CN115808155A - Vehicle-mounted radar installation angle calibration method and device, electronic equipment and storage medium - Google Patents
Vehicle-mounted radar installation angle calibration method and device, electronic equipment and storage medium Download PDFInfo
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- CN115808155A CN115808155A CN202211522908.XA CN202211522908A CN115808155A CN 115808155 A CN115808155 A CN 115808155A CN 202211522908 A CN202211522908 A CN 202211522908A CN 115808155 A CN115808155 A CN 115808155A
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Abstract
The invention discloses a vehicle-mounted radar installation angle calibration method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: determining the normal direction of a reference plane based on a laser level meter and an inclinometer, and installing the reference plane on a vehicle based on the normal direction, wherein the reference plane comprises at least 3 pin holes, connecting lines among the pin holes are mutually vertical, and the normal direction is matched with the linear driving direction of the vehicle; determining the rotation angle of the radar to be detected based on the pin hole, and fixing the rotated radar to be detected on a reference plane; determining a first pitching angle of the radar to be detected based on the inclinometer, and taking the first pitching angle as an actual azimuth angle; and determining a first installation angle of the radar to be detected based on the actual azimuth angle and the preset azimuth angle of the radar to be detected. According to the technical scheme of the embodiment of the invention, the accurate measurement of the azimuth angle of the vehicle-mounted radar to be measured is realized, and the effects of reducing the azimuth angle measurement time and the measurement steps are achieved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a vehicle-mounted radar mounting angle calibration method and device, electronic equipment and a storage medium.
Background
In recent years, with the rapid development of automatic driving, as an important component of a vehicle sensing layer, a vehicle millimeter wave radar receives more and more attention due to all-weather working capability all day long. Because the vehicle-mounted millimeter wave radar is related to the life safety of a driver, in order to ensure the working stability and reliability of the vehicle-mounted radar, the performance parameters and the functional parameters of the radar need to be strictly tested repeatedly in the research, development and design stages. In all radar test items, it is important to test the calibration function of the radar installation angle.
At present, the existing radar installation angle measuring method generally calibrates the installation angle of a vehicle-mounted radar through a professional standardized calibration workshop of the vehicle-mounted millimeter wave radar. The special calibration workshop needs a specific site, the construction cost is high, and the cost is higher for a common automatic driving research and development enterprise.
Disclosure of Invention
The invention provides a method and a device for calibrating the installation angle of a vehicle-mounted radar, electronic equipment and a storage medium, which are used for realizing the accurate measurement of the azimuth angle of the vehicle-mounted radar to be measured, and measuring through an inclinometer, so that the azimuth angle of the radar to be measured is more accurate, and the effects of reducing the angle measurement time and the measurement steps are achieved.
According to an aspect of the invention, a method for calibrating a mounting angle of a vehicle-mounted radar is provided, and the method comprises the following steps:
determining a normal direction of a reference plane based on a laser level and an inclinometer, and installing the reference plane on a vehicle based on the normal direction, wherein the reference plane comprises at least 3 pin holes, connecting lines among the pin holes are mutually vertical, and the normal direction is matched with a linear driving direction of the vehicle;
determining the rotation angle of the radar to be detected based on the pin hole, and fixing the rotated radar to be detected on the reference plane;
determining a first pitching angle of the radar to be detected based on an inclinometer, and taking the first pitching angle as an actual azimuth angle;
and determining a first installation angle of the radar to be detected based on the actual azimuth angle and a preset azimuth angle of the radar to be detected.
According to another aspect of the present invention, there is provided a vehicle-mounted radar mounting angle calibration apparatus, including:
the normal direction determining module is used for determining the normal direction of a reference plane based on a laser level meter and an inclinometer, and installing the reference plane on a vehicle based on the normal direction, wherein the reference plane comprises at least 3 pin holes, connecting lines among the pin holes are mutually vertical, and the normal direction is matched with the linear driving direction of the vehicle;
the rotation angle determining module is used for determining the rotation angle of the radar to be detected based on the pin hole and fixing the rotated radar to be detected on the reference plane;
the first pitch angle determining module is used for determining a first pitch angle of the radar to be detected based on an inclinometer and taking the first pitch angle as an actual azimuth angle;
and the first installation angle determination module is used for determining a first installation angle of the radar to be detected based on the actual azimuth angle and the preset azimuth angle of the radar to be detected.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the vehicle-mounted radar installation angle calibration method according to any embodiment of the invention.
According to another aspect of the present invention, a computer-readable storage medium is provided, and computer instructions are stored in the computer-readable storage medium, and when the computer instructions are executed, a processor is configured to implement the vehicle-mounted radar installation angle calibration method according to any one of the embodiments of the present invention.
According to the technical scheme, the normal direction of the reference plane is determined based on the laser level meter and the inclinometer, the reference plane is installed on the vehicle based on the normal direction, then the rotation angle of the radar to be measured is determined based on the pin hole, the rotated radar to be measured is fixed on the reference plane, further, the first pitching angle of the radar to be measured is determined based on the inclinometer, the first pitching angle serves as an actual azimuth angle, and finally the first installation angle of the radar to be measured is determined based on the actual azimuth angle and the preset azimuth angle of the radar to be measured, so that the accurate measurement of the azimuth angle of the radar to be measured is achieved.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for calibrating a mounting angle of a vehicle-mounted radar according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a reference plane provided in accordance with an embodiment of the present invention;
fig. 3 is a schematic diagram of a method for determining a normal direction of a reference plane according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a method for determining a rotation angle of a radar to be detected according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a method for determining an actual azimuth angle of a radar to be measured according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a method for determining an actual pitch angle of a radar to be measured according to an embodiment of the present invention;
fig. 7 is a flowchart of a method for determining an actual azimuth angle and an actual pitch angle of a radar to be detected according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a vehicle-mounted radar installation angle calibration device according to a second embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device for implementing the vehicle-mounted radar installation angle calibration method according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a method for calibrating a mounting angle of a vehicle-mounted radar according to an embodiment of the present invention, where the method is applicable to a situation where an azimuth mounting angle of a vehicle-mounted radar is measured, and the method may be executed by a device for calibrating a mounting angle of a vehicle-mounted radar, where the device for calibrating a mounting angle of a vehicle-mounted radar may be implemented in a form of hardware and/or software, and the device for calibrating a mounting angle of a vehicle-mounted radar may be configured in a terminal and/or a server. As shown in fig. 1, the method includes:
and S110, determining the normal direction of the reference plane based on the laser level meter and the inclinometer, and installing the reference plane on the vehicle based on the normal direction.
Laser level is a measuring tool that emits a laser beam to measure level and plumb. In this embodiment, the normal direction of the reference plane may be determined according to the principle that any two laser beams emitted by the laser level meter are perpendicular to each other. An inclinometer is an angle measuring tool that monitors changes in the level and inclination of an object. The inclinometer has high measurement precision and accurate measurement, can adapt to various severe environments, and can be used for measuring precise angles. Inclinometers are very suitable measuring tools for measuring the parallelism or perpendicularity of two objects to each other, as well as the inclination angle of the plane to be measured with respect to the horizontal. The reference plane may be a radar rotation reference plane used for calibrating the installation angle of the vehicle-mounted radar in the vehicle-mounted radar installation testing stage. The reference plane comprises at least 3 pin holes, and connecting lines among the pin holes are perpendicular to each other. Illustratively, as shown in fig. 2, the reference plane may include 4 pin holes, a, b, c, and d, respectively, and the line ab is parallel to the horizontal plane, and the line cd is perpendicular to the line ab.
In the present embodiment, the normal direction of the reference plane may include a first normal direction and a second normal direction. Because the reference plane is an angle calibration reference plane of the vehicle-mounted radar, and the corresponding angle of the vehicle-mounted radar when the vehicle-mounted radar is installed on the vehicle includes an azimuth angle and a pitch angle, the normal direction of the reference plane may also include an azimuth normal direction and a pitch normal direction, that is, the first normal direction may be used as the azimuth normal direction, and the second normal direction may be used as the pitch normal direction. For different normal directions, a laser level and an inclinometer, respectively, may be used for determination.
Optionally, determining the normal direction of the reference plane based on the laser level and the inclinometer includes: determining a first normal direction of a reference plane based on a first laser beam and a second laser beam emitted by a laser level; measuring the pitching angle of the reference plane based on the inclinometer, and adjusting the reference plane in the measuring process; and when the inclinometer measures that the pitching angle of the reference plane is a preset angle, determining a second normal direction of the reference plane.
The pitch angle may be an included angle between a projection on a horizontal plane and a plumb surface when the reference plane is in a vertical state. The preset angle may be a preset target angle. The preset angle may be any value, and may be, alternatively, 90 degrees.
In the specific implementation, the principle that two laser beams of a laser level meter are perpendicular to each other is utilized, the first laser beam is tangent to the outer side faces of the front wheel and the rear wheel of the vehicle, meanwhile, the reference plane is adjusted to enable the reference plane and the second laser beam to be parallel to each other, and at the moment, the first normal direction of the reference plane can be determined.
For example, as shown in fig. 3a, a laser level may be placed at a front vehicle lamp on one side of a vehicle body in front of the vehicle, the placement position of the laser level is adjusted so that a first laser beam and a second laser beam emitted by the laser level are perpendicular to each other, the first laser beam is tangent to both front and rear wheels of the vehicle, and the position of a reference plane is adjusted so that the reference plane is parallel to the second laser beam, where a first normal direction of the reference plane is parallel to a vehicle driving vector direction.
Further, the second normal direction of the reference plane can be determined based on the working principle of the inclinometer, the plane of the inclinometer is attached to the reference plane and used for measuring the pitch angle of the reference plane, the pitch angle of the reference plane is adjusted, and when the side angle of the inclinometer is preset, the second normal direction of the reference plane is determined. Exemplarily, as shown in fig. 3b, the determination process of the second normal direction of the reference plane is performed.
In practical applications, after the first normal direction and the second normal direction of the reference plane are determined, the reference plane can be fixed on a bumper right in front of the vehicle.
And S120, determining the rotation angle of the radar to be detected based on the pin hole, and fixing the rotated radar to be detected on the reference plane.
The radar to be tested can be a vehicle-mounted radar which needs to be subjected to performance testing and installation angle testing. The radar to be measured can be any radar, and optionally can be a millimeter wave radar. The rotation angle may be a yaw angle of the radar to be measured, that is, an angle of rotation of the radar to be measured on the plumb surface. The rotation angle may be any value, and may alternatively be 90 degrees.
In practical application, after the reference plane is fixed on a vehicle, because connecting lines between the pin holes on the reference plane are all perpendicular to each other and the angle between one pin hole and the other pin hole adjacent to the pin hole is fixed, the rotation angle of the radar to be measured can be determined based on the angle between any two adjacent pin holes.
Optionally, determining the rotation angle of the radar to be detected based on the pin hole includes: acquiring an initial angle of a radar to be detected, and determining at least three corresponding target pin holes based on the initial angle; based on at least two adjacent target pin holes, a rotation angle is determined.
In this embodiment, the initial angle may be an angle corresponding to an initial installation state of the radar to be measured. It should be noted that, because the radar to be measured needs to be fixed on the reference plane, and the reference plane includes a plurality of pin holes, a pin surface may be disposed on a contact surface between the radar to be measured and the reference plane, where the pin surface includes a plurality of pins, and connection lines between the pins are perpendicular to each other, and the pins are matched with the pin holes. Exemplarily, as shown in fig. 4, the radar clamp is used for fixing a radar to be measured, the gimbal is used for adjusting the azimuth angle and the pitch angle of the radar to be measured, and the pin surface includes 4 pins, respectively a ′ 、b ′ 、c ′ 、d ′ And line segment a ′ b ′ Parallel to the horizontal plane, line segment c ′ d ′ Perpendicular to line segment a ′ b ′ ，β ′ The rotation angle of the radar to be detected is obtained.
In practical application, specific positions of all pins on the pin surface in the current state can be determined according to initial angles corresponding to the radar to be detected in the initial installation state, a plurality of target pin holes matched with the pins are determined on a reference plane according to the specific positions of the pins, and further, any two adjacent target pin holes are selected from the target pin holes, so that the rotation angle of the radar to be detected is finally determined.
Illustratively, as shown in FIGS. 2 and 4, the pin holes a, b, c, d on the reference plane and the pin a on the pin face ′ 、b ′ 、c ′ 、d ′ Matching each other, hole A, the central position of which is consistent with that of hole A, and screw passing through hole A and hole A ′ Fixing the radar to be detected on a reference plane, and passing through two adjacent pins a when the position of each pin corresponding to the initial angle of the radar to be detected is the position shown in figure 4 ′ And d ′ Rotating the radar to be measured by beta ′ And fixing the rotated radar to be detected on the reference plane.
S130, determining a first pitching angle of the radar to be detected based on the inclinometer, and taking the first pitching angle as an actual azimuth angle.
In this embodiment, the first pitch angle may be a pitch angle of the radar to be measured in the current state, that is, a pitch angle measured after the radar to be measured is rotated by a preset rotation angle from the initial installation state. The azimuth angle can be an included angle between a projection of the radar to be detected on a horizontal plane and a certain starting direction in the horizontal direction. The actual azimuth angle is the angle currently measured based on the inclinometer.
In practical application, the pitch angle of vehicle radar can be based on the accurate postmeasurement of inclinometer and confirm, however, the azimuth angle of vehicle radar is difficult to confirm through inclinometer or other equipment after measuring, consequently, in this embodiment, after the radar that will await measuring rotates certain angle, can realize the accurate trade of the position of the radar that awaits measuring and every single move, this moment, the pitch angle of the radar that awaits measuring after measuring the rotation based on inclinometer obtains first pitch angle, can regard this first pitch angle as the actual azimuth angle of the radar that awaits measuring.
For example, as shown in fig. 5a, when the radar to be measured is in an initial installation state, the azimuth angle θ of the radar is obtained, and further, as shown in fig. 5b, after the radar to be measured is rotated by 90 degrees, a first pitch angle θ 'is measured based on an inclinometer, and θ' = θ, which is the actual azimuth angle of the radar to be measured.
S140, determining a first installation angle of the radar to be detected based on the actual azimuth angle and the preset azimuth angle of the radar to be detected.
The preset azimuth angle can be a real azimuth angle determined by the radar to be detected through self-calibration performance. In practical application, the radar to be detected can determine the azimuth angle in the current state by detecting the front and the surrounding environment of the vehicle, so that the self-calibration of the azimuth angle is realized, and the currently determined azimuth angle can be used as the preset azimuth angle. The first installation angle may be an azimuth angle among installation angles of the radar to be measured.
Optionally, based on the actual azimuth angle and the preset azimuth angle of the radar to be measured, determine a first installation angle of the radar to be measured, including: determining an angle difference value between the actual azimuth angle and a preset azimuth angle, and determining whether the angle difference value is within a preset difference value range; if so, taking the actual azimuth angle as the first installation angle.
In this embodiment, the preset difference range may be preset, and is used to determine whether the actually measured azimuth angle meets the range of the calibration standard. Illustratively, the preset difference value range may be 0.3 degrees to 0.5 degrees.
In specific implementation, after the actual azimuth angle is obtained, the actual azimuth angle can be compared with a preset azimuth angle of the radar to be detected, a difference value between the two angles is determined, further, whether the angle difference value is within a preset difference value range or not is determined, if the angle difference value is within the range, the actual azimuth angle can be considered to meet requirements, the actual azimuth angle can be used as a first installation angle, and therefore the radar to be detected can be installed according to the first installation angle in a subsequent installation stage. It should be noted that, if the angle difference is not within the preset difference range, the first pitch angle of the radar to be detected may be adjusted to update the actual azimuth angle, and the updated actual azimuth angle is compared with the preset azimuth angle until the angle difference between the two azimuth angles is within the preset difference range, so that the actual azimuth angle at this time may be used as the first installation angle of the radar to be detected.
It should be noted that, because the radar to be measured is fixed on the reference plane after rotating from the initial installation state, after the first pitch angle is determined, the radar to be measured can be restored to the initial installation state, so that the actual pitch angle of the radar to be measured can be determined.
On the basis of the technical scheme, the method further comprises the following steps: and determining the initial position of the radar to be detected based on the target pin hole and the rotation angle, and rotating the radar to be detected to the initial position.
In this embodiment, the initial position may be a position corresponding to the radar to be measured in the initial installation state.
In practical application, after the first pitch angle is determined, in order to restore the radar to be detected to the initial installation state, the initial position of the radar to be detected before rotation can be determined according to the target pin hole and the rotation angle, and the radar to be detected is rotated to the initial position and fixed. The sum of the angle corresponding to the rotation of the radar to be measured to the initial position and the rotation angle is 0.
Furthermore, the actual pitch angle of the radar to be detected can be determined, so that the actual installation pitch angle of the radar to be detected can be determined. Based on this, on the basis of above-mentioned technical scheme, still include: determining a second pitching angle of the radar to be detected based on the inclinometer, and taking the second pitching angle as an actual pitching angle; and determining a second installation angle of the radar to be detected based on the actual pitch angle and the preset pitch angle of the radar to be detected.
In this embodiment, the second pitch angle may be a pitch angle corresponding to the radar to be detected in the initial installation state, that is, an actual pitch angle of the radar to be detected. The preset pitch angle can be a real pitch angle determined by the radar to be detected through self-calibration performance. The second mounting angle may be a pitch angle among mounting angles of the radar to be measured.
In specific implementation, after the radar to be detected is restored to the initial position, the pitch angle of the radar to be detected in the current state can be measured through the inclinometer, namely the actual pitch angle, further, the actual pitch angle is compared with the preset pitch angle, the difference value between the two pitch angles is determined, the difference value is compared with the preset difference value range, whether the difference value is within the preset difference value range or not is determined, and if yes, the actual pitch angle can be used as the second installation angle of the radar to be detected, so that the radar to be detected can be installed according to the pitch angle corresponding to the second installation angle in the subsequent installation stage.
For example, as shown in fig. 5, the plane of the inclinometer is tightly attached to the radar antenna surface of the radar to be measured, and at this time, the reading displayed on the inclinometer is the second pitch angle.
It should be noted that, in the stage of testing the installation angle of the radar to be tested, the azimuth angle and the pitch angle of the radar to be tested are adjusted for many times, the measurement is performed by the above method after each adjustment, and the measured angle is compared with the preset angle, so that the actual installation azimuth angle and the actual installation pitch angle of the radar to be tested are finally determined.
Based on this, on the basis of above-mentioned technical scheme, still include: based on the universal joint, the pitching angle and the azimuth angle of the radar to be measured are adjusted, and the adjusted pitching angle and azimuth angle are measured based on the inclinometer so as to update the actual pitching angle and the actual azimuth angle.
The universal joint is a machine part for realizing variable-angle power transmission, has a structure and an effect similar to joints on four limbs of a human body, and can allow an included angle between connected parts to be changed within a certain range. The universal joint has the advantages that: simple structure, the angle of adjustment position angle and every single move angle convenient and fast, and reliable and stable after angle adjustment.
In practical application, the universal joint is connected with the radar to be detected, the azimuth angle and the pitch angle of the radar to be detected are adjusted in a certain range through the universal joint, the adjusted pitch angle is determined based on the inclinometer after adjustment, then the adjusted azimuth angle of the radar to be detected is determined by executing all the steps of S110-S130 so as to update the actual pitch angle and the actual azimuth angle of the radar to be detected, the updated actual pitch angle and the updated actual azimuth angle are compared with the preset pitch angle and the preset azimuth angle respectively, and therefore the first installation angle and the second installation angle of the radar to be detected are finally determined.
For example, as shown in fig. 7, the determination process of the azimuth angle and the pitch angle of the radar to be measured may be exemplarily described as follows: 1. determining a reference plane; 2. adjusting the azimuth angle and the pitch angle of the radar to be detected to any angle; 3. measuring the actual pitch angle of the radar to be measured by an inclinometer
4. Rotating the radar to be measured based on the rotation angle (e.g., 90 degrees); 5. measuring the pitch angle theta of the rotated radar to be measured through an inclinometer, and taking the pitch angle theta as an actual azimuth angle; 6. and (5) restoring the radar to be tested to an initial state (rotating by-90 degrees).
According to the technical scheme of the embodiment of the invention, the normal direction of the reference plane is determined based on the laser level meter and the inclinometer, the reference plane is installed on the vehicle based on the normal direction, then the rotation angle of the radar to be measured is determined based on the pin hole, the rotated radar to be measured is fixed on the reference plane, further, the first pitching angle of the radar to be measured is determined based on the inclinometer, the first pitching angle is taken as an actual azimuth angle, and finally the first installation angle of the radar to be measured is determined based on the actual azimuth angle and a preset azimuth angle of the radar to be measured, so that the accurate measurement of the azimuth angle of the vehicle-mounted radar to be measured is realized, and the measurement is carried out by the inclinometer, so that the azimuth angle of the radar to be measured is more accurate, and the effects of reducing the angle measurement time and the measurement steps are achieved.
Example two
Fig. 8 is a schematic structural diagram of a vehicle-mounted radar mounting angle calibration device according to a second embodiment of the present invention. As shown in fig. 8, the apparatus includes: a normal direction determination module 210, a rotation angle determination module 220, a first pitch angle determination module 230, and a first installation angle determination module 240.
The normal direction determining module 210 is configured to determine a normal direction of a reference plane based on a laser level and an inclinometer, and mount the reference plane on a vehicle based on the normal direction, where the reference plane includes at least 3 pin holes, connection lines between the pin holes are perpendicular to each other, and the normal direction matches a straight driving direction of the vehicle;
the rotation angle determining module 220 is configured to determine a rotation angle of the radar to be detected based on the pin hole, and fix the rotated radar to be detected on the reference plane;
a first pitch angle determining module 230, configured to determine a first pitch angle of the radar to be detected based on an inclinometer, and take the first pitch angle as an actual azimuth angle;
a first installation angle determining module 240, configured to determine a first installation angle of the radar to be detected based on the actual azimuth angle and a preset azimuth angle of the radar to be detected.
According to the technical scheme, the normal direction of the reference plane is determined based on the laser level meter and the inclinometer, the reference plane is installed on the vehicle based on the normal direction, then the rotation angle of the radar to be measured is determined based on the pin hole, the rotated radar to be measured is fixed on the reference plane, further, the first pitching angle of the radar to be measured is determined based on the inclinometer, the first pitching angle serves as an actual azimuth angle, and finally the first installation angle of the radar to be measured is determined based on the actual azimuth angle and the preset azimuth angle of the radar to be measured, so that the accurate measurement of the azimuth angle of the radar to be measured is achieved.
Optionally, the normal directions include a first normal direction and a second normal direction, and the normal direction determining module 210 includes a first normal direction determining unit, a reference plane adjusting unit, and a second normal direction determining unit.
A first normal direction determination unit, configured to determine a first normal direction of the reference plane based on a first laser beam and a second laser beam emitted by the laser level;
a reference plane adjusting unit for measuring the pitch angle of the reference plane based on the inclinometer and adjusting the reference plane during the measurement;
and the second normal direction determining unit is used for determining the second normal direction of the reference plane when the inclinometer measures that the pitching angle of the reference plane is a preset angle.
Optionally, the rotation angle determination module 220 includes a target pin hole determination unit and a rotation angle determination unit.
The target pin hole determining unit is used for acquiring an initial angle of the radar to be detected and determining at least three corresponding target pin holes based on the initial angle;
a rotation angle determination unit for determining the rotation angle based on at least two adjacent target pin holes.
Optionally, the first installation angle determining module 240 includes an angle difference determining unit and a first installation angle determining unit.
An angle difference value determining unit, configured to determine an angle difference value between the actual azimuth angle and the preset azimuth angle, and determine whether the angle difference value is within a preset difference value range;
and the first installation angle determining unit is used for taking the actual azimuth angle as the first installation angle if the actual azimuth angle is the first installation angle.
Optionally, after determining the first pitch angle of the radar to be tested based on the inclinometer, the apparatus further includes: an initial position determination module.
And the initial position determining module is used for determining the initial position of the radar to be detected based on the pin hole and the rotation angle and rotating the radar to be detected to the initial position.
Optionally, the apparatus further comprises: a second pitch angle determination module and a second installation angle determination module.
The second pitching angle determining module is used for determining a second pitching angle of the radar to be detected based on the inclinometer and taking the second pitching angle as an actual pitching angle;
and the second installation angle determination module is used for determining a second installation angle of the radar to be detected based on the actual pitch angle and the preset pitch angle of the radar to be detected.
Optionally, the apparatus further comprises: and an angle adjusting module.
And the angle adjusting module is used for adjusting the pitching angle and the azimuth angle of the radar to be detected based on the universal joint, measuring the adjusted pitching angle and azimuth angle based on the inclinometer, and updating the actual pitching angle and the actual azimuth angle.
The vehicle-mounted radar installation angle calibration device provided by the embodiment of the invention can execute the vehicle-mounted radar installation angle calibration method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE III
FIG. 9 illustrates a schematic diagram of an electronic device 10 that may be used to implement embodiments of the present invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 9, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 may also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as the onboard radar mounting angle calibration method.
In some embodiments, the onboard radar installation angle calibration method may be implemented as a computer program that is tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the onboard radar installation angle calibration method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the onboard radar mounting angle calibration method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on 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 compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the Internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A vehicle-mounted radar installation angle calibration method is characterized by comprising the following steps:
determining a normal direction of a reference plane based on a laser level and an inclinometer, and installing the reference plane on a vehicle based on the normal direction, wherein the reference plane comprises at least 3 pin holes, connecting lines among the pin holes are mutually vertical, and the normal direction is matched with a linear driving direction of the vehicle;
determining the rotation angle of the radar to be detected based on the pin hole, and fixing the rotated radar to be detected on the reference plane;
determining a first pitching angle of the radar to be detected based on an inclinometer, and taking the first pitching angle as an actual azimuth angle;
and determining a first installation angle of the radar to be detected based on the actual azimuth angle and a preset azimuth angle of the radar to be detected.
2. The method of claim 1, wherein the normal directions comprise a first normal direction and a second normal direction, and wherein determining the normal direction of the reference plane based on the laser level and the inclinometer comprises:
determining a first normal direction of the reference plane based on a first laser beam and a second laser beam emitted by the laser level;
measuring the pitch angle of the reference plane based on the inclinometer, and adjusting the reference plane during the measurement;
and when the inclinometer measures that the pitch angle of the reference plane is a preset angle, determining a second normal direction of the reference plane.
3. The method of claim 1, wherein determining the rotation angle of the radar to be measured based on the pin hole comprises:
acquiring an initial angle of the radar to be detected, and determining at least three corresponding pin holes based on the initial angle;
the rotation angle is determined based on at least two adjacent pin holes.
4. The method of claim 1, wherein determining the target installation angle of the radar under test based on the actual azimuth angle and the preset azimuth angle of the radar under test comprises:
determining an angle difference value between the actual azimuth angle and the preset azimuth angle, and determining whether the angle difference value is within a preset difference value range;
and if so, taking the actual azimuth angle as the target installation angle.
5. The method of claim 1, further comprising, after the determining the first pitch angle of the radar under test based on the inclinometer:
and determining the initial position of the radar to be detected based on the pin hole and the rotation angle, and rotating the radar to be detected to the initial position.
6. The method of claim 5, further comprising,
determining a second pitch angle of the radar to be detected based on the inclinometer, and taking the second pitch angle as an actual pitch angle;
and determining a second installation angle of the radar to be detected based on the actual pitch angle and the preset pitch angle of the radar to be detected.
7. The method of claim 6, further comprising:
and adjusting the pitch angle and the azimuth angle of the radar to be detected based on the universal joint, and measuring the adjusted pitch angle and azimuth angle based on the inclinometer so as to update the actual pitch angle and the actual azimuth angle.
8. The utility model provides a vehicle radar installation angle calibration device which characterized in that includes:
the normal direction determining module is used for determining the normal direction of a reference plane based on a laser level and an inclinometer, and installing the reference plane on a vehicle based on the normal direction, wherein the reference plane comprises at least 3 pin holes, connecting lines among the pin holes are perpendicular to each other, and the normal direction is matched with the linear driving direction of the vehicle;
the rotation angle determining module is used for determining the rotation angle of the radar to be detected based on the pin hole and fixing the rotated radar to be detected on the reference plane;
the first pitch angle determining module is used for determining a first pitch angle of the radar to be detected based on an inclinometer and taking the first pitch angle as an actual azimuth angle;
and the first installation angle determining module is used for determining a first installation angle of the radar to be detected based on the actual azimuth angle and the preset azimuth angle of the radar to be detected.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle radar installation angle calibration method of any one of claims 1-7.
10. A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions for causing a processor to implement the vehicle radar installation angle calibration method according to any one of claims 1 to 7 when executed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211522908.XA CN115808155A (en) | 2022-11-30 | 2022-11-30 | Vehicle-mounted radar installation angle calibration method and device, electronic equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211522908.XA CN115808155A (en) | 2022-11-30 | 2022-11-30 | Vehicle-mounted radar installation angle calibration method and device, electronic equipment and storage medium |
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| CN115808155A true CN115808155A (en) | 2023-03-17 |
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| CN202211522908.XA Pending CN115808155A (en) | 2022-11-30 | 2022-11-30 | Vehicle-mounted radar installation angle calibration method and device, electronic equipment and storage medium |
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- 2022-11-30 CN CN202211522908.XA patent/CN115808155A/en active Pending
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