CN112782658A - Radar angle calibration method and device - Google Patents
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Abstract
The application provides a radar angle calibration method and device, which are applied to the field of radar, and the method comprises the following steps: acquiring distance data and phase data of a plurality of target points on a static target acquired by a radar at a certain moment; determining a target track according to the distance data and the phase data of the multiple target points; determining the angle error of the radar according to the target track; and calibrating the angle of the radar according to the angle error. In the above scheme, the radar is angle-calibrated based on the stationary target, that is, the distance data and the phase data of a plurality of target points on the stationary target collected by the radar are firstly obtained, then the angle error of the radar is determined, and the angle of the radar is calibrated according to the angle error. The static target does not move and is not limited by a scene, so that the error of radar angle calibration can be reduced by calibrating based on the static target in the process of calibrating the angle of the radar.
Description
Technical Field
The application relates to the field of radars, in particular to a radar angle calibration method and device.
Background
With the development of radar technology, vehicle-mounted millimeter wave radar can be applied to more functions, such as: lane Change Assist (LCA), blind spot warning (BSD), Front Collision Warning (FCW), forward collision automatic brake (AEB), etc. The radar realizes the functions according to the following general principle: and measuring obstacle information around the vehicle body by using the radar, and then carrying out evasion and brake lamp operation according to the obtained obstacle information. In the above process, if the radar has an angle error, the measured obstacle information may be distorted, thereby further increasing the probability of occurrence of a traffic accident. Therefore, the angle of the in-vehicle millimeter wave radar needs to be calibrated.
In the prior art, the angle of a radar is generally calibrated when the vehicle-mounted millimeter wave radar is installed, but the angle error in the driving process cannot be avoided by adopting the mode; therefore, the angle calibration is also generally performed based on other traveling vehicles during traveling, but the calibration error is large in such a manner.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method and an apparatus for calibrating a radar angle, so as to solve the technical problem of a large error in radar angle calibration.
In order to achieve the above purpose, the technical solutions provided in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a radar angle calibration method, including: acquiring distance data and phase data of a plurality of target points on a static target acquired by a radar at a certain moment; determining a target track according to the distance data and the phase data of the target points; determining an angle error of the radar according to the target track; and calibrating the angle of the radar according to the angle error. In the above scheme, the radar is angle-calibrated based on the stationary target, that is, first, distance data and phase data of a plurality of target points on the stationary target collected by the radar are obtained, then, an angle error of the radar is determined according to the collected distance data and phase data, and an angle of the radar is calibrated according to the angle error. The static target does not move and is not limited by a scene, so that the error of radar angle calibration can be reduced by calibrating based on the static target in the process of calibrating the angle of the radar.
In an alternative embodiment of the present application, the target trajectory includes a plurality of target straight lines passing through two adjacent target points; determining a target trajectory according to the distance data and the phase data of the plurality of target points includes: and determining the target straight line passing through the two target points according to the distance data and the phase data of any two adjacent target points. In the above scheme, a straight line is determined according to the axiom of two points, a target straight line passing through two adjacent target points can be determined according to the distance data and the phase data of the two target points, and a plurality of target straight lines form a target track. Therefore, after the distance data and the phase data of the static target are collected, a plurality of target straight lines can be determined according to the distance data and the phase data, so that the angle error of the radar can be determined according to the plurality of target straight lines, and the error of radar angle calibration can be reduced.
In an optional embodiment of the present application, the determining the target straight line passing through two adjacent target points according to distance data and phase data of the two target points includes: determining coordinate values of each target point according to the distance data and the phase data of the plurality of target points; the distance data and the phase data of the target points are determined based on a Cartesian coordinate system established by taking the radar as an origin; and determining the target straight line according to the linear interpolation theorem and the coordinate values of any two adjacent target points. In the above scheme, the coordinate value of each target point may be determined based on a cartesian coordinate system established with the radar as the origin, so as to determine the target straight line according to the coordinate values of the target points and the linear interpolation theorem. The calculation amount of the linear interpolation theorem is small, and the measurement error of the angle does not need to be substituted into the formula for multiple times in the calculation process, so that the error of radar angle calibration can be reduced on the basis of reducing the calculation amount.
In an optional embodiment of the present application, the determining an angle error of the radar according to the target trajectory includes: determining the slopes of the target lines and calculating the average value of the slopes of the target lines; determining the angle error according to an average of the slopes of the plurality of target straight lines. In the above scheme, the angle error of the radar can be determined by calculating the average value of the slopes of the plurality of target straight lines, so that the error of radar angle calibration can be reduced.
In an alternative embodiment of the present application, the target trajectory comprises a target straight line fitted to the plurality of target points; determining a target trajectory according to the distance data and the phase data of the plurality of target points includes: and performing linear fitting on the target points according to a least square method and the distance data and the phase data of the target points to obtain the target straight line. In the scheme, the method can be implemented by fitting a target according to a least square method and the position coordinates of the target point, and determining the angle error of the radar according to the target straight line.
In an optional embodiment of the present application, the determining an angle error of the radar according to the target trajectory includes: determining the slope of the target line; and determining the angle error according to the slope of the target straight line. In the scheme, the angle error of the radar can be determined by calculating the slope of the fitted target straight line, so that the error of radar angle calibration can be reduced.
In an optional embodiment of the application, before the calibrating the angle of the radar according to the angle error, the method further comprises: judging whether the angle error is larger than a preset error threshold value or not; and if the angle error is larger than the preset error threshold, executing the step of calibrating the angle of the radar according to the angle error. In the above scheme, when the angle error is smaller than the preset error threshold, the angle of the radar may not be calibrated; when the angle error is greater than a preset threshold, the angle of the radar may be calibrated. Therefore, the operation amount can be reduced on the basis of ensuring the normal work of the radar.
In a second aspect, an embodiment of the present application provides a radar angle calibration apparatus, including: the acquisition module is used for acquiring distance data and phase data of a plurality of target points on a static target acquired by a radar at a certain moment; the first determining module is used for determining a target track according to the distance data and the phase data of the target points; the second determining module is used for determining the angle error of the radar according to the target track; and the calibration module is used for calibrating the angle of the radar according to the angle error. In the above scheme, the radar is angle-calibrated based on the stationary target, that is, first, distance data and phase data of a plurality of target points on the stationary target collected by the radar are obtained, then, an angle error of the radar is determined according to the collected distance data and phase data, and an angle of the radar is calibrated according to the angle error. The static target does not move and is not limited by a scene, so that the error of radar angle calibration can be reduced by calibrating based on the static target in the process of calibrating the angle of the radar.
In an alternative embodiment of the present application, the target trajectory includes a plurality of target straight lines passing through two adjacent target points; the first determination module is further to: and determining the target straight line passing through the two target points according to the distance data and the phase data of any two adjacent target points. In the above scheme, a straight line is determined according to the axiom of two points, a target straight line passing through two adjacent target points can be determined according to the distance data and the phase data of the two target points, and a plurality of target straight lines form a target track. Therefore, after the distance data and the phase data of the static target are collected, a plurality of target straight lines can be determined according to the distance data and the phase data, so that the angle error of the radar can be determined according to the plurality of target straight lines, and the error of radar angle calibration can be reduced.
In an optional embodiment of the present application, the first determining module is further configured to: determining coordinate values of each target point according to the distance data and the phase data of the plurality of target points; the distance data and the phase data of the target points are determined based on a Cartesian coordinate system established by taking the radar as an origin; and determining the target straight line according to the linear interpolation theorem and the coordinate values of any two adjacent target points. In the above scheme, the coordinate value of each target point may be determined based on a cartesian coordinate system established with the radar as the origin, so as to determine the target straight line according to the coordinate values of the target points and the linear interpolation theorem. The calculation amount of the linear interpolation theorem is small, and the measurement error of the angle does not need to be substituted into the formula for multiple times in the calculation process, so that the error of radar angle calibration can be reduced on the basis of reducing the calculation amount.
In an optional embodiment of the present application, the second determining module is further configured to: determining the slopes of the target lines and calculating the average value of the slopes of the target lines; determining the angle error according to an average of the slopes of the plurality of target straight lines. In the above scheme, the angle error of the radar can be determined by calculating the average value of the slopes of the plurality of target straight lines, so that the error of radar angle calibration can be reduced.
In an alternative embodiment of the present application, the target trajectory comprises a target straight line fitted to the plurality of target points; the first determination module is further to: and performing linear fitting on the target points according to a least square method and the distance data and the phase data of the target points to obtain the target straight line. In the scheme, the method can be implemented by fitting a target according to a least square method and the position coordinates of the target point, and determining the angle error of the radar according to the target straight line.
In an optional embodiment of the present application, the second determining module is further configured to: determining the slope of the target line; and determining the angle error according to the slope of the target straight line. In the scheme, the angle error of the radar can be determined by calculating the slope of the fitted target straight line, so that the error of radar angle calibration can be reduced.
In an alternative embodiment of the present application, the apparatus further comprises: the judging module is used for judging whether the angle error is larger than a preset error threshold value or not; the calibration module is further configured to: and if the angle error is larger than the preset error threshold, executing the step of calibrating the angle of the radar according to the angle error. In the above scheme, when the angle error is smaller than the preset error threshold, the angle of the radar may not be calibrated; when the angle error is greater than a preset threshold, the angle of the radar may be calibrated. Therefore, the operation amount can be reduced on the basis of ensuring the normal work of the radar.
In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory, and a bus; the processor and the memory are communicated with each other through the bus; the memory stores program instructions executable by the processor, the processor invoking the program instructions capable of performing the radar angle calibration method as in the first aspect.
In a fourth aspect, embodiments of the present application provide a non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform the radar angle calibration method as in the first aspect.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart of a radar angle calibration method according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a radar angle calibration method according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a Cartesian coordinate system provided by an embodiment of the present application;
fig. 4 is a block diagram of a radar angle calibration apparatus according to an embodiment of the present disclosure;
fig. 5 is a block diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
With the development of radar, the application scenarios of radar are gradually increased, for example: vehicle-mounted radar, celestial body research, military application and the like, and how to reduce errors in the radar measurement process is the content of important research of researchers. The radar error comprises an angle error of the radar, which means that the measurement result has an error due to an error of an angle of installation or detection of the radar.
Taking a vehicle-mounted radar as an example, the causes of the angle error mainly include the following points: firstly, hardware inherent errors generated in the radar production process; second, errors in radar installation; third, errors are caused by bumps or accidents during the driving of the vehicle. In order to reduce the error, the angle of the radar can be measured in the production process and compensated by software so as to solve the hardware inherent error of the radar; in the installation process, the angle of the radar can be calibrated to solve the installation error of the radar; during the running of the vehicle, the angle calibration can be carried out based on other running vehicles so as to solve the running error of the radar.
However, in the above method for solving the radar travel error, since the calibration method is greatly limited by the scene, a large number of vehicles on the road surface are generally required, and the travel speed and the travel direction of the traveling vehicle are not controlled, the calibration of the travel error by the above method is limited by the scene, and the error of the radar angle calibration is also large.
Therefore, based on the above analysis, an embodiment of the present application provides a radar angle calibration method, where the method performs angle calibration on a radar based on a stationary target, and since the stationary target does not move and is not limited by a scene, in a process of calibrating an angle of the radar, an error of radar angle calibration can be reduced by performing calibration based on the stationary target.
It should be noted that, a method for calibrating a radar angle provided in the embodiments of the present application may be applied to a processor, where the processor may be a part of a radar, for example: the radar chip is an SoC chip. At this time, after the radar collects the data, the data may be processed by processing in the radar.
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
Referring to fig. 1, fig. 1 is a flowchart of a radar angle calibration method according to an embodiment of the present disclosure, where the radar angle calibration method includes the following steps:
step S101: the method comprises the steps of obtaining distance data and phase data of a plurality of target points on a static target collected by a radar at a certain moment.
Step S102: and determining a target track according to the distance data and the phase data of the plurality of target points.
Step S103: and determining the angle error of the radar according to the target track.
Step S104: and calibrating the angle of the radar according to the angle error.
In the embodiment of the application, the radar is installed on a certain moving object (such as a vehicle, an airplane and the like), and the radar scans the surrounding environment in real time and collects corresponding data during the moving process of the object. In the process of driving a vehicle, stationary objects such as metal guardrails are usually installed on roadsides, and the radar can use the stationary objects as stationary targets and collect data related to the stationary targets.
It can be seen that these stationary targets usually form a straight line at the roadside, and there is a target point at intervals (for example, each upright post in the metal guardrail, the cross bar of the metal guardrail, etc.), so the data collected by the radar may be distance data and phase data of a plurality of target points on the stationary targets.
The distance data of the target points collected by the radar are as follows: and the distance data of the target point from the radar at the moment, and the phase data of the target point collected by the radar are the phase data of the target point from the radar at the moment.
It should be noted that the process of collecting data by the radar may be a periodic process or an aperiodic process, and the position data collected by the radar is data of a stationary target relative to the radar at the current time, so that the radar may transmit the collected data immediately after collecting distance data and phase data once, or may store the data after collecting distance data and phase data once, and transmit the stored data after the amount of the stored data reaches a certain amount.
The electronics can then acquire the above-mentioned range data as well as the phase data collected by the radar. As an embodiment, the electronic device may directly receive the distance data and the phase data sent by the radar; as another implementation, the radar data may upload the distance data and the phase data to a cloud server, and the electronic device reads the distance data and the phase data from the cloud server. The present invention is not limited to the above embodiments, and those skilled in the art can make appropriate adjustments according to actual situations.
After acquiring the distance data and the phase data of the plurality of target points on the stationary target, the electronic device may process the distance data and the phase data to determine a target trajectory according to the distance data and the phase data. It can be understood that there are various ways for the electronic device to process the distance data and the phase data, and embodiments of the present application will be described in detail in the following description of two ways, and therefore will not be described here. In addition, the number of the determined target tracks may be one or more, based on different ways of processing the distance data and the phase data by the electronic device.
After the electronic device determines one or more target tracks according to the distance data and the phase data of the target point, the electronic device may determine an angle error of the radar according to the target tracks, and calibrate an angle of the radar according to the angle error. Based on different ways of processing the distance data and the phase data by the electronic device, and different ways of determining the angle error of the radar by the electronic device according to the target track, the embodiment of the present application will also describe in detail the angle error determination ways for the two processing ways in the following embodiments, which will not be described here.
It should be noted that, in the process of calibrating the angle of the radar according to the angle error, as a manner, after the electronic device determines the angle error each time, the angle of the radar may be calibrated according to the angle error; as an implementation manner, after the step S103, the method for calibrating a radar angle provided in the embodiment of the present application may further include the following steps:
firstly, judging whether the angle error is larger than a preset error threshold value.
Step two, if the angle error is greater than the preset error threshold, step S104 is executed.
That is to say, after determining the angle error of the radar, the electronic device may determine whether the angle error is greater than a preset threshold, and if the angle error is greater than the preset threshold, the electronic device calibrates the angle of the radar according to the angle error; if the angle error is not greater than the preset threshold, the electronic device may not calibrate the angle of the radar according to the angle error, and after the next measurement, if the angle error is greater than the preset threshold, the angle of the radar is calibrated again. Therefore, the method can reduce the calculation amount on the basis of ensuring the normal work of the radar.
In the above embodiments, the magnitude of the preset error threshold is not specifically limited in the embodiments of the present application, and the magnitude of the preset error threshold may be set in advance by an operator, or may be updated according to the situation during the calibration process, and the embodiments of the present application do not specifically limit this.
In the above scheme, the radar is angle-calibrated based on the stationary target, that is, first, distance data and phase data of a plurality of target points on the stationary target collected by the radar are obtained, then, an angle error of the radar is determined according to the collected distance data and phase data, and an angle of the radar is calibrated according to the angle error. The static target does not move and is not limited by a scene, so that the error of radar angle calibration can be reduced by calibrating based on the static target in the process of calibrating the angle of the radar.
The way in which the electronic device processes the distance data as well as the phase data is described below.
First, a first processing manner is described as an example, in which the target trajectory determined by the electronic device includes a plurality of target straight lines.
The step S102 may include the following steps:
and determining a target straight line passing through the two target points according to the distance data and the phase data of any two adjacent target points.
In the embodiment of the present application, please refer to fig. 2, and fig. 2 is a schematic diagram of a radar angle calibration method provided in the embodiment of the present application, wherein, taking a radar as an example to be installed on a vehicle, in fig. 2, a black solid line represents a roadside, and four stars represent positions of target points on a stationary target collected by the radar.
It can be seen that after acquiring the distance data and the phase data of the plurality of target points, the electronic device may convert the distance data and the phase data into coordinate values. As an embodiment, a cartesian coordinate system may be established with a radar as an origin, and the step of determining a target straight line passing through two target points according to distance data and phase data of any two adjacent target points may specifically include the following steps:
firstly, determining the coordinate value of each target point according to the distance data and the phase data of the plurality of target points.
And secondly, determining a target straight line according to the linear interpolation theorem and the coordinate values of any two adjacent target points.
Referring to fig. 3, fig. 3 is a schematic view of a cartesian coordinate system provided in an embodiment of the present application, in this embodiment, according to the distance data and the phase data, the electronic device may calculate and obtain coordinate values of each target point in the established cartesian coordinate system. Then, for any two adjacent target points, the electronic device may determine a target straight line passing through the two target points according to the linear interpolation theorem and the coordinate values of the two target points.
Therefore, according to the axiom that one straight line is determined by two points, a target straight line passing through two adjacent target points can be determined according to the distance data and the phase data of the two target points, and a plurality of target straight lines form a target track. Therefore, after the distance data and the phase data of the static target are collected, a plurality of target straight lines can be determined according to the distance data and the phase data, so that the angle error of the radar can be determined according to the plurality of target straight lines, and the error of radar angle calibration can be reduced.
According to the linear interpolation theorem, a straight line can be fitted between the two target points. I.e. the first point (x)0，y0) And a second point (x)1，y1) The fitted straight line equation can be expressed as follows:
y＝f(x)＝a+bx；
substituting the coordinate value of the first point can obtain:
y0＝a+bx0；
substituting the coordinate value of the second point can obtain:
y1＝a+bx1；
the subtraction of the two equations yields:
y0-y1＝b(x0-x1)；
substituting the obtained b value into the linear equation of the first point can obtain the value of a:
finally, the linear equation of the first two points is obtained:
by analogy, a target straight line between every two adjacent target points can be calculated, and the target track comprises all the target straight lines obtained through calculation.
It should be noted that, in the process of calculating the target straight lines, the electronic device may calculate every two adjacent target points, and then the target trajectory includes all the target straight lines; or after the electronic equipment calculates every two adjacent target points, the target track comprises part of target straight lines; or the electronic equipment only calculates part of adjacent target points, and the target track comprises the calculated target straight line. The embodiments of the present application are not specifically limited, and those skilled in the art can make appropriate adjustments according to actual situations.
It will be appreciated that in the embodiment shown in figure 2, the stationary target is located to the left of the radar; when the static target is located at the right side of the radar, the processing can be performed in a similar manner as described above, and details are not described here.
In the above scheme, the coordinate value of each target point may be determined based on a cartesian coordinate system established with the radar as the origin, so as to determine the target straight line according to the coordinate values of the target points and the linear interpolation theorem. The calculation amount of the linear interpolation theorem is small, and the measurement error of the angle does not need to be substituted into the formula for multiple times in the calculation process, so that the error of radar angle calibration can be reduced on the basis of reducing the calculation amount.
In the first processing manner, the step S103 may include the steps of:
first, determining the slopes of a plurality of target straight lines, and calculating the average value of the slopes of the plurality of target straight lines.
And secondly, determining the angle error according to the average value of the slopes of the target straight lines.
In the embodiment of the application, the electronic device may determine the slopes of a plurality of target straight lines in the target track, then calculate an average value of the slopes of the plurality of target straight lines, and determine the angle error of the radar according to the average value.
In the above scheme, the angle error of the radar can be determined by calculating the average value of the slopes of the plurality of target straight lines, so that the error of radar angle calibration can be reduced.
Then, a second processing manner is exemplified, in which the target trajectory determined by the electronic device includes a target straight line.
The step S102 may include the following steps:
and performing linear fitting on the multiple target points according to a least square method and the distance data and the phase data of the multiple target points to obtain a target straight line.
In this embodiment of the application, after obtaining the distance data and the phase data of the plurality of target points, the electronic device may also convert the distance data and the phase data into coordinate values, where a conversion manner is similar to that in the above embodiment, and is not described here again.
Then, the electronic device may perform linear regression on the plurality of target points, and perform linear fitting on the plurality of target points using the straight line ax + b to obtain a target straight line, which is the target trajectory. As an embodiment, a least square method may be adopted to fit a plurality of target points; of course, a method such as a recursive method may also be used to perform the line fitting, and this is not particularly limited in the embodiments of the present application.
In the scheme, the method can be implemented by fitting a target according to a least square method and the position coordinates of the target point, and determining the angle error of the radar according to the target straight line.
In the second processing manner, the step S103 may include the steps of:
in a first step, the slope of the target line is determined.
And secondly, determining an angle error according to the slope of the target straight line.
In the embodiment of the application, the electronic device may determine the slope of a target straight line in the target track, and then determine the angle error of the radar according to the slope.
In the scheme, the angle error of the radar can be determined by calculating the slope of the fitted target straight line, so that the error of radar angle calibration can be reduced.
Referring to fig. 4, fig. 4 is a block diagram illustrating a radar angle calibration apparatus according to an embodiment of the present disclosure, where the radar angle calibration apparatus 400 includes: an obtaining module 401, configured to obtain distance data and phase data of multiple target points on a stationary target collected by a radar at a certain time; a first determining module 402, configured to determine a target trajectory according to the distance data and the phase data of the plurality of target points; a second determining module 403, configured to determine an angle error of the radar according to the target track; a calibration module 404, configured to calibrate an angle of the radar according to the angle error.
In the embodiment of the application, the radar is subjected to angle calibration based on the stationary target, that is, firstly, distance data and phase data of a plurality of target points on the stationary target collected by the radar are obtained, then, an angle error of the radar is determined according to the collected distance data and phase data, and an angle of the radar is calibrated according to the angle error. The static target does not move and is not limited by a scene, so that the error of radar angle calibration can be reduced by calibrating based on the static target in the process of calibrating the angle of the radar.
Further, the target track comprises a plurality of target straight lines passing through two adjacent target points; the first determining module 402 is further configured to: and determining the target straight line passing through the two target points according to the distance data and the phase data of any two adjacent target points.
In the embodiment of the application, a straight line is determined according to the axiom of two points, a target straight line passing through two adjacent target points can be determined according to the distance data and the phase data of the two target points, and a plurality of target straight lines form a target track. Therefore, after the distance data and the phase data of the static target are collected, a plurality of target straight lines can be determined according to the distance data and the phase data, so that the angle error of the radar can be determined according to the plurality of target straight lines, and the error of radar angle calibration can be reduced.
Further, the first determining module 402 is further configured to: determining coordinate values of each target point according to the distance data and the phase data of the plurality of target points; the distance data and the phase data of the target points are determined based on a Cartesian coordinate system established by taking the radar as an origin; and determining the target straight line according to the linear interpolation theorem and the coordinate values of any two adjacent target points.
In the embodiment of the application, the coordinate value of each target point can be determined based on a cartesian coordinate system established by taking the radar as the origin, so as to determine the target straight line according to the coordinate values of the target points and the linear interpolation theorem. The calculation amount of the linear interpolation theorem is small, and the measurement error of the angle does not need to be substituted into the formula for multiple times in the calculation process, so that the error of radar angle calibration can be reduced on the basis of reducing the calculation amount.
Further, the second determining module 403 is further configured to: determining the slopes of the target lines and calculating the average value of the slopes of the target lines; determining the angle error according to an average of the slopes of the plurality of target straight lines.
In the embodiment of the application, the angle error of the radar can be determined by calculating the average value of the slopes of the target straight lines, so that the error of radar angle calibration can be reduced.
Further, the target trajectory includes a target straight line fitted to the target points; the first determining module 402 is further configured to: and performing linear fitting on the target points according to a least square method and the distance data and the phase data of the target points to obtain the target straight line.
In the embodiment of the application, a target can be fitted and executed according to a least square method and the position coordinates of the target point, and the angle error of the radar can be determined according to a target straight line.
Further, the second determining module 403 is further configured to: determining the slope of the target line; and determining the angle error according to the slope of the target straight line.
In the embodiment of the application, the angle error of the radar can be determined by calculating the slope of the fitted target straight line, so that the error of radar angle calibration can be reduced.
Further, the radar angle calibration apparatus 400 further includes: the judging module is used for judging whether the angle error is larger than a preset error threshold value or not; the calibration module is further configured to: and if the angle error is larger than the preset error threshold, executing the step of calibrating the angle of the radar according to the angle error.
In the embodiment of the application, when the angle error is smaller than the preset error threshold, the angle of the radar is not calibrated; when the angle error is greater than a preset threshold, the angle of the radar may be calibrated. Therefore, the operation amount can be reduced on the basis of ensuring the normal work of the radar.
Referring to fig. 5, fig. 5 is a block diagram of an electronic device according to an embodiment of the present disclosure, where the electronic device 500 includes: at least one processor 501, at least one communication interface 502, at least one memory 503, and at least one communication bus 504. Wherein, the communication bus 504 is used for realizing direct connection communication of these components, the communication interface 502 is used for communicating signaling or data with other node devices, and the memory 503 stores machine readable instructions executable by the processor 501. When the electronic device 500 is in operation, the processor 501 communicates with the memory 503 via the communication bus 504, and the machine-readable instructions, when invoked by the processor 501, perform the radar angle calibration method described above.
For example, the processor 501 of the embodiment of the present application may read the computer program from the memory 503 through the communication bus 504 and execute the computer program to implement the following method: step S101: the method comprises the steps of obtaining distance data and phase data of a plurality of target points on a static target collected by a radar at a certain moment. Step S102: and determining a target track according to the distance data and the phase data of the plurality of target points. Step S103: and determining the angle error of the radar according to the target track. Step S104: and calibrating the angle of the radar according to the angle error.
The processor 501 may be an integrated circuit chip having signal processing capabilities. The processor 501 may be a general-purpose processor, including a Central Processing Unit (CPU), etc.; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. Which may implement or perform the various methods, steps, and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The Memory 503 may include, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read Only Memory (PROM), Erasable Read Only Memory (EPROM), electrically Erasable Read Only Memory (EEPROM), and the like.
It will be appreciated that the configuration shown in FIG. 5 is merely illustrative and that electronic device 500 may include more or fewer components than shown in FIG. 5 or have a different configuration than shown in FIG. 5. The components shown in fig. 5 may be implemented in hardware, software, or a combination thereof. In this embodiment, the electronic device 500 may be, but is not limited to, an entity device such as a desktop, a laptop, a smart phone, an intelligent wearable device, and a vehicle-mounted device, and may also be a virtual device such as a virtual machine. In addition, the electronic device 500 is not necessarily a single device, but may also be a combination of multiple devices, such as a server cluster, and the like.
Embodiments of the present application further provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, which when executed by a computer, the computer is capable of performing the steps of the radar angle calibration method in the above embodiments, for example, including: acquiring distance data and phase data of a plurality of target points on a static target acquired by a radar at a certain moment; determining a target track according to the distance data and the phase data of the target points; determining an angle error of the radar according to the target track; and calibrating the angle of the radar according to the angle error.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be 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.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method of radar angle calibration, comprising:
acquiring distance data and phase data of a plurality of target points on a static target acquired by a radar at a certain moment;
determining a target track according to the distance data and the phase data of the target points;
determining an angle error of the radar according to the target track;
and calibrating the angle of the radar according to the angle error.
2. The radar angle calibration method according to claim 1, wherein the target trajectory includes a plurality of target straight lines passing through two adjacent target points;
determining a target trajectory according to the distance data and the phase data of the plurality of target points includes:
and determining the target straight line passing through the two target points according to the distance data and the phase data of any two adjacent target points.
3. The radar angle calibration method according to claim 2, wherein the determining the target straight line passing through any two adjacent target points based on the distance data and the phase data of the two target points comprises:
determining coordinate values of each target point according to the distance data and the phase data of the plurality of target points; the distance data and the phase data of the target points are determined based on a Cartesian coordinate system established by taking the radar as an origin;
and determining the target straight line according to the linear interpolation theorem and the coordinate values of any two adjacent target points.
4. The radar angle calibration method of claim 3, wherein said determining an angle error of the radar from the target trajectory comprises:
determining the slopes of a plurality of target straight lines, and calculating the average value of the slopes of the plurality of target straight lines;
determining the angle error according to an average of the slopes of the plurality of target straight lines.
5. The radar angle calibration method of claim 1, wherein the target trajectory includes a target line fitted to the plurality of target points;
determining a target trajectory according to the distance data and the phase data of the plurality of target points includes:
and performing linear fitting on the target points according to a least square method and the distance data and the phase data of the target points to obtain the target straight line.
6. The radar angle calibration method of claim 5, wherein determining the angle error of the radar from the target trajectory comprises:
determining the slope of the target line;
and determining the angle error according to the slope of the target straight line.
7. The radar angle calibration method according to any one of claims 1 to 6, wherein before the calibration of the angle of the radar according to the angle error, the method further comprises:
judging whether the angle error is larger than a preset error threshold value or not;
and if the angle error is larger than the preset error threshold, executing the step of calibrating the angle of the radar according to the angle error.
8. A radar angle calibration apparatus, comprising:
the acquisition module is used for acquiring distance data and phase data of a plurality of target points on a static target acquired by a radar at a certain moment;
the first determining module is used for determining a target track according to the distance data and the phase data of the target points;
the second determining module is used for determining the angle error of the radar according to the target track;
and the calibration module is used for calibrating the angle of the radar according to the angle error.
9. An electronic device, comprising: a processor, a memory, and a bus;
the processor and the memory are communicated with each other through the bus;
the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the radar angle calibration method of any of claims 1-7.
10. A non-transitory computer-readable storage medium storing computer instructions which, when executed by a computer, cause the computer to perform the radar angle calibration method of any one of claims 1-7.
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