CN111521979A - Method and device for calibrating installation angle of vehicle-mounted radar and related equipment thereof - Google Patents
Method and device for calibrating installation angle of vehicle-mounted radar and related equipment thereof Download PDFInfo
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- 238000004364 calculation method Methods 0.000 claims description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
Abstract
The invention discloses a method and a device for calibrating a mounting angle of a vehicle-mounted radar and related equipment thereof. The method for calibrating the installation angle of the vehicle-mounted radar comprises the following steps: acquiring target information of a plurality of objects detected by a vehicle-mounted radar; the target information comprises a target distance between the object and the vehicle and a target angle between the object and the vehicle; selecting at least one group of target objects from the multiple objects according to the target distance and the target angle, wherein each group of target objects comprises two objects meeting a preset condition; and calculating the actual installation angle of the vehicle-mounted radar according to the target distance and the target angle of each object in at least one group of target objects. The method realizes dynamic calibration of the radar mounting angle when the vehicle is subjected to road test, thereby reducing the steps of the whole vehicle manufacturing process of the vehicle, effectively saving time and labor and improving the vehicle assembly production efficiency.
Description
Technical Field
The invention relates to the field of vehicle-mounted radar application, in particular to a method and a device for calibrating a mounting angle of a vehicle-mounted radar, a vehicle and a computer-readable storage medium.
Background
Among Advanced Driver Assistance Systems (ADAS), an Adaptive Cruise Control (ACC) is a commonly used assistance function. The specific working principle is that the vehicle-mounted radar measures the distance of the front vehicle in real time, compares the speed of the vehicle with the speed of the front vehicle, and controls power systems of an accelerator, a brake and the like of the vehicle to keep the vehicle and the front vehicle at a constant safe distance all the time. Therefore, the action of the vehicle-mounted radar is important in the realization of the ACC function, the radar calibration is the basis of the radar for measuring the target azimuth, and the calibration accuracy is directly related to the accuracy of the subsequent target azimuth measurement.
In the related art, a vehicle-mounted radar calibration device generally includes a target, a CAN (Controller area network) card, a radar, and a computer device having a radar calibration program therein. One end of the CAN card is connected with a vehicle-mounted bus of the test vehicle through a data line so as to establish data communication with the radar; the other end of the CAN card is connected with computer equipment through a data line, on one hand, the computer equipment runs a radar calibration program and sends calibration information to the radar through the CAN card so that the radar CAN work normally, on the other hand, target CAN information fed back by the radar is transmitted to the computer equipment through the CAN card so that the radar calibration program CAN be analyzed and calculated, the detection of the installation position and the posture of the radar is completed, and the calibration work such as the longitudinal detection distance and the transverse detection argument of the radar is carried out.
But the problems that exist at present are: because the radar is installed on the vehicle, which is equivalent to adding a process in the whole vehicle manufacturing process, the process comprises the static calibration of the installation angle and the installation angle of the radar, and the installation angle is determined to be correct before the process is passed through after the static calibration is necessary.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, an object of the present invention is to provide a method for calibrating a mounting angle of a vehicle-mounted radar, which can reduce steps of a manufacturing process of a whole vehicle, effectively save time and labor, and improve assembly production efficiency of the vehicle.
The second purpose of the invention is to provide a device for calibrating the installation angle of the vehicle-mounted radar.
A third object of the invention is to propose a vehicle.
A fourth object of the invention is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of the first aspect of the present invention provides a method for calibrating a mounting angle of a vehicle-mounted radar, including: acquiring target information of a plurality of objects detected by the vehicle-mounted radar; the target information comprises a target distance of the object from the vehicle, and a target angle of the object from the vehicle; selecting at least one group of target objects from the plurality of objects according to the target distance and the target angle, wherein each group of target objects comprises two objects meeting a preset condition; and calculating the actual installation angle of the vehicle-mounted radar according to the target distance and the target angle of each object in the at least one group of target objects.
According to the method for calibrating the installation angle of the vehicle-mounted radar, the target information of a plurality of objects detected by the vehicle-mounted radar can be acquired, wherein the target information comprises the target distance between the object and the vehicle and the target angle between the object and the vehicle, then at least one group of target objects are selected from the plurality of objects according to the target distance and the target angle, each group of target objects comprises two objects meeting the preset condition, then the actual installation angle of the vehicle-mounted radar is calculated according to the target distance and the target angle of each object in at least one group of target objects, namely, the dynamic calibration of the installation angle of the radar is realized during the road test of the vehicle, so that when the vehicle is assembled with the vehicle-mounted radar, the vehicle-mounted radar only needs to be installed at the corresponding position of the vehicle, and the installation angle of the radar is not calibrated in the assembling process, the radar installation angle is calibrated during road test or road running of the vehicle, so that the whole vehicle manufacturing flow steps of the vehicle can be reduced, time and labor can be effectively saved, and the vehicle assembly production efficiency is improved.
In order to achieve the above object, an apparatus for calibrating a mounting angle of a vehicle-mounted radar according to an embodiment of a second aspect of the present invention includes: the target information acquisition module is used for acquiring target information of a plurality of objects detected by the vehicle-mounted radar; the target information comprises a target distance between the object and the vehicle and a target angle between the object and the vehicle; a target selecting module, configured to select at least one group of target objects from the multiple objects according to the target distance and the target angle, where each group of target objects includes two objects that satisfy a preset condition; and the calibration module is used for calculating the actual installation angle of the vehicle-mounted radar according to the target distance and the target angle of each object in the at least one group of target objects.
According to the device for calibrating the installation angle of the vehicle-mounted radar, the target information of a plurality of objects detected by the vehicle-mounted radar can be acquired, wherein the target information comprises the target distance between the object and the vehicle and the target angle between the object and the vehicle, then at least one group of target objects are selected from the plurality of objects according to the target distance and the target angle, each group of target objects comprises two objects meeting the preset condition, then the actual installation angle of the vehicle-mounted radar is calculated according to the target distance and the target angle of each object in at least one group of target objects, namely, the dynamic calibration of the installation angle of the radar is realized during the road test of the vehicle, so that when the vehicle is assembled with the vehicle-mounted radar, the vehicle-mounted radar only needs to be installed at the corresponding position of the vehicle, and the installation angle of the radar is not calibrated in the assembling process, the radar installation angle is calibrated during road test or road running of the vehicle, so that the whole vehicle manufacturing flow steps of the vehicle can be reduced, time and labor can be effectively saved, and the vehicle assembly production efficiency is improved.
In order to achieve the above object, a vehicle according to a third aspect of the present invention includes: the device comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the computer program, the method for calibrating the installation angle of the vehicle-mounted radar is realized according to the embodiment of the first aspect of the invention.
In order to achieve the above object, a computer-readable storage medium is provided in an embodiment of a fourth aspect of the present invention, and the computer program is executed by a processor to implement the method for calibrating a mounting angle of a vehicle radar according to the embodiment of the first aspect of the present invention.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a method for calibrating a mounting angle of a vehicle-mounted radar according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for calibrating a mounting angle of a vehicle-mounted radar according to an embodiment of the present invention.
Fig. 3 is a schematic view of a host vehicle and a target vehicle according to the present invention.
Fig. 4 is a schematic view of the host vehicle, radar, and target vehicle of the present invention.
FIG. 5 is an analytical schematic of dynamic calibration according to the present invention.
Fig. 6 is a schematic structural diagram of an apparatus for calibrating a mounting angle of a vehicle-mounted radar according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of an apparatus for calibrating a mounting angle of a vehicle-mounted radar according to an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A method, an apparatus, a vehicle, and a computer-readable storage medium for calibrating a mounting angle of a vehicle-mounted radar according to embodiments of the present invention are described below with reference to the accompanying drawings.
In the related art, a vehicle-mounted radar calibration device generally includes a target object, a CAN card, a radar, and a computer device having a radar calibration program therein. One end of the CAN card is connected with a vehicle-mounted bus of the test vehicle through a data line so as to establish data traffic with the radar; the other end of the CAN card is connected with computer equipment through a data line, on one hand, the computer equipment runs a radar calibration program and sends calibration information to the radar through the CAN card so that the radar CAN normally work, on the other hand, target CAN information fed back by the radar is transmitted to the computer equipment through the CAN card so that the radar calibration program CAN analyze and calculate, the detection of the installation position and the posture of the radar is completed, and calibration work such as the longitudinal detection distance and the transverse detection spoke angle of the radar is carried out.
But the problems that exist at present are: because the radar is installed on the vehicle, which is equivalent to adding a process in the whole vehicle manufacturing process, the process comprises the static calibration of the installation angle and the installation angle of the radar, and the installation angle is determined to be correct before the process is passed through after the static calibration is necessary.
In order to solve the above problem, the present invention provides a method for calibrating a mounting angle of a vehicle-mounted radar, comprising: acquiring target information of a plurality of objects detected by the vehicle-mounted radar; the target information comprises a target distance of the object from the vehicle, and a target angle of the object from the vehicle; selecting at least one group of target objects from the plurality of objects according to the target distance and the target angle, wherein each group of target objects comprises two objects meeting a preset condition; and calculating the actual installation angle of the vehicle-mounted radar according to the target distance and the target angle of each object in the at least one group of target objects.
Fig. 1 is a flowchart of a method for calibrating a mounting angle of a vehicle-mounted radar according to an embodiment of the present invention. It should be noted that the method for calibrating the installation angle of the vehicle-mounted radar according to the embodiment of the present invention may be applied to the apparatus for calibrating the installation angle of the vehicle-mounted radar according to the embodiment of the present invention, and the apparatus may be configured in a vehicle.
It should be further noted that the method for calibrating the installation angle of the vehicle-mounted radar in the embodiment of the present invention is applicable to a scene when a vehicle runs on a road, wherein when the vehicle is assembled with the vehicle-mounted radar, only the vehicle-mounted radar needs to be installed at a corresponding position of the vehicle, and the installation angle of the radar is not calibrated in the assembly process, but the method provided in the embodiment of the present invention is used for calibrating the installation angle of the radar in a road test or a road running process of the vehicle, so that steps of a whole vehicle manufacturing process of the vehicle can be reduced, and vehicle assembly production efficiency can be improved.
As shown in fig. 1, the method for calibrating the installation angle of the vehicle-mounted radar may include:
and S110, acquiring target information of a plurality of objects detected by the vehicle-mounted radar, wherein the target information comprises target distances between the objects and the vehicle and target angles between the objects and the vehicle.
Optionally, the multiple objects of the embodiment of the present invention may refer to other vehicles, signs, trees, and other references on the road during the driving of the vehicle on the road. The target information may include, but is not limited to, a target distance between an object and the vehicle, and a target angle between an object and the vehicle. In the embodiment of the invention, the target distance refers to the distance between an object and a vehicle, and the target angle refers to the included angle between the object and the radar normal of the vehicle-mounted radar.
In the embodiment of the invention, when a vehicle with the radar is produced and needs to be subjected to a road test, the vehicle can be controlled to run on a road in a straight line at a certain speed (wherein the running road is straight and the vehicle runs in the straight line) for a period of time, and target information of a plurality of objects detected by the vehicle-mounted radar on the vehicle can be acquired in the period of time, wherein the target information comprises target distances between the objects and the vehicle and target angles between the objects and the vehicle.
And S120, selecting at least one group of target objects from the plurality of objects according to the target distance and the target angle, wherein each group of target objects comprises two objects meeting preset conditions.
As an example, the meeting the preset condition may include: the horizontal axis components of the target distances are equal and the target angles are unequal. That is, after the target distances and target angles of a plurality of objects detected by the vehicle radar are obtained, target objects with equal horizontal axis components dx and different target angles of the target distances are selected from the plurality of objects, and are combined pairwise to form a group of target objects, so that at least one group of target objects can be obtained.
And S130, calculating the actual installation angle of the vehicle-mounted radar according to the target distance and the target angle of each object in at least one group of target objects.
Optionally, a vehicle coordinate system is established according to a position relationship between one object in at least one group of target objects and the vehicle, wherein an origin of the vehicle coordinate system is an installation position of the vehicle-mounted radar on the vehicle, then a target distance and a target angle of each object in at least one group of target objects are mapped onto the vehicle coordinate system, at least one installation angle of the vehicle-mounted radar is calculated by using a cosine theorem and a geometric relationship, and finally an actual installation angle of the vehicle-mounted radar is obtained according to the at least one installation angle of the vehicle-mounted radar.
That is to say, the installation angle of radar is calculated by utilizing the cosine theorem and the geometric relation through the target distance and the target angle of two objects in each group of target objects, at least one installation angle can be obtained by calculating through at least one group of target objects, then, the actual installation angle of the vehicle-mounted radar can be determined by utilizing the at least one installation angle, and then the installation angle of the vehicle-mounted radar can be calibrated according to the actual installation angle.
According to the method for calibrating the installation angle of the vehicle-mounted radar, the target information of a plurality of objects detected by the vehicle-mounted radar can be acquired, wherein the target information comprises the target distance between a target object and a vehicle and the target angle between the target object and the vehicle, then at least one group of target objects is selected from the plurality of objects according to the target distance and the target angle, wherein each group of target objects comprises two objects meeting preset conditions, and then the actual installation angle of the vehicle-mounted radar is calculated according to the target distance and the target angle of each object in the at least one group of target objects. The dynamic calibration of the radar installation angle is realized when the vehicle is subjected to road test, so that the vehicle only needs to be installed at the corresponding position of the vehicle when the vehicle-mounted radar is assembled, the radar installation angle is not calibrated in the assembling process, and the radar installation angle is calibrated when the vehicle is subjected to road test or road running, so that the whole vehicle manufacturing process steps of the vehicle can be reduced, the time and the labor can be effectively saved, and the vehicle assembly production efficiency is improved.
Fig. 2 is a flowchart of a method for calibrating a mounting angle of a vehicle-mounted radar according to an embodiment of the present invention. It should be noted that target information of a plurality of objects exists in target information detected by a radar, and in order to accurately calculate an actual installation angle of a vehicle-mounted radar, installation angles of a plurality of groups of vehicle-mounted radars need to be calculated first, and then a relatively accurate value is determined according to the installation angles of the plurality of groups of vehicle-mounted radars to serve as the actual installation angle of the vehicle-mounted radar. Specifically, as shown in fig. 2, the method for calibrating the installation angle of the vehicle-mounted radar may include:
s210, acquiring target information of a plurality of objects detected by the vehicle-mounted radar, wherein the target information comprises target distances between the objects and the vehicle and target angles between the objects and the vehicle.
S220, selecting a plurality of groups of target objects from the plurality of objects according to the target distance and the target angle. Each group of target objects comprises two objects meeting preset conditions.
As an example, the meeting the preset condition may include: the horizontal axis components of the target distances are equal and the target angles are unequal. That is, after the target distances and target angles of a plurality of objects detected by the vehicle radar are obtained, target objects with equal horizontal axis components dx and different target angles of the target distances can be selected from the plurality of objects, and a group of target objects can be formed by combining two by two, so that a plurality of groups of target objects can be obtained.
For example, fig. 3 is a schematic diagram of a host vehicle and a target vehicle according to the present invention, and as shown in fig. 3, the host vehicle refers to a vehicle mounted with a vehicle-mounted radar, and the target vehicle refers to an object detected by the vehicle-mounted radar. Assuming that the radar-equipped vehicle is moving along a line L1, the direction of travel is from 1 to 2. During the driving process, a plurality of objects can be detected, and in the detected objects, two target points, namely A and B, with equal cross-axis components of the target distance and unequal target angles are taken out, namely when the vehicle is at the position 1, the target vehicle is detected to be at the position A; when the vehicle is at the position 2, the target vehicle is detected to be at the position B, and the triangle Delta A1B 'can be obtained by translating the position 2B to obtain 1B'.
And S230, establishing a vehicle coordinate system according to the position relation between one object in each group of target objects and the vehicle, wherein the origin of the vehicle coordinate system is the installation position of the vehicle-mounted radar on the vehicle.
For example, fig. 4 is a schematic diagram of a vehicle, a radar and a target vehicle according to the present invention, and as shown in fig. 4, it is assumed that the radar is installed at the left and right corner positions O inside the rear bumper of the vehicle, where the radar establishes a coordinate axis XOY at the installation position O of the vehicle body with the vehicle body point O as the origin. In the embodiment of the invention, the radar plane OX' and the normal direction are as shown in fig. 4, when the target object is at the position a, the length of AO is the distance between the target and the vehicle, and the acute angle AON formed by OA and the radar normal is the target angle.
In one embodiment of the present invention, the radar mounting location may also be mounted at a position forward of the vehicle body.
S240, mapping the target distance and the target angle of each object in each group of target objects to the vehicle coordinate system, and calculating a plurality of mounting angles of the vehicle-mounted radar by utilizing the cosine theorem and the geometric relation.
For example, taking the target distance and the target angle of each object in a set of target objects as an example to calculate an installation angle of the vehicle-mounted radar, the target distances and the target angles of two objects in the set of target objects may be mapped onto the vehicle coordinate system, and an installation angle of the vehicle-mounted radar may be calculated by using the cosine theorem and the geometric relationship. In the embodiment of the invention, fig. 5 is an analytic schematic diagram of dynamic calibration of the invention, as shown in fig. 5, the actual installation angle of the radar is ═ XOX', the straight line AB and the X axis are perpendicular, and the intersection point is D. The normal line of the radar intersects the straight line AB at a point C, and triangular delta AOB can be obtained through translation. Therefore, an installation angle of the group of vehicle-mounted radars can be calculated, and the specific steps are as follows:
s1) the target information (i.e. target distance and target angle) of targets A and B are known, namely OA, angle AOC and OB, and angle BOC are known values.
S2) in △ AOB, ∠ AOB ═ ∠ AOC- ∠ BOC, after which the length of AB can be solved by cosine law, i.e. length of AB
S3) in △ AOB, solving ∠ ABO through cosine theorem, namely
∠ OBC is 180- ∠ ABD.
S4) the actual installation angle of the radar is < XOX', and the actual installation angle can be known according to the geometrical relationship: the geometric relationship between < OCD > and < XOX' in Δ OBC can be found as follows: the angle OCD is equal to angle OBC plus angle BOC. The actual installation angle of the group of radars is therefore: angle XOX ═ OBC +. angle BOC.
It can be seen that, according to the target distance and the target angle of each object in the plurality of sets of target objects, the installation angles of the vehicle-mounted radar can be calculated by adopting the steps S1-S4.
And S250, acquiring the actual installation angle of the vehicle radar according to the plurality of installation angles of the vehicle radar.
Optionally, after obtaining the installation angles of the multiple groups of radars, the error in the multiple groups of calculation results may be removed from the installation angles of the multiple groups of radars, and then the average value of the remaining results is taken to obtain the actual installation angle of the radar. As a possible implementation example, after the installation angles of the multiple groups of radars are obtained, the error in the multiple groups of calculation results is removed from the installation angles of the multiple groups of radars, and then the weighted average value of the rest results is taken to obtain the actual installation angle of the radars. It can be understood that the manner of determining the actual installation angle through the installation angles of the multiple groups of radars is not limited to the two examples given above, and may also be determined through other algorithms, which are not described herein again.
In order to improve the usability of the radar and the accuracy of the radar measurement, optionally, in an embodiment of the present invention, after the actual installation angle of the vehicle-mounted radar is calculated, a default installation angle of the vehicle-mounted radar may be determined, a difference between the actual installation angle and the default installation angle of the vehicle-mounted radar is calculated, and the default installation angle in the software program of the vehicle-mounted radar is corrected according to the difference. In an embodiment of the invention, the default installation angle of the vehicle-mounted radar is the default installation angle set by the vehicle radar software program.
That is, the difference between the actual installation angle of the vehicle-mounted radar and the default installation angle of the vehicle-mounted radar is calculated, whether the difference is beyond a preset allowable range or not is judged, and if the difference is beyond the allowable range, the default installation angle in the software program of the vehicle-mounted radar is replaced by the actual installation angle; if the difference is within the allowable range, no correction is required.
According to the method for calibrating the installation angle of the vehicle-mounted radar, the target information of a plurality of objects detected by the vehicle-mounted radar can be obtained, the target information comprises the target distance between the object and the vehicle and the target angle between the object and the vehicle, and then a plurality of groups of target objects are selected from the plurality of objects according to the target distance and the target angle. Wherein, each group of target objects comprises two objects meeting the preset condition, then a vehicle coordinate system is established according to the position relation between one object in each group of target objects and the vehicle, wherein, the origin of the vehicle coordinate system is the installation position of the vehicle-mounted radar on the vehicle, then the target distance and the target angle of each object in each group of target objects are mapped to the vehicle coordinate system, and a plurality of installation angles of the vehicle-mounted radar are calculated by using the cosine theorem and the geometric relation, finally, the actual installation angle of the vehicle radar is obtained according to the plurality of installation angles of the vehicle-mounted radar, namely, a more accurate value is determined as the actual installation angle of the vehicle-mounted radar according to the installation angles of the plurality of groups of vehicle-mounted radars, thereby the actual installation angle of the vehicle-mounted radar can be accurately calculated, the accuracy of radar measurement is improved.
Corresponding to the methods for calibrating the installation angle of the vehicle-mounted radar provided by the above embodiments, an embodiment of the present invention further provides a device for calibrating the installation angle of the vehicle-mounted radar. Fig. 6 is a schematic structural diagram of an apparatus for calibrating a mounting angle of a vehicle-mounted radar according to an embodiment of the present invention.
As shown in fig. 6, the apparatus 600 for calibrating a mounting angle of a vehicle-mounted radar includes: a target information obtaining module 610, a target selecting module 620 and a calibrating module 630, wherein:
the target information acquisition module 610 is used for acquiring target information of a plurality of objects detected by the vehicle-mounted radar; the target information includes a target distance of the object from the vehicle, and a target angle of the object from the vehicle.
The target selecting module 620 is configured to select at least one group of target objects from the plurality of objects according to the target distance and the target angle, where each group of target objects includes two objects that satisfy a preset condition. As an example, the meeting the preset condition includes: the horizontal axis components of the target distance are equal and the target angles are unequal.
The calibration module 630 is configured to calculate an actual installation angle of the vehicle-mounted radar according to the target distance and the target angle of each object in the at least one set of target objects.
According to the device for calibrating the installation angle of the vehicle-mounted radar, the target information of a plurality of objects detected by the vehicle-mounted radar can be acquired, wherein the target information comprises the target distance between a target object and a vehicle and the target angle between the target object and the vehicle, then at least one group of target objects is selected from the plurality of objects according to the target distance and the target angle, each group of target objects comprises two objects meeting preset conditions, and then the actual installation angle of the vehicle-mounted radar is calculated according to the target distance and the target angle of each object in the at least one group of target objects. The dynamic calibration of the radar installation angle is realized when the vehicle is subjected to road test, so that the vehicle only needs to be installed at the corresponding position of the vehicle when the vehicle-mounted radar is assembled, the radar installation angle is not calibrated in the assembling process, and the radar installation angle is calibrated when the vehicle is subjected to road test or road running, so that the whole vehicle manufacturing process steps of the vehicle can be reduced, the time and the labor can be effectively saved, and the vehicle assembly production efficiency is improved.
In an embodiment of the present invention, the calibration module 630 is specifically configured to: establishing a vehicle coordinate system according to the position relation between one object in at least one group of target objects and the vehicle, wherein the origin of the vehicle coordinate system is the installation position of the vehicle-mounted radar on the vehicle; mapping the target distance and the target angle of each object in at least one group of target objects to a vehicle coordinate system, and calculating at least one mounting angle of the vehicle-mounted radar by utilizing a cosine theorem and a geometric relation; and acquiring the actual installation angle of the vehicle radar according to at least one installation angle of the vehicle radar.
In an embodiment of the present invention, as shown in fig. 7, the apparatus 600 for calibrating a mounting angle of a vehicle-mounted radar further includes: the device comprises a determining module 640 and a difference value calculating module 650, wherein the determining module 640 is used for determining a default installation angle of the vehicle-mounted radar; the difference value calculating module 650 is configured to calculate a difference value between an actual installation angle and a default installation angle of the vehicle-mounted radar; the calibration module 630 is further configured to correct a default installation angle in a software program of the vehicle-mounted radar according to the difference.
In an embodiment of the present invention, a specific implementation process of the calibration module 630 correcting the default installation angle in the software program of the vehicle-mounted radar according to the difference value may be as follows: judging whether the difference value exceeds a preset allowable range or not; and if the difference value exceeds the allowable range, replacing the default installation angle in the software program of the vehicle-mounted radar with the actual installation angle.
In order to realize the embodiment, the invention further provides a vehicle.
Fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the invention. As shown in fig. 8, the vehicle 800 may include: the memory 810, the processor 820 and the computer program 830 stored on the memory 810 and operable on the processor 820, when the processor 820 executes the computer program 830, the method for calibrating the installation angle of the vehicle-mounted radar according to any one of the above-mentioned embodiments of the present invention is implemented.
In order to implement the above embodiments, the present invention further provides a computer program, which when executed by a processor, implements the method for calibrating the installation angle of the vehicle-mounted radar described in any of the above embodiments.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the various embodiments or examples and features of the various embodiments or examples described in this specification can be combined and combined by those skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a sequential list of executable instructions that may be thought of as being useful for implementing logical functions, may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that may fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that can be related to instructions of a program, which can be stored in a computer-readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (12)
1. A method for calibrating the installation angle of a vehicle-mounted radar is applied to a vehicle provided with the vehicle-mounted radar, and is characterized by comprising the following steps:
acquiring target information of a plurality of objects detected by the vehicle-mounted radar; the target information comprises a target distance of the object from the vehicle, and a target angle of the object from the vehicle;
selecting at least one group of target objects from the plurality of objects according to the target distance and the target angle, wherein each group of target objects comprises two objects meeting a preset condition;
and calculating the actual installation angle of the vehicle-mounted radar according to the target distance and the target angle of each object in the at least one group of target objects.
2. The method according to claim 1, wherein the meeting of the preset condition comprises: the horizontal axis components of the target distance are equal and the target angles are unequal.
3. The method according to claim 1 or 2, wherein calculating an actual installation angle of the vehicle-mounted radar according to the target distance and the target angle of each object in the at least one group of target objects comprises:
establishing a vehicle coordinate system according to the position relation between one object in the at least one group of target objects and the vehicle, wherein the origin of the vehicle coordinate system is the installation position of the vehicle-mounted radar on the vehicle;
mapping the target distance and the target angle of each object in the at least one group of target objects to the vehicle coordinate system, and calculating at least one installation angle of the vehicle-mounted radar by utilizing a cosine theorem and a geometric relation;
and acquiring the actual installation angle of the vehicle radar according to at least one installation angle of the vehicle radar.
4. The method of claim 1, wherein after calculating the actual installation angle of the on-board radar, the method further comprises:
determining a default installation angle of the vehicle-mounted radar;
calculating a difference value between the actual installation angle of the vehicle-mounted radar and the default installation angle;
and correcting the default installation angle in the software program of the vehicle-mounted radar according to the difference value.
5. The method of claim 4, wherein correcting the default installation angle in the software program of the vehicle radar based on the difference comprises:
judging whether the difference value exceeds a preset allowable range or not;
and if the difference value exceeds the allowable range, replacing the default installation angle in the software program of the vehicle-mounted radar with the actual installation angle.
6. A device for calibrating the installation angle of a vehicle-mounted radar is applied to a vehicle provided with the vehicle-mounted radar, and is characterized by comprising:
the target information acquisition module is used for acquiring target information of a plurality of objects detected by the vehicle-mounted radar; the target information comprises a target distance of the object from the vehicle, and a target angle of the object from the vehicle;
the target selecting module is used for selecting at least one group of target objects from the plurality of objects according to the target distance and the target angle, wherein each group of target objects comprises two objects meeting a preset condition;
and the calibration module is used for calculating the actual installation angle of the vehicle-mounted radar according to the target distance and the target angle of each object in the at least one group of target objects.
7. The apparatus of claim 6, wherein the predetermined condition being satisfied comprises: the horizontal axis components of the target distance are equal and the target angles are unequal.
8. The apparatus according to claim 6 or 7, wherein the calibration module is specifically configured to:
establishing a vehicle coordinate system according to the position relation between one object in the at least one group of target objects and the vehicle, wherein the origin of the vehicle coordinate system is the installation position of the vehicle-mounted radar on the vehicle;
mapping the target distance and the target angle of each object in the at least one group of target objects to the vehicle coordinate system, and calculating at least one installation angle of the vehicle-mounted radar by utilizing a cosine theorem and a geometric relation;
and acquiring the actual installation angle of the vehicle radar according to at least one installation angle of the vehicle radar.
9. The apparatus of claim 6, further comprising:
the determining module is used for determining a default installation angle of the vehicle-mounted radar;
the difference value calculation module is used for calculating the difference value between the actual installation angle of the vehicle-mounted radar and the default installation angle;
and the calibration module is further used for correcting the default installation angle in the software program of the vehicle-mounted radar according to the difference value.
10. The apparatus of claim 9, wherein the calibration module is specifically configured to:
judging whether the difference value exceeds a preset allowable range or not;
and if the difference value exceeds the allowable range, replacing the default installation angle in the software program of the vehicle-mounted radar with the actual installation angle.
11. A vehicle, characterized by comprising: memory, processor and computer program stored on the memory and executable on the processor, which when executed by the processor implements a method for calibrating a mounting angle of an onboard radar as claimed in any one of claims 1 to 5.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method for calibrating a mounting angle of a vehicle radar according to any one of claims 1 to 5.
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