CN111665479A - Angle calibration method, device and system of automobile millimeter wave radar and storage medium - Google Patents
Angle calibration method, device and system of automobile millimeter wave radar and storage medium Download PDFInfo
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- CN111665479A CN111665479A CN202010716590.3A CN202010716590A CN111665479A CN 111665479 A CN111665479 A CN 111665479A CN 202010716590 A CN202010716590 A CN 202010716590A CN 111665479 A CN111665479 A CN 111665479A
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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
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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
- G01S7/4008—Means for monitoring or calibrating of parts of a radar system of transmitters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The invention discloses an angle calibration method, a device and a system of an automobile millimeter wave radar and a computer readable storage medium, wherein the method comprises the steps of detecting a target object in a detection range of the current automobile by the radar in the running process of the current automobile to obtain a measurement distance and a measurement angle corresponding to the target object; calling a corresponding relation between a pre-established measurement angle interval and a compensation angle, determining the measurement angle interval corresponding to the measurement angle and the corresponding compensation angle, and taking the compensation angle as a target compensation angle; the compensation angles which are in one-to-one correspondence with the measurement angle intervals in the detection range of the radar are stored in the corresponding relation between the measurement angle intervals and the compensation angles; the method can improve the calibration accuracy of the radar angle, has no requirement on the installation position of the radar, and has a wide application range.
Description
Technical Field
The embodiment of the invention relates to the technical field of automobile driving, in particular to an angle calibration method, device and system of an automobile millimeter wave radar and a computer readable storage medium.
Background
In the current automobile driving related radar products, the main application is in the field of automobile driving safety initiative/assistance, such as: lane Change Assist (LCA), blind spot warning (BSD), Front Collision Warning (FCW), forward adaptive cruise (ACC), forward collision automatic brake (AEB), etc. The frequency bands of the radar equipment are mainly 24GHz, 77GHz and 79GHz, a blind area early warning (BSD) is taken as an example, BSD radars are respectively installed on two sides of the interior of a rear bumper of a vehicle, the position and the speed of the rear vehicle are calculated in real time according to rear vehicle information measured by the radars, and the blind area early warning is provided for the current vehicle. In this process, the angle error distorts the calculation of the position and speed of the rear vehicle, as shown in fig. 1, where a1 denotes the radar, B1 denotes the true target position, C denotes the target position (i.e. the measured position of the target) calculated by the radar due to the error, and θ denotes the angle error.
When the radar is installed in the bumper, the condition of angle error is complicated, and the radar waves with different incident angles are deflected differently by different parts of the bumper.
Aiming at the problem, one of the prior art is to calibrate errors and installation residuals in the driving process in real time in the driving process of an automobile, and the angle error of the radar is usually assumed as a fixed value in the process, so that the angle errors generated by different deflections of radar waves at different incident angles by a bumper cannot be completely compensated, and the calibration accuracy is poor; the other is to design a bumper with small radar wave deflection effect, but the design and installation are complex, only aiming at the front-loading market, and not applicable to the situation that the bumper of the rear-loading market is fixed.
In view of this, how to provide a method, an apparatus, a system and a computer-readable storage medium for calibrating an angle of an automotive millimeter wave radar with a wide application range and high calibration accuracy becomes a problem to be solved by those skilled in the art.
Disclosure of Invention
The embodiment of the invention aims to provide an angle calibration method, device and system of an automobile millimeter wave radar and a computer readable storage medium, wherein different compensation calibrations can be performed on radar waves with different incident angles through different compensation angles in the using process, so that the calibration accuracy is improved, and the application has no requirement on the installation position of the radar and has wider application range.
In order to solve the technical problem, an embodiment of the present invention provides an angle calibration method for an automotive millimeter wave radar, including:
in the current vehicle running process, detecting a target object in a detection range of the vehicle through a radar to obtain a measurement distance and a measurement angle corresponding to the target object;
calling a corresponding relation between a pre-established measurement angle interval and a compensation angle, determining the measurement angle interval corresponding to the measurement angle and the corresponding compensation angle, and taking the compensation angle as a target compensation angle; the corresponding relation between the measurement angle intervals and the compensation angles stores the compensation angles which are in one-to-one correspondence with the measurement angle intervals in the detection range of the radar;
and performing compensation calibration on the measurement angle according to the target compensation angle so as to determine the real measurement position of the target object according to the measurement distance and the calibrated measurement angle.
Optionally, the process of establishing the corresponding relationship between the measurement angle interval and the compensation angle is as follows:
s210: dividing the detection range of the radar of the current vehicle into N measurement angle intervals according to a preset sequence in advance, and determining initial compensation angles corresponding to the measurement angle intervals respectively;
s220: in the running process of the current vehicle, tracking and detecting a target in a detection range of the current vehicle through a radar, and acquiring a running track of a jth overtaking vehicle of an adjacent lane;
s230: obtaining and recording the ith corresponding to the ith measuring angle interval according to the central axis of the adjacent lane and the jth running trackjAn error angle, wherein i ═ 0,1,2 … … N-1;
s240: judging whether j is equal to M, if yes, entering S250; if not, the process goes to S270, wherein M is an integer greater than 2;
s250: calculating an average error angle of the ith measurement angle interval according to the M error angles corresponding to the ith measurement angle interval, and updating an initial compensation angle of the ith measurement angle interval by using the average error angle to obtain a compensation angle corresponding to the ith measurement angle interval;
s260: updating each compensation angle in the corresponding relation between the measurement angle interval and the compensation angle according to the compensation angle corresponding to each measurement angle interval;
s270: and updating the j to be j +1, and returning to S220 to obtain the running track of the next overtaking vehicle.
Optionally, the process of tracking and detecting the target in the detection range of the radar and acquiring the running track of the jth passing vehicle in the adjacent lane includes:
determining running tracks corresponding to the targets in a preset time area in which the current vehicle runs straight according to each group of distance and angle information corresponding to each target;
and analyzing the running track of each target to determine the running track of which the maximum distance from the central axis of the adjacent lane is within a preset distance range, and taking the vehicle corresponding to the running track as the jth overtaking vehicle.
Optionally, the process of obtaining the running track corresponding to each target in the preset time region in which the current vehicle travels straight according to each group of distance and angle information corresponding to each target is as follows:
obtaining the coordinate position of each measuring point corresponding to each target under a two-dimensional coordinate system according to each group of distance and angle information corresponding to each target, wherein the two-dimensional coordinate system takes the current vehicle as the origin of coordinates;
acquiring each target measuring point corresponding to each target and in a preset time region in which the current vehicle moves straight;
and obtaining a running track corresponding to each target respectively according to each target measuring point corresponding to each target.
Optionally, the information of the adjacent lane central axis and the jth running track is obtained, recorded and recordedIth corresponding to ith measurement angle intervaljThe process of each error angle is as follows:
calculating initial error angles corresponding to a plurality of measuring points with measuring angles in an ith measuring angle interval according to the central axis of the adjacent lane and the jth running track;
obtaining an initial average error angle of the jth running track in the ith measuring angle interval according to each initial error angle, and taking the initial average error angle as an ith measuring angle interval corresponding to the ith measuring angle intervaljAn error angle.
Optionally, after the establishing the corresponding relationship between the measurement angle interval and the compensation angle according to the compensation angle corresponding to each measurement angle interval, the method further includes:
and j is reset to 0, and the process returns to S220, so as to perform the next round of updating on the corresponding relation between the measurement angle interval and the compensation angle.
The embodiment of the invention correspondingly provides an angle calibration device of an automobile millimeter wave radar, which comprises the following components:
the detection module is used for detecting a target object in a detection range of the current vehicle through a radar in the running process of the current vehicle to obtain a measurement distance and a measurement angle corresponding to the target object;
the matching module is used for calling the corresponding relation between the measurement angle interval and the compensation angle which are pre-established by the establishing module, determining the measurement angle interval corresponding to the measurement angle and the corresponding compensation angle, and taking the compensation angle as a target compensation angle; the corresponding relation between the measurement angle intervals and the compensation angles stores the compensation angles which are in one-to-one correspondence with the measurement angle intervals in the detection range of the radar;
and the calibration module is used for performing compensation calibration on the measurement angle according to the target compensation angle so as to determine the real measurement position of the target object according to the measurement distance and the calibrated measurement angle.
Optionally, the establishing module includes:
the dividing unit is used for dividing the detection range of the radar of the current vehicle into N measurement angle intervals in advance according to a preset sequence and determining initial compensation angles corresponding to the measurement angle intervals respectively;
the detection unit is used for tracking and detecting a target in a detection range of the current vehicle through a radar in the running process of the current vehicle and acquiring the running track of the jth overtaking vehicle of an adjacent lane;
an analysis unit for obtaining and recording the ith corresponding to the ith measurement angle interval according to the central axis of the adjacent lane and the jth running trackjAn error angle, wherein i ═ 0,1,2 … … N-1;
the judging unit is used for judging whether j is equal to M or not, and if yes, the calculating unit is triggered; if not, triggering an updating unit, wherein M is an integer greater than 2; (ii) a
The calculation unit is configured to calculate an average error angle of the ith measurement angle interval according to the M error angles corresponding to the ith measurement angle interval, and update the initial compensation angle of the ith measurement angle interval by using the average error angle to obtain a compensation angle corresponding to the ith measurement angle interval;
the establishing unit is used for updating each compensation angle in the corresponding relation between the measurement angle interval and the compensation angle according to the compensation angle respectively corresponding to each measurement angle interval;
and the updating unit is used for updating j to j +1 and triggering the detection unit to acquire the running track of the next overtaking vehicle.
The embodiment of the invention also provides an angle calibration system of the automobile millimeter wave radar, which comprises the following steps:
a memory for storing a computer program;
and the processor is used for realizing the steps of the angle calibration method of the automotive millimeter wave radar when the computer program is executed.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the angle calibration method of the automotive millimeter wave radar are realized.
The invention provides an angle calibration method, a device, a system and a computer readable storage medium for an automotive millimeter wave radar, which can divide a measurement angle of the radar into a plurality of measurement angle intervals in advance, establish a corresponding relation between the measurement angle intervals and compensation angles, wherein each measurement angle interval corresponds to one compensation angle, the radar can detect a target object in a detection range of the radar in the current driving process of a vehicle to obtain corresponding measurement distance and measurement angle, match which measurement angle interval the measurement angle is located in from the corresponding relation between the measurement angle intervals and the compensation angles according to the measurement angles to determine a target compensation angle corresponding to the measurement angle area, then perform compensation calibration on the measurement angles by adopting the target compensation angles to obtain calibrated angle information, and obtain the target compensation angle at the moment according to the measurement distance corresponding to the target object and the calibrated angle information The true measured position of the object. The radar wave calibration device can perform different compensation calibration on radar waves with different incident angles through different compensation angles, so that the calibration accuracy is improved, the radar wave calibration device has no requirement on the installation position of a radar, and the application range is wider.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments 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 without creative efforts.
FIG. 1 is a schematic diagram of a position error corresponding to a conventional radar measurement target;
fig. 2 is a schematic flow chart of an angle calibration method for an automotive millimeter wave radar according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of another method for calibrating an angle of an automotive millimeter wave radar according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a positional relationship between a host vehicle and a rear vehicle when a bumper is undistorted according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a positional relationship between an own vehicle and a rear vehicle when there is a distortion in a bumper according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a driving trajectory of a passing vehicle according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an angle calibration apparatus for an automotive millimeter wave radar according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides an angle calibration method, device and system of an automobile millimeter wave radar and a computer readable storage medium, wherein different compensation calibrations can be performed on radar waves with different incident angles through different compensation angles in the using process, so that the calibration accuracy is improved, and the method, device and system have no requirement on the installation position of the radar and have wider application range.
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. 2, fig. 2 is a schematic flow chart illustrating an angle calibration method for an automotive millimeter wave radar according to an embodiment of the present invention. The method comprises the following steps:
s110: in the current running process of the vehicle, detecting a target object in the detection range of the vehicle through a radar to obtain a measurement distance and a measurement angle corresponding to the target object;
it should be noted that, a corresponding relationship between a measurement angle interval and a compensation angle corresponding to each radar of each vehicle is established in advance, wherein a detection range of the corresponding radar is divided into a plurality of measurement angle intervals, the compensation angle corresponding to each measurement angle interval is determined, and then the corresponding relationship between the measurement angle interval and the compensation angle is established. The corresponding relation between the measured angle interval and the compensation angle may be stored in the form of a corresponding relation table, that is, the corresponding relation table between the measured angle interval and the compensation angle may be established.
Specifically, in the driving process of the current vehicle, the radar can detect a target object appearing in the detection range of the radar in real time, a set of measurement distance and measurement angle corresponding to the target object can be obtained by detection at each time, and the measurement angle is inaccurate because the radar waves can deflect in the transmission process, and compensation and calibration are needed to be carried out on the measurement angle.
S120: calling a corresponding relation between a pre-established measurement angle interval and a compensation angle, determining the measurement angle interval corresponding to the measurement angle and the corresponding compensation angle, and taking the compensation angle as a target compensation angle; the compensation angles which are in one-to-one correspondence with the measurement angle intervals in the detection range of the radar are stored in the corresponding relation between the measurement angle intervals and the compensation angles;
it can be understood that, after the measurement angle corresponding to the target object is detected, the measurement angle may be matched with each measurement angle interval in the pre-established correspondence relationship between the measurement angle interval and the compensation angle to match the measurement angle interval in which the measurement angle is located, and accordingly, the compensation angle corresponding to the measurement angle interval, that is, the target compensation angle corresponding to the measurement angle, may be determined.
For example, the radar detection range is [ A, B), the detection range can be divided into N segments, wherein the interval between each two adjacent segments is stepped to (B-A)/N, and each measurement angle interval can beCorresponding to a compensation angle, when the measured angle of the target object detected by the radar is C1And C is1Is located in [ A1,B1) Within the measurement angle interval of (1), then will be equal to [ A ]1,B1) Corresponding compensation angle as the measured angle C1The target compensation angle of (1). S130: and performing compensation calibration on the measurement angle according to the target compensation angle so as to determine the real measurement position of the target object according to the measurement distance and the calibrated measurement angle.
Specifically, after a target compensation angle corresponding to the measurement angle of the target object is determined, the measurement angle may be compensated and calibrated according to the target compensation angle, for example, the calibrated measurement angle is C1The + delta theta and the delta theta have directivity, so that the real measuring position of the target object at the current moment can be further determined according to the calibrated measuring angle and the measured distance obtained by detection.
Further, referring to fig. 3 specifically, the process of establishing the corresponding relationship between the measurement angle interval and the compensation angle in S120 may specifically be:
s210: dividing a detection range of a radar of a current vehicle into N measurement angle intervals according to a preset sequence, and determining initial compensation angles corresponding to the measurement angle intervals respectively;
specifically, the detection range of the radar may be divided into N measurement angle intervals in order from large to small or from small to large, for example, the detection range of the radar is [ -60 °,60 °), and the detection range is divided into N segments (i ═ 0,1,2 … … N-1) in order from small to large in a preset step, where the preset step may be 3 °, N ═ 40, the 0 th measurement angle interval is [ -60 °, -57 °), the 1 st measurement angle interval is [ -57 °, -54 °) … …, and the N-1 th measurement angle interval is [57 °,60 °), in order to ensure the calibration accuracy. When the radar leaves a factory, or after the radar is installed again, a corresponding initial compensation angle can be set for each measurement angle interval, for a front-mounted radar, the radar installation angle can be obtained through factory calibration, the radar installation angle is used as the initial compensation angle of each measurement angle interval, for a rear-mounted radar, the initial compensation angle corresponding to each measurement angle area can be set to be 0, an initial corresponding relation is established according to the initial compensation angle corresponding to each measurement angle interval, and therefore before a vehicle does not reach a condition for updating the initial corresponding relation, the initial compensation angles corresponding to the measurement angle intervals respectively in the initial corresponding relation are adopted to carry out compensation calibration on the angle of the radar.
S220: in the current running process of the vehicle, tracking and detecting a target in a detection range of the current vehicle through a radar, and acquiring a running track of a jth overtaking vehicle of an adjacent lane;
specifically, in the process of current vehicle running, the radar can track and detect targets in the detection range in real time, the running tracks corresponding to each target can be obtained according to the tracking and detection information, the overtaking vehicles of adjacent lanes and the running tracks corresponding to the overtaking vehicles can be determined from the running tracks, wherein after the overtaking vehicles of the adjacent lanes and the corresponding running tracks are determined, 1 is added to the number of the currently accumulated overtaking vehicles, the overtaking vehicles of the adjacent lanes determined at this time are counted as the jth overtaking vehicle, and the overtaking vehicle of the adjacent lane recorded last time is the jth-1 overtaking vehicle.
Further, in the step S220, the process of tracking and detecting the target in the detection range thereof by using the radar and obtaining the running track of the jth passing vehicle in the adjacent lane may specifically be:
determining running tracks corresponding to the targets in a preset time area in which the current vehicle runs straight according to the distance and angle information of each group corresponding to each target;
and analyzing the running track of each target to determine the running track of which the maximum distance from the central axis of the adjacent lane is within a preset distance range, and taking the vehicle corresponding to the running track as the jth overtaking vehicle.
Specifically, in the process of driving of the current vehicle, the radar may track and detect the targets in the detection range in real time, obtain each set of measured distance and measured angle corresponding to each target, and obtain the running track of each target according to each set of measured distance and measured angle corresponding to any one target.
For convenience of analysis, the running track of each target can be obtained according to the following process:
obtaining the coordinate position of each measuring point corresponding to each target under a two-dimensional coordinate system according to each group of distance and angle information corresponding to each target, wherein the two-dimensional coordinate system takes the current vehicle as the origin of coordinates;
acquiring each target measuring point corresponding to each target and in a preset time area in which the current vehicle runs straight;
and obtaining the running track respectively corresponding to each target according to each target measuring point corresponding to each target.
It should be noted that a two-dimensional coordinate system using the current vehicle as a coordinate origin may be established, the position coordinates of each measurement point corresponding to each target in the two-dimensional coordinate system are obtained according to each set of measurement distances and measurement angles corresponding to each target, then each target measurement point corresponding to the corresponding target in the preset time zone in which the current vehicle travels straight is selected from each measurement point, and then a running track corresponding to the corresponding target is obtained according to each target measurement point, where the running track is in the two-dimensional coordinate system using the current vehicle as the coordinate origin.
The following description will be given taking as an example a scenario in which a vehicle is passing behind and a radar is behind a vehicle in an LCA scenario:
when the rear vehicle is running straight and overtaking, the current vehicle detects that the rear target is approaching gradually, if the bumper is assumed to have no distortion, each measuring point is converted into a self two-dimensional coordinate system taking the current vehicle as a reference system as shown in fig. 4, wherein O represents the self vehicle (origin position), D1 and D2 ….. Dk respectively represent the position of the rear vehicle of the first frame and the position of the rear vehicle of the second frame … … of the kth frame, and overtaking is completed at the position of the rear vehicle of the kth frame; when there is a bumper distortion, the positions of the following vehicles at different times are different, the incident angles of the reflected radar waves are different, and therefore the resulting position deflections are different, and the deflection condition of a certain bumper is specifically shown in fig. 5, where E1, E2 ….. Ek respectively represent the real position of the following vehicle at the first frame and the real position of the following vehicle at the kth frame … … at the real position of the following vehicle at the second frame, and F1, F2 ….. Fk respectively represent the observed position of the following vehicle at the first frame and the observed position of the following vehicle at the kth frame … … at the second frame.
Specifically, target measurement points such as F1, F2 ….. Fk corresponding to the target may be obtained within a preset time range in which the current vehicle is moving straight, and the running track of the target may be obtained according to the measurement points.
In addition, under the two-dimensional coordinate system, when it is determined which vehicles are overtaking vehicles, the running track of the target may be analyzed, and when the measurement point with the largest abscissa value in the running track is within a preset range from the central axis X of the adjacent lane, the target corresponding to the running track is the overtaking vehicle, where the preset distance range in this embodiment may be-3 m to 3m, that is, when the maximum distance is within a range of 3m from the central axis of the adjacent lane to the left and right, the target is the overtaking vehicle. S230: obtaining and recording the ith corresponding to the ith measuring angle interval according to the central axis of the adjacent lane and the jth running trackjAn error angle, wherein i ═ 0,1,2 … … N-1;
specifically, the obtained target measurement points corresponding to the jth passing vehicle may be connected in sequence, so as to obtain the running track of the jth passing vehicle. Because the observation position can be obtained only according to each target measurement point, the corresponding actual position is not known, but when the overtaking vehicle is positioned on the adjacent lane for overtaking, the coordinate of the overtaking vehicle on the X axis is always positioned on the adjacent lane, and the distance measurement is not influenced by the bumper, so that the included angle between the measured running track and the central axis of the adjacent lane can be calculated. Specifically, as shown in fig. 6, the measured moving track is a curve Q1, and the straight line is the center axis of the adjacent laneA line Q2, wherein, the axis parallel to the X axis from the tail of the vehicle is used as a reference line Q0, the vehicle rotates clockwise by a preset angle and then makes a ray to intersect the running track curve Q1 at a point W1, the measured distance R corresponding to the point is calculated, and then the line OW1 and the X axis form an included angle θ between the line OW1 and the X axis when the origin is used as the center of a circle and the R is used as the radius to make an arc to intersect the central axis Q2 of the adjacent lane at a point W21The line OW2 forms an angle theta with the X-axis for measuring an angle corresponding to the measurement distance R2Is an actual angle corresponding to the measured distance R, and therefore, an error angle θ can be obtained2-θ1. That is, by the above method, the angle error corresponding to each measured angle interval can be determined according to one measured angle in each measured angle interval, that is, the corresponding ith measured angle can be obtained according to one measured angle in the ith measured angle intervaljAn error angle.
Further, in the above S230, an ith measuring angle interval corresponding to the ith measuring angle interval is obtained and recorded according to the central axis of the adjacent lane and the jth running trackjThe process of each error angle may specifically be:
calculating initial error angles corresponding to a plurality of measuring points with measuring angles in an ith measuring angle interval according to the central axis of the adjacent lane and the jth running track;
obtaining an initial average error angle of the jth running track in the ith measuring angle interval according to each initial error angle, and taking the initial average error angle as the ith measuring angle interval corresponding to the ith measuring angle intervaljAn error angle.
It should be noted that, in order to improve the accuracy, the corresponding initial angle error may be calculated for a plurality of measurement points in each measurement angle interval, for example, for the measurement angle interval [ -60 °, -57 °) with the radar detection range [ -60 °,60 °), the measurement distance corresponding to the measurement angle-59 ° may be determined according to the travel track, then the initial angle error corresponding to-59 ° may be calculated according to the travel track and the central axis of the adjacent lane, and after 1 ° of separation, the initial angle error corresponding to-58 ° may be calculated, then the two initial angle errors are averaged, and the obtained average initial angle error is taken as the error angle corresponding to the measurement angle interval [ -60 °, -57 °). Of course, the interval can be set to other specific values, so that the accuracy of the corresponding error angle of each measurement angle interval is improved, and the accuracy of radar angle calibration is improved.
S240: judging whether j is equal to M, if yes, entering S250; if not, the process goes to S270, wherein M is an integer greater than 2;
specifically, after the running track of the jth overtaking vehicle is obtained and the error angle corresponding to each measurement angle interval is obtained according to the jth running track, whether the current j is equal to M or not is judged, that is, whether the number of overtaking vehicles accumulated and recorded currently reaches M or not is judged, and if yes, the operation goes to S250; if not, S270 is entered.
S250: calculating an average error angle of the ith measurement angle interval according to the M error angles corresponding to the ith measurement angle interval, and updating the initial compensation angle of the ith measurement angle interval by adopting the average error angle to obtain a compensation angle corresponding to the ith measurement angle interval;
specifically, when the accumulated number of passing vehicles reaches M, since the error angles corresponding to the N measurement angle intervals are calculated according to the running track of each passing vehicle, for the ith measurement angle interval, M error angles corresponding to the running track of each passing vehicle may be added, and then averaged, so as to obtain an average error angle corresponding to the ith measurement angle interval, where the average angle error is a compensation angle, and the initial compensation angle corresponding to the ith measurement angle interval is updated by using the compensation angle, where i is 0,1,2 … … N-1, so that the compensation angle corresponding to each measurement angle interval may be obtained.
S260: updating each compensation angle in the corresponding relation between the measurement angle interval and the compensation angle according to the compensation angle respectively corresponding to each measurement angle interval;
that is, the updated corresponding relationship between the measurement angle interval and the compensation angle can be obtained by using the compensation angle corresponding to each measurement angle interval, and specifically, each compensation angle in the corresponding relationship table between the measurement angle interval and the compensation angle can be updated by using the compensation angle corresponding to each measurement angle interval, so as to obtain the updated corresponding relationship table.
S270: and j is updated to j +1, and the process returns to S220 to obtain the running track of the next overtaking vehicle.
Specifically, when the number of the currently accumulated overtaking vehicles does not reach M, after error angles respectively corresponding to each measurement angle interval are obtained and recorded according to the jth running track, j may be updated to j +1, then the process returns to S220, the jth +1 overtaking vehicle is determined again from each target tracked in the radar detection range, and the jth +1 running track is obtained, then error angles respectively corresponding to each measurement angle interval are obtained according to the jth +1 running track, and whether the accumulated overtaking vehicles reach M or not is determined again until the corresponding relation between the measurement angle interval and the compensation angle is established after the number of the overtaking vehicles reaches M.
It should be noted that, in practical applications, in order to ensure the calibration accuracy, the vehicle speed of the vehicle may be required to be greater than 30Km/h, and the vehicle speed of the overtaking vehicle may be required to be greater than 50 Km/h. In addition, the vehicle can also exceed the side vehicle, and the vehicle speed of the vehicle is greater than that of the side vehicle, so that the measurement track is still a curve.
Further, after the corresponding relationship between the measurement angle interval and the compensation angle is established according to the compensation angle corresponding to each measurement angle interval in S260, the method further includes:
and j is reset to 0, and the process returns to S220, so that the corresponding relation between the measured angle interval and the compensation angle is updated in the next round.
It should be noted that, after the corresponding relationship between the measured angle interval and the compensation angle is established, the vehicle may compensate and correct the angle of the radar through the corresponding relationship during the driving process, and since the vehicle may have an influence on the angle error of the radar due to bumping or other conditions during the driving process, after the corresponding relationship between the measured angle interval and the compensation angle is established, the data of the accumulated number of overtaking vehicles may be reset to 0, that is, j is reset to 0, and then S220 is continuously executed, so as to perform the next round of updating on the corresponding relationship between the measured angle interval and the compensation angle, thereby ensuring the calibration accuracy.
Therefore, the invention can divide the measuring angle of the radar into a plurality of measuring angle intervals in advance, and establish the corresponding relation between the measuring angle intervals and the compensation angles, each measuring angle interval corresponds to one compensation angle, in the current running process of the vehicle, the radar can detect a target object in the detection range of the radar to obtain a corresponding measurement distance and a corresponding measurement angle, according to the measuring angle, which measuring angle interval the measuring angle is positioned in can be matched from the corresponding relation between the measuring angle interval and the compensating angle, so that the target compensating angle corresponding to the measuring angle area is determined, then the target compensation angle is adopted to carry out compensation calibration on the measurement angle so as to obtain the calibrated angle information, and obtaining the real measuring position of the target object at the moment according to the measuring distance corresponding to the target object and the calibrated angle information. The radar wave calibration device can perform different compensation calibration on radar waves with different incident angles through different compensation angles, so that the calibration accuracy is improved, the radar wave calibration device has no requirement on the installation position of a radar, and the application range is wider.
On the basis of the foregoing embodiments, the present invention provides an angle calibration apparatus for automotive millimeter wave radar, and specifically refer to fig. 7. The device includes:
the detection module 21 is configured to detect a target object within a detection range of a current vehicle through a radar in a running process of the current vehicle, and obtain a measurement distance and a measurement angle corresponding to the target object;
the matching module 22 is configured to retrieve a corresponding relationship between the measurement angle interval and the compensation angle, which is pre-established by the establishing module, determine the measurement angle interval corresponding to the measurement angle and the corresponding compensation angle, and use the compensation angle as a target compensation angle; the compensation angles which are in one-to-one correspondence with the measurement angle intervals in the detection range of the radar are stored in the corresponding relation between the measurement angle intervals and the compensation angles;
and the calibration module 23 is configured to perform compensation calibration on the measurement angle according to the target compensation angle, so as to determine a real measurement position of the target object according to the measurement distance and the calibrated measurement angle.
Optionally, the establishing module includes:
the dividing unit is used for dividing the detection range of the radar of the current vehicle into N measurement angle intervals according to a preset sequence in advance and determining initial compensation angles corresponding to the measurement angle intervals respectively;
the detection unit is used for tracking and detecting a target in a detection range of the current vehicle through a radar in the running process of the current vehicle and acquiring the running track of the jth overtaking vehicle of an adjacent lane;
an analysis unit for obtaining and recording the ith corresponding to the ith measurement angle interval according to the central axis of the adjacent lane and the jth running trackjAn error angle, wherein i ═ 0,1,2 … … N-1;
the judging unit is used for judging whether j is equal to M or not, and if so, the calculating unit is triggered; if not, triggering an updating unit, wherein M is an integer greater than 2;
the calculation unit is used for calculating an average error angle of the ith measurement angle interval according to the M error angles corresponding to the ith measurement angle interval, and updating the initial compensation angle of the ith measurement angle interval by adopting the average error angle to obtain a compensation angle corresponding to the ith measurement angle interval;
the establishing unit is used for updating each compensation angle in the corresponding relation between the measurement angle interval and the compensation angle according to the compensation angle respectively corresponding to each measurement angle interval;
and the updating unit is used for updating j to j +1 and triggering the detection unit to acquire the running track of the next overtaking vehicle.
It should be noted that the angle calibration apparatus for an automotive millimeter wave radar provided in this embodiment has the same beneficial effects as the angle calibration method for an automotive millimeter wave radar provided in the foregoing embodiment, and for the specific description of the angle calibration method for an automotive millimeter wave radar related in this embodiment, please refer to the foregoing embodiment, which is not repeated herein.
In a basic line of the above embodiment, an embodiment of the present invention further provides an angle calibration system for an automotive millimeter wave radar, including:
a memory for storing a computer program;
and the processor is used for realizing the steps of the angle calibration method of the automotive millimeter wave radar when executing the computer program.
For example, the processor in this embodiment is configured to detect a target object in a detection range of a current vehicle through a radar in a driving process of the current vehicle, and obtain a measurement distance and a measurement angle corresponding to the target object; calling a corresponding relation between a pre-established measurement angle interval and a compensation angle, determining the measurement angle interval corresponding to the measurement angle and the corresponding compensation angle, and taking the compensation angle as a target compensation angle; the compensation angles which are in one-to-one correspondence with the measurement angle intervals in the detection range of the radar are stored in the corresponding relation between the measurement angle intervals and the compensation angles; and performing compensation calibration on the measurement angle according to the target compensation angle so as to determine the real measurement position of the target object according to the measurement distance and the calibrated measurement angle.
In the basic line of the above embodiments, the embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method for calibrating an angle of an automotive millimeter wave radar are implemented.
The computer-readable storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An angle calibration method of an automotive millimeter wave radar is characterized by comprising the following steps:
in the current vehicle running process, detecting a target object in a detection range of the vehicle through a radar to obtain a measurement distance and a measurement angle corresponding to the target object;
calling a corresponding relation between a pre-established measurement angle interval and a compensation angle, determining the measurement angle interval corresponding to the measurement angle and the corresponding compensation angle, and taking the compensation angle as a target compensation angle; the corresponding relation between the measurement angle intervals and the compensation angles stores the compensation angles which are in one-to-one correspondence with the measurement angle intervals in the detection range of the radar;
and performing compensation calibration on the measurement angle according to the target compensation angle so as to determine the real measurement position of the target object according to the measurement distance and the calibrated measurement angle.
2. The method for calibrating the angle of the millimeter wave radar of the automobile of claim 1, wherein the corresponding relationship between the measurement angle interval and the compensation angle is established by:
s210: dividing the detection range of the radar of the current vehicle into N measurement angle intervals according to a preset sequence in advance, and determining initial compensation angles corresponding to the measurement angle intervals respectively;
s220: in the running process of the current vehicle, tracking and detecting a target in a detection range of the current vehicle through a radar, and acquiring a running track of a jth overtaking vehicle of an adjacent lane;
s230: obtaining and recording the ith corresponding to the ith measuring angle interval according to the central axis of the adjacent lane and the jth running trackjAn error angle, wherein i ═ 0,1,2 … … N-1;
s240: judging whether j is equal to M, if yes, entering S250; if not, the process goes to S270, wherein M is an integer greater than 2;
s250: calculating an average error angle of the ith measurement angle interval according to the M error angles corresponding to the ith measurement angle interval, and updating an initial compensation angle of the ith measurement angle interval by using the average error angle to obtain a compensation angle corresponding to the ith measurement angle interval;
s260: updating each compensation angle in the corresponding relation between the measurement angle interval and the compensation angle according to the compensation angle corresponding to each measurement angle interval;
s270: and updating the j to be j +1, and returning to S220 to obtain the running track of the next overtaking vehicle.
3. The angle calibration method of automotive millimeter wave radar as claimed in claim 2, wherein the process of tracking and detecting the target in the detection range of the radar and obtaining the running track of the jth passing vehicle of the adjacent lane by the radar is as follows:
determining running tracks corresponding to the targets in a preset time area in which the current vehicle runs straight according to each group of distance and angle information corresponding to each target;
and analyzing the running track of each target to determine the running track of which the maximum distance from the central axis of the adjacent lane is within a preset distance range, and taking the vehicle corresponding to the running track as the jth overtaking vehicle.
4. The angle calibration method for automotive millimeter wave radars according to claim 3, wherein the process of obtaining the respective corresponding travel trajectories of the targets in the preset time region in which the current vehicle travels straight according to the respective sets of distance and angle information corresponding to each target is as follows:
obtaining the coordinate position of each measuring point corresponding to each target under a two-dimensional coordinate system according to each group of distance and angle information corresponding to each target, wherein the two-dimensional coordinate system takes the current vehicle as the origin of coordinates;
acquiring each target measuring point corresponding to each target and in a preset time region in which the current vehicle moves straight;
and obtaining a running track corresponding to each target respectively according to each target measuring point corresponding to each target.
5. The angle calibration method for millimeter wave radar of automobiles of claim 4, wherein the ith measurement angle interval corresponding to the ith measurement angle interval is obtained and recorded according to the central axis of the adjacent lane and the jth running trackjThe process of each error angle is as follows:
calculating initial error angles corresponding to a plurality of measuring points with measuring angles in an ith measuring angle interval according to the central axis of the adjacent lane and the jth running track;
obtaining an initial average error angle of the jth running track in the ith measuring angle interval according to each initial error angle, and taking the initial average error angle as an ith measuring angle interval corresponding to the ith measuring angle intervaljAn error angle.
6. The method of claim 2, wherein after the establishing the corresponding relationship between the measurement angle interval and the compensation angle according to the compensation angle corresponding to each measurement angle interval, the method further comprises:
and j is reset to 0, and the process returns to S220, so as to perform the next round of updating on the corresponding relation between the measurement angle interval and the compensation angle.
7. An angle calibrating device of car millimeter wave radar, its characterized in that includes:
the detection module is used for detecting a target object in a detection range of the current vehicle through a radar in the running process of the current vehicle to obtain a measurement distance and a measurement angle corresponding to the target object;
the matching module is used for calling the corresponding relation between the measurement angle interval and the compensation angle which are pre-established by the establishing module, determining the measurement angle interval corresponding to the measurement angle and the corresponding compensation angle, and taking the compensation angle as a target compensation angle; the corresponding relation between the measurement angle intervals and the compensation angles stores the compensation angles which are in one-to-one correspondence with the measurement angle intervals in the detection range of the radar;
and the calibration module is used for performing compensation calibration on the measurement angle according to the target compensation angle so as to determine the real measurement position of the target object according to the measurement distance and the calibrated measurement angle.
8. The apparatus of claim 7, wherein the means for establishing comprises:
the dividing unit is used for dividing the detection range of the radar of the current vehicle into N measurement angle intervals in advance according to a preset sequence and determining initial compensation angles corresponding to the measurement angle intervals respectively;
the detection unit is used for tracking and detecting a target in a detection range of the current vehicle through a radar in the running process of the current vehicle and acquiring the running track of the jth overtaking vehicle of an adjacent lane;
an analysis unit for obtaining and recording the ith corresponding to the ith measurement angle interval according to the central axis of the adjacent lane and the jth running trackjAn error angle, wherein i ═ 0,1,2 … … N-1;
the judging unit is used for judging whether j is equal to M or not, and if yes, the calculating unit is triggered; if not, triggering an updating unit, wherein M is an integer greater than 2;
the calculation unit is configured to calculate an average error angle of the ith measurement angle interval according to the M error angles corresponding to the ith measurement angle interval, and update the initial compensation angle of the ith measurement angle interval by using the average error angle to obtain a compensation angle corresponding to the ith measurement angle interval;
the establishing unit is used for updating each compensation angle in the corresponding relation between the measurement angle interval and the compensation angle according to the compensation angle respectively corresponding to each measurement angle interval;
and the updating unit is used for updating j to j +1 and triggering the detection unit to acquire the running track of the next overtaking vehicle.
9. An angle calibration system of an automotive millimeter wave radar, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method for angular calibration of automotive millimeter wave radar according to any one of claims 1 to 6 when executing said computer program.
10. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for angular calibration of automotive millimeter wave radar according to any one of claims 1 to 6.
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