CN111537967B - Radar deflection angle correction method and device and radar terminal - Google Patents
Radar deflection angle correction method and device and radar terminal Download PDFInfo
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- CN111537967B CN111537967B CN202010386456.1A CN202010386456A CN111537967B CN 111537967 B CN111537967 B CN 111537967B CN 202010386456 A CN202010386456 A CN 202010386456A CN 111537967 B CN111537967 B CN 111537967B
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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
- G01S7/4026—Antenna boresight
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
- G01S13/92—Radar or analogous systems specially adapted for specific applications for traffic control for velocity measurement
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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
- G01S7/4026—Antenna boresight
- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
Abstract
The invention is suitable for the technical field of radars, and provides a radar deflection angle correction method, a device and a radar terminal, wherein the method comprises the following steps: selecting at least one alternative vehicle target passing through a track calculation area of the radar, and acquiring radar data of each alternative vehicle in the track calculation area of the radar; calculating the track coordinates and the deflection angles of all the alternative vehicle targets according to the radar data of all the alternative vehicle targets in the track calculation area; selecting a reference target from all the alternative vehicle targets according to the track coordinates of all the alternative vehicle targets; and compensating the running track algorithm of the radar according to the deflection angle of the reference target. By applying the radar deflection angle correction method provided by the invention, the accurate compensation of the radar deflection angle can be realized, and the problem of poor deflection angle debugging accuracy in the radar installation process is solved.
Description
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a radar deflection angle correction method and device and a radar terminal.
Background
The traffic radar plays an important role in various aspects of traffic monitoring such as vehicle speed measurement, traffic flow monitoring and the like, wherein the fixed traffic radar is an important part of the traffic radar. Stationary traffic radars, as the name implies, are radars, typically millimeter wave radars, that are fixed in a location to monitor road traffic.
When the fixed traffic radar is installed, radar parameters need to be configured according to an installation environment, and the optimal performance of the radar can be exerted only if the parameters are properly configured. However, due to invisibility of millimeter waves, the deflection angle of such radar cannot be directly measured, and accurate installation and debugging are difficult.
Disclosure of Invention
In view of this, the embodiment of the invention provides a radar deflection angle correction method and a radar terminal, so as to solve the problem that in the prior art, the accuracy of deflection angle debugging in the radar installation process is poor.
A first aspect of an embodiment of the present invention provides a radar deflection angle correction method, including:
selecting at least one alternative vehicle target passing through a track calculation area of the radar, and acquiring radar data of each alternative vehicle target in the track calculation area;
calculating the track coordinates and the deflection angles of all the alternative vehicle targets according to the radar data of all the alternative vehicle targets in the track calculation area;
selecting a reference target from all the alternative vehicle targets according to the track coordinates of all the alternative vehicle targets;
and compensating the running track algorithm of the radar according to the deflection angle of the reference target.
A second aspect of an embodiment of the present invention provides a radar deflection angle correction apparatus, including: the radar data acquisition module is used for selecting at least one alternative vehicle target passing through a track calculation area of the radar and acquiring radar data of each alternative vehicle target in the track calculation area;
the deflection angle calculation module is used for calculating the track coordinates and the deflection angles of all the alternative vehicle targets according to the radar data of all the alternative vehicle targets in the track calculation area;
the reference target selection module is used for selecting a reference target from all the alternative vehicle targets according to the track coordinates of all the alternative vehicle targets;
and the compensation calculation module is used for compensating the running track algorithm of the radar according to the deflection angle of the reference target.
A third aspect of an embodiment of the present invention provides a radar terminal, including: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the steps of the radar yaw angle correction method as described above are implemented when the computer program is executed by the processor.
A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, including: the computer-readable storage medium stores a computer program, wherein the computer program realizes the steps of the radar deflection angle correction method when executed by a processor.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: the radar deflection angle correction method provided by the embodiment of the invention comprises the steps of selecting at least one alternative vehicle target passing through a track calculation area of a radar, and acquiring radar data of each alternative vehicle in the track calculation area of the radar; calculating the track coordinates and deflection angles of all the alternative vehicle targets according to the radar data of all the alternative vehicle targets in the track calculation area; selecting a reference target from all the alternative vehicle targets according to the track coordinates of all the alternative vehicle targets; and compensating the running track algorithm of the radar according to the deflection angle of the reference target. The radar deflection angle correction method provided by the embodiment of the invention can realize accurate compensation of the radar deflection angle and solve the problem of poor deflection angle debugging accuracy in the radar installation process.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a radar deflection angle correction method provided in an embodiment of the present invention;
FIG. 2 is a schematic view of a radar yaw angle provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a comparison between a vehicle track and a vehicle track before and after a yaw angle is corrected by a radar yaw angle correction method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a radar deflection angle correction apparatus provided in an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a radar terminal according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to illustrate the technical means of the present invention, the following description is given by way of specific examples.
Referring to fig. 1, an embodiment of the present invention provides a radar deflection angle correction method, including:
s101: selecting at least one alternative vehicle target in a track calculation area passing through a radar, and acquiring radar data of each alternative vehicle target in the track calculation area;
s102: calculating the track coordinates and the deflection angles of all the alternative vehicle targets according to the radar data of all the alternative vehicle targets in the track calculation area;
s103: selecting a reference target from all the alternative vehicle targets according to the track coordinates of all the alternative vehicle targets;
s104: and compensating the running track algorithm of the radar according to the deflection angle of the reference target.
The radar deflection angle correction method provided by the embodiment is applied to a multi-lane fixed traffic radar, and because the traffic radar is generally a millimeter wave radar and millimeter waves are invisible, parameters which cannot be directly measured exist in the installation and debugging process of the radar, wherein the deflection angle is the most typical. The radar deflection angle in this embodiment refers to an included angle between a radar exit direction and a road direction. As shown in fig. 2, α is an angle between the exit direction of the radar and the direction of the road in the track calculation area, i.e., a radar deflection angle. Due to the existence of the radar deflection angle, the construction of the running track of the vehicle by the radar can deviate from the actual situation. It should be noted that, since the radar deflection angle is an error angle in the radar installation process, and is a slight angle that is difficult to directly adjust manually, fig. 2 is only a schematic diagram, and does not represent the size of the radar deflection angle.
According to the embodiment, due to the existence of the radar deflection angle, the target running track constructed by the radar deviates from the actual track, and an included angle exists between the target running track and the road direction, so that the target running track cannot be truly reflected. By the radar deflection angle correction method provided by the embodiment, the accurate compensation of the radar deflection angle can be realized, the running track of a target vehicle is truly reflected, and the problem of poor deflection angle debugging accuracy in the radar installation process in the prior art is solved.
In an embodiment of the present invention, before S101, the radar yaw angle correction method further includes:
acquiring the model and installation environment data of the radar;
and selecting a track calculation area according to the type of the radar, the installation environment data and a pre-stored area selection rule.
In this embodiment, the track calculation area is a straight road area within a distance range in which the radar echo signal quality is good. The included angle between the direction of the straight road in the track calculation area and the emitting direction of the radar is the included angle to be compensated by the method for correcting the radar deflection angle provided by the embodiment.
In this embodiment, the pre-stored region selection rule includes model data of the radar, installation environment data of the radar, a track calculation region, and a correspondence between the former two and the latter. The optimal detection ranges corresponding to different types of radars are different, and the ranges of straight roads corresponding to different installation environments are also different, so that the type data of the radars and the installation environment data of the radars need to be integrated to select a proper track calculation area.
In this embodiment, in S101, at least one candidate vehicle target passing through the track calculation area of the radar needs to be selected. In order to ensure the integrity and the validity of data, the selected candidate vehicle target needs to completely pass through the track calculation area.
Preferably, in order to select an object that is not steered with respect to the road direction as a reference object in the candidate vehicle objects in the subsequent step, the number of the candidate vehicle objects selected in the embodiment is greater than the preset number.
Preferably, in order to prevent the vehicle running too slowly from adding an error to the subsequent calculation, the speed of the candidate vehicle target selected by the embodiment when passing through the trajectory calculation region needs to be greater than a preset speed threshold.
In one embodiment of the present invention, S102 includes:
calculating the track coordinates of each alternative vehicle target according to the radar data of each alternative vehicle target in the track calculation area;
and calculating the deflection angle of each candidate vehicle target according to the track coordinates of each candidate vehicle target.
In one embodiment of the present invention, calculating the track coordinates of each candidate vehicle target according to the radar data of each candidate vehicle target in the track calculation area comprises:
calculating the corresponding track coordinate of each frame of radar data of the first candidate vehicle target in a radar plane coordinate system; the first candidate vehicle target is any candidate vehicle target; the radar plane coordinate system is a plane rectangular coordinate system which is established by taking a radar as an origin, taking the radar emergence direction as a y axis and taking the vertical direction perpendicular to the radar emergence direction as an x axis.
In the embodiment, each frame of radar data of the first candidate vehicle with the target in the track calculation area is in the radar planeThe track coordinates under the coordinate system are sequentially recorded as (x)0,y0) To (x)a,ya). In one embodiment of the present invention, calculating the deflection angle of each candidate vehicle object according to the track coordinates of each candidate vehicle object includes:
respectively calculating an initial deflection angle between two adjacent track coordinates of the first candidate vehicle target; the first candidate vehicle target is any candidate vehicle target;
and averaging all initial deflection angles of the first candidate vehicle target to obtain the deflection angle of the first candidate vehicle target.
In this embodiment, there are errors in the coordinate calculation process of the radar, which are mainly classified into model errors and measurement errors. Because the radar can take the strongest reflection point at the calculation moment as the position of the target when the position is determined, and the strongest reflection point has uncertainty in the driving process of the vehicle, the calculated coordinate has model error deltamx. The model error is small between two close time points and large between two points with a large time interval. In addition, the radar itself has a measurement error δcl. Measurement errors exist due to limitations in radar accuracy. Therefore, when the turning angle of a vehicle which normally runs in the selected track calculation area is small and the selection time interval between the data frames is small, an approximate calculation method can be adopted in the calculation process of the deflection angle.
Optionally, the time interval between two adjacent frames of radar data is 100 milliseconds.
Specifically, initial deflection angles are calculated according to coordinates of two adjacent time points of the first candidate vehicle target respectively, and each initial deflection angle is recorded as thetan,
All initial yaw angles of the first candidate vehicle target are averaged,
obtained average value
I.e. the yaw angle of the first candidate vehicle target.
It should be noted that, since the present embodiment calculates the yaw angle with the trajectory coordinates of the candidate vehicle target in the radar coordinate system, the calculated yaw angle is the yaw angle of the candidate vehicle target with respect to the radar exit direction, and is not the yaw angle between the candidate vehicle target and the actual road direction.
In one embodiment of the present invention, S103 includes:
sending the track coordinates of each alternative vehicle target to an upper computer so that the upper computer displays the running track of each alternative vehicle target;
receiving reference data sent by the upper computer, and selecting the reference target according to the reference data; and the reference data is data input into the upper computer by a user according to the running track of each alternative vehicle target.
In the embodiment, the host computer receives the track coordinates of the candidate vehicle targets, generates and displays the running tracks of the candidate vehicle targets. And the upper computer simultaneously acquires and displays the monitoring video of the track calculation area of the time period. And the staff observes the actual turning situation and the displayed running track of each candidate vehicle target in the track calculation area and selects the candidate vehicle target which does not turn relative to the road direction as reference data.
Fig. 3 is a schematic diagram illustrating comparison between before and after a radar yaw angle correction method according to an embodiment of the present invention performs a yaw angle correction on a vehicle trajectory, fig. 3(a) is a schematic diagram illustrating a vehicle trajectory without performing a radar yaw angle correction, and fig. 3(b) is a schematic diagram illustrating a vehicle travel trajectory after performing a radar yaw angle correction on a vehicle travel trajectory. Referring to fig. 2, taking the case that the exit direction of the radar is deviated to the right with respect to the road direction as an example, the track coordinates of each candidate vehicle target in the radar plane coordinate system established at this time are deviated to the left as compared with the theoretical coordinate values when the radar deflection angle is zero.
Referring to fig. 3(a), the vehicle trajectory without the radar yaw angle correction is deviated to the left from the actual road. In S103, an alternative vehicle target which is not actually steered relative to the road is selected as a reference target, and the deflection angle of the reference target in a radar plane coordinate system is equal to the deflection angle of the radar emergent direction relative to the road direction, namely the radar deflection angle.
Based on the principle, the embodiment subtracts the deflection angle of the reference target on the basis of the original radar running track algorithm, so that the compensation of the radar running track algorithm is realized.
Fig. 4 is a schematic diagram of a radar yaw angle correction apparatus provided in an embodiment of the present invention, and referring to fig. 4, in an embodiment of the present invention, a radar yaw angle correction apparatus 100 includes:
a radar data obtaining module 110, configured to select at least one candidate vehicle target in a track calculation area that passes through the radar, and obtain radar data of each candidate vehicle target in the track calculation area;
the deflection angle calculation module 120 is configured to calculate a track coordinate and a deflection angle of each candidate vehicle target according to radar data of each candidate vehicle target in the track calculation area;
a reference target selection module 130, configured to select a reference target from all candidate vehicle targets according to the track coordinates of each candidate vehicle target;
and the compensation calculation module 140 is used for compensating the running track algorithm of the radar according to the deflection angle of the reference target.
According to the embodiment, the radar deflection angle correction device provided by the embodiment can realize accurate compensation of the radar deflection angle, and improve the debugging accuracy of the deflection angle, so that the running track of a target vehicle is truly reflected, and the problem of poor debugging accuracy of the deflection angle in the radar installation process is solved.
In one embodiment of the present invention, the deflection angle calculation module 120 includes:
the track coordinate calculation unit is used for calculating the track coordinate of each candidate vehicle target according to the radar data of each candidate vehicle target in the track calculation area;
and the deflection angle calculation unit is used for calculating the deflection angle of each candidate vehicle target according to the track coordinates of each candidate vehicle target.
In the present embodiment, the deflection angle calculation unit includes:
the initial deflection angle calculation subunit is used for sequentially calculating an initial deflection angle between two adjacent coordinate values of the first alternative vehicle target; the first candidate vehicle target is any candidate vehicle target;
and the mean value calculating subunit is used for averaging all the initial deflection angles of the first candidate vehicle target to obtain the deflection angle of the first candidate vehicle target.
In this embodiment, the radar data acquisition module 110 includes:
the vehicle target acquisition unit is used for selecting at least one alternative vehicle target in a track calculation area passing through the radar;
and the radar data acquisition unit is used for acquiring radar data of each candidate vehicle target in the track calculation area.
In this embodiment, the reference target selecting module 130 includes:
the driving track sending unit is used for sending the track coordinates of each alternative vehicle target to the upper computer so as to enable the upper computer to display the driving track of each alternative vehicle target;
the reference data receiving unit is used for receiving reference data sent by the upper computer and selecting a reference target according to the reference data; and the reference data is data input into the upper computer by a user according to the running track of each alternative vehicle target.
In the present embodiment, the radar yaw angle correction apparatus 100 further includes:
the environment data acquisition unit is used for acquiring the model and the installation environment data of the radar;
and the track calculation area selection unit is used for selecting a track calculation area according to the type of the radar, the installation environment data and a pre-stored area selection rule.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 5 is a schematic diagram of a radar terminal according to an embodiment of the present invention. As shown in fig. 5, the radar terminal 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52 stored in said memory 51 and executable on said processor 50. The processor 50, when executing the computer program 52, implements the steps in each of the above-described embodiments of the radar yaw angle correction method, such as the steps 101 to 104 shown in fig. 1. Alternatively, the processor 50, when executing the computer program 52, implements the functions of each module/unit in the above-mentioned device embodiments, for example, the functions of the modules 101 to 104 shown in fig. 4.
Illustratively, the computer program 52 may be partitioned into one or more modules/units that are stored in the memory 51 and executed by the processor 50 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 52 in the radar terminal 5. For example, the computer program 52 may be divided into a radar data acquisition module, a deflection angle calculation module, a reference target selection module, and a compensation calculation module (a module in a virtual device), and the specific functions of each module are as follows:
the radar data acquisition module is used for selecting at least one alternative vehicle target passing through a track calculation area of the radar and acquiring radar data of each alternative vehicle target in the track calculation area;
the deflection angle calculation module is used for calculating the deflection angle of each alternative vehicle target according to the radar data of each alternative vehicle target in the track calculation area;
the reference target selection module is used for selecting a reference target from all the alternative vehicle targets according to the deflection angle of each alternative vehicle target;
and the compensation calculation module is used for compensating the running track algorithm of the radar according to the deflection angle of the reference target.
The radar terminal 5 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The radar terminal may include, but is not limited to, a processor 50, a memory 51. It will be appreciated by those skilled in the art that fig. 5 is merely an example of a radar terminal 5 and does not constitute a limitation of the radar terminal 5 and may include more or less components than those shown, or some components in combination, or different components, for example, the radar terminal may also include input-output devices, network access devices, buses, etc.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the radar terminal 5, such as a hard disk or a memory of the radar terminal 5. The memory 51 may also be an external storage device of the radar terminal 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the radar terminal 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the radar terminal 5. The memory 51 is used for storing the computer program and other programs and data required by the radar terminal. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. For the specific working processes of the units and modules in the system, reference may be made to the corresponding processes in the foregoing method embodiments, which are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/radar terminal and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/radar terminal are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated module/unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments described above may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A radar deflection angle correction method, characterized by comprising:
selecting at least one alternative vehicle target passing through a track calculation area of the radar, and acquiring radar data of each alternative vehicle target in the track calculation area;
calculating the track coordinates and the deflection angles of all the alternative vehicle targets according to the radar data of all the alternative vehicle targets in the track calculation area; the deflection angle is the deflection angle of the candidate vehicle target relative to the emitting direction of the radar;
selecting a reference target from all the alternative vehicle targets according to the track coordinates of all the alternative vehicle targets; the reference target is an alternative vehicle target which is not subjected to direction change relative to the road direction;
and compensating the vehicle running track algorithm of the radar according to the deflection angle of the reference target.
2. The radar yaw angle correction method of claim 1, wherein prior to said selecting at least one candidate vehicle target that passes through a trajectory calculation region of the radar, the method further comprises:
acquiring the model and installation environment data of the radar;
and selecting the track calculation area according to the type of the radar, the installation environment data and a pre-stored area selection rule.
3. The radar yaw angle correction method of claim 1, wherein the calculating the track coordinates and the yaw angle of each candidate vehicle target according to the radar data of each candidate vehicle target in the track calculation area comprises:
calculating the track coordinates of each alternative vehicle target according to the radar data of each alternative vehicle target in the track calculation area;
and calculating the deflection angle of each candidate vehicle target according to the track coordinates of each candidate vehicle target.
4. The radar yaw angle correction method of claim 3, wherein the calculating trajectory coordinates of each candidate vehicle target based on the radar data of each candidate vehicle target in the trajectory calculation area comprises:
calculating the corresponding track coordinate of each frame of radar data of the first candidate vehicle target in a radar plane coordinate system; the first candidate vehicle target is any candidate vehicle target; the radar plane coordinate system is a plane rectangular coordinate system which is established by taking the radar as an origin, taking the radar emitting direction as a y axis and taking the vertical direction of the radar emitting direction as an x axis.
5. The radar yaw angle correction method according to claim 3, wherein calculating the yaw angle of each candidate vehicle target according to the trajectory coordinates of each candidate vehicle target includes:
respectively calculating an initial deflection angle between two adjacent track coordinates of the first candidate vehicle target; the first candidate vehicle target is any candidate vehicle target;
and averaging all initial deflection angles of the first candidate vehicle target to obtain the deflection angle of the first candidate vehicle target.
6. The radar yaw angle correction method according to any one of claims 1 to 5, wherein the selecting a reference target from all candidate vehicle targets based on the track coordinates of each candidate vehicle target includes:
sending the track coordinates of each alternative vehicle target to an upper computer; so that the upper computer displays the running track of each candidate vehicle target;
receiving reference data sent by the upper computer, and selecting the reference target according to the reference data; and the reference data is data input into the upper computer by a user according to the running track of each alternative vehicle target.
7. A radar deflection angle correction apparatus characterized by comprising:
the radar data acquisition module is used for selecting at least one alternative vehicle target passing through a track calculation area of the radar and acquiring radar data of each alternative vehicle target in the track calculation area;
the deflection angle calculation module is used for calculating the track coordinates and the deflection angles of all the alternative vehicle targets according to the radar data of all the alternative vehicle targets in the track calculation area; the deflection angle is the deflection angle of the candidate vehicle target relative to the emitting direction of the radar;
the reference target selection module is used for selecting a reference target from all the alternative vehicle targets according to the track coordinates of all the alternative vehicle targets; the reference target is an alternative vehicle target which is not subjected to direction change relative to the road direction;
and the compensation calculation module is used for compensating the vehicle running track algorithm of the radar according to the deflection angle of the reference target.
8. The radar deflection angle correction apparatus according to claim 7, wherein the deflection angle calculation module includes:
the track coordinate calculation unit is used for calculating the track coordinate of each candidate vehicle target according to the radar data of each candidate vehicle target in the track calculation area;
and the deflection angle calculation unit is used for calculating the deflection angle of each candidate vehicle target according to the track coordinates of each candidate vehicle target.
9. A radar terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the radar yaw angle correction method according to any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
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| CN112763993A (en) * | 2020-12-22 | 2021-05-07 | 北京百度网讯科技有限公司 | Method and device for calibrating radar parameters, electronic equipment and storage medium |
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