.
In an embodiment of the present application, the trace acquisition module 220 includes:
the candidate trajectory line determining unit is used for carrying out straight line fitting according to the position point information to obtain a candidate trajectory line;
and the correlation comparison unit is used for selecting a candidate track line with the correlation larger than a preset correlation threshold value as a track line of a target vehicle positioned on an adjacent lane of the vehicle to be tested.
In an embodiment of the present application, the system further includes:
the coordinate conversion module is used for converting the position point information in the polar coordinates obtained by radar monitoring into position point information in a vehicle body coordinate system taking the radar as an origin;
and the filtering module is used for processing the position point information in the vehicle body coordinate system with the radar as an origin by adopting a filtering algorithm.
In this embodiment of the present application, the current installation angle determining module 230 includes:
a slope determining unit configured to determine a slope of the trajectory line;
a deflection angle determining unit for determining a deflection angle between the trajectory line and a coordinate axis of a vehicle body coordinate system with a radar as an origin according to the slope;
and the installation angle determining unit is used for determining the current installation angle of the radar according to the deflection angle and the standard installation angle of the radar.
In an embodiment of the present application, the installation angle determining unit includes:
and the difference value determining subunit is used for determining the current installation angle of the radar according to the deflection angle and the difference value of the standard installation angle of the radar.
In this embodiment of the present application, the current installation angle determining module 230 includes:
a candidate installation angle determining unit, configured to determine a candidate installation angle of the radar according to a characteristic parameter of a trajectory of a target vehicle and a standard installation angle of the radar;
the clustering processing unit is used for clustering the candidate installation angles;
and the clustering processing result analysis unit is used for determining the current installation angle of the radar according to the clustering processing result.
In an embodiment of the present application, the clustering result analysis unit includes:
a class selecting subunit, configured to select a class that includes the most candidate installation angles according to the clustering result;
the first judging subunit is used for determining the current installation angle of the radar according to the candidate installation angles in the class if the number of the candidate installation angles in the class is larger than the preset number;
and the second judging subunit is used for continuously acquiring the position point information of the new candidate vehicle and determining the new candidate installation angle if the number of the candidate installation angles contained in the class is smaller than or equal to the preset number, until the number of the candidate installation angles in the class with the largest candidate installation angle meets the preset condition.
In this embodiment of the present application, the first determining subunit is specifically configured to:
and determining the current installation angle of the radar according to the average value of the candidate installation angles in the class.
The radar installation angle calibration system provided by the embodiment of the application can execute the radar installation angle calibration method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (8)
1. A radar installation angle calibration method, the method comprising:
acquiring position point information of a candidate vehicle in a monitoring range of a vehicle to be detected; the position point information is obtained through radar monitoring installed on a vehicle to be detected;
performing straight line fitting according to the position point information, and determining a track line of a target vehicle positioned on an adjacent lane of the vehicle to be detected;
determining the current installation angle of the radar according to the characteristic parameters of the track line and the standard installation angle of the radar;
determining the current installation angle of the radar according to the characteristic parameters of the track line and the standard installation angle of the radar, wherein the method comprises the following steps:
determining a candidate installation angle of the radar according to the characteristic parameters of the track line of the target vehicle and the standard installation angle of the radar;
clustering the candidate installation angles;
determining the current installation angle of the radar according to the clustering result;
determining the current installation angle of the radar according to the clustering result, including:
selecting the class with the largest candidate installation angle according to the clustering result;
if the number of the candidate installation angles contained in the class is larger than the preset number, determining the current installation angle of the radar according to the candidate installation angles in the class;
if the number of the candidate installation angles contained in the class is smaller than or equal to the preset number, continuously acquiring the position point information of the new candidate vehicle and determining the new candidate installation angle until the number of the candidate installation angles in the class with the largest candidate installation angle meets the preset condition.
2. The method of claim 1, wherein performing a straight line fit based on the location point information to determine a trajectory of a target vehicle located on an adjacent lane of the vehicle under test comprises:
performing straight line fitting according to the position point information to obtain candidate track lines;
and selecting a candidate track line with the correlation degree larger than a preset correlation degree threshold value as a track line of a target vehicle positioned on an adjacent lane of the vehicle to be tested.
3. The method of claim 1, wherein the method further comprises, prior to determining the trajectory of the target vehicle on the adjacent lane of the vehicle under test by performing a straight line fit based on the location point information:
converting the position point information in the polar coordinates obtained by radar monitoring into position point information in a vehicle body coordinate system taking the radar as an origin;
and processing the position point information in the vehicle body coordinate system with the radar as an origin by adopting a filtering algorithm.
4. The method of claim 1, wherein determining the current mounting angle of the radar based on the characteristic parameters of the trajectory line and the standard mounting angle of the radar comprises:
determining a slope of the trajectory line;
determining a deflection angle between the trajectory line and a coordinate axis of a vehicle body coordinate system taking a radar as an origin according to the slope;
and determining the current installation angle of the radar according to the deflection angle and the standard installation angle of the radar.
5. The method of claim 4, wherein determining the current mounting angle of the radar based on the yaw angle and a standard mounting angle of the radar comprises:
and determining the current installation angle of the radar according to the deflection angle and the difference value of the standard installation angle of the radar.
6. The method of claim 1, wherein determining the current installation angle of the radar based on the candidate installation angles in the class comprises:
and determining the current installation angle of the radar according to the average value of the candidate installation angles in the class.
7. A radar installation angle calibration system, the system comprising:
the position point information acquisition module is used for acquiring position point information of the candidate vehicle in the monitoring range of the vehicle to be detected; the position point information is obtained through radar monitoring installed on a vehicle to be detected;
the track line acquisition module is used for carrying out straight line fitting according to the position point information and determining a track line of a target vehicle positioned on an adjacent lane of the vehicle to be detected;
the current installation angle determining module is used for determining the current installation angle of the radar according to the characteristic parameters of the track line and the standard installation angle of the radar;
the current installation angle determining module comprises a candidate installation angle determining unit, a radar detection unit and a radar detection unit, wherein the candidate installation angle determining unit is used for determining a candidate installation angle of the radar according to characteristic parameters of a track line of a target vehicle and a standard installation angle of the radar;
the clustering processing unit is used for clustering the candidate installation angles;
the clustering processing result analysis unit is used for determining the current installation angle of the radar according to the clustering processing result;
the clustering processing result analysis unit includes:
a class selecting subunit, configured to select a class that includes the most candidate installation angles according to the clustering result;
the first judging subunit is used for determining the current installation angle of the radar according to the candidate installation angles in the class if the number of the candidate installation angles in the class is larger than the preset number;
and the second judging subunit is used for continuously acquiring the position point information of the new candidate vehicle and determining the new candidate installation angle if the number of the candidate installation angles contained in the class is smaller than or equal to the preset number, until the number of the candidate installation angles in the class with the largest candidate installation angle meets the preset condition.
8. The system of claim 7, wherein the trajectory acquisition module comprises:
the candidate trajectory line determining unit is used for carrying out straight line fitting according to the position point information to obtain a candidate trajectory line;
and the correlation comparison unit is used for selecting a candidate track line with the correlation larger than a preset correlation threshold value as a track line of a target vehicle positioned on an adjacent lane of the vehicle to be tested.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010356705.2A CN111398924B (en) | 2020-04-29 | 2020-04-29 | Radar installation angle calibration method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010356705.2A CN111398924B (en) | 2020-04-29 | 2020-04-29 | Radar installation angle calibration method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111398924A CN111398924A (en) | 2020-07-10 |
| CN111398924B true CN111398924B (en) | 2023-07-25 |
Family
ID=71433846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010356705.2A Active CN111398924B (en) | 2020-04-29 | 2020-04-29 | Radar installation angle calibration method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111398924B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111679256B (en) * | 2020-07-23 | 2023-09-19 | 杭州智波科技有限公司 | Angle calibration method, device and system for automobile millimeter wave radar and storage medium |
| CN112017250B (en) * | 2020-08-31 | 2023-07-25 | 杭州海康威视数字技术股份有限公司 | Calibration parameter determination method and device, radar equipment and Lei Qiu relay system |
| CN112098964B (en) * | 2020-09-23 | 2023-09-15 | 华人运通(上海)自动驾驶科技有限公司 | Calibration method, device, equipment and storage medium of road-end radar |
| CN112578357A (en) * | 2020-12-24 | 2021-03-30 | 北京百度网讯科技有限公司 | Radar calibration parameter correction method and device, electronic equipment and road side equipment |
| CN112763995B (en) * | 2020-12-24 | 2023-09-01 | 阿波罗智联(北京)科技有限公司 | Radar calibration method and device, electronic equipment and road side equipment |
| CN112785854B (en) * | 2021-01-11 | 2022-09-16 | 北京百度网讯科技有限公司 | Vehicle speed detection method, device, equipment, medium and automatic driving vehicle |
| CN112883909A (en) * | 2021-03-16 | 2021-06-01 | 东软睿驰汽车技术（沈阳）有限公司 | Surrounding box-based obstacle position detection method and device and electronic equipment |
| CN112782658A (en) * | 2021-03-17 | 2021-05-11 | 成都安智杰科技有限公司 | Radar angle calibration method and device |
| CN113093127A (en) * | 2021-04-07 | 2021-07-09 | 芜湖森思泰克智能科技有限公司 | Vehicle radar angle error test system |
| CN113406582A (en) * | 2021-06-21 | 2021-09-17 | 安徽江淮汽车集团股份有限公司 | Angle radar installation deviation compensation method |
| CN113447899B (en) * | 2021-06-29 | 2024-02-02 | 上海为彪汽配制造有限公司 | Method and system for mounting and testing vehicle-mounted millimeter wave radar |
| CN113743316B (en) * | 2021-09-07 | 2023-09-19 | 北京建筑大学 | Vehicle plugging behavior identification method, system and device based on target detection |
| CN113805149A (en) * | 2021-09-09 | 2021-12-17 | 四川豪智融科技有限公司 | Vehicle radar self-adaptive angle calibration method |
| CN115201773B (en) * | 2022-09-13 | 2022-12-13 | 长沙莫之比智能科技有限公司 | Vehicle-mounted millimeter wave radar installation angle error correction method based on point cloud speed |
| CN115615352B (en) * | 2022-09-28 | 2023-07-11 | 山东交通学院 | Calibration method and device for laser scanner and storage medium |
| CN115327501B (en) * | 2022-10-13 | 2022-12-23 | 南京隼眼电子科技有限公司 | Horizontal installation angle self-calibration method and device, electronic equipment and storage medium |
| CN116381632B (en) * | 2023-06-05 | 2023-08-18 | 南京隼眼电子科技有限公司 | Self-calibration method and device for radar roll angle and storage medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001174540A (en) * | 1999-12-15 | 2001-06-29 | Fujitsu Ten Ltd | Mounting angle adjusting method of vehicle radar device and mounting angle adjusting support device |
| WO2012136494A1 (en) * | 2011-04-02 | 2012-10-11 | Valeo Schalter Und Sensoren Gmbh | Method for determining a correction value for the measurement of a target angle with a radar device, driver assistance system and motor vehicle |
| CN107918113A (en) * | 2016-09-07 | 2018-04-17 | 清华大学 | One kind combines vehicle-mounted Radar Calibration method |
| CN109188379A (en) * | 2018-06-11 | 2019-01-11 | 深圳市保途者科技有限公司 | Drive the automatic calibrating method of backup radar operating angle |
| CN109709525A (en) * | 2019-03-05 | 2019-05-03 | 森思泰克河北科技有限公司 | A kind of scaling method and radar of radar |
| CN109870680A (en) * | 2018-10-26 | 2019-06-11 | 北京润科通用技术有限公司 | A kind of objective classification method and device |
| CN110261832A (en) * | 2019-07-04 | 2019-09-20 | 北京行易道科技有限公司 | A kind of radar installation calibrating method and system |
| CN110596708A (en) * | 2019-09-03 | 2019-12-20 | 中国第一汽车股份有限公司 | Vehicle distance detection method and device, vehicle and storage medium |
| CN110658503A (en) * | 2019-10-17 | 2020-01-07 | 北京百度网讯科技有限公司 | Method and device for correcting measurement angle of radar |
| CN110969174A (en) * | 2018-09-29 | 2020-04-07 | 深圳市布谷鸟科技有限公司 | Target identification method, device and system based on laser radar |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102505471B1 (en) * | 2018-10-08 | 2023-03-06 | 주식회사 에이치엘클레무브 | Apparatus and method for detecting mounting angle of radar |
-
2020
- 2020-04-29 CN CN202010356705.2A patent/CN111398924B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001174540A (en) * | 1999-12-15 | 2001-06-29 | Fujitsu Ten Ltd | Mounting angle adjusting method of vehicle radar device and mounting angle adjusting support device |
| WO2012136494A1 (en) * | 2011-04-02 | 2012-10-11 | Valeo Schalter Und Sensoren Gmbh | Method for determining a correction value for the measurement of a target angle with a radar device, driver assistance system and motor vehicle |
| CN107918113A (en) * | 2016-09-07 | 2018-04-17 | 清华大学 | One kind combines vehicle-mounted Radar Calibration method |
| CN109188379A (en) * | 2018-06-11 | 2019-01-11 | 深圳市保途者科技有限公司 | Drive the automatic calibrating method of backup radar operating angle |
| CN110969174A (en) * | 2018-09-29 | 2020-04-07 | 深圳市布谷鸟科技有限公司 | Target identification method, device and system based on laser radar |
| CN109870680A (en) * | 2018-10-26 | 2019-06-11 | 北京润科通用技术有限公司 | A kind of objective classification method and device |
| CN109709525A (en) * | 2019-03-05 | 2019-05-03 | 森思泰克河北科技有限公司 | A kind of scaling method and radar of radar |
| CN110261832A (en) * | 2019-07-04 | 2019-09-20 | 北京行易道科技有限公司 | A kind of radar installation calibrating method and system |
| CN110596708A (en) * | 2019-09-03 | 2019-12-20 | 中国第一汽车股份有限公司 | Vehicle distance detection method and device, vehicle and storage medium |
| CN110658503A (en) * | 2019-10-17 | 2020-01-07 | 北京百度网讯科技有限公司 | Method and device for correcting measurement angle of radar |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111398924A (en) | 2020-07-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111398924B (en) | Radar installation angle calibration method and system | |
| US8798907B2 (en) | On-vehicle apparatus, preceding vehicle position determining apparatus, and preceding vehicle position determining method | |
| CN107728146B (en) | Radar setting angle calculation device, radar device, and radar setting angle calculation method | |
| CN111679256B (en) | Angle calibration method, device and system for automobile millimeter wave radar and storage medium | |
| US8775064B2 (en) | Sensor alignment process and tools for active safety vehicle applications | |
| JP4713048B2 (en) | A method and apparatus for recognizing misadjustment in a vehicle radar system or a vehicle sensor system. | |
| CN107179530B (en) | Device for determining an offset of a detection device mounted on a vehicle | |
| JP7081046B2 (en) | How to detect angle measurement error in radar sensor | |
| US20070182623A1 (en) | Method and apparatus for on-vehicle calibration and orientation of object-tracking systems | |
| CN110320518B (en) | Automatic calibration method for mounting position of vehicle-mounted BSD millimeter wave radar | |
| US10429492B2 (en) | Apparatus for calculating misalignment quantity of beam sensor | |
| EP3104189A1 (en) | Misalignment estimation for a vehicle radar system | |
| US20160209211A1 (en) | Method for determining misalignment of an object sensor | |
| US20050278112A1 (en) | Process for predicting the course of a lane of a vehicle | |
| CN107103275B (en) | Wheel-based vehicle detection and tracking using radar and vision | |
| JP2006240453A (en) | Sensor failure detector and detection method of sensor failure | |
| US20190061748A1 (en) | Collision prediction apparatus | |
| US20240053468A1 (en) | Vehicle-mounted bsd millimeter wave radar based method for obstacle recognition at low speed | |
| KR20200108464A (en) | Method and apparatus for detecting critical transverse movement | |
| US20220258766A1 (en) | Method for ascertaining a spatial orientation of a trailer | |
| US20050004719A1 (en) | Device and method for determining the position of objects in the surroundings of a motor vehicle | |
| CN109471075B (en) | Automatic radar failure detection method | |
| JP6967157B2 (en) | Methods and devices for checking the validity of lateral movement | |
| CN113126077B (en) | Target detection system, method and medium for blind spot area | |
| CN110967040B (en) | Method and system for identifying horizontal deviation angle of sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |