CN113625234A - Installation angle correction method of vehicle radar and vehicle radar - Google Patents
Installation angle correction method of vehicle radar and vehicle radar Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The invention provides a method for correcting the installation angle of a vehicle radar, which comprises the steps of identifying a road boundary through a radar sensor; acquiring a first included angle formed by the radar sensor and the road boundary and a second included angle of a steering wheel corner; judging whether the first included angle is within a first preset range or not, and whether the second included angle is within a second preset range or not, if so, determining that the first included angle and the second included angle meet a precondition, and executing the next step; calculating a difference value between the first included angle and a preset installation angle of the radar to obtain an installation deviation angle; acquiring a plurality of installation deviation angles, and carrying out filtering processing on the installation deviation angles to obtain an output value; and adjusting the installation angle of the radar according to the output value. The method can be used for correcting the radar installation error angle by combining the detection capability of the radar on the road boundary, and can maximally utilize the FOV range which can be reached by design.
Description
Technical Field
The invention relates to the field of vehicles, in particular to a method for correcting the installation angle of a vehicle radar and the vehicle radar.
Background
In the intelligent driving system, the angle radar is widely used for sensing the environment around the vehicle, so the detection accuracy and the detection range directly affect the performance of the intelligent driving system. When errors occur in the installation of the radar, the sensor accuracy may be reduced and the quality of the Advanced Driver Assistance System (ADAS) may be degraded. Therefore, the angle radar is calibrated in a laboratory or a production line before being loaded in order to meet the precision requirement of the design. However, such calibration cannot effectively eliminate errors during installation, and cannot correct the influence of aging of the radar sensor or other external factors on the installation position of the radar.
In order to eliminate the influence of the installation error on the accuracy of the angle radar detection target, a method is generally adopted, in which a part of allowance is reserved in a designed maximum Field of view (Field of view-FOV), the radial velocity of a target point reference object in the detection range is tracked and analyzed through an algorithm, a calibration deviation angle is calculated by combining the current driving velocity of the own vehicle and the installation angle of a sensor relative to the coordinate axis of the own vehicle, and the aim of correcting the installation error is fulfilled by fine adjustment of the FOV coverage range through a software layer. However, the above method has high requirements on the stability of the target reference object, and generally, as the reference object, a vehicle running in front of or behind the vehicle needs to be stably and continuously present and detect for a period of time, so that the sensor can sufficiently accumulate enough correction data and obtain a final applicable average value through a filtering algorithm. On the other hand, the maximum FOV is one of the important indicators of an angular radar, and sacrificing a part of the FOV angle as margin is a great waste of sensor performance. In the edge part of the FOV, the detection performance of the original point is often not good, and the requirement on the detection stability of the original point is considered, so that the size of the range of the FOV which can be actually used is further reduced.
Disclosure of Invention
In order to solve the above problems, the present invention provides a method for correcting an installation angle of a vehicle radar and a vehicle radar, which can correct an installation error angle of the radar in combination with a detection capability of the radar for a road boundary, and can maximally utilize an FOV range that can be achieved by a design.
Specifically, the method for correcting the installation angle of the vehicle radar of the present invention comprises,
s1: identifying a road boundary by a radar sensor;
s2: acquiring a first included angle formed by a normal of a plane where an antenna array of the radar sensor is located and the road boundary and a second included angle of a steering wheel corner;
judging whether the first included angle is within a first preset range or not, and whether the second included angle is within a second preset range or not, if so, determining that the first included angle and the second included angle meet a precondition, and executing S3;
s3: calculating a difference value between the first included angle and a preset installation angle of the radar to obtain an installation deviation angle;
s4: acquiring a plurality of installation deviation angles, and carrying out filtering processing on the installation deviation angles to obtain an output value;
s5: and adjusting the installation angle of the radar according to the output value.
Preferably, the S2 further includes detecting holding times of the first included angle in the first preset range and the second included angle in the second preset range, and executing S3 when the holding times all satisfy the first preset time.
More preferably, the S4 includes:
s4-1, acquiring the first included angle and the second included angle again, and continuing the subsequent steps when the first included angle and the second included angle acquired this time meet the precondition;
s4-2, calculating the difference value between the first included angle obtained this time and the preset installation angle of the radar to obtain the installation deviation angle this time;
s4-3, filtering the installation deviation angle and the installation deviation angle obtained in the S3 to obtain an output value;
s4-4, executing S4-1 and S4-2 for multiple times, filtering the current installation deviation angle which is newly obtained every time and the current output value, and updating the current output value into a result after filtering;
s4-5, installation of filter processingThe number of the deviation angles is larger than a preset value n0And if not, returning to S4-1.
More preferably, the S4 includes:
s4-1, acquiring the first included angle and the second included angle again, and calculating the difference value between the first included angle acquired this time and the preset installation angle of the radar to acquire the installation deviation angle of this time when the first included angle and the second included angle acquired this time meet the precondition;
s4-2, executing S4-1 for multiple times to obtain multiple installation deviation angles;
s4-3, filtering the installation deviation angles to obtain an output value, and when the obtained installation deviation angles are more than a preset value n0Otherwise, S5 is executed, and if not, the process returns to S4-1.
Preferably, the S4-2 further includes performing the S4-1 a plurality of times every second preset time.
Preferably, the step S5 includes transmitting the output value to a motor controller of the steering engine device through a CAN network, and the motor controller adjusts the installation angle of the radar according to the output value.
Preferably, the first preset range is a preset installation angle of ± 3 °, and the second preset range is 0 ° ± 10 °.
In another aspect of the invention, a vehicle radar is provided, which includes a radar sensor and a steering engine device, the radar sensor is in communication connection with the steering engine device, the steering engine device includes a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the processor implements any one of the above installation angle correction methods for a vehicle radar when executing the computer program.
Compared with the prior art, the invention has the advantages that:
1. the installation error angle of the radar is corrected by combining the detection capability of the radar on the road boundary, and the road boundary is selected as a reference without needing an additional reference, so that the method is stable and convenient;
2. the radar can automatically correct the installation error angle without other devices;
3. the accurate and reasonable filtering processing can be carried out on the acquired data samples, the processing result is accurate and reliable, multiple detection and repeated correction can be realized, and the stability and the accuracy of the radar installation angle are ensured.
Drawings
FIG. 1 is a schematic diagram of obtaining a first angle and a second angle according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a vehicle radar installation angle calibration in accordance with an embodiment of the present invention;
fig. 3 is a schematic view of a vehicle radar according to an embodiment of the present invention.
Reference numerals:
10-road boundary, 11-antenna array, α -first angle, β -second angle, α0-a preset mounting angle, Δ θ -a mounting deviation angle;
20-vehicle, 21-radar sensor, 22-steering engine device and 23-connecting device.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings and the specific embodiments. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
One embodiment of the invention provides a method for correcting the installation angle of a vehicle radar, which can be used for correcting the installation error angle of the radar by combining the detection capability of the radar on a road boundary and maximally utilizing the FOV range which can be reached by design. The vehicle radar in the present invention may be a millimeter wave angle radar.
The first embodiment is as follows:
referring to fig. 2, a flowchart of a specific operation of the present embodiment specifically includes the following steps:
s1, identifying the road boundary 10 through the radar sensor 21;
specifically, in the state of starting up, the radar sensor 21 may collect original static feature points with similarity and repetition on roadside, such as roadside guard rails of an expressway, street lamps, flower beds, street trees, isolation piles, and the like, identify the road boundary 10 according to the relative motion trajectory of the original feature points, and use the road boundary 10 as a reference for subsequent correction.
S2, acquiring a first included angle alpha formed by a normal of a plane vertical direction of the antenna array 11 of the radar sensor 21 and the road boundary and a second included angle beta of a steering wheel corner; and judging whether the first included angle alpha is within a first preset range or not, and judging whether the second included angle beta is within a second preset range or not, if so, determining that the first included angle alpha and the second included angle beta meet a precondition, and executing subsequent steps.
Fig. 1 is a schematic diagram of obtaining the first included angle α and the second included angle β in this embodiment. In the vehicle driving process, the radar sensor is started, the first included angle α and the second included angle β can be immediately measured and obtained after the road boundary is identified, the second included angle β is obtained through the steering wheel angle sensor, the specific obtaining mode of the first included angle α can be to emit laser to the road boundary 10, and then the included angle formed by the laser and the road boundary 10 is measured, and other modes of obtaining the angle can be included, and the invention is not particularly limited herein.
Considering the problem that the vehicle traveling direction cannot be kept parallel to the road boundary at all times and the degree of freedom of the steering wheel, i.e., the vehicle cannot keep moving straight forward absolutely (in this case, the steering wheel angle is 0 °), the second angle β may vary within a certain range. Therefore, as long as the first included angle α is within a first preset range and the second included angle β is within a second preset range, the vehicle is considered to move forward along the straight direction, and the moving direction of the vehicle is parallel to the road boundary 10. In this case, the road boundary 10 may be used as a reference, i.e., it is determined that the precondition is satisfied. All subsequent calculation steps are based on the precondition being satisfied.
In the invention, the first preset range is a preset installation angle alpha03 °, said second preset range being 0 ° ± 10 °. It is understood that the first preset range and the second preset range can be further adjusted and defined according to actual situations, and the invention is not specifically limited herein.
Wherein the preset installation angle alpha0Is an included angle formed by a plane vertical to the straight advancing direction of the vehicle and a plane where an antenna array of the radar is located.
Further, in another embodiment, in order to ensure stability of the acquired first included angle α and the acquired second included angle β, holding times of the first included angle α in the first preset range and the second included angle β in the second preset range are further detected, and when the holding times all satisfy the first preset time, the subsequent steps are executed.
S3, calculating the first included angle alpha and the preset installation angle alpha of the radar0The mounting deviation angle Δ θ is obtained.
S4, obtaining a plurality of installation deviation angles delta theta, and carrying out filtering processing on the installation deviation angles delta theta to obtain an output value;
it can be understood that, in the present invention, since the first included angle α and the second included angle β are obtained through multiple detections, in order to avoid confusion, in an actual calculation process, the first included angle α and the second included angle β may be labeled in a manner of adding subscripts to letters, where the subscripts indicate the number of times the first included angle α and the second included angle β are obtained. For example, in this step, the first included angle α and the second included angle β are obtained for the first time, and then may be expressed as α1、β1。
And S5, adjusting the installation angle of the radar according to the output value.
Example two:
another embodiment consistent with the present invention comprises the following steps:
s1, identifying the road boundary 10 through the radar sensor 21;
s2, acquiring a first included angle alpha formed by a normal of a plane vertical direction of the antenna array 11 of the radar sensor 21 and the road boundary and a second included angle beta of a steering wheel corner; judging whether the first included angle alpha is in a first preset range or not, and whether the second included angle beta is in a second preset range or not, if so, determining that the first included angle alpha and the second included angle beta meet a precondition,
further detecting the holding time of the first included angle alpha in the first preset range and the holding time of the second included angle beta in the second preset range, executing subsequent steps when the holding times meet the first preset time, and if not, continuously acquiring the first included angle alpha and the second included angle beta;
s3, calculating the first included angle alpha and the preset installation angle alpha of the radar0Obtaining an installation deviation angle delta theta;
s4-1, acquiring the first included angle alpha and the second included angle beta again, and continuing the subsequent steps when the first included angle alpha and the second included angle beta acquired this time meet the precondition;
s4-2, calculating the first included angle alpha acquired this time and the preset installation angle alpha of the radar0Obtaining the installation deviation angle delta theta;
s4-3, filtering the installation deviation angle delta theta of the current time and the installation deviation angle delta theta obtained in the S3 to obtain an output value of the current time;
s4-4, executing S4-1 and S4-2 for multiple times, filtering the current installation deviation angle delta theta which is newly obtained every time and the current output value, and updating the current output value into a result after filtering;
s4-5, when the number of the installation deviation angles delta theta participating in the filtering processing is larger than the preset value n0And if not, returning to S4-1.
And S5, adjusting the installation angle of the radar according to the output value.
Similarly, since the installation deviation angle Δ θ will be obtained multiple times in the present invention, theHere, in order to avoid confusion, in the actual calculation process, the installation deviation angle Δ θ may be marked by a letter plus a subscript number indicating the number of times the installation deviation angle Δ θ is acquired. For example, if the installation deviation angle Δ θ is obtained for the first time, it can be expressed as Δ θ1。
The filtering process may include filtering calculation methods such as kalman filtering, mean filtering, median filtering, and the like, and the specific calculation process of the filtering process is not limited in the present invention, and the present invention aims to remove burrs and jumps in data and maintain the stability of the data.
The preset value n in the invention0The number of the times can be 500, and the adjustment can be carried out according to the actual situation. Meanwhile, in order to reduce the data amount, after an output value is output every time a calculation cycle is completed, the number of the obtained plurality of mounting deviation angles Δ θ is cleared, and a new round of accumulation calculation is started.
Wherein the number of the installation deviation angle degrees Δ θ participating in the filtering process is acquired by a counter.
Example three:
another embodiment consistent with the present invention comprises the steps of:
s1, identifying the road boundary 10 through the radar sensor 21;
s2, acquiring a first included angle alpha formed by a normal of a plane vertical direction of the antenna array 11 of the radar sensor 21 and the road boundary and a second included angle beta of a steering wheel corner; judging whether the first included angle alpha is within a first preset range or not, and whether the second included angle beta is within a second preset range or not, if so, determining that the first included angle alpha and the second included angle beta meet a precondition, and executing subsequent steps;
s3, calculating the first included angle alpha and the preset installation angle alpha of the radar0Obtaining an installation deviation angle delta theta;
s4-1, obtaining the first included angle alpha and the second included angle beta again, and calculating the first included angle alpha and the second included angle beta when the first included angle alpha and the second included angle beta which are obtained at this time meet the preconditionThe obtained first included angle alpha and the preset installation angle alpha of the radar0Obtaining the installation deviation angle delta theta of the time;
s4-2, executing S4-1 for multiple times to obtain multiple installation deviation angles delta theta;
further, in another embodiment, the S4-2 further includes performing S4-1 a plurality of times every second preset time.
S4-3, filtering the installation deviation angles delta theta to obtain output values, and when the obtained installation deviation angles delta theta are more than a preset value n0Otherwise, S5 is executed, and if not, the process returns to S4-1. If so, go to S5, otherwise, go back to S4-1.
And S5, transmitting the output value to a motor controller of a steering engine device through a CAN network by the radar, and adjusting the installation angle of the radar by the motor controller according to the output value.
The first preset time and the second preset time can be adjusted and limited according to actual conditions and actual requirements, and the acquired data can be kept stable.
Example four:
the embodiment provides a vehicle radar, which comprises a radar sensor 21 and a steering engine device 22, and referring to fig. 3, the radar sensor 21 is connected with the steering engine device 22 through a connecting device 23, and the radar sensor 21 is in communication connection with the steering engine device 22. The steering engine device 22 includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the installation angle correction method for the radar on the vehicle as described above when executing the computer program.
The embodiments of the present invention have been described in detail, but the embodiments are merely examples, and the present invention is not limited to the embodiments described above. Any equivalent modifications and substitutions to those skilled in the art are also within the scope of the present invention. Accordingly, equivalent changes and modifications made without departing from the spirit and scope of the present invention should be covered by the present invention.
Claims (8)
1. A method for correcting the installation angle of a vehicle radar is characterized by comprising the following steps,
s1: identifying a road boundary by a radar sensor;
s2: acquiring a first included angle formed by a normal of a plane where an antenna array of the radar sensor is located and the road boundary and a second included angle of a steering wheel corner;
judging whether the first included angle is within a first preset range or not, and whether the second included angle is within a second preset range or not, if so, determining that the first included angle and the second included angle meet a precondition, and executing S3;
s3: calculating a difference value between the first included angle and a preset installation angle of the radar to obtain an installation deviation angle;
s4: acquiring a plurality of installation deviation angles, and carrying out filtering processing on the installation deviation angles to obtain an output value;
s5: and adjusting the installation angle of the radar according to the output value.
2. The installation angle correction method of a vehicle radar according to claim 1,
said S2 may further include the step of,
and further detecting the holding time of the first included angle in the first preset range and the holding time of the second included angle in the second preset range, and executing S3 when the holding times meet the first preset time.
3. The installation angle correction method for a vehicle radar according to claim 1 or 2,
the S4 includes:
s4-1, acquiring the first included angle and the second included angle again, and continuing the subsequent steps when the first included angle and the second included angle acquired this time meet the precondition;
s4-2, calculating the difference value between the first included angle obtained this time and the preset installation angle of the radar to obtain the installation deviation angle this time;
s4-3, filtering the installation deviation angle and the installation deviation angle obtained in the S3 to obtain an output value;
s4-4, executing S4-1 and S4-2 for multiple times, filtering the current installation deviation angle which is newly obtained every time and the current output value, and updating the current output value into a result after filtering;
s4-5, when the number of the installation deviation angles participating in the filtering processing is larger than the preset value n0And if not, returning to S4-1.
4. The installation angle correction method for a vehicle radar according to claim 1 or 2,
the S4 includes:
s4-1, acquiring the first included angle and the second included angle again, and calculating the difference value between the first included angle acquired this time and the preset installation angle of the radar to acquire the installation deviation angle of this time when the first included angle and the second included angle acquired this time meet the precondition;
s4-2, executing S4-1 for multiple times to obtain multiple installation deviation angles;
s4-3, filtering the installation deviation angles to obtain an output value, and when the obtained installation deviation angles are more than a preset value n0Otherwise, S5 is executed, and if not, the process returns to S4-1.
5. The installation angle correction method for a vehicle radar according to claim 4,
the S4-2 further includes performing S4-1 a plurality of times every second preset time.
6. The installation angle correction method of a vehicle radar as claimed in claim 1,
and S5 comprises the step of transmitting the output value to a motor controller of a steering engine device through a CAN network, wherein the motor controller adjusts the installation angle of the radar according to the output value.
7. The installation angle correction method of a vehicle radar according to claim 1,
the first preset range is a preset installation angle +/-3 degrees, and the second preset range is 0 +/-10 degrees.
8. A vehicle radar comprises a radar sensor and a steering engine device, wherein the radar sensor is in communication connection with the steering engine device, the steering engine device comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, and the vehicle radar is characterized in that,
the processor, when executing the computer program, implements the method of correcting the installation angle of a vehicle radar according to any one of claims 1 to 7.
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| CN115371719A (en) * | 2022-10-10 | 2022-11-22 | 福思(杭州)智能科技有限公司 | Parameter calibration method and device for detection equipment, storage medium and electronic device |
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