CN112834995A - Vehicle-mounted millimeter wave radar angle calibration method and system and electronic equipment - Google Patents
Vehicle-mounted millimeter wave radar angle calibration method and system and electronic equipment Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention provides a vehicle-mounted millimeter wave radar angle calibration method, a system and electronic equipment, wherein the method comprises the following steps: step S1, controlling the irradiation target to swing within the field of view of the vehicle-mounted millimeter wave radar, and acquiring millimeter wave radar angle measurement data when the irradiation target swings within the preset range of the field of view of the millimeter wave radar; step S2, acquiring a plurality of distance angle change curves from a projection point of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system; step S3, fitting the distance angle change curve and the actually measured distance angle change curve to obtain a distance angle change curve corresponding to the optimal solution and obtain a corresponding optimal preset deviation value; and step S4, acquiring the millimeter wave radar angle calibration value of the irradiation target under the millimeter wave radar reference coordinate system based on the optimal preset deviation value. The invention improves the calibration efficiency and accuracy of the angle of the vehicle-mounted millimeter wave radar.
Description
Technical Field
The invention belongs to the technical field of automatic driving, particularly relates to the technical field of vehicle-mounted millimeter wave radars, and particularly relates to a method and a system for calibrating an angle of a vehicle-mounted millimeter wave radar and electronic equipment.
Background
Millimeter wave radar sensors are mainly used in automotive autopilot solutions. The vehicle-mounted millimeter wave radar has the characteristics of small volume, high precision, strong penetrating power and the like, and is widely used. At present, the vehicle-mounted millimeter wave radar is mainly installed on the inner side of a bumper, and due to the fact that bumpers of different shapes and materials have different influences on angle measurement precision, the rotatable truth-value platform is required to be used for conducting angle calibration correction on the millimeter wave radar in the mass production stage. In order to ensure the calibration accuracy in the prior art, it is necessary to ensure that the true-value platform rotation axis is located in the plane of the millimeter-wave radar antenna and passes through the center of the millimeter-wave radar antenna. Because the millimeter wave radar is installed at the inboard of car bumper, the visual range of millimeter wave radar receives the sheltering from, in order to reach above-mentioned purpose, mainly take the following measure at present: firstly, alignment of a rotating shaft is carried out by partially destroying a bumper structure and combining geometric optics; secondly, a specific calibration workshop is set up, and the precise alignment of the rotating shaft is realized by utilizing a high-precision positioning device. The method firstly damages the appearance design of the vehicle type, secondly has high economic cost of site construction and time cost of device positioning, and is not suitable for rapid mass production.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a method, a system, and an electronic device for calibrating an angle of a millimeter wave radar, which are used to solve the technical problems of long time consumption and inconvenient calibration in calibrating an angle of a millimeter wave radar in the prior art.
In order to achieve the above and other related objects, an embodiment of the present invention provides an angle calibration method for a vehicle-mounted millimeter wave radar, including: step S1, when the calibration platform, the vehicle-mounted millimeter wave radar and the irradiation target are in a preset configuration state, controlling the irradiation target to swing within the field of view of the vehicle-mounted millimeter wave radar, and acquiring millimeter wave radar angle measurement data when the irradiation target swings within the field of view of the preset millimeter wave radar; step S2, acquiring a plurality of distance angle change curves from the projection point of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system; step S3, fitting the distance angle change curve and the actually measured distance angle change curve based on a method for solving an optimal solution to obtain a distance angle change curve corresponding to the optimal solution, and obtaining a corresponding optimal preset deviation value based on the distance angle change curve corresponding to the optimal solution; step S4, acquiring a millimeter wave radar angle calibration value of the irradiation target in a millimeter wave radar reference coordinate system based on the optimal preset deviation value; and step S5, acquiring millimeter wave radar angle measurement data corresponding to the millimeter wave radar angle calibration value based on the millimeter wave radar angle calibration value, and sending the acquired millimeter wave radar angle measurement data to the vehicle-mounted millimeter wave radar so as to carry out corresponding angle measurement by the vehicle-mounted millimeter wave radar.
In an embodiment of the present application, in step S1, the preset configuration states are: the rotation center of the calibration platform is arranged under the vehicle-mounted built-in millimeter wave radar to be calibrated, the tail end of a rotating rod arm of the calibration platform fixes the irradiation target, and the height of the irradiation target is the same as that of the vehicle-mounted millimeter wave radar.
In an embodiment of the present application, in step S2, the implementation manner of obtaining a plurality of distance angle variation curves from a projection point of the irradiation target in the calibration platform coordinate system to the center of the millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system includes: step S21, respectively constructing a millimeter wave radar reference coordinate system formed by taking the center of the millimeter wave radar antenna as a reference and a calibration platform coordinate system formed by taking the rotation center of the calibration platform as a reference; step S22, acquiring the projection point coordinates of the irradiation target under the coordinate system of the calibration platform based on the distance from the irradiation target to the origin of the coordinate system of the calibration platform, and acquiring the projection point coordinates of the irradiation target under the coordinate system of the millimeter wave radar based on the projection point coordinates of the irradiation target under the coordinate system of the calibration platform, the preset deviation value between the millimeter wave radar reference coordinate system and the coordinate system of the calibration platform; step S23, acquiring a distance angle change curve from the irradiation target to the origin of the millimeter wave radar reference coordinate system based on the projection point coordinates of the irradiation target under the millimeter wave radar reference coordinate system; step S24, adjusting the preset deviation value between the millimeter wave radar reference coordinate system and the calibration platform coordinate system in step S22, and repeatedly executing steps S22 to S23 to obtain a plurality of distance angle variation curves corresponding to different preset deviation values.
In an embodiment of the present application, in step S3, the method for solving the optimal solution includes a least square method, various traversal search methods, and a maximum likelihood method.
In an embodiment of the present application, in step S4, the manner of obtaining the millimeter wave radar angle calibration value of the irradiation target in the millimeter wave radar reference coordinate system based on the optimal preset deviation value includes:
and the tan alpha is a millimeter wave radar angle calibration value of the irradiation target in a millimeter wave radar reference coordinate system, d is the distance from the irradiation target to the origin of a calibration platform coordinate system, theta is the angle value of the irradiation target in the calibration platform coordinate system, and delta x and delta y are respectively corresponding to the deviation values in the x direction and the y direction in the optimal preset deviation value.
In an embodiment of the present application, the method for calibrating an angle of a vehicle-mounted millimeter wave radar further includes: and step S6, acquiring the coordinate position of the center of the millimeter wave radar antenna under the vehicle body coordinate system based on the millimeter wave radar angle calibration value and the coordinate position of the calibration platform coordinate system under the vehicle body coordinate system.
The embodiment of the invention also provides a vehicle-mounted millimeter wave radar angle calibration system, which comprises: the data acquisition module is used for controlling the irradiation target to swing within the field of view of the vehicle-mounted millimeter wave radar and acquiring millimeter wave radar angle measurement data when the irradiation target swings within the field of view of the preset millimeter wave radar when the calibration platform, the vehicle-mounted millimeter wave radar and the irradiation target are in a preset configuration state; the variation curve acquisition module is used for acquiring a plurality of distance angle variation curves from the projection point of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system; the optimal deviation determining module is used for fitting the distance angle change curve and the actually-measured distance angle change curve based on a method for solving an optimal solution, obtaining a distance angle change curve corresponding to the optimal solution, and obtaining a corresponding optimal preset deviation value based on the distance angle change curve corresponding to the optimal solution; the angle calibration value acquisition module is used for acquiring a millimeter wave radar angle calibration value of the irradiation target under a millimeter wave radar reference coordinate system based on the optimal preset deviation value; and the compensation module is used for acquiring millimeter wave radar angle measurement data corresponding to the millimeter wave radar angle calibration value based on the millimeter wave radar angle calibration value, and sending the acquired millimeter wave radar angle measurement data to the vehicle-mounted millimeter wave radar so as to measure the corresponding angle of the vehicle-mounted millimeter wave radar.
In an embodiment of the present application, the variation curve obtaining module includes: the coordinate system constructing unit is used for respectively constructing a millimeter wave radar reference coordinate system formed by taking the center of the millimeter wave radar antenna as a reference and a calibration platform coordinate system formed by taking the rotation center of the calibration platform as a reference; the deviation value configuration unit is used for determining and adjusting different preset deviation values; a coordinate obtaining unit, configured to obtain a projection point coordinate of the irradiation target in the coordinate system of the calibration platform based on a distance from the irradiation target to an origin of the coordinate system of the calibration platform, and obtain a projection point coordinate of the irradiation target in the coordinate system of the millimeter wave radar based on the projection point coordinate of the irradiation target in the coordinate system of the calibration platform, a preset deviation value between the millimeter wave radar reference coordinate system and the coordinate system of the calibration platform; and the change curve acquisition unit is used for acquiring a plurality of distance angle change curves from the irradiation target to the origin of the millimeter wave radar reference coordinate system based on different preset deviation values and the projection point coordinates of the irradiation target under the millimeter wave radar reference coordinate system.
In an embodiment of the present application, the angle calibration value obtaining module is based on the optimal pre-calibration valueThe method for obtaining the millimeter wave radar angle calibration value of the irradiation target under the millimeter wave radar reference coordinate system by setting the deviation value comprises the following steps:
and the tan alpha is a millimeter wave radar angle calibration value of the irradiation target in a millimeter wave radar reference coordinate system, d is the distance from the irradiation target to the origin of a calibration platform coordinate system, theta is the angle value of the irradiation target in the calibration platform coordinate system, and delta x and delta y are respectively corresponding to the deviation values in the x direction and the y direction in the optimal preset deviation value.
In an embodiment of the present application, the vehicle-mounted millimeter wave radar angle calibration system further includes: and the millimeter wave radar position acquisition module is used for acquiring the coordinate position of the center of the millimeter wave radar antenna under the vehicle body coordinate system from the coordinate positions of the millimeter wave radar angle calibration value and the calibration platform coordinate system under the vehicle body coordinate system.
Embodiments of the present invention also provide an electronic device, comprising a processor and a memory, the memory storing program instructions; the processor runs the program instructions to realize the angle calibration method of the vehicle-mounted millimeter wave radar.
As described above, the vehicle-mounted millimeter wave radar angle calibration method, system and electronic device of the present invention have the following beneficial effects:
in the angle calibration process of the vehicle-mounted millimeter wave radar, the vehicle type design is not required to be destroyed, and a calibration workshop with a high-precision positioning function is not required to be built, so that the calibration error caused by the offset of the rotation axis of the calibration platform and the center of the millimeter wave radar antenna can be compensated, the high-precision angle calibration and the high-precision installation position calibration are further realized, the process is simple, and the angle calibration efficiency and the accuracy of the vehicle-mounted millimeter wave radar are effectively improved.
Drawings
Fig. 1 is a schematic overall flow chart of the vehicle-mounted millimeter wave radar angle calibration method according to the present invention.
Fig. 2 is a schematic flow chart illustrating the process of obtaining a distance angle change curve in the vehicle-mounted millimeter wave radar angle calibration method according to the present invention.
Fig. 3 is a schematic diagram showing a positional relationship between a normal direction of the millimeter wave radar and a zero direction of the calibration platform in the angle calibration method for the vehicle-mounted millimeter wave radar of the present invention.
Fig. 4 shows a fitting curve and an actual measurement curve of the actual distance of the irradiated target corresponding to the optimal preset deviation value in the angle calibration method for the vehicle-mounted millimeter wave radar of the invention along with the change of the angle.
Fig. 5 is a schematic diagram showing a preferred flow of the vehicle-mounted millimeter wave radar angle calibration method according to the present invention.
Fig. 6 is a schematic diagram illustrating the principle of obtaining the vehicle body coordinate system centered on the millimeter wave radar antenna in the vehicle millimeter wave radar angle calibration method according to the present invention.
Fig. 7 is a schematic structural diagram of the principle of the vehicle-mounted millimeter wave radar angle calibration system of the present invention.
Fig. 8 is a schematic structural diagram illustrating a schematic diagram of a variation curve acquisition module in the vehicle-mounted millimeter wave radar angle calibration system according to the present invention.
Fig. 9 is a schematic diagram showing a preferred principle structure of the vehicle-mounted millimeter wave radar angle calibration system of the present invention.
Fig. 10 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Description of the element reference numerals
100 vehicle-mounted millimeter wave radar angle calibration system
110 data acquisition module
120 change curve acquisition module
121 coordinate system construction unit
122 deviation value configuration unit
123 coordinate acquisition unit
124 change curve acquisition unit
130 optimum deviation determination module
140 angle calibration value acquisition module
150 compensation module
160 millimeter wave radar position acquisition module
10 electronic device
101 processor
102 memory
S1-S6
S21-S24
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
The embodiment aims to provide a vehicle-mounted millimeter wave radar angle calibration method, a system and electronic equipment, and is used for solving the technical problems of long time consumption and inconvenience in calibration of millimeter wave radar angle calibration in the prior art.
The vehicle-mounted millimeter wave radar angle calibration method, the system and the electronic device can calculate the offset between the rotation axis of the calibration platform and the center position of the millimeter wave radar antenna and perform automatic compensation, so that the technical problems that high-precision positioning equipment needs to be built at the present stage for calibration, the cost is high, and the time consumption is long are solved, and the calibration accuracy and efficiency of the millimeter wave radar are greatly improved.
The principle and implementation of the vehicle-mounted millimeter wave radar angle calibration method, system and electronic device according to the present embodiment will be described in detail below, so that those skilled in the art can understand the vehicle-mounted millimeter wave radar angle calibration method, system and electronic device without creative labor.
Example 1
Fig. 1 is a schematic overall flow chart of the vehicle-mounted millimeter wave radar angle calibration method according to the present invention.
As shown in fig. 1, this embodiment provides a vehicle-mounted millimeter wave radar angle calibration method, which includes the following steps:
step S1, when the calibration platform, the vehicle-mounted millimeter wave radar and the irradiation target are in a preset configuration state, controlling the irradiation target to swing within the field of view of the vehicle-mounted millimeter wave radar, and acquiring millimeter wave radar angle measurement data when the irradiation target swings within the field of view of the preset millimeter wave radar;
step S2, acquiring a plurality of distance angle change curves from the projection point of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system;
step S3, fitting the distance angle change curve and the actually measured distance angle change curve based on a method for solving an optimal solution to obtain a distance angle change curve corresponding to the optimal solution, and obtaining a corresponding optimal preset deviation value based on the distance angle change curve corresponding to the optimal solution;
step S4, acquiring a millimeter wave radar angle calibration value of the irradiation target in a millimeter wave radar reference coordinate system based on the optimal preset deviation value;
and step S5, acquiring millimeter wave radar angle measurement data corresponding to the millimeter wave radar angle calibration value based on the millimeter wave radar angle calibration value, and sending the acquired millimeter wave radar angle measurement data to the vehicle-mounted millimeter wave radar so as to carry out corresponding angle measurement by the vehicle-mounted millimeter wave radar.
The following describes in detail steps S1 to S5 of the vehicle-mounted millimeter wave radar angle calibration method according to the present embodiment.
And step S1, when the calibration platform, the vehicle-mounted millimeter wave radar and the irradiation target are in the preset configuration state, controlling the irradiation target to swing within the view range of the vehicle-mounted millimeter wave radar, and acquiring millimeter wave radar angle measurement data when the irradiation target swings within the view range of the preset millimeter wave radar.
In this embodiment, the irradiation target is, but not limited to, a reflector, and preferably, the irradiation target is a pyramid reflector. In this embodiment, the irradiation target is exemplified as a pyramid reflector.
In this embodiment, in step S1, the preset configuration states are: the rotation center of the calibration platform is arranged under the vehicle-mounted built-in millimeter wave radar to be calibrated (a slight deviation can be caused), the tail end of a rotating rod arm of the calibration platform fixes the irradiation target, and the height of the irradiation target is the same as that of the vehicle-mounted millimeter wave radar.
That is, in this embodiment, preparation operations are required before the angle calibration of the built-in millimeter wave radar: the rotation center of the calibration platform is arranged below the vehicle-mounted built-in millimeter wave radar to be calibrated, the pyramid reflector is fixed at the tail end of the rotation lever arm, and the pyramid reflector is adjusted to be at the same height as the millimeter wave radar to be calibrated. According to the vehicle-mounted millimeter wave radar angle calibration method, the step of accurately aligning the rotation axis with the center of the antenna with the built-in millimeter wave radar when the platform is built is omitted.
And then operating the calibration platform to drive the pyramid reflector to swing within the field of view (FoV) range of the millimeter wave radar, and acquiring data of the pyramid reflector acquired by the millimeter wave radar.
Step S2, based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system, obtaining a plurality of distance angle change curves from the projection point of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna.
Fig. 2 is a schematic flow chart illustrating the process of obtaining a distance angle change curve in the vehicle-mounted millimeter wave radar angle calibration method according to the present invention. As shown in fig. 2, in step S2, the implementation of obtaining a plurality of distance angle variation curves from the projection point of the irradiation target in the calibration platform coordinate system to the center of the millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system includes the following steps S21 to S24.
Step S21, a millimeter wave radar reference coordinate system formed with the center of the millimeter wave radar antenna as a reference and a calibration platform coordinate system formed with the rotation center of the calibration platform as a reference are respectively constructed.
Namely, a plane rectangular coordinate system is established by respectively calibrating the rotation center of the platform and the center of the millimeter wave radar antenna. Fig. 3 is a schematic diagram showing a positional relationship between a normal direction of the millimeter wave radar and a zero direction of the calibration platform in the angle calibration method for the vehicle-mounted millimeter wave radar of the embodiment when the normal direction of the millimeter wave radar and the zero direction of the calibration platform deviate. As shown in fig. 3, in the present embodiment, a calibration platform coordinate system formed with the rotation center of the calibration platform as a reference is constructed as follows: to calibrate the rotation center O of the platformPEstablishing a rectangular plane coordinate system, X, parallel to the ground for the originPThe axis being parallel to the normal direction of the millimeter-wave radar, YPThe axis is parallel to the millimeter wave radar antenna surface and accords with the right-hand rule. The above calibration platform coordinate system is not limited to a rectangular coordinate system or a polar coordinate system. The calibration platform rotating mechanism can be but not limited to a rigid rotating lever arm, a non-rigid connection multi-degree-of-freedom rotating platform and the like by combining different application environments.
As shown in fig. 3, in the present embodiment, a millimeter wave radar reference coordinate system formed with the center of the millimeter wave radar antenna as a reference is constructed as follows: with millimeter-wave radar antenna center OREstablishing a rectangular plane coordinate system, X, parallel to the ground for the originRThe axis being the normal direction of the millimeter-wave radar, YRAnd the antenna is positioned in the millimeter wave radar antenna surface and accords with the right-hand rule. The above millimeter wave radar reference coordinate system is not unique in construction mode, and is not limited to a rectangular coordinate system or a polar coordinate system.
Step S22, obtaining the coordinates of the projection point of the irradiation target under the coordinate system of the calibration platform based on the distance from the irradiation target to the origin of the coordinate system of the calibration platform, and obtaining the coordinates of the projection point of the irradiation target under the coordinate system of the millimeter wave radar based on the coordinates of the projection point of the irradiation target under the coordinate system of the calibration platform, the preset deviation value between the coordinate system of the millimeter wave radar reference and the coordinate system of the calibration platform.
Projection point of position k of pyramid reflector under coordinate system of calibration platform on xy plane to coordinate origin OPIs equal to the known length d of the rotating lever arm, in coordinates (d sin θ, d cos θ). Suppose that the millimeter wave radar reference coordinate system and the calibration platform coordinate system have the length delta in the x and y directions respectivelyxAnd ΔyThe coordinate of the projection point of the position k of the pyramid reflector on the xy plane under the millimeter wave radar reference coordinate system is (d cos theta + delta)x,d sinθ+Δy)。
Step S23, obtaining a distance angle change curve from the irradiation target to the origin of the millimeter wave radar reference coordinate system based on the projection point coordinates of the irradiation target under the millimeter wave radar reference coordinate system.
The projection point coordinate of the position k of the pyramid reflector in the millimeter wave radar reference coordinate system on the xy plane is (d cos theta + delta)x,d sinθ+Δy) The projection point reaches the origin O of the millimeter wave radar coordinate systemRA distance of (a)
And obtaining a theoretical curve of the change of the distance between the projection point of the pyramid reflector on the ground and the center of the millimeter wave radar antenna along with the angle, namely a distance angle change curve from the irradiation target to the origin of the millimeter wave radar reference coordinate system.
Step S24, adjusting the preset deviation value between the millimeter wave radar reference coordinate system and the calibration platform coordinate system in step S22, and repeatedly executing steps S22 to S23 to obtain a plurality of distance angle variation curves corresponding to different preset deviation values.
And step S3, fitting the distance angle change curve and the actually measured distance angle change curve based on a method for solving an optimal solution to obtain a distance angle change curve corresponding to the optimal solution, and obtaining a corresponding optimal preset deviation value based on the distance angle change curve corresponding to the optimal solution.
The processing techniques adopted by the actually measured distance angle change curve include, but are not limited to, a two-dimensional FFT technique, Multiple Input Multiple Output (MIMO) channel phase calculation, and the like. (the two-dimensional FFT technique is a technique of extracting the frequency and phase of a signal by performing fast fourier transform on a time domain signal, and the MIMO technique is a technique of increasing the aperture of an antenna by means of multiple transceiving channels, which is commonly used in the field of millimeter wave radars). The process of obtaining the measured distance angle change curve is not particularly limited in this embodiment.
In the present embodiment, in step S3, the method for solving the optimal solution includes, but is not limited to, a least squares method, various traversal search methods, and a maximum likelihood method. The least square method is a mathematical tool widely applied in the fields of data processing subjects such as error estimation, uncertainty, system identification and prediction, forecasting and the like, the traversal search method is a method for searching the optimal solution meeting specific conditions by trying all possible values of unknown quantity, and the maximum likelihood method is a method for solving the estimation quantity by using a probability model. The above method for solving the optimal solution is well known to those skilled in the art, and the embodiment will not be described in detail.
In this embodiment, the variation curve of the distance from the ground projection point of the pyramid reflector to the center of the millimeter wave radar antenna with the angle and the offset Δ from the origin of the two coordinate systems are knownxAnd ΔyThe geometrical relationship of (1). Fitting a theoretical curve and an actual measurement curve by using a method for solving an optimal solution so as to obtain delta which best meets the conditionsxAnd Δy. Fig. 4 shows a fitting curve and an actual measurement curve of the actual distance of the irradiation target corresponding to the optimal preset deviation value in the angle calibration method for the vehicle-mounted millimeter wave radar of the present invention as a function of the angle change, and a comparison between a theoretical curve and an actual measurement curve satisfying the optimal solution can be seen from fig. 4.
And step S4, acquiring the millimeter wave radar angle calibration value of the irradiation target under the millimeter wave radar reference coordinate system based on the optimal preset deviation value.
Specifically, in this embodiment, in step S4, the manner of obtaining the millimeter wave radar angle calibration value of the irradiation target in the millimeter wave radar reference coordinate system based on the optimal preset deviation value includes:
and the tan alpha is a millimeter wave radar angle calibration value of the irradiation target in a millimeter wave radar reference coordinate system, d is the distance from the irradiation target to the origin of a calibration platform coordinate system, theta is the angle value of the irradiation target in the calibration platform coordinate system, and delta x and delta y are respectively corresponding to the deviation values in the x direction and the y direction in the optimal preset deviation value.
Based on the optimal preset deviation value obtained in step S3: offset value deltaxAnd ΔyAnd compensating and correcting the angle difference of the pyramid reflector under the two coordinate systems caused by the offset between the origins of the two coordinate systems. As shown in fig. 3, the correction may calculate an angle value α of the pyramid reflector in the millimeter wave radar coordinate system according to each angle value θ of the pyramid reflector in the calibration platform coordinate system, where the angle value α is used as an angle true value of the angle calibration and corresponds to the millimeter wave radar angle measurement data obtained in step S1 one to one.
And step S5, acquiring millimeter wave radar angle measurement data corresponding to the millimeter wave radar angle calibration value based on the millimeter wave radar angle calibration value, and sending the acquired millimeter wave radar angle measurement data to the vehicle-mounted millimeter wave radar so as to carry out corresponding angle measurement by the vehicle-mounted millimeter wave radar.
Obtaining the millimeter wave radar angle calibration value of the irradiation target under the millimeter wave radar reference coordinate system through the step S4, corresponding to the millimeter wave radar angle measurement data obtained in the step S1 one by one, obtaining the millimeter wave radar angle measurement data of the pyramid reflector target under each angle true value in the millimeter wave radar field of view (FoV) range, and recording the millimeter wave radar angle measurement data in the millimeter wave radar sensor for accurate angle measurement during digital signal processing. The angle measurement method includes but is not limited to fft (fast Fourier transform), dbf (digital beamformation), dml (deterministic Maximum livelihood) and the like, which are mature in the field of millimeter wave radar.
In addition, in this embodiment, as shown in fig. 5, the method for calibrating an angle of a vehicle-mounted millimeter wave radar further includes: and step S6, acquiring the coordinate position of the center of the millimeter wave radar antenna under the vehicle body coordinate system based on the millimeter wave radar angle calibration value and the coordinate position of the calibration platform coordinate system under the vehicle body coordinate system.
Fig. 6 is a schematic diagram illustrating the principle of obtaining the vehicle body coordinate system centered on the millimeter wave radar antenna in the vehicle millimeter wave radar angle calibration method according to the present invention. As shown in fig. 6, about the vehicle body rear axle center OvEstablishing a rectangular plane coordinate system, X, parallel to the ground for the originvThe positive direction of the axis points to the head of the vehicle, YvThe axis is in the direction of the rear axis and conforms to the right-hand rule. The offset delta of the center of the millimeter wave radar antenna and the rotation axis of the calibration platform is obtained according to the stepsxAnd ΔyAnd the position (x) of the known calibration platform in a rectangular coordinate system of the plane of the vehicle body1,y1) The accurate position (x) of the millimeter wave radar antenna center under the vehicle body coordinate system can be obtained through calculation1+Δx,y1+Δy)。
That is, in this embodiment, according to the offset between the center of the millimeter-wave radar antenna and the rotation axis of the calibration platform obtained in step S4 and the position of the calibration platform in the rectangular coordinate system of the vehicle body plane, the accurate position of the center of the millimeter-wave radar antenna in the vehicle body coordinate system can be calculated. Therefore, the method of the embodiment can combine the angle calibration and the installation position calibration of the vehicle-mounted millimeter wave radar sensor with shorter time cost, and improves the calibration efficiency.
In order to enable those skilled in the art to further understand the implementation process of the vehicle-mounted millimeter wave radar angle calibration method according to the embodiment, the implementation process of the vehicle-mounted millimeter wave radar angle calibration method according to the embodiment is further described below.
The rotation center of the calibration platform is arranged below the vehicle-mounted built-in millimeter wave radar to be calibrated, the pyramid reflector is fixed at the tail end of the rotation lever arm, and the pyramid reflector is adjusted to be at the same height as the millimeter wave radar to be calibrated.
And then operating the calibration platform to drive the pyramid reflector to swing within the field of view (FoV) range of the millimeter wave radar, and acquiring data of the pyramid reflector acquired by the millimeter wave radar.
And establishing a plane rectangular coordinate system by respectively calibrating the rotation center of the platform and the center of the millimeter wave radar antenna. Based on a millimeter wave radar coordinate system, obtaining a plurality of distance angle change curves from the projection point of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna, wherein the distance angle change curves and the offset between the two coordinate system origins can be expressed by a geometrical relation theoretically, and the offset value can be obtained by solving the offset value through a method of solving an optimal solution, so that the offset value is optimally preset. And acquiring a millimeter wave radar angle calibration value of the irradiation target under a millimeter wave radar reference coordinate system based on the optimal preset deviation value, namely compensating and correcting the angle difference of the pyramid reflector under the two coordinate systems caused by the offset between the original points of the two coordinate systems according to the geometric relation. The correction can calculate the angle value of the pyramid reflector under the millimeter wave radar coordinate system according to the angle value of the pyramid reflector under the calibration platform coordinate system, and the angle value is used as the true angle value of the angle calibration. The correction method of the embodiment avoids the prior art need to spatially correct the position of the rotation axis when an offset exists in the rotation axis.
Therefore, the angle calibration process of the vehicle-mounted millimeter wave radar can be optimized by the angle calibration method of the embodiment, the design of a vehicle type is not required to be destroyed, a calibration workshop with a high-precision positioning function is not required to be built, calibration errors caused by the offset of the rotation axis of the calibration platform and the center of the millimeter wave radar antenna can be compensated, high-precision angle calibration and installation position calibration are further realized, the flow is simple, and the calibration efficiency of the millimeter wave radar in the mass production stage is effectively improved.
Example 2
Fig. 7 is a schematic structural diagram of the principle of the vehicle-mounted millimeter wave radar angle calibration system 100 according to the embodiment. As shown in fig. 7, the present embodiment provides an on-vehicle millimeter wave radar angle calibration system 100, where the on-vehicle millimeter wave radar angle calibration system 100 includes: the system comprises a data acquisition module 110, a variation curve acquisition module 120, an optimal deviation determination module 130, an angle calibration value acquisition module 140 and a compensation module 150.
In this embodiment, the data obtaining module 110 is configured to control the irradiation target to swing within the field of view of the vehicle-mounted millimeter wave radar when the calibration platform, the vehicle-mounted millimeter wave radar, and the irradiation target are in the preset configuration state, and obtain millimeter wave radar angle measurement data when the irradiation target swings within the preset range of view of the millimeter wave radar.
In this embodiment, the irradiation target is, but not limited to, a reflector, and preferably, the irradiation target is a pyramid reflector. In this embodiment, the irradiation target is exemplified as a pyramid reflector.
In this embodiment, the preset configuration state is: the rotation center of the calibration platform is arranged under the vehicle-mounted built-in millimeter wave radar to be calibrated, the tail end of a rotating rod arm of the calibration platform fixes the irradiation target, and the height of the irradiation target is the same as that of the vehicle-mounted millimeter wave radar.
In this embodiment, the variation curve obtaining module 120 is configured to obtain a plurality of distance angle variation curves from a projection point of the irradiation target in the calibration platform coordinate system to the center of the millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system.
Fig. 8 is a schematic structural diagram illustrating the schematic structural diagram of the change curve obtaining module 120 in the vehicle-mounted millimeter wave radar angle calibration system 100 according to the present invention. As shown in fig. 8, the variation curve acquiring module 120 includes a coordinate system constructing unit 121, an offset value configuring unit 122, a coordinate acquiring unit 123 and a variation curve acquiring unit 124.
In this embodiment, the coordinate system constructing unit 121 is configured to respectively construct a millimeter wave radar reference coordinate system formed by taking a center of a millimeter wave radar antenna as a reference and a calibration platform coordinate system formed by taking a rotation center of the calibration platform as a reference.
Namely, a plane right angle is established by respectively calibrating the rotation center of the platform and the center of the millimeter wave radar antennaA coordinate system. Fig. 3 is a schematic diagram showing a positional relationship between a normal direction of the millimeter wave radar in the vehicle-mounted millimeter wave radar angle calibration system 100 and a zero direction of the calibration platform when the normal direction and the zero direction of the millimeter wave radar are deviated. As shown in fig. 3, in the present embodiment, a calibration platform coordinate system formed with the rotation center of the calibration platform as a reference is constructed as follows: to calibrate the rotation center O of the platformPEstablishing a rectangular plane coordinate system, X, parallel to the ground for the originPThe axis being parallel to the normal direction of the millimeter-wave radar, YPThe axis is parallel to the millimeter wave radar antenna surface and accords with the right-hand rule. The above calibration platform coordinate system is not limited to a rectangular coordinate system or a polar coordinate system. The calibration platform rotating mechanism can be but not limited to a rigid rotating lever arm, a non-rigid connection multi-degree-of-freedom rotating platform and the like by combining different application environments.
As shown in fig. 3, in the present embodiment, a millimeter wave radar reference coordinate system formed with the center of the millimeter wave radar antenna as a reference is constructed as follows: with millimeter-wave radar antenna center OREstablishing a rectangular plane coordinate system, X, parallel to the ground for the originRThe axis being the normal direction of the millimeter-wave radar, YRAnd the antenna is positioned in the millimeter wave radar antenna surface and accords with the right-hand rule. The above millimeter wave radar reference coordinate system is not unique in construction mode, and is not limited to a rectangular coordinate system or a polar coordinate system.
In the present embodiment, the offset value configuration unit 122 is used for determining and adjusting different preset offset values.
In this embodiment, the coordinate obtaining unit 123 is configured to obtain a projection point coordinate of the irradiation target in the coordinate system of the calibration platform based on a distance from the irradiation target to an origin of the coordinate system of the calibration platform, and obtain a projection point coordinate of the irradiation target in the coordinate system of the millimeter wave radar based on the projection point coordinate of the irradiation target in the coordinate system of the calibration platform, a preset deviation value between the reference coordinate system of the millimeter wave radar and the coordinate system of the calibration platform.
Projection point of position k of pyramid reflector under coordinate system of calibration platform on xy plane to coordinate origin OPIs equal to the known length d of the rotating lever arm, in coordinates (d sin θ, d cos θ). Suppose that the millimeter wave radar reference coordinate system and the calibration platform coordinate system have the length delta in the x and y directions respectivelyxAnd ΔyThe coordinate of the projection point of the position k of the pyramid reflector on the xy plane under the millimeter wave radar reference coordinate system is (d cos theta + delta)x,d sinθ+Δy)。
In this embodiment, the variation curve obtaining unit 124 is configured to obtain a plurality of distance angle variation curves from the irradiation target to the origin of the millimeter wave radar reference coordinate system based on different preset deviation values and the projection point coordinates of the irradiation target in the millimeter wave radar reference coordinate system.
The projection point coordinate of the position k of the pyramid reflector in the millimeter wave radar reference coordinate system on the xy plane is (d cos theta + delta)x,d sinθ+Δy) The projection point reaches the origin O of the millimeter wave radar coordinate systemRA distance of (a)
And obtaining a theoretical curve of the change of the distance between the projection point of the pyramid reflector on the ground and the center of the millimeter wave radar antenna along with the angle, namely a distance angle change curve from the irradiation target to the origin of the millimeter wave radar reference coordinate system.
In this embodiment, the optimal deviation determining module 130 is configured to fit the distance angle variation curve and the actually measured distance angle variation curve based on a method for solving an optimal solution, obtain a distance angle variation curve corresponding to the optimal solution, and obtain a corresponding optimal preset deviation value based on the distance angle variation curve corresponding to the optimal solution.
In this embodiment, the method for solving the optimal solution includes, but is not limited to, a least square method, various traversal search methods, and a maximum likelihood method.
In this embodiment, the variation curve of the distance from the ground projection point of the pyramid reflector to the center of the millimeter wave radar antenna with the angle and the geometric relationship between the variation curve and the origin offsets Δ _ x and Δ _ y of the two coordinate systems are known. And fitting a theoretical curve and an actual measurement curve by using a method for solving an optimal solution so as to obtain delta _ x and delta _ y which most accord with conditions. Fig. 4 shows a fitting curve and an actual measurement curve of the actual distance of the irradiation target corresponding to the optimal preset deviation value in the vehicle-mounted millimeter wave radar angle calibration system 100 according to the present invention, and it can be seen from fig. 4 that the comparison between the theoretical curve and the actual measurement curve that satisfy the optimal solution is obtained.
In this embodiment, the angle calibration value obtaining module 140 is configured to obtain the millimeter wave radar angle calibration value of the irradiation target in the millimeter wave radar reference coordinate system based on the optimal preset deviation value.
Specifically, in this embodiment, the manner for the angle calibration value obtaining module 140 to obtain the millimeter wave radar angle calibration value of the irradiation target in the millimeter wave radar reference coordinate system based on the optimal preset deviation value includes:
and the tan alpha is a millimeter wave radar angle calibration value of the irradiation target in a millimeter wave radar reference coordinate system, d is the distance from the irradiation target to the origin of a calibration platform coordinate system, theta is the angle value of the irradiation target in the calibration platform coordinate system, and delta x and delta y are respectively corresponding to the deviation values in the x direction and the y direction in the optimal preset deviation value.
In this embodiment, the compensation module 150 is configured to obtain millimeter wave radar angle measurement data corresponding to the millimeter wave radar angle calibration value based on the millimeter wave radar angle calibration value, and send the obtained millimeter wave radar angle measurement data to the vehicle-mounted millimeter wave radar, so that the vehicle-mounted millimeter wave radar performs corresponding angle measurement.
In this embodiment, as shown in fig. 9, the vehicle-mounted millimeter wave radar angle calibration system 100 further includes: a millimeter-wave radar position acquisition module 160. The millimeter wave radar position obtaining module 160 is configured to obtain a coordinate position of the millimeter wave radar antenna center in the vehicle body coordinate system at the coordinate position of the millimeter wave radar angle calibration value and the calibration platform coordinate system in the vehicle body coordinate system.
As shown in fig. 6, about the vehicle body rear axle center OvEstablishing a rectangular plane coordinate system, X, parallel to the ground for the originvThe positive direction of the axis points to the head of the vehicle, YvThe axis is in the direction of the rear axis and conforms to the right-hand rule. The offset delta of the center of the millimeter wave radar antenna and the rotation axis of the calibration platform is obtained according to the stepsxAnd ΔyAnd the position (x) of the known calibration platform in a rectangular coordinate system of the plane of the vehicle body1,y1) The accurate position (x) of the millimeter wave radar antenna center under the vehicle body coordinate system can be obtained through calculation1+Δx,y1+Δy)。
That is to say, in this implementation, according to the obtained offset between the center of the millimeter wave radar antenna and the rotation axis of the calibration platform and the position of the calibration platform in the rectangular coordinate system of the vehicle body plane, the accurate position of the center of the millimeter wave radar antenna in the vehicle body coordinate system can be calculated. Therefore, the system of the embodiment can combine the angle calibration and the installation position calibration of the vehicle-mounted millimeter wave radar sensor with shorter time cost, and the calibration efficiency is improved.
The technical features of the specific implementation of the vehicle-mounted millimeter wave radar angle calibration system 100 of this embodiment are substantially the same as those of the vehicle-mounted millimeter wave radar angle calibration method in embodiment 1, and the technical contents that can be used in the embodiments are not repeated.
It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, a module may be a processing element that is set up separately, or may be implemented by being integrated into a chip of an electronic terminal, or may be stored in a memory of the terminal in the form of program code, and the processing element of the terminal calls and executes the functions of the tracking calculation module. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module 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 modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Example 3
As shown in fig. 10, the present embodiment provides an electronic device 10, where the electronic device 10 includes a processor 101 and a memory 102.
The memory 102 is connected to the processor 101 through a system bus and completes communication with the processor 101, the memory 102 is used for storing a computer program, the processor 101 is coupled to the memory 1002, and the processor 101 is used for running the computer program, so that the electronic device 10 executes the vehicle-mounted millimeter wave radar angle calibration method described in embodiment 1. The method for calibrating the angle of the vehicle-mounted millimeter wave radar has already been described in detail in embodiment 1, and is not described herein again.
In an exemplary embodiment, the electronic device 10 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, cameras, or other electronic components for performing the above-described onboard millimeter wave radar angle calibration method.
The Memory 102 may include a Random Access Memory (RAM) and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The Processor 101 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with a computer program. The aforementioned computer program may be stored in a computer readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
In conclusion, in the angle calibration process of the vehicle-mounted millimeter wave radar, the calibration error caused by the offset between the rotation axis of the calibration platform and the center of the millimeter wave radar antenna can be compensated without destroying the vehicle type design and building a calibration workshop with a high-precision positioning function, so that the high-precision angle calibration and the high-precision installation position calibration are realized, the process is simple, and the angle calibration efficiency and the accuracy of the vehicle-mounted millimeter wave radar are effectively improved. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (11)
1. A vehicle-mounted millimeter wave radar angle calibration method is characterized by comprising the following steps: the method comprises the following steps:
step S1, when the calibration platform, the vehicle-mounted millimeter wave radar and the irradiation target are in a preset configuration state, controlling the irradiation target to swing within the field of view of the vehicle-mounted millimeter wave radar, and acquiring millimeter wave radar angle measurement data when the irradiation target swings within the field of view of the preset millimeter wave radar;
step S2, acquiring a plurality of distance angle change curves from the projection point of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system;
step S3, fitting the distance angle change curve and the actually measured distance angle change curve based on a method for solving an optimal solution to obtain a distance angle change curve corresponding to the optimal solution, and obtaining a corresponding optimal preset deviation value based on the distance angle change curve corresponding to the optimal solution;
step S4, acquiring a millimeter wave radar angle calibration value of the irradiation target in a millimeter wave radar reference coordinate system based on the optimal preset deviation value;
and step S5, acquiring millimeter wave radar angle measurement data corresponding to the millimeter wave radar angle calibration value based on the millimeter wave radar angle calibration value, and sending the acquired millimeter wave radar angle measurement data to the vehicle-mounted millimeter wave radar so as to carry out corresponding angle measurement by the vehicle-mounted millimeter wave radar.
2. The vehicle-mounted millimeter wave radar angle calibration method according to claim 1, characterized in that: in step S1, the preset configuration states are:
the rotation center of the calibration platform is arranged under the vehicle-mounted built-in millimeter wave radar to be calibrated, the tail end of a rotating rod arm of the calibration platform fixes the irradiation target, and the height of the irradiation target is the same as that of the vehicle-mounted millimeter wave radar.
3. The vehicle-mounted millimeter wave radar angle calibration method according to claim 1 or 2, characterized in that: in step S2, the implementation manner of obtaining a plurality of distance angle change curves from the projection point of the irradiation target to the center of the millimeter wave radar antenna in the calibration platform coordinate system based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system includes:
step S21, respectively constructing a millimeter wave radar reference coordinate system formed by taking the center of the millimeter wave radar antenna as a reference and a calibration platform coordinate system formed by taking the rotation center of the calibration platform as a reference;
step S22, acquiring the projection point coordinates of the irradiation target under the coordinate system of the calibration platform based on the distance from the irradiation target to the origin of the coordinate system of the calibration platform, and acquiring the projection point coordinates of the irradiation target under the coordinate system of the millimeter wave radar based on the projection point coordinates of the irradiation target under the coordinate system of the calibration platform, the preset deviation value between the millimeter wave radar reference coordinate system and the coordinate system of the calibration platform;
step S23, acquiring a distance angle change curve from the irradiation target to the origin of the millimeter wave radar reference coordinate system based on the projection point coordinates of the irradiation target under the millimeter wave radar reference coordinate system;
step S24, adjusting the preset deviation value between the millimeter wave radar reference coordinate system and the calibration platform coordinate system in step S22, and repeatedly executing steps S22 to S23 to obtain a plurality of distance angle variation curves corresponding to different preset deviation values.
4. The vehicle-mounted millimeter wave radar angle calibration method according to claim 1, characterized in that: in step S3, the method for solving the optimal solution includes a least square method, various traversal search methods, and a maximum likelihood method.
5. The vehicle-mounted millimeter wave radar angle calibration method according to claim 1, characterized in that: in step S4, the manner of obtaining the millimeter wave radar angle calibration value of the irradiation target in the millimeter wave radar reference coordinate system based on the optimal preset deviation value includes:
and the tan alpha is a millimeter wave radar angle calibration value of the irradiation target in a millimeter wave radar reference coordinate system, d is the distance from the irradiation target to the origin of a calibration platform coordinate system, theta is the angle value of the irradiation target in the calibration platform coordinate system, and delta x and delta y are respectively corresponding to the deviation values in the x direction and the y direction in the optimal preset deviation value.
6. The vehicle-mounted millimeter wave radar angle calibration method according to claim 1, characterized in that: the vehicle-mounted millimeter wave radar angle calibration method further comprises the following steps:
and step S6, acquiring the coordinate position of the center of the millimeter wave radar antenna under the vehicle body coordinate system based on the millimeter wave radar angle calibration value and the coordinate position of the calibration platform coordinate system under the vehicle body coordinate system.
7. The utility model provides a vehicle-mounted millimeter wave radar angle calibration system which characterized in that: the method comprises the following steps:
the data acquisition module is used for controlling the irradiation target to swing within the field of view of the vehicle-mounted millimeter wave radar and acquiring millimeter wave radar angle measurement data when the irradiation target swings within the field of view of the preset millimeter wave radar when the calibration platform, the vehicle-mounted millimeter wave radar and the irradiation target are in a preset configuration state;
the variation curve acquisition module is used for acquiring a plurality of distance angle variation curves from the projection point of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system;
the optimal deviation determining module is used for fitting the distance angle change curve and the actually-measured distance angle change curve based on a method for solving an optimal solution, obtaining a distance angle change curve corresponding to the optimal solution, and obtaining a corresponding optimal preset deviation value based on the distance angle change curve corresponding to the optimal solution;
the angle calibration value acquisition module is used for acquiring a millimeter wave radar angle calibration value of the irradiation target under a millimeter wave radar reference coordinate system based on the optimal preset deviation value;
and the compensation module is used for acquiring millimeter wave radar angle measurement data corresponding to the millimeter wave radar angle calibration value based on the millimeter wave radar angle calibration value, and sending the acquired millimeter wave radar angle measurement data to the vehicle-mounted millimeter wave radar so as to measure the corresponding angle of the vehicle-mounted millimeter wave radar.
8. The vehicle-mounted millimeter wave radar angle calibration system according to claim 7, characterized in that: the change curve acquisition module comprises:
the coordinate system constructing unit is used for respectively constructing a millimeter wave radar reference coordinate system formed by taking the center of the millimeter wave radar antenna as a reference and a calibration platform coordinate system formed by taking the rotation center of the calibration platform as a reference;
the deviation value configuration unit is used for determining and adjusting different preset deviation values;
a coordinate obtaining unit, configured to obtain a projection point coordinate of the irradiation target in the coordinate system of the calibration platform based on a distance from the irradiation target to an origin of the coordinate system of the calibration platform, and obtain a projection point coordinate of the irradiation target in the coordinate system of the millimeter wave radar based on the projection point coordinate of the irradiation target in the coordinate system of the calibration platform, a preset deviation value between the millimeter wave radar reference coordinate system and the coordinate system of the calibration platform;
and the change curve acquisition unit is used for acquiring a plurality of distance angle change curves from the irradiation target to the origin of the millimeter wave radar reference coordinate system based on different preset deviation values and the projection point coordinates of the irradiation target under the millimeter wave radar reference coordinate system.
9. The vehicle-mounted millimeter wave radar angle calibration system according to claim 7, characterized in that: the mode that the angle calibration value acquisition module acquires the millimeter wave radar angle calibration value of the irradiation target under the millimeter wave radar reference coordinate system based on the optimal preset deviation value comprises the following steps:
and the tan alpha is a millimeter wave radar angle calibration value of the irradiation target in a millimeter wave radar reference coordinate system, d is the distance from the irradiation target to the origin of a calibration platform coordinate system, theta is the angle value of the irradiation target in the calibration platform coordinate system, and delta x and delta y are respectively corresponding to the deviation values in the x direction and the y direction in the optimal preset deviation value.
10. The vehicle-mounted millimeter wave radar angle calibration system according to claim 7 or 9, characterized in that: the vehicle-mounted millimeter wave radar angle calibration system further comprises:
and the millimeter wave radar position acquisition module is used for acquiring the coordinate position of the center of the millimeter wave radar antenna under the vehicle body coordinate system from the coordinate positions of the millimeter wave radar angle calibration value and the calibration platform coordinate system under the vehicle body coordinate system.
11. An electronic device, characterized in that: comprising a processor and a memory, said memory storing program instructions; the processor executes the program instructions to realize the vehicle-mounted millimeter wave radar angle calibration method according to any one of claims 1 to 6.
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| CN113671454B (en) * | 2021-08-16 | 2024-04-26 | 中汽创智科技有限公司 | Position parameter calibration method and device for vehicle-mounted radar and storage medium |
| CN113985375A (en) * | 2021-12-22 | 2022-01-28 | 广东皓行科技有限公司 | Millimeter wave radar calibration method and device, nonvolatile storage medium and processor |
| CN113985375B (en) * | 2021-12-22 | 2022-03-29 | 广东皓行科技有限公司 | Millimeter wave radar calibration method and device, nonvolatile storage medium and processor |
| CN115236613A (en) * | 2022-06-22 | 2022-10-25 | 海信集团控股股份有限公司 | Electronic equipment and indoor radar calibration method |
| CN115616510A (en) * | 2022-12-05 | 2023-01-17 | 广州市德赛西威智慧交通技术有限公司 | Traffic millimeter wave radar calibration method and system |
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