CN117368865A - Millimeter wave radar self-calibration method - Google Patents
Millimeter wave radar self-calibration method Download PDFInfo
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- CN117368865A CN117368865A CN202311367507.6A CN202311367507A CN117368865A CN 117368865 A CN117368865 A CN 117368865A CN 202311367507 A CN202311367507 A CN 202311367507A CN 117368865 A CN117368865 A CN 117368865A
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000003068 static effect Effects 0.000 claims abstract description 14
- 238000009434 installation Methods 0.000 claims description 24
- 238000001514 detection method Methods 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 238000012216 screening Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 8
- 230000001960 triggered effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention belongs to the technical field of millimeter wave radars, and particularly relates to a millimeter wave radar self-calibration method, which comprises the following steps: connecting a millimeter wave radar with the vehicle body module, wherein the millimeter wave radar acquires target data in a calibration site and vehicle data transmitted by the vehicle body module; fitting static target data into straight lines through millimeter wave calibration software, and calculating included angles between the two straight lines fitted on two sides and the millimeter wave radar respectively by utilizing the angle information of the detected target of the millimeter wave radar; and judging the calibration result of the millimeter wave radar through the included angle. According to the invention, whether the running state of the automobile meets the calibration condition can be calculated through the data processing of the radar, the calibration can be automatically carried out after the calibration function is triggered by the instrument or the diagnostic instrument after the running state meets the calibration condition, the steps are simple, the specific calibration site is not needed, the data of a third party sensor is not needed, the calibration angle is accurate, the calibration error is small, and the method is easy for mass vehicle realization.
Description
Technical Field
The invention belongs to the technical field of millimeter wave radars, and particularly relates to a millimeter wave radar self-calibration method.
Background
The millimeter wave radar has the absolute advantages of penetrating dust fog, rain and snow and being free from bad weather, and the unique super-strong capability of working all day by day is one of the essential core sensors of the automobile ADAS. Because of manufacturing and processing differences and installation errors of the millimeter wave radar, the millimeter wave radar is required to be calibrated and compensated for corresponding installation error angles after being installed on a motorcycle or an electric bicycle, so that a more accurate target detection effect is achieved.
In the prior art, there are two methods for calibrating the millimeter wave radar, one method is to calibrate the millimeter wave radar by combining other sensors, for example, calibrating the millimeter wave radar by using a camera, and the method is easily affected by manual installation operation to influence the installation precision of the millimeter wave radar on a vehicle, so that errors exist in calibrating the millimeter wave radar; the other method is to calibrate the millimeter wave radar by utilizing a plurality of corner reflectors or metal flat targets, and the method needs to manually measure the distances from the corner reflectors to the vehicle, and if the manual measurement is inaccurate, the accuracy of calibrating the millimeter wave radar can be reduced.
In the two calibration methods, precise instruments and equipment are needed to determine the position, the posture and the target position of the vehicle, the requirement on the ground flatness is high, and the construction of a calibration site and the cost of the instruments are high.
Disclosure of Invention
The invention aims to provide a millimeter wave radar self-calibration method, which can calculate whether the running state of an automobile meets the calibration condition or not through the self-data processing of the radar and the low-cost automatic calibration scheme so as to solve the problems in the background technology.
In order to achieve the above purpose, the invention adopts the following technical scheme: a millimeter wave radar self-calibration method comprises the following steps:
the millimeter wave radar is arranged on a vehicle to be calibrated, the millimeter wave radar is connected with a vehicle body module on the vehicle body to obtain the vehicle to be calibrated, the vehicle to be calibrated is driven into a self-calibration site, and a calibration protocol is started;
the millimeter wave radar acquires target data in a calibration site and vehicle data transmitted by a vehicle body module;
the millimeter wave calibration software is used for preferentially filtering the target data and the data of dynamic target objects, insufficient vehicle speed and overlarge swing angle yawrate in the vehicle data, and screening useful static target data;
fitting the static target data into straight lines through the millimeter wave calibration software, and calculating the included angles between the two straight lines fitted on two sides and the millimeter wave radar respectively by utilizing the angle information of the millimeter wave radar detection target;
and judging the calibration result of the millimeter wave radar through the included angle.
And displaying the calibration result, wherein if the calibration is successful, the button is green and the calibration is successful along with the voice prompt radar, and if the calibration is failed, the button is red and the calibration is repeated along with the voice prompt radar.
After the calibration is finished, the millimeter wave radar automatically detects the included angle between the millimeter wave radar and static target objects on two sides of the road in the calibration process; if the condition is not met in the calibration process, restarting after waiting for meeting the condition, but the longest calibration time is 2 minutes, and if the calibration condition is not met within 2 minutes, returning a calibration error result, success or failure and reasons of calibration failure; if the calibration is successful, a normal calibration result is returned and calibration data is stored.
Preferably, the millimeter wave radar is attached to the tail of the vehicle through bolts, and the horizontal and pitching angle errors of the millimeter wave radar are less than or equal to +/-5 degrees.
Preferably, the vehicle body module comprises an ABS, an instrument, a gyroscope, a T-BOX, a BCM, a gyroscope and an ECU module, wherein the ABS, the instrument, the gyroscope, the T-BOX, the BCM, the gyroscope and the ECU module are all connected with the millimeter wave radar through a CAN bus.
Preferably, the self-calibrating place is an open straight road section, the two sides of the road section are provided with stationary target objects, and the length of the road section exceeds 5KM.
Preferably, the target data includes a longitudinal and transverse relative distance of the millimeter wave radar itself to the target object; longitudinal and lateral relative speeds of the target object; the relative angle of the target object; longitudinal and lateral relative accelerations of the target object; motion properties of the target object; heading angle of the target object; a target object RCS; data of a reference length and a reference width of the target object.
Preferably, the vehicle data includes real-time vehicle speed signals provided by the ABS to the vehicle itself; BCM provides a turn signal; the instrument realizes radar switch and self-calibration state interactive interface display; the gyroscope provides data of an angular speed of a X, Y, Z shaft of the vehicle and a vehicle body posture inclination angle signal in real time.
Preferably, the vehicle to be calibrated enters the self-calibration site, comprising: the speed is more than 30 KM/h, the vehicle runs along a straight line for 5KM, and the X-axis yaw angle yawrate of the vehicle is ensured to be less than 0.5deg/s during running.
Preferably, the calibration result includes:
if the two included angles judged by the calibration software are unequal, the calibration software compensates the radar installation error angle if the radar installation angle has an error;
if the vehicle speed and the X-axis yaw angle yawrate of the vehicle meet the calibration conditions in the running state, the radar calibration software automatically checks that the screened data quantity does not meet the quantity threshold value, the radar is required to continuously acquire the related data of the detection target, then continuously screen and calculate effective data until the data quantity meets the quantity threshold value, and if the calibration process time is overtime, the calibration is ended;
if the number of the effective data screened by the automatic checking meets the number threshold, judging the range of the calculated installation angle, and if the installation angle is within a preset range + -5 DEG, returning to calibration success;
returning to failure calibration when the installation angle is not in the preset range;
and ending the calibration if the time of the calibration process is overtime.
The invention has the technical effects and advantages that: compared with the prior art, the millimeter wave radar self-calibration method provided by the invention has the following advantages:
according to the invention, whether the running state of the automobile meets the calibration condition can be calculated through the data processing of the radar, the calibration can be automatically carried out after the calibration function is triggered by the instrument or the diagnostic instrument after the running state meets the calibration condition, the steps are simple, the specific calibration site is not needed, the data of a third party sensor is not needed, the calibration angle is accurate, the calibration error is small, and the method is easy for mass vehicle realization.
Drawings
FIG. 1 is a block diagram of a millimeter wave radar of the present invention connected to a vehicle body module;
fig. 2 is a schematic structural view of the millimeter wave radar of the present invention;
FIG. 3 is a schematic view of the interface between the millimeter wave radar and the vehicle body of the present invention;
fig. 4 is a schematic view of the structure of the millimeter wave radar of the present invention mounted on a vehicle;
FIG. 5 is a schematic view of the self-calibrating site of the present invention;
FIG. 6 is a functional representation of the vehicle meter of the present invention;
FIG. 7 is a schematic diagram of the millimeter wave calibration software of the present invention fitting static target data into a straight line;
fig. 8 is a flowchart of a millimeter wave radar self-calibration method according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The millimeter wave radar self-calibration method provided by the invention can be suitable for calibrating the millimeter wave radar on the motorcycle or the electric bicycle, and the motorcycle or the electric bicycle is called as a vehicle or a vehicle for convenience in description; millimeter wave radar is collectively referred to as radar. The radar self-calibration is used for providing a user with calibration of the radar installation angle, and the radar installation angle calibration is completed through statistics of static targets in the driving process. Specifically, the following is described.
As shown in fig. 8, fig. 8 is a flowchart of a millimeter wave radar self-calibration method according to the present invention.
In this embodiment, the radar self-calibration method includes the following steps:
step one: and installing the millimeter wave radar on the vehicle to be calibrated, connecting the millimeter wave radar with a vehicle body module on the vehicle body to obtain the vehicle to be calibrated, and driving the vehicle to be calibrated into a self-calibration site.
Specifically, as shown in fig. 1, ABS, meters, gyroscopes, T-BOX, BCM, gyroscopes and other ECU modules on a two-wheeled motorcycle or electric bicycle are all connected to the radar via a CAN bus.
The mounting requirements for the radar are as follows: the radar is arranged at the tail of a two-wheeled motorcycle or an electric bicycle, the radar connector is arranged at the tail to be viewed to the right side, the radar antenna faces to the outside of the motorcycle, the surface with screw holes is locked with the bracket and the motorcycle body, the radar installation tolerance is ensured after the whole motorcycle completes the radar assembly process, and the radar level and pitching angle errors are required to be less than or equal to +/-5 degrees, and the radar center is 40-100 mm away from the ground, as shown in figures 2-4.
The requirements for the self-calibrating site are as follows: the method is characterized in that an open and straight road section is selected as much as possible, stationary metal guardrails, trees, street lamps or other target objects with strong reflection signals are arranged on two sides of the road, the length of the road section is as much as 5KM, and the vehicle with the insufficient length of the actual road section can travel back and forth to accumulate effective data to complete the self-calibration process, as shown in fig. 5.
Step two: and acquiring target data in a calibration site and vehicle data transmitted by a vehicle body module by the millimeter wave radar.
The step is mainly to acquire related data, and specifically comprises the following steps: the radar can detect the longitudinal and transverse relative distance of the target object; longitudinal and lateral relative speeds of the target object; the relative angle of the target object; longitudinal and lateral relative accelerations of the target object; motion properties of the target object; heading angle of the target object; a target object RCS; data of a reference length and a reference width of the target object.
The radar can judge the running gesture of the vehicle in real time by receiving the data of a plurality of vehicle body modules in real time, wherein the ABS provides real-time vehicle speed signals of the vehicle; BCM provides a turn signal; the instrument realizes radar switch and self-calibration state interactive interface display; the gyroscope provides the data of the angular speed of the X, Y, Z shaft and the signals of the body posture inclination angle in real time, the signals transmitted by the buses can be obtained by the radar, and meanwhile, the radar can directly drive the buzzer to carry out voice prompt, and also can directly drive the LED alarm lamp to be lightened.
Step three: and filtering the target data and the data of dynamic target objects, insufficient vehicle speed and overlarge swing angle yawrate in the vehicle data by millimeter wave calibration software preferentially, and screening useful static target data.
Specifically, firstly, a driver triggers a radar calibration switch through an instrument (as shown in fig. 6), then the driving wheel motorcycle or the electric bicycle runs straight on a road, and the self speed is required to be ensured to be more than 30 km/h and to run along the straight line for about 5km (round trip), and the self X-axis yaw angle yawrate of the vehicle is ensured to be less than 0.5deg/s during running (the head of the vehicle cannot deviate leftwards or rightwards as much as possible to keep consistent with the running direction). The radar can acquire all target object information in the detection range in real time under the running state of the vehicle, and then the dynamic target object is filtered preferentially through target speed information radar calibration software detected by the radar.
The main reason for this is that: the target information is discarded if the target speed detected by the radar is >0, and is retained if the target speed detected by the radar=0, and the target information is discarded without any processing as the target speed detected by the radar is < 0.
And secondly, the radar calibration software filters the data of insufficient vehicle speed. The main reason for this is that: if the speed of the radar which is transmitted by the ABS is less than or equal to 30 km/h, discarding the data which is not processed in the time period and not processing any processing, and if the speed of the radar which is transmitted by the ABS is more than 30 km/h, retaining the effective data in the time period
Finally, the radar calibration software filters data with excessive yaw angle yawrate. The main reason for this is that: if the radar receives the yawrate data of the X axis of the vehicle, which is provided by the gyroscope in real time, which is more than 0.5deg/s, the radar discards the data in the period of time, and if the radar receives the yawrate data which is less than 0.5deg/s, the radar reserves the effective data in the period of time.
Step four: and fitting the static target data into straight lines through the millimeter wave calibration software, and calculating the included angles between the two straight lines fitted on two sides and the millimeter wave radar respectively by utilizing the angle information of the millimeter wave radar detection target.
Specifically, the useful static target data can be screened and calculated in the above manner, then the radar software can fit the static target point information on two sides of the road into straight lines (as shown in fig. 7), and then the radar can detect the target angle information to calculate the included angles between the two straight lines fitted on two sides and the radar respectively.
Step five: and judging the calibration result of the millimeter wave radar through the included angle.
Specifically, as described above, in theory, the two angles are equal, if the two angles determined by the calibration software are not equal, it is indicated that an error exists in the radar installation angle, and the calibration software compensates the radar installation error angle. When the vehicle speed and the X-axis yaw angle yawrate of the vehicle meet the calibration conditions in the running state, the radar calibration software automatically checks that the screened data quantity does not meet the quantity threshold value, the radar is required to continuously acquire the related data of the detection target, then continuously screen and calculate effective data until the data quantity meets the quantity threshold value, and if the calibration process time is overtime, the calibration is ended; if the number of the effective data screened by the automatic checking meets the number threshold, judging the range of the calculated installation angle, and if the installation angle is within a preset range + -5 DEG, returning to calibration success; returning to failure calibration when the installation angle is not in the preset range; and ending the calibration if the time of the calibration process is overtime.
Illustratively, the calibration protocol includes a start calibration protocol, an end calibration protocol.
Specifically, a calibration protocol is started as follows:
starting a calibration protocol
CANID 0x7F2
Protocol content 0100AA 55A55A 4C 58
Protocol description
Byte0, enable bit, 01 valid, 00 is used to query the calibration value
Byte1: reservation
Byte2-Byte7: the special specified data is AA 55A 4C 58
A driver of the two-wheeled motorcycle or the electric bicycle can trigger to start a radar calibration switch through a vehicle instrument, if the calibration is successful, the button is green and the radar calibration is successful along with the voice prompt, and if the calibration is failed, the button is red and the radar calibration is required to be recalibrated along with the voice prompt. The driver can click the instrument picture calibration inquiry button to check the information such as the compensation angle, the calibration time and the like of successful calibration, and can also check the related reasons (such as insufficient vehicle speed, overlarge yaw angle, overtime and the like) of the calibration failure.
Specifically, the calibration protocol is ended as follows:
ending the calibration protocol
CANID 0x7F3
Protocol content 0001020304050607
Protocol description
Byte 0-state of calibration routine
Byte1: calibration results
Byte2: calibration value
Byte3 current installation angle
Byte4-Byte6: reservation
Byte7: count of data reporting, each time +1 is reported, but if the value is recovered to 1 in the process of calibration, the calibration is ended
After the procedure, the value is changed to be ++ at most 50, and then the reporting of the state data is stopped.
Description:
state description of Byte0:
CALC_DO_NOTH ING 0
in the initial state, no calibration process is performed
CALC_RUN_START 7F
In the calibration process
CALC_RUN_END 9
The specific result of the calibration operation is referred to as Byte1 below
The results of Byte1 illustrate:
CALC_FAILED_RANGE_OUT2// calibration RANGE exceeds a limit
CALC_FAILED_SPEED_OUT3// relative SPEED exceeds a limit
CALC_FAILED_AMP_OUT4// energy exceeding a limit
CALC_FAILED_ANGLE_MAX_OUT5// ANGLE exceeds the limit, is too large
CALC_FAILED_ANGLE_MIN_OUT6// ANGLE is too small
CALC_FAILED_MUL_ERR7// number of errors, direct number of target number not received
CALC_FAILED_TIMEIOUT 8// calibration timeout
CALC_SUCCESS_END0x09// successful calibration
The calibration result value of Byte2 is expressed as: precision 0.1 offset 10, e.g. 0x64 received, is calculated by 100 x 0.1-10=0
The current installation angle value of Byte3 is expressed as: the accuracy is 0.1 offset 10, for example, 0x64 is received, and the calculation mode is 100 x 0.1-10=0.
The embodiment further comprises the final steps of: after the calibration is finished, the millimeter wave radar automatically detects the included angle between the millimeter wave radar and static target objects on two sides of the road, if the condition is not met in the calibration process, the millimeter wave radar is restarted after waiting to meet the condition, but the longest calibration time is 2 minutes, and if the calibration condition is not met within 2 minutes, a calibration error result, success or failure and a reason of the calibration failure are returned. If the calibration is successful, a normal calibration result is returned and calibration data is stored.
In the embodiment, whether the running state of the automobile meets the calibration condition can be calculated through the data processing of the radar, the calibration can be automatically performed after the calibration function is triggered by the instrument or the diagnostic instrument after the running state meets the calibration condition, and the calibration result is informed to a driver through an instrument display picture.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (10)
1. The millimeter wave radar self-calibration method is characterized by comprising the following steps of:
the millimeter wave radar is arranged on a vehicle to be calibrated, the millimeter wave radar is connected with a vehicle body module on the vehicle body to obtain the vehicle to be calibrated, the vehicle to be calibrated is driven into a self-calibration site, and a calibration protocol is started;
the millimeter wave radar acquires target data in a calibration site and vehicle data transmitted by a vehicle body module;
the millimeter wave calibration software is used for preferentially filtering the target data and the data of dynamic target objects, insufficient vehicle speed and overlarge swing angle yawrate in the vehicle data, and screening useful static target data;
fitting the static target data into straight lines through the millimeter wave calibration software, and calculating the included angles between the two straight lines fitted on two sides and the millimeter wave radar respectively by utilizing the angle information of the millimeter wave radar detection target;
and judging the calibration result of the millimeter wave radar through the included angle.
2. The millimeter wave radar self-calibration method according to claim 1, wherein the millimeter wave radar is attached to the tail of a vehicle through bolts, and the horizontal and pitching angle errors of the millimeter wave radar are less than or equal to +/-5 degrees.
3. The millimeter wave radar self-calibration method according to claim 2, wherein the vehicle body module comprises an ABS, a meter, a gyroscope, a T-BOX, a BCM, a gyroscope and an ECU module, and the ABS, the meter, the gyroscope, the T-BOX, the BCM, the gyroscope and the ECU module are all connected with the millimeter wave radar through a CAN bus.
4. The millimeter wave radar self-calibration method according to claim 3, wherein the self-calibration site is an open straight road section, and two sides of the road section are provided with stationary target objects, and the road section length is more than 5KM.
5. The millimeter wave radar self-calibration method according to claim 4, wherein the target data includes a longitudinal and transverse relative distance of the millimeter wave radar itself to the target object; longitudinal and lateral relative speeds of the target object; the relative angle of the target object; longitudinal and lateral relative accelerations of the target object; motion properties of the target object; heading angle of the target object; a target object RCS; data of a reference length and a reference width of the target object.
6. The millimeter wave radar self-calibration method according to claim 5, wherein said vehicle data comprises said ABS providing a real-time vehicle speed signal of the vehicle itself; BCM provides a turn signal; the instrument realizes radar switch and self-calibration state interactive interface display; the gyroscope provides data of an angular speed of a X, Y, Z shaft of the vehicle and a vehicle body posture inclination angle signal in real time.
7. The millimeter wave radar self-calibration method according to claim 6, wherein the vehicle to be calibrated is driven into the self-calibration site, comprising: the speed is more than 30 KM/h, the vehicle runs along a straight line for 5KM, and the X-axis yaw angle yawrate of the vehicle is ensured to be less than 0.5deg/s during running.
8. The millimeter wave radar self-calibration method according to claim 7, wherein the calibration result comprises:
if the two included angles judged by the calibration software are unequal, the calibration software compensates the radar installation error angle if the radar installation angle has an error;
if the vehicle speed and the X-axis yaw angle yawrate of the vehicle meet the calibration conditions in the running state, the radar calibration software automatically checks that the screened data quantity does not meet the quantity threshold value, the radar is required to continuously acquire the related data of the detection target, then continuously screen and calculate effective data until the data quantity meets the quantity threshold value, and if the calibration process time is overtime, the calibration is ended;
if the number of the effective data screened by the automatic checking meets the number threshold, judging the range of the calculated installation angle, and if the installation angle is within a preset range + -5 DEG, returning to calibration success;
returning to failure calibration when the installation angle is not in the preset range;
and ending the calibration if the time of the calibration process is overtime.
9. The millimeter wave radar self-calibration method of claim 8, further comprising: and displaying the calibration result, wherein if the calibration is successful, the button is green and the calibration is successful along with the voice prompt radar, and if the calibration is failed, the button is red and the calibration is repeated along with the voice prompt radar.
10. The millimeter wave radar self-calibration method of claim 9, further comprising: after the calibration is finished, the millimeter wave radar automatically detects the included angle between the millimeter wave radar and static target objects on two sides of the road in the calibration process; if the condition is not met in the calibration process, restarting after waiting for meeting the condition, but the longest calibration time is 2 minutes, and if the calibration condition is not met within 2 minutes, returning a calibration error result, success or failure and reasons of calibration failure; if the calibration is successful, a normal calibration result is returned and calibration data is stored.
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| CN202311367507.6A CN117368865A (en) | 2023-10-21 | 2023-10-21 | Millimeter wave radar self-calibration method |
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| CN202311367507.6A CN117368865A (en) | 2023-10-21 | 2023-10-21 | Millimeter wave radar self-calibration method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118011345A (en) * | 2024-04-08 | 2024-05-10 | 深圳信息职业技术学院 | On-line calibration method for vehicle millimeter wave radar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118011345A (en) * | 2024-04-08 | 2024-05-10 | 深圳信息职业技术学院 | On-line calibration method for vehicle millimeter wave radar |
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