CN113702929B - Method, device, equipment and storage medium for calibrating installation angle of vehicle-mounted radar - Google Patents
Method, device, equipment and storage medium for calibrating installation angle of vehicle-mounted radar Download PDFInfo
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- CN113702929B CN113702929B CN202110940066.9A CN202110940066A CN113702929B CN 113702929 B CN113702929 B CN 113702929B CN 202110940066 A CN202110940066 A CN 202110940066A CN 113702929 B CN113702929 B CN 113702929B
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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
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- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
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Abstract
The application discloses a vehicle-mounted radar installation angle calibration method, device, equipment and storage medium, wherein the method comprises the following steps: acquiring the current installation angle of a vehicle-mounted radar on a target vehicle and the running state information of the target vehicle; when the running state information meets preset calibration conditions, controlling the vehicle-mounted radar to respectively acquire a plurality of first reference position information groups and a plurality of second reference position information groups on target reference objects on two sides of a road where the target vehicle is located; determining a first installation angle and a second installation angle of the vehicle-mounted radar based on the plurality of first reference position information sets and the plurality of second reference position information sets; when the error between the first installation angle and the second installation angle meets a first preset error condition, performing self-calibration processing on the current installation angle according to the first installation angle and the second installation angle to obtain a target installation angle of the vehicle-mounted radar. By utilizing the scheme of the application, the self-calibration convenience of the installation angle of the vehicle-mounted radar can be improved, so that the positioning accuracy of the radar is ensured.
Description
Technical Field
The application relates to the technical field of vehicle radars, in particular to a vehicle radar installation angle calibration method, device and equipment and a storage medium.
Background
Currently, the vehicle-mounted radar sensor accurately positions the obstacle in the detection area, so that the vehicle-mounted radar sensor becomes a core sensor for realizing functions of self-adaptive cruise (ACC), automatic Emergency Brake (AEB), front collision early warning (FCW) and the like in automatic driving, and the installation angle of many vehicle-mounted radars after the whole vehicle is fixedly installed accords with the design index, and the track information of the obstacle is also accurate.
However, accurate positioning of the vehicle radar depends on an accurate installation angle. On the one hand, the installation angle is calibrated when the whole radar vehicle is installed, expensive calibration equipment is needed, and the required calibration time is long, so that the off-line speed of the whole radar vehicle is influenced. On the other hand, after the vehicle runs on the road, the actual installation angle of the vehicle-mounted radar is deviated due to long-time vehicle shake, vibration and the like, at the moment, the track information of the output obstacle is also deviated, and inaccurate positioning information can cause false triggering, even failure, of the automatic driving related function, so that safety accidents are caused. Accordingly, it is desirable to provide a more efficient method of calibrating the mounting angle of an on-board radar.
Disclosure of Invention
The application provides a method, a device, equipment and a storage medium for calibrating the installation angle of a vehicle-mounted radar, which can improve the convenience of self calibration of the installation angle of the vehicle-mounted radar under the condition that calibration equipment is not used after the vehicle-mounted radar is installed, thereby ensuring the accuracy of radar positioning, and the technical scheme of the application is as follows:
in one aspect, a method for calibrating an installation angle of a vehicle-mounted radar is provided, the method comprising:
acquiring the current installation angle of a vehicle-mounted radar on a target vehicle relative to the central axis of the target vehicle and the running state information of the target vehicle;
when the running state information meets a preset calibration condition, controlling the vehicle-mounted radar to respectively acquire a plurality of first reference position information groups and a plurality of second reference position information groups on target reference objects on two sides of a road where the target vehicle is located;
determining a first installation angle and a second installation angle of the vehicle-mounted radar based on the plurality of first reference position information sets and the plurality of second reference position information sets;
When the error between the first installation angle and the second installation angle meets a first preset error condition, performing self-calibration processing on the current installation angle according to the first installation angle and the second installation angle to obtain a target installation angle of the vehicle-mounted radar.
In another aspect, there is provided a vehicle-mounted radar installation angle calibration device, the device comprising:
The driving state information acquisition module is used for acquiring the current installation angle of the vehicle-mounted radar on the target vehicle relative to the central axis of the target vehicle and the driving state information of the target vehicle;
The reference position information group acquisition module is used for controlling the vehicle-mounted radar to acquire a plurality of first reference position information groups and a plurality of second reference position information groups on target reference objects on two sides of a road where the target vehicle is located respectively when the running state information meets a preset calibration condition;
An installation angle determining module for determining a first installation angle and a second installation angle of the vehicle-mounted radar based on the plurality of first reference position information sets and the plurality of second reference position information sets;
The self-calibration processing module is used for carrying out self-calibration processing on the current installation angle according to the first installation angle and the second installation angle when the error between the first installation angle and the second installation angle meets a first preset error condition, so as to obtain a target installation angle of the vehicle-mounted radar.
In another aspect, there is provided an on-vehicle radar installation angle calibration apparatus, the apparatus comprising a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement an on-vehicle radar installation angle calibration method as described above.
In another aspect, a computer readable storage medium having stored therein at least one instruction or at least one program loaded and executed by a processor to implement a vehicle radar installation angle calibration method as described above is provided.
The method, the device, the equipment and the storage medium for calibrating the installation angle of the vehicle-mounted radar have the following technical effects:
The technical scheme provided by the application is that a plurality of first reference position information groups and a plurality of second reference position information groups on target reference objects on two sides of a road where a vehicle-mounted radar is positioned are collected by controlling the vehicle-mounted radar, and a first mounting angle and a second mounting angle of the vehicle-mounted radar are determined based on the plurality of first reference position information groups and the plurality of second reference position information groups; when the error between the first installation angle and the second installation angle meets a first preset error condition, the self-calibration treatment of the current installation angle is carried out according to the first installation angle and the second installation angle, so that the target installation angle of the vehicle-mounted radar is obtained, and after the vehicle-mounted radar is installed, the convenience of self-calibration of the installation angle of the vehicle-mounted radar can be improved under the condition that calibration equipment is not used, thereby ensuring the accuracy of radar positioning, and further ensuring the safety of automatic driving of the vehicle.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions and advantages of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a method for calibrating an installation angle of a vehicle-mounted radar according to an embodiment of the present application;
Fig. 2 is a schematic flow chart of determining a first installation angle and a second installation angle of the vehicle-mounted radar based on the plurality of first reference position information sets and the plurality of second reference position information sets according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of determining a sampling installation angle according to a reference position information set traversed currently according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of determining a sampling installation angle according to another reference position information set currently traversed according to an embodiment of the present application;
Fig. 5 is a schematic diagram of a vehicle radar installation angle calibration device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The following describes a method for calibrating an installation angle of a vehicle-mounted radar according to an embodiment of the present application, and fig. 1 is a schematic flow chart of the method for calibrating an installation angle of a vehicle-mounted radar according to an embodiment of the present application. It is noted that the present specification provides method operational steps as described in the examples or flowcharts, but may include more or fewer operational steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. In actual system or product execution, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment). As shown in fig. 1, the method may include:
s101, acquiring the current installation angle of the vehicle-mounted radar on the target vehicle relative to the central axis of the target vehicle and the running state information of the target vehicle.
In a particular embodiment, the type of vehicle-mounted radar may include, but is not limited to, millimeter wave radar and the like; depending on the mounting location of the vehicle radar, the vehicle radar may include, but is not limited to: and the vehicle-mounted forward radar and the vehicle-mounted backward radar can be correspondingly arranged at the middle position of the front bumper of the target vehicle, and the vehicle-mounted backward radar can be arranged at the middle position of the rear bumper of the target vehicle. The current installation angle of the vehicle-mounted radar may be an angle between a normal line of the vehicle-mounted radar and a central axis of the target vehicle, and in practical application, the current installation angle of the vehicle-mounted radar is usually defaulted to 0 °.
Specifically, the driving state information may include, but is not limited to: vehicle speed, acceleration, steering wheel angle, and yaw rate.
And S103, when the running state information meets the preset calibration condition, controlling the vehicle-mounted radar to respectively acquire a plurality of first reference position information groups and a plurality of second reference position information groups on target reference objects on two sides of the road where the target vehicle is located.
In an optional embodiment, the controlling the vehicle-mounted radar to acquire the plurality of first reference position information sets and the plurality of second reference position information sets on the target reference objects on both sides of the road where the target vehicle is located may include:
and acquiring the position information of the target reference points on the target reference objects at two sides respectively in a plurality of preset acquisition time periods based on a vehicle body coordinate system to obtain a plurality of first reference position information groups and a plurality of second reference position information groups, wherein the plurality of first reference position information groups are positioned on the left target reference object, and the plurality of second reference position information groups are positioned on the right target reference object.
Specifically, the vertical axis of the vehicle body coordinate system is the central axis of the target vehicle, the origin is the intersection point of the left front side of the target vehicle and the vertical axis, the vertical axis forward direction points to the running direction of the target vehicle, and the horizontal axis forward direction points to the right side of the target vehicle.
Specifically, the above-mentioned multiple preset collection time periods may be set based on the collection requirement of the parameter position information set in the practical application, the road where the target vehicle is located may be a specific test road section, also may be a highway or an urban road, the target reference objects on two sides of the road may be two side rails of the road, the target reference points may be random target points on two side rails determined based on the detection signals sent by the vehicle-mounted radar, and the detection signals may be millimeter waves. In an alternative embodiment, a first reference position information set and a second reference position information set are acquired respectively in each preset acquisition time period until the number of the first reference position information set and the number of the second reference position information set respectively meet the first preset group number and the second preset group number, and the first preset group number and the second preset group number can be set in combination with the size of a random access memory space of a processing chip of the vehicle-mounted terminal of the target vehicle and the accuracy of self calibration of the mounting angle of the vehicle-mounted radar. In practical application, when the target vehicle runs on the lane on the left side of the road, the second preset group number can be smaller than the first preset group number because the target vehicle is far away from the right side railing and has more obstacles between the target vehicle and the right side railing and has higher acquisition difficulty; accordingly, the first preset group number may be smaller than the second preset group number when the target vehicle travels in the lane on the right side of the road.
In a specific embodiment, the preset calibration condition may be: in a preset calibration time period, the vehicle speed is larger than a preset vehicle speed threshold value, and the running direction is parallel to the directions of the target reference objects on two sides. It may be determined whether the vehicle speed of the target vehicle is greater than a preset vehicle speed threshold value within a preset calibration time based on the vehicle speed and acceleration of the target vehicle, and whether the traveling direction of the target vehicle is parallel to the both-side rail direction based on the steering wheel angle and yaw rate of the target vehicle. The preset calibration time and the preset vehicle speed threshold value can be set based on the calibration requirements in practical applications.
S105, determining a first installation angle and a second installation angle of the vehicle-mounted radar based on the plurality of first reference position information groups and the plurality of second reference position information groups.
In a specific embodiment, as shown in fig. 2, the determining the first mounting angle and the second mounting angle of the on-board radar based on the plurality of first reference position information sets and the plurality of second reference position information sets may include:
S201, traversing the plurality of first reference position information sets and the plurality of second reference position information sets, respectively.
S203, determining a sampling installation angle according to the currently traversed reference position information group.
In an alternative embodiment, as shown in fig. 3, determining the sampling installation angle according to the reference position information set traversed currently may include:
S301, constructing a characterization function of the target straight line according to any two pieces of reference position information in the reference position information group traversed currently.
Specifically, assuming that there are M pieces of reference position information in the current reference position information group Q, q= { (x i,yi) } (i=1, 2, …, M), a characterization function of the target straight line l is constructed based on any two pieces of reference position information (x m,ym) and (x n,yn) in Q: x=ky+b, where the slope k and the constant term b are obtained by substituting the above (x m,ym) and (x n,yn) into x=ky+b and calculating.
S303, judging whether the sampling number of the reference position information, of which the distance between the reference position information group and the target straight line is smaller than a preset distance, is larger than the corresponding target number of the reference position information group.
Specifically, the reference position information in the Q is traversed, the distance Delta g＝kyg+b-xg is calculated according to the reference position information (x g,yg) which is traversed currently (g and M, n are different), when |delta g |delta is smaller than or equal to Delta, the target reference point g corresponding to the reference position information (x g,yg) which is traversed currently is considered to be near the straight line l, and the number num of target reference points near the straight line l in the M target reference points corresponding to the Q is determined.
In practical applications, the preset distance Delta may be set in combination with the accuracy of the self calibration of the installation angle, and in an alternative embodiment, the preset distance Delta may be 0.1m. The corresponding target number may be a product of the number M of reference position information in the reference position information group currently traversed and a preset sampling probability P, which may be set in combination with a random sampling consistency algorithm and accuracy of installation angle self-calibration.
S305, when the determination is yes, obtaining the sampling installation angle based on the slope of the target straight line.
Specifically, when the number of samples of the reference position information having a distance from the target straight line smaller than the preset distance in the currently traversed reference position information group is larger than the corresponding target number, i.e., num is equal to or larger than m×p, then the sampling installation angle=arctan (k).
In another alternative embodiment, as shown in fig. 4, after determining whether the number of samples of the reference position information having a distance between the reference position information group currently traversed and the target straight line smaller than the preset distance is greater than the number of targets corresponding to the reference position information group currently traversed, the method may further include:
And S307, when the judgment is no, updating the arbitrary two pieces of reference position information, and repeatedly executing the iterative process of constructing a characterization function of a target straight line according to the arbitrary two pieces of reference position information in the currently traversed reference position information group to judge whether the sampling number of the reference position information with the distance smaller than the preset distance between the target straight line and the reference position information group is larger than the corresponding target number of the currently traversed reference position information group or not based on the updated arbitrary two pieces of reference position information until the current sampling number is larger than the corresponding target number.
Specifically, when the number of samples of the reference position information, of which the distance between the reference position information group and the target straight line is smaller than the preset distance, in the currently traversed reference position information group is smaller than the corresponding target number, that is, num < m×p, any two pieces of reference position information are reselected from the currently traversed reference position information group as updated any two pieces of reference position information, any two pieces of reference position information in the currently traversed reference position information group are repeatedly executed based on the updated any two pieces of reference position information, and an iterative process of constructing a characterization function of the target straight line until judging whether the number of samples of the reference position information, of which the distance between the reference position information group and the target straight line is smaller than the preset distance, in the currently traversed reference position information group is larger than the corresponding target number of the currently traversed reference position information group is performed until the current number of samples is larger than the corresponding target number.
The above embodiment shows that, by using the random sampling consistency algorithm, the straight line where the target reference point corresponding to the reference position information group traversed at present is located is determined, and the sampling installation angle is determined based on the slope of the straight line, so that the occupied memory of the random access memory can be reduced, and meanwhile, the operation complexity is also effectively reduced.
And S205, when the traversal is finished, filtering the plurality of sampling installation angles obtained in the traversal process of the plurality of first reference position information groups to obtain the first installation angles.
And S207, filtering the plurality of sampling installation angles obtained in the traversal process of the plurality of second reference position information groups to obtain the second installation angles.
Alternatively, the filter of the filtering process may be a statistical filter, and the statistical filter may include, but is not limited to, an average statistical filter, a median statistical filter, and a maximum and minimum statistical filter.
And S107, when the error between the first installation angle and the second installation angle meets a first preset error condition, performing self-calibration processing of the current installation angle according to the first installation angle and the second installation angle to obtain the target installation angle of the vehicle-mounted radar.
Optionally, the first preset error condition may be that an error between the first installation angle and the second installation angle is smaller than a first preset angle error, and the first preset angle error may be set in combination with accuracy of installation angle self-calibration in practical application. When the error between the first installation angle and the second installation angle is smaller than the first preset angle error, average value calculation can be carried out on the first installation angle and the second installation angle, and the target installation angle is obtained.
In an optional embodiment, after the controlling the vehicle-mounted radar to acquire the plurality of first reference position information sets and the plurality of second reference position information sets on the target reference objects on both sides of the road where the target vehicle is located, the method may further include:
And when the iterative process corresponding to the plurality of first reference position information groups is finished, and the sampling number corresponding to each first reference position information group is smaller than the target number corresponding to each first reference position information group, taking the second installation angle as the target installation angle.
Specifically, in the plurality of first reference position information sets, the target linear equation corresponding to each first reference position information set cannot be obtained, so that a plurality of sampling installation angles cannot be obtained, and when the first installation angle is determined, the second installation angle is taken as the target installation angle.
And when the iterative process corresponding to the plurality of second reference position information groups is finished, and the sampling number corresponding to each second reference position information group is smaller than the target number corresponding to each second reference position information group, taking the first installation angle as the target installation angle.
Specifically, in the plurality of second reference position information sets, the target linear equation corresponding to each second reference position information set cannot be obtained, so that a plurality of sampling installation angles cannot be obtained, and when the second installation angle is determined, the first installation angle is taken as the target installation angle.
According to the embodiment, various target installation angle determining methods are designed according to actual acquisition conditions, so that universality of the calibration method is improved.
In an alternative embodiment, the method may further include:
And when the error between the target installation angle and the current installation angle meets a second preset error condition, calibrating the position information of the target object output by the vehicle-mounted radar based on the target installation angle.
Specifically, the second preset error condition may be that an error between the target installation angle and the current installation angle is smaller than a second preset angle error, and the second preset angle error may be set in combination with accuracy of installation angle self-calibration in practical application. The target object may be an obstacle on a road on which the target vehicle is located.
It can be seen from the above embodiments that the accuracy of radar positioning is ensured by performing calibration processing on the positioning information, thereby ensuring the safety of automatic driving of the vehicle.
In another alternative embodiment, the method may further include:
and when the error between the first installation angle and the second installation angle does not meet the first preset error condition or the error between the target installation angle and the current installation angle does not meet the second preset error condition, controlling an automatic driving system of the target vehicle to start a functional safety mechanism.
Specifically, when the error between the first installation angle and the second installation angle does not meet the first preset error condition or the error between the target installation angle and the current installation angle does not meet the second preset error condition, the error of the current installation angle of the vehicle-mounted radar is considered to be larger, and the calibration processing cannot be performed on the position information of the target object output by the vehicle-mounted radar based on the target installation angle. Therefore, the warning measures such as an outgoing message can be adopted to inform the target vehicle: the current installation angle error of the vehicle-mounted radar is larger, and the output position information of the target object is not accurate any more; and simultaneously informing an automatic driving system: the position information of the target object output by the vehicle radar is in an abnormal state, and the automatic driving system is controlled to start a functional safety mechanism.
According to the embodiment, the automatic driving system is informed of the abnormal state by means of warning measures such as an outgoing message, so that the automatic driving system starts a functional safety mechanism, and the safety of automatic driving of the vehicle is guaranteed.
In practical application, before the target vehicle is powered down, the target installation angle of the vehicle-mounted radar needs to be stored, so that the vehicle-mounted radar can accurately output the position information of the target object after the next power-up of the target vehicle.
According to the technical scheme provided by the embodiment of the specification, on one hand, the vehicle-mounted radar can be controlled to acquire a plurality of first reference position information groups and a plurality of second reference position information groups on target reference objects on two sides of a road where a target vehicle is located, after the vehicle-mounted radar is installed, under the condition that calibration equipment is not used, a straight line where a target reference point corresponding to the reference position information group which is traversed at present is determined by using a random sampling consistency algorithm, and a sampling installation angle is determined based on the slope of the straight line, so that the first installation angle and the second installation angle are obtained, the memory of an occupied random access memory can be reduced, meanwhile, the operation complexity is effectively reduced, and the convenience of self calibration of the installation angle of the vehicle-mounted radar is improved; on the other hand, according to the actual acquisition condition, a plurality of target installation angle determining methods are designed, so that the universality of the calibration method is improved; on the other hand, according to the magnitude of the current installation angle error of the vehicle-mounted radar, the position information of a target object output by the vehicle-mounted radar based on the target installation angle is selected to be calibrated or the automatic driving system is controlled to start a functional safety mechanism, the radar positioning accuracy is ensured, and therefore the safety of automatic driving of the vehicle is ensured.
The embodiment of the application provides a vehicle-mounted radar installation angle calibration device, as shown in fig. 5, the device can comprise:
a driving state information obtaining module 510, configured to obtain a current installation angle of a vehicle radar on a target vehicle with respect to a central axis of the target vehicle and driving state information of the target vehicle;
the reference position information set acquisition module 520 is configured to control the vehicle-mounted radar to acquire a plurality of first reference position information sets and a plurality of second reference position information sets on target reference objects on both sides of a road where the target vehicle is located, respectively, when the driving state information satisfies a preset calibration condition;
An installation angle determining module 530 configured to determine a first installation angle and a second installation angle of the vehicle-mounted radar based on the plurality of first reference position information sets and the plurality of second reference position information sets;
And the self-calibration processing module 540 is configured to perform self-calibration processing of the current installation angle according to the first installation angle and the second installation angle when the error between the first installation angle and the second installation angle meets a first preset error condition, so as to obtain a target installation angle of the vehicle-mounted radar.
In an alternative embodiment, the reference position information set acquisition module 520 may include:
The preset acquisition time period acquisition unit is used for acquiring the position information of the target reference points on the target reference objects on the two sides respectively in a plurality of preset acquisition time periods based on a vehicle body coordinate system to obtain a plurality of first reference position information groups and a plurality of second reference position information groups, wherein the plurality of first reference position information groups are positioned on the left target reference object, and the plurality of second reference position information groups are positioned on the right target reference object.
In a specific embodiment, the installation angle determining module 530 may include:
And a traversing unit for traversing the plurality of first reference position information groups and the plurality of second reference position information groups, respectively.
And the sampling installation angle determining unit is used for determining the sampling installation angle according to the currently traversed reference position information group.
And the first installation angle determining unit is used for carrying out filtering processing on the plurality of sampling installation angles obtained in the traversing process of the plurality of first reference position information groups when the traversing is finished, so as to obtain the first installation angle.
And the second installation angle determining unit is used for carrying out filtering processing on the plurality of sampling installation angles obtained in the traversal process of the plurality of second reference position information groups to obtain the second installation angles.
In an alternative embodiment, the sampling installation angle determining unit may include:
The characterization function construction unit is used for constructing a characterization function of the target straight line according to any two pieces of reference position information in the reference position information group traversed currently;
A judging unit, configured to judge whether the number of samples of the reference position information, which is smaller than a preset distance from the target straight line, in the currently traversed reference position information group is greater than the number of targets corresponding to the currently traversed reference position information group;
and a sampling installation angle calculation unit for obtaining the sampling installation angle based on the slope of the target straight line when the judgment is yes.
In another optional embodiment, the sampling installation angle determining unit may further include:
And an iteration unit, configured to update the arbitrary two pieces of reference position information when the determination is no, and repeatedly perform, based on the updated arbitrary two pieces of reference position information, an iteration process of constructing a characterization function of a target straight line according to the arbitrary two pieces of reference position information in the reference position information group currently traversed to determine whether the number of samples of the reference position information having a distance from the target straight line smaller than a preset distance in the reference position information group currently traversed is greater than the number of targets corresponding to the reference position information group currently traversed until the current number of samples is greater than the number of targets corresponding to the current reference position information group.
In an alternative embodiment, the apparatus may further include:
The first target installation angle determining module is used for taking the second installation angle as the target installation angle when the iterative process corresponding to the plurality of first reference position information groups is finished and the sampling number corresponding to each first reference position information group is smaller than the target number corresponding to each first reference position information group;
and the second target installation angle determining module is used for taking the first installation angle as the target installation angle when the iterative process corresponding to the plurality of second reference position information groups is finished and the sampling number corresponding to each second reference position information group is smaller than the target number corresponding to each second reference position information group.
In an alternative embodiment, the apparatus may further include:
And the position information calibration processing module is used for performing calibration processing on the position information of the target object output by the vehicle-mounted radar based on the target installation angle when the error between the target installation angle and the current installation angle meets a second preset error condition.
In another alternative embodiment, the apparatus may further include:
And the function safety mechanism starting module is used for controlling the automatic driving system of the target vehicle to start the function safety mechanism when the error between the first installation angle and the second installation angle does not meet the first preset error condition or the error between the target installation angle and the current installation angle does not meet the second preset error condition.
The embodiment of the application provides a vehicle-mounted radar installation angle calibration device, which comprises a processor and a memory, wherein at least one instruction or at least one section of program is stored in the memory, and the at least one instruction or the at least one section of program is loaded and executed by the processor to realize the vehicle-mounted radar installation angle calibration method provided by the embodiment of the method.
The memory may be used to store software programs and modules that the processor executes to perform various functional applications and data processing by executing the software programs and modules stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs required for functions, and the like; the storage data area may store data created according to the use of the above-described device, or the like. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory may also include a memory controller to provide access to the memory by the processor.
The method embodiment provided by the embodiment of the application can be executed in the vehicle-mounted terminal or the similar computing device, namely the computer equipment can comprise the vehicle-mounted terminal or the similar computing device.
The embodiment of the application also provides a storage medium which can be arranged in a server to store at least one instruction or at least one section of program related to the vehicle-mounted radar installation angle calibration method for realizing the method embodiment, and the at least one instruction or the at least one section of program is loaded and executed by the processor to realize the vehicle-mounted radar installation angle calibration method provided by the method embodiment.
Alternatively, in this embodiment, the storage medium may be located in at least one network server among a plurality of network servers of the computer network. Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
According to the embodiment of the method, the device, the equipment or the storage medium for calibrating the installation angle of the vehicle-mounted radar, the technical scheme provided by the embodiment of the specification is utilized, on one hand, the vehicle-mounted radar can be controlled to acquire a plurality of first reference position information groups and a plurality of second reference position information groups on target reference objects on two sides of a road where a target vehicle is located, after the vehicle-mounted radar is installed, a straight line where a target reference point corresponding to the reference position information group traversed at present is located is determined by utilizing a random sampling consistency algorithm under the condition that calibration equipment is not used, and the sampling installation angle is determined based on the slope of the straight line, so that the first installation angle and the second installation angle are obtained, the memory of an occupied random access memory is reduced, the operation complexity is effectively reduced, and the self-calibration convenience of the installation angle of the vehicle-mounted radar is improved; on the other hand, according to the actual acquisition condition, a plurality of target installation angle determining methods are designed, so that the universality of the calibration method is improved; on the other hand, according to the magnitude of the current installation angle error of the vehicle-mounted radar, the position information of a target object output by the vehicle-mounted radar based on the target installation angle is selected to be calibrated or the automatic driving system is controlled to start a functional safety mechanism, the radar positioning accuracy is ensured, and therefore the safety of automatic driving of the vehicle is ensured.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for apparatus, devices and storage medium embodiments, the description is relatively simple as it is substantially similar to method embodiments, with reference to the description of method embodiments in part.
Those of ordinary skill in the art will appreciate that all or a portion of the steps implementing the above embodiments may be implemented by hardware, or may be implemented by a program indicating that the relevant hardware is implemented, where the program may be stored on a computer readable storage medium, where the storage medium may be a read only memory, a magnetic disk or optical disk, etc.
The foregoing description of the preferred embodiments of the application is not intended to limit the application to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the application are intended to be included within the scope of the application.
Claims (10)
1. A method for calibrating an installation angle of a vehicle-mounted radar, the method comprising:
acquiring the current installation angle of a vehicle-mounted radar on a target vehicle relative to the central axis of the target vehicle and the running state information of the target vehicle;
When the running state information meets a preset calibration condition, controlling the vehicle-mounted radar to respectively acquire the position information of target reference points on the rails on the two sides of the road where the target vehicle is located, and obtaining a plurality of first reference position information groups on the left rail and a plurality of second reference position information groups on the right rail;
Traversing the plurality of first reference position information sets and the plurality of second reference position information sets, respectively;
constructing a characterization function of the target straight line according to any two pieces of reference position information in the reference position information group traversed currently;
Judging whether the sampling quantity of the reference position information, of which the distance between the reference position information group and the target straight line is smaller than a preset distance, in the current traversed reference position information group is larger than the corresponding target quantity of the current traversed reference position information group, wherein the target quantity is the product of the quantity of the reference position information in the current traversed reference position information group and the preset sampling probability;
When the judgment is yes, obtaining a sampling installation angle based on the slope of the target straight line;
when the traversal is finished, filtering a plurality of sampling installation angles obtained in the traversal process of the plurality of first reference position information sets to obtain a first installation angle of the vehicle-mounted radar corresponding to the left railing;
Filtering the plurality of sampling installation angles obtained in the traversal process of the plurality of second reference position information sets to obtain a second installation angle of the vehicle-mounted radar corresponding to the right railing;
When the error between the first installation angle and the second installation angle meets a first preset error condition, performing self-calibration processing on the current installation angle according to the first installation angle and the second installation angle to obtain a target installation angle of the vehicle-mounted radar.
2. The method according to claim 1, wherein controlling the vehicle-mounted radar to acquire the position information of the target reference point on the two rails of the road where the target vehicle is located, respectively, to obtain the plurality of first reference position information sets on the left rail and the plurality of second reference position information sets on the right rail includes:
and respectively acquiring the position information of the target reference points on the two side rails in a plurality of preset acquisition time periods based on a vehicle body coordinate system to obtain a plurality of first reference position information groups and a plurality of second reference position information groups.
3. The method according to claim 1, wherein after the determining whether the number of samples of the reference position information having a distance from the target straight line smaller than a preset distance in the currently traversed reference position information group is larger than the number of targets corresponding to the currently traversed reference position information group, the method further comprises:
And when the judgment is negative, updating the arbitrary two pieces of reference position information, and repeatedly executing the iterative process of constructing a characterization function of a target straight line according to the arbitrary two pieces of reference position information in the currently traversed reference position information group based on the updated arbitrary two pieces of reference position information until judging whether the sampling number of the reference position information, of which the distance between the reference position information and the target straight line is smaller than the preset distance, in the currently traversed reference position information group is larger than the corresponding target number of the currently traversed reference position information group or not, until the current sampling number is larger than the corresponding target number.
4. A method according to claim 3, wherein after said controlling said on-board radar to acquire position information of target reference points on both side rails of a road on which said target vehicle is located, respectively, a plurality of first reference position information sets on a left side rail and a plurality of second reference position information sets on a right side rail are obtained, said method further comprises:
when the iterative process corresponding to the plurality of first reference position information groups is finished, and the sampling number corresponding to each first reference position information group is smaller than the target number corresponding to each first reference position information group, taking the second installation angle as the target installation angle;
and when the iterative process corresponding to the second reference position information groups is finished, and the sampling number corresponding to each second reference position information group is smaller than the target number corresponding to each second reference position information group, taking the first installation angle as the target installation angle.
5. The method according to any one of claims 1 to 4, wherein the running state information includes a vehicle speed and a running direction of the target vehicle, and the running state information satisfying a preset calibration condition includes:
And in a preset calibration time period, the vehicle speed is greater than a preset vehicle speed threshold value, and the running direction is parallel to the directions of the two side rails.
6. The method according to any one of claims 1 to 4, further comprising:
And when the error between the target installation angle and the current installation angle meets a second preset error condition, calibrating the position information of the target object output by the vehicle-mounted radar based on the target installation angle.
7. The method of claim 6, wherein the method further comprises:
And when the error between the first installation angle and the second installation angle does not meet the first preset error condition or the error between the target installation angle and the current installation angle does not meet the second preset error condition, controlling an automatic driving system of the target vehicle to start a functional safety mechanism.
8. An on-vehicle radar installation angle calibration device, the device comprising:
The driving state information acquisition module is used for acquiring the current installation angle of the vehicle-mounted radar on the target vehicle relative to the central axis of the target vehicle and the driving state information of the target vehicle;
The reference position information group acquisition module is used for controlling the vehicle-mounted radar to acquire the position information of target reference points on the rails on the two sides of the road where the target vehicle is located respectively when the running state information meets the preset calibration condition, so as to obtain a plurality of first reference position information groups on the left rail and a plurality of second reference position information groups on the right rail;
the traversing module is used for traversing the plurality of first reference position information groups and the plurality of second reference position information groups respectively;
the characterization function construction module is used for constructing a characterization function of the target straight line according to any two pieces of reference position information in the reference position information group traversed currently;
The judging module is used for judging whether the sampling number of the reference position information, of which the distance between the reference position information group and the target straight line is smaller than a preset distance, in the current traversed reference position information group is larger than the corresponding target number of the current traversed reference position information group, and the target number is the product of the number of the reference position information in the current traversed reference position information group and the preset sampling probability;
the sampling installation angle calculation module is used for obtaining a sampling installation angle based on the slope of the target straight line when the judgment is yes;
The first installation angle determining module is used for carrying out filtering processing on a plurality of sampling installation angles obtained in the traversal process of the plurality of first reference position information sets when traversal is finished, so as to obtain a first installation angle of the vehicle-mounted radar corresponding to the left railing;
The second installation angle determining module is used for carrying out filtering processing on a plurality of sampling installation angles obtained in the traversal process of the plurality of second reference position information sets to obtain a second installation angle of the vehicle-mounted radar corresponding to the right railing;
An installation angle determining module for determining a first installation angle and a second installation angle of the vehicle-mounted radar based on the plurality of first reference position information sets and the plurality of second reference position information sets;
The self-calibration processing module is used for carrying out self-calibration processing on the current installation angle according to the first installation angle and the second installation angle when the error between the first installation angle and the second installation angle meets a first preset error condition, so as to obtain a target installation angle of the vehicle-mounted radar.
9. An in-vehicle radar installation angle calibration apparatus, characterized in that the apparatus comprises a processor and a memory, in which at least one instruction or at least one program is stored, which is loaded and executed by the processor to implement the in-vehicle radar installation angle calibration method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that at least one instruction or at least one program is stored in the storage medium, the at least one instruction or the at least one program being loaded and executed by a processor to implement the vehicle radar installation angle calibration method according to any one of claims 1 to 7.
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| CN115421112A (en) * | 2022-09-02 | 2022-12-02 | 惠州市德赛西威智能交通技术研究院有限公司 | Self-calibration method and calibration system for vehicle-mounted radar, vehicle-mounted radar and automobile |
| CN115371719B (en) * | 2022-10-10 | 2023-01-24 | 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 |
| CN116381632B (en) * | 2023-06-05 | 2023-08-18 | 南京隼眼电子科技有限公司 | Self-calibration method and device for radar roll angle and storage medium |
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