CN115097457A - Method, device and equipment for determining radar center position and storage medium - Google Patents

Method, device and equipment for determining radar center position and storage medium Download PDF

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Publication number
CN115097457A
CN115097457A CN202210785767.4A CN202210785767A CN115097457A CN 115097457 A CN115097457 A CN 115097457A CN 202210785767 A CN202210785767 A CN 202210785767A CN 115097457 A CN115097457 A CN 115097457A
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reference point
position information
distance
far
radar
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张超
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China Automotive Innovation Co Ltd
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China Automotive Innovation 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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

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

Abstract

The application discloses a method, a device and equipment for determining a radar center position and a storage medium, relates to the technical field of radar detection, and solves the problem that the radar center position is not accurate enough. The specific scheme comprises the following steps: acquiring a far-end reference point outside the radar, and acquiring a first reference point and a second reference point in a target plane, wherein the target plane is determined according to a geometric center of the radar; determining a first included angle formed by the far-end reference point, the first reference point and a preset reference point by taking the first reference point as a vertex, and a second included angle formed by the far-end reference point, the second reference point and the preset reference point by taking the second reference point as a vertex, wherein the preset reference point is any point in a target plane; acquiring a target detection distance of a radar to a far-end reference point; and determining the center position information of the radar according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance.

Description

Method, device and equipment for determining radar center position and storage medium
Technical Field
The present application relates to the field of radar detection technologies, and in particular, to a method, an apparatus, a device, and a storage medium for determining a radar center position.
Background
In recent years, the intelligent driving assistance technology of automobiles is continuously developed, so that the application of millimeter wave radar on automobiles is more and more popular. The multiple-in-multiple-out (MIMO) technology can synthesize a large-aperture virtual array through a small number of transceiver units, thereby greatly reducing hardware cost and improving angle measurement capability of a radar system, and thus becomes a mainstream method of a vehicle-mounted millimeter wave radar.
In the development and use of millimeter wave radar, the selection of the center position of the radar is of great importance. If the center position deviates, the phase calibration of the virtual channel of the radar will deviate, and the angle measurement performance of the radar will be further reduced. For the MIMO radar, the geometric center position of the MIMO radar is currently used as the center position of the MIMO radar, but the principle of the MIMO technology determines that the center of the virtual aperture does not coincide with the geometric center of the radar, so that the problem that the radar center position is not accurate enough exists.
Disclosure of Invention
The application provides a method, a device, equipment and a storage medium for determining a radar center position, which can improve the accuracy of determining the radar center position.
In order to achieve the purpose, the technical scheme is as follows:
the embodiment of the application provides a method for determining the center position of a radar, which comprises the following steps: acquiring a far-end reference point outside the radar, and acquiring a first reference point and a second reference point in a target plane, wherein the distance between the far-end reference point and the radar is less than a preset threshold value, and the target plane is determined according to the geometric center of the radar;
determining a first included angle formed by the far-end reference point, the first reference point and a preset reference point by taking the first reference point as a vertex, and a second included angle formed by the far-end reference point, the second reference point and the preset reference point by taking the second reference point as a vertex, wherein the preset reference point is any point in a target plane;
acquiring a target detection distance of a radar to a far-end reference point;
and determining the center position information of the radar according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance.
In one embodiment, determining the center position information of the radar according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance comprises:
determining a first distance between a far-end reference point and a first reference point according to the far-end position information and the first position information;
determining a second distance between the far-end reference point and a second reference point according to the far-end position information and the second position information;
and determining the central position information according to the first distance, the second distance, the target detection distance, the first included angle, the second included angle, the first position information and the second position information.
In one embodiment, determining the center position information according to the first distance, the second distance, the target detection distance, the first included angle, the second included angle, the first position information and the second position information includes:
obtaining a first target distance according to the first distance, the target detection distance and the first included angle, wherein the first target distance is the distance between a first reference point and a preset reference point;
obtaining a second target distance according to the second distance, the second detection distance and the second included angle, wherein the second target distance is the distance between a second reference point and a preset reference point;
and obtaining the center position information according to the first target distance, the second target distance, the first position information and the second position information.
In one embodiment, acquiring a first reference point and a second reference point in a target plane comprises:
determining a first projection point of a far-end reference point on a first plane and a second projection point of a far-end reference point on a second plane respectively, wherein at most one plane of the first plane and the second plane is the same as a target plane, and the first plane and the second plane are two planes of a radar at the same position and in different postures;
and taking the intersection point of the straight line passing through the far-end reference point and the first projection point and the target plane as a first reference point, and taking the intersection point of the straight line passing through the far-end reference point and the second projection point and the target plane as a second reference point.
In one embodiment, determining the center position information according to the first distance, the second distance, the target detection distance, the first included angle, the second included angle, the first position information and the second position information includes:
respectively determining a first detection distance and a second detection distance of the radar to a far-end reference point at the same position and in different postures, wherein the target detection distance comprises the first detection distance and the second detection distance;
and obtaining the central position information according to the first distance, the second distance, the first detection distance, the second detection distance, the first included angle, the second included angle, the first position information and the second position information, wherein the first included angle and the second included angle are right angles.
In one embodiment, the remote reference point is a probe point of a range finder, and determining a first distance between the remote reference point and the first reference point comprises:
and receiving a first distance sent by the distance meter, wherein the first distance is obtained by measuring a first reference point by the distance meter.
In one embodiment, determining the center position information of the radar according to the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance includes:
determining target position information according to first position information of a first reference point, second position information of a second reference point, a first included angle, a second included angle and a target detection distance, and taking the target position information as central position information;
or, two reference points in the target plane are obtained, new position information is determined again according to the remote reference point, the target detection distance and the two reference points, and central position information is determined according to the target position information and the new position information, wherein the two reference points are completely different from or partially identical to the first reference point and the second reference point.
In a second aspect of the embodiments of the present application, there is provided an apparatus for determining a radar center position, the apparatus including:
the first acquisition module is used for acquiring a far-end reference point outside the radar and acquiring a first reference point and a second reference point in a target plane, wherein the distance between the far-end reference point and the radar is smaller than a preset threshold value, and the target plane is determined according to the geometric center of the radar;
the first determining module is used for determining a first included angle formed by the far-end reference point, the first reference point and a preset reference point by taking the first reference point as a vertex, and a second included angle formed by the far-end reference point, the second reference point and the preset reference point by taking the second reference point as a vertex, wherein the preset reference point is any point in a target plane;
the second acquisition module is used for acquiring the target detection distance of the radar to the far-end reference point;
and the second determining module is used for determining the center position information of the radar according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance.
In a third aspect of the embodiments of the present application, a computer device is provided, where the computer device includes a memory and a processor, and the memory stores a computer program, and the computer program is executed by the processor to implement the method for determining the radar center position in the first aspect of the embodiments of the present application.
In a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and the computer program, when executed by a processor, implements the method for determining the radar center position in the first aspect of the embodiments of the present application.
The beneficial effects that technical scheme that this application embodiment brought include at least:
the method for determining the center position of a radar according to the embodiment of the present application obtains a far-end reference point outside the radar, and obtains a first reference point and a second reference point in a target plane, where a distance between the far-end reference point and the radar is smaller than a preset threshold, the target plane is determined according to a geometric center of the radar, determines a first included angle formed by the first reference point as a vertex and the far-end reference point, the first reference point and the preset reference point, and a second included angle formed by the second reference point as a vertex and the far-end reference point, the second reference point and the preset reference point, where the preset reference point is an arbitrary point in the target plane, obtains a target detection distance of the radar to the far-end reference point, and obtains the target detection distance according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance, and determining the center position information of the radar. Therefore, the determined center position of the radar is more accurate according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance.
Drawings
Fig. 1 is a schematic internal structural diagram of a computer device according to an embodiment of the present application;
fig. 2 is a flowchart of a method for determining a radar center position according to an embodiment of the present disclosure;
fig. 3 is a first schematic view illustrating a measurement of a center position of a radar according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram illustrating a measurement of a center position of a radar according to an embodiment of the present disclosure;
fig. 5 is a block diagram of a device for determining a radar center position according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present disclosure, "a plurality" means two or more unless otherwise specified.
In addition, the use of "based on" or "according to" means open and inclusive, as a process, step, calculation, or other action that is "based on" or "according to" one or more conditions or values may in practice be based on additional conditions or values beyond those that are present.
In recent years, the technology of intelligent auxiliary driving of automobiles is continuously developed, so that the application of millimeter wave radars to automobiles is more and more common. The multiple-in-multiple-out (MIMO) technology can synthesize a large-aperture virtual array through a small number of transceiver units, thereby greatly reducing hardware cost and improving angle measurement capability of a radar system, and thus becomes a mainstream method of a vehicle-mounted millimeter wave radar.
In the development and use of millimeter wave radar, the selection of the center position of the radar is of great importance. If the center position deviates, the phase calibration of the virtual channel of the radar deviates, and the angle measurement performance of the radar is further reduced. For the MIMO radar, the geometric center position of the MIMO radar is currently used as the center position of the MIMO radar, but the principle of the MIMO technology determines that the center of the virtual aperture does not coincide with the geometric center of the radar, so that the problem that the radar center position is not accurate enough exists.
In order to solve the above problem, an embodiment of the present application provides a method for determining a center position of a radar, including obtaining a far-end reference point outside the radar, and obtaining a first reference point and a second reference point in a target plane, where a distance between the far-end reference point and the radar is smaller than a preset threshold, where the target plane is determined according to a geometric center of the radar, determining a first included angle formed by the far-end reference point, the first reference point, and a preset reference point, where the first reference point is a vertex, and the far-end reference point, the first reference point, and the preset reference point are second included angles formed by the far-end reference point, the second reference point, and the preset reference point, where the preset reference point is an arbitrary point in the target plane, obtaining a target detection distance of the radar to the far-end reference point, and obtaining a target detection distance of the radar according to far-end position information of the far-end reference point, first position information of the first reference point, second position information of the second reference point, the first included angle, a distance of the first reference point, a distance of the second included angle, a distance of the second reference point, and a distance between the second point, and a second point, where a distance between the second point, a second angle, a third angle, a second angle, a third angle, And determining the center position information of the radar by the second included angle and the target detection distance. Therefore, the determined center position of the radar is more accurate according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance.
An execution main body of the method for determining the center position of the radar provided in the embodiment of the present application may be a computer device, a terminal device, or a server, where the terminal device may be various personal computers, notebook computers, smart phones, tablet computers, portable wearable devices, and the like, and the present application is not particularly limited.
Fig. 1 is a schematic internal structural diagram of a computer device according to an embodiment of the present disclosure. As shown in fig. 1, the computer device includes a processor and a memory connected by a system bus. Wherein the processor is configured to provide computational and control capabilities. The memory may include non-volatile storage media and internal memory. The non-volatile storage medium stores an operating system and a computer program. The computer program can be executed by a processor for implementing the steps of the method for determining the center position of a radar provided in the above embodiments. The internal memory provides a cached execution environment for the operating system and computer programs in the non-volatile storage medium.
Those skilled in the art will appreciate that the architecture shown in fig. 1 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
Based on the execution subject, the embodiment of the application provides a method for determining the center position of a radar. As shown in fig. 2, the method comprises the steps of:
step 201, acquiring a far-end reference point outside a radar, and acquiring a first reference point and a second reference point in a target plane;
the distance between the far-end reference point and the radar is smaller than a preset threshold value, and the preset threshold value can be 0.2-2 meters, preferably 0.5-1 meter. The target plane is determined according to the geometric center of the radar, and the target plane may be a plane including the geometric center of the radar.
In one implementation, the obtaining of the first reference point and the second reference point in the target plane may be: any two points are selected from the target plane as a first reference point and a second reference point.
In another implementation, the obtaining of the first reference point and the second reference point in the target plane may be: determining a first projection point of a far-end reference point on a first plane and a second projection point of the far-end reference point on a second plane respectively, wherein at most one plane of the first plane and the second plane is the same as a target plane, the first plane and the second plane are two planes of the radar at the same position and in different postures, taking an intersection point of a straight line passing through the far-end reference point and the first projection point and the target plane as a first reference point, and taking an intersection point of the straight line passing through the far-end reference point and the second projection point and the target plane as a second reference point.
That is, in another implementation manner, the first plane may be taken as a target plane, the projection points of the determined far-end reference points on the target plane, that is, the first projection points, are taken as first reference points, then the pose of the radar is adjusted, and the projection points of the far-end reference points on the target plane, that is, the second projection points, are taken as second reference points.
Step 202, a first included angle formed by the far-end reference point, the first reference point and the preset reference point by taking the first reference point as a vertex and a second included angle formed by the far-end reference point, the second reference point and the preset reference point by taking the second reference point as a vertex are determined.
The preset reference point is any point in the target plane.
It should be noted that, the reference point may be preset as a center point of the radar, and the actual center position information of the radar is determined according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle, and the target detection distance.
And step 203, acquiring the target detection distance of the radar to the far-end reference point.
And 204, determining the center position information of the radar according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance.
The remote location information may be coordinate information of a remote reference point, the first location information may be coordinate information of a first reference point, and the second location information may be coordinate information of a second reference point.
Optionally, the process of determining the center position information of the radar according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle, and the target detection distance may be: determining a first distance between a far-end reference point and a first reference point according to the far-end position information and the first position information; determining a second distance between the far-end reference point and a second reference point according to the far-end position information and the second position information; and determining the central position information according to the first distance, the second distance, the target detection distance, the first included angle, the second included angle, the first position information and the second position information.
Specifically, determining the central position information according to the first distance, the second distance, the target detection distance, the first included angle, the second included angle, the first position information and the second position information includes:
obtaining a first target distance according to the first distance, the target detection distance and the first included angle, wherein the first target distance is the distance between the first reference point and the preset reference point, obtaining a second target distance according to the second distance, the second detection distance and the second included angle, wherein the second target distance is the distance between the second reference point and the preset reference point, and obtaining the center position information according to the first target distance, the second target distance, the first position information and the second position information.
Further, determining the central position information according to the first distance, the second distance, the target detection distance, the first included angle, the second included angle, the first position information and the second position information, includes:
respectively determining a first detection distance and a second detection distance of the radar to a far-end reference point at the same position and in different postures, wherein the target detection distance comprises the first detection distance and the second detection distance;
and obtaining the central position information according to the first distance, the second distance, the first detection distance, the second detection distance, the first included angle, the second included angle, the first position information and the second position information, wherein the first included angle and the second included angle are right angles.
Illustratively, the determining the first distance between the far-end reference point and the first reference point includes: and receiving a first distance sent by the distance meter, wherein the first distance is obtained by measuring a first reference point by the distance meter.
In practice, as shown in fig. 3 and 4, a first reference point P1(x1, y1) and a second reference point P2(x2, y2) are randomly selected under the radar coordinate system. The preset reference point is a point P, the coordinates of the point P are assumed to be (x0, y0), the distance between the points P1P is assumed to be c1, and the distance between the points P2P is assumed to be c 2. The distance c1 between P1P can be obtained by measuring the distance L1 between the far-end reference point and P1, detecting the distance S1 of the far-end reference point by the radar, and obtaining the angle value of the first included angle formed by the far-end reference point, P1 and P. And then, by measuring the distance L2 between the far-end reference point and the P2, the radar detects the distance S2 of the far-end reference point and the angle value of a second included angle formed by the far-end reference point, the P2 and the P, and the distance C2 between the P2P is obtained. Then, the coordinates of the point P can be obtained by using the following formula (1) and formula (2), and further, the center position information of the radar can be obtained:
(x1-x0) 2 +(y1-y0) 2 ＝c1 2 (1)
(x2-x0) 2 +(y2-y0) 2 ＝c2 2 (2)
it should be noted that, when the first angle and the second angle are both right angles, the line segments L1, S1, and PP1 form a right triangle, and the line segments L2, S2, and PP2 form a right triangle, then the distance between P1P is c1 and the distance between P2P is c2 according to the following formula. Then, the coordinates of the point P can be obtained according to the above formula (1) and formula (2), and further, the center position information of the radar can be obtained:
c1 2 ＝s1 2 -l1 2 (3)
c2 2 ＝s2 2 -l2 2 (4)
the method for determining the center position information of the radar according to the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance includes: determining central position information according to first position information of a first reference point, second position information of a second reference point, a first included angle, a second included angle and a target detection distance, wherein the two implementation modes comprise two implementation modes;
in one implementation, determining the center position information of the radar according to the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle, and the target detection distance includes: and determining target position information according to the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance, and taking the target position information as the central position information.
In another implementation manner, determining the center position information of the radar according to the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle, and the target detection distance includes: acquiring two reference points in a target plane, re-determining new position information according to a far-end reference point, a target detection distance and the two reference points, and determining central position information according to the target position information and the new position information, wherein the two reference points are completely different from or partially identical to the first reference point and the second reference point.
That is, in the first implementation, the determined target position information is directly used as the center position information of the radar. In a second implementation manner, after the target position information is obtained, the above process is executed again to obtain one or more new target position information, and then an average value of the new position information is used as the center position information of the radar, so that the accuracy of the center position can be further improved.
The method for determining the center position of a radar according to the embodiment of the present application obtains a far-end reference point outside the radar, and obtains a first reference point and a second reference point in a target plane, where a distance between the far-end reference point and the radar is smaller than a preset threshold, the target plane is determined according to a geometric center of the radar, determines a first included angle formed by the first reference point as a vertex and the far-end reference point, the first reference point and the preset reference point, and a second included angle formed by the second reference point as a vertex and the far-end reference point, the second reference point and the preset reference point, where the preset reference point is an arbitrary point in the target plane, obtains a target detection distance of the radar to the far-end reference point, and obtains the target detection distance according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance, center position information of the radar is determined. Therefore, the determined center position of the radar is more accurate according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance.
As shown in fig. 5, an embodiment of the present application provides an apparatus for determining a radar center position, where the apparatus includes:
the first acquisition module 11 is configured to acquire a far-end reference point outside the radar, and acquire a first reference point and a second reference point in a target plane, where a distance between the far-end reference point and the radar is smaller than a preset threshold, and the target plane is determined according to a geometric center of the radar;
the first determining module 12 is configured to determine a first included angle formed by the distal reference point, the first reference point, and the preset reference point, with the first reference point as a vertex, and a second included angle formed by the distal reference point, the second reference point, and the preset reference point, with the second reference point as a vertex, with the preset reference point being any point in the target plane;
the second obtaining module 13 is configured to obtain a target detection distance of the radar to the far-end reference point;
the second determining module 14 is configured to determine center position information of the radar according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle, and the target detection distance.
In one embodiment, the second determining module 14 is specifically configured to:
determining a first distance between a far-end reference point and a first reference point according to the far-end position information and the first position information;
determining a second distance between the far-end reference point and the second reference point according to the far-end position information and the second position information;
and determining the central position information according to the first distance, the second distance, the target detection distance, the first included angle, the second included angle, the first position information and the second position information.
In one embodiment, the second determining module 14 is specifically configured to:
obtaining a first target distance according to the first distance, the target detection distance and the first included angle, wherein the first target distance is the distance between a first reference point and a preset reference point;
obtaining a second target distance according to the second distance, the second detection distance and the second included angle, wherein the second target distance is the distance between a second reference point and a preset reference point;
and obtaining the center position information according to the first target distance, the second target distance, the first position information and the second position information.
In an embodiment, the first obtaining module 11 is specifically configured to:
determining a first projection point of a far-end reference point on a first plane and a second projection point of a far-end reference point on a second plane respectively, wherein at most one plane of the first plane and the second plane is the same as a target plane, and the first plane and the second plane are two planes of a radar at the same position and in different postures;
and taking the intersection point of the straight line passing through the far-end reference point and the first projection point and the target plane as a first reference point, and taking the intersection point of the straight line passing through the far-end reference point and the second projection point and the target plane as a second reference point.
In one embodiment, the second determining module 14 is specifically configured to:
respectively determining a first detection distance and a second detection distance of the radar to a far-end reference point at the same position and in different postures, wherein the target detection distance comprises the first detection distance and the second detection distance;
and obtaining the central position information according to the first distance, the second distance, the first detection distance, the second detection distance, the first included angle, the second included angle, the first position information and the second position information, wherein the first included angle and the second included angle are right angles.
In one embodiment, the second determining module 14 is specifically configured to:
and receiving a first distance sent by the distance meter, wherein the first distance is obtained by measuring a first reference point by the distance meter.
In one embodiment, the second determining module 14 is specifically configured to:
determining target position information according to first position information of a first reference point, second position information of a second reference point, a first included angle, a second included angle and a target detection distance, and taking the target position information as central position information;
or, two reference points in the target plane are obtained, new position information is determined again according to the remote reference point, the target detection distance and the two reference points, and central position information is determined according to the target position information and the new position information, wherein the two reference points are completely different from or partially identical to the first reference point and the second reference point.
The device for determining the center position of the radar according to the embodiment of the application obtains the far-end reference point outside the radar, obtains the first reference point and the second reference point in the target plane, obtains the first included angle formed by the far-end reference point, the first reference point and the preset reference point by taking the first reference point as a vertex and determining the first included angle formed by the far-end reference point, the first reference point and the preset reference point by taking the second reference point as a vertex and determining the second included angle formed by the far-end reference point, the second reference point and the preset reference point by taking the second reference point as a vertex and determining the target detection distance of the radar as any point in the target plane, obtains the target detection distance of the radar to the far-end reference point according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance, and determining the center position information of the radar. Therefore, the determined center position of the radar is more accurate according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance.
The device for determining the center position of the radar provided in this embodiment may implement the method embodiments described above, and the implementation principle and the technical effect are similar, which are not described herein again.
For specific definition of the device for determining the center position of the radar, reference may be made to the above definition of the method for determining the center position of the radar, and details thereof are not repeated here. The respective modules in the above-described apparatus for determining the center position of the radar may be entirely or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the server, and can also be stored in a memory in the server in a software form, so that the processor can call and execute operations corresponding to the modules.
In another embodiment of the present application, there is also provided a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, performs the step of determining the center position of the radar as in the embodiments of the present application.
In another embodiment of the present application, a computer-readable storage medium is further provided, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the method for determining the center position of a radar according to an embodiment of the present application.
In another embodiment of the present application, a computer program product is further provided, which includes computer instructions, when the computer instructions are run on a device for determining the center position of the radar, the device for determining the center position of the radar performs the steps performed by the method for determining the center position of the radar in the method flow shown in the above method embodiment.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented using a software program, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The processes or functions according to the embodiments of the present application are generated in whole or in part when the computer-executable instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). Computer-readable storage media can be any available media that can be accessed by a computer or can comprise one or more data storage devices, such as servers, data centers, and the like, that can be integrated with the media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A method for determining a radar center position, the method comprising:
acquiring a far-end reference point outside the radar, and acquiring a first reference point and a second reference point in a target plane, wherein the distance between the far-end reference point and the radar is less than a preset threshold value, and the target plane is determined according to the geometric center of the radar;
determining a first included angle formed by the far-end reference point, the first reference point and a preset reference point by taking the first reference point as a vertex, and a second included angle formed by the far-end reference point, the second reference point and the preset reference point by taking the second reference point as a vertex, wherein the preset reference point is any point in the target plane;
acquiring a target detection distance of the radar to the far-end reference point;
and determining the center position information of the radar according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance.
2. The method of claim 1, wherein determining the center position information of the radar according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first angle, the second angle, and the target detection distance comprises:
determining a first distance between the far-end reference point and the first reference point according to the far-end position information and the first position information;
determining a second distance between the far-end reference point and the second reference point according to the far-end position information and the second position information;
and determining the central position information according to the first distance, the second distance, the target detection distance, the first included angle, the second included angle, the first position information and the second position information.
3. The method of claim 2, wherein determining the center position information according to the first distance, the second distance, the target detection distance, the first angle, the second angle, the first position information, and the second position information comprises:
obtaining a first target distance according to the first distance, the target detection distance and the first included angle, wherein the first target distance is the distance between the first reference point and the preset reference point;
obtaining a second target distance according to the second distance, the target detection distance and the second included angle, wherein the second target distance is the distance between the second reference point and the preset reference point;
and obtaining the center position information according to the first target distance, the second target distance, the first position information and the second position information.
4. The method of claim 2 or 3, wherein the obtaining a first reference point and a second reference point in a target plane comprises:
determining a first projection point of the far-end reference point on a first plane and a second projection point of the far-end reference point on a second plane respectively, wherein at most one plane of the first plane and the second plane is the same as the target plane, and the first plane and the second plane are two planes of the radar at the same position and in different postures;
and taking the intersection point of the straight line passing through the far-end reference point and the first projection point and the target plane as the first reference point, and taking the intersection point of the straight line passing through the far-end reference point and the second projection point and the target plane as the second reference point.
5. The method of claim 4, wherein determining the center position information according to the first distance, the second distance, the target detection distance, the first angle, the second angle, the first position information, and the second position information comprises:
respectively determining a first detection distance and a second detection distance of the radar to the far-end reference point at the same position and different postures, wherein the target detection distance comprises the first detection distance and the second detection distance;
obtaining the central position information according to the first distance, the second distance, the first detection distance, the second detection distance, the first included angle, the second included angle, the first position information and the second position information, wherein the first included angle and the second included angle are right angles.
6. The method of claim 2 or 3, wherein the distal reference point is a probe point of a range finder, and wherein the determining the first distance between the distal reference point and the first reference point comprises:
and receiving the first distance sent by the distance meter, wherein the first distance is obtained by measuring the first reference point by the distance meter.
7. The method according to any one of claims 1-3, wherein the determining the center position information of the radar according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first angle, the second angle, and the target detection distance comprises:
determining target position information according to the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance, and taking the target position information as the center position information;
or, two reference points in the target plane are acquired, new position information is determined again according to the remote reference point, the target detection distance and the two reference points, and the center position information is determined according to the target position information and the new position information, wherein the two reference points are completely different from or partially the same as the first reference point and the second reference point.
8. An apparatus for determining a radar center position, the apparatus comprising:
the first acquisition module is used for acquiring a far-end reference point outside the radar and acquiring a first reference point and a second reference point in a target plane, wherein the distance between the far-end reference point and the radar is smaller than a preset threshold value, and the target plane is determined according to the geometric center of the radar;
a first determining module, configured to determine a first included angle formed by the distal reference point, the first reference point, and a preset reference point with the first reference point as a vertex, and a second included angle formed by the distal reference point, the second reference point, and the preset reference point with the second reference point as a vertex, where the preset reference point is any point in the target plane;
the second acquisition module is used for acquiring the target detection distance of the radar to the far-end reference point;
and the second determining module is used for determining the central position information of the radar according to the far-end position information of the far-end reference point, the first position information of the first reference point, the second position information of the second reference point, the first included angle, the second included angle and the target detection distance.
9. A computer arrangement comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, implements the method of determining a radar centre position according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the method for determining a radar center position according to any one of claims 1 to 7.
CN202210785767.4A 2022-06-30 2022-06-30 Method, device and equipment for determining radar center position and storage medium Pending CN115097457A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210785767.4A CN115097457A (en) 2022-06-30 2022-06-30 Method, device and equipment for determining radar center position and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210785767.4A CN115097457A (en) 2022-06-30 2022-06-30 Method, device and equipment for determining radar center position and storage medium

Publications (1)

Publication Number Publication Date
CN115097457A true CN115097457A (en) 2022-09-23

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
CN (1) CN115097457A (en)

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