CN115542277B - Radar normal calibration method, device, system, equipment and storage medium - Google Patents
Radar normal calibration method, device, system, equipment and storage medium Download PDFInfo
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- 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
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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
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- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
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Abstract
The application discloses a radar normal calibration method, a radar normal calibration device, a radar normal calibration system, radar normal calibration equipment and a radar normal calibration storage medium. The method comprises the following steps: acquiring a coordinate sequence of an actual track point of a target vehicle; acquiring a coordinate sequence of a radar detection point of a target vehicle; determining the north deflection angle of the radar normal according to the coordinate sequence of the radar detection point, the coordinate sequence of the track point and the loss function of the rotation angle; the normal north deflection angle of the radar normal is the rotation angle which minimizes the loss function value; and (5) according to the normal north deflection angle of the radar normal, the radar normal calibration is completed. The method and the device determine the north-positive deflection angle of the normal line of the radar by using a loss function, navigation track data of the vehicle and radar detection track data. The moving vehicle is equivalent to different detection target points at different moments, so that the requirement of multiple target points in the calibration process is met, the risk of reverse placement angle in a complex traffic scene is avoided, the actual track data of the vehicle is obtained from the vehicle navigation, and the calibration process is simplified.
Description
Technical Field
The application relates to the technical field of radars, in particular to a radar normal calibration method, a device, a system, equipment and a storage medium.
Background
In radar traffic application scenarios, it is often involved to project the coordinates of the detected target into a geographic coordinate system, implementing multi-radar fusion and interaction of the sensor with a high-precision map, a process called normal calibration.
At present, a plurality of angles are reversely placed in a radar detection area, the longitude and latitude of the radar and the angle reversely are recorded through the RTK, the longitude and latitude of the angle reversely are in one-to-one correspondence with the target position detected by the radar, and finally the included angle between the radar normal and the north direction is fitted.
However, the inverse angle distribution in the traffic scene with larger traffic flow not only complicates the calibration process, but also interferes with traffic and even causes traffic safety hazards.
Disclosure of Invention
Based on the problems, the application provides a radar normal calibration method, a device, a system, equipment and a storage medium, which can simplify the calibration process and avoid the risk of reverse angle placement in a complex traffic scene.
The embodiment of the application discloses the following technical scheme:
the first aspect of the application provides a radar normal calibration method, which comprises the following steps:
Acquiring a coordinate sequence of an actual track point of a target vehicle; the coordinate sequence of the track point is in a first Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, the positive east direction as the positive transverse axis direction and the positive north direction as the positive longitudinal axis direction;
acquiring a coordinate sequence of a radar detection point of a target vehicle; the coordinate sequence of the radar detection point is in a second Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, a normal direction of the radar as a positive direction of a vertical axis, and the normal direction is rotated clockwise by 90 degrees as a positive direction of a horizontal axis;
determining the north deflection angle of the radar normal according to the coordinate sequence of the radar detection point, the coordinate sequence of the track point and the loss function of the rotation angle; the normal north deflection angle of the radar normal is the rotation angle which minimizes the loss function value;
and (5) completing radar normal calibration by utilizing the normal north deflection angle of the radar normal.
In one possible implementation manner, the determining the north-positive yaw angle of the radar normal according to the loss function of the coordinate sequence of the radar detection point, the coordinate sequence of the track point and the rotation angle includes:
calculating the coordinates of each radar detection point after the second Cartesian coordinate system rotates the target angle by taking the origin as the center of a circle to obtain a first rotating coordinate sequence;
Calculating the Euclidean distance between the first rotation coordinate of each radar detection point and the coordinate of each track point to obtain a first result sequence corresponding to each radar detection point;
acquiring a minimum Euclidean distance value from a first result sequence corresponding to each radar detection point, and taking the minimum Euclidean distance value as a second result;
adding the second results corresponding to each radar detection point to obtain a loss function value;
and determining the angle with the minimum loss function value as the north-positive deflection angle of the normal of the radar according to the loss function values of different target angles.
In one possible implementation manner, the determining the north-positive yaw angle of the radar normal according to the loss function of the coordinate sequence of the radar detection point, the coordinate sequence of the track point and the rotation angle includes:
calculating the coordinates of each track point after the first Cartesian coordinate system rotates by the target angle by taking the origin as the center of a circle to obtain a second rotating coordinate sequence;
calculating the Euclidean distance between the second rotation coordinate of each track point and the coordinate of each radar detection point to obtain a third result sequence corresponding to each track point;
obtaining a minimum Euclidean distance value from a third result sequence corresponding to each track point, and taking the minimum Euclidean distance value as a fourth result;
Adding the fourth results corresponding to each track point to obtain a loss function value;
and determining the angle with the minimum loss function value as the north-positive deflection angle of the normal of the radar according to the loss function values of different target angles.
In one possible implementation manner, the acquiring the coordinate sequence of the actual track point of the target vehicle includes:
acquiring longitude and latitude of a radar installation position;
acquiring a longitude and latitude sequence of a track point of a target vehicle running in a radar detection area from a navigation system of the target vehicle;
converting longitude and latitude of the radar installation position into UTM coordinates;
converting the longitude and latitude sequence of the track point into an initial UTM coordinate sequence of the track point;
and converting the initial UTM coordinate sequence of the track point into a first Cartesian coordinate system taking the UTM coordinate of the radar installation position as an origin to obtain the coordinate sequence of the track point.
In one possible implementation manner, the acquiring the longitude and latitude of the radar installation location includes:
and acquiring the longitude and latitude obtained from the radar installation position measured by the RTK equipment.
In one possible implementation manner, the calibrating the radar normal line by using the normal north deflection angle of the radar normal line includes: rotating the first Cartesian coordinate system by a positive north deflection angle by taking an origin as a circle center to finish radar normal calibration; or rotating the second Cartesian coordinate system by the north-positive deflection angle by taking the origin as the center of a circle to finish the normal calibration of the radar.
In one possible implementation manner, the acquiring the coordinate sequence of the radar detection point of the target vehicle includes:
acquiring radar target tracking data at different moments; the radar target tracking data includes radar detection points of a plurality of vehicles;
and obtaining a coordinate sequence of a radar detection point of the target vehicle from radar target tracking data at different moments according to the identification information of the target vehicle.
In one possible implementation manner, before the radar target tracking data at different moments is acquired, the method further includes: and denoising the original radar point cloud data.
A second aspect of the present application provides a radar normal calibration device, including:
a first acquisition unit configured to acquire a coordinate sequence of an actual trajectory point of a target vehicle; the coordinate sequence of the track point is in a first Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, the positive east direction as the positive transverse axis direction and the positive north direction as the positive longitudinal axis direction;
a second acquisition unit that acquires a coordinate sequence of a radar detection point of the target vehicle; the coordinate sequence of the radar detection point is in a second Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, a normal direction of the radar as a positive direction of a vertical axis, and the normal direction is rotated clockwise by 90 degrees as a positive direction of a horizontal axis;
A north-plus yaw angle determination unit that determines a north-plus yaw angle of a radar normal from a loss function concerning a coordinate sequence of a radar detection point, a coordinate sequence of a trajectory point, and a rotation angle; the normal north deflection angle of the radar normal is the rotation angle which minimizes the loss function value;
and the calibration unit is used for completing the radar normal calibration by utilizing the normal north deflection angle of the radar normal.
In one possible implementation, the north-positive yaw angle determination unit includes:
the first calculation unit is used for calculating the coordinates of each radar detection point after the second Cartesian coordinate system rotates by taking the origin as the center of a circle to obtain a first rotating coordinate sequence;
the second calculation unit is used for calculating the Euclidean distance between the first rotation coordinate of each radar detection point and the coordinate of each track point to obtain a first result sequence corresponding to each radar detection point;
a second result obtaining unit, configured to obtain a minimum euclidean distance value from the first result sequence corresponding to each radar detection point, as a second result;
a first loss function value obtaining unit, configured to add the second results corresponding to each radar detection point to obtain a loss function value;
And the first determining unit is used for determining that the angle with the minimum loss function value is the north-plus deflection angle of the normal line of the radar according to the loss function values of different target angles.
In one possible implementation, the north-positive yaw angle determination unit includes:
the third calculation unit is used for calculating the coordinates of each track point after the first Cartesian coordinate system rotates by the target angle by taking the origin as the center of a circle to obtain a second rotating coordinate sequence;
the fourth calculation unit is used for calculating the Euclidean distance between the second rotation coordinate of each track point and the coordinate of each radar detection point to obtain a third result sequence corresponding to each track point;
a fourth result obtaining unit, configured to obtain a minimum euclidean distance value from a third result sequence corresponding to each track point, as a fourth result;
a second loss function value obtaining unit, configured to add the fourth results corresponding to each track point to obtain a loss function value;
and the second determining unit is used for determining that the angle with the minimum loss function value is the north-plus deflection angle of the normal line of the radar according to the loss function values of different target angles.
A third aspect of the present application provides a radar normal calibration system, comprising: radar, target vehicle loaded with GNSS system and calibration terminal;
The calibration terminal is used for acquiring a coordinate sequence of an actual track point of the target vehicle; the coordinate sequence of the track point is in a first Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, the positive east direction as the positive transverse axis direction and the positive north direction as the positive longitudinal axis direction; acquiring a coordinate sequence of a radar detection point of a target vehicle; the coordinate sequence of the radar detection point is in a second Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, a normal direction of the radar as a positive direction of a vertical axis, and the normal direction is rotated clockwise by 90 degrees as a positive direction of a horizontal axis; determining the north deflection angle of the radar normal according to the coordinate sequence of the radar detection point, the coordinate sequence of the track point and the loss function of the rotation angle; the normal north deflection angle of the radar normal is the rotation angle which minimizes the loss function value; and (5) completing radar normal calibration by utilizing the normal north deflection angle of the radar normal.
A fourth aspect of the present application provides a radar normal calibration device, comprising: the radar normal calibration method according to any one of the first aspect of the present application is implemented by a memory, a processor, and a computer program stored on the memory and executable on the processor, when the processor executes the computer program.
A fifth aspect of the present application provides a computer readable storage medium having instructions stored therein which, when run on a terminal device, cause the terminal device to perform a radar normal calibration method according to any one of the first aspect of the present application.
Compared with the prior art, the application has the following beneficial effects:
the radar normal calibration method provided by the application comprises the following steps: acquiring a coordinate sequence of an actual track point of a target vehicle; the coordinate sequence of the track point is in a first Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, the positive east direction as the positive transverse axis direction and the positive north direction as the positive longitudinal axis direction; acquiring a coordinate sequence of a radar detection point of a target vehicle; the coordinate sequence of the radar detection point is in a second Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, a normal direction of the radar as a positive direction of a vertical axis, and the normal direction is rotated clockwise by 90 degrees as a positive direction of a horizontal axis; determining the north deflection angle of the radar normal according to the coordinate sequence of the radar detection point, the coordinate sequence of the track point and the loss function of the rotation angle; the normal north deflection angle of the radar normal is the rotation angle which minimizes the loss function value; and according to the normal north deflection angle of the radar normal, the radar normal calibration is completed. The method and the device determine the north-positive deflection angle of the radar normal line by comparing the navigation track data of the target vehicle with the radar detection track data and utilizing the loss function. The moving target vehicle is equivalent to different detection target points at different moments, so that the requirement on multiple target points in the calibration process is met, the danger of reverse placement angle in a complex traffic scene is avoided, the actual track data of the vehicle is obtained from the vehicle navigation, and the calibration process is simplified.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a schematic flow chart of a radar normal calibration method provided in an embodiment of the present application;
fig. 2 is a schematic diagram of a coordinate system of a universal horizontal axis mercator projection according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a radar normal calibration device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a radar normal calibration system according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a radar normal calibration system according to an embodiment of the present application.
Detailed Description
As described above, in the current radar normal calibration method, a plurality of angles are reversely placed in a radar detection area, then the longitude and latitude of the radar and the angle reverse are recorded through the RTK, then the longitude and latitude of the angle reverse are in one-to-one correspondence with the target position detected by the radar, and finally the included angle between the radar normal and the north direction is fitted.
However, the inverse angle distribution in the traffic scene with larger traffic flow not only complicates the calibration process, but also interferes with traffic and even causes traffic safety hazards.
In view of this, an embodiment of the present application provides a radar normal calibration method provided in the present application, including: acquiring a coordinate sequence of an actual track point of a target vehicle; the coordinate sequence of the track point is in a first Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, the positive east direction as the positive transverse axis direction and the positive north direction as the positive longitudinal axis direction; acquiring a coordinate sequence of a radar detection point of a target vehicle; the coordinate sequence of the radar detection point is in a second Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, a normal direction of the radar as a positive direction of a vertical axis, and the normal direction is rotated clockwise by 90 degrees as a positive direction of a horizontal axis; determining the north deflection angle of the radar normal according to the coordinate sequence of the radar detection point, the coordinate sequence of the track point and the loss function of the rotation angle; the normal north deflection angle of the radar normal is the rotation angle which minimizes the loss function value; and according to the normal north deflection angle of the radar normal, the radar normal calibration is completed. The method and the device determine the north-positive deflection angle of the radar normal line by comparing the navigation track data of the target vehicle with the radar detection track data and utilizing the loss function. The moving target vehicle is equivalent to different detection target points at different moments, so that the requirement on multiple target points in the calibration process is met, the danger of reverse placement angle in a complex traffic scene is avoided, the actual track data of the vehicle is obtained from the vehicle navigation, and the calibration process is simplified.
In order to make the present application solution better understood by those skilled in the art, the following description will clearly and completely describe the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Referring to fig. 1, the chart is a flowchart of a radar normal calibration method provided in an embodiment of the application. As shown in fig. 1, the radar normal calibration method includes S110-S140:
s110, acquiring a coordinate sequence of an actual track point of a target vehicle; the coordinate sequence of the track points is in a first Cartesian coordinate system with UTM coordinates of radar installation positions as an origin, the positive east direction as the positive transverse axis direction and the positive north direction as the positive longitudinal axis direction.
S110 includes:
s1101, acquiring longitude and latitude of a radar installation position.
Illustratively, the latitude and longitude obtained by measuring the radar installation location by the RTK apparatus.
Illustratively, the latitude and longitude of the radar installation location are expressed as:
(lat r ,lon r ) Wherein lat r Longitude, lon representing radar installation location r Indicating the latitude of the radar installation location.
S1102, acquiring a longitude and latitude sequence of a track point of a target vehicle running in a radar detection area from a navigation system of the target vehicle;
illustratively, a vehicle with a GNSS (Global Navigation Satellite System ) installed therein is driven into a radar detection area, the GNSS system is computer-centered, integrates and optimizes mathematical processing of information of a plurality of navigation sensors, and then outputs navigation results. And extracting the real-time track point longitude and latitude sequence of the vehicle in the navigation result.
Illustratively, the track point longitude and latitude sequence is expressed as:
P G ={(lat j ,lon j )|j∈[1,m]}, wherein lat j Longitude, lon representing position of vehicle at j-th time in vehicle track j The latitude of the position of the vehicle at the j-th moment in the vehicle track is represented, and m is the number of track points.
S1103, respectively converting longitude and latitude sequences of the radar installation position and longitude and latitude sequences of the track points into a coordinate system of the universal transverse-axis mercator projection.
Introduction of the coordinate System of the Universal transverse-axis mercator projection:
the universal transverse-axis mercator projection (Universal Transverse Mercator, UTM) is a map projection method. It uses a cartesian coordinate system, using the WGS84 system as the coordinate basis, to mark all positions between 80 ° south latitude and 84 ° north latitude.
UTM coordinates consist of three parts: longitude interval a lon Latitude interval a lat And grid coordinates [ ]x u ,y u )。
Starting from 80 ° in south latitude, every 8 ° is organized into a latitude interval, while the north-most latitude interval (the interval of 74 ° north in north latitude) is extended to 84 ° in north latitude to cover most of the land in the world. Each latitude interval is expressed by an English letter, and the numbers from the south to the north are arranged from 'C' to 'X'.
Every 6 ° is organized into a longitude interval, each longitude interval being represented by a number from west to east, from 01 to 60.
Illustratively, the latitude and longitude of the radar installation location are converted into the coordinate system of the general-purpose horizontal-axis mercator projection:
(lat r ,lon r )→(a lonr ,a latr ,x ur ,y ur ) Wherein a is lonr Longitude zone, a, representing radar installation location latr Representing latitude interval of radar installation positionx ur ,y ur ) Representation ofGrid coordinates of radar mounting locations.
The longitude and latitude sequence of the track point is converted into a coordinate system of a general transverse-axis mercator projection:
P G →P Gu =(a lonj ,a latj ,x uj ,y uj ) Wherein a is lonj Longitude zone, a, representing the position of the vehicle at time j latj Representing the latitude interval of the vehicle position at the j-th momentx uj ,y uj ) Grid coordinates representing the vehicle position at time j.
S1104, converting the coordinate of the track point UTM into a Cartesian coordinate system taking the coordinate of the radar installation position UTM as an origin.
Illustratively, the transformed sequence of trajectory point coordinates is expressed as:
P GNSS ={(x j ,y j )|j∈[1,m]' wherein }, where%x j ,y j ) Indicating the position of the vehicle at the j-th time when the radar is mounted at the position (a lonr ,a latr ,x ur ,y ur ) Is the coordinate in the coordinate system of the origin.
Introduction to the principle of coordinate transformation:
referring to fig. 2, a schematic diagram of a coordinate system of a universal transverse-axis mercator projection is provided in an embodiment of the present application. As shown in FIG. 2, taking the coordinate point K in the figure as an example, the coordinates of K are (R, 50, x k ,y k )。
The points L and K are located in a cartesian coordinate system with O as the origin, the positive east as the positive X-axis direction, and the positive north as the positive Y-axis direction. Therefore, the point L is converted into a cartesian coordinate system with K as the origin, positive east as the positive X-axis direction, and positive north as the positive Y-axis direction, and ordinary coordinate conversion is performed.
The point J is located in a Cartesian coordinate system with an origin of O', positive east being the positive X-axis direction and positive north being the positive Y-axis direction. Therefore, to convert the point J into a cartesian coordinate system with K as the origin, positive east as the positive X-axis and positive north as the positive Y-axis, the origin of J needs to be converted from O' to O:
(x J ,y J )→(x J ,y J +width) I.e. the ordinate of the point J needs to be transformed by adding the width of one latitude interval.
Similarly, to convert the point M to a coordinate system with the point K as the origin, the abscissa of the point M needs to be added with the width of one longitude zone and then the coordinate system is converted.
To convert the point N to the coordinate system with the point K as the origin, the abscissa of the point N needs to be added with the widths of one longitude interval and one latitude interval, and then the coordinate system is converted.
In this embodiment, the radar installation position coordinates and the vehicle track point coordinates are in a cartesian coordinate system with the positive east direction as the positive X-axis direction and the positive north direction as the positive Y-axis direction, but the longitude and latitude intervals in which the two data are located may be different or the same.
S120, acquiring a coordinate sequence of a radar detection point of a target vehicle; the coordinate sequence of the radar detection point is in a second Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, a normal direction of the radar as a vertical axis positive direction, and a normal direction rotating clockwise by 90 degrees as a horizontal axis positive direction.
In some embodiments, prior to acquiring radar target tracking data at different times, the method further comprises: and denoising the original radar point cloud data. The original radar point cloud data before processing has the characteristics of high noise, single target corresponding to a plurality of point clouds and the like, and cannot be directly used; the processed data, a single target corresponds to a single target point, each target point has a number, and the same number at different times means different positions of the same target at different times. Thus, the motion trail of the specific target can be acquired through numbering.
In some embodiments, the acquiring the coordinate sequence of the radar detection point of the target vehicle includes:
s121, acquiring radar target tracking data at different moments; the radar target tracking data includes radar detection points of a plurality of vehicles.
Illustratively, radar target tracking data is represented as:
P={(id k ,x I ,y I )|I∈[1,n]p contains tracking data of all targets detected by the radar from the time when the target vehicle enters the radar detection area to the time when the target vehicle exits. Wherein, id k Identification information indicating any one of the detection targets may be a number. (x I ,y I ) Representing the identification information as id k Coordinates of a detection point at time I of the detection target. n is the number of radar detection points.
S122, obtaining a coordinate sequence of a radar detection point of the target vehicle from radar target tracking data at different moments according to the identification information of the target vehicle.
Exemplary, the number id is filtered out F Radar target tracking data of a target vehicle of (1) is expressed as:
P R ={(x i ,y i )|i∈[1,n] and id i =id F ' wherein }, where%x i ,y i ) Representing the identification information as id F Coordinates of a detection point at the i-th time of the detection target.
S130, determining the north deflection angle of the radar normal according to a loss function of the coordinate sequence of the radar detection point, the coordinate sequence of the track point and the rotation angle; the normal north yaw angle of the radar normal is the rotation angle that minimizes the loss function value.
Because the coordinate sequence of the detection point and the two coordinate system origins of the coordinate sequence of the track point are the same, the coordinate system conversion can be realized by rotating the degrees of the positive north deflection angle of the normal direction of the radar only by taking one coordinate system as the circle center and finally the track is coincident. Then, the number of rotated angles is the positive north deflection angle of the radar normal when the two tracks are coincident in one of the coordinate system of the coordinate sequence of the rotation radar detection point and the coordinate system of the track point.
In some embodiments, S130 comprises:
s1301a, calculating the coordinates of each radar detection point after the second Cartesian coordinate system rotates the target angle by taking the origin as the center of a circle, and obtaining a first rotating coordinate sequence.
S1302a, calculating Euclidean distance between the first rotation coordinates of each radar detection point and the coordinates of each track point, and obtaining a first result sequence corresponding to each radar detection point.
And S1303a, acquiring a minimum Euclidean distance value from the first result sequence corresponding to each radar detection point, and taking the minimum Euclidean distance value as a second result.
Since the radar detection point and the vehicle trajectory point are obtained in the same period, but are not in a completely one-to-one correspondence, the point at which the minimum euclidean distance value is to be obtained is used as the corresponding reference point, and the minimum euclidean distance value is used as a factor of the loss function.
S1304a, adding the second results corresponding to each radar detection point to obtain a loss function value.
And S1305a, determining the angle with the minimum loss function value as the north-plus deflection angle of the normal line of the radar according to the loss function values of different target angles.
Illustratively, the coordinate system where the radar detection point is located is rotated clockwise from θ=0°, and the loss function expression is as follows:
wherein θ represents a clockwise rotation angle of 0 DEG<θ<360°；(x i ,y i )∈P R Representing the coordinates of an ith radar detection point; (cos (θ)x i +sin(θ)y i ，-sin(θ)x i +cos(θ)y i ) Representation of%x i ,y i ) Coordinates in the rotated coordinate system; (x’ j ,y’ j )∈P GNSS Coordinates of a vehicle track point at the j-th moment are represented; n representsThe total number of radar detection points, m, represents the total number of vehicle track points, and n and m can be equal or unequal.
And enabling the value of theta with the minimum value of f (theta) to be the positive north deflection angle of the radar normal, and enabling the value of theta with the minimum value of f (theta) to be positive clockwise.
In other embodiments, S130 includes:
s1301b, calculating the coordinates of each track point after the first Cartesian coordinate system rotates the target angle by taking the origin as the center of a circle, and obtaining a second rotating coordinate sequence.
And S1302b, calculating Euclidean distance between the second rotation coordinates of each track point and the coordinates of each radar detection point, and obtaining a third result sequence corresponding to each track point.
And S1303b, acquiring a minimum Euclidean distance value from a third result sequence corresponding to each track point, and taking the minimum Euclidean distance value as a fourth result.
S1304b, adding the fourth results corresponding to each trace point to obtain a loss function value.
And S1305b, determining the angle with the minimum loss function value as the north-plus deflection angle of the normal line of the radar according to the loss function values of different target angles.
And S140, according to the normal north deflection angle of the radar normal, the radar normal calibration is completed.
S140 includes: and rotating the first Cartesian coordinate system by a positive north deflection angle by taking the origin as the center of a circle to finish the normal calibration of the radar. Or rotating the second Cartesian coordinate system by the north-positive deflection angle by taking the origin as the center of a circle to finish the normal calibration of the radar.
And (3) according to the north-positive deflection angle determined in the step (S130), rotating one coordinate system by using the origin of coordinates as the center of a circle to realize coordinate system conversion, and finally coinciding the track to finish the normal calibration of the radar.
According to the embodiment of the application, the north-positive deflection angle of the radar normal is determined by using the loss function by comparing the navigation track data of the target vehicle with the radar detection track data. The moving target vehicle is equivalent to different detection target points at different moments, so that the requirement on multiple target points in the calibration process is met, the danger of reverse placement angle in a complex traffic scene is avoided, the actual track data of the vehicle is obtained from the vehicle navigation, and the calibration process is simplified.
The embodiment of the application provides a radar normal calibration device, including:
a first acquisition unit 210 for acquiring a coordinate sequence of an actual track point of the target vehicle; the coordinate sequence of the track point is in a first Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, the positive east direction as the positive transverse axis direction and the positive north direction as the positive longitudinal axis direction;
a second acquisition unit 220 that acquires a coordinate sequence of a radar detection point of the target vehicle; the coordinate sequence of the radar detection point is in a second Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, a normal direction of the radar as a positive direction of a vertical axis, and the normal direction is rotated clockwise by 90 degrees as a positive direction of a horizontal axis;
a north-plus yaw angle determination unit 230 that determines a north-plus yaw angle of the radar normal from a loss function concerning the coordinate sequence of the radar detection point, the coordinate sequence of the trajectory point, and the rotation angle; the normal north deflection angle of the radar normal is the rotation angle which minimizes the loss function value;
and the calibration unit 240 is configured to complete radar normal calibration according to the normal north deflection angle of the radar normal.
In some embodiments, the positive north deflection angle determining unit 230 includes:
The first calculation unit is used for calculating the coordinates of each radar detection point after the second Cartesian coordinate system rotates by taking the origin as the center of a circle to obtain a first rotating coordinate sequence;
the second calculation unit is used for calculating the Euclidean distance between the first rotation coordinate of each radar detection point and the coordinate of each track point to obtain a first result sequence corresponding to each radar detection point;
a second result obtaining unit, configured to obtain a minimum euclidean distance value from the first result sequence corresponding to each radar detection point, as a second result;
a first loss function value obtaining unit, configured to add the second results corresponding to each radar detection point to obtain a loss function value;
and the first determining unit is used for determining that the angle with the minimum loss function value is the north-plus deflection angle of the normal line of the radar according to the loss function values of different target angles.
In some embodiments, the positive north deflection angle determining unit 230 includes:
the third calculation unit is used for calculating the coordinates of each track point after the first Cartesian coordinate system rotates by the target angle by taking the origin as the center of a circle to obtain a second rotating coordinate sequence;
the fourth calculation unit is used for calculating the Euclidean distance between the second rotation coordinate of each track point and the coordinate of each radar detection point to obtain a third result sequence corresponding to each track point;
A fourth result obtaining unit, configured to obtain a minimum euclidean distance value from a third result sequence corresponding to each track point, as a fourth result;
a second loss function value obtaining unit, configured to add the fourth results corresponding to each track point to obtain a loss function value;
and the second determining unit is used for determining that the angle with the minimum loss function value is the north-plus deflection angle of the normal line of the radar according to the loss function values of different target angles.
It should be noted that, the calibration device provided in the embodiment of the present application may also implement other methods in the calibration method provided in the embodiment of the present application, which is not described herein in detail.
According to the embodiment of the application, the north-positive deflection angle of the radar normal is determined by using the loss function by comparing the navigation track data of the target vehicle with the radar detection track data. The moving target vehicle is equivalent to different detection target points at different moments, so that the requirement on multiple target points in the calibration process is met, the danger of reverse placement angle in a complex traffic scene is avoided, the actual track data of the vehicle is obtained from the vehicle navigation, and the calibration process is simplified.
Referring to fig. 4, a schematic structural diagram of a radar normal calibration system is provided in an embodiment of the present application. As shown in fig. 4, the calibration system includes: radar, target vehicle loaded with GNSS system and calibration terminal;
The calibration terminal is used for acquiring a coordinate sequence of an actual track point of the target vehicle; the coordinate sequence of the track point is in a first Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, the positive east direction as the positive transverse axis direction and the positive north direction as the positive longitudinal axis direction; acquiring a coordinate sequence of a radar detection point of a target vehicle; the coordinate sequence of the radar detection point is in a second Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, a normal direction of the radar as a positive direction of a vertical axis, and the normal direction is rotated clockwise by 90 degrees as a positive direction of a horizontal axis;
determining the north deflection angle of the radar normal according to the coordinate sequence of the radar detection point, the coordinate sequence of the track point and the loss function of the rotation angle; the normal north deflection angle of the radar normal is the rotation angle which minimizes the loss function value; and according to the normal north deflection angle of the radar normal, the radar normal calibration is completed.
It should be noted that, the calibration system provided in the embodiment of the present application may also implement other methods in the calibration method provided in the embodiment of the present application, which is not described herein in detail.
According to the embodiment of the application, the north-positive deflection angle of the radar normal is determined by using the loss function by comparing the navigation track data of the target vehicle with the radar detection track data. The moving target vehicle is equivalent to different detection target points at different moments, so that the requirement on multiple target points in the calibration process is met, the danger of reverse placement angle in a complex traffic scene is avoided, the actual track data of the vehicle is obtained from the vehicle navigation, and the calibration process is simplified.
The embodiment of the application provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the service request forwarding method described in the embodiment of the application.
It should be noted that computer program code for carrying out operations of the present application may be written in one or more programming languages, including but not limited to an object oriented programming language such as Java, smalltalk, C ++ 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 kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Referring to fig. 5, a schematic diagram of a configuration of an electronic device 700 suitable for use in implementing embodiments of the present disclosure for implementing the corresponding functions of the radar and camera joint auto-calibration system shown in fig. 5 is shown. The electronic device shown in fig. 5 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 5, the electronic device 700 may include a processing means (e.g., a central processor, a graphics processor, etc.) 701, which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 702 or a program loaded from a storage means 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the electronic device 700 are also stored. The processing device 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
In general, the following devices may be connected to the I/O interface 705: input devices 706 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, and the like; an output device 707 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 708 including, for example, magnetic tape, hard disk, etc.; and a communication device 709. The communication means 709 may allow the electronic device 700 to communicate wirelessly or by wire with other devices to exchange data. While fig. 5 shows an electronic device 700 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to 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 non-transitory computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via communication device 709, or installed from storage 708, or installed from ROM 702. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 701.
It should be noted that the computer readable medium of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any 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 the context of this document, 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 the present application, however, a computer-readable signal medium may include a data signal that propagates in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. 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 of the foregoing. 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, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
It should be noted that the term "comprising" and variants thereof as used herein is open ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below.
It should be noted that the terms "first," "second," and the like herein are merely used for distinguishing between different devices, modules, or units and not for limiting the order or interdependence of the functions performed by such devices, modules, or units.
It is to be understood that, although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are example forms of implementing the claims.
While several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present application. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.
The foregoing description is only of the preferred embodiments of the present application and is presented as a description of the principles of the technology being utilized. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the disclosure. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.
Claims (14)
1. The radar normal calibration method is characterized by comprising the following steps of:
acquiring a coordinate sequence of an actual track point of a target vehicle; the coordinate sequence of the track point is in a first Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, the positive east direction as the positive transverse axis direction and the positive north direction as the positive longitudinal axis direction;
acquiring a coordinate sequence of a radar detection point of a target vehicle; the coordinate sequence of the radar detection point is in a second Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, a normal direction of the radar as a positive direction of a vertical axis, and the normal direction is rotated clockwise by 90 degrees as a positive direction of a horizontal axis;
Determining the normal north deflection angle of the radar normal according to the coordinate sequence of the radar detection point, the coordinate sequence of the track point and the loss function of the rotation angle so as to finish the radar normal calibration; the normal north deflection angle of the radar normal is the rotation angle which minimizes the loss function value;
and (5) completing radar normal calibration by utilizing the normal north deflection angle of the radar normal.
2. The method of claim 1, wherein determining the true north yaw angle of the radar normal from a loss function with respect to the coordinate sequence of the radar detection point, the coordinate sequence of the trajectory point, and the rotation angle comprises:
calculating the coordinates of each radar detection point after the second Cartesian coordinate system rotates the target angle by taking the origin as the center of a circle to obtain a first rotating coordinate sequence;
calculating the Euclidean distance between the first rotation coordinate of each radar detection point and the coordinate of each track point to obtain a first result sequence corresponding to each radar detection point;
acquiring a minimum Euclidean distance value from a first result sequence corresponding to each radar detection point, and taking the minimum Euclidean distance value as a second result;
adding the second results corresponding to each radar detection point to obtain a loss function value;
And determining the angle with the minimum loss function value as the north-positive deflection angle of the normal of the radar according to the loss function values of different target angles.
3. The method of claim 1, wherein determining the true north yaw angle of the radar normal from a loss function with respect to the coordinate sequence of the radar detection point, the coordinate sequence of the trajectory point, and the rotation angle comprises:
calculating the coordinates of each track point after the first Cartesian coordinate system rotates by the target angle by taking the origin as the center of a circle to obtain a second rotating coordinate sequence;
calculating the Euclidean distance between the second rotation coordinate of each track point and the coordinate of each radar detection point to obtain a third result sequence corresponding to each track point;
obtaining a minimum Euclidean distance value from a third result sequence corresponding to each track point, and taking the minimum Euclidean distance value as a fourth result;
adding the fourth results corresponding to each track point to obtain a loss function value;
and determining the angle with the minimum loss function value as the north-positive deflection angle of the normal of the radar according to the loss function values of different target angles.
4. The method of claim 1, wherein the acquiring the coordinate sequence of the actual trajectory point of the target vehicle comprises:
Acquiring longitude and latitude of a radar installation position;
acquiring a longitude and latitude sequence of a track point of a target vehicle running in a radar detection area from a navigation system of the target vehicle;
converting longitude and latitude of the radar installation position into UTM coordinates;
converting the longitude and latitude sequence of the track point into an initial UTM coordinate sequence of the track point;
and converting the initial UTM coordinate sequence of the track point into a first Cartesian coordinate system taking the UTM coordinate of the radar installation position as an origin to obtain the coordinate sequence of the track point.
5. The method of claim 1, wherein said using the true north yaw angle of the radar normal to perform radar normal calibration comprises: rotating the first Cartesian coordinate system by a positive north deflection angle by taking an origin as a circle center to finish radar normal calibration; or rotating the second Cartesian coordinate system by the north-positive deflection angle by taking the origin as the center of a circle to finish the normal calibration of the radar.
6. The method of claim 4, wherein the obtaining the latitude and longitude of the radar installation location comprises:
and acquiring the longitude and latitude obtained from the radar installation position measured by the RTK equipment.
7. The method of claim 1, wherein the acquiring the coordinate sequence of the radar detection point of the target vehicle comprises:
Acquiring radar target tracking data at different moments; the radar target tracking data includes a plurality of radar detection points for a plurality of vehicles;
and obtaining a coordinate sequence of a radar detection point of the target vehicle from radar target tracking data at different moments according to the identification information of the target vehicle.
8. The method of claim 7, wherein prior to the acquiring radar target tracking data at different times, the method further comprises: and denoising the original radar point cloud data.
9. A radar normal calibration device, comprising:
a first acquisition unit configured to acquire a coordinate sequence of an actual trajectory point of a target vehicle; the coordinate sequence of the track point is in a first Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, the positive east direction as the positive transverse axis direction and the positive north direction as the positive longitudinal axis direction;
a second acquisition unit that acquires a coordinate sequence of a radar detection point of the target vehicle; the coordinate sequence of the radar detection point is in a second Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, a normal direction of the radar as a positive direction of a vertical axis, and the normal direction is rotated clockwise by 90 degrees as a positive direction of a horizontal axis;
A north-plus yaw angle determination unit that determines a north-plus yaw angle of a radar normal from a loss function concerning a coordinate sequence of a radar detection point, a coordinate sequence of a trajectory point, and a rotation angle; the normal north deflection angle of the radar normal is the rotation angle which minimizes the loss function value;
and the calibration unit is used for completing the radar normal calibration by utilizing the normal north deflection angle of the radar normal.
10. The apparatus according to claim 9, wherein the positive north deflection angle determination unit includes:
the first calculation unit is used for calculating the coordinates of each radar detection point after the second Cartesian coordinate system rotates by taking the origin as the center of a circle to obtain a first rotating coordinate sequence;
the second calculation unit is used for calculating the Euclidean distance between the first rotation coordinate of each radar detection point and the coordinate of each track point to obtain a first result sequence corresponding to each radar detection point;
a second result obtaining unit, configured to obtain a minimum euclidean distance value from the first result sequence corresponding to each radar detection point, as a second result;
a first loss function value obtaining unit, configured to add the second results corresponding to each radar detection point to obtain a loss function value;
And the first determining unit is used for determining that the angle with the minimum loss function value is the north-plus deflection angle of the normal line of the radar according to the loss function values of different target angles.
11. The apparatus according to claim 9, wherein the positive north deflection angle determination unit includes:
the third calculation unit is used for calculating the coordinates of each track point after the first Cartesian coordinate system rotates by the target angle by taking the origin as the center of a circle to obtain a second rotating coordinate sequence;
the fourth calculation unit is used for calculating the Euclidean distance between the second rotation coordinate of each track point and the coordinate of each radar detection point to obtain a third result sequence corresponding to each track point;
a fourth result obtaining unit, configured to obtain a minimum euclidean distance value from a third result sequence corresponding to each track point, as a fourth result;
a second loss function value obtaining unit, configured to add the fourth results corresponding to each track point to obtain a loss function value;
and the second determining unit is used for determining that the angle with the minimum loss function value is the north-plus deflection angle of the normal line of the radar according to the loss function values of different target angles.
12. A radar normal calibration system, comprising: radar, target vehicle loaded with GNSS system and calibration terminal;
The calibration terminal is used for acquiring a coordinate sequence of an actual track point of the target vehicle; the coordinate sequence of the track point is in a first Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, the positive east direction as the positive transverse axis direction and the positive north direction as the positive longitudinal axis direction; acquiring a coordinate sequence of a radar detection point of a target vehicle; the coordinate sequence of the radar detection point is in a second Cartesian coordinate system with UTM coordinates of a radar installation position as an origin, a normal direction of the radar as a positive direction of a vertical axis, and the normal direction is rotated clockwise by 90 degrees as a positive direction of a horizontal axis; determining the north deflection angle of the radar normal according to the coordinate sequence of the radar detection point, the coordinate sequence of the track point and the loss function of the rotation angle; the normal north deflection angle of the radar normal is the rotation angle which minimizes the loss function value; and according to the normal north deflection angle of the radar normal, the radar normal calibration is completed.
13. A radar normal calibration device, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the radar normal calibration method according to any one of claims 1-8 when the computer program is executed.
14. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein instructions, which when run on a terminal device, cause the terminal device to perform the radar normal calibration method according to any of claims 1-8.
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