CN112147616A - Automatic calibration method and device for mounting angle of collision early warning radar - Google Patents
Automatic calibration method and device for mounting angle of collision early warning radar Download PDFInfo
- Publication number
- CN112147616A CN112147616A CN202011012174.1A CN202011012174A CN112147616A CN 112147616 A CN112147616 A CN 112147616A CN 202011012174 A CN202011012174 A CN 202011012174A CN 112147616 A CN112147616 A CN 112147616A
- Authority
- CN
- China
- Prior art keywords
- calibration
- radar
- data
- track
- calibration result
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 66
- 238000009434 installation Methods 0.000 claims abstract description 64
- 238000001514 detection method Methods 0.000 claims abstract description 58
- 230000008569 process Effects 0.000 claims abstract description 34
- 238000012795 verification Methods 0.000 claims description 23
- 230000002159 abnormal effect Effects 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 11
- 230000003068 static effect Effects 0.000 claims description 10
- 238000007781 pre-processing Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 7
- 230000002035 prolonged effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 description 12
- 239000000523 sample Substances 0.000 description 10
- 238000004891 communication Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000019800 disodium phosphate Nutrition 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 101150049349 setA gene Proteins 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
Images
Classifications
-
- 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
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
-
- 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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/418—Theoretical aspects
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an automatic calibration method and device for a collision early warning radar installation angle. The method comprises the steps of collecting radar data fed back by an installed radar-detected en-route target object and running tracks based on different data sources in the running process of a vehicle, carrying out first calibration on the installation position of the radar through two groups of running tracks with different sources, proposing second calibration to be completed based on the radar detection data, storing a second calibration result when the collected radar detection data meet the quantity requirement, and storing the first calibration result without carrying out the second calibration if the radar detection data quantity does not meet the precision requirement due to poor quality of data fed back by the en-route target or insufficient quantity of the target. Therefore, the calibration mode provided by the invention does not need to set specific space and stations, does not depend on conditions such as specific auxiliary facilities and auxiliary tools, and can be suitable for various manufacturers and vehicle types, so that the radar position calibration operation can be efficiently, economically and conveniently completed.
Description
Technical Field
The invention relates to the field of vehicle electronic equipment, in particular to a method and a device for automatically calibrating a mounting angle of a collision early warning radar.
Background
With the continuous development of society, the automobile holding amount is more and more. Meanwhile, accidents caused by the increase of vehicles are increased rapidly, and the life and property safety of people is seriously threatened. In recent years, driving safety is more and more emphasized, and an intelligent driving assistance system is also a main selling point of various automobile manufacturers. Millimeter wave radar, which is an important component of an intelligent driving assistance system, is one of the main sensors with vehicle environment sensing function, and detects a peripheral region by emitting electromagnetic waves, for example, it can detect the distance, relative speed, direction, etc. of a target in a front region, and thus determine whether there is a collision risk between the vehicle and the target. The antenna has the advantages of high working frequency, short wavelength, small size, strong adaptability, capability of normally working in the dark and the like.
The vehicle-mounted millimeter wave radar (such as, but not limited to, 77G and 24G millimeter wave radar) for early warning of a forward collision, which is disclosed by the invention, is usually installed on the inner side of a bumper right in front of a vehicle, but the installation positions of the radar in different vehicle factories and different vehicle models are greatly different. Even if the requirement of the installation position of the collision early warning radar of the same vehicle type is the same, the collision early warning radar can generate an error on the detection of a road target due to operation errors when the collision early warning radar is actually used for installing a support metal plate structure, and further the performance of the product is influenced and potential safety hazards exist.
How to calibrate the installation angle of the collision early warning radar according to the actual installation position of the collision early warning radar so as to eliminate the system error caused by the installation of the collision early warning radar and meet the use requirement after the radar is installed, and the problem to be solved urgently is formed.
However, the calibration mode of the existing collision early warning radar provides higher requirements for auxiliary calibration facilities such as a calibration environment and the like, has poor adaptability, is difficult to efficiently complete calibration operation, and brings higher operation cost and difficulty for calibration work.
Disclosure of Invention
In view of the above, the present invention aims to provide an automatic calibration method and apparatus for a mounting angle of a collision warning radar, and correspondingly, an automatic calibration system for a mounting angle of a collision warning radar.
The technical scheme adopted by the invention is as follows:
in a first aspect, the invention provides an automatic calibration method for a mounting angle of a collision early warning radar, which comprises the following steps:
collecting radar detection data, a first driving track and a second driving track in the driving process of a vehicle; wherein the first travel track is obtained based on vehicle positioning data and the second travel track is obtained based on the radar detection data;
obtaining a first calibration result according to the first driving track and the second driving track;
judging whether the radar detection data reach a preset quantity standard within a preset calibration time;
if so, calibrating according to the radar detection data to obtain and store a second calibration result;
and if not, saving the first calibration result.
In at least one possible implementation manner, the obtaining the first calibration result includes:
calculating a reference installation angle based on the first running track;
determining a weight parameter by using the first driving track and the second driving track;
and obtaining a first calibration result according to the reference installation angle and the weight parameter.
In at least one possible implementation manner, the obtaining the first calibration result specifically includes:
based on the change of the steering radius of the vehicle, cutting the first running track and the second running track with preset lengths into a plurality of corresponding first track segments and a plurality of corresponding second track segments respectively;
calculating a first slope value of the first track segment and a second slope value of the second track segment;
converting the first slope value to the reference installation angle;
comparing the first slope value with the corresponding second slope value to determine the weight parameter;
and combining the reference installation angle and the weight parameter to obtain a first calibration result.
In at least one possible implementation manner, the process of obtaining the first calibration result further includes a data reaching judgment strategy;
the data standard reaching judgment strategy specifically comprises the following steps:
when the preset number of the first track segments or the second track segments are not obtained in the running track with the preset length, judging that the data do not reach the standard; alternatively, the first and second electrodes may be,
and when the comparison result of the first slope value and the second slope value exceeds a preset slope credible value, determining that the data does not reach the standard.
In at least one possible implementation manner, the method further includes a calibration result verification strategy;
the calibration result verification strategy specifically comprises the following steps:
verifying the saved second calibration result based on the first calibration result;
alternatively, the first and second electrodes may be,
after the first calibration result is stored, the calibration time is prolonged until a second calibration result is obtained;
and verifying the stored first calibration result by using the second calibration result.
In at least one possible implementation manner, the acquiring radar detection data during the vehicle driving process includes:
collecting echo data fed back by a target detected by a radar in the running process of a vehicle;
and in the process of acquiring the radar detection data, rejecting abnormal data in the radar detection data, wherein the abnormal data at least comprises echo data fed back by a non-static target.
In a second aspect, the present invention provides an automatic calibration apparatus for a mounting angle of a collision warning radar, including:
the data acquisition module is used for acquiring radar detection data, a first driving track and a second driving track in the driving process of the vehicle; wherein the first travel track is obtained based on vehicle positioning data and the second travel track is obtained based on the radar detection data;
the first calibration module is used for obtaining a first calibration result according to the first running track and the second running track;
the accuracy judging module is used for judging whether the radar detection data reach a preset quantity standard within a preset calibration time;
the second calibration module is used for calibrating according to the radar detection data when the output of the precision judgment module is yes, and obtaining and storing a second calibration result;
the first calibration module is further used for saving the first calibration result when the output of the precision determination module is negative.
In at least one possible implementation manner, the first calibration module includes:
a reference angle calculation unit configured to calculate a reference installation angle based on the first travel track;
a weight parameter determination unit configured to determine a weight parameter using the first travel locus and the second travel locus;
and the first calibration unit is used for obtaining a first calibration result according to the reference installation angle and the weight parameter.
In at least one possible implementation manner, the first calibration module specifically includes:
the track cutting assembly is used for cutting the first running track and the second running track with preset lengths into a plurality of corresponding first track sections and a plurality of corresponding second track sections respectively based on the change of the steering radius of the vehicle;
a slope calculation component for calculating a first slope value of the first track segment and a second slope value of the second track segment;
a reference angle calculation component for converting the first slope value to the reference installation angle;
the weight parameter determining component is used for comparing the first slope value with the corresponding second slope value to determine the weight parameter;
and the first calibration result obtaining component is used for combining the reference installation angle and the weight parameter to obtain a first calibration result.
In at least one possible implementation manner, the first calibration module further includes a data reaching judgment unit;
the data standard reaching judgment unit specifically comprises:
the track segment number judging component is used for judging that the data do not reach the standard when the preset number of the first track segments or the second track segments are not obtained in a running track with the preset length; alternatively, the first and second electrodes may be,
and the slope credibility judging component is used for judging that the data does not reach the standard when the comparison result of the first slope value and the second slope value exceeds a preset slope credibility value.
In at least one possible implementation manner, the apparatus further includes a calibration result verification module;
the calibration result verification module specifically comprises:
the second calibration result verification unit is used for verifying the saved second calibration result based on the first calibration result;
alternatively, the first and second electrodes may be,
the continuous calibration unit is used for prolonging the calibration time until a second calibration result is obtained after the first calibration result is stored;
and the first calibration result verification unit is used for verifying the stored first calibration result by using the second calibration result.
In at least one possible implementation manner, the data acquisition module includes:
the radar data acquisition unit is used for acquiring echo data fed back by a target detected by a radar in the running process of the vehicle;
and the radar data preprocessing unit is used for eliminating abnormal data in the radar detection data in the process of acquiring the radar detection data, wherein the abnormal data at least comprises non-static echo data fed back by a target.
The invention aims to provide an automatic calibration scheme of a vehicle-mounted millimeter wave forward collision early warning radar installation angle, which has lower requirements on auxiliary calibration facilities such as a calibration environment and the like and better adaptability, and particularly, the automatic calibration scheme is characterized in that radar data fed back by an on-way target object detected by an installed early warning radar, a driving track based on vehicle positioning data and a target data based on radar detection are collected in real time in the driving process of a vehicle after entering a calibration link, and the driving track is obtained through the driving tracks of two groups of driving tracks with different sources, but the invention does not directly take the first calibration as a stored calibration result, but considers the second calibration based on the radar detection data, namely when the collected radar detection data meet the quantity requirement, the second calibration result is stored, if the data quality fed back by the on-way target is not good or the quantity of the targets is not enough, and the effective data volume detected by the radar does not reach the calibration precision requirement, so that the result of the first calibration can be stored without carrying out second calibration. Therefore, the calibration mode provided by the invention does not need to set specific space and stations, does not depend on conditions such as specific auxiliary facilities and auxiliary tools, and can be suitable for various manufacturers, so that the radar position calibration operation can be efficiently, economically and conveniently completed.
Further, in order to improve the calibration accuracy, the invention also provides a cross-check concept through the first calibration and the second calibration in other embodiments.
Further, for the first calibration result playing a key role, in other embodiments, the present invention further provides a method for determining whether the relevant data involved in the first calibration process reach standards, that is, whether the data used in the first calibration meet the calibration accuracy requirement is examined.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
FIG. 1 is a flowchart of an embodiment of an automatic calibration method for a mounting angle of a collision warning radar according to the present invention;
FIG. 2 is a flow chart of an embodiment of a first calibration mode provided by the present invention;
fig. 3 is a block diagram of an embodiment of an automatic calibration device for a mounting angle of a collision warning radar provided by the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
Taking a vehicle-mounted forward collision warning millimeter wave radar as an example, the general calibration modes are divided into two types: and fixed station calibration and mobile automatic calibration.
The fixed station calibration is generally completed by calibration equipment consisting of a corner reflector and a laser emission device, specifically, a collision early warning radar is installed on the inner side of a bumper in front of a vehicle, the calibration equipment is placed at a certain distance in front of the normal line of the radar, and the calibration work is completed by operating the laser emission device and adjusting the position of the corner reflector. The calibration mode is mainly used for off-line calibration of vehicles in a whole car factory, and requires a large space so as to establish a fixed calibration station.
The mobile automatic calibration mainly comprises the steps of measuring angles of a plurality of target reference objects in the current road environment through a collision early warning radar system when the current road environment meets preset conditions to obtain a plurality of measuring angles, calculating the current calibration angle according to the measuring angles, comparing the current calibration angle with the preset calibration angle, and determining the calibration position of the collision early warning radar according to the comparison result.
Therefore, the invention is analyzed and considered that the existing calibration mode of the collision early warning millimeter wave radar puts higher requirements on auxiliary calibration facilities such as a calibration environment and the like, and if the required requirements cannot be met, the calibration cannot be completed.
For example, in the fixed station calibration mode, additional calibration equipment needs to be installed in a large space, so that a special space is needed, and the calibration operation is complex and difficult to master; for different vehicle types, due to the fact that the installation positions of the collision early warning radar are different, the calibration fixing station needs to be correspondingly adjusted, the process is more complicated, the operation efficiency is low, and the calibration work of all vehicle types cannot be met; particularly, when the installation position or angle of the collision early warning radar changes due to other factors after the vehicle leaves the factory, the collision early warning radar is difficult to calibrate in time, and then partial functions of the collision early warning radar are influenced or the collision early warning radar cannot be used at all.
For another example, in the mobile automatic calibration mode, a strong straight reflector meeting the length requirement must be found to complete the calibration, such as metal guardrails on both sides of a road, but this condition is not available to all car factories or vehicle maintenance units.
In view of this, the present invention specifically provides an embodiment of at least one method for automatically calibrating a mounting angle of a collision warning radar, as shown in fig. 1, the method may include the following steps:
and step S1, collecting radar detection data, a first driving track and a second driving track in the driving process of the vehicle.
Before calibration begins, the radar is necessarily installed on a corresponding position of a vehicle according to an ideal expected position, such as a front bumper, a rear bumper, a vehicle side and the like, the specific installation position is determined by the direction needing collision early warning, and for convenience of explanation, the forward collision early warning millimeter wave radar is taken as an example in the invention. Of course, it should be noted that the vehicle-mounted radar may actually include the radar probe (specifically, the millimeter-wave radar, also commonly referred to as a radar sensor) itself and the relevant components of the radar system (radar assembly) as a standalone product, so that those skilled in the art can understand and distinguish that when the present invention refers to the radar, the radar probe itself also refers to other components in the radar system, for example, the radar is installed at the bumper of the vehicle, and the radar probe itself is referred to herein; the radar is connected to the data bus network of the vehicle itself, which refers to other components in the radar system rather than the radar probe itself, such as, but not limited to, connecting a data processing device (e.g., a signal processing circuit or a communication module in the radar assembly) in the radar system to the CAN network of the vehicle.
After the vehicle is started, the radar system is correspondingly powered on, namely, the radar probe starts to receive and feed back target object data acquired in real time, and the radar system can acquire vehicle information such as but not limited to vehicle speed, acceleration, steering radius, vehicle positioning data and the like through a bus network.
As a trigger condition of the calibration process, a specific calibration command may be sent based on a user or a vehicle control system, and it is understood that if a calibration instruction is issued by the vehicle control system, it may also be determined in advance whether a vehicle condition meets a preset calibration condition, for example, whether the vehicle is in a driving state, a real-time speed, a steering radius, and the like, meet a threshold requirement preset for the calibration operation; in addition, it may be further described that, after the radar system receives the calibration instruction, parameters related to calibration, such as, but not limited to, a calibration duration, a path length, a standard threshold, and the like, may be further received or retrieved.
After entering the calibration link, attention can be paid to data directly related to calibration, namely radar detection data, the first driving track and the second driving track. The first driving track can be obtained based on vehicle positioning data, and the vehicle positioning data can be acquired from a GPS device or a communication network device (such as a 4G \5G module) of the vehicle through a bus network; the second driving track can be obtained based on the radar detection data, the radar detection data is that a static target object (namely a calibration reference object) along the road is detected by a radar probe in the driving process of the vehicle, the static targets on two sides of the road and the radar probe have relatively stable phase relation, echo data such as Doppler velocity, phase angle and radial distance relative to the radar relative to the current vehicle speed can be obtained, and moreover, the radar probe is a tool for realizing ranging by transmitting and receiving detection signals, so that the running track of the vehicle where the radar is located can be deduced by calculating according to information such as velocity and angle reflected by the continuously collected static targets, namely, the radar system is used for realizing the positioning of the moving track of the vehicle.
As mentioned above, the conventional calibration method needs to combine with the type selection of auxiliary facilities such as reference objects to make a corresponding calibration algorithm, and the present invention does not consider or rely on specific auxiliary facilities, i.e., the calibration method provided by the present invention can be applicable to most road conditions and random target reference objects, so that in other embodiments of the present invention, it is considered that some illegal data which may additionally increase unnecessary computation or not meet the calibration operation may be collected due to the fact that the present invention is based on an undefined calibration environment. For this, two points need to be described, one of the rejection operations may specifically be to first reject data points exceeding a preset doppler velocity threshold according to the doppler velocity of the target, further reject data points that do not meet an angle range threshold according to angle information measured by the radar in combination with a set radar main lobe width, or reject target data at a longer distance with low reliability based on a set distance threshold, or data points of the moving target determined according to the radar detection data can be eliminated, one or more of the eliminated objects can be selected based on actual needs, but considering that the present invention places broader requirements on the calibration scenario, the non-stationary goal is the source of the most likely acquired abnormal data that is also easily ignored by conventional preprocessing operations, therefore, it is more preferable that the rejected abnormal data include at least echo data fed back by the moving target; second, the timing of the preprocessing operation may occur after the set calibration time is over, or the preprocessing may be performed while collecting data, and considering that embedded software generally does not store a large amount of data, if the embedded software is involved in an actual operation, a mode of preprocessing while collecting is preferably adopted, and the present invention is not limited thereto.
According to the above description, in some more preferred embodiments of the present invention, the collecting of the radar detection data during the vehicle driving process may specifically be collecting echo data fed back by a target detected by the radar during the vehicle driving process, and during the collecting of the radar detection data, rejecting abnormal data therein.
In step S2, a first calibration result is obtained according to the first driving trajectory and the second driving trajectory.
In the design concept of the invention, the radar installation angle can be calibrated through two groups of running tracks with different sources, because of different positioning modes, when a vehicle runs for a distance in the calibration process, the two running tracks have difference in large probability, and a plurality of calibration implementation modes can be constructed by comparing the difference between the two running tracks, wherein one of the calibration modes is taken as a reference: the reference radar installation angle is found by using the first travel track derived from the GPS or other vehicle positioning device, because the positioning device such as the GPS belongs to a mature and reliable track data source, and the positioning accuracy is higher than the radar data, so the first travel track can be regarded as an ideal state (i.e., an ideal installation angle). In other words, if the installation angle of the radar is at the ideal position without any deviation, the second travel track obtained from the radar data and the first travel track obtained via the vehicle positioning data should be identical in track trend, and when there is a certain deviation in the radar installation angle, it can be considered that the reliable installation angle calculated via the GPS or the like is the "reference" of the current actual installation angle of the radar. Because the difference may exist between the first driving track and the second driving track, a weight parameter may be determined based on the first driving track and the second driving track, and the weight parameter has an effect of measuring the difference between the actual installation angle and the reference angle, that is, a proportional relationship may be obtained through the track difference provided by the first driving track and the second driving track, so that the reference installation angle and the weight parameter are fused to obtain an actual installation angle calculation value derived from the track data, that is, the first calibration result.
For ease of understanding, reference is made to the first calibration mode shown in fig. 2, and the first calibration mode may include the following steps as shown in fig. 2:
step S21, based on the change of the vehicle steering radius, cutting the first running track and the second running track with preset lengths into a plurality of corresponding first track sections and a plurality of corresponding second track sections;
step S22, calculating a first slope value of the first track segment and a second slope value of the second track segment;
step S23, converting the first slope value into the reference mounting angle;
step S24, comparing the first slope value with the corresponding second slope value, and determining the weight parameter;
and step S25, combining the reference installation angle and the weight parameter to obtain a first calibration result.
In actual operation, a vehicle motion track provided by vehicle positioning equipment and a vehicle motion track obtained based on radar data are obtained in a preset calibration distance interval, and both represent the driving track of a vehicle in the distance interval; then, according to the obtained change of the steering radius of the vehicle, the cutting points are recorded and can be accumulated, that is, the road conditions are not limited in this embodiment, but the turning movement, such as the action of doubling and turning, generated in the driving process of the vehicle is considered, and the position where the turning occurs each time is taken as the cutting point, so that the two groups of tracks can be respectively cut according to the accumulated N-1 cutting points to obtain a plurality of corresponding first track segmentsAnd a number of second track segments. For example, a first set of track segments of sliced GPS track data may be defined as { A }1…AnAnd the second track segment set of the segmented radar track data is { B }1…Bn}. Then, the above step S22 is executed to find out the first slope value set { K } corresponding to the first track segment of the GPS track by using the change of the track steeringA1…KAnAnd a second set of slope values { K } corresponding to a second track segment of the radar trackB1…KBn}. Then, step S23 is executed, specifically, the first slope value of each first track segment can be used to calculate the corresponding angle through the arctangent function
Thereby obtaining a reference installation angle set
As mentioned above, if there is no deviation in the actual angle of the radar, the trends of the GPS track and the radar track should be the same, and the slopes of the corresponding track segments should be the same, i.e. the corresponding first slope value and the second slope value are compared, for example, by calculating the difference | K |An-KBnIf the absolute value of the mounting angle approaches 0, the actual mounting angle is closer to the reference mounting angle, that is, the actual mounting angle/the reference mounting angle (weight parameter) approaches 1; when | KAn-KBnI | ═ 0, indicating that the two agree, the highest weight parameter 1 can be determined. From this, the actual installation angle of the radar can be calculated:
cn represents the weight parameter corresponding to the same track segment, and the specific implementation example is to obtain the first calibration result by taking the mean value of all data, but in other embodiments of the present invention, one or more values may be selected as the first calibration result, which is not limited to this invention.
Further, in order to improve the accuracy and reliability of the first calibration result, that is, to improve the overall accuracy of the complete calibration link, in other embodiments of the present invention, standard determination is performed on the related data involved in the first calibration process, and various data standard determination strategies may be adopted, such as but not limited to:
(1) and when the preset number of the first track segments or the second track segments are not obtained in the running track with the preset length, judging that the data do not reach the standard.
In practical operation, it can also be understood in combination with the foregoing embodiments that if the number of accumulated cutting points in a set distance interval does not reach the optimal cutting times set based on experience, it may be considered that the data processing accuracy cannot be guaranteed, that is, the data amount used for calculating the slope value and the angle value does not reach the standard. For the subsequent processing of this situation, in other embodiments of the present invention, the recording of the radar track and the positioning track in the next section of the route may be continued, or the vehicle-mounted interactive device may prompt to increase the steering operation, etc., until the number of cut points meeting the predetermined standard is accumulated.
(2) And when the comparison result of the first slope value and the second slope value exceeds a preset slope credible value, determining that the data does not reach the standard.
In practice, it can also be understood in conjunction with the foregoing embodiments to calculate | KAn-KBnAfter the first step, | if the difference between the two is too large, for example, greater than a preset slope reliability Δ k, it indicates that the track segment is invalid data, and the data of the track segment may be filtered out, that is, the data values used for calculating the slope value and the angle value do not reach the standard. For the subsequent processing of this situation, in other embodiments of the present invention, the proportion of invalid data may be determined, and if all the data exceeding the preset standard (for example, 1/2) are invalid data, the calibration operation may be continued and two kinds of driving trajectories may be obtained again until valid data satisfying the predetermined standard is obtained, which is not limited to the present invention, but it may be pointed out that, for the determination operation that the data value is valid or invalid, the determination operation may occur before the calculation of the reference installation angle, for example, by comparing the slope difference with the slope reliability, the invalid data may be removed, and only the determination operation that the data value is valid or invalid is performed by using the slope difference and the slope reliabilityThe effective data calculates an angle value, namely the actual installation angle of the radar can be finally calculated as follows:
wherein M and M are less than N and N.
Returning to fig. 1, step S3 is performed to determine whether the radar detection data meets a predetermined quantity standard within a predetermined calibration time.
It should be noted that there is no restriction on the execution order between step S3 and step S2, that is, step S2 may be executed first and step S3 may be executed later, step S3 may be executed first and step S2 may be executed later, and step S2 and step S3 may be executed in parallel.
In other words, the first calibration result is not directly utilized as the final calibration data, but the data volume detected by the radar is considered in the complete calibration link, which also takes into account the precision requirement of the calibration data, because the invention does not limit the environmental facilities involved in the calibration, as described above, when a random target is detected in a random road condition, there is a possibility that the sample data volume meeting the calibration precision requirement cannot be obtained, therefore, in the core concept of the invention, it is proposed that it is necessary to judge whether the radar detection data volume meets the standard after the calibration time arrives:
(1) if the standard is met, step S4 may be executed to perform calibration according to the radar detection data, and obtain and store a second calibration result.
That is, if the data amount is sufficient, the actual installation angle may be calculated based on the radar detection data, and the implementation manner refers to the following: the radar detects static targets in the way in real time, and performs coordinate transformation on the preprocessed target data, for example, the polar coordinate data is transformed into rectangular coordinate data, and the target data is mapped to a rectangular coordinate system. The second calibration process can specifically perform confidence division on radar detection data through prior, and obtain a group of stable comprehensive data sequences; moreover, because the target is a static target, the Doppler velocity of the target measured by the radar is the velocity component of the reverse direction movement velocity of the target and the vehicle, and the included angle between the radial velocity component of the target and the total velocity can be calculated based on the trigonometric function relation; assuming that the actual horizontal installation direction of the radar is not offset, the normal line of the radar is perpendicular to the vehicle (if the radar is a forward early warning radar, the normal line of the radar is perpendicular to the vehicle head), and at the moment, the installation angle is 0, namely the angle of the target relative to the normal line of the radar is equal to the angle calculated by the trigonometric function; if the radar installation angle is not zero, the radar installation angle and the radar installation angle have an angle difference, namely, the actual installation angle with deviation can be obtained.
The method for calibrating the radar position based on the radar detection data may refer to other existing schemes, but the method is not limited to this embodiment, but it should be noted that the concept of the present invention may embody that if the second calibration can be performed, the second calibration is regarded as the final calibration result.
(2) If the data amount detected by the radar does not reach the standard, step S5 may be executed to save the first calibration result.
That is, when the second calibration cannot be completed, in some embodiments, the first calibration result may be saved as the final calibration conclusion. While the aforementioned first calibration step may be performed later, in this embodiment, the first calibration operation is performed when it is determined that the data amount does not reach the calibration.
In addition, in other embodiments of the present invention, verification of the stored calibration result is further considered, that is, in the preferred embodiments, the stored calibration result is not directly regarded as the final conclusion, so that various calibration result verification strategies may be designed, for example, but not limited to, verification of the stored result by using a cross-verification strategy, thereby improving accuracy and reliability of the final calibration conclusion.
In one aspect, the saved second calibration result may be verified based on the first calibration result.
The method includes that when radar data meet accuracy requirements and a second calibration result is completed and stored, the first calibration result can be used for verifying the second calibration result, the specific verification mode can be used for comparing the first calibration result with the second calibration result, and if the difference is within an allowable range, the second calibration result can be considered to be verified.
On the other hand, the saved first calibration result may be verified based on the second calibration result.
It should be noted that the second calibration result is not from step S4, because when there is the saved first calibration result, i.e. it indicates that the obtained radar detection data does not meet the accuracy requirement within the preset calibration time, for example, there is a lot of illegal data rejected by the preprocessing stage or there is no reliable stationary target in the way, then step S4 is not performed again in the aforementioned embodiment, and the process goes to step S5. Then, the second calibration result involved in the verification step may be that after the first calibration result is saved, the calibration time is prolonged to continue to obtain the radar detection data until the number reaches the standard, and the second calibration is completed to obtain the second calibration result, and then the saved first calibration result may be verified by using the second calibration result obtained after the continuous calibration. The specific verification method can also compare the two deviations, and the invention is not limited and described in detail.
In summary, the idea of the present invention is to provide an automatic calibration scheme for the installation angle of a vehicle-mounted millimeter wave forward collision warning radar, which has a lower requirement on auxiliary calibration facilities such as a calibration environment and is better in adaptability, and specifically, after entering a calibration link, in a vehicle driving process, real-time collects radar data fed back by an installed warning radar detected en route target, obtains a driving track based on vehicle positioning data and target data based on radar detection, and can perform a first calibration on a radar installation position through two sets of driving tracks with different sources, but the present invention does not directly use the first calibration as a stored calibration result, but considers a second calibration performed based on radar detection data, that is, when the collected radar detection data meets a quantity requirement, the second calibration result is stored, if the quality of the data fed back by the en route target is not good or the quantity of the targets is insufficient, and the effective data volume detected by the radar does not reach the calibration precision requirement, so that the result of the first calibration can be stored without carrying out second calibration. Therefore, the calibration mode provided by the invention does not need to set specific space and stations, does not depend on conditions such as specific auxiliary facilities and auxiliary tools, and can be suitable for various manufacturers, so that the radar position calibration operation can be efficiently, economically and conveniently completed.
Corresponding to the above embodiments and preferred schemes, the present invention further provides an embodiment of an automatic calibration apparatus for a mounting angle of a collision warning radar, which may specifically include the following components as shown in fig. 3:
the data acquisition module 1 is used for acquiring radar detection data, a first driving track and a second driving track in the driving process of a vehicle; wherein the first travel track is obtained based on vehicle positioning data and the second travel track is obtained based on the radar detection data;
the first calibration module 2 is configured to obtain a first calibration result according to the first driving track and the second driving track;
the precision judging module 3 is used for judging whether the radar detection data reach a preset quantity standard within a preset calibration time;
the second calibration module 4 is used for calibrating according to the radar detection data to obtain and store a second calibration result when the output of the precision determination module is yes;
the first calibration module 1 is further configured to save the first calibration result when the output of the precision determination module is negative.
In at least one possible implementation manner, the first calibration module includes:
a reference angle calculation unit configured to calculate a reference installation angle based on the first travel track;
a weight parameter determination unit configured to determine a weight parameter using the first travel locus and the second travel locus;
and the first calibration unit is used for obtaining a first calibration result according to the reference installation angle and the weight parameter.
In at least one possible implementation manner, the first calibration module specifically includes:
the track cutting assembly is used for cutting the first running track and the second running track with preset lengths into a plurality of corresponding first track sections and a plurality of corresponding second track sections respectively based on the change of the steering radius of the vehicle;
a slope calculation component for calculating a first slope value of the first track segment and a second slope value of the second track segment;
a reference angle calculation component for converting the first slope value to the reference installation angle;
the weight parameter determining component is used for comparing the first slope value with the corresponding second slope value to determine the weight parameter;
and the first calibration result obtaining component is used for combining the reference installation angle and the weight parameter to obtain a first calibration result.
In at least one possible implementation manner, the first calibration module further includes a data reaching judgment unit;
the data standard reaching judgment unit specifically comprises:
the track segment number judging component is used for judging that the data do not reach the standard when the preset number of the first track segments or the second track segments are not obtained in a running track with the preset length; alternatively, the first and second electrodes may be,
and the slope credibility judging component is used for judging that the data does not reach the standard when the comparison result of the first slope value and the second slope value exceeds a preset slope credibility value.
In at least one possible implementation manner, the apparatus further includes a calibration result verification module;
the calibration result verification module specifically comprises:
the second calibration result verification unit is used for verifying the saved second calibration result based on the first calibration result;
alternatively, the first and second electrodes may be,
the continuous calibration unit is used for prolonging the calibration time until a second calibration result is obtained after the first calibration result is stored;
and the first calibration result verification unit is used for verifying the stored first calibration result by using the second calibration result.
In at least one possible implementation manner, the data acquisition module includes:
the radar data acquisition unit is used for acquiring echo data fed back by a target detected by a radar in the running process of the vehicle;
and the radar data preprocessing unit is used for eliminating abnormal data in the radar detection data in the process of acquiring the radar detection data, wherein the abnormal data at least comprises non-static echo data fed back by a target.
It should be understood that the division of each component in the automatic calibration device for the installation angle of the collision warning radar shown in fig. 3 is only a division of a logic function, and all or part of the division may be integrated into one physical entity or may be physically separated in actual implementation. And these components may all be implemented in software invoked by a processing element; or may be implemented entirely in hardware; and part of the components can be realized in the form of calling by the processing element in software, and part of the components can be realized in the form of hardware. For example, a certain module may be a separate processing element, or may be integrated into a certain chip of the electronic device. Other components are implemented similarly. In addition, all or part of the components can be integrated together or can be independently realized. In implementation, each step of the above method or each component above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.
For example, the above components may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), one or more microprocessors (DSPs), one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, these components may be integrated together and implemented in the form of a System-On-a-Chip (SOC).
In view of the foregoing examples and their preferred embodiments, it will be appreciated by those skilled in the art that in practice, the invention may be practiced in a variety of embodiments, and that the invention is illustrated schematically in the following vectors: based on the foregoing description of the calibration method and the calibration device, the method can be further implemented by using an automatic calibration system for a mounting angle of a collision warning radar, where the automatic calibration system specifically includes a radar system including a radar probe and a calculation processing component, that is, the existing radar system includes a component or a software module for calibration processing, a component or a software module for receiving a calibration instruction and setting parameters, and a data communication component or a software module for connecting to a vehicle bus and acquiring vehicle data, and the foregoing method embodiments may be integrated as a program algorithm and pre-installed in the radar system, or the calculation processing component in the radar system may include the execution modules mentioned in the foregoing device embodiments, which does not limit the present invention; however, it can be pointed out that the automatic calibration system for the installation angle of the collision warning radar further includes vehicle-mounted positioning devices, such as vehicle-mounted GPS devices or communication network devices, and the radar system can acquire vehicle positioning data from the vehicle-mounted positioning devices and use the vehicle positioning data for subsequent calibration processing.
In the embodiments of the present invention, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and may mean that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.
Those of skill in the art will appreciate that the various modules, elements, and method steps described in the embodiments disclosed in this specification can be implemented as electronic hardware, 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 addition, the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other. In particular, for embodiments of devices, apparatuses, etc., since they are substantially similar to the method embodiments, reference may be made to some of the descriptions of the method embodiments for their relevant points. The above-described embodiments of devices, apparatuses, etc. are merely illustrative, and modules, units, etc. described as separate components may or may not be physically separate, and may be located in one place or distributed in multiple places, for example, on nodes of a system network. Some or all of the modules and units can be selected according to actual needs to achieve the purpose of the above-mentioned embodiment. Can be understood and carried out by those skilled in the art without inventive effort.
The structure, features and effects of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the above embodiments are merely preferred embodiments of the present invention, and it should be understood that technical features related to the above embodiments and preferred modes thereof can be reasonably combined and configured into various equivalent schemes by those skilled in the art without departing from and changing the design idea and technical effects of the present invention; therefore, the invention is not limited to the embodiments shown in the drawings, and all the modifications and equivalent embodiments that can be made according to the idea of the invention are within the scope of the invention as long as they are not beyond the spirit of the description and the drawings.
Claims (10)
1. An automatic calibration method for a mounting angle of a collision early warning radar is characterized by comprising the following steps:
collecting radar detection data, a first driving track and a second driving track in the driving process of a vehicle; wherein the first travel track is obtained based on vehicle positioning data and the second travel track is obtained based on the radar detection data;
obtaining a first calibration result according to the first driving track and the second driving track;
judging whether the radar detection data reach a preset quantity standard within a preset calibration time;
if so, calibrating according to the radar detection data to obtain and store a second calibration result;
and if not, saving the first calibration result.
2. The method for automatically calibrating the installation angle of the collision warning radar according to claim 1, wherein the obtaining of the first calibration result comprises:
calculating a reference installation angle based on the first running track;
determining a weight parameter by using the first driving track and the second driving track;
and obtaining a first calibration result according to the reference installation angle and the weight parameter.
3. The automatic calibration method for the installation angle of the collision warning radar according to claim 2, wherein the obtaining of the first calibration result specifically comprises:
based on the change of the steering radius of the vehicle, cutting the first running track and the second running track with preset lengths into a plurality of corresponding first track segments and a plurality of corresponding second track segments respectively;
calculating a first slope value of the first track segment and a second slope value of the second track segment;
converting the first slope value to the reference installation angle;
comparing the first slope value with the corresponding second slope value to determine the weight parameter;
and combining the reference installation angle and the weight parameter to obtain a first calibration result.
4. The automatic calibration method for the installation angle of the collision warning radar according to claim 3, wherein a data standard-reaching judgment strategy is further included in the process of obtaining the first calibration result;
the data standard reaching judgment strategy specifically comprises the following steps:
when the preset number of the first track segments or the second track segments are not obtained in the running track with the preset length, judging that the data do not reach the standard; alternatively, the first and second electrodes may be,
and when the comparison result of the first slope value and the second slope value exceeds a preset slope credible value, determining that the data does not reach the standard.
5. The automatic calibration method for the installation angle of the collision early warning radar according to claim 1, characterized by further comprising a calibration result verification strategy;
the calibration result verification strategy specifically comprises the following steps:
verifying the saved second calibration result based on the first calibration result;
alternatively, the first and second electrodes may be,
after the first calibration result is stored, the calibration time is prolonged until a second calibration result is obtained;
and verifying the stored first calibration result by using the second calibration result.
6. The method for automatically calibrating the installation angle of the collision early warning radar according to any one of claims 1 to 5, wherein the collecting the radar detection data in the driving process of the vehicle comprises:
collecting echo data fed back by a target detected by a radar in the running process of a vehicle;
and in the process of acquiring the radar detection data, rejecting abnormal data in the radar detection data, wherein the abnormal data at least comprises echo data fed back by a non-static target.
7. The utility model provides an automatic calibration device of collision early warning radar installation angle which characterized in that includes:
the data acquisition module is used for acquiring radar detection data, a first driving track and a second driving track in the driving process of the vehicle; wherein the first travel track is obtained based on vehicle positioning data and the second travel track is obtained based on the radar detection data;
the first calibration module is used for obtaining a first calibration result according to the first running track and the second running track;
the accuracy judging module is used for judging whether the radar detection data reach a preset quantity standard within a preset calibration time;
the second calibration module is used for calibrating according to the radar detection data when the output of the precision judgment module is yes, and obtaining and storing a second calibration result;
the first calibration module is further used for saving the first calibration result when the output of the precision determination module is negative.
8. The automatic calibration device for the installation angle of the collision warning radar according to claim 7, wherein the first calibration module comprises:
a reference angle calculation unit configured to calculate a reference installation angle based on the first travel track;
a weight parameter determination unit configured to determine a weight parameter using the first travel locus and the second travel locus;
and the first calibration unit is used for obtaining a first calibration result according to the reference installation angle and the weight parameter.
9. The automatic calibration device for the installation angle of the collision warning radar according to claim 7, further comprising a calibration result verification module;
the calibration result verification module specifically comprises:
the second calibration result verification unit is used for verifying the saved second calibration result based on the first calibration result;
alternatively, the first and second electrodes may be,
the continuous calibration unit is used for prolonging the calibration time until a second calibration result is obtained after the first calibration result is stored;
and the first calibration result verification unit is used for verifying the stored first calibration result by using the second calibration result.
10. The automatic calibration device for the installation angle of the collision warning radar according to any one of claims 7 to 9, wherein the data acquisition module comprises:
the radar data acquisition unit is used for acquiring echo data fed back by a target detected by a radar in the running process of the vehicle;
and the radar data preprocessing unit is used for eliminating abnormal data in the radar detection data in the process of acquiring the radar detection data, wherein the abnormal data at least comprises non-static echo data fed back by a target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011012174.1A CN112147616B (en) | 2020-09-23 | 2020-09-23 | Automatic calibration method and device for mounting angle of collision early warning radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011012174.1A CN112147616B (en) | 2020-09-23 | 2020-09-23 | Automatic calibration method and device for mounting angle of collision early warning radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112147616A true CN112147616A (en) | 2020-12-29 |
| CN112147616B CN112147616B (en) | 2023-11-21 |
Family
ID=73896455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011012174.1A Active CN112147616B (en) | 2020-09-23 | 2020-09-23 | Automatic calibration method and device for mounting angle of collision early warning radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112147616B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112782658A (en) * | 2021-03-17 | 2021-05-11 | 成都安智杰科技有限公司 | Radar angle calibration method and device |
| CN112985415A (en) * | 2021-04-15 | 2021-06-18 | 武汉光谷信息技术股份有限公司 | Indoor positioning method and system |
| WO2023273242A1 (en) * | 2021-06-29 | 2023-01-05 | 上海为彪汽配制造有限公司 | Mounting test method and system for vehicle-mounted millimeter wave radar |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3975730A (en) * | 1973-12-19 | 1976-08-17 | Nippon Telegraph And Telephone Public Corporation | Radar data selection equipment |
| JP2015079446A (en) * | 2013-10-18 | 2015-04-23 | トヨタ自動車株式会社 | Lane recognition device |
| CN109541571A (en) * | 2018-12-29 | 2019-03-29 | 北京智行者科技有限公司 | The combined calibrating method of EPS zero bias and multi-line laser radar |
| CN110703230A (en) * | 2019-10-15 | 2020-01-17 | 西安电子科技大学 | Position calibration method between laser radar and camera |
| US20200110154A1 (en) * | 2018-10-08 | 2020-04-09 | Mando Corporation | Apparatus and method for detecting mounting angle of radar |
| CN111316120A (en) * | 2019-03-15 | 2020-06-19 | 深圳市大疆创新科技有限公司 | Sensor installation angle self-correction method, sensor and mobile device |
| CN111398923A (en) * | 2020-04-28 | 2020-07-10 | 东风汽车集团有限公司 | Multi-millimeter wave radar combined self-calibration method and system |
-
2020
- 2020-09-23 CN CN202011012174.1A patent/CN112147616B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3975730A (en) * | 1973-12-19 | 1976-08-17 | Nippon Telegraph And Telephone Public Corporation | Radar data selection equipment |
| JP2015079446A (en) * | 2013-10-18 | 2015-04-23 | トヨタ自動車株式会社 | Lane recognition device |
| US20200110154A1 (en) * | 2018-10-08 | 2020-04-09 | Mando Corporation | Apparatus and method for detecting mounting angle of radar |
| CN109541571A (en) * | 2018-12-29 | 2019-03-29 | 北京智行者科技有限公司 | The combined calibrating method of EPS zero bias and multi-line laser radar |
| CN111316120A (en) * | 2019-03-15 | 2020-06-19 | 深圳市大疆创新科技有限公司 | Sensor installation angle self-correction method, sensor and mobile device |
| CN110703230A (en) * | 2019-10-15 | 2020-01-17 | 西安电子科技大学 | Position calibration method between laser radar and camera |
| CN111398923A (en) * | 2020-04-28 | 2020-07-10 | 东风汽车集团有限公司 | Multi-millimeter wave radar combined self-calibration method and system |
Non-Patent Citations (4)
| Title |
|---|
| MARTINE M. ESPESETH ET AL.: "The Impact of System Noise in Polarimetric SAR Imagery on Oil Spill Observations", 《IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING》, vol. 58, no. 6, pages 4194 - 4214, XP011789726, DOI: 10.1109/TGRS.2019.2961684 * |
| 何炜琨;窄秋苹;郭双双;吴仁彪;王晓亮;: "基于微多普勒特征的风轮机雷达杂波检测", 《信号处理》, vol. 33, no. 4, pages 19 - 23 * |
| 孙国栋等: "成像激光雷达测量大气能见度实验研究", vol. 46, no. 10, pages 141 - 149 * |
| 王晓玲等: "船舶高精度液位遥测及控制系统设计", 《通讯世界》, vol. 26, no. 5, pages 262 - 263 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112782658A (en) * | 2021-03-17 | 2021-05-11 | 成都安智杰科技有限公司 | Radar angle calibration method and device |
| CN112985415A (en) * | 2021-04-15 | 2021-06-18 | 武汉光谷信息技术股份有限公司 | Indoor positioning method and system |
| CN112985415B (en) * | 2021-04-15 | 2021-08-10 | 武汉光谷信息技术股份有限公司 | Indoor positioning method and system |
| WO2023273242A1 (en) * | 2021-06-29 | 2023-01-05 | 上海为彪汽配制造有限公司 | Mounting test method and system for vehicle-mounted millimeter wave radar |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112147616B (en) | 2023-11-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112147616A (en) | Automatic calibration method and device for mounting angle of collision early warning radar | |
| CN111398924B (en) | Radar installation angle calibration method and system | |
| CN101950018B (en) | Device for estimating information on target object | |
| JP5713106B2 (en) | Vehicle identification system and vehicle identification device | |
| US8538656B2 (en) | Tracking running control apparatus | |
| CN103192853B (en) | The method and system of the train speed and position measurement of distributed redundancy structure Network Based | |
| CN111566508B (en) | Lateral stationary object and moving speed detection method based on lateral millimeter wave radar | |
| US8055428B2 (en) | Vehicle peripheral monitoring apparatus | |
| US10067897B1 (en) | System and method for determining the positions of side collision avoidance sensors on a vehicle | |
| CN110058239B (en) | Vehicle-mounted millimeter wave radar device and target detection method | |
| CN106980111B (en) | Vehicle-mounted side rear-view anti-collision radar calibration device and calibration method thereof | |
| JPH10332820A (en) | Method and apparatus for detecting imminent crash of automobile and object | |
| CA2456038A1 (en) | Method and device for determining a stationary and/or moving object | |
| CN102555993A (en) | Vehicular anti-theft alarm equipment and vehicle anti-theft alarm method | |
| CN109358322A (en) | Forward direction target detection radar and method | |
| CN110109071A (en) | Vehicle-mounted millimeter wave blind area monitors radar setting angle automatic calibration device and method | |
| US8094000B2 (en) | Surroundings monitoring apparatus for a motor vehicle | |
| CN103576141B (en) | Motion parameter estimation method, angle estimation method and judgment method | |
| CN111615641A (en) | Method and apparatus for detecting critical lateral motion | |
| CN112269178A (en) | Millimeter wave radar with acceleration sensor, motor vehicle and speed calculation method | |
| US20020133271A1 (en) | Virtual odometer system and method | |
| CN113960633A (en) | Vehicle position correction method and device and server | |
| US20040117115A1 (en) | Method for identifying obstacles for a motor vehicle, using at least three distance sensors for identifying the laterla extension of an object | |
| JP2002122669A (en) | Object position detecting method | |
| JP2014211332A (en) | Radar device and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |