CN117289281B

CN117289281B - On-vehicle monitoring intelligent visualization method based on ADAS-DMRW

Info

Publication number: CN117289281B
Application number: CN202311577921.XA
Authority: CN
Inventors: 梁腾; 毛小明; 许勤军; 徐西海
Original assignee: Wuxi Cheliantianxia Information Technology Co ltd
Current assignee: Wuxi Cheliantianxia Information Technology Co ltd
Priority date: 2023-11-24
Filing date: 2023-11-24
Publication date: 2024-01-26
Anticipated expiration: 2043-11-24
Also published as: CN117289281A

Abstract

The application provides an on-vehicle control intelligent visualization method based on ADAS-DMRW, which can accurately display the safety distance and the alarm distance of a radar wall according to the detection distance of a radar and is flexibly applicable to different types of vehicles and different on-vehicle radar installation scenes. The method is characterized in that a space rectangular coordinate system is established by taking the center of a vehicle to be calculated as a coordinate origin, a vehicle coordinate system is obtained, the nearest radar wall and the farthest radar wall are built in the vehicle coordinate system based on the number of vehicle-mounted radars, the FOV of the radar wall and the radar detection distance, the position relationship between the radar wall and the vehicle can be quickly and simply built, the radar wall built based on the method is ensured, the safety distance and the alarm distance of the radar wall can be accurately displayed, and meanwhile, the safety scanning requirement of the vehicle to be calculated in operation can be met.

Description

On-vehicle monitoring intelligent visualization method based on ADAS-DMRW

Technical Field

The invention relates to the technical field of intelligent traffic, in particular to an on-board monitoring intelligent visualization method based on ADAS-DMRW.

Background

With the wide application of intelligent traffic in the world, unmanned technology brings great variation to the automobile industry, and Advanced Driving Assistance System (ADAS) is one of key technologies for realizing unmanned, so that the running safety of automobiles can be fully ensured. The vehicle millimeter wave radar is an ADAS important sensor device and plays an irreplaceable role in the aspects of automobile traffic early warning, blind spot detection, self-adaptive cruise control and the like. The vehicle-mounted millimeter wave radar may be classified into a Long Range Radar (LRR), a Medium Range Radar (MRR), and a Short Range Radar (SRR) according to a detection distance, and may be classified into a 24GHz narrowband radar (24.00-24.25 GHz), a 24GHz ultra wideband radar (24.25-24.65 GHz), a 77GHz radar (76-77 GHz), and a 79GHz radar (77-81 GHz) according to a use frequency. The specific application direction is as follows: the functions of parking assistance, lane changing assistance, front collision early warning and the like are realized by combining software such as radar, vision, data fusion and the like. And the implementation of these functions is based on vehicle radar ranging technology.

Through retrieval, in the research and development direction of realizing the detection distance of the vehicle-mounted radar by combining software such as radar, vision, data fusion and the like, the following method is adopted for designing in the prior art:

prior art 1: the application number is: 202310327081.5 discloses a display method of a three-dimensional radar wall, which determines a baseline, a first preset distance, a second preset distance of the three-dimensional radar wall according to a plurality of reference points, and then constructs the three-dimensional radar wall, wherein the baseline is optimized according to an interpolation method, and thus the accuracy of the radar wall is optimized.

Prior art 2: the study of the detection distance measuring method of the vehicle reversing auxiliary system (Zou B, cui X.research on the Measurement Method of the Detection Range of VehicleReversing Assisting System [ C ]// International Conference on InformationTechnology and Intelligent Transportation systems.2017.) is a method for measuring the detection distance of the reversing auxiliary system by using a laser range finder and a plane meter, and comprises a reversing radar system and a reversing vision system. And the furthest position which can be smoothly detected by the radar is fitted by combining the working principle of the ultrasonic radar, so that the visualization of the detection distance of the reversing radar is realized.

However, the two visualization algorithms are used for visualizing the radar detection result after the number, the installation angle and the installation position of the vehicle-mounted radar are fixed, and the use scene is limited. In the aspect of visualization, the visualization method provided in the patent in the prior art 1 is a continuous curved surface, the visualization method provided in the prior art 2 is a display of point coordinates, in actual use, corresponding changes cannot be displayed according to dynamic changes of the vehicle position, and the visualization level is low.

Disclosure of Invention

In order to solve the problems of a using field Jing Shouxian and a low visualization level in the existing vehicle-mounted radar ranging visualization display method, the invention provides the vehicle-mounted monitoring intelligent visualization method based on the ADAS-DMRW, which can accurately display the safety distance and the alarm distance of a radar wall according to the detection distance of a radar and is flexibly applicable to different types of vehicles and different vehicle-mounted radar installation scenes.

The technical scheme of the invention is as follows: an on-vehicle monitoring intelligent visualization method based on ADAS-DMRW is characterized by comprising the following steps:

s1: determining radar wall parameters based on actual conditions and monitoring requirements of the vehicle to be calculated and the vehicle-mounted radar;

the radar wall parameters include: the vehicle body length and width, the number of vehicle-mounted radars, the mounting position of the vehicle-mounted radars, the radar detection distance requirement, the radar wall FOV and the radar wall color card;

the length and width of the vehicle body comprise: the length and width of the vehicle to be calculated;

the radar ranging requirement includes: the method comprises the steps of presetting a target value f1 of the farthest detection distance and a target value n1 of the nearest detection distance required by vehicle-mounted radar monitoring;

the number of vehicle-mounted radars M: representing the total number of radars involved in the calculation; wherein m=2n, n is a positive integer; n radars are respectively arranged in the directions of the head and the parking space of the vehicle to be calculated;

Mounting position of the vehicle-mounted radar: representing the installation position of the radar participating in the calculation at the time on the target vehicle;

the radar wall FOV: the angle of a horizontal detection range covered by a preset radar wall is set;

the radar wall color card includes: the nearest radar wall color representing the minimum safe distance, the farthest radar wall color representing the maximum safe distance, and the intermediate color of the dynamic radar wall;

s2: according to the length and width of the vehicle body of the vehicle to be calculated, a space rectangular coordinate system is established by taking the exact center of the vehicle to be calculated as the origin of coordinates, and is recorded as: a vehicle coordinate system; in the vehicle coordinate system, the direction of the vehicle head is taken as the positive direction of the X axis;

s3: confirming corresponding space coordinates of the radar participating in calculation in a vehicle coordinate system according to the installation position of the vehicle-mounted radar;

s4: constructing a visual radar wall in the vehicle coordinate system based on the number and the installation positions of the vehicle-mounted radars;

the visual radar wall includes: two groups of radar walls respectively positioned in the directions of the head and the tail of the vehicle; each set of radar walls comprises: a furthest radar wall and a closest radar wall parallel to each other; any one point of the farthest radar wall and the nearest radar wall can find a symmetrical point based on an X axis and a Y axis in the visual radar wall;

When the distance between the vehicle to be calculated and the obstacle is the farthest distance, displaying the farthest radar wall; when the distance between the vehicle to be calculated and the obstacle is the nearest distance, displaying the nearest radar wall; when a vehicle to be calculated gradually approaches an obstacle from the farthest distance, displaying a dynamic radar wall, wherein the color of the dynamic radar wall gradually changes from the color of the farthest radar wall to the middle color, and finally changes into the color of the nearest radar wall;

s5: confirming the farthest safe distance f1 and the nearest safe distance n1 based on the number of the vehicle-mounted radars, the FOV of the radar wall and the radar detection distance, and calculating the coordinates of the visualized radar wall;

the coordinates of the visual radar wall include: coordinates of the furthest radar wall and the closest radar wall;

the farthest radar wall and the nearest radar wall respectively comprise N line-segment-shaped radar wall sections, the radar wall sections on each radar wall are equal in length, and adjacent radar wall sections are connected in an end-to-end mode; each radar wall section comprises two coordinate points representing the start and stop of the radar wall section, and the coordinate points of the radar wall section form the coordinates of the farthest radar wall and the nearest radar wall;

each radar has a corresponding radar wall section on the furthest radar wall and the closest radar wall respectively, and is responsible for scanning between the radar and the radar wall sections;

The recent radar wall satisfies the following conditions:

setting, namely connecting two endpoints of the nearest radar wall with the origin of coordinates respectively, wherein the included angle of the two connecting lines is the FOV of the radar wall, and the included angle alpha between one endpoint of the nearest radar wall and the connecting line of the nearest radar and the X axis is half of the FOV of the radar wall;

the distance between the two end points of the nearest radar wall and the radar closest to the nearest radar wall is the shortest safety distance n1, and the distance between the intersection point of the radar wall and the X axis and the radar closest to the X axis is the shortest safety distance n1;

the furthest radar wall satisfies the following conditions:

the distance between the two end points of the farthest radar wall and the radar closest to the farthest radar wall is the farthest safe distance f1, and the distance between the intersection point of the radar wall and the X axis and the radar closest to the X axis is the farthest safe distance f1;

s6: based on the furthest radar wall coordinates, the closest radar wall coordinates and the radar wall color chart, the dynamic visual radar wall is realized.

It is further characterized by:

the method for calculating the visual radar wall coordinates comprises the following steps:

a1: all radars were numbered:

sequentially numbering radars on a vehicle to be calculated from one side of a vehicle head in a clockwise direction to obtain a serial number: 1-2N;

a2: defining coordinate points of the radar wall segments:

coordinates of the head end and the tail end points of the radar wall section on the nearest radar wall corresponding to the numbered radar are as follows:

[ (NRXi, NRYi), (NLXi, NLYi) ], (NRXi, NRYi) being the head coordinates of the line segment and (NLXi, NLYi) being the tail coordinates of the line segment; wherein i is a radar serial number, and the value is 1 and 2.2N;

the coordinates of the head and tail end points of the radar wall section on the farthest radar wall corresponding to each radar are as follows:

[ (FRXi, FRYi), (FLXi, FLYi) ], wherein i takes a value of 1, 2..2N;

a3: constructing a data relation according to the radar wall FOV:

the line connecting the point (NRX 1, NRY 1) and the origin of coordinates is denoted as: fo1;

the line connecting the point (NLXN, NLYN) and the origin of coordinates is denoted as: foN;

the angle between Fo1 and FoN is the radar wall FOV, noted as: angle Fov;

the included angle between the X axis and the connecting line of the points (NRX 1, NRY 1) and the radar A (a 1, b 1) is alpha; then there is a relationship: α= Fov/2;

a4: constructing a data relationship according to the shortest safety distance n1 and the farthest safety distance f 1:

the two endpoints of the nearest radar wall in the positive direction of the x-axis are respectively: points (NRX 1, NRY 1) and points (NLXN, NLYN);

the distance between the point (NRX 1, NRY 1) and the radar 1 is denoted as: nearD1;

The distance between the point (NLXN, NLYN) and the radar N is denoted as: a NearDN;

then there are: spard1=spardn=n1;

the two endpoints of the furthest radar wall in the positive direction of the x axis are respectively: points (FRX 1, FRY 1) and points (FLXN, FLYN);

the distance between the point (FRX 1, FRY 1) and the radar 1 is denoted as: farD1;

the distance between the point (FLXN, FLYN) and the radar N is denoted as: farDN;

then there are: fard1=fardn=f1;

a5: according to the data relationship, when N has different values, calculating the coordinates of the radar wall;

when n=3, performing a radar wall coordinate calculation step of 6 radars;

when n=4, performing a radar wall coordinate calculation step of 8 radars;

when n=5, performing a radar wall coordinate calculation step of 10 radars;

the radar wall coordinate calculation step of the 6 radar comprises the following steps:

when n=3, the radar installed on the vehicle to be calculated includes: install radar A, B, C at locomotive and install radar C ', B ', A ' at the tail, corresponding serial number is 1~6, then:

the nearest radar wall coordinates are:

[ (NRXi, NRYi), (NLXi, NLYi) ], i has a value of 1, 2..6;

the corresponding furthest radar wall coordinates are:

[ (FRXi, fri), (FLXi, FLYi) ], wherein i takes a value of 1, 2..6;

let the radar coordinates entered by the user be: a: (a 1, B1), B: (a 2, b 2);

Then first, coordinates of the radar wall segments corresponding to the radar a and the radar B are calculated:

NLX1 = a1+n1*cosα；

NLY1 = b1+n1*sinα；

NRX1 = a2+n1；

;

NLX2 = NRX1;

NLY2 = NRY1;

NRY2 = -NRY1;

NRX2 = a2+n1;

FLX1 = a1+f1* cosα;

FLY1 = b1+f1*sinα;

FRX1 = a2+f1;

;

the point (FRX 2, FRY 2) and the point (FLX 2, FLY 2) are symmetrical based on the X-axis;

the points (NRX 3, NRY 3) and (NLX 1, NLY 1) are based on X-axis symmetry, and the points (NLX 3, NLY 3) and (NRX 2, NRY 2) coincide;

the point (FRX 3, FRY 3) and the point (FLX 1, FLY 1) are based on X-axis symmetry, and the point (FLX 3, FLY 3) coincides with the point (FRX 2, FRY);

the radar wall sections on the nearest radar wall and the farthest radar wall on the left side of the Y axis are symmetrical with the radar wall sections on the nearest radar wall and the farthest radar wall on the right side of the Y axis based on the Y axis; the coordinates of other coordinate wall segments can be obtained;

the radar wall coordinate calculation step of the 8-radar is as follows:

when n=4, the radar installed on the vehicle to be calculated includes: install radar A, B, C, D at locomotive and install radar D ', C', B ', A' at the tail, corresponding serial number is 1~8, then:

the nearest radar wall coordinates are:

[ (NRXi, NRYi), (NLXi, NLYi) ], i has a value of 1, 2..8;

the corresponding furthest radar wall coordinates are:

[ (FRXi, fri), (FLXi, FLYi) ], wherein i takes a value of 1, 2..8;

let the radar coordinates entered by the user be: a: (a 1, B1), B: (a 2, b 2);

NLX1 = a1+n1*cosα;

NLY1 = b1+n1*sinα;

the method comprises the steps of carrying out a first treatment on the surface of the Wherein m=2/3;

NRY1 = k1*NRX1 + c1;

NLX2 = NRX1;

NLY2 = NRY1;

NRY2 = 0;

；

;

FRY1 = k2*FRX1 + c2;

FLX1 = a1+f1*cosα;

FLY1 = b1+f1*sinα;

FLX2 = FRX1;

FLY2 = FRY1;

FRY2 = 0;

;

because the radar wall sections on the nearest radar wall and the farthest radar wall below the X-axis are symmetrical with the radar wall sections on the nearest radar wall and the farthest radar wall on the upper side of the X-axis based on the X-axis;

the radar wall sections on the nearest radar wall and the farthest radar wall on the left side of the Y axis are symmetrical with the radar wall sections on the nearest radar wall and the farthest radar wall on the right side of the Y axis based on the Y axis;

the coordinates of other coordinate wall segments can be obtained;

the radar wall coordinate calculation step of the 10 radar comprises the following steps:

when n=5, the radar installed on the vehicle to be calculated includes: the radar A, B, C, D, E installed on the head of the vehicle and the radars E ', D ', C ', B ', A ' installed on the tail of the vehicle are provided with corresponding serial numbers of 1-10, and then:

the nearest radar wall coordinates are:

[ (NRXi, NRYi), (NLXi, NLYi) ], i has a value of 1, 2..10;

the corresponding furthest radar wall coordinates are:

[ (FRXi, fri), (FLXi, FLYi) ], wherein i takes a value of 1, 2..10;

let the radar coordinates entered by the user be: a: (a 1, B1), B: (a 2, b 2);

NLX1 = a1+n1*cosα;

NLY1 = b1+n1*sinα;

NRX1 = 2*a2/3+a1/3+n1*(2/3+ cosα/3);

NRY1 = k1*NRX1 + c1;

NLX2 = NRX1;

NLY2 = NRY1;

NRY2 = n1*tan(β);

Establishing a connecting line between an intersection point of the headstock and the X-axis positive direction and an endpoint of a radar wall section with the intersection point between the nearest radar wall and the X-axis positive direction, wherein an included angle between the connecting line and the X-axis positive direction is beta; β=3×α/2N;

NRX2 = a2+n1;

FLX1 = a1+f1*cosα;

FLY1 = b1+f1*sinα;

FRX1 = 2*a2/3+a1/3+f1*(2/3+ cosα/3);

FRY1 = k2*FRX1 + c2;

FLX2 = FRX1;

FLY2 = FRY1;

FRY2 = f1*tan(β);

FRX2 = a2+f1;

the point (NLX 3, NLY 3) coincides with the point (NRX 2, NRY 2), the point (NRX 3, NRY 3) coincides with the point (NLX 3, NLY 3) on the basis of X-axis symmetry, the point (NLX 4, NLY 4) coincides with the point (NRX 3, NRY 3), the point (NRX 4, NRY 4) coincides with the point (NLX 2, NLY 2) on the basis of X-axis symmetry, (NLX 5, NLY 5) coincides with the point (NRX 4, NRY 4), the point (NRX 5, NRY 5) coincides with the point (NLX 1, NLY 2) on the basis of X-axis symmetry;

the point (FLX 3, FLY 3) coincides with the point (FRX 2, FRY 2), the point (FRX 3, FRY 3) coincides with the point (FLX 3, FLY 3) on the basis of X-axis symmetry, the point (FLX 4, FLY 4) coincides with the point (FRX 3, FRY 3), the point (FRX 4, FRY 4) coincides with the point (FLX 2, FLY 2) on the basis of X-axis symmetry, (FLX 5, FLY 5) coincides with the point (FRX 4, FRY 4), the point (FRX 5, FRY) coincides with the point (FLX 1, FLY 2) on the basis of X-axis symmetry;

the coordinates of other coordinate wall segments can be obtained.

According to the vehicle-mounted monitoring intelligent visualization method based on the ADAS-DMRW, the right center of the vehicle to be calculated is used as the origin of coordinates, a space rectangular coordinate system is established, the vehicle coordinate system is obtained, the nearest radar wall and the farthest radar wall are built in the vehicle coordinate system based on the number of vehicle-mounted radars, the FOV of the radar wall and the radar detection distance, the position relation between the radar wall and the vehicle can be quickly and simply built, the radar wall built based on the method is guaranteed, the safe distance and the alarm distance of the radar wall can be accurately displayed, and meanwhile the safe scanning requirement of the vehicle to be calculated in operation can be met; the furthest radar wall and the nearest radar wall constructed by the method are of equal-length line segment-shaped structures, each radar can find the corresponding radar wall segment on the radar wall, meanwhile, the coordinates of the furthest radar wall and the nearest radar wall can be obtained through geometric relation calculation based on the position relation of the vehicle, the radar and the radar wall by defining the included angle alpha between the connecting line of one end point of the nearest radar wall and the nearest radar and the X axis and defining the distance relation between the furthest radar wall and the nearest radar wall and the vehicle, the calculation process is simple, the system complexity is reduced, and the requirement on the system hardware performance is reduced; the user can input radar wall parameters according to actual conditions of the vehicle, and the construction of the radar wall can be completed, the number and the vehicle size of the vehicle-mounted radar are not limited in the construction process of the radar wall in the method, the application range is wider, and the method is flexibly applicable to different types of vehicles and different vehicle-mounted radar installation scenes; the radar wall constructed based on the method comprises a farthest radar wall and a nearest radar wall, and when a vehicle to be calculated gradually approaches to an obstacle from the farthest distance, the displayed dynamic radar wall can enable a user to understand the position relation between the obstacle and the vehicle more intuitively compared with the prior art, and the visual effect is better.

Drawings

Fig. 1 is a schematic flow chart of an on-board monitoring intelligent visualization method based on an ADAS-DMRW;

FIG. 2 is an example of a radar wall coordinate calculation step for a 6-radar;

FIG. 3 is an example of a radar wall coordinate calculation step for 8 radars;

FIG. 4 is an example of a radar wall coordinate calculation step for a 10 radar;

fig. 5 is an ADAS-DMRW algorithm pseudocode example 1;

FIG. 6 is ADAS-DMRW algorithm pseudocode example 2;

fig. 7 is an effect diagram of a dynamic visual radar wall implemented based on an ADAS-DMRW algorithm.

Detailed Description

As shown in fig. 1, the application comprises an on-board monitoring intelligent visualization method based on an ADAS-DMRW (Advanced Driver Assistance System-Dynamic multi-radar wall). The dynamic radar wall (DMRW) is an important component module of the ADAS system, and the dynamic display of the radar wall can be optimized based on the method, so that the dynamic radar wall in the ADAS can be displayed more perfectly. The method comprises the following steps.

The method is used for constructing the visual radar wall based on the intelligent visual algorithm of the dynamic multi-radar wall, and is suitable for realizing the radar wall in the vehicle-mounted monitoring equipment of various types of vehicles. When a user builds the visual radar wall based on the method, the user only needs to clearly determine the monitoring requirement of the vehicle-mounted monitoring radar, and takes the actual conditions and requirements of the vehicle and the radar as input in the form of radar wall parameters.

the radar wall parameters include: the vehicle body length and width, the number of vehicle-mounted radars, the mounting position of the vehicle-mounted radars, the radar detection distance requirement, the radar wall FOV and the radar wall color card.

The length and width of the vehicle body comprise: the length and width of the vehicle to be calculated, such as: 4.5 x 1.92m.

The radar ranging requirements include: the method comprises the steps of presetting a target value f1 of the farthest detection distance and a target value n1 of the nearest detection distance required for vehicle-mounted radar monitoring. The target value f1 of the furthest detection distance, namely the maximum safety distance of the vehicle, and when the distance between the vehicle and the obstacle is f1, the vehicle owner needs to be reminded through a radar wall. The target value n1 of the closest detection distance is the minimum safety distance. When setting f1 and n1, care should be taken that the maximum detection distance of the vehicle-mounted radar cannot be exceeded, while the minimum safety distance n1 is smaller than the maximum safety distance f1. Such as: the detection range of the vehicle radar is 5m, then: n1=180mm, f1=3000 mm, satisfying the condition: n1< f1<5m.

Number of vehicle-mounted radars M: representing the total number of radars involved in the calculation; wherein m=2n, n is a positive integer; in order to be suitable for construction of radar walls under various conditions, N radars are respectively arranged on a preset vehicle in the directions of the head and the parking space of the vehicle to be calculated at the head and the tail of the vehicle; if the user only needs to display the radar in one direction of the vehicle tail, the calculation process is the same, and only needs to control to display the vehicle tail radar wall or only display the vehicle head radar wall when the radar wall is depicted and displayed.

Mounting position of vehicle radar: the installation position of the radar participating in the calculation at this time on the target vehicle is indicated.

When the vehicle radar position is input, the vehicle center is taken as a far point, the vehicle head direction is taken as the positive direction of the X axis, a rectangular coordinate system is constructed, and the vehicle installation position is input in a coordinate mode. Such as: body length of vehicle to be calculated: 4.5m, vehicle body width: 2m; 4 radars are respectively installed on the headstock: A. b, C, D, 4 radars are installed at the tail position: a ', B', C ', D', the radar installation position is input as follows:

radar a mounting location 2000 1000;

radar B mounting location 2250 700;

radar C mounting locations 2250-700;

2000-1000 of radar D installation positions;

radar a' mounting location-2000 1000;

radar B' mounting location-2250 700;

radar C' installation location-2250-700;

radar D' installation location-2000-1000;

the input time unit is: mm.

Radar wall FOV: the angle of a horizontal detection range covered by a preset radar wall is set; the radar wall FOV represents the coverage angle of the radar wall that the user expects to construct. In practical applications, the FOV angle entered by the user should be less than the horizontal field of view range actually supported by the vehicle radar. The scanning angle supported by the specific vehicle-mounted radar can be confirmed according to a parameter table when the vehicle-mounted radar comes out of the field. In the method, only the horizontal coverage angle of the radar wall is concerned, meanwhile, in the method, the coordinate wall is symmetrical with the X-axis, the far point of the coordinate axis is taken as the center, the end points at the two sides of the radar wall are respectively connected with the coordinate origin, and the included angle between the two connecting lines is the horizontal detection range angle of the coverage of the radar wall. Assume that, among the departure parameters of the vehicle-mounted radar, the horizontal detection view angle range is as follows: 195±5°, the vertical detection view angle range is: 130±5°, the user-entered angle of the radar wall FOV cannot exceed 195±5°. Such as: 5 radars are installed on the head side of the vehicle to be calculated, 60 degrees are needed to be detected on the left side of the vehicle body, 60 degrees are needed to be detected on the right side of the vehicle body, and the total detection range is that the FOV of the radar wall is 120 degrees.

The radar wall color card includes: the nearest radar wall color representing the minimum safe distance, the farthest radar wall color representing the maximum safe distance, and the intermediate color of the dynamic radar wall. As in the present embodiment, the closest radar wall color is red, the furthest radar wall color is set to green, and the intermediate color of the dynamic radar wall is yellow.

S2: according to the length and width of the vehicle body of the vehicle to be calculated, a space rectangular coordinate system is established by taking the exact center of the vehicle to be calculated as the origin of coordinates, and is recorded as: a vehicle coordinate system; in the vehicle coordinate system, the direction of the vehicle head is taken as the positive direction of the X axis.

In practical application, the origin of the coordinate system of the vehicle can be established at other positions of the vehicle with calculation, but in order to reduce calculation difficulty, the origin of the coordinate system is established at the exact center of the vehicle. In this way, for the radar wall based on the X-axis and Y-axis symmetry, other coordinate points can be obtained through the symmetry relationship by only calculating the radar wall coordinate points in one quadrant.

S3: and confirming the corresponding space coordinates of the radar participating in calculation in the vehicle coordinate system according to the installation position of the vehicle-mounted radar.

S4: constructing a visual radar wall in a vehicle coordinate system based on the number and the installation positions of the vehicle-mounted radars;

The visual radar wall includes: two groups of radar walls respectively positioned in the directions of the head and the tail of the vehicle; each set of radar walls comprises: a furthest radar wall and a closest radar wall parallel to each other; any point on the farthest radar wall and the nearest radar wall can find a symmetrical point based on the X axis and the Y axis in the visual radar wall;

when the distance between the vehicle to be calculated and the obstacle is the farthest distance, displaying the farthest radar wall; when the distance between the vehicle to be calculated and the obstacle is the nearest distance, displaying the nearest radar wall; when the vehicle to be calculated gradually approaches to the obstacle from the farthest distance, displaying the dynamic radar wall, gradually changing the color of the dynamic radar wall from the color of the farthest radar wall to the intermediate color, and finally changing the color of the closest radar wall.

S5: based on the number of vehicle-mounted radars, the FOV of the radar wall and the radar detection distance, confirming the farthest safety distance f1 and the nearest safety distance n1, and calculating the coordinates of the visualized radar wall;

the coordinates of the visualized radar wall include: coordinates of the farthest radar wall and the nearest radar wall;

the farthest radar wall and the nearest radar wall respectively comprise N line-segment-shaped radar wall sections, the radar wall sections on each radar wall are equal in length, and adjacent radar wall sections are connected in an initial position; each radar wall section comprises two coordinate points representing the start and stop of the radar wall section, and all the coordinate points of the radar wall section form coordinates of a farthest radar wall and a nearest radar wall;

Each radar is provided with a corresponding radar wall section on the farthest radar wall and the nearest radar wall respectively, and is responsible for scanning between the radar and the radar wall sections;

recently radar walls have met the following conditions:

the furthest radar wall satisfies the following conditions:

the distance between the two end points of the farthest radar wall and the radar closest to the farthest radar wall is the farthest safe distance f1, and the distance between the intersection point of the radar wall and the X axis and the radar closest to the X axis is the farthest safe distance f1.

According to the method, the distance between the nearest radar wall and the farthest radar wall and the radar is defined, so that the radar wall can meet the requirement of a user on the safety distance of the vehicle, and further the safety distance and the alarm distance of the radar wall can be accurately displayed by the radar wall constructed based on the method.

According to the investigation of the installation conditions of the vehicle-mounted radars of the existing vehicle, the installation quantity of the vehicle-mounted radars is 2, 4, 6, 8 and 10, and as the calculation modes of the 2 radars and the 4 radars are simpler and the application quantity of the vehicle is less, the method definitely provides the calculation process of the radar wall coordinates for the three common quantity radars of 6, 8 and 10. When the method is specifically applied, a calculation process is preset in a system, and the method is used for directly calling according to the number N of radars input by a user.

The method for calculating the visual radar wall coordinates comprises the following steps.

a1: all radars were numbered:

sequentially numbering radars on a vehicle to be calculated from one side of a vehicle head in a clockwise direction to obtain a serial number: 1-2N. In this embodiment, for convenience of calculation, the serial numbers are sequentially numbered from the head side in the first quadrant of the coordinate system.

a2: defining coordinate points of the radar wall segments:

[ (FRXi, FRYi), (FLXi, FLYi) ], wherein i takes a value of 1, 2.

a3: according to the radar wall FOV, constructing a data relationship, and ensuring that the radar wall detection range meets the user requirements:

the angle between Fo1 and FoN is the radar wall FOV, noted as: angle Fov;

the included angle between the X axis and the connecting line of the points (NRX 1, NRY 1) and the radar A (a 1, b 1) is alpha; then there is a relationship: α= Fov/2.

a4: constructing a data relationship according to the shortest safety distance n1 and the farthest safety distance f1, and ensuring that the nearest radar wall can meet the minimum distance alarm requirement and the maximum distance alarm requirement:

the two endpoints of the nearest radar wall in the positive x-axis direction are respectively: points (NRX 1, NRY 1) and points (NLXN, NLYN);

then there are: spard1=spardn=n1;

then there are: fard1=fardn=f1.

when n=3, performing a radar wall coordinate calculation step of 6 radars;

when n=4, performing a radar wall coordinate calculation step of 8 radars;

when n=5, a radar wall coordinate calculation step of 10 radars is performed.

And with respect to the following data relationships:

the distance between the intersection point of the nearest radar wall and the X axis and the nearest radar to the X axis is the shortest safety distance n1;

the distance between the intersection of the furthest radar wall and the X-axis and the radar closest to the X-axis is the furthest safe distance f1.

Because the geometric shapes of different radar walls are different, the intersection point positions of the radar walls and the X axis are also different, so that the method can only be embodied in a specific calculation process.

As shown in fig. 2, when n=3, the radar installed on the vehicle to be calculated includes: the radar A, B, C installed on the vehicle head and the radars C ', B ', A ' installed on the vehicle tail are respectively provided with corresponding serial numbers of 1-6. The radar walls are symmetrical based on an X axis and a Y axis, and form two symmetrical groups of radar walls respectively positioned at the left side and the right side of the Y axis, wherein each group of radar walls comprises a nearest radar wall and a farthest radar wall. Each set of radar walls comprises 6 radar wall sections.

Then, the radar wall coordinate calculation step of the 6-radar is as follows:

the nearest radar wall coordinates are:

[ (NRXi, NRYi), (NLXi, NLYi) ], i has a value of 1, 2..6;

the corresponding furthest radar wall coordinates are:

[ (FRXi, fri), (FLXi, FLYi) ], wherein i takes a value of 1, 2..6;

let the radar coordinates entered by the user be: a: (a 1, B1), B: (a 2, b 2);

the coordinates of the point NR1 are: (NRX 1, NRY 1), the coordinates of the point NL1 are: (NLX 1, NLY 1), the coordinates of the point FR1 are: (FRX 1, FRY 1), the coordinates of the point FL1 are: (FLX 1, FLY 1).

Coordinates of the close range radar wall include:

NLX1,NLX2,NLX3,NLX4,NLX5,NLX6,NLY1,NLY2,NLY3,NLY4,NLY5,NLY6；

NRX1,NRX2,NRX3,NRX4,NRX5,NRX6,NRY1,NRY2,NRY3,NRY4,NRY5,NRY6；

coordinates of the long-range radar wall include:

FLX1,FLX2,FLX3,FLX4,FLX5,FLX6,FLY1,FLY2,FLY3,FLY4,FLY5,FLY6；

FRX1,FRX2,FRX3,FRX4,FRX5,FRX6,FRY1,FRY2,FRY3,FRY4,FRY5,FRY6。

in the application, the radar wall sections on each radar wall are equal in length, the length of the radar wall section on the nearest radar wall is l1, and the length of the radar wall section on the farthest radar wall is l2; anl1=n1, the distance n1 from point B to line segment NL2NR2, the distance n1 from point C to NR3, the distance f1 from point a to FL1, the distance f1 from point B to line segment FL2FR2, and the distance f1 from point C to FR 3.

The definition of Fov angles, n1 and f1 of the radar wall in the method is strict, but because the vehicle radar has a scanning range, the specific installation position of the vehicle radar on the vehicle is not strictly defined. When the method is used for constructing the radar wall, the coordinates of the radar wall can be calculated according to the coordinate positions of the radar input by a user, so that the coverage angle and the distance expected by the user can be met, and the installation position suitable for the vehicle-mounted radar can be ensured. Thereby ensuring that the method can be more flexibly suitable for different vehicle types and vehicle-mounted radar installation positions.

NLX1 = a1+n1*cosα；

NLY1 = b1+n1*sinα；

NRX1 = a2+n1；

since the radar wall sections on the same radar wall are equal in length, based on fig. 2, it can be seen that the calculation method of the length l1 of the nearest radar wall section is as follows:

meanwhile, NRY1=l1/2, after being brought into, solving according to a unitary secondary root-finding formula to obtain:

;

NLX2 = NRX1;

NLY2 = NRY1;

NRY2 = -NRY1;

NRX2 = a2+n1;

FLX1 = a1+f1* cosα;

FLY1 = b1+f1*sinα;

FRX1 = a2+f1;

the radar wall sections on the same radar wall are of equal length, so based on fig. 2 it can be seen that the length l2 of the radar wall section on the furthest radar wall:

and FRY1 =l2/2, after being brought, solving according to a unitary quadratic root-finding formula to obtain:

;

the radar wall sections on the nearest radar wall and the farthest radar wall on the left side of the Y axis are symmetrical with the radar wall sections on the nearest radar wall and the farthest radar wall on the right side of the Y axis based on the Y axis; the coordinates of other coordinate wall segments can be obtained.

In the radar wall coordinates of 6 radars, the setting satisfying the minimum safety distance is:

The distance from the radar A to the point NL1 is n1, the distance from the radar B to the line segment NL2NR2 is n1, and the distance from the radar C to the point NR3 is n1;

the setting meeting the maximum safe distance relation is as follows:

the distance from radar a to point FL1 is f1, the distance from radar B to line segment FL2FR2 is f1, and the distance from radar C to point FR3 is f1.

When the radar scans an obstacle and the obstacle-to-car distance is f1, the radar wall is displayed and green, and changes to red when the obstacle reaches a minimum safe distance, with the change to yellow.

As shown in fig. 3, when n=4, the radar installed on the vehicle to be calculated includes: the radar A, B, C, D installed on the head of the vehicle and the radars D ', C', B ', A' installed on the tail of the vehicle are respectively provided with corresponding serial numbers of 1-8, and each radar wall comprises 4 radar wall sections with equal length.

The nearest radar wall coordinates are:

[ (NRXi, NRYi), (NLXi, NLYi) ], i has a value of 1, 2..8;

the corresponding furthest radar wall coordinates are:

[ (FRXi, fri), (FLXi, FLYi) ], wherein i takes a value of 1, 2..8;

let the radar coordinates entered by the user be: a: (a 1, B1), B: (a 2, b 2);

NR1=（NRX1,NRY1），NL1=（NRX1,NRY1）, FR1=（FRX1,FRY1）,FL1=（FLX1,FLY1）。

the coordinates of the nearest radar wall include:

NLX1,NLX2,NLX3,NLX4,NLX5,NLX6, NLX7, NLX8；

NLY1,NLY2,NLY3,NLY4,NLY5,NLY6，NLY7,NLY8；

NRX1,NRX2,NRX3,NRX4,NRX5,NRX6,NRX7,NRX8,

NRY1,NRY2,NRY3,NRY4,NRY5,NRY6,NRY7, NRY8。

the coordinates of the furthest radar wall include:

FLX1,FLX2,FLX3,FLX4,FLX5,FLX6, FLX7, FLX8,

FLY1,FLY2,FLY3,FLY4,FLY5,FLY6,FLY7,FLY8；

FRX1,FRX2,FRX3,FRX4,FRX5,FRX6,FRX7,FRX8,

FRY1,FRY2,FRY3,FRY4,FRY5,FRY6,FRY7,FRY8。

Then: the radar wall coordinate calculation step of the 8 radar is as follows:

as can be seen from fig. 3:

；

based on the principle that the two distances from the line segment are equal, according to y=k1 x+c1,

the value of c1 was calculated by substituting ((NRX2+NLX1)/2, (NLY1+NRY2)/2) into the above formula.

Calculating coordinates of radar wall line segments corresponding to the radar A and the radar B:

NLX1 = a1+n1*cosα;

NLY1 = b1+n1*sinα;

；

wherein m=2/3;

NRY1 = k1*NRX1 + c1;

NLX2 = NRX1;

NLY2 = NRY1;

NRY2 = 0;

；

based on the perpendicular bisectors of the line segments, the two distances to the line segments are equal, and ((frx2+flx1)/2, (fly1+ FRY 2)/2) is brought into the above formula according to y=k2×c2, and the value of c2 is calculated.

;

FRY1 = k2*FRX1 + c2;

FLX1 = a1+f1*sinα;

FLY1 = b1+f1*sinα;

FLX2 = FRX1;

FLY2 = FRY1;

FRY2 = 0;

;

After specific values of coordinates of nr1= (NRX 1, NRY 1), NL 1= (NRX 1, NRY 1), nr2= (NRX 2, NRY 2), NL 2= (NRX 2, NRY 2), FR 1= (FRX 1, FRY 1), FL 1= (FLX 1, FLY 1), FR 2= (FRX 2, FRY 2), FL 1= (FLX 2, FLY 2) are obtained, because the radar wall sections of the closest radar wall and the farthest radar wall below the X axis are symmetrical with the radar wall sections of the closest radar wall and the farthest radar wall on the upper side of the X axis based on the X axis;

the coordinates of other coordinate wall segments can be obtained.

In the 8 radar wall, the setting meeting the minimum safe distance relation is:

radar a is at a distance n1 from point NL1, B is at a distance n1 from NR2, C is at a distance n1 from point NL3, D is at a distance n1 from point NR 4;

the setting meeting the maximum safe distance is:

the distance of the radar a to FL1 is f1, the distance of B to FR2 is f1, and the distance of C to FL3 is f1.D is a distance f1 from FR 4.

The inclination of the radar wall can be dynamically adjusted according to the abscissa value of the point NR1 (namely the point NL 2);

examples: nrx1=m (NRX 2-NLX 1) +nlx1, m is not fixed, m is 2/3 in the figure, the larger the inclination angle of the radar wall is when m is smaller than 1/2, and the smaller the inclination angle of the radar wall is when m is larger than 1/2 and smaller than 1.

Under the balanced condition, the value of m is generally 1/2; the value range of m is [0,1].

The slope of the radar wall is the slope of line NL1NR1, the slope of line NL2NR2, the slope of line FL1FR1, and the slope of FL2FR 2.

As shown in fig. 4, when n=5, the radar installed on the vehicle to be calculated includes: the corresponding serial numbers of the radars A, B, C, D, E arranged on the head of the vehicle and the radars E ', D ', C ', B ', A ' arranged on the tail of the vehicle are 1-10.

The nearest radar wall coordinates are:

[ (NRXi, NRYi), (NLXi, NLYi) ], i has a value of 1, 2..10;

the corresponding furthest radar wall coordinates are:

[ (FRXi, fri), (FLXi, FLYi) ], wherein i takes a value of 1, 2..10.

The coordinates of the nearest radar wall include:

NLX1, NLX2, NLX3, NLX4, NLX5, NLX6, NLX7, NLX8, NLX9, NLX10,

NLY1,NLY2,NLY3,NLY4,NLY5,NLY6,NLY7,NLY8,NLY9,NLY10；

NRX1,NRX2,NRX3,NRX4,NRX5,NRX6,NRX7, NRX8,NRX9, NRX10,

NRY1,NRY2,NRY3,NRY4,NRY5,NRY6,NRY7, NRY8,NRY9, NRY10。

the coordinates of the furthest radar wall include:

FLX1,FLX2,FLX3,FLX4,FLX5,FLX6, FLX7, FLX8, FLX9, FLX10,

FLY1,FLY2,FLY3,FLY4,FLY5,FLY6,FLY7,FLY8,FLY9,FLY10；

FRX1,FRX2,FRX3,FRX4,FRX5,FRX6,FRX7,FRX8,FRX9, FRX10,

FRY1,FRY2,FRY3,FRY4,FRY5,FRY6,FRY7,FRY8,FRY9,FRY10。

let the radar coordinates entered by the user be: a: (a 1, B1), B: (a 2, b 2);

the radar wall coordinates of the 10 radars are calculated as follows:

from the illustration in fig. 4, it can be seen that:

；

NLX1 = a1+n1*cosα;

NLY1 = b1+n1*sinα;

NRX1 = 2*a2/3+a1/3+n1*(2/3+ cosα/3);

NRY1 = k1*NRX1 + c1;

NLX2 = NRX1;

NLY2 = NRY1;

NRY2 = n1*tan(β);

wherein, the angle beta is: establishing a connecting line between an intersection point of the headstock and the X-axis positive direction and an endpoint of a radar wall section with the intersection point between the nearest radar wall and the X-axis positive direction, wherein an included angle between the connecting line and the X-axis positive direction is beta; the angle β has a tendency to shrink according to the number of radar, and the angle β is in a linear inverse relation with the number of radar walls, in the method, β=3×α/2N.

In this embodiment, the radar wall segment intersecting the positive direction of the X axis to the right is NL3NR3, and since the radar wall is symmetrical about the X axis, the distances between the points NL3 and NR3 and the X axis are the same, that is, the line connecting the intersection of the vehicle head and the positive direction of the X axis with NL3 and NR3, respectively, and the angles with the square of the X axis are both β.

Meanwhile, in this embodiment, the radar is uniformly installed on the vehicle head, so that the installation point of the radar C is located on the X axis, and in fig. 4, the included angle between the connection line of the radar C and NL3 and the positive direction of the X axis is β.

NRX2 = a2+n1;

From the illustration in fig. 4, it can be seen that:

；

based on the principle that the two distances from the line segment are equal, according to y=k2 x+c2,

the value of c2 was calculated by substituting ((NRX2+NLX1)/2, (NLY1+NRY2)/2) into the above formula.

FLX1 = a1+f1*cosα;

FLY1 = b1+f1*sinα;

FRX1 = 2*a2/3+a1/3+f1*(2/3+ cosα/3);

FRY1 = k2*FRX1 + c2;

FLX2 = FRX1;

FLY2 = FRY1;

FRY2 = f1*tan(β);

FRX2 = a2+f1;

After specific values of coordinates of nr1= (NRX 1, NRY 1), NL 1= (NRX 1, NRY 1), nr2= (NRX 2, NRY 2), NL 2= (NRX 2, NRY 2), FR 1= (FRX 1, FRY 1), FL 1= (FLX 1, FLY 1), FR 2= (FRX 2, FRY 2), FL 1= (FLX 2, FLY 2) point (NLX 3, NLY 3) coincides with point (NRX 2, NRY 2), point (NRX 3, NRY 3) coincides with point (NLX 3, NLY 3) on the basis of X axis symmetry, point (NLX 4, NLY 4) coincides with point (NRX 3, NRY 3), point (NRX 4, NRY 4) coincides with point (NLX 2, NLY 2) on the basis of X axis symmetry, (NLX 5, NRY 5) coincides with point (NRX 4, NLY 4) on the basis of X5, NLY2 on the basis of X axis symmetry;

the coordinates of other coordinate wall segments can be obtained.

In a 10-radar wall, the data relationship satisfying the minimum safe distance is:

the distance from the radar A to the point NL1 is n1, the distance from the radar C to the line segment NL3NR3 is n1, and the distance from the radar E to the point NR5 is n1;

the maximum safe distance is satisfied:

the distance from the radar A to the point FL1 is f1, the distance from the radar C to the line segment FL3FR3 is f1, and the distance from the radar E to the point FR5 is f1;

Similarly, for a far radar wall, dynamic adjustment may be performed based on the abscissa value of point FR1 (i.e., point FL 2).

In the specific implementation, a QT tool of a ubuntu22.04 platform is used for realizing a calculation process based on the method, a specific pseudo code flow is shown in fig. 5-6, and code contents corresponding to different N values are distinguished in the pseudo code through PDC_model=3, 4 and 5. After radar wall parameters input by a user are automatically calculated to obtain radar wall coordinate points, the construction of the radar wall can be realized, and the dynamic change effect between the nearest radar wall and the farthest radar wall is realized based on a visualization module in a QT tool. The actual effect is shown in fig. 7.

Based on the method, the construction of radar walls with different radar numbers can be realized.

Similar to the radar wall coordinate calculation law of 8 radars (front four and rear four), the radar wall coordinate calculation method of 4 radars (front 2+rear 2) is that the point NL1 of the front four radars is connected to the point NR2, the point NL3 is connected to the point NR4, the point FL1 is connected to the point FR2, the point FL3 is connected to the point FR4, and the radar BC is removed. Point NL7 of the latter four radars is connected to point NR8, point NL5 is connected to point NR6, point FL7 is connected to point FR8, FL5 is connected to point FR6, and radars B ', C' are removed. The algorithm is the algorithm related to the front 2 radar wall, wherein the calculation formula of the point coordinates is changed into simple calculation between the point coordinate distances, namely, the installation position coordinate information of the known radar of n1=ANL1=ANR2=DNL3=DNR4 and the vehicle coordinate system, and self-service calculation can be performed according to the set detection distance. For the 4-radar wall formula, the NR1 point coordinate solving process is eliminated, and the formula is greatly simplified.

The radar wall calculation process for realizing the 14 radars (front 7 and rear 7) comprises the following steps: after determining the value of α from the radar wall Fov inputted by the user, NL1NR1 and NL2NR2 of the 10-radar (front 5 and rear 5) radar wall are dynamically adjusted according to the inclination of the radar wall, that is, according to the abscissa value of the point NR1 (that is, the point NL 2).

Under the balanced condition, the value of m is generally 1/2; the value range of m is [0,1]. Setting the value of m, determining the abscissa of the point in the middle of NL1NR1, modifying the corresponding value according to a method for calculating the radar wall coordinates of the 10 radar, and filling the modified value to calculate the corresponding ordinate.

The radar wall calculation process for realizing the 16 radars (front 8 and rear 8) comprises the following steps: determining the value of alpha, and after determining, using NL1NR1 and NL2NR2 of an 8-radar (front 4 and rear 4) radar wall according to the inclination of the radar wall, namely: dynamically adjusting according to the abscissa value of the point NR1 (namely, the point NL 2);

examples: nrx1=m (NRX 2-NLX 1) +nlx1, m is not fixed, m is 2/3 in the figure, the larger the inclination angle of the radar wall is when m is smaller than 1/2, and the smaller the inclination angle of the radar wall is when m is larger than 1/2 and smaller than 1. Under the balanced condition, the value of m is generally 1/2; the value range of m is [0,1]. And setting the value of m, determining the abscissa of the point in the middle of NL1NR1, modifying the corresponding value according to the algorithm of the 4 radar wall, and filling the modified value to calculate the corresponding ordinate.

After the technical scheme of the invention is used, the visual problems of radar walls of different numbers of radars and different vehicle types are modeled into uniform distributed problems, the radar wall formed by the line-segment-shaped radar wall segments is constructed, and according to the position relation of the radars, vehicles and the radar wall segments, the coordinates of the radar walls under any number of radar walls, any vehicle model, any detection angle and any detection distance can be calculated easily according to the requirements of users, so that the construction of the radar wall is flexibly completed. The method is based on ADAS-DMRW, realizes the radar wall suitable for dynamic visualization of the vehicle-mounted monitoring system, and lays a cushion for realizing functions of parking assistance, lane changing assistance, front collision early warning and the like. The method is suitable for scenes of different vehicle types, radar installation positions, radar detection positions and radar numbers, can accurately display the safety distance and the alarm distance of the radar wall according to the detection distance of the radar, fuses vision and data, and can enable a user to intuitively feel the distance change between the vehicle and the obstacle.

Claims

1. An on-vehicle monitoring intelligent visualization method based on ADAS-DMRW is characterized by comprising the following steps:

the radar ranging requirement includes: the method comprises the steps of presetting a target value f1 of the farthest safety distance and a target value n1 of the nearest safety distance required by vehicle-mounted radar monitoring;

the radar wall color card includes: a nearest radar wall color representing a nearest safe distance, a farthest radar wall color representing a farthest safe distance, and an intermediate color of a dynamic radar wall;

when the distance between the vehicle to be calculated and the obstacle is the farthest safe distance, displaying the farthest radar wall; when the distance between the vehicle to be calculated and the obstacle is the nearest safe distance, displaying the nearest radar wall; when a vehicle to be calculated gradually approaches an obstacle from the farthest safe distance, displaying a dynamic radar wall, wherein the color of the dynamic radar wall gradually changes from the color of the farthest radar wall to the middle color, and finally changes into the color of the nearest radar wall;

the recent radar wall satisfies the following conditions:

the distance between the two end points of the nearest radar wall and the radar closest to the nearest radar wall is the nearest safe distance n1, and the distance between the intersection point of the radar wall and the X axis and the radar closest to the X axis is the nearest safe distance n1;

The furthest radar wall satisfies the following conditions:

s6: based on the furthest radar wall coordinates, the closest radar wall coordinates and the radar wall color chart, realizing dynamic visualization of the radar wall;

a1: all radars were numbered:

a2: defining coordinate points of the radar wall segments:

[ (FRXi, FRYi), (FLXi, FLYi) ], wherein i takes a value of 1, 2..2N;

a3: constructing a data relation according to the radar wall FOV:

the angle between Fo1 and FoN is the radar wall FOV, noted as: angle Fov;

a4: constructing a data relationship according to the nearest safe distance n1 and the farthest safe distance f 1:

then there are: spard1=spardn=n1;

then there are: fard1=fardn=f1;

when n=3, performing a radar wall coordinate calculation step of 6 radars;

When n=4, performing a radar wall coordinate calculation step of 8 radars;

when n=5, performing a radar wall coordinate calculation step of 10 radars;

the nearest radar wall coordinates are:

[ (NRXi, NRYi), (NLXi, NLYi) ], i has a value of 1, 2..6;

the corresponding furthest radar wall coordinates are:

[ (FRXi, fri), (FLXi, FLYi) ], wherein i takes a value of 1, 2..6;

let the radar coordinates entered by the user be: a: (a 1, B1), B: (a 2, b 2);

NLX1 = a1+n1*cosα；

NLY1 = b1+n1*sinα；

NRX1 = a2+n1；

；

NLX2 = NRX1;

NLY2 = NRY1;

NRY2 = -NRY1;

NRX2 = a2+n1;

FLX1 = a1+f1* cosα;

FLY1 = b1+f1*sinα;

FRX1 = a2+f1;

；

2. The vehicle-mounted monitoring intelligent visualization method based on ADAS-DMRW of claim 1, wherein the method comprises the following steps: the radar wall coordinate calculation step of the 8-radar is as follows:

the nearest radar wall coordinates are:

[ (NRXi, NRYi), (NLXi, NLYi) ], i has a value of 1, 2..8;

the corresponding furthest radar wall coordinates are:

[ (FRXi, fri), (FLXi, FLYi) ], wherein i takes a value of 1, 2..8;

let the radar coordinates entered by the user be: a: (a 1, B1), B: (a 2, b 2);

NLX1 = a1+n1*cosα;

NLY1 = b1+n1*sinα;

NRY1 = k1*NRX1 + c1;

NLX2 = NRX1;

NLY2 = NRY1;

NRY2 = 0;

；

;

FRY1 = k2*FRX1 + c2;

FLX1 = a1+f1*cosα;

FLY1 = b1+f1*sinα;

FLX2 = FRX1;

FLY2 = FRY1;

FRY2 = 0;

;

the coordinates of other coordinate wall segments can be obtained.

3. The vehicle-mounted monitoring intelligent visualization method based on ADAS-DMRW of claim 1, wherein the method comprises the following steps: the radar wall coordinate calculation step of the 10 radar comprises the following steps:

the nearest radar wall coordinates are:

[ (NRXi, NRYi), (NLXi, NLYi) ], i has a value of 1, 2..10;

the corresponding furthest radar wall coordinates are:

[ (FRXi, fri), (FLXi, FLYi) ], wherein i takes a value of 1, 2..10;

let the radar coordinates entered by the user be: a: (a 1, B1), B: (a 2, b 2);

NLX1 = a1+n1*cosα;

NLY1 = b1+n1*sinα;

NRX1 = 2*a2/3+a1/3+n1*(2/3+ cosα/3);

NRY1 = k1*NRX1 + c1;

NLX2 = NRX1;

NLY2 = NRY1;

NRY2 = n1*tan(β);

NRX2 = a2+n1;

FLX1 = a1+f1*cosα;

FLY1 = b1+f1*sinα;

FRX1 = 2*a2/3+a1/3+f1*(2/3+ cosα/3);

FRY1 = k2*FRX1 + c2;

FLX2 = FRX1;

FLY2 = FRY1;

FRY2 = f1*tan(β);

FRX2 = a2+f1;

the coordinates of other coordinate wall segments can be obtained.