CN114019464A - Method and device for correcting radar installation angle and correction equipment - Google Patents
Method and device for correcting radar installation angle and correction equipment Download PDFInfo
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- CN114019464A CN114019464A CN202111240026.XA CN202111240026A CN114019464A CN 114019464 A CN114019464 A CN 114019464A CN 202111240026 A CN202111240026 A CN 202111240026A CN 114019464 A CN114019464 A CN 114019464A
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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
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
Abstract
The embodiment of the invention relates to the technical field of radars, and discloses a method, a device and equipment for correcting a radar installation angle, wherein the correction method comprises the following steps: starting a radar; calculating a first angle between the radar and a first preset target and a second angle between the radar and a second preset target; comparing the first angle with a first theoretical calculation angle, comparing the second angle with a second theoretical calculation angle, and judging whether the radar installation angle has deviation according to a comparison result; and if the deviation exists, correcting the radar installation angle. By the method, the whole calibration work can be automatically completed by the vehicle-mounted millimeter wave radar, the deviation value does not need to be manually and additionally input, simplicity and effectiveness are realized, and high-efficiency calibration of the vehicle-mounted millimeter wave radar is realized.
Description
Technical Field
The embodiment of the invention relates to the technical field of radars, in particular to a method and a device for correcting a radar installation angle and correction equipment.
Background
In practical application, the vehicle-mounted millimeter wave radar can meet various applications such as blind spot detection, forward collision avoidance and automatic cruise of a vehicle-mounted platform only by having good distance measurement, speed measurement and angle measurement capabilities on a target. The distance measurement, speed measurement and angle measurement data of the vehicle-mounted millimeter wave radar are based on radar as reference, and therefore each vehicle-mounted millimeter wave radar needs to be strictly mounted on a vehicle, the mounting angle of the vehicle-mounted millimeter wave radar on the vehicle is ensured, and the measurement precision of the vehicle-mounted millimeter wave radar, especially the angle measurement precision in the horizontal direction can be guaranteed. In practice, the requirements for the correct installation angle of the vehicle-mounted millimeter wave radar are difficult to meet by means of the installation clamp, so that angle calibration needs to be carried out by an angle calibration method after each set of radar is installed.
In the process of implementing the embodiment of the present invention, the inventors of the embodiment of the present invention find that: at present, the traditional angle calibration method is to design a reflector on a vehicle-mounted radar structure body, place a set of laser ranging system in front of a radar, and correct and compensate the angle measurement deviation of the vehicle-mounted millimeter wave radar through the radar installation angle deviation value measured by the laser ranging system. The correction method needs additional measuring equipment to obtain the deviation value, and then the deviation value is manually input into the millimeter wave radar for correction, so that the whole implementation process is complicated, and the labor cost is high.
Disclosure of Invention
The technical problem mainly solved by the embodiment of the invention is to provide a method, a device and a device for correcting the installation angle of a radar, which can ensure that the whole calibration work is automatically completed by the vehicle-mounted millimeter wave radar, manual additional input of a deviation value is not needed, the calibration is simple and effective, and the high-efficiency calibration of the vehicle-mounted millimeter wave radar is realized.
In order to solve the above technical problem, one technical solution adopted by the embodiments of the present invention is: provided is a method for correcting a radar installation angle, comprising the following steps: starting a radar; calculating a first angle between the radar and a first preset target and a second angle between the radar and a second preset target, wherein the first preset target, the second preset target and the position of the radar form an isosceles triangle, the first angle is an included angle between a connecting line of the radar and the first preset target and a radar center line, the second angle is an included angle between the connecting line of the radar and the second preset target and the radar center line, and the radar center line is a ray emitted by the radar to the right front by the radar; comparing the first angle with a first theoretical calculation angle, comparing the second angle with a second theoretical calculation angle, and judging whether the radar installation angle has deviation according to a comparison result; and if the deviation exists, correcting the radar installation angle.
Optionally, the step of calculating a first angle between the radar and a first preset target further includes: controlling the radar to send a first working signal to a first preset target; when the radar receives a first echo signal of the first working signal after being reflected by the first preset target, calculating a first distance between the radar and the first preset target according to the first working signal and the first echo signal; and calculating a first angle between the radar and the first preset target according to the first distance.
Optionally, the step of calculating a second angle between the radar and a second preset target further includes: controlling the radar to send a second working signal to a second preset target; when the radar receives a second echo signal of the second working signal after being reflected by the second preset target, calculating a second distance between the radar and the second preset target according to the second working signal and the second echo signal; and calculating a second angle between the radar and the second preset target according to the second distance.
Optionally, the step of comparing the first angle with a first theoretical calculation angle, comparing the second angle with a second theoretical calculation angle, and determining whether the radar installation angle has a deviation according to the comparison result further includes: if the first angle is equal to the first theoretical calculation angle and the second angle is equal to the second theoretical calculation angle, the radar mounting angle has no deviation; if the first angle is smaller than the first theoretical calculation angle and the second angle is larger than the second theoretical calculation angle, the radar installation angle has a rightward inclination deviation; if the first angle is larger than the first theoretical calculation angle, and the second angle is smaller than the second theoretical calculation angle, the radar installation angle has a leftward inclination deviation.
Optionally, if there is a deviation, the step of correcting the radar installation angle further includes: calculating a third angle required for leftward correction of the deviation when there is a rightward inclination deviation; according to a third angle required by the leftward correction deviation, leftward correction is carried out on the radar installation angle; when there is a leftward tilt deviation, calculating a fourth angle required to correct the deviation rightward; and correcting the installation angle of the radar to the right according to a fourth angle required by the deviation correction to the right.
Optionally, the step of activating the radar further includes: switching on the radar to enable the radar to be in a standby working state; and adjusting the radar in the state of waiting to work to a working mode.
In order to solve the above technical problem, another technical solution adopted in the embodiments of the present invention is: provided is a radar installation angle correction apparatus, including: the working module is used for starting the radar and measuring the angle between the radar and a preset target; the comparison module is used for comparing the measured angle with a theoretical calculation angle and judging whether the radar installation angle has deviation or not according to a comparison result; and the correction module is used for correcting the radar installation angle if deviation exists.
Optionally, the calculation module comprises: the first transmitting unit is used for controlling the radar to transmit a first working signal to a first preset target; the first calculating unit is used for calculating a first distance between the radar and a first preset target according to the first working signal and a first echo signal when the radar receives the first echo signal after the first working signal is reflected by the first preset target; the second calculation unit is used for calculating a first angle between the radar and the first preset target according to the first distance; the second sending unit is used for controlling the radar to send a second working signal to a second preset target; the third calculating unit is used for calculating a second distance between the radar and a second preset target according to the second working signal and a second echo signal when the radar receives the second echo signal of the second working signal after the second working signal is reflected by the second preset target; and the fourth calculating unit is used for calculating a second angle between the radar and the second preset target according to the second distance.
In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is: providing a computing device comprising: a radar; a first preset target; a second preset target; a controller, comprising: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described above.
In order to solve the above technical problem, another technical solution adopted in the embodiments of the present invention is: a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium stores computer-executable instructions for causing a server to perform the method as described above.
The embodiment of the invention has the beneficial effects that: different from the situation of the prior art, the embodiment of the invention starts the radar firstly; calculating a first angle between the radar and a first preset target and a second angle between the radar and a second preset target, wherein the first preset target, the second preset target and the position of the radar form an isosceles triangle, the first angle is an included angle between a connecting line of the radar and the first preset target and a radar center line, the second angle is an included angle between the connecting line of the radar and the second preset target and the radar center line, and the radar center line is a ray emitted by the radar to the right front by the radar; then comparing the first angle with a first theoretical calculation angle, comparing the second angle with a second theoretical calculation angle, and judging whether the radar installation angle has deviation according to a comparison result; and if the deviation exists, correcting the radar installation angle. Through the steps, the whole calibration work can be automatically completed by the vehicle-mounted millimeter wave radar, the deviation value does not need to be input manually, the calibration method is simple and effective, and the high-efficiency calibration work of the vehicle-mounted millimeter wave radar is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a schematic diagram of an application environment of a method for correcting a radar installation angle according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for calibrating a radar installation angle according to an embodiment of the present invention;
FIG. 3 is a flowchart of radar startup in a method for calibrating a radar installation angle according to an embodiment of the present invention;
fig. 4 is a flowchart of calculating a first angle between the radar and a first preset target and a second angle between the radar and a second preset target in the method for correcting the installation angle of the radar according to the embodiment of the present invention;
fig. 5 is a flowchart illustrating a method for correcting a radar installation angle according to an embodiment of the present invention, in which the first angle is compared with a first theoretically calculated angle, the second angle is compared with a second theoretically calculated angle, and whether a deviation exists in the radar installation angle is determined according to a comparison result;
fig. 6 is a flowchart of correcting a radar installation angle if a rightward inclination deviation exists in a method for correcting a radar installation angle according to an embodiment of the present invention;
fig. 7 is a flowchart of correcting a radar installation angle if there is a left tilt deviation in a method for correcting a radar installation angle according to an embodiment of the present invention;
FIG. 8 is a block diagram of a radar installation angle calibration apparatus according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a radar installation angle correction apparatus according to an embodiment of the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "vertical," "horizontal," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, fig. 1 is a schematic diagram of an application environment of a method for correcting a radar installation angle according to an embodiment of the present invention, where the application environment includes a radar 10, a first preset target 20, and a second preset target 30, where the first preset target 20, the second preset target 30, and a position of the radar 10 form an isosceles triangle, the radar 10 transmits a working signal to the first preset target 20 and the second preset target 30, and the radar 10 receives an echo signal of the reflected working signal, and completes a radar installation angle correction operation through a controller 40.
Fig. 2 shows a flowchart of a method for correcting a radar installation angle according to the present invention, which includes the steps of, as shown in fig. 2:
step S110, starting a radar;
in some embodiments, referring to fig. 3, step S110 includes:
step 1101, connecting the radar with a power supply to enable the radar to be in a standby working state;
and step S1102, adjusting the radar in the state to be operated to an operating mode.
Step S120, calculating a first angle between the radar and a first preset target and a second angle between the radar and a second preset target;
in the embodiment of the present invention, the first preset target and the second preset target are fixedly arranged, the first preset target, the second preset target and the position of the radar form an isosceles triangle, the first angle is an included angle between a connecting line of the radar and the first preset target and a radar center line, the second angle is an included angle between a connecting line of the radar and the second preset target and a radar center line, and the radar center line is a ray emitted by the radar from the radar to the front of the radar.
In some embodiments, referring to fig. 4, step S120 includes:
step S1201, controlling the radar to send a first working signal to a first preset target;
step S1202, when the radar receives a first echo signal of the first working signal after being reflected by the first preset target, calculating a first distance between the radar and the first preset target according to the first working signal and the first echo signal;
step S1203, calculating a first angle between the radar and the first preset target according to the first distance;
step S1204, controlling the radar to send a second working signal to a second preset target;
step S1205, when the radar receives a second echo signal of the second working signal after being reflected by the second preset target, calculating a second distance between the radar and the second preset target according to the second working signal and the second echo signal;
step S1206, according to the second distance, calculates a second angle between the radar and the second preset target.
Step S130, comparing the first angle with a first theoretical calculation angle, comparing the second angle with a second theoretical calculation angle, and judging whether the radar installation angle has deviation according to the comparison result;
the first and second theoretically calculated angles correspond to the first and second angular positions, respectively.
In some embodiments, referring to fig. 5, step S130 includes:
step S1301, if the first angle is equal to the first theoretical calculation angle, and the second angle is equal to the second theoretical calculation angle, the radar installation angle has no deviation;
and the radar mounting angle has no deviation, which indicates that the radar is correctly mounted, correction is not needed, and the correction work can be finished.
Step S1302, if the first angle is smaller than the first theoretically calculated angle and the second angle is larger than the second theoretically calculated angle, the radar installation angle has a rightward inclination deviation;
step S1303, if the first angle is greater than the first theoretical calculation angle and the second angle is smaller than the second theoretical calculation angle, the radar mounting angle has a deviation of inclining to the left.
Step S140, if deviation exists, correcting the radar installation angle;
the deviation comprises a rightward inclination deviation and a leftward inclination deviation.
(1) When there is a deviation of the right tilt, referring to fig. 6, step S140 includes:
step S14011, calculating a third angle required for leftward correction of the deviation;
step S14012, left-corrects the radar installation angle according to a third angle required for the left-correction deviation.
(2) When there is a left tilt deviation, referring to fig. 7, step S140 includes:
step S14021 of calculating a fourth angle required for rightward correction of the deviation;
step S14022, right-corrects the radar installation angle according to a fourth angle required for the right-correction deviation.
In the embodiment of the invention, if the deviation is not generated, the radar installation angle does not need to be corrected, and the correction operation is finished.
The embodiment of the invention has the beneficial effects that: unlike the prior art, the embodiment of the present invention starts the radar 10; calculating a first angle between the radar 10 and a first preset target 20 and a second angle between the radar 10 and a second preset target 30, wherein the positions of the first preset target 20, the second preset target 30 and the radar 10 form an isosceles triangle, the first angle is an included angle between a connecting line between the radar 10 and the first preset target 20 and a center line of the radar 10, the second angle is an included angle between a connecting line between the radar 10 and the second preset target 30 and a center line of the radar 10, and the center line of the radar 10 is a ray emitted by the radar 10 to the front of the radar 10; then, comparing the first angle with a first theoretical calculation angle, comparing the second angle with a second theoretical calculation angle, and judging whether the installation angle of the radar 10 has deviation according to a comparison result; and if the deviation exists, correcting the installation angle of the radar 10. Through the steps, the whole calibration work can be automatically completed by the vehicle-mounted millimeter wave radar 10, the deviation value does not need to be input manually, simplicity and effectiveness are realized, and the high-efficiency calibration work of the vehicle-mounted millimeter wave radar 10 is realized.
Referring to fig. 8, fig. 8 shows a functional block diagram of a radar installation angle calibration apparatus 50 according to an embodiment of the present invention, where the apparatus 50 includes: an initiating module 501, a calculating module 502, a comparing module 503 and a correcting module 504. The starting module 501 is used for starting the radar; a calculating module 502, configured to calculate a first angle between the radar and a first preset target, and a second angle between the radar and a second preset target; a comparing module 503, configured to compare the first angle with a first theoretical calculation angle, compare the second angle with a second theoretical calculation angle, and determine whether the radar installation angle has a deviation according to a comparison result; a correcting module 504, configured to correct the radar installation angle if there is a deviation.
The start module 501 includes a power-on unit 5011 and an adjusting unit 5012. The power-on unit 5011 is configured to turn on a power supply of the radar, so that the radar is in a standby state; the adjusting unit 5012 is configured to adjust the radar in the standby state to an operating mode.
The calculating module 502 includes a first transmitting unit 5021, a first calculating unit 5022, a second calculating unit 5023, a second transmitting unit 5024, a third calculating unit 5025, and a fourth calculating unit 5026. The first transmitting unit 5021 is used for controlling the radar to transmit a first working signal to a first preset target; the first calculating unit 5022 is configured to calculate a first distance between the radar and the first preset target according to the first working signal and a first echo signal when the radar receives the first echo signal after the first working signal is reflected by the first preset target; the second calculating unit 5023 is configured to calculate a first angle between the radar and the first preset target according to the first distance. The second transmitting unit 5024 is used for controlling the radar to transmit a second working signal to a second preset target; the third calculating unit 5025 is configured to calculate a second distance between the radar and the second preset target according to the second working signal and a second echo signal when the radar receives the second echo signal after the second working signal is reflected by the second preset target; the fourth calculating unit 5026 is configured to calculate a second angle between the radar and the second preset target according to the second distance.
The comparing module 503 includes a first comparing unit 5031, a second comparing unit 5032, and a third comparing unit 5033. The first comparing unit 5031 is configured to determine that there is no deviation in the radar installation angle if the first angle is equal to the first theoretically calculated angle, and the second angle is equal to the second theoretically calculated angle; the second comparing unit 5032 is configured to determine that the radar installation angle has a rightward inclination deviation if the first angle is smaller than the first theoretical calculation angle and the second angle is larger than the second theoretical calculation angle; the third comparing unit 5033 is configured to determine that the radar installation angle has a leftward inclination deviation if the first angle is greater than the first theoretical calculation angle and the second angle is smaller than the second theoretical calculation angle.
Wherein the correction module includes a fifth calculation unit 5041, a first correction unit 5042, a sixth calculation unit 5043, and a second correction unit 5044. Wherein the fifth calculating unit 5041 is configured to calculate a third angle required to correct the deviation leftward when there is a rightward tilt deviation; the first correction unit 5042 is configured to perform leftward correction on the radar installation angle according to a third angle required for the leftward correction deviation; a sixth calculation unit 5043 for calculating a fourth angle required to correct the deviation to the right when there is a deviation to the left tilt; the second correction unit 5044 is configured to correct the radar installation angle rightward according to a fourth angle required for the rightward correction of the deviation.
The embodiment of the invention has the beneficial effects that: different from the situation of the prior art, the embodiment of the invention starts the radar through the starting module 501; then, a first angle between the radar and a first preset target and a second angle between the radar and a second preset target are calculated through a calculating module 502, the first preset target, the second preset target and the position of the radar form an isosceles triangle, the first angle is an included angle between a connecting line of the radar and the first preset target and a radar center line, the second angle is an included angle between the connecting line of the radar and the second preset target and the radar center line, and the radar center line is a ray emitted by the radar to the right ahead of the radar from the radar; comparing the first angle with a first theoretical calculation angle through a comparison module 503, comparing the second angle with a second theoretical calculation angle, and judging whether the radar installation angle has deviation according to a comparison result; finally, if there is a deviation, the radar installation angle is corrected by the correction module 504. Through the steps, the whole calibration work can be automatically completed by the vehicle-mounted millimeter wave radar, the deviation value does not need to be input manually, the calibration method is simple and effective, and the high-efficiency calibration work of the vehicle-mounted millimeter wave radar is realized.
The present invention further provides an embodiment of a calibration apparatus 70, please refer to fig. 9, fig. 9 is a schematic diagram of an embodiment of the calibration apparatus 70 according to the present invention, and a controller of the calibration apparatus 70 includes: at least one processor 701; and a memory 702 communicatively coupled to the at least one processor 701, one of the processors 701 being illustrated in fig. 9. The memory 702 stores instructions executable by the at least one processor 701, the instructions being executable by the at least one processor 701 to enable the at least one processor 701 to perform a method of correcting a radar installation angle described in fig. 2 to 7 and a device of correcting a radar installation angle described in fig. 8. The processor 701 and the memory 702 may be connected by a bus or other means, and fig. 9 illustrates an example of a connection by a bus.
The memory 702, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to a method for correcting a radar installation angle in an embodiment of the present application, for example, the modules shown in fig. 8. The processor 701 executes various functional applications of the server and data processing by running a nonvolatile software program, instructions, and modules stored in the memory 702, that is, implements the method for correcting the radar installation angle according to the above-described method embodiment.
The memory 702 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a correction device for a radar installation angle, and the like. Further, the memory 702 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 non-volatile solid state storage device. In some embodiments, the memory 702 may optionally include memory remotely located from the processor 701, which may be connected over a network to a radar mounting angle correction device. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 702 and, when executed by the one or more processors 701, perform a method of radar installation angle correction in any of the above-described method embodiments, e.g., performing the method steps of fig. 2-7 described above, and performing a radar installation angle correction apparatus of fig. 8 described above.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
Embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer-executable instructions for execution by one or more processors, for example, to perform the steps of the method for correcting a radar installation angle of fig. 2 to 7 described above and to perform the apparatus for correcting a radar installation angle of fig. 8 described above.
Embodiments of the present application also provide a computer program product comprising a computer program stored on a non-volatile computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform a method of correcting a radar installation angle in any of the above-described method embodiments, for example, perform the method steps of fig. 2 to 7 described above, and perform a device of correcting a radar installation angle described above in fig. 8.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for correcting a radar installation angle is characterized by comprising the following steps:
starting a radar;
calculating a first angle between the radar and a first preset target and a second angle between the radar and a second preset target, wherein the first preset target, the second preset target and the position of the radar form an isosceles triangle, the first angle is an included angle between a connecting line of the radar and the first preset target and a radar center line, the second angle is an included angle between the connecting line of the radar and the second preset target and the radar center line, and the radar center line is a ray emitted by the radar to the right front by the radar;
comparing the first angle with a first theoretical calculation angle, comparing the second angle with a second theoretical calculation angle, and judging whether the radar installation angle has deviation according to a comparison result;
and if the deviation exists, correcting the radar installation angle.
2. The calibration method according to claim 1, wherein the step of calculating the first angle of the radar with respect to the first preset target further comprises:
controlling the radar to send a first working signal to a first preset target;
when the radar receives a first echo signal of the first working signal after being reflected by the first preset target, calculating a first distance between the radar and the first preset target according to the first working signal and the first echo signal;
and calculating a first angle between the radar and the first preset target according to the first distance.
3. The calibration method according to claim 1, wherein the step of calculating a second angle between the radar and a second predetermined target further comprises:
controlling the radar to send a second working signal to a second preset target;
when the radar receives a second echo signal of the second working signal after being reflected by the second preset target, calculating a second distance between the radar and the second preset target according to the second working signal and the second echo signal;
and calculating a second angle between the radar and the second preset target according to the second distance.
4. The calibration method according to claim 1, wherein the step of comparing the first angle with a first theoretically calculated angle and comparing the second angle with a second theoretically calculated angle, and determining whether the radar mounting angle is deviated according to the comparison result further comprises:
if the first angle is equal to the first theoretical calculation angle and the second angle is equal to the second theoretical calculation angle, the radar mounting angle has no deviation;
if the first angle is smaller than the first theoretical calculation angle and the second angle is larger than the second theoretical calculation angle, the radar installation angle has a rightward inclination deviation;
if the first angle is larger than the first theoretical calculation angle, and the second angle is smaller than the second theoretical calculation angle, the radar installation angle has a leftward inclination deviation.
5. The method of claim 1, wherein the step of correcting the radar installation angle if there is a deviation further comprises:
calculating a third angle required for leftward correction of the deviation when there is a rightward inclination deviation;
according to a third angle required by the leftward correction deviation, leftward correction is carried out on the radar installation angle;
when there is a leftward tilt deviation, calculating a fourth angle required to correct the deviation rightward;
and correcting the installation angle of the radar to the right according to a fourth angle required by the deviation correction to the right.
6. The calibration method of claim 1, wherein the step of activating the radar further comprises:
switching on the radar to enable the radar to be in a standby working state;
and adjusting the radar in the state of waiting to work to a working mode.
7. A device for correcting a radar installation angle, the device comprising:
the starting module is used for starting the radar;
the calculating module is used for calculating a first angle between the radar and a first preset target and a second angle between the radar and a second preset target, the first preset target, the second preset target and the position of the radar form an isosceles triangle, the first angle is an included angle between a connecting line of the radar and the first preset target and a radar central line, the second angle is an included angle between the connecting line of the radar and the second preset target and the radar central line, and the radar central line is a ray emitted by the radar to the right front by the radar;
the comparison module is used for comparing the first angle with a first theoretical calculation angle, comparing the second angle with a second theoretical calculation angle, and judging whether the radar installation angle has deviation according to a comparison result;
and the correction module is used for correcting the radar installation angle if deviation exists.
8. A device for correcting a radar installation angle, wherein the calculation module comprises:
the first transmitting unit is used for controlling the radar to transmit a first working signal to a first preset target;
the first calculating unit is used for calculating a first distance between the radar and a first preset target according to the first working signal and a first echo signal when the radar receives the first echo signal after the first working signal is reflected by the first preset target;
the second calculation unit is used for calculating a first angle between the radar and the first preset target according to the first distance;
the second sending unit is used for controlling the radar to send a second working signal to a second preset target;
the third calculating unit is used for calculating a second distance between the radar and a second preset target according to the second working signal and a second echo signal when the radar receives the second echo signal of the second working signal after the second working signal is reflected by the second preset target;
and the fourth calculating unit is used for calculating a second angle between the radar and the second preset target according to the second distance.
9. A computing device, comprising:
a radar;
a first preset target;
a second preset target;
a controller, comprising: at least one processor, and a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
10. A non-transitory computer-readable storage medium storing computer-executable instructions for causing a server to perform the method of any one of claims 1 to 6.
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| CN202111240026.XA CN114019464A (en) | 2021-10-25 | 2021-10-25 | Method and device for correcting radar installation angle and correction equipment |
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