CN111521979B - 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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- CN111521979B CN111521979B CN201910104767.1A CN201910104767A CN111521979B CN 111521979 B CN111521979 B CN 111521979B CN 201910104767 A CN201910104767 A CN 201910104767A CN 111521979 B CN111521979 B CN 111521979B
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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
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Abstract
The invention discloses a method and a device for calibrating an installation 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 a 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 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. According to the method, the radar installation angle is dynamically calibrated when the vehicle is subjected to road test, 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.
Description
Technical Field
The invention relates to the field of vehicle-mounted radar application, in particular to a method and device for calibrating a vehicle-mounted radar installation angle, a vehicle and a computer readable storage medium.
Background
In the advanced driving assistance system (Advanced Driver Assistant Systems, abbreviated as ADAS) of an automobile, an adaptive cruise system (Adaptive Cruise Control, abbreviated as ACC) is a commonly used assistance function. The vehicle-mounted radar distance measuring device has the specific working principle that a vehicle-mounted radar measures the distance of a front vehicle in real time, compares the speed of the vehicle with the speed of the front vehicle, and simultaneously controls power systems such as an accelerator and a brake of the vehicle to keep a constant safety distance from the vehicle to the front vehicle all the time. Therefore, the function of the vehicle-mounted radar is crucial in the realization of the ACC function, radar calibration is the basis for measuring the target azimuth by the radar, and the accuracy of the calibration 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 object, a CAN (Controller Area Network ) card, a radar, and a computer device having a radar calibration program built therein. One end of the CAN card is connected with a vehicle-mounted bus of the test vehicle through a data line, so that data communication is established with the radar; the other end of the CAN card is connected with the computer equipment through a data line, on one hand, the computer equipment runs a radar calibration program, and sends verification 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 as to be analyzed and calculated by the radar calibration program, and calibration work such as radar installation position and attitude detection, radar longitudinal detection distance, radar transverse detection radial angle and the like is completed.
But the problems existing at present are: because the radar installed on the vehicle is equivalent to a procedure added in the whole vehicle manufacturing process, the procedure comprises static calibration of the radar installation and the installation angle, the procedure can be passed after the static calibration is necessary, and the static calibration mode for the radar installation angle in the related technology can increase the static calibration procedure of the installation angle in the radar installation procedure of the whole vehicle manufacturing process, thereby influencing the production efficiency of vehicle assembly, and in the calibration process, if the radar installation angle deviates, the installation angle needs to be calibrated again, thereby wasting time and labor and leading to low efficiency.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent.
Therefore, an object of the present invention is to provide a method for calibrating an installation angle of a vehicle radar, which can reduce the steps of a whole vehicle manufacturing process of a vehicle, effectively save time and labor, and improve the assembly production efficiency of the vehicle.
A second object of the invention is to propose a device for calibrating the installation angle of a vehicle radar.
A third object of the present invention is to propose a vehicle.
A fourth object of the present invention is to propose a computer readable storage medium.
To achieve the above object, a method for calibrating an installation angle of a vehicle radar according to an embodiment of the first aspect of the present invention includes: 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; 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; 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 mounting angle of the vehicle-mounted radar, the target information of the plurality of objects detected by the vehicle-mounted radar can be obtained, 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 preset conditions, then the actual mounting 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 radar mounting angle is realized when the vehicle is subjected to road test, so that the vehicle-mounted radar is only required to be mounted at the corresponding position of the vehicle when the vehicle is subjected to vehicle-mounted radar assembly, the radar mounting angle is not calibrated in the assembly process, and the radar mounting angle is calibrated when the vehicle is subjected to road test or road driving, thereby 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 can be improved.
To achieve the above object, an apparatus for calibrating an installation angle of a vehicle radar according to an embodiment of the 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; the target selection 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 preset conditions; 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 mounting angle of the vehicle-mounted radar, the target information of the plurality of objects detected by the vehicle-mounted radar can be obtained, 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 preset conditions, then the actual mounting 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 radar mounting angle is realized when the vehicle is subjected to road test, so that the vehicle-mounted radar is only required to be mounted at the corresponding position of the vehicle when the vehicle is subjected to vehicle-mounted radar assembly, the radar mounting angle is not calibrated in the assembly process, and the radar mounting angle is calibrated when the vehicle is subjected to road test or road driving, thereby 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 can be improved.
To achieve the above object, a vehicle according to an embodiment of a third aspect of the present invention includes: the method for calibrating the mounting angle of the vehicle-mounted radar comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the method for calibrating the mounting angle of the vehicle-mounted radar according to the embodiment of the first aspect of the invention is realized when the processor executes the computer program.
To achieve the above object, a fourth aspect of the present invention provides a computer readable storage medium, where the computer program when executed by a processor implements the method for calibrating an installation angle of a vehicle radar according to 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 invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flow chart of a method for calibrating an onboard radar installation angle in accordance with one embodiment of the present invention.
FIG. 2 is a flow chart of a method for calibrating an onboard radar installation angle in accordance with one particular embodiment of the present invention.
Fig. 3 is a schematic diagram of the host vehicle and the target vehicle of the present invention.
Fig. 4 is a schematic diagram of the host vehicle, radar and target vehicle of the present invention.
FIG. 5 is an analytical schematic of the dynamic calibration of the present invention.
FIG. 6 is a schematic structural view of an apparatus for calibrating an installation angle of an on-vehicle radar according to an embodiment of the present invention.
FIG. 7 is a schematic structural view of an apparatus for calibrating an installation angle of an on-vehicle radar according to an embodiment of the present invention.
Fig. 8 is a schematic structural view of a vehicle according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
Methods, apparatuses, vehicles, and computer-readable storage media for calibrating an installation 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 comprises a target object, a CAN card, a radar and computer equipment with a radar calibration program. One end of the CAN card is connected with a vehicle-mounted bus of the test vehicle through a data line, so that data traffic is established with the radar; the other end of the CAN card is connected with the computer equipment through a data line, on one hand, the computer equipment runs a radar calibration program, and sends verification 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 as to be analyzed and calculated by the radar calibration program, the radar installation position and gesture detection is completed, and calibration work such as longitudinal detection distance, transverse detection radial angle and the like of the radar is carried out.
But the problems existing at present are: because the radar installed on the vehicle is equivalent to a procedure added in the whole vehicle manufacturing process, the procedure comprises static calibration of the radar installation and the installation angle, the procedure can be passed after the static calibration is necessary, and the static calibration mode for the radar installation angle in the related technology can increase the static calibration procedure of the installation angle in the radar installation procedure of the whole vehicle manufacturing process, thereby influencing the production efficiency of vehicle assembly, and in the calibration process, if the radar installation angle deviates, the installation angle needs to be calibrated again, thereby wasting time and labor and leading to low efficiency.
In order to solve the above problems, the present invention proposes a method for calibrating an installation angle of a vehicle radar, including: 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; 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; 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 flow chart of a method for calibrating an onboard radar installation angle in accordance with one embodiment of the present invention. It should be noted that, the method for calibrating the mounting angle of the vehicle-mounted radar according to the embodiment of the present invention may be applied to the device for calibrating the mounting angle of the vehicle-mounted radar according to the embodiment of the present invention, and the device may be configured to a vehicle.
It should be further noted that, the method for calibrating the installation angle of the vehicle-mounted radar according to the embodiment of the present invention is suitable for a scenario when a vehicle runs on a road, where when the vehicle is assembled with the vehicle-mounted radar, the vehicle-mounted radar is only required to be installed at a corresponding position of the vehicle, and the installation angle of the radar is not calibrated in the assembling procedure, but the method provided by the embodiment of the present invention is used to calibrate the installation angle of the radar when the vehicle runs on a road or a road, so that the steps of the whole vehicle manufacturing process of the vehicle can be reduced, and the vehicle assembly production efficiency is improved.
As shown in fig. 1, the method for calibrating the installation angle of the vehicle-mounted radar may include:
s110, acquiring target information of a plurality of objects detected by the vehicle-mounted radar, wherein the target information comprises a target distance between the objects and the vehicle and a target angle between the objects and the vehicle.
Alternatively, the objects of the embodiments of the present invention may refer to other vehicles, signs, trees, and other references on a road during the travel of the vehicle on the road. The target information may include, but is not limited to, a target distance of the object from the vehicle, a target angle of the object from the vehicle. In an embodiment of the present invention, the target distance refers to a distance between the object and the vehicle, and the target angle refers to an included angle between the object and a radar normal of the vehicle-mounted radar.
In the embodiment of the invention, when the radar-equipped vehicle is in need of road test after production, the vehicle can be controlled to run straight on the road at a certain speed (wherein the running road is straight and the vehicle runs straight), and the target information of a plurality of objects detected by the vehicle-mounted radar on the vehicle can be obtained during the period, wherein the target information comprises the target distance between the objects and the vehicle and the target angle between the objects and the vehicle.
S120, selecting at least one group of target objects from a 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 having equal transverse axis components dx of the target distances and unequal target angles can be selected from the plurality of objects, and a group of target objects can be formed by combining the target objects in pairs, so that at least one group of target objects can be obtained.
S130, calculating the actual installation angle of the vehicle 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 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 radar on the vehicle, then the target distance and the 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 radar is calculated by utilizing the cosine theorem and the geometric relation, and finally the actual installation angle of the vehicle radar is obtained according to the at least one installation angle of the vehicle radar.
That is, the installation angle of the radar can be calculated by using 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 through calculation of at least one group of target objects, then the actual installation angle of the vehicle-mounted radar can be determined by using the at least one installation angle, and 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 the plurality of objects detected by the vehicle-mounted radar can be obtained, wherein the target information comprises the target distance between the target object and the vehicle and the target angle between the target object and the vehicle, 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 radar installation angle is dynamically calibrated when the vehicle is subjected to road test, so that the vehicle is assembled by only installing the vehicle-mounted radar at the corresponding position of the vehicle, the radar installation angle is not calibrated in the assembly process, and the radar installation angle is calibrated when the vehicle is subjected to road test or road driving, 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.
FIG. 2 is a flow chart of a method for calibrating an onboard radar installation angle in accordance with one particular embodiment of the present invention. It should be noted that, in order to accurately calculate the actual installation angle of the vehicle-mounted radar, the installation angles of multiple sets of vehicle-mounted radars need to be calculated first, and then a relatively accurate value is determined according to the installation angles of the multiple sets of vehicle-mounted radars to be used as the actual installation angle of the vehicle-mounted radars. Specifically, as shown in fig. 2, the method for calibrating the mounting 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 a target distance between the objects and the vehicle and a target angle 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. 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 transverse axis components dx of the target distances and unequal target angles can be selected from the plurality of objects, and a group of target objects can be formed by combining the target objects in pairs, 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 is a vehicle mounted with an onboard radar, and the target vehicle is an object detected by the onboard radar. It is assumed that the traveling direction is from 1 to 2 in the radar-equipped vehicle moving along the straight line L1. In the running process, a plurality of objects can be detected, and in the detected objects, two target points, namely A and B, with equal transverse axis components of the target distance and unequal target angles, are taken out, wherein the target point is detected to be at the position A when the vehicle is at the position 1; when the vehicle is at the 2 position, the target vehicle is detected to be at the B position, and 1B 'is obtained by translating 2B, so that the triangle delta A1B' can be obtained.
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 host 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 a tail of the host vehicle and at left and right corner positions O inside a rear bumper, wherein the radar is installed at the installation position O of the host vehicle body, and a coordinate axis XOY is established with a vehicle body point O as an origin. In the embodiment of the invention, the Lei Daping surface OX' and the normal direction are 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 the normal line of OA and the radar is the target angle.
In one embodiment of the invention, the radar mounting location may also be mounted at a location forward of the body of the host vehicle.
And S240, mapping the target distance and the target angle of each object in each group of target objects onto the vehicle coordinate system, and calculating a plurality of installation angles of the vehicle radar by using cosine theorem and geometric relation.
For example, taking the target distance and target angle of each object in a set of target objects as an example to calculate an installation angle of the vehicle radar, the target distances and target angles of two objects in the set of target objects may be mapped onto the vehicle coordinate system, and a cosine theorem and a geometric relationship may be used to calculate an installation angle of the vehicle radar. In the embodiment of the invention, fig. 5 is an analytic schematic diagram of the dynamic calibration of the invention, as shown in fig. 5, the actual radar installation angle < XOX', the straight line AB and the X axis are vertical, and the intersection point is D. The radar normal intersects with the straight line AB at the point C, and the triangle delta AOB can be obtained through translation. From this, an installation angle of the set of vehicle-mounted radars can be calculated, specifically as follows:
s1) the target information (namely the target distance and the target angle) of the targets A and B is known, namely OA, and both the angle AOC and the angle BOC are known values.
S2) in delta AOB, the length of AB can be solved by cosine law, namely
S3) solving the ABO of the delta AOB through the cosine theorem. I.e.And then get +.OBC=180° - & lt ABD.
S4) the actual installation angle of the radar is +.XOX', and the actual installation angle of the radar is known according to the geometric relation: angle ocd= angle XOX', in Δobc, the geometric relationship can be: angle ocd= angle obc+.boc. The set of radar actual mounting angles: the angle XOX' = the angle obc+.boc.
Therefore, according to the target distance and the target angle of each object in the multiple groups of target objects, multiple installation angles of the vehicle-mounted radar can be calculated by adopting the steps S1-S4.
S250, acquiring the actual installation angle of the vehicle radar according to a plurality of installation angles of the vehicle radar.
Optionally, after obtaining the installation angles of the multiple groups of radars, removing larger errors in multiple groups of calculation results from the installation angles of the multiple groups of radars, and then taking an average value of the rest results to obtain the actual installation angles of the radars. As a possible implementation example, after obtaining the installation angles of the multiple groups of radars, removing the larger error in the multiple groups of calculation results from the installation angles of the multiple groups of radars, and taking the weighted average of the rest results to obtain the actual installation angles of the radars. It will be appreciated that the manner of determining the actual installation angle by the installation angles of the plurality of sets of radars is not limited to the two examples given above, but may be determined by other algorithms, and will not be described in detail herein.
In order to improve the usability of the radar and improve the accuracy of radar measurement, optionally, in one embodiment of the invention, after calculating the actual installation angle of the vehicle-mounted radar, a default installation angle of the vehicle-mounted radar may be determined, a difference between the actual installation angle of the vehicle-mounted radar and the default installation angle is calculated, and the default installation angle in a software program of the vehicle-mounted radar is corrected according to the difference. In an embodiment of the present invention, the default installation angle of the vehicle radar is the default installation angle set by the vehicle radar software program.
That is, by calculating the difference between the actual installation angle of the vehicle radar and the default installation angle of the vehicle radar, whether the difference is beyond the preset allowable range is determined, and if the difference is beyond the allowable range, the default installation angle in the software program of the vehicle 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 the plurality of objects detected by the vehicle-mounted radar can be obtained, the target information comprises the target distance between the objects and the vehicle and the target angle between the objects and the vehicle, and then multiple groups of target objects are selected from the plurality of objects according to the target distance and the target angle. And finally, according to the plurality of mounting angles of the vehicle-mounted radars, acquiring the actual mounting angles of the vehicle radars, namely, calculating the mounting angles of a plurality of groups of vehicle-mounted radars, and determining a relatively accurate value as the actual mounting angle of the vehicle-mounted radars according to the mounting angles of the plurality of groups of vehicle-mounted radars, thereby accurately calculating the actual mounting angle of the vehicle-mounted radars and improving the accuracy of radar measurement.
Corresponding to the method for calibrating the installation angle of the vehicle-mounted radar provided by the above-mentioned several embodiments, an embodiment of the present invention further provides an apparatus for calibrating the installation angle of the vehicle-mounted radar, and since the apparatus for calibrating the installation angle of the vehicle-mounted radar provided by the embodiment of the present invention corresponds to the method for calibrating the installation angle of the vehicle-mounted radar provided by the above-mentioned several embodiments, implementation of the method for calibrating the installation angle of the vehicle-mounted radar is also applicable to the apparatus for calibrating the installation angle of the vehicle-mounted radar provided by the present embodiment, and will not be described in detail in the present embodiment. FIG. 6 is a schematic structural view of an apparatus for calibrating an installation angle of an on-vehicle radar according to an embodiment of the present invention.
As shown in fig. 6, the apparatus 600 for calibrating an installation angle of an on-vehicle radar includes: a target information acquisition module 610, a target selection module 620, and a calibration module 630, wherein:
the target information acquisition module 610 is configured to acquire target information of a plurality of objects detected by the vehicle-mounted radar; the target information includes a target distance between the object and the vehicle, and a target angle between the object and the vehicle.
The target selection module 620 is configured to select at least one set of target objects from a plurality of objects according to the target distance and the target angle, where each set 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 distances are equal and the target angles are unequal.
The calibration module 630 is configured to calculate an actual installation angle of the vehicle 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 the plurality of objects detected by the vehicle-mounted radar can be obtained, wherein the target information comprises the target distance between the target object and the vehicle and the target angle between the target object and the vehicle, 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 radar installation angle is dynamically calibrated when the vehicle is subjected to road test, so that the vehicle is assembled by only installing the vehicle-mounted radar at the corresponding position of the vehicle, the radar installation angle is not calibrated in the assembly process, and the radar installation angle is calibrated when the vehicle is subjected to road test or road driving, 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.
In one embodiment of the invention, 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 onto a vehicle coordinate system, and calculating at least one installation angle of the vehicle radar by utilizing cosine theorem and geometric relation; and acquiring the actual installation angle of the vehicle radar according to at least one installation angle of the vehicle radar.
In one embodiment of the present invention, as shown in fig. 7, the apparatus 600 for calibrating an on-vehicle radar installation angle further includes: a determining module 640 and a difference calculating module 650, wherein the determining module 640 is configured to determine a default installation angle of the vehicle radar; the difference calculating module 650 is configured to calculate a difference between an actual installation angle and a default installation angle of the vehicle radar; the calibration module 630 is further configured to correct a default installation angle in a software program of the vehicle radar according to the difference value.
In one embodiment of the present invention, the calibration module 630 corrects the default installation angle in the software program of the vehicle radar according to the difference value, which may be specifically implemented 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 achieve the above embodiment, the present invention also proposes a vehicle.
Fig. 8 is a schematic structural view of a vehicle according to an embodiment of the present invention. As shown in fig. 8, the vehicle 800 may include: memory 810, processor 820, and computer program 830 stored on memory 810 and executable on processor 820, when executing computer program 830, implements the method for calibrating an on-vehicle radar installation angle according to any one of the embodiments of the present invention.
In order to achieve the above embodiments, the present invention also proposes a computer program which, when executed by a processor, implements the method for calibrating an installation angle of an on-vehicle radar according to any one of the above embodiments.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present invention. In this specification, schematic representations of the above terms are not necessarily directed 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, various embodiments or examples described in this specification, as well as features of various embodiments or examples, may be combined and combined by persons 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 further 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.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can 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 can 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). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may 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 is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented as software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (6)
1. A method for calibrating an installation angle of a vehicle-mounted radar, which is applied to a vehicle installed with the vehicle-mounted radar, the method comprising:
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;
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;
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;
after calculating the actual installation angle of the vehicle-mounted 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; correcting the default installation angle in the software program of the vehicle-mounted radar according to the difference value; correcting the default installation angle in the software program of the vehicle-mounted radar, including: judging whether the difference value exceeds a preset allowable range or not; 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;
calculating an actual installation angle of the vehicle radar according to the target distance and the target angle of each object in the at least one group of target objects, wherein the method comprises the following steps: 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 onto the vehicle coordinate system, and calculating at least one installation angle of the vehicle-mounted radar by using cosine theorem and geometric relation; and acquiring the actual installation angle of the vehicle radar according to at least one installation angle of the vehicle radar.
2. The method of claim 1, wherein the meeting a preset condition comprises: the horizontal axis components of the target distances are equal and the target angles are unequal.
3. A device for calibrating an installation angle of a vehicle-mounted radar, which is applied to a vehicle provided with the vehicle-mounted radar, the device 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 between the object and the vehicle and a target angle between the object and the vehicle;
the target selection 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 preset conditions;
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;
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;
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; the calibration module is specifically used for: judging whether the difference value exceeds a preset allowable range or not; 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;
the calibration module is specifically used for: 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 onto the vehicle coordinate system, and calculating at least one installation angle of the vehicle-mounted radar by using cosine theorem and geometric relation; and acquiring the actual installation angle of the vehicle radar according to at least one installation angle of the vehicle radar.
4. A device according to claim 3, wherein the satisfaction of the preset condition comprises: the horizontal axis components of the target distances are equal and the target angles are unequal.
5. A vehicle, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, which processor, when executing the computer program, implements the method for calibrating an on-board radar installation angle according to any of claims 1 to 2.
6. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method for calibrating an on-board radar installation angle according to any of claims 1 to 2.
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| CN110275167A (en) * | 2019-06-03 | 2019-09-24 | 浙江吉利控股集团有限公司 | A kind of control method of radar detection, controller and terminal |
| 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 |
| CN113345030B (en) * | 2021-06-17 | 2024-01-02 | 三一重机有限公司 | Calibration method and device for working machine sensor, working machine and electronic equipment |
| CN113702930B (en) * | 2021-08-16 | 2024-05-24 | 中汽创智科技有限公司 | Angular radar installation angle calibration method, device, equipment and storage medium |
| CN113702929A (en) * | 2021-08-16 | 2021-11-26 | 中汽创智科技有限公司 | Vehicle-mounted radar installation angle calibration method, device, equipment and storage medium |
| CN113671454B (en) * | 2021-08-16 | 2024-04-26 | 中汽创智科技有限公司 | Position parameter calibration method and device for vehicle-mounted radar and storage medium |
| CN115371719B (en) * | 2022-10-10 | 2023-01-24 | 福思(杭州)智能科技有限公司 | Parameter calibration method and device for detection equipment, storage medium and electronic device |
| 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 |
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