CN113805147B - Vehicle-mounted radar level measurement angle self-correction method, device, medium and equipment - Google Patents
Vehicle-mounted radar level measurement angle self-correction method, device, medium and equipment Download PDFInfo
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Abstract
The invention provides a vehicle-mounted radar level measurement angle self-correction method, a device, a storage medium and electronic equipment. The method comprises the following steps: acquiring Doppler speed of the static target obtained by the vehicle-mounted radar measurement; calculating to obtain the azimuth angle of the static target according to the Doppler speed, the current vehicle speed, the current yaw rate, the distance between the vehicle-mounted radar and the vehicle calibration center and the included angle between the straight line of the vehicle-mounted radar and the vehicle calibration center and the central axis of the vehicle; obtaining the phase difference between the vehicle-mounted radar antennas according to the azimuth back calculation; calculating the difference value of the phase difference and the calibration phase difference to obtain the calibration error of the vehicle-mounted radar; and correcting the measurement angle of the vehicle radar by using the calibration error. According to the angle self-calibration method provided by the invention, the self-calibration of the radar angle is realized by utilizing the Doppler speed of the stationary target and the speed and the yaw rate of the vehicle, so that the method has a better calibration effect.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted radar calibration, in particular to a vehicle-mounted radar horizontal measurement angle self-correction method, a device, a storage medium and electronic equipment.
Background
In millimeter wave radar sensors, angular measurement is an important detection link for radar. Current vehicle radar angle estimation is typically done based on phase information of the antenna array. However, the existing calibration method has certain defects, such as: the calibration process is complex, is easy to be influenced by environment to generate deviation, has poor universality and the like.
Currently, there is a need in the industry to propose new solutions to achieve angle calibration in radar detection processes.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a vehicle-mounted radar level gauge self-correction method, apparatus, storage medium and electronic device, which solve the above-mentioned drawbacks of the prior art.
To achieve the above and other related objects, the present invention provides a vehicle-mounted radar level gauge angle self-correction method, comprising: acquiring Doppler speed of the static target obtained by the vehicle-mounted radar measurement; calculating to obtain the azimuth angle of the static target according to the Doppler speed, the current vehicle speed, the current yaw rate, the distance between the vehicle-mounted radar and the vehicle calibration center and the included angle between the straight line of the vehicle-mounted radar and the vehicle calibration center and the central axis of the vehicle; obtaining the phase difference between the vehicle-mounted radar antennas according to the azimuth back calculation; calculating the difference value of the phase difference and the calibration phase difference to obtain the calibration error of the vehicle-mounted radar; and correcting the measurement angle of the vehicle radar by using the calibration error.
To achieve the above and other related objects, the present invention provides a vehicle-mounted radar level gauge angle self-correcting device, comprising:
the azimuth angle calculation module is used for acquiring the Doppler speed of the static target obtained by the vehicle-mounted radar measurement; calculating to obtain the azimuth angle of the static target according to the Doppler speed, the current vehicle speed, the current yaw rate, the distance between the vehicle-mounted radar and the vehicle calibration center and the included angle between the straight line of the vehicle-mounted radar and the vehicle calibration center and the central axis of the vehicle;
the phase difference calculation module is used for obtaining the phase difference of the adjacent antenna of the vehicle-mounted radar according to the azimuth back calculation;
the calibration error calculation module is used for calculating the difference value of the phase difference and the calibration phase difference to obtain the calibration error of the vehicle-mounted radar;
and the angle calibration module is used for correcting the measurement angle of the vehicle-mounted radar by using the calibration error.
To achieve the above and other related objects, the present invention provides a computer-readable storage medium having stored therein a computer program which, when loaded and executed by a processor, implements the vehicle-mounted radar angle self-correction method.
To achieve the above and other related objects, the present invention provides an electronic device comprising: a processor and a memory; wherein the memory is used for storing a computer program; the processor is used for loading and executing the computer program so that the electronic equipment executes the vehicle-mounted radar angle self-correction method.
As described above, according to the vehicle-mounted radar level measurement angle self-correction method, device, storage medium and electronic equipment, firstly, according to parameters such as the Doppler speed of a static target, the speed and yaw rate of the vehicle, the distance between the vehicle-mounted radar and a vehicle calibration center, the included angle between the straight line where the vehicle-mounted radar and the vehicle calibration center are positioned and the central axis of the vehicle, and the like, the azimuth angle of the static target is calculated; then, according to the azimuth back calculation, the phase difference between the vehicle-mounted radar antennas is obtained, and the difference value between the phase difference and the calibration phase difference is calculated, so that the calibration error of the vehicle-mounted radar is obtained; and finally, correcting the measurement angle of the vehicle radar by using the calibration error, so that correction deviation is not easy to generate due to external environment while the correction effect is ensured.
Drawings
Fig. 1 is a schematic diagram showing a triangular relationship between a phase difference between adjacent antennas and a target angle in the prior art.
FIG. 2 is a graph showing the comparison of an ideal phase difference curve and an actual phase difference curve after the sensor is installed in the prior art.
Fig. 3 is a flowchart of a method for self-correcting a horizontal measurement angle of an on-board radar according to an embodiment of the invention.
Fig. 4 is a flowchart of a method for self-correcting the horizontal measurement angle of the vehicle-mounted radar according to another embodiment of the present invention.
Fig. 5 is a schematic view of the self-calibration of the vehicle radar (angle radar and front radar) angle in an embodiment of the invention.
Fig. 6 is a diagram showing a simulation result of phase difference estimation according to an embodiment of the invention.
Fig. 7 is a block diagram of a vehicle-mounted radar level gauge self-correcting device according to an embodiment of the present invention.
Fig. 8 is a block diagram of an electronic device according to an embodiment of the invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the illustrations, not according to the number, shape and size of the components in actual implementation, and the form, number and proportion of each component in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
In millimeter wave radar sensors, angular measurement is an important detection link for radar. Current vehicle radar angle estimation is typically done based on phase information of the antenna array. There is a triangular relationship between the phase difference between two adjacent antennas and the target angle. As shown in fig. 1, in this example, the trigonometric function relationship between the incoming wave Direction (DOA) and the phase difference between two adjacent antennas is:
here, θ represents the target azimuth,represents the phase difference between two adjacent antennas, lambda represents the wavelength, k is a multiple of the wavelength lambda (e.g. 05,1,1.5,2,2.5, … times), l=λ×k represents the adjacent two antenna distance. The mathematical expression of the phase difference and the incoming wave direction can be obtained according to the formula:
here, the variablesIndicating the deviation caused by the antenna feeder process and radome. At present, the deviation needs to be independently calibrated in the production line EOL (end-of-line), so that +.>0 to simplify the calculation and we only need to consider the nonlinear effects of sensor mounting (such as bumper diffraction, etc.). The above equation is now modified as:
fig. 2 gives a comparison of the ideal phase difference curve with the actual phase difference curve, where k is 0.5. Therefore, in actual measurement, an actual phase difference curve is used as a scale instead of an ideal phase difference curve, and the angle of the actual target is calculated by correlation with the radar reception signal. This has the advantage that the angle measurement gives standard phase information according to the actual situation of each radar, making the angle measurement more accurate. However, this calibration method has certain drawbacks. Firstly, the calibration process is complicated, and each radar needs a scale; secondly, in the using process of the radar, the original calibration curve has certain deviation under the influence of factors such as temperature, oxidation degree of the antenna surface and the like. Third, with respect to radars mounted inside the bumper, different bumpers can have a significant impact on the calibration curve.
In view of the defects in the prior art, the application provides a brand-new vehicle-mounted radar level measurement angle self-correction method, complicated calibration of a radar scale is not needed, deviation of an original calibration curve is not needed to be avoided, and influence of a bumper on the radar calibration curve is not needed to be considered. In the radar detection process, the method realizes the self-calibration of the radar angle by utilizing the Doppler speed of the static target, the speed of the vehicle and the yaw rate, and realizes the error calibration, thereby avoiding the defects in the prior art.
As shown in fig. 3, the vehicle-mounted radar level measurement angle self-correction method provided by the application comprises the following steps:
s31: acquiring Doppler speed of the static target obtained by the vehicle-mounted radar measurement;
s32: calculating to obtain the azimuth angle of the static target according to the Doppler speed, the current vehicle speed, the current yaw rate, the distance between the vehicle-mounted radar and the vehicle calibration center and the included angle between the straight line of the vehicle-mounted radar and the vehicle calibration center and the central axis of the vehicle;
specifically, in an embodiment, the vehicle calibration center is at a midpoint of a rear axle of the vehicle, and the azimuth angle of the static target is obtained by vehicle motion modeling, specifically the following formula is as follows:
a＝V H -ω H ·R·sinγ
b＝ω H ·R·cosγ
wherein θ represents the azimuth angle of the static target, v d (θ) represents the Doppler velocity of the static target, V H Indicating the current speed of the vehicle omega H The method comprises the steps that the current yaw rate is represented, R represents the distance between the vehicle-mounted radar and the vehicle calibration center, and gamma represents the included angle between the straight line where the vehicle-mounted radar and the vehicle calibration center are located and the central axis of the vehicle;
s33: obtaining the phase difference between the vehicle-mounted radar antennas according to the azimuth back calculation;
specifically, in one embodiment, the phase difference is calculated by the following formula:
wherein,representing the phase difference of adjacent antennas of the vehicle radar, wherein k is a multiple (such as 0.5,1,1.5,2,2.5 and …) of the wavelength lambda; e (θ) represents a phase error caused by an actual environment (such as bumper diffraction, etc.), and this error is a nonlinear error;
s34: calculating the difference value of the phase difference and the calibration phase difference to obtain the calibration error of the vehicle-mounted radar;
s35: and correcting the measurement angle of the vehicle radar by using the calibration error.
As shown in fig. 4, in an embodiment, before step S31, the method for self-correcting the horizontal measurement angle of the vehicle-mounted radar of the present application further includes the following steps:
s41: calculating to obtain the translation angle of the motion curve of the vehicle during steering according to the current vehicle speed, the current yaw rate, the distance between the vehicle radar and the vehicle calibration center and the included angle between the straight line where the vehicle radar and the vehicle calibration center are positioned and the central axis of the vehicle;
a＝V H -ω H ·R·sinγ
b＝ω H ·R·cosγ
wherein ζ represents the translational angle of the motion curve of the vehicle during steering, V H Indicating the current speed of the vehicle omega H The current yaw rate is represented, R represents the distance between the vehicle radar and the vehicle calibration center, and gamma represents the included angle between the straight line where the vehicle radar and the vehicle calibration center are located and the central axis of the vehicle；
S42: calculating a fuzzy center angle and a fuzzy area of the vehicle-mounted radar according to the translation angle;
specifically, in one embodiment, the ambiguous center angle and the ambiguous region of the vehicle radar are calculated by the following formulas:
Δζ c ∈[ζ c -(B Fov -|ζ c |),ζ c +(B Fov -|ζ c |)]
wherein ζ c Represents the angle of the fuzzy center, delta zeta c Represents the blurred region, B Fov Is one half of the radar view angle of the vehicle radar;
s43: acquiring an azimuth angle of the static target obtained by measuring the vehicle-mounted radar;
s44: judging whether the azimuth angle is outside the fuzzy area; if yes, start executing step S31.
Further, in an embodiment, before step S42, it is determined whether the difference between the translational angle and the right angle is smaller than the radar view angle of the vehicle radar; if the determination result is yes, execution of step S41 is started.
The method principle of the present application will be described in detail below with reference to fig. 5.
As shown in fig. 5, according to the vehicle turning motion model, the radial velocity relation between the stationary target reflection point and the radar can be expressed as:
v d (θ)＝V H ·cosθ+ω H ·R·sin(θ-γ)
wherein v is d Representing Doppler velocity of static target, V H Represents the self-vehicle speed, θ represents the target azimuth angle, ω H The yaw rate is represented, R represents the distance from the radar installation position to the calibration center, and gamma represents the included angle between the radar installation position and the X axis of the calibration center.
Based on the measured Doppler velocity, the target angle θ is estimated using the following method:
wherein v is d Representing Doppler velocity of static target, V H Represents the self-vehicle speed, θ represents the target azimuth angle, ω H The yaw rate is represented, R represents the distance from the radar installation position to the calibration center, and gamma represents the included angle between the radar installation position and the X axis of the calibration center.
Here, θ calculated is taken into the formulaThe phase difference between the vehicle-mounted radar antennas can be estimated through the motion model.
Because of the self-vehicle speed V H And yaw rate omega H >>0, the trigonometric function in the above formula can be used normally. If (90- ζ)<θ FOV (radar view angle), the blur center angle and the blur area can be easily calculated by the following formula:
Δζ c ∈[ζ c -(B Fov -|ζ c |),ζ c +(B Fov -|ζ c |)]
wherein ζ c Represents the angle of the fuzzy center, delta zeta c Represents the blurred region, B FOV Representing one-half radar perspective. Therefore, when the estimated azimuth θ is outside the above-described ambiguous area, the phase difference between the vehicle-mounted radar antennas can be obtained from the azimuth back-calculation.
The following is a verification of the method of the present application, the verification conditions are as follows,
| variable(s) | Numerical value | Unit (B) |
| k | 0.5 | Without any means for |
| V H | 0.5 | m/s |
| ω H | 30 | °/s |
| R | 4 | m |
| γ | 0 | ° |
| B FOV | 75 | ° |
During the verification phase we are calculating v d And (θ) adding a normal distribution signal with a standard deviation of 0.01 as noise, and calculating an estimated value of θ. Subsequently, the blur center angle ζ is calculated c And the blurred region Δζ c Fuzzy area Deltaζ under the simulation condition c In the radar view angle regionIn addition, θ can be estimated in the radar view angle region. Respectively calculating according to the theoretical value and the estimated value of thetaThe simulation results shown in fig. 6 were obtained, and it can be seen that the estimated phase difference is relatively close to the theoretical value.
All or part of the steps for implementing the method embodiments described above may be performed by computer program related hardware. Based on such understanding, the present invention also provides a computer program product comprising one or more computer instructions. The computer instructions may be stored in a computer readable storage medium. The computer readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
Referring to fig. 7, the present embodiment provides a vehicle-mounted radar level measuring angle self-correcting device 70, and the technical principle of the present embodiment is similar to that of the foregoing method embodiment, so the same technical details will not be repeated. The apparatus 70 of the present embodiment includes: an azimuth angle calculation module 71, a phase difference calculation module 72, a calibration error calculation module 73, and an angle calibration module 74. The azimuth angle calculating module 71 is configured to perform steps S31 to S32 of the foregoing method embodiment, the phase difference calculating module 72 is configured to perform step S33 of the foregoing method embodiment, the calibration error calculating module 73 is configured to perform step S34 of the foregoing method embodiment, and the angle calibrating module 74 is configured to perform step S35 of the foregoing method embodiment.
In one embodiment, the on-board radar level gauge self-correcting device 70 further comprises: the device comprises a translation angle calculation module, a fuzzy parameter calculation module and a logic judgment module, wherein the translation angle calculation module is used for executing the step S41 of the method embodiment, the fuzzy parameter calculation module is used for executing the step S42 of the method embodiment, and the logic judgment module is used for executing the steps S43-S44 of the method embodiment.
Further, in an embodiment, the logic determination module is further configured to: judging whether the difference value between the translation angle and the right angle is smaller than the radar view angle of the vehicle-mounted radar; if the judgment result is yes, the fuzzy parameter calculation module starts to calculate the fuzzy center angle and the fuzzy area of the vehicle-mounted radar.
Those skilled in the art will appreciate that the division of the various modules in the fig. 7 embodiment is merely a division of a logic function and may be fully or partially integrated into one or more physical entities in actual implementation. The modules can be realized in a form of calling the processing element through software, can be realized in a form of hardware, can be realized in a form of calling the processing element through part of the modules, and can be realized in a form of hardware.
Referring to fig. 8, the present embodiment provides an electronic device, which may be a vehicle, a portable computer, a smart phone, or the like. In detail, the electronic device includes at least: the system comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory so as to execute all or part of the steps in the embodiment of the method.
The system bus mentioned above may be a peripheral component interconnect standard (Peripheral Pomponent Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, or the like. The system bus may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus. The communication interface is used to enable communication between the database access apparatus and other devices (e.g., clients, read-write libraries, and read-only libraries). The memory may comprise random access memory (Random Access Memory, RAM) and may also comprise non-volatile memory (non-volatile memory), such as at least one disk memory.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
In conclusion, the vehicle-mounted radar level measurement angle self-correction method, the vehicle-mounted radar level measurement angle self-correction device, the storage medium and the electronic equipment realize radar angle self-calibration by utilizing the Doppler speed of the static target, the vehicle speed and the yaw rate, have a better calibration effect, effectively overcome various defects in the prior art and have high industrial utilization value.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (10)
1. The vehicle-mounted radar level measurement angle self-correction method is characterized by comprising the following steps of:
acquiring Doppler speed of the static target obtained by the vehicle-mounted radar measurement;
calculating to obtain the azimuth angle of the static target according to the Doppler speed, the current vehicle speed, the current yaw rate, the distance between the vehicle-mounted radar and the vehicle calibration center and the included angle between the straight line of the vehicle-mounted radar and the vehicle calibration center and the central axis of the vehicle;
obtaining the phase difference between the vehicle-mounted radar antennas according to the azimuth back calculation;
calculating the difference value of the phase difference and the calibration phase difference to obtain the calibration error of the vehicle-mounted radar;
and correcting the measurement angle of the vehicle radar by using the calibration error.
2. The method of claim 1, wherein the vehicle calibration center is at a midpoint of a rear axle of the vehicle; the azimuth angle of the static target is obtained through vehicle motion modeling simplification:
a＝V H -ω H ·R·sinγ
b＝ω H ·R·cosγ
wherein θ represents the azimuth angle of the static target, v d (θ) represents the Doppler velocity of the static target, V H Indicating the current speed of the vehicle omega H And R represents the distance between the vehicle-mounted radar and the vehicle calibration center, and gamma represents the included angle between the straight line where the vehicle-mounted radar and the vehicle calibration center are located and the central axis of the vehicle.
3. The method according to claim 1, wherein the phase difference of the adjacent antennas of the vehicle radar is obtained according to the azimuth back-calculation, and is calculated by the following formula:
wherein,representing the phase difference of adjacent antennas of the vehicle-mounted radar, wherein k is a multiple of wavelength lambda; e (θ) represents a phase error caused by an actual environment.
4. The method of claim 1, wherein prior to the step of obtaining the doppler velocity of the stationary target as measured by the vehicle radar, the method further comprises:
calculating to obtain the translation angle of the motion curve of the vehicle during steering according to the current vehicle speed, the current yaw rate, the distance between the vehicle radar and the vehicle calibration center and the included angle between the straight line where the vehicle radar and the vehicle calibration center are positioned and the central axis of the vehicle;
calculating a fuzzy center angle and a fuzzy area of the vehicle-mounted radar according to the translation angle;
acquiring an azimuth angle of the static target obtained by the vehicle radar measurement, and judging whether the azimuth angle is outside the fuzzy area;
and if the result is yes, starting to execute the step of acquiring the Doppler speed of the static target obtained by measuring the vehicle-mounted radar.
5. The method of claim 4, wherein the translation angle is calculated by the formula:
a＝V H -ω H ·R·sinγ
b＝ω H ·R·cosγ
wherein ζ represents the translational angle of the motion curve of the vehicle during steering, V H Indicating the current speed of the vehicle omega H And R represents the distance between the vehicle-mounted radar and the vehicle calibration center, and gamma represents the included angle between the straight line where the vehicle-mounted radar and the vehicle calibration center are located and the central axis of the vehicle.
6. The method of claim 5, wherein the ambiguous center angle and ambiguous region of the vehicle radar are calculated by the formula:
Δζ c ∈[ζ c -(B Fov -|ζ c |),ζ c +(B Fov -|ζ c |)]
wherein ζ c Represents the angle of the fuzzy center, delta zeta c Represents the blurred region, B Fov Two radar view angles for the vehicle radar
One-half of the total weight of the product.
7. The method of claim 4, wherein prior to the step of calculating the ambiguous center angle and ambiguous regions of the vehicle radar, the method further comprises:
judging whether the difference value between the translation angle and the right angle is smaller than the radar view angle of the vehicle-mounted radar;
and if the judgment result is yes, starting to execute the step of calculating the fuzzy center angle and the fuzzy area of the vehicle-mounted radar.
8. The utility model provides a vehicle-mounted radar level measurement angle self-correcting device which characterized in that includes:
the azimuth angle calculation module is used for acquiring the Doppler speed of the static target obtained by the vehicle-mounted radar measurement; calculating to obtain the azimuth angle of the static target according to the Doppler speed, the current vehicle speed, the current yaw rate, the distance between the vehicle-mounted radar and the vehicle calibration center and the included angle between the straight line of the vehicle-mounted radar and the vehicle calibration center and the central axis of the vehicle;
the phase difference calculation module is used for obtaining the phase difference of the adjacent antenna of the vehicle-mounted radar according to the azimuth back calculation;
the calibration error calculation module is used for calculating the difference value of the phase difference and the calibration phase difference to obtain the calibration error of the vehicle-mounted radar;
and the angle calibration module is used for correcting the measurement angle of the vehicle-mounted radar by using the calibration error.
9. A computer readable storage medium, in which a computer program is stored, which computer program, when loaded and executed by a processor, implements the method according to any of claims 1 to 6.
10. An electronic device, comprising: a processor and a memory; wherein,
the memory is used for storing a computer program;
the processor is configured to load and execute the computer program to cause the electronic device to perform the method of any one of claims 1 to 6.
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