CN114137485A - Millimeter wave calibration method and device - Google Patents

Millimeter wave calibration method and device Download PDF

Info

Publication number
CN114137485A
CN114137485A CN202111224191.6A CN202111224191A CN114137485A CN 114137485 A CN114137485 A CN 114137485A CN 202111224191 A CN202111224191 A CN 202111224191A CN 114137485 A CN114137485 A CN 114137485A
Authority
CN
China
Prior art keywords
millimeter wave
wave radar
coordinate system
axis
radar
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111224191.6A
Other languages
Chinese (zh)
Inventor
李慧慧
张放
李晓飞
王肖
张德兆
霍舒豪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dongfeng Motor Corp
Beijing Idriverplus Technologies Co Ltd
Original Assignee
Dongfeng Motor Corp
Beijing Idriverplus Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dongfeng Motor Corp, Beijing Idriverplus Technologies Co Ltd filed Critical Dongfeng Motor Corp
Priority to CN202111224191.6A priority Critical patent/CN114137485A/en
Publication of CN114137485A publication Critical patent/CN114137485A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention provides a millimeter wave calibration method and a millimeter wave calibration device. The millimeter wave radar calibration method comprises the following steps: detecting the key point positions of a plurality of markers with the same height in a region to be detected by using a laser radar and a millimeter wave radar respectively to obtain the key point position based on the laser radar and the key point position based on the millimeter wave radar; matching the key point position based on the laser radar with the key point position based on the millimeter wave radar, and calculating a 6-degree-of-freedom conversion relation from a millimeter wave radar coordinate system to a laser radar coordinate system according to a matching result; and calculating the 6-degree-of-freedom conversion relation from the millimeter wave radar coordinate system to the vehicle coordinate system by utilizing the conversion relation between the laser radar coordinate system and the vehicle coordinate system and the 6-degree-of-freedom conversion relation from the millimeter wave radar coordinate system to the laser radar coordinate system. The invention can realize fast and accurate calibration result.

Description

Millimeter wave calibration method and device
Technical Field
The invention relates to the technical field of millimeter wave radar calibration, in particular to a millimeter wave radar calibration method and a millimeter wave radar calibration device.
Background
The environment perception sensor related to automatic driving comprises a laser radar, a camera, a millimeter wave radar, an ultrasonic radar and the like; the millimeter wave radar occupies an immovable position due to the advantages of low cost, strong environmental adaptability and strong reliability, and can be used for calculating the speed, distance, angle and the like of a target, and the calibration of external parameters of the millimeter wave radar is an indispensable link. The millimeter wave radar and the laser radar are jointly calibrated by the most commonly used method at present, but due to the complexity of the external environment, the laser radar and the millimeter wave radar have deviation in detection of external targets, the millimeter wave radar has no elevation angle resolution, and in order to simplify the calibration process, the elevation angle and the roll angle are always assumed to be 0, so that errors are further accumulated, and high requirements are provided for hardware installation.
Disclosure of Invention
The invention aims to provide a millimeter wave radar calibration method and a target detection method and device based on the millimeter wave radar calibration method aiming at the technical defects in the prior art.
In a first aspect of the present invention, a millimeter wave radar calibration method is provided, including:
detecting the key point positions of a plurality of markers with the same height in a region to be detected by using a laser radar and a millimeter wave radar respectively to obtain the key point position based on the laser radar and the key point position based on the millimeter wave radar;
matching the key point position based on the laser radar with the key point position based on the millimeter wave radar, and calculating a 6-degree-of-freedom conversion relation from a millimeter wave radar coordinate system to a laser radar coordinate system according to a matching result;
and calculating the 6-degree-of-freedom conversion relation from the millimeter wave radar coordinate system to the vehicle coordinate system by utilizing the conversion relation between the laser radar coordinate system and the vehicle coordinate system and the 6-degree-of-freedom conversion relation from the millimeter wave radar coordinate system to the laser radar coordinate system.
In a second aspect of the present invention, a target detection method is provided, including:
by utilizing the 6-degree-of-freedom conversion relation from the millimeter wave radar coordinate system to the vehicle coordinate system, which is obtained by the millimeter wave radar calibration method, the target position obtained by the detection of the millimeter wave radar is converted into the target position in the vehicle coordinate system.
In a third aspect of the present invention, there is provided an object detecting apparatus comprising:
the degree-of-freedom conversion module is used for obtaining a 6-degree-of-freedom conversion relation from a millimeter wave radar coordinate system to a vehicle coordinate system by using the millimeter wave radar calibration method in the first aspect of the invention;
and the coordinate conversion module is used for converting the target position obtained by the detection of the millimeter wave radar into the target position under the vehicle coordinate system by utilizing the 6-degree-of-freedom conversion relation from the millimeter wave radar coordinate system to the vehicle coordinate system.
According to the millimeter wave radar calibration method, a 6-degree-of-freedom conversion relation from a millimeter wave radar coordinate system to a vehicle coordinate system is obtained by adopting a laser radar and millimeter wave radar combined calibration mode, and rapid calibration of the millimeter wave radar is realized.
The target detection method provided by the invention is based on the millimeter wave radar calibration method, and can be used for quickly and accurately converting the target position obtained by the millimeter wave radar detection to the target position in the vehicle coordinate system, so that the target can be quickly and accurately detected.
Drawings
FIG. 1 is a flow chart of a millimeter wave radar calibration method according to an embodiment of the present invention;
FIGS. 2a-2c are schematic diagrams of a lidar coordinate system, a millimeter-wave radar coordinate system, and a correlation between the millimeter-wave radar coordinate system and the lidar coordinate system, respectively;
FIG. 3 is a schematic layout of site calibration according to an embodiment of the present invention;
fig. 4 is an overall flowchart of a target detection method according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the millimeter wave radar calibration method according to the embodiment of the present invention is implemented by the following steps:
s1, detecting the key point positions of a plurality of markers 200 with the same height in a region to be detected by using a laser radar and a millimeter wave radar respectively to obtain the key point position based on the laser radar and the key point position based on the millimeter wave radar;
wherein, the marker 200 is put on the place 300 that levels spaciously, as shown in fig. 3, is in the effective detection area scope of installing millimeter wave radar and laser radar on own car 100, the marker 200 is put on the place that the surface is spaciously and smoothly, can be in the place ahead of own car 100, levels the central line 310 one side of the place 300 that levels spaciously, between the curb 320 of both sides, the width W in place will satisfy certain requirement, if be greater than 10 m. The selection of an open and flat field 300 for placement of the marker 200 ensures that no other millimeter wave radar or lidar detectable targets are in the vicinity of the marker 200.
As an alternative embodiment, the marker 200 may be a radar reflector or other marker, or a combination of a radar reflector and other markers. The number and placement of the markers is not limited to the embodiment of fig. 3.
As an alternative embodiment, the middle key point position is preferably a center point, but is not limited to taking the center point position as the key point position.
It should be noted that, in the embodiment of the present invention, when the laser radar is used to detect the marker 200, the position of the key point of the marker may be obtained from the clustering result by using a clustering method, and the clustering method used may be any available clustering method.
S2, matching the key point position based on the laser radar with the key point position based on the millimeter wave radar, and calculating a 6-degree-of-Freedom (Six details of Freedom) conversion relation from a millimeter wave radar coordinate system to a laser radar coordinate system according to a matching result;
and S3, calculating the 6-degree-of-freedom conversion relation from the millimeter wave radar coordinate system to the vehicle coordinate system by utilizing the conversion relation between the laser radar coordinate system and the vehicle coordinate system and the 6-degree-of-freedom conversion relation from the millimeter wave radar coordinate system to the laser radar coordinate system.
Fig. 2a-2c are schematic diagrams of a laser radar coordinate system, a millimeter wave radar coordinate system, and a relationship between the millimeter wave radar coordinate system and the laser radar coordinate system, respectively.
In step S3, the 6-degree-of-freedom conversion relationship from the millimeter wave radar coordinate system to the laser radar coordinate system includes the following parameters:
x-axis translation amount xoffset, Y-axis translation amount yoffset, Z-axis translation amount zoffset, X-axis rotation angle roll, Y-axis rotation angle pitch, Z-axis rotation angle yaw:
the parameters have the following relations:
Figure BDA0003311612180000031
Figure BDA0003311612180000032
Figure BDA0003311612180000033
the X axis and the Y axis respectively represent a front-back axis and a left-right axis which are vertical to each other on a horizontal plane; in connection with fig. 2a-2c, the X-axis corresponds to the OX-axis in fig. 2a, 2c and the Y-axis corresponds to the OY-axis in fig. 2a, 2 c;
the Z axis represents the upper and lower axes perpendicular to the horizontal plane; in connection with fig. 2a-2c, the Z-axis corresponds to the OZ-axis in fig. 2a, 2 c;
(lx, ly, lz) is the coordinate of a point in a laser radar coordinate system;
(rx, ry, rz) is the coordinate of a point in the millimeter wave radar coordinate system;
r is a rotation matrix, and R is a rotation matrix,
Figure BDA0003311612180000034
θ and φ represent the Z-axis rotation angle yaw, the Y-axis rotation angle pitch, and the X-axis rotation angle roll, respectively;
t is a translation matrix;
and converting the coordinates (rx, ry and rz) of the point under the millimeter wave radar coordinate system into the coordinates (lx, ly and lz) of the point under the laser radar coordinate system in a mode of rotating first and then translating.
And the Z-axis translation amount zoffset is obtained by calculation according to the installation heights of the millimeter wave radar and the laser radar. Because the millimeter wave radar has no resolution capability on the height, the millimeter wave radar has higher requirements on the Z-axis translation amount zoffset, the X-axis rotation angle roll and the Y-axis rotation angle pitch during actual installation, the height of the millimeter wave radar is generally required to be not less than 400mm and not more than 800mm during installation, the angle error is not more than 1 degree, and the Y-axis rotation angle pitch approaches to 0 degree (certain angle error exists, and the requirement is not more than 1 degree). Therefore, after the millimeter wave radar and the laser radar are mounted on the own vehicle, the Z-axis translation amount zoffset and the Y-axis rotation angle pitch of the millimeter wave radar coordinate system with respect to the laser radar coordinate system are known. Therefore, after the X-axis translation amount xoffset, the Y-axis translation amount yoffset, the X-axis rotation angle roll and the Z-axis rotation angle yaw of the millimeter wave radar coordinate system relative to the laser radar coordinate system are calibrated based on the laser radar coordinate system, the calibration of the millimeter wave radar coordinate system to the vehicle coordinate system can be realized, and the calibration and calibration of the millimeter wave radar coordinate system relative to the vehicle coordinate system are realized.
As an alternative embodiment, the Z-axis rotation angle yaw may be calculated by the following steps:
step 1: performing linear fitting on the positions of the key points based on the millimeter wave radar on a horizontal plane, and calculating the slope ra of the fitted linear;
step 2: performing straight line fitting on the positions of the key points based on the laser radar on a horizontal plane, and calculating the slope la of the fitted straight line;
and step 3: the Z-axis rotation angle yaw is calculated according to the following formula:
yaw＝arctan(la)-arctan(ra)。
as shown in fig. 3, the height of 5 markers 200 arranged in the field is rh, and the positions of the markers 1# to 5# detected by the millimeter wave radar are unique, r1(x1_ r, y1_ r, rh), r2(x2_ r, y2_ r, rh), r3(x3_ r, y3_ rr, rh), r4(x4_ r, y4_ rr, rh), r5(x5_ r, y5_ rr, rh). The method comprises the steps that the laser radar detects that each marker 200 is composed of a plurality of points, two corresponding markers are found by determining key points and clustering, the key point position of each marker is calculated and is used for corresponding to the positions of 5 markers detected by the millimeter wave radar, the positions of the 5 markers are assumed to be l1(x1_ l, y1_ lr, rh), l2(x2_ l, y2_ lr, rh), l3(x3_ l, y3_ l, rh), l4(x4_ l, y4_ l, rh), l5(x5_ l, y5_ l, rh) after the laser radar is detected and clustered, straight line fitting is carried out on data of the 5 points detected by the millimeter wave radar and the laser radar on a X, Y plane, and slope ra corresponding to millimeter wave radar data and slope la corresponding to the laser radar are obtained.
In the embodiment of the invention, after the slope ra corresponding to millimeter wave radar data and the slope la corresponding to laser radar data are obtained by fitting a straight line by using a plurality of markers, the Z-axis rotation angle yaw is calculated by using the formula, so that the error of the Z-axis rotation angle yaw is reduced.
In the embodiment of the present invention, the method for fitting the straight line of the data detected by the millimeter wave radar and the laser radar on the X, Y plane may use a RANSAC method to perform the straight line fitting, or may use any available fitting method, such as a least square fitting method.
As an alternative embodiment, the embodiment of the present invention may calculate the X-axis rotation angle roll according to the following formula:
Figure BDA0003311612180000051
Figure BDA0003311612180000052
i and j represent any two markers, respectively;
xi _ l represents an X-axis coordinate value of a key point position of the marker i obtained based on the laser radar;
xj _ l represents an X-axis coordinate value of a key point position of the marker j obtained based on the laser radar;
xi _ r represents an X-axis coordinate value of the key point position of the marker i obtained based on the millimeter wave radar;
xj _ r represents an X-axis coordinate value of a key point position of the marker j obtained based on the millimeter wave radar;
yj _ r represents a Y-axis coordinate value of the key point position of the marker j obtained based on the millimeter wave radar;
yi _ r represents a Y-axis coordinate value of the key point position of the marker i obtained based on the millimeter wave radar;
n is the number of markers;
Figure BDA0003311612180000053
is the permutation and combination of any two markers.
As an alternative embodiment, the embodiment of the present invention may calculate the X-axis translation amount xoffset and the Y-axis translation amount yoffset according to the following formulas:
Figure BDA0003311612180000054
Figure BDA0003311612180000055
xoffseti＝xi_l-cos(roll)*xi_r+sin(roll)cos(yaw)*yi_r-sin(roll)sin(yaw)*rh
yoffseti＝yi_l-sin(roll)*xi_r-cos(roll)cos(yaw)*yi_r+cos(roll)sin(yaw)*rh；
rh represents the height of the marker;
yi _ l represents a Y-axis coordinate value of the key point position of the marker i obtained based on the laser radar.
In the embodiment of the invention, the errors of the X-axis rotation angle roll, the X-axis translation amount xoffset and the Y-axis translation amount yoffset are reduced by taking a calculation mode of averaging a plurality of groups of values instead of taking a single result as a final result, and meanwhile, the accuracy of a calibration result is improved by fully utilizing known conditions, such as the height rh of a marker.
It should be noted that the manner of calculating the X-axis rotation angle roll, the X-axis translation amount xoffset, and the Y-axis translation amount yoffset according to the embodiment of the present invention is not limited to the manner of averaging, and may be implemented in other available manners.
Based on the same inventive concept, a second aspect of the embodiments of the present invention provides a target detection method, in which a 6-degree-of-freedom conversion relationship from a millimeter wave radar coordinate system to a vehicle coordinate system, which is obtained by using the millimeter wave radar calibration method provided by the first aspect of the embodiments of the present invention, is used to convert a target position obtained by the millimeter wave radar detection to a target position in the vehicle coordinate system.
Based on the same inventive concept, a third aspect of the embodiments of the present invention further provides an object detection apparatus, including:
the degree-of-freedom conversion module is used for obtaining a 6-degree-of-freedom conversion relation from a millimeter wave radar coordinate system to a vehicle coordinate system by using the millimeter wave radar calibration method provided by the first aspect of the embodiment of the invention;
and the coordinate conversion module is used for converting the target position obtained by the detection of the millimeter wave radar into the target position under the vehicle coordinate system by utilizing the 6-degree-of-freedom conversion relation from the millimeter wave radar coordinate system to the vehicle coordinate system.
In the embodiment of the present invention, since the laser radar coordinate system is calibrated to the vehicle coordinate system in advance by the millimeter wave radar calibration method according to the first aspect of the embodiment of the present invention, after the obtained 6-degree-of-freedom conversion relationship of the millimeter wave radar coordinate system with respect to the laser radar coordinate system, the 6-degree-of-freedom conversion relationship of the millimeter wave radar coordinate system to the vehicle coordinate system is obtained, and thus the position of the target position in the vehicle coordinate system under the millimeter wave transfer coordinate system can be calculated by the 6-degree-of-freedom conversion relationship.
Specifically, as shown in fig. 4, scene construction is performed first, a hollow and flat road surface is selected, then a plurality of markers are placed on the road surface, as shown in fig. 3, and the markers are arranged in a consistent height, then the markers are detected by a laser radar on a self-vehicle and are subjected to cluster analysis, the positions of key points of the markers are calculated according to a clustering result, meanwhile, the positions of the key points of the markers are matched in combination with the positions of the key points of the markers detected by a millimeter wave radar, and after the matching of the key points is completed, 6-degree-of-freedom parameters of the millimeter wave radar, namely, an X-axis translation amount xoffyoffset, a Y-axis translation amount zoffset, an X-axis rotation angle roll, a Y-axis rotation angle pitch and a Z-axis rotation angle yaw, are calculated.
As described in the foregoing first embodiment of the present invention, the millimeter wave radar is installed on the host vehicle, the height of the millimeter wave radar is fixed, the height is known, that is, the Z-axis translation amount zoffset is known, and the Y-axis rotation angle pitch approaches to 0 degree, which are also known, so that after the parameter value of 6 degrees of freedom is obtained, the corresponding transformation matrix R and translation matrix T can be established, so that the transformation relationship between the coordinates of the point under the laser radar coordinate and the coordinates of the point under the millimeter wave radar coordinate system is established, and thus the 6 degrees of freedom transformation relationship between the millimeter wave radar coordinate system and the laser radar coordinate system can be obtained, and since the laser radar coordinate system is calibrated to the vehicle coordinate system in advance, the calibration of the millimeter wave radar coordinate system to the vehicle coordinate system can be realized; after the millimeter wave radar is calibrated, when the target is detected, the position of the target is detected by the millimeter wave radar, and then the lower target position in the vehicle coordinate system can be obtained by utilizing the 6-degree-of-freedom conversion relation from the millimeter wave radar coordinate system to the vehicle coordinate system, so that the target detection is realized.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (11)

1. A millimeter wave radar calibration method, comprising:
detecting the key point positions of a plurality of markers with the same height in a region to be detected by using a laser radar and a millimeter wave radar respectively to obtain the key point position based on the laser radar and the key point position based on the millimeter wave radar;
matching the key point position based on the laser radar with the key point position based on the millimeter wave radar, and calculating a 6-degree-of-freedom conversion relation from a millimeter wave radar coordinate system to a laser radar coordinate system according to a matching result;
and calculating the 6-degree-of-freedom conversion relation from the millimeter wave radar coordinate system to the vehicle coordinate system by utilizing the conversion relation between the laser radar coordinate system and the vehicle coordinate system and the 6-degree-of-freedom conversion relation from the millimeter wave radar coordinate system to the laser radar coordinate system.
2. The millimeter wave radar calibration method according to claim 1, wherein the 6-degree-of-freedom conversion relationship of the millimeter wave radar coordinate system to the lidar coordinate system includes the following parameters: an X-axis translation amount xoffset, a Y-axis translation amount yoffset, a Z-axis translation amount zoffset, an X-axis rotation angle roll, a Y-axis rotation angle pitch, and a Z-axis rotation angle yaw, wherein the parameters have the following relations:
Figure FDA0003311612170000011
Figure FDA0003311612170000012
Figure FDA0003311612170000013
the X axis and the Y axis respectively represent a front-back axis and a left-right axis which are vertical to each other on a horizontal plane;
the Z axis represents the upper and lower axes perpendicular to the horizontal plane;
(lx, ly, lz) is the coordinate of a point in a laser radar coordinate system;
(rx, ry, rz) is the coordinate of a point in the millimeter wave radar coordinate system;
r is a rotation matrix, and R is a rotation matrix,
Figure FDA0003311612170000014
θ and φ represent the Z-axis rotation angle yaw, the Y-axis rotation angle pitch, and the X-axis rotation angle roll, respectively;
t is a translation matrix;
and converting the coordinates (rx, ry and rz) of the point under the millimeter wave radar coordinate system into the coordinates (lx, ly and lz) of the point under the laser radar coordinate system in a mode of rotating first and then translating.
3. The millimeter wave radar calibration method according to claim 2, further comprising: and calculating the Z-axis translation amount zoffset according to the installation height of the millimeter wave radar and the installation height of the laser radar.
4. The millimeter wave radar calibration method according to claim 2, further comprising: the millimeter wave radar and the laser radar are installed according to a predetermined requirement so that the Y-axis rotation angle pitch approaches 0 degrees.
5. The millimeter wave radar calibration method according to claim 2, further comprising:
performing linear fitting on the positions of the key points based on the millimeter wave radar on a horizontal plane, and calculating the slope ra of the fitted linear;
performing straight line fitting on the positions of the key points based on the laser radar on a horizontal plane, and calculating the slope la of the fitted straight line;
the Z-axis rotation angle yaw is calculated according to the following formula:
yaw＝arctan(la)-arctan(ra)。
6. the millimeter wave radar calibration method according to claim 5, further comprising:
the X-axis rotation angle roll is calculated according to the following formula:
Figure FDA0003311612170000021
Figure FDA0003311612170000023
i and j represent any two markers, respectively;
xi _ l represents an X-axis coordinate value of a key point position of the marker i obtained based on the laser radar;
xj _ l represents an X-axis coordinate value of a key point position of the marker j obtained based on the laser radar;
xi _ r represents an X-axis coordinate value of the key point position of the marker i obtained based on the millimeter wave radar;
xj _ r represents an X-axis coordinate value of a key point position of the marker j obtained based on the millimeter wave radar;
yj _ r represents a Y-axis coordinate value of the key point position of the marker j obtained based on the millimeter wave radar;
yi _ r represents a Y-axis coordinate value of the key point position of the marker i obtained based on the millimeter wave radar;
n is the number of markers;
Figure FDA0003311612170000024
is the permutation and combination of any two markers.
7. The millimeter wave radar calibration method according to claim 6, further comprising:
calculating the X-axis translation amount xoffset and the Y-axis translation amount yoffset according to the following formulas:
Figure FDA0003311612170000022
Figure FDA0003311612170000031
xoffseti＝xi_l-cos(roll)*xi_r+sin(roll)cos(yaw)*yi_r-sin(roll)sin(yaw)*rh
yoffseti＝yi_l-sin(roll)*xi_r-cos(roll)cos(yaw)*yi_r+cos(roll)sin(yaw)*rh；
rh represents the height of the marker;
yi _ l represents a Y-axis coordinate value of the key point position of the marker i obtained based on the laser radar.
8. The millimeter-wave radar calibration method of claim 1, wherein the markers comprise radar reflectors.
9. The millimeter wave radar calibration method according to claim 1, wherein the key point is a center point of the marker.
10. A method of object detection, comprising:
the object position detected by the millimeter wave radar is converted to the object position in the vehicle coordinate system by using the 6-degree-of-freedom conversion relationship from the millimeter wave radar coordinate system to the vehicle coordinate system, which is obtained by the millimeter wave radar calibration method according to any one of claims 1 to 9.
11. An object detection device, comprising:
a degree-of-freedom conversion module for obtaining a 6-degree-of-freedom conversion relationship from a millimeter wave radar coordinate system to a vehicle coordinate system by using the millimeter wave radar calibration method according to any one of claims 1 to 9;
and the coordinate conversion module is used for converting the target position obtained by the detection of the millimeter wave radar into the target position under the vehicle coordinate system by utilizing the 6-degree-of-freedom conversion relation from the millimeter wave radar coordinate system to the vehicle coordinate system.
CN202111224191.6A 2021-10-20 2021-10-20 Millimeter wave calibration method and device Pending CN114137485A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111224191.6A CN114137485A (en) 2021-10-20 2021-10-20 Millimeter wave calibration method and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111224191.6A CN114137485A (en) 2021-10-20 2021-10-20 Millimeter wave calibration method and device

Publications (1)

Publication Number Publication Date
CN114137485A true CN114137485A (en) 2022-03-04

Family

ID=80395271

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111224191.6A Pending CN114137485A (en) 2021-10-20 2021-10-20 Millimeter wave calibration method and device

Country Status (1)

Country Link
CN (1) CN114137485A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114994648A (en) * 2022-08-05 2022-09-02 聚时科技(深圳)有限公司 External parameter calibration method for 2D laser radar on linear motion mechanism
CN116381632A (en) * 2023-06-05 2023-07-04 南京隼眼电子科技有限公司 Self-calibration method and device for radar roll angle and storage medium

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114994648A (en) * 2022-08-05 2022-09-02 聚时科技(深圳)有限公司 External parameter calibration method for 2D laser radar on linear motion mechanism
CN114994648B (en) * 2022-08-05 2022-11-08 聚时科技(深圳)有限公司 External parameter calibration method for 2D laser radar on linear motion mechanism
CN116381632A (en) * 2023-06-05 2023-07-04 南京隼眼电子科技有限公司 Self-calibration method and device for radar roll angle and storage medium
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

Similar Documents

Publication Publication Date Title
CN114137485A (en) Millimeter wave calibration method and device
EP3617737B1 (en) Method, apparatus, device and medium for calibrating intelligent roadside unit
CN110146038B (en) Distributed monocular camera laser measuring device and method for assembly corner of cylindrical part
CN109239685A (en) A kind of caliberating device and its scaling method of vehicle-mounted millimeter wave radar installation site
CN106601077B (en) Method and system for judging vehicle position
CN111380573B (en) Method for calibrating the orientation of a moving object sensor
CN111366908B (en) Laser radar rotary table and measuring device and measuring method thereof
CN110085023A (en) Relative position measurement system and method between a kind of vehicle of formation traveling fleet
CN109375195A (en) Parameter quick calibrating method outside a kind of multi-line laser radar based on orthogonal normal vector
CN113843798B (en) Correction method and system for mobile robot grabbing and positioning errors and robot
CN109597037B (en) Radar calibration method and device
CN110596653A (en) Multi-radar data fusion method and device
CN116157961A (en) Antenna device, power supply device, and power supply method
US11639234B2 (en) Method, system and apparatus for aligning a removable sensor on a vehicle
CN117310627A (en) Combined calibration method applied to vehicle-road collaborative road side sensing system
CN111208497A (en) Airborne laser radar system adjustment processing method
US20220342055A1 (en) Attitude/position detection system and method for detecting attitude/position of detector
CN114814865A (en) Method and system for vehicle ranging, vehicle and program product
CN115183981A (en) Wind tunnel coordinate shafting calibration method and calibration device based on coding marks
CN113960548A (en) Calibration method for millimeter wave radar and GPS calibration
CN114755645A (en) Data calibration method for laser radar and millimeter wave radar in expressway tunnel
CN110703254B (en) Vehicle-mounted millimeter wave radar calibration method
CN114782546A (en) Calibration method for eye marking relation of slave eye equipment of cascade stereoscopic vision system
CN114119771A (en) Millimeter wave radar and camera combined calibration method
CA3077438A1 (en) Method, system and apparatus for aligning a removable sensor on a vehicle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
CB02 Change of applicant information
CB02 Change of applicant information

Address after: Room 101-901, 8th Floor, Building 4, Zone 3, No. 22, Jinghai 4th Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing 100176 (Yizhuang Cluster, High end Industrial Zone, Beijing Pilot Free Trade Zone)

Applicant after: Beijing Idriverplus Technology Co.,Ltd.

Applicant after: Dongfeng Motor Corp.

Address before: B416 (b4-006), maker Plaza, 338 Huilongguan East Street, Changping District, Beijing, 102208

Applicant before: Beijing Idriverplus Technology Co.,Ltd.

Applicant before: Dongfeng Motor Corp.