CN113311422A - Coordinate conversion method and device and data processing equipment - Google Patents
Coordinate conversion method and device and data processing equipment Download PDFInfo
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- CN113311422A CN113311422A CN202010123838.5A CN202010123838A CN113311422A CN 113311422 A CN113311422 A CN 113311422A CN 202010123838 A CN202010123838 A CN 202010123838A CN 113311422 A CN113311422 A CN 113311422A
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/68—Radar-tracking systems; Analogous systems for angle tracking only
Abstract
The embodiment of the application provides a coordinate conversion method, a coordinate conversion device and data processing equipment, wherein the coordinate conversion method comprises the following steps: determining a deflection angle of the radar; converting the radar coordinates of the target detected by the radar into rotation coordinates according to the deflection angle; converting the rotating coordinate of the target into a horizontal coordinate according to the height of the radar; and converting the horizontal coordinate of the target into a world coordinate according to the orientation of the radar relative to a world coordinate system. According to the embodiment of the application, the deflection angle and the height of the radar are considered when the coordinate conversion is carried out, and the radar coordinate can be effectively converted into the world coordinate.
Description
Technical Field
The present application relates to the field of coordinate transformation (coordinates transformation), and in particular, to a coordinate transformation method, an apparatus and a data processing device.
Background
A Cooperative Vehicle Infrastructure System (CVIS) is a subsystem of an Intelligent Transportation System (ITS) that acquires Vehicle and road information by using roadside sensing and wireless communication technologies. CVIS with roadside sensing provides additional information with extended coverage and more dimensions (more dimensions) than autonomous vehicles relying solely on their own sensing systems. Currently, inductive fusion of a camera and a radar is a development trend of CVIS, and a fusion result can be used for generating an electronic map.
The coordinates of the electronic map, which reflect the position of the object in the real world, are called world coordinates. In the radar coordinate system, the position of the radar is the origin (origin) of the radar coordinate system. The coordinate conversion from radar coordinates to world coordinates is a problem (issue) to be solved in generating an electronic map.
The world coordinate system and the radar coordinate system of a road intersection are shown in fig. 1. The x-axis and the y-axis of the world coordinate system are parallel to the east-west road and the south-north road respectively, and the origin of the world coordinate system is the intersection point of the center lines of the two lanes. The four radars shown in fig. 1 are installed north, west, south and east, respectively. The radar coordinate system of the radar is composed of a u-axis and a v-axis, a k-axis and a j-axis, an m-axis and an n-axis, and an s-axis and a t-axis, respectively.
Fig. 1 depicts an ideal case in which the horizontal axes (k-axis and s-axis) of the radar 2 and the radar 4 and the vertical axes (v-axis and n-axis) of the radar 1 and the radar 3 are perpendicular to the x-axis of the world coordinate system, the horizontal axes (u-axis and m-axis) of the radar 1 and the radar 3 and the vertical axes (j-axis and t-axis) of the radar 2 and the radar 4 are perpendicular to the y-axis of the world coordinate system. Fig. 2 gives an example of a radar coordinate system in an ideal case, in which the vehicle trajectory detected by the radar 1 is parallel to the road lane and to the vertical axis (v-axis) of the radar coordinate system.
It should be noted that the above background description is only for the convenience of clear and complete description of the technical solutions of the present application and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the present application.
Disclosure of Invention
The inventors have found that roadside radars are typically mounted on high crossbars at road intersections. In practical cases, the radar has a yaw angle (α) for installation reasons. The yaw angle (α) is the angle between the vertical axis v' (vertical axis parallel to the lane) of the radar coordinate system in the ideal case and the vertical axis v of the radar coordinate system in the actual case, as shown in fig. 3. If the deflection angle of the radar is not considered in the coordinate conversion, inaccuracy of the coordinate conversion is caused. In addition, as shown in fig. 4, since the radar has a certain height (h), and the world coordinate system reflects the coordinates of the horizontal plane, the height of the radar should be considered also in the coordinate conversion.
The embodiment of the application provides a coordinate conversion method, a coordinate conversion device and data processing equipment, so that radar coordinates are effectively converted into world coordinates.
According to an aspect of an embodiment of the present application, there is provided a coordinate conversion method, wherein the method includes:
determining a deflection angle of the radar;
converting the radar coordinates of the target detected by the radar into rotation coordinates according to the deflection angle;
converting the rotating coordinate of the target into a horizontal coordinate according to the height of the radar;
and converting the horizontal coordinate of the target into a world coordinate according to the orientation of the radar relative to a world coordinate system.
According to another aspect of embodiments of the present application, there is provided a coordinate conversion apparatus, wherein the apparatus includes:
a determination unit that determines a deflection angle of the radar;
a first conversion unit that converts a radar coordinate of a target detected by the radar into a rotation coordinate according to the deflection angle;
a second conversion unit that converts the rotation coordinate of the target into a horizontal coordinate according to the height of the radar;
a third conversion unit that converts the horizontal coordinate of the target into a world coordinate in accordance with an orientation of the radar with respect to a world coordinate system.
According to still another aspect of embodiments of the present application, there is provided a data processing apparatus including a processor and a memory, the memory storing a computer program, the processor being configured to execute the computer program to implement a coordinate conversion method as follows:
determining a deflection angle of the radar;
converting the radar coordinates of the target detected by the radar into rotation coordinates according to the deflection angle;
converting the rotating coordinate of the target into a horizontal coordinate according to the height of the radar;
and converting the horizontal coordinate of the target into a world coordinate according to the orientation of the radar relative to a world coordinate system.
One of the beneficial effects of the embodiment of the application lies in: according to the embodiment of the present application, the radar coordinates can be efficiently converted into world coordinates in consideration of the yaw angle (α) and the height (h) of the radar when performing the coordinate conversion.
Specific embodiments of the present application are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the application may be employed. It should be understood that the embodiments of the present application are not so limited in scope. The embodiments of the application include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
Elements and features described in one drawing or one implementation of an embodiment of the application may be combined with elements and features shown in one or more other drawings or implementations. Moreover, in the drawings, like reference numerals designate corresponding parts throughout the several views, and may be used to designate corresponding parts for use in more than one embodiment.
The accompanying drawings, which are included to provide a further understanding of the embodiments of the application, are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic diagram of a world coordinate system and ideally four radar coordinate systems;
FIG. 2 is a schematic diagram of a radar coordinate system under ideal conditions;
FIG. 3 is a schematic diagram of a radar coordinate system with deflection angles in a practical case;
FIG. 4 is a schematic diagram of a radar coordinate system with altitude under practical conditions;
FIG. 5 is a schematic diagram of a coordinate transformation method according to an embodiment of the present application;
FIG. 6 is a schematic diagram of an example of determining a yaw angle of a radar in accordance with an embodiment of the present application;
FIG. 7 is a schematic diagram of an example of selected radar data;
FIG. 8 is a schematic illustration of an example of an estimated trajectory line;
FIG. 9 is a schematic view of a coordinate transformation apparatus according to an embodiment of the present application;
fig. 10 is a schematic view of a determination unit of the coordinate conversion apparatus according to the embodiment of the present application;
fig. 11 is a schematic diagram of a data processing apparatus according to an embodiment of the present application.
Detailed Description
The foregoing and other features of the present application will become apparent from the following description, taken in conjunction with the accompanying drawings. In the description and drawings, particular embodiments of the application are disclosed in detail as being indicative of some of the embodiments in which the principles of the application may be employed, it being understood that the application is not limited to the described embodiments, but, on the contrary, is intended to cover all modifications, variations, and equivalents falling within the scope of the appended claims.
In the embodiments of the present application, the terms "first", "second", and the like are used for distinguishing different elements by reference, but do not denote a spatial arrangement, a temporal order, or the like of the elements, and the elements should not be limited by the terms. The term "and/or" includes any and all combinations of one or more of the associated listed terms. The terms "comprising," "including," "having," and the like, refer to the presence of stated features, elements, components, and do not preclude the presence or addition of one or more other features, elements, components, and elements.
In the embodiments of the present application, the singular forms "a", "an", and the like include the plural forms and are to be construed broadly as "a" or "an" and not limited to the meaning of "a" or "an"; furthermore, the term "comprising" should be understood to include both the singular and the plural, unless the context clearly dictates otherwise. Further, the term "according to" should be understood as "at least partially according to … …," and the term "based on" should be understood as "based at least partially on … …," unless the context clearly dictates otherwise.
In the embodiment of the present application, as shown in fig. 3, a radar coordinate system (u 'axis and v' axis) in an ideal case is referred to as a rotated coordinate system (rotated coordinate system). Further, in the embodiment of the present application, as shown in fig. 4, a coordinate system (u "axis and v" axis) projected to a world coordinate system is referred to as a horizontal coordinate system.
In the example of fig. 1, the mounting orientation of the radar is relative to the world coordinate system, taking as an example that the x-axis and the y-axis of the world coordinate system correspond to the east-west direction and the south-north direction, respectively. The application is not limited thereto, and the x-axis and the y-axis of the world coordinate system may also be angularly offset with respect to the east-west direction and the south-north direction, in which case the installation orientation of the radar is also angularly offset accordingly. For example, if the x-axis of the world coordinate system is offset by 45 degrees with respect to the east-west direction, the radar coordinate system (rotation coordinate system) ideally also has an offset of 45 degrees, and the deflection angle of the radar is an angle with respect to the offset of 45 degrees. For convenience of explanation, the x-axis and the y-axis of the world coordinate system correspond to the east-west direction and the south-north direction, respectively.
Various embodiments of the present application will be described below with reference to the drawings. These embodiments are merely exemplary and are not intended to limit the embodiments of the present application.
Embodiments of the first aspect
An embodiment of the present application provides a coordinate transformation method, fig. 5 is a schematic diagram of the coordinate transformation method in the embodiment of the present application, please refer to fig. 5, where the method includes:
501: determining a deflection angle of the radar;
502: converting the radar coordinates of the target detected by the radar into rotation coordinates according to the deflection angle;
503: converting the rotating coordinate of the target into a horizontal coordinate according to the height of the radar;
504: and converting the horizontal coordinate of the target into a world coordinate according to the orientation of the radar relative to a world coordinate system.
In the embodiment of the present application, the radar coordinate refers to a coordinate value of a target detected by a radar in a radar coordinate system, and the rotation coordinate refers to a coordinate value of a target detected by a radar in a rotation coordinate system. The radar coordinate system refers to a coordinate system of the radar under the actual installation condition, such as a horizontal axis u and a vertical axis v shown in fig. 3; the rotating coordinate system refers to a coordinate system of the radar in an ideal installation situation, such as a horizontal axis u ' and a vertical axis v ' shown in fig. 3, the vertical axis v ' being parallel to the lane. As shown in fig. 3, there is a deflection angle α between the vertical axis v of the radar coordinate system and the vertical axis v' of the rotating coordinate system, that is, the actual installation position of the radar is offset by an angle α with respect to the ideal installation position.
According to the embodiment of the application, the radar coordinate of the target is rotated by the angle alpha to the rotation coordinate, then the rotation coordinate of the target is projected to the horizontal coordinate, finally the horizontal coordinate of the target is translated to the world coordinate, the world coordinate of the target detected by the radar is obtained, and the electronic map can be generated based on the world coordinate of the target. In this way, the radar coordinate can be efficiently converted into world coordinates by taking into account the radar deflection angle and the radar height when performing the coordinate conversion.
In 501, in some embodiments, the yaw angle of the radar may be determined based on radar data including radar coordinates of a target detected by the radar, and further including speed of the target detected by the radar, among other information.
Fig. 6 is a schematic diagram of an example of determining a yaw angle of a radar, as shown in fig. 6, the method comprising:
601: acquiring radar data, wherein the radar data comprises radar coordinates of a target detected by the radar;
602: selecting radar data with the motion trail of the target in the range of a straight lane from the radar data;
603: estimating a trajectory line from the selected radar data;
604: and calculating the deflection angle of the radar according to the trajectory line.
In the embodiment of the application, the motion trail of the target can be obtained by calculation based on the radar data, the method for obtaining the motion trail of the target by calculation based on the radar data is not limited, and whether the motion trail of the target is in the range of the straight lane or not can be determined according to the motion trail of the target and the range of the straight lane.
For example, the track of the vehicle running along the lane (that is, the motion track of the target is in the range of the straight lane) and the track of the vehicle turning at the intersection (that is, the motion track of the target is not in the range of the straight lane) can be obtained from the radar data. In some embodiments, the x-axis and the y-axis of the world coordinate system are road center lines, radar data (radar coordinates) whose horizontal axis value (horizontal coordinate) is greater than half of the lane width and whose vertical axis value (vertical coordinate) is less than the lane width may be filtered out, thereby obtaining radar data whose target movement locus is within the range of a straight-ahead lane.
According to the method of fig. 6, the yaw angle of the radar can be obtained without manual measurement, using only a large number of records of radar data (i.e., radar data of a moving target) in which background objects are filtered out to estimate the yaw angle.
Fig. 7 is a schematic diagram of one example of the selected radar data RD. In the embodiment of the present application, the trajectory line TL, which can be used to calculate the deflection angle of the radar, can be estimated from the radar data RD. The application does not limit the method of estimating the trajectory line TL based on the radar data RD.
For example, in some embodiments, for the radar data RD, a correlation analysis of u and v is performed, where u and v are the values of the horizontal and vertical coordinates of the target in the radar data RD, respectively. If the u and the v have correlation, setting the trajectory line function as v ═ a + bu, and estimating the trajectory line TL by using a least square method, or estimating the trajectory line TL by using a RANSAC (RANdom SAmple Consensus) method, or estimating the trajectory line TL by using other methods, and calculating the deflection angle of the radar based on the estimated trajectory line TL. Regarding the principle of the least squares method and the RANSAC method, reference may be made to the related art, which is not described herein again. Furthermore, if there is no correlation between u, v, it indicates that the trajectory TL is parallel to the v-axis or parallel to the u-axis, i.e. no deflection angle or 90 degrees of deflection.
In the embodiment of the present application, the correlation analysis may be performed by using a Spearman method or Pearson method or other methods. Regarding the principle of Spearman or Pearson, reference may be made to the related art and will not be described herein.
FIG. 8 is a schematic diagram of one example of an estimated trajectory TL. As shown in fig. 8, in an ideal case, the vertical axis v 'of the radar coordinate system is parallel to the trajectory line TL, that is, the trajectory line TL is parallel to the vertical axis v' of the rotation coordinate system in an ideal case, assuming that the function of the trajectory line in the radar coordinate system is expressed as: v is a + bu, u and v are the horizontal and vertical coordinates of the target in the radar coordinate system, and the radar deflection angle can be expressed as α arctan (-1/b).
In 502, since the rotation coordinate system is obtained by rotating the radar coordinate system by the angle α, the radar coordinates of the target may be converted into rotation coordinates based on the deflection angle α of the radar, and the radar coordinates (u, v) may be converted into rotation coordinates (u ', v') as shown in fig. 3. In some embodiments, the conversion formula from radar coordinates (u, v) to rotational coordinates (u ', v') may be expressed as:
u′＝u·cosα+v·sinα；
v′＝v·cosα-u·sinα，
wherein, (u, v) represents an arbitrary point in the radar coordinate system, u and v are respectively a value of an abscissa and a value of an ordinate of the target in the radar coordinate system, (u ', v') represents a coordinate pair of (u, v) in the rotating coordinate system, and u 'and v' are respectively a value of an abscissa and a value of an ordinate of the target in the rotating coordinate system. The above formula is merely illustrative, and other conversion manners from the radar coordinates (u, v) to the rotation coordinates (u ', v') that can be conceived according to the implementation principle of the present application are also included in the protection scope of the present application.
At 503, the rotational coordinates of the target, i.e. the radar coordinates in an ideal case, are obtained, i.e. the rotational coordinates can be projected to the horizontal coordinates, and the rotational coordinates (u ', v') are converted to horizontal coordinates (u ", v"), as shown in fig. 4. In some embodiments, the conversion formula from rotational coordinates (u ', v') to horizontal coordinates (u ", v") may be expressed as:
u″＝u′；
wherein, (u ', v') represents an arbitrary point under a rotating coordinate system, and u 'and v' are respectively a value of an abscissa and a value of an ordinate of the target under the rotating coordinate system; h is the height of the radar, and can be obtained through manual measurement or through installation data of the radar, and the acquisition mode of the radar is not limited by the application; (u ", v") represents a coordinate pair of (u ', v') in the horizontal coordinate system, and u "and v" are a value of the abscissa and a value of the ordinate of the target in the horizontal coordinate system, respectively. The above formula is merely illustrative, and other conversion manners from the rotational coordinates (u ', v') to the horizontal coordinates (u ", v") conceivable according to the implementation principle of the present application are also included in the scope of the present application. For example, the rotational coordinates of the target may also be projected to the horizontal coordinates according to the following formula.
u″＝u′；
v″＝v′×cos(arctan(h/v′))。
At 504, the horizontal coordinates of the target are obtained, i.e., the horizontal coordinates may be translated to world coordinates by translation. The method of translation is also different due to the different orientation of the radar relative to the world coordinate system.
For example, if the horizontal axis of the horizontal coordinate system is parallel to the x-axis of the world coordinate system and in the same direction as the x-axis of the world coordinate system; the vertical axis of the horizontal coordinate system is parallel to the y-axis of the world coordinate system and is in the same direction as the y-axis of the world coordinate system, such as the radar 1 shown in fig. 1, the world coordinates (x, y) of the radar can be expressed as:
wherein (x)1,y1) In the world coordinate system, the (u ', v') is any point in the horizontal coordinate system, and u 'and v' are the abscissa value and the ordinate value of the target in the horizontal coordinate system, respectively.
For another example, if the horizontal axis of the horizontal coordinate system is parallel to the y-axis of the world coordinate system and in the same direction as the y-axis of the world coordinate system; the vertical axis of the horizontal coordinate system is parallel to the x-axis of the world coordinate system and opposite to the x-axis of the world coordinate system, such as the radar 2 shown in fig. 1, the world coordinate (x, y) of the radar can be expressed as:
wherein (x)2,y2) The coordinates of the radar in the world coordinate system are shown as (j ', k') and the values of j 'and k' are respectively the horizontal coordinate value and the vertical coordinate value of the target in the horizontal coordinate system.
As another example, if the horizontal axis of the horizontal coordinate system is parallel to the x-axis of the world coordinate system and opposite in direction to the x-axis of the world coordinate system; the vertical axis of the horizontal coordinate system is parallel to the y-axis of the world coordinate system and opposite to the y-axis of the world coordinate system, such as the radar 3 shown in fig. 1, the world coordinate (x, y) of the radar can be expressed as:
wherein (x)3,y3) In the world coordinate system, the coordinates of the radar are shown, (m ', n') are any point in the horizontal coordinate system, and m 'and n' are respectively the values of the abscissa and the ordinate of the target in the horizontal coordinate system.
As another example, if the horizontal axis of the horizontal coordinate system is parallel to and opposite in direction to the y-axis of the world coordinate system; the vertical axis of the horizontal coordinate system is parallel to the x-axis of the world coordinate system and is the same as the x-axis of the world coordinate system, such as the radar 4 shown in fig. 1, the world coordinate (x, y) of the radar can be expressed as:
wherein (x)4,y4) The coordinates of the radar in the world coordinate system are shown as (t ", s"), and the values of the abscissa and the ordinate of the target in the horizontal coordinate system are shown as t ", s", respectively.
In the above example, the origin in the radar coordinate system is in world coordinatesCoordinates in a system, e.g. (x)1,y1)、(x2,y2)、(x3,y3)、(x4,y4) The radar can be obtained through manual measurement or through installation data of the radar, and the obtaining mode is not limited in the application.
It should be noted that, the above description only describes each step or process related to the present application, but the present application is not limited thereto. The method may also comprise other steps or processes, reference being made to the prior art with regard to the details of these steps or processes.
Roadside radars are typically mounted on high rails of intersections. In order to generate an electronic map, radar coordinates need to be converted into world coordinates. In general, there is a deflection angle of the radar due to actual installation. The embodiment of the application provides a coordinate conversion method based on actual installation of a roadside radar, which can convert radar coordinates into world coordinates effectively by performing coordinate conversion according to a deflection angle of the radar and the height of the radar.
Embodiments of the second aspect
The embodiment of the application provides a coordinate conversion device. Since the principle of the apparatus to solve the problem is similar to that of the embodiment of the first aspect, the specific implementation of the apparatus may refer to the embodiment of the first aspect, and the description is not repeated where the contents are the same.
Fig. 9 is a schematic diagram of a coordinate conversion apparatus according to an embodiment of the present application, and as shown in fig. 9, a coordinate conversion apparatus 900 according to an embodiment of the present application includes: a determination unit 901, a first conversion unit 902, a second conversion unit 903 and a third conversion unit 904.
The determination unit 901 is used for determining the deflection angle of the radar; the first conversion unit 902 is configured to convert the radar coordinates of the target detected by the radar into rotation coordinates according to the deflection angle determined by the determination unit 901; the second conversion unit 903 is used for converting the rotation coordinate of the target into a horizontal coordinate according to the height of the radar; the third conversion unit 904 is configured to convert the horizontal coordinates of the target into world coordinates according to the orientation of the radar with respect to the world coordinate system.
Fig. 10 is a schematic diagram of the determining unit 901, and as shown in fig. 10, in some embodiments, the determining unit 901 includes: an acquisition unit 1001, a filtering unit 1002, an estimation unit 1003 and a calculation unit 1004. The acquisition unit 1001 is configured to acquire radar data, which includes radar coordinates of a target detected by a radar; the filtering unit 1002 is configured to select radar data with a motion trajectory of a target in a range of a straight lane from the radar data; an estimation unit 1003 is configured to estimate a trajectory line from the selected radar data; the calculation unit 1004 is used for calculating the deflection angle of the radar according to the trajectory line.
In some embodiments, the estimation unit 1003 estimates the trajectory line according to a least squares method.
In some embodiments, the estimation unit 1003 estimates the trajectory line according to the RANSAC method.
In some embodiments, the function of the trajectory line is represented as: v is a + bu, (u, v) represents an arbitrary point in the radar coordinate system, and u and v are the values of the abscissa and the ordinate of the target in the radar coordinate system, respectively; the deflection angle of the radar is: α ═ arctan (-1/b).
In some embodiments, first conversion unit 902 converts the radar coordinates of the target to rotational coordinates according to the following formula:
u′＝u·cosα+v·sinα；
v′＝v·cosα-u·sinα，
wherein, (u, v) represents an arbitrary point in the radar coordinate system, u and v are respectively a value of an abscissa and a value of an ordinate of the target in the radar coordinate system, (u ', v') represents an arbitrary point in the rotating coordinate system, and u 'and v' are respectively a value of an abscissa and a value of an ordinate of the target in the rotating coordinate system.
In some embodiments, the second conversion unit 903 converts the rotational coordinates of the target into horizontal coordinates according to the following formula:
u″＝u＇；
wherein, (u ', v') represents an arbitrary point in the rotating coordinate system, u 'and v' are respectively a value of an abscissa and a value of an ordinate of the target in the rotating coordinate system, h is a height of the radar, (u ", v") represents an arbitrary point in the horizontal coordinate system, and u "and v" are respectively a value of an abscissa and a value of an ordinate of the target in the horizontal coordinate system.
In some embodiments, if the horizontal axis of the horizontal coordinate system is parallel to the x-axis of the world coordinate system and the direction of the x-axis of the world coordinate system is the same; the vertical axis of the horizontal coordinate system is parallel to the-y axis of the world coordinate system and is in the same direction as the y axis of the world coordinate system, the third conversion unit 904 converts the horizontal coordinate of the target into the world coordinate according to the following formula:
wherein (x)1,y1) For the coordinates of the radar in the world coordinate system, (u ", v") represents an arbitrary point in the horizontal coordinate system, and u "and v" are the values of the abscissa and the ordinate of the target in the horizontal coordinate system, respectively.
In some embodiments, if the horizontal axis of the horizontal coordinate system is parallel to the y-axis of the world coordinate system and in the same direction as the y-axis of the world coordinate system; the vertical axis of the horizontal coordinate system is parallel to the x-axis of the world coordinate system and opposite to the x-axis direction of the world coordinate system, the third conversion unit 904 converts the horizontal coordinate of the target into the world coordinate according to the following formula:
wherein (x)2,y2) The coordinates (j, k') of the radar in the world coordinate system represent any point in the horizontal coordinate system, and j "and k" are the values of the abscissa and the ordinate of the target in the horizontal coordinate system, respectively.
In some embodiments, if the horizontal axis of the horizontal coordinate system is parallel to the x-axis of the world coordinate system and opposite in direction to the x-axis of the world coordinate system; the vertical axis of the horizontal coordinate system is parallel to the y-axis of the world coordinate system and opposite to the direction of the y-axis of the world coordinate system, the third conversion unit 904 converts the horizontal coordinate of the target into the world coordinate according to the following formula:
wherein (x)3,y3) As coordinates of the radar in the world coordinate system, (m ", n") represents an arbitrary point in the horizontal coordinate system, and m "and n" are values of the abscissa and the ordinate of the target in the horizontal coordinate system, respectively.
In some embodiments, if the horizontal axis of the horizontal coordinate system is parallel to and in the opposite direction of the y-axis of the world coordinate system; the vertical axis of the horizontal coordinate system is parallel to the x-axis of the world coordinate system and is the same as the x-axis direction of the world coordinate system, the third conversion unit 904 converts the horizontal coordinate of the target into the world coordinate according to the following formula:
wherein (x)4,y4) As coordinates of the radar in the world coordinate system, (t ", s") represents an arbitrary point in the horizontal coordinate system, and t "and s" are values of the abscissa and the ordinate of the target in the horizontal coordinate system, respectively.
In the embodiment of the application, coordinate conversion is performed according to the deflection angle of the radar and the height of the radar, and the radar coordinate can be effectively converted into world coordinate.
Examples of the third aspect
Embodiments of the present application provide a data processing device, which may be, for example, a computer, a server, a workstation, a laptop, a smartphone, or the like; the embodiments of the present application are not limited thereto.
Fig. 11 is a schematic diagram of a data processing device according to an embodiment of the present application, and as shown in fig. 11, a data processing device 1100 according to an embodiment of the present application may include: at least one interface (not shown in fig. 11), a processor (e.g., a Central Processing Unit (CPU))1101, a memory 1102; the memory 1102 is coupled to the processor 1101. The memory 1102 may store various data; further, a program 1103 that performs coordinate conversion is stored, and the program 1103 is executed under the control of the processor 1101, and various preset values, predetermined conditions, and the like are stored.
In one embodiment, the functions of the coordinate transformation apparatus 900 described in the embodiments of the second aspect may be integrated into the processor 1101, implementing the coordinate transformation method described in the embodiments of the first aspect. For example, the processor 1101 may be configured to:
determining a deflection angle of the radar;
converting the radar coordinates of the target detected by the radar into rotation coordinates according to the deflection angle;
converting the rotating coordinate of the target into a horizontal coordinate according to the height of the radar;
and converting the horizontal coordinate of the target into a world coordinate according to the orientation of the radar relative to a world coordinate system.
In another embodiment, the coordinate transformation apparatus 900 according to the embodiment of the second aspect may be configured separately from the processor 1101, for example, the coordinate transformation apparatus 900 may be configured as a chip connected to the processor 1101, and the function of the coordinate transformation apparatus 900 is realized by the control of the processor 1101.
It is noted that the data processing device 1100 may also include the display 1105 and the I/O device 1104, or may not necessarily include all of the components shown in fig. 11, such as a camera (not shown) for acquiring input image frames; further, the image processing apparatus 1100 may further include components not shown in fig. 11, and reference may be made to the related art.
In the present embodiment, the processor 1101, which is sometimes referred to as a controller or operational control, may comprise a microprocessor or other processor device and/or logic device, the processor 1101 receiving input and controlling the operation of the various components of the data processing apparatus 1100.
In the present embodiment, the memory 1102 may be, for example, one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. Various information may be stored, and programs for executing the information may be stored. And the processor 1101 may execute the program stored in the memory 1102 to realize information storage or processing, or the like. The functions of other parts are similar to the prior art and are not described in detail here. The components of the data processing device 1100 may be implemented in dedicated hardware, firmware, software, or combinations thereof, without departing from the scope of the present application.
Through the data processing equipment of the embodiment of the application, coordinate conversion is carried out according to the deflection angle of the radar and the height of the radar, and the radar coordinate can be effectively converted into the world coordinate.
Embodiments of the present application also provide a computer readable program, where the program, when executed in a data processing apparatus, causes the data processing apparatus to perform the method of the first aspect of the embodiments.
Embodiments of the present application further provide a storage medium storing a computer-readable program, where the computer-readable program enables a data processing apparatus to execute the method of the first aspect of the embodiments.
The above apparatus and method of the present application may be implemented by hardware, or may be implemented by hardware in combination with software. The present application relates to a computer-readable program which, when executed by a logic component, enables the logic component to implement the above-described apparatus or constituent components, or to implement various methods or steps described above. The present application also relates to a storage medium such as a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory, or the like, for storing the above program.
The methods/apparatus described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. One or more of the functional block diagrams and/or one or more combinations of the functional block diagrams illustrated in the figures may correspond to individual software modules of the computer program flow or may correspond to individual hardware modules. These software modules may correspond to various steps shown in the figures, respectively. These hardware modules may be implemented, for example, by solidifying these software modules using a Field Programmable Gate Array (FPGA).
A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. A storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium; or the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The software module may be stored in the memory of the mobile terminal or in a memory card that is insertable into the mobile terminal. For example, if the device (e.g., mobile terminal) employs a relatively large capacity MEGA-SIM card or a large capacity flash memory device, the software module may be stored in the MEGA-SIM card or the large capacity flash memory device.
One or more of the functional blocks and/or one or more combinations of the functional blocks described in the figures can be implemented as a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any suitable combination thereof designed to perform the functions described herein. One or more of the functional blocks and/or one or more combinations of the functional blocks described in connection with the figures may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP communication, or any other such configuration.
The present application has been described in conjunction with specific embodiments, but it should be understood by those skilled in the art that these descriptions are intended to be illustrative, and not limiting. Various modifications and adaptations of the present application may occur to those skilled in the art based on the spirit and principles of the application and are within the scope of the application.
Regarding the above-described embodiments disclosed in the embodiments of the present application, the following remarks are also disclosed:
1. a coordinate conversion method, wherein the method comprises:
determining a deflection angle of the radar;
converting the radar coordinates of the target detected by the radar into rotation coordinates according to the deflection angle;
converting the rotating coordinate of the target into a horizontal coordinate according to the height of the radar;
and converting the horizontal coordinate of the target into a world coordinate according to the orientation of the radar relative to a world coordinate system.
2. The method according to supplementary note 1, wherein determining a deflection angle of the radar includes:
acquiring radar data, wherein the radar data comprises radar coordinates of a target detected by the radar;
selecting radar data with the motion trail of the target in the range of a straight lane from the radar data;
estimating a trajectory line from the selected radar data;
and calculating the deflection angle of the radar according to the trajectory line.
3. The method according to supplementary note 2, wherein estimating the trajectory line from the selected radar data includes:
estimating the trajectory line according to a least squares method; or
Estimating the trajectory line according to a random sample consensus method.
4. The method according to supplementary note 2, wherein,
the function of the trajectory is: v ═ a + bu, where (u, v) represents an arbitrary point in the radar coordinate system, and u and v are the value of the abscissa and the value of the ordinate of the target in the radar coordinate system, respectively;
the deflection angle of the radar is as follows: α ═ arctan (-1/b).
5. The method according to supplementary note 1, wherein the conversion formula from radar coordinates to rotation coordinates is:
u′＝u·cosα+v·sinα；
v′＝v·cosα-u·sinα，
wherein, (u, v) represents an arbitrary point in a radar coordinate system, u and v are respectively a value of an abscissa and a value of an ordinate of the target in the radar coordinate system, (u ', v') represents an arbitrary point in a rotating coordinate system, and u 'and v' are respectively a value of an abscissa and a value of an ordinate of the target in the rotating coordinate system.
6. The method according to supplementary note 1, wherein the conversion formula from the rotational coordinate to the horizontal coordinate is:
u″＝u′；
wherein, (u ', v') represents an arbitrary point in a rotating coordinate system, u 'and v' are respectively a value of an abscissa and a value of an ordinate of the target in the rotating coordinate system, h is a height of the radar, (u ", v") represents an arbitrary point in a horizontal coordinate system, and u "and v" are respectively a value of an abscissa and a value of an ordinate of the target in the horizontal coordinate system.
7. The method according to supplementary note 1, wherein,
if the horizontal axis of the horizontal coordinate system is parallel to the x-axis of the world coordinate system and has the same direction as the x-axis of the world coordinate system; the vertical axis of the horizontal coordinate system is parallel to the y axis of the world coordinate system and has the same direction with the y axis of the world coordinate system, and then the world coordinate of the radar is as follows:
wherein (x)1,y1) For the coordinates of the radar in the world coordinate system, (u ", v") represents any point in a horizontal coordinate system, and u "and v" are respectively the coordinates of the target in the horizontal coordinate systemThe value of the abscissa and the value of the ordinate below;
if the horizontal axis of the horizontal coordinate system is parallel to the y axis of the world coordinate system and has the same direction as the y axis of the world coordinate system; the vertical axis of the horizontal coordinate system is parallel to the x axis of the world coordinate system and opposite to the direction of the x axis of the world coordinate system, then the world coordinates of the radar are:
wherein (x)2,y2) The coordinate (j, k) of the radar in the world coordinate system represents any point in a horizontal coordinate system, and j 'and k' are the value of the abscissa and the value of the ordinate of the target in the horizontal coordinate system respectively;
if the horizontal axis of the horizontal coordinate is parallel to the x-axis of the world coordinate and opposite to the direction of the x-axis of the world coordinate system; the vertical axis of the horizontal coordinate system is parallel to the y axis of the world coordinate system and opposite to the direction of the y axis of the world coordinate system, then the world coordinates of the radar are:
wherein (x)3,y3) As the coordinates of the radar in the world coordinate system, (m ", n") represents any point in a horizontal coordinate system, and m "and n" are the values of the abscissa and the ordinate of the target in the horizontal coordinate system respectively;
if the horizontal axis of the horizontal coordinate system is parallel to the y-axis of the world coordinate system and opposite to the direction of the y-axis of the world coordinate system; the vertical axis of the horizontal coordinate system is parallel to the x axis of the world coordinate system and has the same direction as the x axis of the world coordinate system, and then the world coordinate of the radar is as follows:
wherein (x)4,y4) The coordinate (t, s) of the radar in the world coordinate system represents any point in a horizontal coordinate system, and t 'and s' are the value of the abscissa and the value of the ordinate of the target in the horizontal coordinate system, respectively.
Claims (10)
1. A coordinate conversion apparatus, characterized in that the apparatus comprises:
a determination unit that determines a deflection angle of the radar;
a first conversion unit that converts a radar coordinate of a target detected by the radar into a rotation coordinate according to the deflection angle;
a second conversion unit that converts the rotation coordinate of the target into a horizontal coordinate according to the height of the radar;
a third conversion unit that converts the horizontal coordinate of the target into a world coordinate in accordance with an orientation of the radar with respect to a world coordinate system.
2. The apparatus of claim 1, wherein the determining unit comprises:
an acquisition unit that acquires radar data including radar coordinates of a target detected by the radar;
a filtering unit that selects, from the radar data, radar data in which a movement locus of a target is within a range of a straight lane;
an estimation unit that estimates a trajectory line from the selected radar data;
a calculation unit that calculates a deflection angle of the radar from the trajectory line.
3. The apparatus according to claim 2, wherein the estimating unit estimates the trajectory line according to a least squares method; alternatively, the estimating unit estimates the trajectory line according to a random sample consensus method.
4. The apparatus of claim 2, wherein,
the function of the trajectory is: v ═ a + bu, where (u, v) represents an arbitrary point in the radar coordinate system, and u and v are the value of the abscissa and the value of the ordinate of the target in the radar coordinate system, respectively;
the deflection angle of the radar is as follows: α ═ arctan (-1/b).
5. The apparatus of claim 1, wherein the first conversion unit converts the radar coordinates of the target to rotational coordinates according to the following formula:
u′＝u·cosα+v·sinα；
v′＝v·cosα-u·sinα，
wherein, (u, v) represents an arbitrary point in a radar coordinate system, u and v are respectively a value of an abscissa and a value of an ordinate of the target in the radar coordinate system, (u ', v') represents an arbitrary point in a rotating coordinate system, and u 'and v' are respectively a value of an abscissa and a value of an ordinate of the target in the rotating coordinate system.
6. The apparatus according to claim 1, wherein the second conversion unit converts the rotational coordinate of the target into a horizontal coordinate according to the following formula:
u′′＝u′；
wherein, (u ', v') represents an arbitrary point in a rotating coordinate system, u 'and v' are respectively a value of an abscissa and a value of an ordinate of the target in the rotating coordinate system, h is a height of the radar, (u ", v") represents an arbitrary point in a horizontal coordinate system, and u "and v" are respectively a value of an abscissa and a value of an ordinate of the target in the horizontal coordinate system.
7. The apparatus of claim 1,
if the horizontal axis of the horizontal coordinate system is parallel to the x axis of the world coordinate system and has the same direction as the x axis of the world coordinate system; the vertical axis of the horizontal coordinate system is parallel to the y-axis of the world coordinate system and has the same direction as the y-axis of the world coordinate system, the third conversion unit converts the horizontal coordinate of the target into a world coordinate according to the following formula:
wherein (x)1,y1) Representing any point in a horizontal coordinate system by using coordinates (u, v) of the radar in the world coordinate system, wherein u 'and v' are respectively a value of an abscissa and a value of an ordinate of the target in the horizontal coordinate system;
if the horizontal axis of the horizontal coordinate system is parallel to the y axis of the world coordinate system and has the same direction as the y axis of the world coordinate system; a vertical axis of the horizontal coordinate system is parallel to an x-axis of the world coordinate system and opposite to the x-axis of the world coordinate system, the third conversion unit converts the horizontal coordinate of the target into a world coordinate according to the following formula:
wherein (x)2,y2) The coordinate (j, k) of the radar in the world coordinate system represents any point in a horizontal coordinate system, and j 'and k' are the value of the abscissa and the value of the ordinate of the target in the horizontal coordinate system respectively;
if the horizontal axis of the horizontal coordinate system is parallel to the x-axis of the world coordinate system and opposite to the direction of the x-axis of the world coordinate system; the vertical axis of the horizontal coordinate system is parallel to the y-axis of the world coordinate system and opposite to the direction of the y-axis of the world coordinate system, the third conversion unit converts the horizontal coordinate of the target into a world coordinate according to the following formula:
wherein (x)3,y3) As the coordinates of the radar in the world coordinate system, (m ", n") represents any point in a horizontal coordinate system, and m "and n" are the values of the abscissa and the ordinate of the target in the horizontal coordinate system respectively;
if the horizontal axis of the horizontal coordinate system is parallel to the y-axis of the world coordinate system and opposite to the direction of the y-axis of the world coordinate system; the vertical axis of the horizontal coordinate system is parallel to the x-axis of the world coordinate system and has the same direction as the x-axis of the world coordinate system, the third conversion unit converts the horizontal coordinate of the target into a world coordinate according to the following formula:
wherein (x)4,y4) The coordinate (t, s) of the radar in the world coordinate system represents any point in a horizontal coordinate system, and t 'and s' are the value of the abscissa and the value of the ordinate of the target in the horizontal coordinate system, respectively.
8. A coordinate conversion method, characterized in that the method comprises:
determining a deflection angle of the radar;
converting the radar coordinates of the target detected by the radar into rotation coordinates according to the deflection angle;
converting the rotating coordinate of the target into a horizontal coordinate according to the height of the radar;
and converting the horizontal coordinate of the target into a world coordinate according to the orientation of the radar relative to a world coordinate system.
9. The method of claim 8, wherein determining a yaw angle of the radar comprises:
acquiring radar data, wherein the radar data comprises radar coordinates of a target detected by the radar;
selecting radar data with the motion trail of the target in the range of a straight lane from the radar data;
estimating a trajectory line from the selected radar data;
and calculating the deflection angle of the radar according to the trajectory line.
10. A data processing apparatus comprising a processor and a memory, the memory storing a computer program, characterized in that the processor is configured to execute the computer program to implement a coordinate conversion method as follows:
determining a deflection angle of the radar;
converting the radar coordinates of the target detected by the radar into rotation coordinates according to the deflection angle;
converting the rotating coordinate of the target into a horizontal coordinate according to the height of the radar;
and converting the horizontal coordinate of the target into a world coordinate according to the orientation of the radar relative to a world coordinate system.
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| CN114333297B (en) * | 2021-12-02 | 2024-01-09 | 重庆睿行电子科技有限公司 | Traffic radar-based curve lane estimation method for vehicle |
| 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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