CN117991205A

CN117991205A - Method and device for determining radar pitch angle, computer equipment and storage medium

Info

Publication number: CN117991205A
Application number: CN202311839386.0A
Authority: CN
Inventors: 汪小杰; 李想; 洪帅鑫
Original assignee: Foss Hangzhou Intelligent Technology Co Ltd
Current assignee: Foss Hangzhou Intelligent Technology Co Ltd
Priority date: 2023-12-28
Filing date: 2023-12-28
Publication date: 2024-05-07

Abstract

The application relates to a method and a device for determining radar pitch angle, computer equipment and a storage medium. The method comprises the following steps: acquiring a stationary trace in a radar field angle, and determining a target point trace from the stationary trace; determining a first predicted pitch angle of the radar according to the radar theoretical azimuth angle, the radar theoretical pitch angle, the vehicle speed of the local vehicle, the Doppler speed of the target point trace, the point trace azimuth angle and the point trace pitch angle; determining a pitch angle peak interval from the field angle interval according to the number of the points of the target point trace in the field angle interval determined by the radar field angle; determining a candidate subinterval according to the pitch angle peak value interval, determining a target subinterval from the candidate subinterval according to the number of the target points in the candidate subinterval, and determining a second predicted pitch angle of the radar according to the target subinterval; and determining the actual pitch angle of the radar according to the first predicted pitch angle and the second predicted pitch angle. The accuracy of radar pitching installation angle information is improved.

Description

Method and device for determining radar pitch angle, computer equipment and storage medium

Technical Field

The present application relates to the field of radar technologies, and in particular, to a method and apparatus for determining a radar pitch angle, a computer device, and a storage medium.

Background

In recent years, along with the development of automobile intellectualization, radar sensors are increasingly widely applied to automobiles, and meanwhile, a functional end also puts higher demands on the performance of vehicle-mounted radars. The vehicle-mounted radar is required to detect the target in the horizontal direction and also is required to detect the height information of the target, so that whether the target can pass or not is further judged. The pitch installation angle deviation of the radar can seriously affect the detection result of the target height information, and according to calculation, the pitch installation angle deviation of the vehicle-mounted radar is 1 degree, and the obstacle height detection result deviation at 150 meters is 2.6 meters, so that the pitch installation angle of the vehicle-mounted radar needs to be accurate. In the driving process of the vehicle, the radar is also likely to change in installation angle due to jolt, scratch and the like, so that the detection of the pitching angle of the radar is critical to the running safety of the vehicle.

At present, the pitch angle of radar installation is calculated by least square fitting based on a trigonometric function relation formed between the trace information of the obstacle and the vehicle speed information of the vehicle, but the pitch angle of radar installation is calculated by adopting the scheme, so that the requirement on the trace quality of the obstacle is high, and when the trace quality of the obstacle is poor, the accurate radar pitch angle is difficult to obtain. Therefore, how to timely acquire an accurate radar pitch angle so as to timely adjust the radar when the radar pitch angle is abnormal is a problem to be solved.

Disclosure of Invention

Based on the foregoing, it is necessary to provide a method, an apparatus, a computer device and a storage medium for determining a radar pitch angle, which can timely acquire an accurate radar pitch angle to timely adjust a radar when the radar pitch angle is abnormal.

In a first aspect, the present application provides a method for determining a radar pitch angle, the method comprising:

Acquiring a stationary trace in a radar field angle, and determining a target point trace from the stationary trace;

Determining a first predicted pitch angle of the radar according to the radar theoretical azimuth angle, the radar theoretical pitch angle, the vehicle speed of the local vehicle, the Doppler speed of the target point trace, the point trace azimuth angle and the point trace pitch angle;

Determining a field angle section according to the radar field angle, and determining a pitch angle peak section from the field angle section according to the number of the points of the target point trace in the field angle section;

Determining a candidate subinterval according to the pitch angle peak value interval, determining a target subinterval from the candidate subinterval according to the number of the points of the target points in the candidate subinterval, and determining a second predicted pitch angle of the radar according to the target subinterval;

And determining the actual pitch angle of the radar according to the first predicted pitch angle and the second predicted pitch angle.

In one embodiment, acquiring a stationary trace in a radar field angle, determining a target trace from the stationary trace, includes:

Determining whether the pitch angle calibration of the radar is effective;

if yes, determining a basic pitch angle according to pitch angle calibration information of the radar;

And determining a target pitch angle according to the basic pitch angle and the fixed angle threshold value, and determining a stationary trace in the target pitch angle as a target trace.

In one embodiment, after determining whether the radar pitch calibration is effective, the method further includes:

If not, determining the trace point distribution information of the stationary trace point in the radar field angle;

Determining the interval angle of the maximum number of the points according to the point distribution information, and carrying out least square fitting on the stationary points in the radar field angle to determine a fitting angle;

And if the angle difference between the fitting angle and the interval angle of the maximum number of the tracks is smaller than the angle difference threshold value, determining the angle difference as a basic pitch angle.

In one embodiment, determining the radar actual pitch angle from the first predicted pitch angle and the second predicted pitch angle comprises:

Determining whether the second predicted pitch angle is valid;

if yes, determining a pitch angle difference value of the first predicted pitch angle and the second predicted pitch angle, and determining whether the pitch angle difference value is smaller than a difference value threshold value;

And if so, carrying out weighted summation on the first predicted pitch angle and the second predicted pitch angle, and taking the weighted summation result as an actual pitch angle of the radar.

In one embodiment, determining whether the second predicted pitch angle is valid comprises:

determining a pitch angle variance mean between the second predicted pitch angle and the track pitch angle of the target track;

And if the pitch angle variance mean value is smaller than a variance threshold value, determining that the second predicted pitch angle is effective.

In one embodiment, determining a field angle section according to the radar field angle, determining a pitch angle peak section from the field angle section according to the number of points of the target point trace in the field angle section, includes:

Determining a field angle section according to the radar field angle, and determining the number of the points in the field angle section according to the field angle section and the point pitch angle of the target point;

And determining a target section and a section adjacent to the target section from the view angle section according to the number of the tracks in the view angle section, and taking the target section and the section adjacent to the target section as a pitch angle peak section.

In one embodiment, determining a candidate subinterval according to the pitch angle peak interval, determining a target subinterval from the candidate subintervals according to the number of the target points in the candidate subinterval, and determining a second predicted pitch angle of the radar according to the target subinterval includes:

determining a candidate subinterval according to the pitch angle peak value interval, and determining the number of the points of the target points in the candidate subinterval according to the point track pitch angle of the target points in the pitch angle peak value interval;

And determining a target subinterval from the candidate subinterval according to the track number of target tracks in the candidate subinterval, and determining a second predicted pitch angle of the radar according to the pitch angle peak interval and the target subinterval.

In a second aspect, the present application provides a device for determining a radar pitch angle, the device comprising:

The target point trace determining module is used for obtaining a stationary point trace in the radar field angle and determining a target point trace from the stationary point trace;

The first prediction angle determining module is used for determining a first prediction pitch angle of the radar according to a radar theoretical azimuth angle, a radar theoretical pitch angle, a vehicle speed of a local vehicle, a Doppler speed of the target point trace, a point trace azimuth angle and a point trace pitch angle;

The peak value interval determining module is used for determining a field angle interval according to the radar field angle and determining a pitch angle peak value interval from the field angle interval according to the number of the points of the target point trace in the field angle interval;

The second prediction angle determining module is used for determining a candidate subinterval according to the pitch angle peak value interval, determining a target subinterval from the candidate subinterval according to the number of the target points in the candidate subinterval, and determining a second prediction pitch angle of the radar according to the target subinterval;

the actual pitch angle determining module is used for determining the radar actual pitch angle according to the first predicted pitch angle and the second predicted pitch angle.

In a third aspect, the present application also provides a computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

In a fourth aspect, the present application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

The method, the device, the computer equipment and the storage medium for determining the radar pitch angle acquire a stationary trace in the radar field angle, and determine a target trace from the stationary trace; determining a first predicted pitch angle of the radar according to the radar theoretical azimuth angle, the radar theoretical pitch angle, the vehicle speed of the local vehicle, the Doppler speed of the target point trace, the point trace azimuth angle and the point trace pitch angle; determining a field angle section according to the radar field angle, and determining a pitch angle peak section from the field angle section according to the number of the points of the target point trace in the field angle section; determining a candidate subinterval according to the pitch angle peak value interval, determining a target subinterval from the candidate subinterval according to the number of the target points in the candidate subinterval, and determining a second predicted pitch angle of the radar according to the target subinterval; and determining the actual pitch angle of the radar according to the first predicted pitch angle and the second predicted pitch angle. According to the scheme, the problem that when the pitching angle of the vehicle radar is detected in the vehicle running process, the requirement on the spot quality of the obstacle is high, and when the spot quality of the obstacle is poor, the accurate radar pitching angle is difficult to obtain is solved. According to the scheme, the actual radar pitch angle in the vehicle driving process is calculated based on the stationary trace in the radar field angle, dependence on trace quality in the radar pitch angle calculation process can be reduced, the actual radar pitch angle is fitted based on the trace azimuth angle and the trace pitch angle of the target trace through a least square method, the first prediction pitch angle of the radar is determined, the second prediction pitch angle of the radar is determined through a histogram statistics method, the actual radar pitch angle is determined according to the first prediction pitch angle and the second prediction pitch angle, accuracy of the actual radar pitch angle is improved, and therefore changes of radar pitch installation angles can be monitored in real time and corrected in the vehicle driving process, and accuracy of radar pitch installation angle information is guaranteed.

Drawings

FIG. 1 is an application environment diagram of a method for determining radar pitch angle in one embodiment;

FIG. 2 is a flow chart of a method of determining radar pitch angle in one embodiment;

FIG. 3 is an exemplary diagram of pitch angle of an on-board radar installation in one embodiment;

FIG. 4 is a flow chart of a method for determining radar pitch angle in another embodiment;

FIG. 5 is a flow chart of a method for determining radar pitch angle in another embodiment;

FIG. 6 is a flow chart of a method of determining radar pitch angle in another embodiment;

FIG. 7 is a block diagram of a radar pitch angle determining apparatus in one embodiment;

Fig. 8 is an internal structural diagram of a computer device in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

The method for determining the radar pitch angle provided by the embodiment of the application can be applied to an application environment shown in fig. 1. Fig. 1 shows a side view of a vehicle 10, the vehicle 10 being disposed on a travel surface 70 (e.g., a paved road surface) and being capable of traversing travel on the travel surface 70. The vehicle 10 may include a vehicle on-board navigation system 24, a computer readable storage or medium (memory) 23 storing a digitized road map 25, a space monitoring system 100, a vehicle controller 50, a Global Positioning System (GPS) sensor 52, a human/machine interface (HMI) device 60. In another embodiment the vehicle 10 further includes an autonomous controller 65 and a telematics controller 75. In particular, the vehicle 10 includes, but is not limited to, a commercial vehicle, an industrial vehicle, an agricultural vehicle, a passenger vehicle, an aircraft, a watercraft, a train, an all terrain vehicle, a personal mobile device, a robot, and similar forms of mobile platforms for accomplishing the objects of the application.

In one embodiment, the spatial monitoring system 100 includes: one or more space sensors and systems configured to monitor a viewable area 32 in front of the vehicle 10; and a space monitoring controller 110. The spatial sensors configured to monitor the viewable area 32 in front of the vehicle 10 include, for example, a lidar sensor 34, a radar sensor 36, a digital camera 38, and the like. Each spatial sensor arrangement includes a sensor onboard the vehicle 10 to monitor all or a portion of the viewable area 32 for detecting proximity to remote objects, such as road features, lane markings, buildings, pedestrians, road signs, traffic control lights and signs, other vehicles, and geographic features proximal to the vehicle 10. The spatial monitoring controller 110 generates a representation number of the viewable area 32 based on data input from the spatial sensor. The space monitoring controller 110 may evaluate the inputs from the space sensors to determine the linear range, relative speed, and trajectory of the vehicle 10 based on each near-remote object. The space sensors may be disposed at various locations on the vehicle 10, including front corners, rear sides, and mid sides. In one embodiment, the spatial sensor may include, but is not limited to, a front radar sensor and a camera. The spatial sensors are arranged in a manner that enables the spatial monitoring controller 110 to monitor traffic flow, including approaching vehicles, intersections, lane markings, and other objects surrounding the vehicle 10. A lane marker detection processor (not shown) may estimate a road based on data generated by the spatial monitoring controller 110. The spatial sensors of the vehicle spatial monitoring system 100 may include object location sensing devices including range sensors, such as FMCW (frequency modulated continuous wave) radar, pulsed and FSK (frequency shift keying) radar, and Lidar (light detection and ranging) devices, as well as ultrasonic devices, that rely on effects such as doppler effect measurements to locate a forward object. The object positioning device may include a Charge Coupled Device (CCD) or a Complementary Metal Oxide Semiconductor (CMOS) video image sensor as well as other camera/video image processors that utilize digital photography methods to 'view' the object in front (including one or more vehicles).

The lidar sensor 34 measures the range or distance to the object based on the pulsed and reflected laser beams. The radar sensor 36 determines the range, angle and/or speed of the object based on the radio waves. The camera 38 includes an image sensor, a lens, and a camera controller. An image sensor is an electro-optical device that converts an optical image into an electronic signal using a multi-dimensional array of photosensitive sensing elements. The camera controller is operatively connected to the image sensor to monitor the viewable area 32. The camera controller is arranged to control the image sensor for capturing an image of a field of view (FOV) associated with a field of view 32 projected onto the image sensor via the lens. The optical lens may include a pinhole lens, a fisheye lens, a stereoscopic lens, a telescopic lens, and the like. The camera 38 periodically captures image files associated with the viewable area 32 via the image sensor at a desired rate (e.g., 30 image files per second). Each image file includes 2D or 3D pixelated representations of all or a portion of the viewable area 32 captured at the original resolution of the camera 38. In one embodiment, the image file is in the form of a 24-bit image including spectral values and depth values of RGB (red, green, blue) visible light representing the viewable area 32. Other embodiments of the image file may include 2D or 3D images at a resolution level depicting the spectrum of black and white or gray-scale visible light of the viewable area 32, the infrared spectrum of the viewable area 32, or other images, as the application is not particularly limited in this regard. In one embodiment, images of multiple image files may be evaluated for parameters related to brightness and/or luminance. Alternatively, the image may be evaluated based on RGB color components, brightness, texture, contours, or combinations thereof. The image sensor communicates with an encoder that performs Digital Signal Processing (DSP) for each image file. The image sensor of camera 38 may be configured to capture images at a nominal standard definition resolution (e.g., 640x480 pixels). Alternatively, the image sensor of camera 38 may be configured to capture images at a nominal high definition resolution (e.g., 1440x1024 pixels) or at another suitable resolution. The image sensor of camera 38 may capture still images or alternatively digital video images at a predetermined image capture rate. In one embodiment, the image file is sent to the camera controller as an encoded data file that is stored in a non-transitory digital data storage medium for on-board or off-board analysis.

The camera 38 is disposed and positioned on the vehicle 10 in a position capable of capturing an image of the viewable area 32, wherein the viewable area 32 includes at least in part a portion of the travel surface 70 forward of the vehicle 10 and including a trajectory of the vehicle 10. The viewable area 32 may also include the surrounding environment, including, for example, vehicle traffic, roadside objects, pedestrians and other features, sky, horizon, travel lanes, and vehicles coming in front of the vehicle 10. Other cameras (not shown) may also be included, including, for example, a second camera disposed on a rear or side portion of the vehicle 10 for monitoring the rear of the vehicle 10 and either the right or left side of the vehicle 10.

The autonomous controller 65 is used to implement autonomous driving or Advanced Driver Assistance System (ADAS) vehicle functionality. Such functionality may include a vehicle onboard control system capable of providing a level of driving automation. The terms 'driver' and 'operator' describe the person responsible for directing the operation of the vehicle 10, who may be involved in controlling one or more vehicle functions, or directing an autonomous vehicle. Driving automation may include dynamic driving and vehicle operation. Driving automation may include some level of automatic control or intervention involving individual vehicle functions (e.g., steering, acceleration, and/or braking), wherein the driver may continuously control the vehicle 10 as a whole. Driving automation may include some level of automatic control or intervention involving simultaneous control of multiple vehicle functions (e.g., steering, acceleration, and/or braking), wherein the driver may continuously control the vehicle 10 as a whole. Driving automation may include simultaneous automatic control of vehicle driving functions (including steering, acceleration, and braking), wherein the driver may relinquish control of the vehicle for a period of time during the course. The driving automation may include simultaneous automatic control of vehicle driving functions (including steering, acceleration, and braking), wherein the driver may override control of the vehicle 10 throughout the journey. The driving automation comprises hardware and a controller arranged to monitor the spatial environment in various driving modes for performing various driving tasks during dynamic vehicle operation. Driving automation includes, but is not limited to, cruise control, adaptive cruise control, lane change warning, intervention and control, automatic stopping, acceleration, braking, and the like. Autonomous vehicle functions include, but are not limited to, adaptive Cruise Control (ACC) operations, lane guidance and lane keeping operations, lane changing operations, steering assist operations, object avoidance operations, parking assist operations, vehicle braking operations, vehicle speed and acceleration operations, vehicle lateral movement operations, e.g., as lane guidance, lane keeping and lane changing operations, and the like. Based thereon, the brake command may be generated by the autonomous controller 65 independent of the action by the vehicle operator and in response to the autonomous control function.

Operator controls may be included in the passenger compartment of the vehicle 10 including, but not limited to, steering wheels, accelerator pedals, brake pedals, and operator input devices that are elements of the HMI device 60. The vehicle operator may interact with the running vehicle 10 based on operator controls and direct the operation of the vehicle 10 for providing passenger transport. In some embodiments of the vehicle 10, operator controls may be omitted, including steering wheels, accelerator pedals, brake pedals, gear-change range selectors, and other control devices of the like.

The HMI device 60 provides man-machine interaction for guiding the infotainment system, global Positioning System (GPS) sensor 52, navigation system 24, and similar operational functions, and the HMI device 60 may include a controller. The HMI device 60 monitors operator requests and provides information to the operator including status, service, and maintenance information of the vehicle system. HMI device 60 may communicate with and/or control operation of a plurality of operator interface devices capable of communicating messages associated with operation in an automatic vehicle control system. HMI device 60 may also communicate with one or more devices that monitor biometric data associated with the vehicle operator, including, for example, eye gaze location, pose, and head position tracking, among others. For simplicity of description, the HMI device 60 is depicted as a single device, but in embodiments of the present system may be provided as multiple controllers and associated sensing devices. The operator interface device may include a device capable of transmitting a message prompting an operator action, and may include an electronic visual display module, such as a Liquid Crystal Display (LCD) device, head-up display (HUD), audio feedback device, wearable device, and haptic seat. The operator interface device capable of prompting an operator action may be controlled by the HMI device 60 or by the HMI device 60. In the operator's field of view, the HUD may project information reflected onto the interior side of the vehicle's windshield, including conveying a confidence level associated with operating one of the automatic vehicle control systems. The HUD may also provide augmented reality information, such as lane position, vehicle path, direction and/or navigation information, and so forth.

The on-board navigation system 24 provides navigation support and information to the vehicle operator based on the digitized road map 25. The autonomous controller 65 controls autonomous vehicle operation or ADAS vehicle functions based on the digitized road map 25.

The vehicle 10 may include a telematics controller 75, the telematics controller 75 including a wireless telematics communication system capable of off-vehicle communication, including communication with a communication network 90 having wireless and wired communication capabilities. The telematics controller 75 is capable of off-vehicle communications, including short range vehicle-to-vehicle (V2V) communications and/or vehicle-to-outside world (V2 x) communications, which may include communications with infrastructure monitors (e.g., traffic cameras). Alternatively or additionally, the telematics controller 75 has a wireless telematics communication system that is capable of short-range wireless communication with a handheld device (e.g., a cellular telephone, satellite telephone, or another telephone device). In one embodiment, the handheld device includes a software application that includes a wireless protocol for communicating with the telematics controller 75, and the handheld device can perform off-vehicle communications, including communication with the off-board server 95 based on the communication network 90. Alternatively or additionally, the telematics controller 75 directly performs off-vehicle communications based on the communication network 90 communicating with the off-board server 95.

The term "controller" and related terms (e.g., microcontroller, control unit, processor, and the like) refer to one or various combinations of the following: application specific integrated circuit(s) (ASIC), field Programmable Gate Array (FPGA), electronic circuit(s), central processing unit(s), e.g., microprocessor(s) and associated non-transitory memory component(s) (indicated by memory 23) in the form of memory and storage (read-only, programmable read-only, random access, hard drive, etc.). The non-transitory memory component is capable of storing machine-readable instructions in the form of: one or more software or firmware programs or routines, combinational logic circuit(s), input/output circuit(s) and devices, signal conditioning and buffering circuitry, and other components accessible by the one or more processors to implement the corresponding functionality. The input/output circuit(s) and devices include analog/digital converters and related devices that monitor inputs from the sensors, which can be monitored at a preset sampling frequency or in response to a trigger event. Software, firmware, programs, instructions, control routines, code, algorithms, and similar terms refer to a controller-executable instruction set, including calibration and lookup tables. Each controller executes control routine(s) for providing the respective function. The routine may be performed at regular intervals, for example, every 100 microseconds during ongoing operation. Alternatively, the routine may be executed in response to a triggering event. Communication between the controllers, actuators, and/or sensors may be implemented using direct wired point-to-point links, networked communication bus links, wireless links, or other suitable communication links. The communication includes corresponding exchanged data signals, including, for example, conductive medium-based electrical signals, air-based electromagnetic signals, optical waveguide-based optical signals, and the like. The data signals may include discrete, analog or digitized analog signals representing inputs from the sensors, actuator commands, and communications between the controllers. The term "signal" refers to a physically identifiable indicator that conveys information and may be of a corresponding waveform (e.g., electrical, optical, magnetic, mechanical, or electromagnetic), such as, for example, DC, AC, sine wave, triangular wave, square wave, vibration, etc., that is capable of propagating through a medium. A parameter is defined as a measurable quantity that represents a physical property of a device or other element that can be identified using one or more sensors and/or physical models. The parameter may have a discrete value, e.g., "1" or "0", or be infinitely variable in value.

The end vehicle may communicate with the server over a network. The data storage system may store data that the server needs to process. The data storage system may be integrated on a server or may be placed on a cloud or other network server. The terminal vehicle can acquire a stationary point trace in the radar field angle, and a target point trace is determined from the stationary point trace; determining a first predicted pitch angle of the radar according to the radar theoretical azimuth angle, the radar theoretical pitch angle, the vehicle speed of the local vehicle, the Doppler speed of the target point trace, the point trace azimuth angle and the point trace pitch angle; determining a field angle section according to the radar field angle, and determining a pitch angle peak section from the field angle section according to the number of the points of the target point trace in the field angle section; determining a candidate subinterval according to the pitch angle peak value interval, determining a target subinterval from the candidate subinterval according to the number of the points of the target points in the candidate subinterval, and determining a second predicted pitch angle of the radar according to the target subinterval; and determining the actual pitch angle of the radar according to the first predicted pitch angle and the second predicted pitch angle. In other embodiments, after the terminal vehicle acquires the stationary trace in the radar field angle, the stationary trace in the radar field angle may also be sent to the server, and the server executes the determination of the target trace from the stationary trace; determining a first predicted pitch angle of the radar according to the radar theoretical azimuth angle, the radar theoretical pitch angle, the vehicle speed of the local vehicle, the Doppler speed of the target point trace, the point trace azimuth angle and the point trace pitch angle; determining a field angle section according to the radar field angle, and determining a pitch angle peak section from the field angle section according to the number of the points of the target point trace in the field angle section; determining a candidate subinterval according to the pitch angle peak value interval, determining a target subinterval from the candidate subinterval according to the number of the points of the target points in the candidate subinterval, and determining a second predicted pitch angle of the radar according to the target subinterval; and determining the actual pitch angle of the radar according to the first predicted pitch angle and the second predicted pitch angle.

In one embodiment, as shown in fig. 2, a method for determining a radar pitch angle is provided, where this embodiment is applied to a terminal for illustration, it is understood that the method may also be applied to a server, and may also be applied to a system including the terminal and the server, and implemented through interaction between the terminal and the server. In this embodiment, the method includes the steps of:

s210, acquiring a stationary point trace in the radar field angle, and determining a target point trace from the stationary point trace.

The radar is radar equipment installed on the local vehicle, and the stationary trace is the trace of stationary obstacle collected by the radar in the running process of the local vehicle. An exemplary diagram of pitch angle of an on-board radar installation is shown in fig. 3.

Specifically, obstacle points in the radar field angle within a preset frame number are obtained, the obstacle points are analyzed, the stationary points in the radar field angle are determined from the obstacle points, reliability analysis is performed on the stationary points, and the target points are determined from the stationary points according to the reliability analysis result.

S220, determining a first predicted pitch angle of the radar according to the radar theoretical azimuth angle, the radar theoretical pitch angle, the vehicle speed of the local vehicle, the Doppler speed of the target point trace, the point trace azimuth angle and the point trace pitch angle.

In the running process of the local vehicle, the radar on the vehicle can acquire the running point trace of the obstacle around the local vehicle in real time, and the obstacle can be a moving obstacle or a static obstacle.

According to the radar principle, the absolute radial velocity of the trace of the obstacle satisfies the formula (1):

V_abs＝[(V_car-yawRate*L_x)*cos(θ_azi+θ_yaw+Error_azi)+yawRate*L_y*

sin(θ_azi+θ_yaw+Error_ele)]*cos(θ_ele+θ_pitch)+V_d(1)

Wherein V _abs is the absolute radial velocity of the spot of the obstacle; v _d is the point cloud doppler velocity, V _car is the vehicle velocity of the local vehicle; yawRate is the vehicle yaw rate of the local vehicle; l _x denotes a longitudinal installation position of the vehicle-mounted radar; l _y denotes a lateral mounting position of the vehicle-mounted radar; θ _azi is the azimuth of the trace of the obstacle; θ _ele is the point track pitch angle of the obstacle point track; θ _yaw is the radar theoretical azimuth angle, namely the radar azimuth theoretical installation angle; θ _pitch is a radar theoretical pitch angle, namely a radar pitch theoretical installation angle, error _azi is a radar azimuth installation angle Error, and Error _ele is a radar pitch installation angle Error.

Assuming that the obstacle trace is a stationary trace and the local vehicle is traveling straight, V _abs =0 and yawrate=0, at this time, the equation (1) may be deformed to obtain the equation (2):

-V_d＝(V_car)*cos(θ_azi+θ_yaw+ Error_azi) *cos(θ_ele+θ_pitch+ Error_ele) (2)

Further, in order to facilitate calculation, the formula (2) is deformed, so that θ _a＝θ_azi+θ_yaw,θ_b＝θ_ele+θ_pitch is obtained, and the formula (3) is obtained:

Generally, the values of Error _ele and Error _ele are smaller, so that taylor expansion is performed at θ _a and θ _b, and the first order term is preserved, equation (3) can be expanded to obtain equation (4):

Expanding equation (4) and ignoring the higher order infinitesimal terms, equation (5) can be obtained:

determining target point traces from the rest traces, and if the number of the target point traces is N, determining a formula (6) according to a formula (5):

Wherein θ _aN is θ _a,θ_bN of the nth target point trace and θ _b,V_dN of the nth target point trace are Doppler speeds of the nth target point trace.

The radar azimuth mounting angle Error _azi and the radar pitch mounting angle Error _ele of the radar can be determined according to equation (6). And taking the sum of the radar azimuth installation angle error and the radar theoretical azimuth angle as a determined radar actual azimuth angle, and taking the sum of the radar theoretical pitch angle and the radar pitching installation angle error as a first predicted pitch angle of the radar.

S230, determining a field angle section according to the radar field angle, and determining a pitch angle peak section from the field angle section according to the number of the points of the target point trace in the field angle section.

Specifically, the radar view angles are divided to determine view angle sections, the section angle of each view angle section is 1 degree, the number of the target points falling into each view angle section is determined according to the pitch angle of the target points, the view angle section with the largest number of the points is determined, and the pitch angle peak section is determined according to the view angle section with the largest number of the target points. For example, the view angle section with the largest number of tracks may be referred to as the pitch angle peak section.

S240, determining a candidate subinterval according to the pitch angle peak value interval, determining a target subinterval from the candidate subinterval according to the track number of target tracks in the candidate subinterval, and determining a second predicted pitch angle of the radar according to the target subinterval.

Specifically, dividing a pitch angle peak value interval to determine candidate subintervals, determining the number of points of target points in each candidate subinterval, screening out the candidate subinterval with the largest number of points as a target subinterval, and taking the interval angle median of the target subinterval as a second predicted pitch angle;

s250, determining the actual pitch angle of the radar according to the first predicted pitch angle and the second predicted pitch angle.

For example, an average of the first predicted pitch angle and the second predicted pitch angle may be taken as the radar actual pitch angle.

In the method for determining the radar pitch angle, a stationary point trace in the radar field angle is obtained, and a target point trace is determined from the stationary point trace; determining a first predicted pitch angle of the radar according to the radar theoretical azimuth angle, the radar theoretical pitch angle, the vehicle speed of the local vehicle, the Doppler speed of the target point trace, the point trace azimuth angle and the point trace pitch angle; determining a field angle section according to the radar field angle, and determining a pitch angle peak section from the field angle section according to the number of the points of the target point trace in the field angle section; determining a candidate subinterval according to the pitch angle peak value interval, determining a target subinterval from the candidate subinterval according to the number of the target points in the candidate subinterval, and determining a second predicted pitch angle of the radar according to the target subinterval; and determining the actual pitch angle of the radar according to the first predicted pitch angle and the second predicted pitch angle. According to the scheme, the problem that when the pitching angle of the vehicle radar is detected in the vehicle running process, the requirement on the spot quality of the obstacle is high, and when the spot quality of the obstacle is poor, the accurate radar pitching angle is difficult to obtain is solved. According to the scheme, the actual radar pitch angle in the vehicle driving process is calculated based on the stationary trace in the radar field angle, dependence on trace quality in the radar pitch angle calculation process can be reduced, the actual radar pitch angle is fitted based on the trace azimuth angle and the trace pitch angle of the target trace through a least square method, the first prediction pitch angle of the radar is determined, the second prediction pitch angle of the radar is determined through a histogram statistics method, the actual radar pitch angle is determined according to the first prediction pitch angle and the second prediction pitch angle, accuracy of the actual radar pitch angle is improved, and therefore changes of radar pitch installation angles can be monitored in real time and corrected in the vehicle driving process, and accuracy of radar pitch installation angle information is guaranteed.

In one embodiment, as shown in fig. 4, acquiring a stationary trace within a radar field angle, determining a target trace from the stationary trace includes:

S310, determining whether the pitch angle calibration of the radar is effective.

The vehicle radar and the vehicle body are rigidly connected, and the relative posture and position between the vehicle radar and the vehicle body are fixed. In order to establish a relative coordinate relationship between the radars and between the lidars and the vehicle, it is necessary to calibrate the installation angle of the radar and to convert the radar data from the radar coordinate system to the vehicle body coordinate system. If the pitch angle calibration of the radar is not effective, namely the installation angle of the radar is not calibrated in the last statistical period at the current moment. If the pitch angle calibration result of the radar in the last statistical period can be obtained, the pitch angle calibration effect of the radar is determined.

And S320, if yes, determining a basic pitch angle according to pitch angle calibration information of the radar.

Specifically, if the pitch angle calibration of the radar is effective, determining the pitch angle calibration result of the last statistical period radar at the current moment according to the pitch angle calibration information of the radar, and taking the pitch angle calibration result of the last statistical period radar as a basic pitch angle.

S330, determining a target pitch angle according to the basic pitch angle and the fixed angle threshold value, and determining a stationary trace in the target pitch angle as a target trace.

The fixed angle threshold can be set according to actual needs.

Specifically, the calculation formula of the target pitch angle is shown as formula (7):

(θ_base-θ_T)< θ_ele<(θ_base+θ_T) (7)

wherein, θ _base is the base pitch angle, θ _T is the fixed angle threshold, and θ _ele is the target pitch angle. And determining a stationary trace in the target pitch angle as a target trace.

According to the scheme, the method for adaptively screening the stationary trace according to the basic pitch angle of the radar is provided, the stationary trace symmetrical to the horizontal plane where the radar is located can be selected to participate in calculating the radar pitch angle, false traces can be prevented from participating in calculating the radar pitch angle as much as possible, and accuracy of the radar pitch angle is improved.

In one embodiment, after determining whether the radar pitch calibration is effective, further comprising:

If the pitch angle calibration of the radar is not effective, determining the point trace distribution information of the stationary point trace in the radar field angle; determining the interval angle of the maximum number of the points according to the point distribution information, and carrying out least square fitting on the stationary points in the radar field angle to determine the fitting angle; and if the angle difference between the fitting angle and the interval angle of the maximum number of the tracks is smaller than the angle difference threshold value, determining the angle difference as a basic pitch angle.

Specifically, if the pitch angle calibration of the radar is not effective, the radar field angle is divided, the sub field angle is determined, and the angle of the sub field angle can be set according to requirements. Determining the trace distribution information of the stationary trace in the sub-view angle according to the trace distribution information of the stationary trace in the radar view angle, determining the trace distribution quantity of the stationary trace in the sub-view angle according to the trace distribution information, and determining the interval angle of the maximum trace quantity from the sub-view angle according to the trace distribution quantity of the stationary trace in the sub-view angle. And carrying out least square fitting on the stationary trace in the radar field angle, and determining a fitting angle according to the least square fitting result. And calculating an angle difference between the fitting angle and the interval angle of the maximum trace quantity, and if the angle difference is smaller than a preset angle difference threshold value, determining the angle difference as a basic pitch angle.

According to the scheme, when the pitch angle calibration of the radar is not effective, the basic pitch angle of the radar is determined, the interval angle of the maximum point track quantity is determined according to the point track distribution information of the stationary point track in the radar field angle, the fitting angle is determined according to the least square fitting result of the stationary point track in the radar field angle, the basic pitch angle is determined according to the difference value of the interval angle of the maximum point track quantity and the fitting angle, the accuracy of the basic pitch angle is improved, and meanwhile the acquisition mode of the basic pitch angle is perfected.

In one embodiment, as shown in fig. 5, determining the radar actual pitch angle from the first predicted pitch angle and the second predicted pitch angle includes:

s410, determining whether the second predicted pitch angle is valid.

Specifically, whether the second predicted pitch angle is valid may be determined according to the track pitch angle of the target track. For example, a difference between the track pitch angle of the target track and the second predicted pitch angle may be determined, and a maximum difference value may be determined from the difference values, and whether the second predicted pitch angle is valid may be determined based on the maximum difference value.

And S420, if so, determining a pitch angle difference value of the first predicted pitch angle and the second predicted pitch angle, and determining whether the pitch angle difference value is smaller than a difference value threshold value.

The difference threshold may be set according to actual needs.

And S430, if so, carrying out weighted summation on the first predicted pitch angle and the second predicted pitch angle, and taking the weighted summation result as an actual pitch angle of the radar.

The calculation formula of the radar actual pitch angle is shown in formula (8):

θ_output ＝ α*θ_calc+ β*θ_stat (8)

Wherein, θ _output is the radar actual pitch angle, θ _calc is the first predicted pitch angle, θ _stat is the second predicted pitch angle, α is the weight of the first predicted pitch angle, and β is the weight of the second predicted pitch angle.

For example, if the second predicted pitch angle is not valid, the first predicted pitch angle is taken as the radar actual pitch angle

According to the scheme, under the condition that the second predicted pitch angle is determined to be effective, and the pitch angle difference value of the first predicted pitch angle and the second predicted pitch angle is smaller than the difference value threshold value, the actual pitch angle of the radar is determined according to the weighted summation result of the first predicted pitch angle and the second predicted pitch angle, so that the reliability of the obtained actual pitch angle of the radar can be improved.

determining a pitch angle variance mean value between the second predicted pitch angle and the track pitch angle of the target track; and if the variance mean value of the pitch angle is smaller than the variance threshold value, determining that the second predicted pitch angle is effective.

The calculation formula of the pitch angle variance mean between the second predicted pitch angle and the track pitch angle of the target track is shown in formula (9):

Wherein gamma _i is the point trace pitch angle of the ith target point trace, and Var is the pitch angle variance average value between the second predicted pitch angle and the point trace pitch angle of the target point trace.

According to the scheme, whether the second predicted pitch angle is effective or not is determined according to the pitch angle variance mean value between the second predicted pitch angle and the track pitch angle of the target track, and reliability of the effectiveness judgment result of the second predicted pitch angle can be improved.

In one embodiment, as shown in FIG. 6: determining a field angle section according to a radar field angle, and determining a pitch angle peak section from the field angle section according to the number of points of the target point trace in the field angle section, including:

s510, determining a field angle section according to the radar field angle, and determining the number of the points in the field angle section according to the field angle section and the point pitch angle of the target point.

For example, if the radar angle of view is ±10°, the radar angle of view is divided into 20 angle of view sections on average, the angle of view sections may be represented by a _n, 1+.i+.20, and i is an integer, each angle of view section being 1 °. Determining the number of the target point marks in the field angle interval according to the formula (10):

N_n＝Floor[(γ_i+10)]+1 (10)

Wherein Floor represents a downward rounding, N _n represents a falling field interval angle mark, N _n∈A_n. The number of the target point trace in the view angle section may be determined according to the view angle section in which the target point trace falls.

S520, determining a target section and a section adjacent to the target section from the view angle sections according to the number of the tracks in the view angle sections, and taking the target section and the section adjacent to the target section as pitch angle peak sections.

Specifically, the view angle section corresponding to the track number peak value is determined as a target section a _m, adjacent sections a _m+1 and a _m-1 of the target section are determined, and a _m、A_m+1 and a _m-1 are determined as pitch angle peak sections.

According to the scheme, the quantitative calculation mode for determining the number of the points in the view angle interval is provided, the calculation efficiency and the calculation precision of the number of the points in the view angle interval are improved, the view angle interval corresponding to the peak value of the number of the points is screened out according to the number of the points in the view angle interval to be used as a target interval, and the pitch angle peak value interval is determined according to the target interval, so that the selection range of the pitch angle peak value interval can be properly enlarged, and the calculation precision of the second predicted pitch angle is improved.

In one embodiment, determining a candidate subinterval from the pitch angle peak interval, determining a target subinterval from the candidate subintervals from the number of target points in the target subinterval, determining a second predicted pitch angle of the radar from the target subinterval, comprises:

Determining a candidate subinterval according to the pitch angle peak value interval, and determining the number of the points of the target points in the candidate subinterval according to the point track pitch angle of the target points in the pitch angle peak value interval; and determining a target subinterval from the candidate subinterval according to the number of the target points in the candidate subinterval, and determining a second predicted pitch angle of the radar according to the pitch angle peak interval and the target subinterval.

For example, if the pitch peak intervals A _m、A_m+1 and A _m-1 total 3, the pitch peak intervals may be divided into 15 candidate sub-intervals B _j on average, 1.ltoreq.j.ltoreq.20, and j is an integer. The angle of each candidate subinterval is 0.2 °.

Determining the number of the target points in the candidate subinterval according to the formula (11):

M_v＝Floor[(γ_i-i+12)/0.2]+1 (11)

Where M _v represents the identity of the candidate subinterval that falls within, M _v∈B_j. The number of target points in the candidate subinterval can be determined according to the candidate subinterval in which the target points fall. And screening out the candidate subinterval corresponding to the peak value of the point trace quantity as a target subinterval according to the point trace quantity of the target point trace in the candidate subinterval. The calculation formula of the second predicted pitch angle is shown in formula (12):

θ_stat＝-(X+0.2*Y-12.1) (12)

wherein X is a pitch angle peak interval and Y is a target subinterval.

According to the scheme, the pitch angle peak value interval is determined according to the coarse screening result of the radar field angle, the pitch angle peak value interval is further screened to determine the target subinterval, and the second predicted pitch angle of the radar is determined according to the pitch angle peak value interval and the target subinterval, so that the reliability of the second predicted pitch angle can be improved.

Exemplary, on the basis of the above embodiment, the method for determining the radar pitch angle includes:

If the pitch angle calibration of the radar is effective, determining a pitch angle calibration result of the last statistical period radar at the current moment according to the pitch angle calibration information of the radar, and taking the pitch angle calibration result of the last statistical period radar as a basic pitch angle. If the pitch angle calibration of the radar is not effective, dividing the radar field angle, determining the sub field angle, and setting the angle of the sub field angle according to the requirement. Determining the trace distribution information of the stationary trace in the sub-view angle according to the trace distribution information of the stationary trace in the radar view angle, determining the trace distribution quantity of the stationary trace in the sub-view angle according to the trace distribution information, and determining the interval angle of the maximum trace quantity from the sub-view angle according to the trace distribution quantity of the stationary trace in the sub-view angle. And carrying out least square fitting on the stationary trace in the radar field angle, and determining a fitting angle according to the least square fitting result. And calculating an angle difference between the fitting angle and the interval angle of the maximum trace quantity, and if the angle difference is smaller than a preset angle difference threshold value, determining the angle difference as a basic pitch angle.

And determining a first predicted pitch angle of the radar according to the radar theoretical azimuth angle, the radar theoretical pitch angle, the vehicle speed of the local vehicle, the Doppler speed of the target point trace, the point trace azimuth angle and the point trace pitch angle by adopting a least square method. The method comprises the steps of determining a field angle section according to a radar field angle, determining the number of points in the field angle section according to the field angle section and the point pitch angle of target points, determining a target section and an adjacent section of the target section from the field angle section according to the number of points in the field angle section, and taking the adjacent sections of the target section and the target section as pitch angle peak sections. Determining a candidate subinterval according to the pitch angle peak value interval, and determining the number of the points of the target points in the candidate subinterval according to the point track pitch angle of the target points in the pitch angle peak value interval; and determining a target subinterval from the candidate subinterval according to the number of the target points in the candidate subinterval, and determining a second predicted pitch angle of the radar according to the pitch angle peak interval and the target subinterval.

Determining a pitch angle variance mean value between the second predicted pitch angle and the track pitch angle of the target track; and if the variance mean value of the pitch angle is smaller than the variance threshold value, determining that the second predicted pitch angle is effective. If the second predicted pitch angle is valid, determining a pitch angle difference between the first predicted pitch angle and the second predicted pitch angle, and determining whether the pitch angle difference is less than a difference threshold. If yes, carrying out weighted summation on the first predicted pitch angle and the second predicted pitch angle, and taking the weighted summation result as an actual pitch angle of the radar.

It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a radar pitch angle determining device for realizing the above related radar pitch angle determining method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the determining device for one or more radar pitch angles provided below may refer to the limitation of the determining method for radar pitch angles described above, which is not repeated here.

In one embodiment, as shown in fig. 7, there is provided a radar pitch angle determining apparatus, including: a target point trace determination module 601, a first predicted angle determination module 602, a peak interval determination module 603, a second predicted angle determination module 604, and an actual pitch angle determination module 605, wherein:

The target point trace determining module 601 is configured to obtain a stationary point trace in the radar field angle, and determine a target point trace from the stationary point trace;

the first predicted angle determining module 602 is configured to determine a first predicted pitch angle of the radar according to a radar theoretical azimuth angle, a radar theoretical pitch angle, a vehicle speed of the local vehicle, a doppler speed of a target point trace, a point trace azimuth angle, and a point trace pitch angle;

A peak value interval determining module 603, configured to determine a field angle interval according to a radar field angle, and determine a pitch angle peak value interval from the field angle interval according to the number of points of the target point trace in the field angle interval;

A second predicted angle determining module 604, configured to determine a candidate subinterval according to the pitch angle peak interval, determine a target subinterval from the candidate subintervals according to the number of the target points in the candidate subinterval, and determine a second predicted pitch angle of the radar according to the target subinterval;

The actual pitch angle determining module 605 is configured to determine an actual pitch angle of the radar according to the first predicted pitch angle and the second predicted pitch angle.

Illustratively, the target trace determination module 601 is specifically configured to:

Determining whether the pitch angle calibration of the radar is effective;

Illustratively, the target trace determination module 601 is further specifically configured to:

if the pitch angle calibration of the radar is not effective, determining the point trace distribution information of the stationary point trace in the radar field angle;

Determining the interval angle of the maximum number of the points according to the point distribution information, and carrying out least square fitting on the stationary points in the radar field angle to determine the fitting angle;

Illustratively, the actual pitch angle determination module 605 is specifically configured to:

Determining whether the second predicted pitch angle is valid;

If yes, carrying out weighted summation on the first predicted pitch angle and the second predicted pitch angle, and taking the weighted summation result as an actual pitch angle of the radar.

The actual pitch angle determination module 605 is also specifically configured to:

determining a pitch angle variance mean value between the second predicted pitch angle and the track pitch angle of the target track;

and if the variance mean value of the pitch angle is smaller than the variance threshold value, determining that the second predicted pitch angle is effective.

The peak interval determination module 603 is specifically configured to:

And determining a target section and a section adjacent to the target section from the view angle section according to the number of the tracks in the view angle section, and taking the target section and the section adjacent to the target section as pitch angle peak sections.

Illustratively, the second predicted angle determination module 604 is specifically configured to:

And determining a target subinterval from the candidate subinterval according to the number of the target points in the candidate subinterval, and determining a second predicted pitch angle of the radar according to the pitch angle peak interval and the target subinterval.

The above-mentioned various modules in the radar pitch angle determining means may be implemented in whole or in part by software, hardware or a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 8. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of determining radar pitch angle. The display unit of the computer device is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the structure shown in FIG. 8 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

In one embodiment, a computer device is provided comprising a memory having a computer program stored therein and a processor that when executing the computer program performs the steps described in the embodiments above.

In one embodiment, a computer readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps as described in the above embodiments.

In an embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, implements the steps as described in the above embodiments.

It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data need to comply with the related laws and regulations and standards of the related country and region.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. A method for determining a radar pitch angle, comprising:

2. The method of claim 1, wherein acquiring a stationary trace within the radar field angle, determining a target trace from the stationary trace, comprises:

Determining whether the pitch angle calibration of the radar is effective;

3. The method of claim 2, wherein determining whether the radar pitch calibration is effective further comprises:

4. The method of claim 1, wherein determining a radar actual pitch angle from the first predicted pitch angle and the second predicted pitch angle comprises:

Determining whether the second predicted pitch angle is valid;

5. The method of claim 4, wherein determining whether the second predicted pitch angle is valid comprises:

6. The method of claim 1, wherein determining a field angle interval from the radar field angle, determining a pitch angle peak interval from the field angle interval from a number of points of a target point trace in the field angle interval, comprises:

7. The method of claim 1, wherein determining a candidate subinterval from the pitch peak interval, determining a target subinterval from the candidate subinterval from a number of target points in the candidate subinterval, determining a second predicted pitch of the radar from the target subinterval, comprising:

8. The device for determining the radar pitch angle is characterized by comprising the following components:

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 7 when the computer program is executed.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any one of claims 1 to 7.