CN111537968B - Angle radar calibration method and system - Google Patents
Angle radar calibration method and system Download PDFInfo
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- CN111537968B CN111537968B CN202010398454.4A CN202010398454A CN111537968B CN 111537968 B CN111537968 B CN 111537968B CN 202010398454 A CN202010398454 A CN 202010398454A CN 111537968 B CN111537968 B CN 111537968B
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- 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
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Abstract
The invention discloses an angle radar calibration method and system, wherein the method comprises the following steps: after the vehicle is powered on, judging whether a self-adaptive calibration result exists or not, wherein the self-adaptive calibration result is an angle value calculated through obstacle data detected by an angle radar; if the self-adaptive calibration result exists, detecting the current driving old time, wherein the driving old time is the driving times of the vehicle; if the old going time of the current running vehicle is larger than the old going time threshold value, entering a full-time self-adaptive calibration function, and calibrating the angle radar; and when the engine is flamed out, the full-time self-adaptive calibration function is quitted, the current calibration progress is saved, and the self-adaptive calibration result is updated to obtain the calibration result. The invention can solve the problem that the existing calibration method is inconvenient for drivers. By adopting the invention, the calibration of the angle radar can be completed only by normally driving the vehicle by a driver, the operation is convenient, and the waste of people, time and objects can be effectively reduced.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an angle radar calibration method and system.
Background
In the driving process of the vehicle, due to the design of the vehicle body, the visual range which can be provided for a driver by the external rearview mirror always has some blind areas, so that the vehicle which can not see the blind areas before changing the lane can not be seen, and if the vehicle which is overtaking is arranged in the blind areas, the lane changing can have collision accidents at the moment. In heavy rain weather, heavy fog weather, night light dim, it is more difficult to see the rear vehicle clearly, and the lane change just faces bigger danger this moment, and the application of the development of angle radar is exactly in order to solve the problem of rear-view mirror blind area.
The angle radar is installed on the vehicle body, and due to the influence of the installation process and the driving environment, the installation angle of the angle radar is changed, so that the condition that the design requirement cannot be met can be generated, and the angle radar needs to be calibrated. The existing solution needs the driver to drive the vehicle to the designated maintenance place, and the special equipment is adopted to calibrate the angle radar, so that the method brings inconvenience to the driver, and can cause a great deal of waste of people, time and objects.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an angular radar calibration method to solve the problem of inconvenience to the driver of the existing calibration method.
An angular radar calibration method, comprising:
after the vehicle is powered on, judging whether a self-adaptive calibration result exists or not, wherein the self-adaptive calibration result is an angle value calculated through obstacle data detected by an angle radar;
if the self-adaptive calibration result exists, detecting the current driving old time, wherein the driving old time is the driving times of the vehicle;
if the old going time of the current running vehicle is larger than the old going time threshold value, entering a full-time self-adaptive calibration function, and calibrating the angle radar;
and when the engine is flamed out, the full-time self-adaptive calibration function is quitted, the current calibration progress is saved, and the self-adaptive calibration result is updated to obtain the calibration result.
According to the angle radar calibration method provided by the invention, after a vehicle is powered on, whether a self-adaptive calibration result exists or not is automatically judged, and the self-adaptive calibration result is changed into an angle value calculated by obstacle data detected by the angle radar; if the self-adaptive calibration result exists, the old driving time of the current driving is detected, if the old driving time of the current driving is larger than the old driving time threshold value, the full-time self-adaptive calibration function is achieved, the angle radar is calibrated, the current calibration progress is saved after the engine is flamed out, the self-adaptive calibration result is updated, the calibration result is obtained, automatic calibration of the angle radar is achieved, for a driver, the calibration of the angle radar can be completed only by normally driving the vehicle, the operation is convenient, the waste of people, time and objects can be effectively reduced, the angle radar can be ensured to be always in a normal position, and potential safety hazards caused by deviation of the angle radar are avoided.
In addition, the angular radar calibration method according to the present invention may further have the following additional technical features:
further, after the step of determining whether there is an adaptive calibration result after the vehicle is powered on, the method further includes:
if the self-adaptive calibration result does not exist, judging whether the calibration progress stored in the last power-on cycle exists or not;
if the calibration progress stored in the last power-on cycle exists, continuing calibration until the calibration is completed;
and if the calibration progress stored in the last power-on cycle does not exist, entering a first self-adaptive calibration function, exiting the first self-adaptive calibration function after the engine is shut down, and storing the current calibration progress to obtain a calibration result.
Further, after the step of obtaining the calibration result, the method further comprises:
judging whether the calibration result is within a preset deviation range or not;
and if the calibration result is within a preset deviation range, judging that the calibration result is valid, storing the calibration result, and clearing the invalid angle times and the old driving time.
Further, after the step of determining whether the calibration result is within a preset deviation range, the method further includes:
if the calibration result is not within the preset deviation range, deleting the calibration result, increasing the invalid times of the angle once, and restarting the self-adaptive calibration program;
and when the invalid times of the angle exceeds the time threshold value, setting a fault code with overlarge deviation of the installation angle of the angle radar, and sending a corresponding prompt.
Further, entering a full-time adaptive calibration function, and calibrating the angle radar specifically comprises the following steps:
detecting whether a calibration progress exists;
and if the calibration progress exists, continuing calibration by taking the progress as a new starting point.
The invention aims to provide an angle radar calibration system to solve the problem that the existing calibration method is inconvenient for drivers.
An angular radar calibration system, comprising:
the first judgment module is used for judging whether a self-adaptive calibration result exists or not after the vehicle is powered on, wherein the self-adaptive calibration result is an angle value calculated through obstacle data detected by an angle radar;
the first detection module is used for detecting the current driving old time if the self-adaptive calibration result exists, wherein the driving old time is the driving times of the vehicle;
the first calibration module is used for entering a full-time self-adaptive calibration function and calibrating the angle radar if the old driving time is greater than an old driving time threshold;
and the first storage module is used for exiting the full-time self-adaptive calibration function after the engine is shut down, storing the current calibration progress and updating the self-adaptive calibration result to obtain the calibration result.
According to the angle radar calibration system provided by the invention, after a vehicle is powered on, whether a self-adaptive calibration result exists or not is automatically judged, and the self-adaptive calibration result is changed into an angle value calculated by obstacle data detected by an angle radar; if the self-adaptive calibration result exists, the old driving time of the current driving is detected, if the old driving time of the current driving is larger than the old driving time threshold value, the full-time self-adaptive calibration function is achieved, the angle radar is calibrated, the current calibration progress is saved after the engine is flamed out, the self-adaptive calibration result is updated, the calibration result is obtained, automatic calibration of the angle radar is achieved, for a driver, the calibration of the angle radar can be completed only by normally driving the vehicle, the operation is convenient, the waste of people, time and objects can be effectively reduced, the angle radar can be ensured to be always in a normal position, and potential safety hazards caused by deviation of the angle radar are avoided.
In addition, the angular radar calibration system according to the present invention may further have the following additional technical features:
further, the system further comprises:
the second judgment module is used for judging whether the calibration progress stored in the last power-on cycle exists or not if the self-adaptive calibration result does not exist;
the second calibration module is used for continuing calibration until the calibration is finished if the calibration progress stored in the last power-on cycle exists;
and the third calibration module is used for entering a first self-adaptive calibration function if the calibration progress stored in the last power-on cycle does not exist, exiting the first self-adaptive calibration function after the engine is shut down, and storing the current calibration progress to obtain a calibration result.
Further, the system further comprises:
the third judgment module is used for judging whether the calibration result is within a preset deviation range;
and the saving and clearing module is used for judging that the calibration result is valid if the calibration result is within a preset deviation range, saving the calibration result, and clearing the invalid angle counting number and the old driving time.
Further, the system further comprises:
the deleting module is used for deleting the calibration result if the calibration result is not within a preset deviation range, increasing the invalid times of the angle once and restarting the self-adaptive calibration program;
and the setting prompting module is used for setting a fault code with overlarge installation angle deviation of the angle radar and sending a corresponding prompt when the invalid times of the angle exceeds the time threshold value.
Further, the first calibration module is specifically configured to:
detecting whether a calibration progress exists;
and if the calibration progress exists, continuing calibration by taking the progress as a new starting point.
Drawings
The above and/or additional aspects and advantages of embodiments of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of an angular radar calibration method according to a first embodiment of the present invention.
Fig. 2 is a block diagram showing the structure of an angular radar calibration system according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the angular radar calibration method according to the first embodiment of the present invention includes steps S101 to S104.
S101, after the vehicle is powered on, judging whether a self-adaptive calibration result exists, wherein the self-adaptive calibration result is an angle value calculated through obstacle data detected by an angle radar.
After the vehicle is powered on, whether a self-adaptive calibration result exists or not can be judged through the vehicle ECU, wherein the self-adaptive calibration result is an angle value calculated through obstacle data detected by an angle radar, and particularly is the obstacle data detected by the angle radar in the running process of the vehicle.
S102, if the self-adaptive calibration result exists, detecting the current driving old time, wherein the driving old time is the driving times of the vehicle.
If the adaptive calibration result exists, the adaptive calibration is performed before. At this time, the current driving old time is detected, and the driving old time refers to the driving times of the vehicle.
The number of times of travel of the vehicle is calculated by the following method:
if, during a spark cycle, it is detected that the vehicle SPEED is greater than a prescribed threshold value ACTIVE _ SPEED, the number of times the vehicle is driven is increased once, and is increased only once at most during a single ignition cycle.
And S103, if the old driving time is larger than the old driving time threshold, entering a full-time self-adaptive calibration function, and calibrating the angle radar.
And if the current driving old time is greater than the old time threshold value ACTIVE _ DAC, starting a full-time self-adaptive calibration process.
When the diagonal radar is calibrated, firstly detecting whether a calibration progress exists; and if the calibration progress exists, continuing calibration by taking the progress as a new starting point. It can be understood that if there is no calibration progress, calibration is performed directly.
And S104, after the engine is shut down, the full-time self-adaptive calibration function is quitted, the current calibration progress is saved, and the self-adaptive calibration result is updated to obtain the calibration result.
In addition, as a specific example, after the step of determining whether the adaptive calibration result exists after the vehicle is powered on, the method further includes:
if the self-adaptive calibration result does not exist, judging whether the calibration progress stored in the last power-on cycle exists or not;
if the calibration progress stored in the last power-on cycle exists, continuing calibration until the calibration is completed;
and entering a first self-adaptive calibration function if the calibration progress stored in the last power-on cycle does not exist, specifically, entering the first self-adaptive calibration function when an engine of the vehicle is started and is in a forward gear, exiting the first self-adaptive calibration function after the engine is shut down, and storing the current calibration progress to obtain a calibration result.
In addition, as a specific example, after the step of obtaining the calibration result of the adaptive calibration, a calibration result checking process may be entered, which specifically includes:
judging whether the calibration result is within a preset deviation range or not;
and if the calibration result is within a preset deviation range, judging that the calibration result is valid, storing the calibration result, and clearing the invalid angle times and the old driving time.
And if the calibration result is not within the preset deviation range, deleting the calibration result, increasing the angle invalid times once, and restarting the self-adaptive calibration program. In addition, when the invalid times of the angle exceeds the time threshold value, a fault code with overlarge deviation of the installation angle of the angle radar is set, and a corresponding prompt is sent out to remind a driver to go to a maintenance shop for maintenance as soon as possible.
According to the angle radar calibration method provided by the embodiment, after a vehicle is powered on, whether a self-adaptive calibration result exists or not is automatically judged, and the self-adaptive calibration result is changed into an angle value calculated through obstacle data detected by an angle radar; if the self-adaptive calibration result exists, the old driving time of the current driving is detected, if the old driving time of the current driving is larger than the old driving time threshold value, the full-time self-adaptive calibration function is achieved, the angle radar is calibrated, the current calibration progress is saved after the engine is flamed out, the self-adaptive calibration result is updated, the calibration result is obtained, automatic calibration of the angle radar is achieved, for a driver, the calibration of the angle radar can be completed only by normally driving the vehicle, the operation is convenient, the waste of people, time and objects can be effectively reduced, the angle radar can be ensured to be always in a normal position, and potential safety hazards caused by deviation of the angle radar are avoided.
Referring to fig. 2, based on the same inventive concept, an angular radar calibration system according to a second embodiment of the present invention includes:
the first judgment module is used for judging whether a self-adaptive calibration result exists or not after the vehicle is powered on, wherein the self-adaptive calibration result is an angle value calculated through obstacle data detected by an angle radar;
the first detection module is used for detecting the current driving old time if the self-adaptive calibration result exists, wherein the driving old time is the driving times of the vehicle;
the first calibration module is used for entering a full-time self-adaptive calibration function and calibrating the angle radar if the old driving time is greater than an old driving time threshold;
and the first storage module is used for exiting the full-time self-adaptive calibration function after the engine is shut down, storing the current calibration progress and updating the self-adaptive calibration result to obtain the calibration result.
In this embodiment, the system further includes:
the second judgment module is used for judging whether the calibration progress stored in the last power-on cycle exists or not if the self-adaptive calibration result does not exist;
the second calibration module is used for continuing calibration until the calibration is finished if the calibration progress stored in the last power-on cycle exists;
and the third calibration module is used for entering a first self-adaptive calibration function if the calibration progress stored in the last power-on cycle does not exist, exiting the first self-adaptive calibration function after the engine is shut down, and storing the current calibration progress to obtain a calibration result.
In this embodiment, the system further includes:
the third judgment module is used for judging whether the calibration result is within a preset deviation range;
and the saving and clearing module is used for judging that the calibration result is valid if the calibration result is within a preset deviation range, saving the calibration result, and clearing the invalid angle counting number and the old driving time.
In this embodiment, the system further includes:
the deleting module is used for deleting the calibration result if the calibration result is not within a preset deviation range, increasing the invalid times of the angle once and restarting the self-adaptive calibration program;
and the setting prompting module is used for setting a fault code with overlarge installation angle deviation of the angle radar and sending a corresponding prompt when the invalid times of the angle exceeds the time threshold value.
In this embodiment, the first calibration module is specifically configured to:
detecting whether a calibration progress exists;
and if the calibration progress exists, continuing calibration by taking the progress as a new starting point.
According to the angle radar calibration system provided by the embodiment, after a vehicle is powered on, whether a self-adaptive calibration result exists or not is automatically judged, and the self-adaptive calibration result is changed into an angle value calculated through obstacle data detected by an angle radar; if the self-adaptive calibration result exists, the old driving time of the current driving is detected, if the old driving time of the current driving is larger than the old driving time threshold value, the full-time self-adaptive calibration function is achieved, the angle radar is calibrated, the current calibration progress is saved after the engine is flamed out, the self-adaptive calibration result is updated, the calibration result is obtained, automatic calibration of the angle radar is achieved, for a driver, the calibration of the angle radar can be completed only by normally driving the vehicle, the operation is convenient, the waste of people, time and objects can be effectively reduced, the angle radar can be ensured to be always in a normal position, and potential safety hazards caused by deviation of the angle radar are avoided.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit of a logic gate circuit specifically used for realizing a logic function for a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. An angular radar calibration method, comprising:
after the vehicle is powered on, judging whether a self-adaptive calibration result exists or not, wherein the self-adaptive calibration result is an angle value calculated through obstacle data detected by an angle radar;
if the self-adaptive calibration result exists, detecting the current driving old time, wherein the driving old time is the driving frequency of the vehicle, and the driving frequency of the vehicle is calculated by the following method: if the vehicle SPEED is detected to be greater than a prescribed threshold value ACTIVE _ SPEED during one ignition cycle, the number of times the vehicle is driven is increased once, and is increased only once at most during one ignition cycle;
if the old going time of the current running vehicle is larger than the old going time threshold value, entering a full-time self-adaptive calibration function, and calibrating the angle radar;
when the engine is shut down, the full-time self-adaptive calibration function is exited, the current calibration progress is saved, and the self-adaptive calibration result is updated to obtain a calibration result;
after the step of judging whether the self-adaptive calibration result exists or not after the vehicle is powered on, the method further comprises the following steps:
if the self-adaptive calibration result does not exist, judging whether the calibration progress stored in the last power-on cycle exists or not;
if the calibration progress stored in the last power-on cycle exists, continuing calibration until the calibration is completed;
and if the calibration progress stored in the last power-on cycle does not exist, entering a first self-adaptive calibration function, exiting the first self-adaptive calibration function after the engine is shut down, and storing the current calibration progress to obtain a calibration result.
2. The angular radar calibration method according to claim 1, wherein after the step of obtaining the calibration result, the method further comprises:
judging whether the calibration result is within a preset deviation range or not;
and if the calibration result is within a preset deviation range, judging that the calibration result is valid, storing the calibration result, and clearing the invalid angle times and the old driving time.
3. The angular radar calibration method according to claim 2, wherein after the step of determining whether the calibration result is within a preset deviation range, the method further comprises:
if the calibration result is not within the preset deviation range, deleting the calibration result, increasing the invalid times of the angle once, and restarting the self-adaptive calibration program;
and when the invalid times of the angle exceeds the time threshold value, setting a fault that the deviation of the installation angle of the angle radar is too large.
4. The angular radar calibration method according to claim 1, wherein a full-time adaptive calibration function is entered, and the step of calibrating the angular radar specifically comprises:
detecting whether a calibration progress exists;
and if the calibration progress exists, continuing calibration by taking the progress as a new starting point.
5. An angular radar calibration system, comprising:
the first judgment module is used for judging whether a self-adaptive calibration result exists or not after the vehicle is powered on, wherein the self-adaptive calibration result is an angle value calculated through obstacle data detected by an angle radar;
the first detection module is used for detecting the current driving old time if the self-adaptive calibration result exists, wherein the driving old time is the driving times of the vehicle, and the driving times of the vehicle are calculated by the following method: if the vehicle SPEED is detected to be greater than a prescribed threshold value ACTIVE _ SPEED during one ignition cycle, the number of times the vehicle is driven is increased once, and is increased only once at most during one ignition cycle;
the first calibration module is used for entering a full-time self-adaptive calibration function and calibrating the angle radar if the old driving time is greater than an old driving time threshold;
the first storage module is used for exiting the full-time self-adaptive calibration function after the engine is shut down, storing the current calibration progress and updating the self-adaptive calibration result to obtain a calibration result;
the system further comprises:
the second judgment module is used for judging whether the calibration progress stored in the last power-on cycle exists or not if the self-adaptive calibration result does not exist;
the second calibration module is used for continuing calibration until the calibration is finished if the calibration progress stored in the last power-on cycle exists;
and the third calibration module is used for entering a first self-adaptive calibration function if the calibration progress stored in the last power-on cycle does not exist, exiting the first self-adaptive calibration function after the engine is shut down, and storing the current calibration progress to obtain a calibration result.
6. The angular radar calibration system of claim 5, further comprising:
the third judgment module is used for judging whether the calibration result is within a preset deviation range;
and the saving and clearing module is used for judging that the calibration result is valid if the calibration result is within a preset deviation range, saving the calibration result, and clearing the invalid angle counting number and the old driving time.
7. The angular radar calibration system of claim 6, further comprising:
the deleting module is used for deleting the calibration result if the calibration result is not within a preset deviation range, increasing the invalid times of the angle once and restarting the self-adaptive calibration program;
and the setting prompting module is used for setting a fault code with overlarge installation angle deviation of the angle radar and sending a corresponding prompt when the invalid times of the angle exceeds the time threshold value.
8. The angular radar calibration system of claim 5, wherein the first calibration module is specifically configured to:
detecting whether a calibration progress exists;
and if the calibration progress exists, continuing calibration by taking the progress as a new starting point.
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| CN109656633A (en) * | 2018-11-26 | 2019-04-19 | 广州致远电子有限公司 | Instrument calibration method, device, system, terminal device and readable storage medium storing program for executing |
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