CN114814757A - Intersection radar installation angle determining method and system - Google Patents

Intersection radar installation angle determining method and system Download PDF

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Publication number
CN114814757A
CN114814757A CN202210510414.3A CN202210510414A CN114814757A CN 114814757 A CN114814757 A CN 114814757A CN 202210510414 A CN202210510414 A CN 202210510414A CN 114814757 A CN114814757 A CN 114814757A
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coordinate system
coordinate
preset
current intersection
calibration points
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闫军
陈芸
王伟
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Super Vision Technology Co Ltd
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Super Vision Technology Co Ltd
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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
    • 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
    • G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled

Abstract

The invention discloses a method and a system for determining a mounting angle of a crossing radar, which relate to the field of crossing intelligent vehicle management and comprise the following steps: the method comprises the steps of selecting preset number calibration points from a preset circular area boundary in a preset calibration coordinate system corresponding to the intersection, converting coordinate vectors corresponding to the preset number calibration points in the preset calibration coordinate system into coordinate vectors in a corrected coordinate system, and determining a radar installation angle corresponding to the current intersection according to a slope vector of a connecting line of adjacent calibration points of the preset number calibration points corresponding to the current intersection in the corrected coordinate system, a slope direction of a connecting line of adjacent calibration points of the preset number calibration points corresponding to the current intersection in the preset inclined coordinate system, and a y-axis coordinate vector of the preset number calibration points corresponding to the current intersection in the preset inclined coordinate system, so that the acquisition accuracy of the radar installation angle can be improved.

Description

Intersection radar installation angle determining method and system
Technical Field
The invention relates to the field of intelligent vehicle management at intersections, in particular to a method and a system for determining an installation angle of an intersection radar.
Background
With the increasing number of urban automobiles, road conditions are more complex, especially in various intersection areas, vehicles, non-motor vehicles, pedestrians and the like are gathered together, and therefore, vehicle targets at multiple intersections are usually tracked and detected in a radar and camera combined mode. In order to be able to better combine the data of the target points acquired by the radar with the data of the target points acquired by the camera, strict requirements are imposed on the installation angle of the radar.
At present, when a radar installation angle is obtained, two targets are usually placed on the left side and the right side of an automobile respectively and are separated by a certain distance, a connecting line of the two targets is parallel to the longitudinal axis of the automobile, then the distance and the angle measured by the two targets on one side are output by using a radar, an included angle between the longitudinal axis of the automobile and the normal direction of the radar is determined, and further the real installation angle of the radar is obtained. However, the calculation result of the mounting angle depends on that the connecting line of the two targets is parallel to the longitudinal axis of the automobile, and if the connecting line of the two targets is not strictly parallel to the longitudinal central axis of the automobile body, the calculation result has an error, and the error of the acquired radar mounting angle is large.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method and a system for determining a mounting angle of a crossing radar, which can solve the problem that the error of the conventional acquired mounting angle of the crossing radar is large.
In order to achieve the above object, in one aspect, the present invention provides a method for determining an installation angle of an intersection radar, where the method includes:
selecting a preset number of calibration points from a preset circular area boundary in a preset calibration coordinate system corresponding to the current intersection;
acquiring coordinate vectors respectively corresponding to preset number of calibration points corresponding to the current intersection in a preset calibration coordinate system;
acquiring coordinate vectors of the preset number of calibration points corresponding to the current intersection in a corrected coordinate system according to the corresponding direction of the current intersection in the multiple intersections and the corresponding coordinate vectors of the preset number of calibration points corresponding to the current intersection in a preset calibration coordinate system;
acquiring a slope vector of a connecting line of adjacent calibration points corresponding to the current intersection in the corrected coordinate system according to the coordinate vector of the adjacent calibration points in the preset number of calibration points corresponding to the current intersection in the corrected coordinate system;
acquiring coordinate vectors respectively corresponding to a preset number of calibration points corresponding to the current intersection in a preset inclined coordinate system, and acquiring slope vectors of adjacent calibration point connecting lines of adjacent calibration points corresponding to the current intersection in the preset inclined coordinate system according to the coordinate vectors respectively corresponding to the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system;
and determining the radar installation angle corresponding to the current intersection according to the slope vector of the connecting line of the adjacent calibration points of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system, the slope vector of the connecting line of the adjacent calibration points of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system, and the y-axis coordinate vector of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system.
Further, the step of obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the corresponding direction of the current intersection in the multiple intersections and the corresponding coordinate vectors of the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system respectively comprises:
if the corresponding direction of the current intersection in the multi-intersection is north, acquiring the projection of the distance between the corrected coordinate system origin corresponding to the current intersection and the preset calibration coordinate system origin in the horizontal coordinate direction and the longitudinal projection in the vertical coordinate direction in the corrected coordinate system;
and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the sum of the x-axis direction coordinate vectors respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the sum of the y-axis direction coordinate vectors respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
Further, the step of obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the corresponding direction of the current intersection in the multiple intersections and the corresponding coordinate vectors of the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system respectively comprises:
if the corresponding direction of the current intersection in the multi-intersection is towards east, acquiring the projection of the distance between the corrected coordinate system origin corresponding to the current intersection and the preset calibration coordinate system origin in the horizontal coordinate direction and the longitudinal projection in the vertical coordinate direction in the corrected coordinate system;
and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the y-axis direction coordinate vector difference values respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the sum of the x-axis direction coordinate vectors respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
Further, the step of obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the corresponding direction of the current intersection in the multiple intersections and the corresponding coordinate vectors of the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system respectively comprises:
if the corresponding direction of the current intersection in the multi-intersection is towards the south, acquiring the projection of the distance between the corrected coordinate system origin corresponding to the current intersection and the preset calibration coordinate system origin in the horizontal coordinate direction and the longitudinal projection in the vertical coordinate direction in the corrected coordinate system;
and obtaining coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the x-axis direction coordinate vector difference values respectively corresponding to the projection in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the y-axis direction coordinate vector difference values respectively corresponding to the longitudinal projection in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
Further, the step of obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the corresponding direction of the current intersection in the multiple intersections and the corresponding coordinate vectors of the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system respectively comprises:
if the corresponding direction of the current intersection in the multi-intersection is facing west, acquiring the projection of the distance between the corrected coordinate system origin corresponding to the current intersection and the preset calibration coordinate system origin in the horizontal coordinate direction and the longitudinal projection in the vertical coordinate direction in the corrected coordinate system;
and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the sum of the y-axis direction coordinate vectors respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the x-axis direction coordinate vector difference values respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
Further, the step of determining the radar installation angle corresponding to the current intersection according to the slope vector of the connecting line of the adjacent calibration points of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system, the slope vector of the connecting line of the adjacent calibration points of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system, and the y-axis coordinate vector of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system includes:
acquiring a radar installation angle vector corresponding to the current intersection according to the azimuth angle vector of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system and the azimuth angle vector of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system;
acquiring radar error vectors corresponding to the preset number of calibration points corresponding to the current intersection according to a y-axis coordinate vector of the preset number of calibration points corresponding to the current intersection under a preset inclined coordinate system, and performing normalization processing on the radar error vectors to obtain weight vectors corresponding to the preset number of calibration points;
and carrying out preset weighting processing on the radar installation angle vectors and the weight vectors corresponding to the preset number of calibration points to obtain the radar installation angle corresponding to the current intersection.
In another aspect, the present invention provides a system for determining an angle of installation of an intersection radar, the system comprising:
the selection unit is used for selecting preset number calibration points from the preset circular area boundary in the preset calibration coordinate system corresponding to the current intersection;
the acquisition unit is used for acquiring coordinate vectors corresponding to preset number of calibration points corresponding to the current intersection in a preset calibration coordinate system respectively;
the obtaining unit is further configured to obtain coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the corresponding directions of the current intersection in the multiple intersections and the corresponding coordinate vectors of the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system;
the obtaining unit is further configured to obtain a slope vector of a connecting line of adjacent calibration points corresponding to the current intersection in the corrected coordinate system according to a coordinate vector of the adjacent calibration points in the preset number of calibration points corresponding to the current intersection in the corrected coordinate system;
the acquiring unit is further configured to acquire coordinate vectors corresponding to the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system, and acquire a slope vector of a connecting line of adjacent calibration points corresponding to the current intersection in the preset inclined coordinate system according to the coordinate vectors corresponding to the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system;
and the determining unit is used for determining the radar installation angle corresponding to the current intersection according to the slope vector of the connecting line of the adjacent calibration points of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system, the slope vector of the connecting line of the adjacent calibration points of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system, and the y-axis coordinate vector of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system.
Further, the obtaining unit is specifically configured to, if the direction of the current intersection corresponding to the multiple intersections is north, obtain a projection of a distance between an origin of a coordinate system corresponding to the current intersection and an origin of the preset calibration coordinate system in a horizontal coordinate direction and a longitudinal projection in a vertical coordinate direction in the coordinate system after correction;
and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the sum of the x-axis direction coordinate vectors respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the sum of the y-axis direction coordinate vectors respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
Further, the obtaining unit is specifically configured to obtain, if the direction of the current intersection corresponding to the multiple intersections is eastward, a projection of a distance between an origin of a coordinate system corresponding to the current intersection and an origin of the preset calibration coordinate system in the corrected coordinate system in the horizontal coordinate direction and a longitudinal projection in the vertical coordinate direction; and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the y-axis direction coordinate vector difference values respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the sum of the x-axis direction coordinate vectors respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
Further, the obtaining unit is specifically configured to obtain, if the direction of the current intersection corresponding to the multiple intersections is southward, a projection of a distance between an origin of a coordinate system corresponding to the current intersection and an origin of the preset calibration coordinate system in the corrected coordinate system in the horizontal coordinate direction and a longitudinal projection in the vertical coordinate direction; and obtaining coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the x-axis direction coordinate vector difference values respectively corresponding to the projection in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the y-axis direction coordinate vector difference values respectively corresponding to the longitudinal projection in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
Further, the obtaining unit is specifically configured to obtain, if the direction of the current intersection corresponding to the multiple intersections is westerly, a projection of a distance between an origin of a corrected coordinate system corresponding to the current intersection and an origin of the preset calibration coordinate system in the corrected coordinate system in the horizontal coordinate direction and a longitudinal projection in the vertical coordinate direction; and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the sum of the y-axis direction coordinate vectors respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the x-axis direction coordinate vector difference values respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
Further, the obtaining unit is specifically configured to obtain a radar installation angle vector corresponding to the current intersection according to an azimuth angle vector of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system and an azimuth angle vector of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system;
according to a y-axis coordinate vector of preset number calibration points corresponding to the current intersection under a preset inclined coordinate system, obtaining radar error vectors corresponding to the preset number calibration points corresponding to the current intersection, and performing normalization processing on the radar error vectors to obtain weight vectors corresponding to the preset number calibration points; and carrying out preset weighting processing on the radar installation angle vectors and the weight vectors corresponding to the preset number of calibration points to obtain the radar installation angle corresponding to the current intersection.
The invention provides a crossing radar installation angle determining method and system, which select a preset number of calibration points from the boundary of a preset circular area in a preset calibration coordinate system corresponding to a crossing, convert coordinate vectors respectively corresponding to the preset number of calibration points in the preset calibration coordinate system into coordinate vectors in a corrected coordinate system, and determine a radar installation angle corresponding to the current crossing according to the slope vector of the connecting line of the adjacent calibration points of the preset number of calibration points corresponding to the current crossing in the corrected coordinate system, the slope direction of the connecting line of the adjacent calibration points of the preset number of calibration points corresponding to the current crossing in the preset inclined coordinate system, and the y-axis coordinate vector of the preset number of calibration points corresponding to the current crossing in the preset inclined coordinate system, thereby improving the acquisition accuracy of the radar installation angle.
Drawings
FIG. 1 is a flow chart of a method for determining an installation angle of an intersection radar provided by the invention;
FIG. 2 is a schematic structural diagram of an intersection radar mounting angle determining system provided by the present invention;
FIG. 3 is a schematic diagram of a preset calibration coordinate system provided by the present invention;
fig. 4 is a schematic diagram of a single intersection skewed coordinate system provided by the invention.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
As shown in fig. 1, a method for determining an installation angle of a crossing radar according to an embodiment of the present invention includes the following steps:
101. and selecting a preset number of calibration points from the preset circular area boundary in the preset calibration coordinate system corresponding to the current intersection.
Specifically, a rotation angle reflector is selected as a medium of a calibration point, a calibration coordinate system is shown in fig. 3, and a circle is drawn by a person at a position far from the radar with a circle center O' as a center and a radius R: only the coordinates x ', y ' and the radius R of the circle center O ' under the calibration coordinate system are measured, and then the coordinate vector X, Y of the N calibration points which equally divide the circle under the calibration coordinate system can be obtained through calculation, the default calibration point 1 is right and right of the circle, the accumulation of the serial numbers of the calibration points starts counterclockwise, and the rotating speed of the rotating angle reflector increases along with the increase of the serial numbers of the calibration points). Let X be ═ X 1 …、x i 、…、x N ]，Y＝[y 1 、…y i 、…y N ]Wherein x is i For the x-axis coordinate, y, of the i-th calibration point in the calibration coordinate system i Is the y-axis coordinate of the ith calibration point in the calibration coordinate system,
x i ＝x'+R*cos(theta'*(i-1))
y i ＝y'+R*sin(theta'*(i-1))
wherein
Figure BDA0003637533920000081
As shown in fig. 4, an example N in fig. 4 is 8, and it should be noted that the reason why the coordinates are converted by the intersection large coordinate system is as follows: if the coordinates are directly measured under the correction coordinate system, in order to make the radar have higher resolution when detecting the target, the position of the calibration point is far away from the radar, especially in the crossing environment, the distance from the calibration point to the radar is directly measured, and the measurement is inconvenient, so that the coordinate conversion is more convenient by using a large coordinate system as a medium.
102. And acquiring coordinate vectors respectively corresponding to the preset number of calibration points corresponding to the current intersection in a preset calibration coordinate system.
103. And acquiring coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the corresponding direction of the current intersection in the multi-intersection and the corresponding coordinate vectors of the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
For the embodiment of the present invention, step 103 may specifically include: if the corresponding direction of the current intersection in the multi-intersection is north, acquiring the projection of the distance between the corrected coordinate system origin corresponding to the current intersection and the preset calibration coordinate system origin in the horizontal coordinate direction and the longitudinal projection in the vertical coordinate direction in the corrected coordinate system; and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the sum of the x-axis direction coordinate vectors respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the sum of the y-axis direction coordinate vectors respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
For example, the coordinate vector X, Y measured in step 101 is converted into a coordinate system corrected by the corresponding intersection, so as to obtain converted coordinate vectors X _ trans and Y _ trans. X _ trans ═ X1_ trans, X2_ trans, …, xi _ trans, … X10_ trans ], Y _ trans ═ Y1_ trans, Y2_ trans, …, yi _ trans, … Y10_ trans ], where xi _ trans is the X-axis coordinate of the ith index point in the intersection correction coordinate system, and yi _ trans is the Y-axis coordinate of the ith index point in the intersection correction coordinate system. If the current intersection is the intersection 1, corresponding to the north direction of the intersection, the coordinate conversion formula is as follows: taking the coordinates xi and yi of the ith index point as an example for explanation, the processing methods of other index points are the same: xi _ trans ═ xi + deltax 1; yi _ trans ═ yi + deltay 1; wherein, deltax1 is the projection of the distance between the origin point 01 and the origin point 0 in the abscissa direction of the intersection No. 1; deltay1 is a longitudinal projection of the distance between the 01 origin and the O origin in the longitudinal coordinate direction of the No. 1 intersection; o1 is the origin of the radar coordinate system of intersection 1, and O is the origin of the calibration coordinate system.
Further, if the direction of the current intersection corresponding to the multi-intersection is eastward, acquiring a projection of the distance between the origin of the corrected coordinate system corresponding to the current intersection and the origin of the preset calibration coordinate system in the corrected coordinate system in the horizontal coordinate direction and a longitudinal projection in the vertical coordinate direction; and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the y-axis direction coordinate vector difference values respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the sum of the x-axis direction coordinate vectors respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
For example, if the current intersection is an intersection 2, the coordinate conversion formula corresponding to the east direction of the intersection is as follows: the coordinates xi and yi of the ith calibration point are taken as an example for explanation, and the processing methods of other calibration points are the same. xi _ trans ═ deltax 2-yi; xi + deltay 2; wherein, deltax2 is the projection of the distance between the 02 origin and the 0 origin in the abscissa direction of the 2-way intersection; deltay2 is a longitudinal projection of the distance between the 02 origin and the 0 origin in the longitudinal coordinate direction of the No. 2 intersection; 02 is the origin of the radar coordinate system of the intersection 2, and 0 is the origin of the calibration coordinate system.
Further, if the direction of the current intersection corresponding to the multiple intersections is towards the south, acquiring a projection of a distance between the origin of the coordinate system corresponding to the current intersection and the origin of the preset calibration coordinate system in the horizontal coordinate direction and a longitudinal projection in the vertical coordinate direction in the coordinate system after correction; and obtaining coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the x-axis direction coordinate vector difference values respectively corresponding to the projection in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the y-axis direction coordinate vector difference values respectively corresponding to the longitudinal projection in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
For example, if the current intersection is an intersection 3, corresponding to the southward direction of the intersection, the coordinate transformation formula is as follows: the coordinates xi and yi of the ith index point are taken as an example for explanation, and the processing methods of other index points are the same. xi _ trans ═ deltax 3-xi; yi _ trans ═ deltay 3-yi; wherein deltax3 is the projection of the distance between the 03 origin and the O origin in the abscissa direction of the intersection 3; deltay3 is the longitudinal projection of the distance between the O3 origin and the 0 origin in the longitudinal coordinate direction of the intersection 3; 03 is the origin of the radar coordinate system of the intersection No. 3, and 0 is the origin of the calibration coordinate system.
Further, if the direction of the current intersection corresponding to the multi-intersection is facing west, acquiring a projection of a distance between an origin of a corrected coordinate system corresponding to the current intersection and an origin of the preset calibration coordinate system in the corrected coordinate system in the horizontal coordinate direction and a longitudinal projection in the vertical coordinate direction; and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the sum of the y-axis direction coordinate vectors respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the x-axis direction coordinate vector difference values respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
For example, if the current intersection is an intersection of No. 4, the coordinate transformation formula corresponding to the westward direction of the intersection is as follows: the coordinates xi and yi of the ith index point are taken as an example for explanation, and the processing methods of other index points are the same. xi _ trans ═ deltax4+ yi; yi _ trans ═ deltay 4-xi; wherein, deltax4 is the projection of the distance between origin 04 and origin 0 in the abscissa direction of intersection 4; deltay4 is a longitudinal projection of the distance between the 04 origin and the 0 origin in the longitudinal coordinate direction of the No. 4 intersection; 04 is the origin of the radar coordinate system of the intersection 4, and 0 is the origin of the calibration coordinate system.
104. And obtaining the slope vector of the connecting line of the adjacent calibration points corresponding to the current intersection in the corrected coordinate system according to the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system.
For the embodiment of the present invention, step 104 may specifically include: theta ═ Theta [ Theta ] 1 、…、Theta i 、…、Theta N ](ii) a Wherein, the ith connection slope Theta is calculated i For illustration, the calculation method of the slope of other links is the same. If i<N, the coordinates xl _ trans, yl _ trans after the i +1 th index point conversion and the coordinates xi _ trans, yi _ trans, Theta after the i th index point conversion are used i Atan ((yi _ trans-yl _ trans)/(xi _ trans-xl _ trans)); if i is equal to N, the coordinates x1_ trans and y1_ trans after the 1 st index point conversion, and the coordinates xi _ trans, yi _ trans and Theta after the ith index point conversion are used i ＝atan((yi_trans-y1_trans)/(xi_trans-x1_trans))。
105. Obtaining coordinate vectors respectively corresponding to a preset number of calibration points corresponding to the current intersection in a preset inclined coordinate system, and obtaining slope vectors of adjacent calibration point connecting lines of adjacent calibration points corresponding to the current intersection in the preset inclined coordinate system according to the coordinate vectors respectively corresponding to the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system.
For the embodiment of the present invention, step 105 may specifically include: as shown in FIG. 4, in the oblique coordinate system of the intersection, the coordinates of N calibration points are obtained by radar measurementThe scalar vectors X _ bias, Y _ bias, may determine the 1 st to Nth scaling points by incrementing the target speed. X _ bias [ X1_ bias, X2_ bias, …, xi _ bias, … xN _ bias ═ X _ bias [ [ X1_ bias ], X2_ bias [ ] _ xi _ bias [ ]]，Y_bias＝[y1_bias、y2_bias、…、yi_bias、…yN_bias]Wherein xi _ bias is the x-axis coordinate of the ith calibration point in the biased coordinate system, and yi _ bias is the y-axis coordinate of the ith calibration point in the biased coordinate system. And calculating the slope vector theta of the connecting line of the adjacent calibration points in the inclined coordinate system according to the coordinate vectors X _ bias and Y _ bias in the inclined coordinate system. theta ═ theta 1 、…、theta i 、…、theta N ](ii) a Connecting the slope theta of the ith line under an inclined coordinate system i For illustration, the slope of the connection line is calculated in the same manner. If i<N, the coordinates xl _ bias and yl _ bias of the i +1 th calibration point in the biased coordinate system and the coordinates xi _ bias and yi _ bias, theta of the i calibration point in the biased coordinate system are used i Athan ((yi _ bias-yl _ bias)/(xi _ bias-xl _ bias)); if i is N, the coordinates x1_ bias and y1_ bias of the 1 st index point in the biased coordinate system and the coordinates xi _ bias, yi _ bias and theta of the ith index point in the biased coordinate system are used i ＝atan((yi_bias-y1_bias)/(xi_bias-x1_bias))。
106. And determining the radar installation angle corresponding to the current intersection according to the slope vector of the connecting line of the adjacent calibration points of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system, the slope vector of the connecting line of the adjacent calibration points of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system, and the y-axis coordinate vector of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system.
For the embodiment of the present invention, step 106 may specifically include: acquiring a radar installation angle vector corresponding to the current intersection according to the azimuth angle vector of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system and the azimuth angle vector of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system; acquiring radar error vectors corresponding to the preset number of calibration points corresponding to the current intersection according to a y-axis coordinate vector of the preset number of calibration points corresponding to the current intersection under a preset inclined coordinate system, and performing normalization processing on the radar error vectors to obtain weight vectors corresponding to the preset number of calibration points; and carrying out preset weighting processing on the radar installation angle vectors and the weight vectors corresponding to the preset number of calibration points to obtain the radar installation angle corresponding to the current intersection.
For example, the mounting angle amount Theta _ fix [ Theta1_ fix, Theta2_ fix, …, Theta _ fix, Theta _ n _ fix is calculated from the slope vector Theta in the corrected coordinate system and from the slope vector Theta in the offset coordinate system](ii) a With the slope Theta of the ith connection line in the calibration coordinate system i And the ith connection slope theta under the inclined coordinate system i For example, the slope of the connection line is calculated in the same manner as in the above-described example, and the theta _ fix is the same as that in the above-described example i -Theta i And calculating a radar error vector N _ error corresponding to the N calibration points [ N1, …, ni, … nN ] according to a Y-axis coordinate vector Y _ bias of the N calibration points in the inclined coordinate system](ii) a Considering that the error of the radar measurement value at 100 meters on the y axis is 10%, the radar measurement error is in direct proportion to the coordinate y value, taking the ith radar error ni as an example for explanation, the calculation methods of other radar errors are the same, and if i is the same<N, using the y-axis coordinate yl _ bias of the i +1 th calibration point in the biased coordinate system and the y-axis coordinate yi _ bias of the i th calibration point in the biased coordinate system, ni ═ yi _ bias/(yi _ bias + yl _ bias) × yi _ bias/100 = 10% + yl _ bias/(yi _ bias + yl _ bias) _ yl _ bias/100 ^ 10%; if i is N, y-axis coordinate y1_ bias in the biased coordinate system of the 1 st calibration point and y-axis coordinate yi _ bias in the biased coordinate system of the i-th calibration point are used, ni is yi _ bias/(yi _ bias + y1_ bias): yi _ bias/100 × 10% + y1_ bias/(yi _ bias + y1_ bias) × y1_ bias/100 × 10%; calculating the weight vectors W corresponding to the N installation angles by using the obtained radar error vector N _ error, wherein W is [ W1, W2, …, wi, … and W10](ii) a Since the larger the error, the smaller the weight of the corresponding mounting angle, the error factor coef is first calculated as [ coef1, …, coefi, …, coefN]，
Figure BDA0003637533920000131
The error factors are normalized to obtain W, wi ═ coefi/(coef1+ coef2+ … + coefN). In order to further reduce the measurement error of the radar mounting angle, the mounting angle quantity theta _ fix and the weight vector W are weighted to obtain a final mounting angle theta _ final, where theta _ final is W1 theta1_ fix + W2 theta2_ fix + … + wN _ theta _ fix.
The invention provides a crossing radar installation angle determining method, which comprises the steps of selecting a preset number of calibration points from a preset circular area boundary in a preset calibration coordinate system corresponding to a crossing, converting coordinate vectors respectively corresponding to the preset number of calibration points in the preset calibration coordinate system into coordinate vectors in a corrected coordinate system, and determining a radar installation angle corresponding to the current crossing according to a slope vector of a connecting line of adjacent calibration points of the preset number of calibration points corresponding to the current crossing in the corrected coordinate system, a slope direction of a connecting line of adjacent calibration points of the preset number of calibration points corresponding to the current crossing in the preset inclined coordinate system, and a y-axis coordinate vector of the preset number of calibration points corresponding to the current crossing in the preset inclined coordinate system, so that the acquisition accuracy of the radar installation angle can be improved.
In order to implement the method provided by the embodiment of the present invention, an embodiment of the present invention provides a system for determining an installation angle of a radar at an intersection, as shown in fig. 2, the system includes: a selection unit 21, an acquisition unit 22, and a determination unit 23;
the selection unit 21 is configured to select a preset number of calibration points from a preset circular area boundary in a preset calibration coordinate system corresponding to the current intersection.
The obtaining unit 22 is configured to obtain coordinate vectors corresponding to the preset number of calibration points corresponding to the current intersection in a preset calibration coordinate system.
The obtaining unit 22 is further configured to obtain, according to the direction corresponding to the current intersection in the multiple intersections and the coordinate vectors corresponding to the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system.
The obtaining unit 22 is further configured to obtain, according to the coordinate vector of the adjacent calibration point in the preset number of calibration points corresponding to the current intersection in the corrected coordinate system, a slope vector of a connection line of the adjacent calibration point corresponding to the current intersection in the corrected coordinate system.
The obtaining unit 22 is further configured to obtain coordinate vectors corresponding to the preset number of calibration points corresponding to the current intersection in the preset biased coordinate system, and obtain a slope vector of a connecting line of adjacent calibration points corresponding to the current intersection in the preset biased coordinate system according to the coordinate vectors corresponding to the preset number of calibration points corresponding to the current intersection in the preset biased coordinate system.
The determining unit 23 is configured to determine a radar installation angle corresponding to the current intersection according to a slope vector of a line connecting adjacent calibration points of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system, a slope vector of a line connecting adjacent calibration points of the preset number of calibration points corresponding to the current intersection in the preset oblique coordinate system, and a y-axis coordinate vector of the preset number of calibration points corresponding to the current intersection in the preset oblique coordinate system.
Further, the obtaining unit 21 is specifically configured to, if the direction of the current intersection corresponding to the multiple intersections is north, obtain a projection of a distance between an origin of a coordinate system corresponding to the current intersection and an origin of the preset calibration coordinate system in the corrected coordinate system in the horizontal coordinate direction and a longitudinal projection in the vertical coordinate direction; and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the sum of the x-axis direction coordinate vectors respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the sum of the y-axis direction coordinate vectors respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
Further, the obtaining unit 21 is specifically configured to, if the direction of the current intersection corresponding to the multiple intersections is eastward, obtain a projection of a distance between an origin of a coordinate system corresponding to the current intersection and an origin of the preset calibration coordinate system in the corrected coordinate system in the horizontal coordinate direction and a longitudinal projection in the vertical coordinate direction; and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the y-axis direction coordinate vector difference values respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the sum of the x-axis direction coordinate vectors respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
Further, the obtaining unit 21 is specifically configured to obtain, if the direction of the current intersection corresponding to the multiple intersections is southward, a projection of a distance between an origin of a coordinate system corresponding to the current intersection and an origin of the preset calibration coordinate system in the corrected coordinate system in the horizontal coordinate direction and a longitudinal projection in the vertical coordinate direction; and obtaining coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the x-axis direction coordinate vector difference values respectively corresponding to the projection in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the y-axis direction coordinate vector difference values respectively corresponding to the longitudinal projection in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
Further, the obtaining unit 21 is specifically configured to, if the direction of the current intersection corresponding to the multiple intersections is facing west, obtain a projection of a distance between an origin of a coordinate system corresponding to the current intersection and an origin of the preset calibration coordinate system in the corrected coordinate system in the horizontal coordinate direction and a longitudinal projection in the vertical coordinate direction; and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the sum of the y-axis direction coordinate vectors respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the x-axis direction coordinate vector difference values respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
Further, the obtaining unit 21 is specifically configured to obtain a radar installation angle vector corresponding to the current intersection according to an azimuth angle vector of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system and an azimuth angle vector of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system; acquiring radar error vectors corresponding to the preset number of calibration points corresponding to the current intersection according to a y-axis coordinate vector of the preset number of calibration points corresponding to the current intersection under a preset inclined coordinate system, and performing normalization processing on the radar error vectors to obtain weight vectors corresponding to the preset number of calibration points; and carrying out preset weighting processing on the radar installation angle vectors and the weight vectors corresponding to the preset number of calibration points to obtain the radar installation angle corresponding to the current intersection.
The invention provides a crossing radar installation angle determining system, which selects a preset number of calibration points from the boundary of a preset circular area in a preset calibration coordinate system corresponding to a crossing, converts coordinate vectors respectively corresponding to the preset number of calibration points in the preset calibration coordinate system into coordinate vectors in a corrected coordinate system, and determines a radar installation angle corresponding to the current crossing according to a slope vector of a connecting line of adjacent calibration points of the preset number of calibration points corresponding to the current crossing in the corrected coordinate system, a slope direction of a connecting line of adjacent calibration points of the preset number of calibration points corresponding to the current crossing in the preset inclined coordinate system, and a y-axis coordinate vector of the preset number of calibration points corresponding to the current crossing in the preset inclined coordinate system, so that the acquisition accuracy of the radar installation angle can be improved.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. To those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
The various illustrative logical blocks, or elements, described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic system, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing systems, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. For example, a storage medium may be coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC, which may be located in a user terminal. In the alternative, the processor and the storage medium may reside in different components in a user terminal.
In one or more exemplary designs, the functions described above in connection with the embodiments of the invention may be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media that facilitate transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, such computer-readable media can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage systems, or any other medium which can be used to carry or store program code in the form of instructions or data structures and which can be read by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Additionally, any connection is properly termed a computer-readable medium, and, thus, is included if the software is transmitted from a website, server, or other remote source via a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wirelessly, e.g., infrared, radio, and microwave. Such discs (disk) and disks (disc) include compact disks, laser disks, optical disks, DVDs, floppy disks and blu-ray disks where disks usually reproduce data magnetically, while disks usually reproduce data optically with lasers. Combinations of the above may also be included in the computer-readable medium.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention. .

Claims (12)

1. A method for determining an intersection radar installation angle is characterized by comprising the following steps:
selecting a preset number of calibration points from a preset circular area boundary in a preset calibration coordinate system corresponding to the current intersection;
acquiring coordinate vectors corresponding to preset number of calibration points corresponding to the current intersection in a preset calibration coordinate system respectively;
acquiring coordinate vectors of the preset number of calibration points corresponding to the current intersection in a corrected coordinate system according to the corresponding direction of the current intersection in the multiple intersections and the corresponding coordinate vectors of the preset number of calibration points corresponding to the current intersection in a preset calibration coordinate system;
acquiring a slope vector of a connecting line of adjacent calibration points corresponding to the current intersection in the corrected coordinate system according to the coordinate vector of the adjacent calibration points in the preset number of calibration points corresponding to the current intersection in the corrected coordinate system;
acquiring coordinate vectors respectively corresponding to a preset number of calibration points corresponding to the current intersection in a preset inclined coordinate system, and acquiring slope vectors of adjacent calibration point connecting lines of adjacent calibration points corresponding to the current intersection in the preset inclined coordinate system according to the coordinate vectors respectively corresponding to the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system;
and determining a radar installation angle corresponding to the current intersection according to the slope vector of the connecting line of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system, the slope vector of the connecting line of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system and the y-axis coordinate vector of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system.
2. The method for determining the radar installation angle of the intersection according to claim 1, wherein the step of obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the corresponding direction of the current intersection in the multiple intersections and the corresponding coordinate vectors of the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system respectively comprises:
if the corresponding direction of the current intersection in the multi-intersection is north, acquiring the projection of the distance between the corrected coordinate system origin corresponding to the current intersection and the preset calibration coordinate system origin in the horizontal coordinate direction and the longitudinal projection in the vertical coordinate direction in the corrected coordinate system;
and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the sum of the x-axis direction coordinate vectors respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the sum of the y-axis direction coordinate vectors respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
3. The method for determining the radar installation angle of the intersection according to claim 1, wherein the step of obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the corresponding direction of the current intersection in the multiple intersections and the corresponding coordinate vectors of the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system respectively comprises:
if the corresponding direction of the current intersection in the multi-intersection is towards the east, acquiring the projection of the distance between the corrected coordinate system origin corresponding to the current intersection and the preset calibration coordinate system origin in the horizontal coordinate direction and the longitudinal projection in the vertical coordinate direction in the corrected coordinate system;
and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the y-axis direction coordinate vector difference values respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the sum of the x-axis direction coordinate vectors respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
4. The method for determining the radar installation angle of the intersection according to claim 1, wherein the step of obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the corresponding direction of the current intersection in the multiple intersections and the corresponding coordinate vectors of the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system respectively comprises:
if the corresponding direction of the current intersection in the multi-intersection is towards the south, acquiring the projection of the distance between the corrected coordinate system origin corresponding to the current intersection and the preset calibration coordinate system origin in the horizontal coordinate direction and the longitudinal projection in the vertical coordinate direction in the corrected coordinate system;
and obtaining coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the x-axis direction coordinate vector difference values respectively corresponding to the projection in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the y-axis direction coordinate vector difference values respectively corresponding to the longitudinal projection in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
5. The method for determining the radar installation angle of the intersection according to claim 1, wherein the step of obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the corresponding direction of the current intersection in the multiple intersections and the corresponding coordinate vectors of the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system respectively comprises:
if the corresponding direction of the current intersection in the multi-intersection is facing west, acquiring the projection of the distance between the corrected coordinate system origin corresponding to the current intersection and the preset calibration coordinate system origin in the horizontal coordinate direction and the longitudinal projection in the vertical coordinate direction in the corrected coordinate system;
and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the sum of the y-axis direction coordinate vectors respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the x-axis direction coordinate vector difference values respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
6. The method for determining radar installation angles at intersections according to claim 1, wherein the step of determining radar installation angles at intersections according to the slope vectors of the lines of the adjacent calibration points of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system, the slope vectors of the lines of the adjacent calibration points of the preset number of calibration points corresponding to the current intersection in the preset oblique coordinate system, and the y-axis coordinate vectors of the preset number of calibration points corresponding to the current intersection in the preset oblique coordinate system includes:
acquiring a radar installation angle vector corresponding to the current intersection according to the azimuth angle vector of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system and the azimuth angle vector of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system;
acquiring radar error vectors corresponding to the preset number of calibration points corresponding to the current intersection according to a y-axis coordinate vector of the preset number of calibration points corresponding to the current intersection under a preset inclined coordinate system, and performing normalization processing on the radar error vectors to obtain weight vectors corresponding to the preset number of calibration points;
and carrying out preset weighting processing on the radar installation angle vectors and the weight vectors corresponding to the preset number of calibration points to obtain the radar installation angle corresponding to the current intersection.
7. An intersection radar setting angle determining system, the system comprising:
the selection unit is used for selecting preset number calibration points from the preset circular area boundary in the preset calibration coordinate system corresponding to the current intersection;
the acquisition unit is used for acquiring coordinate vectors corresponding to preset number of calibration points corresponding to the current intersection in a preset calibration coordinate system respectively;
the obtaining unit is further configured to obtain coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the corresponding directions of the current intersection in the multiple intersections and the corresponding coordinate vectors of the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system;
the obtaining unit is further configured to obtain a slope vector of a connecting line of adjacent calibration points corresponding to the current intersection in the corrected coordinate system according to a coordinate vector of the adjacent calibration points in the preset number of calibration points corresponding to the current intersection in the corrected coordinate system;
the acquiring unit is further configured to acquire coordinate vectors corresponding to the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system, and acquire a slope vector of a connecting line of adjacent calibration points corresponding to the current intersection in the preset inclined coordinate system according to the coordinate vectors corresponding to the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system;
and the determining unit is used for determining the radar installation angle corresponding to the current intersection according to the slope vector of the connecting line of the adjacent calibration points of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system, the slope vector of the connecting line of the adjacent calibration points of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system, and the y-axis coordinate vector of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system.
8. The intersection radar setting angle determining system as claimed in claim 7,
the acquiring unit is specifically configured to acquire, if the direction of the current intersection corresponding to the multiple intersections is north, a projection of a distance between an origin of a corrected coordinate system corresponding to the current intersection and an origin of the preset calibration coordinate system in the corrected coordinate system in the abscissa direction and a longitudinal projection in the ordinate direction; and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the sum of the x-axis direction coordinate vectors respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the sum of the y-axis direction coordinate vectors respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
9. The intersection radar setting angle determining system as claimed in claim 7,
the obtaining unit is further specifically configured to obtain, if the direction of the current intersection corresponding to the multiple intersections is eastward, a projection of a distance between an origin of a coordinate system corresponding to the current intersection and the origin of the preset calibration coordinate system in the corrected coordinate system in the abscissa direction and a longitudinal projection in the ordinate direction; and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the y-axis direction coordinate vector difference values respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the sum of the x-axis direction coordinate vectors respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
10. The intersection radar setting angle determining system as claimed in claim 7,
the obtaining unit is further specifically configured to obtain, if the direction of the current intersection corresponding to the multiple intersections is southward, a projection of a distance between an origin of a corrected coordinate system corresponding to the current intersection and an origin of the preset calibration coordinate system in a horizontal coordinate direction and a longitudinal projection in a vertical coordinate direction in the corrected coordinate system; and obtaining coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the x-axis direction coordinate vector difference values respectively corresponding to the projection in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the y-axis direction coordinate vector difference values respectively corresponding to the longitudinal projection in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
11. The intersection radar setting angle determining system as claimed in claim 7,
the acquiring unit is specifically configured to acquire, if the direction of the current intersection corresponding to the multiple intersections is westward, a projection of a distance between an origin of a corrected coordinate system corresponding to the current intersection and an origin of the preset calibration coordinate system in a horizontal coordinate direction and a longitudinal projection in a vertical coordinate direction in the corrected coordinate system; and obtaining the coordinate vectors of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system according to the sum of the y-axis direction coordinate vectors respectively corresponding to the projections in the horizontal coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system, and the x-axis direction coordinate vector difference values respectively corresponding to the longitudinal projections in the vertical coordinate direction and the preset number of calibration points corresponding to the current intersection in the preset calibration coordinate system.
12. The intersection radar setting angle determining system as claimed in claim 7,
the acquisition unit is specifically further configured to acquire a radar installation angle vector corresponding to the current intersection according to an azimuth angle vector of the preset number of calibration points corresponding to the current intersection in the corrected coordinate system and an azimuth angle vector of the preset number of calibration points corresponding to the current intersection in the preset inclined coordinate system; acquiring radar error vectors corresponding to the preset number of calibration points corresponding to the current intersection according to a y-axis coordinate vector of the preset number of calibration points corresponding to the current intersection under a preset inclined coordinate system, and performing normalization processing on the radar error vectors to obtain weight vectors corresponding to the preset number of calibration points; and carrying out preset weighting processing on the radar installation angle vectors and the weight vectors corresponding to the preset number of calibration points to obtain the radar installation angle corresponding to the current intersection.
CN202210510414.3A 2022-05-11 2022-05-11 Intersection radar installation angle determining method and system Pending CN114814757A (en)

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