CN115015855A - Radar dark box calibration method and system based on two-target simulator - Google Patents
Radar dark box calibration method and system based on two-target simulator Download PDFInfo
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- CN115015855A CN115015855A CN202210573565.3A CN202210573565A CN115015855A CN 115015855 A CN115015855 A CN 115015855A CN 202210573565 A CN202210573565 A CN 202210573565A CN 115015855 A CN115015855 A CN 115015855A
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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
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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
- 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
- G01S13/867—Combination of radar systems with cameras
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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
- 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
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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
- G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
- G01S7/022—Road traffic radar detectors
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- Radar Systems Or Details Thereof (AREA)
Abstract
The invention relates to a radar camera bellows calibration method and a system based on a two-target simulator, wherein the method comprises the following steps: determining that a hardware environment, a software environment and an installation position of a radar target simulator and a radar to be calibrated meet calibration requirements; the calibration requirements comprise precision, real-time performance, reliability and interference; adjusting the radar to be calibrated to a zero position, and performing zero calibration on the radar through a radar target simulator; calibrating the distance, the speed and the radar scattering area of a radar to be calibrated by adjusting the radio frequency parameters of the radar target simulator; and carrying out angle calibration on the radar to be calibrated through the slide rail with controllable multi-freedom-of-motion. According to the method for calibrating the radar camera bellows, the technical problem of in-loop calibration of radar hardware in an automatic driving HiL closed loop simulation test link can be effectively solved, and meanwhile, a calibrated camera bellows system can be used for testing the performance and the module of a radar, so that the performance of the radar can be conveniently evaluated.
Description
Technical Field
The invention belongs to the technical field of automatic driving simulation test, in particular to a radar camera bellows calibration method and system based on a two-target simulator, and particularly relates to a millimeter wave radar sensor camera bellows calibration technology in an ADAS/AD HiL test system.
Background
In order to meet the development requirement of the automatic driving automobile, the simulation test becomes a necessary way for the automatic driving development. However, the result data of the SiL (Software in the Loop )/MiL (Model in the Loop, Model in the Loop) simulation test is often difficult to be convinced, and only the algorithm and code developed in early stage can be preliminarily verified.
Therefore, in the simulation test, the HiL (Hardware in the Loop) test is taken as an important ring and plays an irreplaceable role, so that the sensor component of the real controller can be in the ring, and the reality degree of the simulation test is enhanced. In the current automatic driving wave, the core technology is mainly mastered in Tier1, Tier1(Tier One, primary supplier of the car factory) needs to perform iterative update test on a real controller and a sensor, and the real controller and the sensor can be sold to a host factory after being adapted to different car types for test; the host factory wants to have core self-research capability, which is difficult to realize, only by purchasing mature black box hardware of Tier1, even the communication protocol can not be obtained, and only by HiL test. HiL includes regulatory in-loop, sensing in-loop, and executive in-loop, where sensing in-loop, millimeter wave radar hardware in-loop is not equipped with radar dark box in-loop simulation technology by many OEMs, Tier1 due to the high cost of their dark boxes and simulator radio frequency components.
Disclosure of Invention
In order to solve the problems that the real vehicle calibration of the millimeter wave radar wastes time and labor in the automatic driving technology and the reliable test data are provided for the automatic driving function above the L3 level, the invention provides a radar dark box calibration method based on a two-target simulator in a first aspect, which comprises the following steps: determining that a hardware environment, a software environment and an installation position of a radar target simulator and a radar to be calibrated meet calibration requirements; the calibration requirements comprise precision, real-time performance, reliability and interference; adjusting the radar to be calibrated to a zero position, and performing zero calibration on the radar through a radar target simulator; calibrating the distance, the speed and the radar scattering area of the radar to be calibrated by adjusting the radio frequency parameters of the radar target simulator; and carrying out angle calibration on the radar to be calibrated through the slide rail with controllable multi-freedom-of-motion.
In some embodiments of the present invention, adjusting the radar to be calibrated to a zero point position, and performing zero point calibration on the radar to be calibrated by using the radar target simulator includes: and setting a distance, a speed and an RCS target in a preset range on the radar target simulator, and determining whether the angle of the target monitored by the radar is zero.
In some embodiments of the present invention, calibrating the distance, the speed, and the radar scattering area of the radar to be calibrated by adjusting the radio frequency parameters of the radar target simulator includes: setting a plurality of targets on a radar target simulator, and setting numerical values of the distance, the speed and the radar scattering area of each target; and adjusting the radio frequency parameters of the radar target simulator to enable the radar to see whether the errors of the numerical values of the distance, the speed and the radar scattering area corresponding to each target are lower than a threshold value.
Further, the radio frequency parameters include gain, line loss, compensation distance and radar angle range to be calibrated.
In some embodiments of the present invention, the calibrating the angle of the radar to be calibrated by using the sliding rail with multiple controllable degrees of freedom includes: generating a plurality of targets for calibrating the left direction and the right direction through a slide rail with controllable multi-degree of freedom of motion, and determining whether the error of the angle value of the corresponding target observed by a radar is lower than a threshold value; and generating targets with different interval distances by the slide rail with controllable multi-degree-of-freedom motion, and determining whether the error of the angle value of the corresponding target observed by the radar is lower than a threshold value.
In the foregoing embodiment, the determining that the hardware environment, the software environment, and the installation location of the radar target simulator and the radar to be calibrated meet the calibration requirement includes: determining that a radio frequency parameter adjusting device and a pose adjusting device of the radar target simulator are installed in a dark box; adjusting the positions of the radio frequency parameter adjusting device and the pose adjusting device to ensure that: the environment of the camera obscura is not interfered, and the precision and the real-time performance of the radar simulator meet the requirements; and determining that the hardware environment, the software environment and the installation position of the radar to be calibrated meet the calibration requirement.
In a second aspect of the present invention, a radar camera bellows calibration system based on a two-target simulator is provided, including: the determining module is used for determining that the hardware environment, the software environment and the installation position of the radar target simulator and the radar to be calibrated meet the calibration requirement; the calibration requirements include accuracy, real-time, reliability and interference; the first calibration module is used for adjusting the radar to be calibrated to a zero position and carrying out zero calibration on the radar to be calibrated through the radar target simulator; the second calibration module is used for calibrating the distance, the speed and the radar scattering area of the radar to be calibrated by adjusting the radio frequency parameters of the radar target simulator; and the third calibration module is used for carrying out angle calibration on the radar to be calibrated through the slide rail with the controllable multi-motion freedom degree.
In a third aspect of the present invention, there is provided an electronic device comprising: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method of the present invention in a first aspect provides a two-target simulator-based radar camera obscuration calibration.
In a fourth aspect of the present invention, a computer-readable medium is provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the two-target simulator-based radar camera obscuration calibration method provided in the first aspect of the present invention.
The invention has the beneficial effects that:
1. the invention provides a radar dark box calibration method based on a two-target simulator, which solves the problems that the real vehicle calibration of a millimeter wave radar wastes time and labor in the automatic driving development process, and the automatic driving function of more than L3 level needs to be tested by simulation test data of trillion kilometers at present, so that the ground is more reliable. According to the requirements of the current automatic driving simulation test, the radar hardware in-loop simulation test is particularly important, and calibration is a precondition and a necessary condition for simulation;
2. by the method for calibrating the radar camera bellows, the technical problem of in-loop calibration of radar hardware in an automatic driving HiL closed loop simulation test link can be effectively solved, and the calibrated camera bellows system can also be used for carrying out performance and module test on the radar, so that the performance of the radar can be conveniently evaluated.
Drawings
FIG. 1 is a schematic basic flow diagram of a radar camera bellows calibration method based on a two-target simulator in some embodiments of the present invention;
FIG. 2 is a schematic flow chart of a two-target simulator-based radar camera obscuration calibration method according to some embodiments of the present disclosure;
FIG. 3 is a schematic view of various device connections of a camera bellows system in some embodiments of the present invention;
FIG. 4 is a schematic diagram of a two-target simulator-based radar camera bellows calibration system according to some embodiments of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device in some embodiments of the invention.
Reference numerals
1. A radar target simulator; 2. a stepper motor controller; 3. an up-down frequency conversion module; 4. an X slide rail; 5. a Y slide rail 6 and a measured real millimeter wave radar; 7. a radar clamp; 8. a turntable; 9. and (5) dark box.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 and fig. 2, in a first aspect of the present invention, there is provided a radar camera bellows calibration method based on a two-target simulator, including: s100, determining that hardware environment, software environment and installation position of a radar target simulator and a radar to be calibrated meet calibration requirements; the calibration requirements comprise precision, real-time performance, reliability and interference; s200, adjusting the radar to be calibrated to a zero position, and performing zero calibration on the radar to be calibrated through a radar target simulator; s300, calibrating the distance, the speed and the radar scattering area of the radar to be calibrated by adjusting the radio frequency parameters of the radar target simulator; s100, angle calibration is carried out on the radar to be calibrated through the slide rail with the controllable multi-freedom-of-movement.
Referring schematically to fig. 3, in some embodiments of the invention, the above method comprises the steps of:
preparing a radar camera obscura environment: firstly, debugging the whole millimeter wave radar camera bellows environment system to ensure that the whole camera bellows environment is free of interference, and the precision and the real-time performance of a simulator meet the requirements; the camera bellows system includes: a radar target simulator 1; a stepping motor controller 2; an up-down frequency conversion module 3; an X slide rail 4; a Y slide rail 5 and a measured real millimeter wave radar 6; radar clamp 7, turntable 8 and camera bellows 9; the up-down frequency conversion module 3 is connected with the radar target simulator 1 through a radio frequency cable, the stepping motor controller 2 is connected with the X slide rail 4 and the Y slide rail 5 through serial port lines, the measured real millimeter wave radar 6 is installed on the rotary table 8, and the radar clamp is used for fixing the measured real millimeter wave radar 6;
preparing for radar debugging: preparing a normal radar (a measured real millimeter wave radar 6), debugging a radar upper computer visual interface and a data display interface in an external environment, and facilitating subsequent calibration and analysis of data by a camera obscura;
and (3) radar installation and fixation: fixedly mounting the radar on the rotary table through a radar fixture, and adjusting the radar to a zero point position after eliminating an interference target in the dark box;
calibration: opening the radar target simulator 1, finely adjusting the horizontal movement of a slide rail (X slide rail 4), and carrying out zero calibration; setting the distance, the speed and the RCS (Radar Cross Section, RCS, Radar scattering area or Radar scattering Cross Section) values (far, medium and near) of a target, continuously adjusting the radio frequency parameters of a simulator, and calibrating the distance, the speed and the RCS; setting the horizontal moving distance (small, medium and large) of a specific slide rail, checking parameter configuration, and calibrating an angle;
the calibrated radar camera bellows system can be used for performance test and module test of the radar, test data can evaluate the performance of the radar, and the radar camera bellows system can also be applied to high-precision parameter simulation configuration and automatic driving closed-loop simulation development.
In step S200 of some embodiments of the present invention, the adjusting the radar to be calibrated to a zero point position and performing zero point calibration on the radar to be calibrated by the radar target simulator includes: and setting a distance, a speed and an RCS target in a preset range on the radar target simulator, and determining whether the angle of the target monitored by the radar is zero.
Specifically, after the condition that the camera obscura has no interference target is ensured, the radar is adjusted to a zero position, namely the radar is over against the up-down frequency conversion module; zero point calibration: and (3) opening the radar target simulator, setting a proper target distance, speed, RCS and other parameters on the simulator, monitoring a visual interface and a data display interface of the radar upper computer, and finely adjusting the horizontal movement of the slide rail to enable the target angle monitored by the radar to be 0.
In step S300 of some embodiments of the present invention, calibrating the distance, the speed, and the radar scattering area of the radar to be calibrated by adjusting the radio frequency parameters of the radar target simulator includes: s301, arranging a plurality of targets on a radar target simulator, and setting the distance, the speed and the numerical value of the radar scattering area of each target; s302, adjusting radio frequency parameters of the radar target simulator to enable whether errors of numerical values of the distance, the speed and the radar scattering area corresponding to each target observed by the radar are lower than a threshold value or not.
Specifically, a radar target simulator is opened, the distance, the speed and the RCS (far, medium and near) of two targets are respectively set, target signals identified by the radar to be tested are monitored, whether errors exist is judged, if the errors are large, parameters such as gain, line loss, compensation distance and angle range of the radar to be tested under each channel of the simulator are respectively debugged, and the errors are within the acceptable precision requirement. Further, the radio frequency parameters include gain, line loss, compensation distance and radar angle range to be calibrated.
In step S400 of some embodiments of the present invention, the calibrating the angle of the radar to be calibrated through the sliding rail with multiple controllable degrees of freedom of motion includes: s401, generating a plurality of targets for calibrating the left direction and the right direction through a slide rail with controllable multi-degree of freedom of motion, and determining whether the error of the angle value of the corresponding target observed by a radar is lower than a threshold value; s402, generating targets with different interval distances through the slide rail with the controllable multi-degree-of-freedom motion, and determining whether the error of the angle value of the corresponding target observed by the radar is lower than a threshold value.
Specifically, marking left and right, respectively setting left and right horizontal distances of two slide rails, and judging whether a positive symbol and a negative symbol of a monitored angle correspond to a left target and a right target; and calibrating the detailed angle value, respectively setting small, medium and large horizontal distances in the left direction and the right direction, converting the horizontal distances into corresponding angle values and radar-monitored angle values, carrying out error analysis and comparison, and checking parameter configuration if the error is large so that the error is within the acceptable precision requirement.
Wherein set up horizontal distance and realize through the pulse number that sets up step motor, the formula relation between horizontal distance, the angle value conversion of slide rail, the pulse number is as follows:
1. the conversion formula between the horizontal moving distance and the horizontal moving angle of the sliding rail is as follows:
wherein: l is the moving distance of the slide rail, unit mm;
theta-horizontal angle of the virtual radar recognition target;
θ' — half of the identified horizontal angular range of the real radar under test, e.g. 90 °/2 — 45 °;
l is half of the range of the slide rail, for example, 1400 mm/2-700 mm.
2. The conversion formula of the horizontal moving distance of the sliding rail and the number of pulses is as follows:
X＝l*Fx*200/Dx
Y＝l*Fy*200/Dy，
wherein: l is the moving distance of the slide rail, unit mm;
fx, Fy-controller subdivision, determined by hardware, fixed value, e.g. 2;
dx, Dy, controller lead, determined by hardware, fixed value, e.g. 37.5 mm.
It can be understood that the calibrated radar camera bellows system can perform performance test and module test on the radar, such as radar antenna: testing gain and directional diagram; the equivalent omnidirectional power, transmitter spurious, receiver spurious, phase noise, occupied bandwidth and the like of the radar module are tested, and test data can evaluate the performance of the radar and can also be applied to radar high-precision parameter simulation configuration and automatic driving closed-loop simulation development.
In step S100 of the foregoing embodiment, the determining that the hardware environment, the software environment and the installation position of the radar target simulator and the radar to be calibrated meet the calibration requirement includes: determining that a radio frequency parameter adjusting device and a pose adjusting device of the radar target simulator are installed in a dark box; adjusting the positions of the radio frequency parameter adjusting device and the pose adjusting device to ensure that: the environment of the camera obscura is not interfered, and the precision and the real-time performance of the radar simulator meet the requirements; and determining that the hardware environment, the software environment and the installation position of the radar to be calibrated meet the calibration requirement.
Specifically, radar dark box environment preparation: firstly, the whole millimeter wave radar camera bellows environment system (as shown in an attached figure 3) is debugged, and the system comprises a wave-absorbing camera bellows (internally attached with wave-absorbing materials), a radar target simulator, two pairs of up-down frequency conversion modules, two target slide rails, a rotary table, a stepping motor controller and the like, wherein the stepping motor controls the horizontal movement of the two slide rails (XY) and the rotation of the rotary table (Z) by configuring the number of pulses of three channels of XYZ, so that the whole camera bellows environment is ensured to be free of interference, and the precision and the real-time performance of the simulator meet the requirements.
Preparing for radar debugging: a normal radar is prepared, and is debugged in an external environment to provide required voltage for the radar, debug a communication interface, an upper computer visual interface and a data display interface of the radar, so that subsequent calibration and analysis of data by a camera bellows are facilitated.
And (3) radar installation and fixation: through the radar anchor clamps, with radar fixed mounting on the revolving stage, adjust installation height about the radar, use the laser pen to keep the radar center on same water flat line with the upper and lower frequency conversion module center of opposite.
Interference target elimination: the appropriate number of pulses of the Z channel is set in the stepper motor controller (the calculation formula is as follows), the rotary table rotates by 90 degrees left and right, the rotating speed is set to be moderate, and the visual interface and the data display interface of the radar upper computer are monitored in the rotating process, so that the whole process is ensured to have no interference target.
The conversion formula of the rotating angle of the rotating platform and the number of pulses is as follows:
Z＝3600*ω*Dz*Fz*200/1296000；
wherein: omega-rotation angle of the turntable, unit degree, positive, negative and positive;
fz-controller subdivision, determined by hardware, fixed value, e.g., 8;
dz, controller gear ratio, is fixed by hardware, e.g., 180.
Example 2
Referring to fig. 4, in a second aspect of the present invention, there is provided a radar camera bellows calibration system 1 based on a two-target simulator, comprising: the determining module 11 is configured to determine that a hardware environment, a software environment and an installation position of the radar target simulator and the radar to be calibrated meet calibration requirements; the calibration requirements comprise precision, real-time performance, reliability and interference; the first calibration module 12 is configured to adjust a radar to be calibrated to a zero point position, and perform zero point calibration on the radar through a radar target simulator; the second calibration module 13 is configured to calibrate the distance, the speed, and the radar scattering area of the radar to be calibrated by adjusting the radio frequency parameters of the radar target simulator; and the third calibration module 14 is configured to perform angle calibration on the radar to be calibrated through the slide rail with multiple controllable degrees of freedom of motion.
Further, the second calibration module 13 includes: the device comprises a setting unit, a radar target simulator and a control unit, wherein the setting unit is used for setting a plurality of targets on the radar target simulator and setting the distance, the speed and the numerical value of the radar scattering area of each target; and the adjusting unit is used for adjusting the radio frequency parameters of the radar target simulator so as to enable the radar to observe whether the errors of the numerical values of the distance, the speed and the radar scattering area corresponding to each target are lower than a threshold value.
Example 3
Referring to fig. 5, in a third aspect of the present invention, there is provided an electronic apparatus comprising: one or more processors; storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out the method of the invention in the first aspect.
The electronic device 500 may include a processing means (e.g., central processing unit, graphics processor, etc.) 501 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage means 508 into a Random Access Memory (RAM) 503. In the RAM503, various programs and data necessary for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM502, and the RAM503 are connected to each other through a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following devices may be connected to the I/O interface 505 in general: input devices 506 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 507 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, and the like; a storage device 508 including, for example, a hard disk; and a communication device 509. The communication means 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. While fig. 5 illustrates an electronic device 500 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 5 may represent one device or may represent multiple devices as desired.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 509, or installed from the storage means 508, or installed from the ROM 502. The computer program, when executed by the processing device 501, performs the above-described functions defined in the methods of embodiments of the present disclosure. It should be noted that the computer readable medium described in the embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more computer programs which, when executed by the electronic device, cause the electronic device to:
computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, Python, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A radar camera obscura calibration method based on a two-target simulator is characterized by comprising the following steps:
determining that a hardware environment, a software environment and an installation position of a radar target simulator and a radar to be calibrated meet calibration requirements; the calibration requirements comprise precision, real-time performance, reliability and interference;
adjusting the radar to be calibrated to a zero position, and performing zero calibration on the radar through a radar target simulator;
calibrating the distance, the speed and the radar scattering area of a radar to be calibrated by adjusting the radio frequency parameters of the radar target simulator;
and carrying out angle calibration on the radar to be calibrated through the slide rail with the controllable multi-motion freedom degree.
2. The radar camera obscuration calibration method based on the two-target simulator according to claim 1, wherein the adjusting the radar to be calibrated to the zero position and performing the zero calibration on the radar by the radar target simulator comprises:
and setting a distance, a speed and an RCS target in a preset range on the radar target simulator, and determining whether the angle of the target monitored by the radar is zero.
3. The method for calibrating the radar camera bellows based on the two-target simulator according to claim 1, wherein the calibrating the distance, the speed and the radar scattering area of the radar to be calibrated by adjusting the radio frequency parameters of the radar target simulator comprises:
setting a plurality of targets on a radar target simulator, and setting numerical values of the distance, the speed and the radar scattering area of each target;
and adjusting the radio frequency parameters of the radar target simulator to enable the radar to observe whether the errors of the numerical values of the distance, the speed and the radar scattering area corresponding to each target are lower than a threshold value or not.
4. The two-target simulator-based radar camera obscuration calibration method according to claim 3, wherein the radio frequency parameters include gain, line loss, compensation distance and radar angle range to be calibrated.
5. The radar camera bellows calibration method based on the two-target simulator according to claim 1, wherein the angle calibration of the radar to be calibrated through the slide rail with controllable multiple degrees of freedom of motion comprises:
generating a plurality of targets for calibrating in the left and right directions through a slide rail with controllable multi-motion freedom, and determining whether the error of an angle value of a corresponding target observed by a radar is lower than a threshold value;
and generating targets with different interval distances by the slide rail with controllable multi-degree-of-freedom motion, and determining whether the error of the angle value of the corresponding target observed by the radar is lower than a threshold value.
6. The two-target simulator-based radar camera obscuration calibration method according to any of claims 1 to 5, wherein the determining that the hardware environment, software environment and installation location of the radar target simulator and the radar to be calibrated meet the calibration requirements comprises:
determining that a radio frequency parameter adjusting device and a pose adjusting device of the radar target simulator are installed in a dark box;
adjusting the positions of the radio frequency parameter adjusting device and the pose adjusting device to ensure that: the environment of the camera obscura is not interfered, and the precision and the real-time performance of the radar simulator meet the requirements;
and determining that the hardware environment, the software environment and the installation position of the radar to be calibrated meet the calibration requirement.
7. A radar camera bellows calibration system based on two target simulators is characterized by comprising:
the determining module is used for determining that the hardware environment, the software environment and the installation position of the radar target simulator and the radar to be calibrated meet the calibration requirement; the calibration requirements comprise precision, real-time performance, reliability and interference;
the first calibration module is used for adjusting the radar to be calibrated to a zero position and carrying out zero calibration on the radar to be calibrated through the radar target simulator;
the second calibration module is used for calibrating the distance, the speed and the radar scattering area of the radar to be calibrated by adjusting the radio frequency parameters of the radar target simulator;
and the third calibration module is used for carrying out angle calibration on the radar to be calibrated through the slide rail with the controllable multi-motion freedom degree.
8. The two-target simulator-based radar camera bellows calibration system of claim 7, wherein the second calibration module comprises:
the device comprises a setting unit, a radar target simulator and a control unit, wherein the setting unit is used for setting a plurality of targets on the radar target simulator and setting the distance, the speed and the numerical value of the radar scattering area of each target;
and the adjusting unit is used for adjusting the radio frequency parameters of the radar target simulator so as to enable the radar to observe whether the errors of the numerical values of the distance, the speed and the radar scattering area corresponding to each target are lower than a threshold value.
9. An electronic device, comprising: one or more processors; a storage device to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the two-target simulator based radar camera obscuration method of any of claims 1 to 6.
10. A computer-readable medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the two-target simulator based radar camera bellows calibration method according to any one of claims 1 to 6.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117930161A (en) * | 2024-03-21 | 2024-04-26 | 昆山寰安电子科技有限公司 | Millimeter wave radar gain measurement device and method |
| DE102022134006B4 (en) | 2022-12-20 | 2024-10-31 | Dspace Gmbh | TEST ARRANGEMENT FOR A SENSOR |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102022134006B4 (en) | 2022-12-20 | 2024-10-31 | Dspace Gmbh | TEST ARRANGEMENT FOR A SENSOR |
| CN117930161A (en) * | 2024-03-21 | 2024-04-26 | 昆山寰安电子科技有限公司 | Millimeter wave radar gain measurement device and method |
| CN117930161B (en) * | 2024-03-21 | 2024-06-07 | 昆山寰安电子科技有限公司 | Millimeter wave radar gain measurement device and method |
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