CN215867088U - System for calibrating millimeter wave radar and vehicle - Google Patents
System for calibrating millimeter wave radar and vehicle Download PDFInfo
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- CN215867088U CN215867088U CN202023346377.2U CN202023346377U CN215867088U CN 215867088 U CN215867088 U CN 215867088U CN 202023346377 U CN202023346377 U CN 202023346377U CN 215867088 U CN215867088 U CN 215867088U
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Abstract
The embodiment of the utility model relates to the technical field of millimeter wave radars, in particular to a system for calibrating a millimeter wave radar, which is applied to a vehicle and comprises a camera, a millimeter wave radar and a controller, wherein the camera, the millimeter wave radar and the controller are all arranged on the vehicle, the controller is respectively in communication connection with the vehicle, the camera and the millimeter wave radar, the camera is used for acquiring first angle position information of a target after self-calibration, the millimeter wave radar is used for acquiring second angle position information of the target, the controller is used for determining an installation error of the millimeter wave radar according to the first angle position information, the second angle position information and the speed and curvature of the vehicle and sending the installation error to the millimeter wave radar, therefore, the millimeter wave radar is calibrated according to the installation error, and the method is simple and convenient and has low cost.
Description
Technical Field
The embodiment of the utility model relates to the technical field of millimeter wave radars, in particular to a system for calibrating a millimeter wave radar and a vehicle.
Background
With the development of the automobile industry and the higher requirements of the current society on driving safety, the ADAS technology is provided for a plurality of automobile models, and most of the ADAS technologies are realized mainly by a 1R1V system consisting of a visual camera and a millimeter wave radar. In order to ensure that the effect of the millimeter wave radar after being installed can meet the use requirement, calibration compensation must be carried out on the installation error of the millimeter wave radar.
Most of the existing millimeter wave radar calibrating systems establish a calibrating field through a vehicle body straightening and positioning system device and a set of calibrating corner reflectors, and then the calibration is completed through a customized calibrating upper computer, namely, a special calibrating field is needed, and the vehicle body straightening and positioning system device needs to be customized and developed, so that the problems of high calibrating environment construction cost, long construction period and low reusability are caused.
SUMMERY OF THE UTILITY MODEL
The technical problem mainly solved by the embodiment of the utility model is to provide a system and a vehicle for calibrating a millimeter wave radar, which can quickly and accurately calibrate and compensate the installation error of the millimeter wave radar, are simple and convenient and have low cost.
In order to solve the above technical problem, in a first aspect, an embodiment of the present invention provides a system for calibrating a millimeter wave radar, which is applied to a vehicle, and includes a camera, a millimeter wave radar, and a controller, where the camera, the millimeter wave radar, and the controller are all disposed on the vehicle, and the controller is respectively in communication connection with the vehicle, the camera, and the millimeter wave radar;
the camera is used for acquiring first angle position information of a target object after self calibration and sending the first angle position information to the controller;
the millimeter wave radar is used for acquiring second angle position information of the target object and sending the second angle position information to the controller;
the controller is used for determining the installation error of the millimeter wave radar according to the first angle position information, the second angle position information, the speed and the curvature of the vehicle, and sending the installation error to the millimeter wave radar so that the millimeter wave radar can be calibrated according to the installation error.
In some embodiments, the controller is integrated in the camera, or in the millimeter wave radar.
In some embodiments, the vehicle further comprises a first CAN bus, and the camera is in communication connection with the vehicle through the first CAN bus.
In some embodiments, the device further comprises a second CAN bus, and the millimeter radar wave is in communication connection with the camera through the second CAN bus.
In some embodiments, the device further comprises a power supply, and the power supply is respectively connected with the camera, the millimeter wave radar and the controller.
In some embodiments, the power supply is a power source in the vehicle.
In some embodiments, the camera and the millimeter wave radar are both mounted to an upper surface of the vehicle.
In some embodiments, the camera and the millimeter wave radar are both on a longitudinal plane of symmetry of the vehicle.
In order to solve the above technical problem, in a second aspect, an embodiment of the present invention provides a vehicle including the system for calibrating a millimeter wave radar as described in the first aspect.
The embodiment of the utility model has the following beneficial effects: different from the situation of the prior art, the system for calibrating a millimeter wave radar provided in the embodiment of the present invention is applied to a vehicle, and includes a camera, a millimeter wave radar, and a controller, where the camera, the millimeter wave radar, and the controller are all disposed on the vehicle, where the controller is in communication connection with the vehicle, the camera, and the millimeter wave radar, respectively, the camera is configured to obtain first angular position information of a target object after self-calibration, and send the first angular position information to the controller, the millimeter wave radar is configured to obtain second angular position information of the target object, and send the second angular position information to the controller, and the controller is configured to perform calibration according to the first angular position information, the second angular position information, and a speed of the vehicle, And curvature, determining the installation error of the millimeter wave radar, and sending the installation error to the millimeter wave radar so that the millimeter wave radar can be calibrated according to the installation error. That is, through the camera after the self-calibration as the benchmark, can mark the compensation to the installation error of millimeter wave radar fast accurate, simple and convenient, and with low costs.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic application diagram of a system for calibrating a millimeter wave radar according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a system for calibrating a millimeter wave radar according to an embodiment of the present invention.
Detailed Description
In order to facilitate an understanding of the utility model, the utility model is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, an embodiment of the present invention provides a system 100 for calibrating a millimeter wave radar, which is applied to a vehicle 200, where the system 100 for calibrating a millimeter wave radar includes a camera 20, a millimeter wave radar 30, and a controller (not shown). The camera 20, the millimeter wave radar 30 and the controller are all disposed on the vehicle 200, that is, the camera 20, the millimeter wave radar 30 and the controller are all mounted on the vehicle 200, for example, the millimeter wave radar 30 may be mounted on a front bumper of the vehicle 200, and the camera 20 may be mounted at a front edge of a top of the vehicle 200.
The controller is in communication with the vehicle 200, the camera 20, and the millimeter wave radar 30, respectively. The camera 20 is configured to obtain first angular position information of the target object after self-calibration, and send the first angular position information to the controller. The millimeter wave radar 30 is configured to obtain second angle position information of the target object, and send the second angle position information to the controller. Thus, the controller may determine an installation error of the millimeter wave radar 30 according to the first angular position information, the second angular position information, and the speed and curvature of the vehicle 200, and send the installation error to the millimeter wave radar 30, so that the millimeter wave radar 30 performs calibration according to the installation error. In this embodiment, the camera 20 after calibration is used as a reference, so that the calibration and compensation of the installation error of the millimeter wave radar 30 can be performed quickly and accurately, and the method is simple and convenient and has low cost.
Specifically, when the vehicle 200 is driving on a road, the camera 20 may perform self-calibration, for example, capturing a lane line and performing self-calibration according to an existing camera 20 self-calibration method, i.e., determining geometric parameters and optical parameters of the camera 20 and an orientation of the camera 20 with respect to a world coordinate system. It is understood that the self-calibration method of the camera 20 may be a self-calibration method based on active vision, a self-calibration method based on Kruppa equation, a hierarchical step-by-step calibration method, or a self-calibration method based on a quadric surface.
After the camera 20 completes self-calibration, first angle position information of the target object can be obtained by shooting the target object and analyzing the image of the target object. It is understood that the first angular position information is the angular position information of the target object determined by the camera 20 relative to the vehicle 200, for example, the target object is a vehicle on a lane right in front of the vehicle, and the first angular position information is the angle between the vehicle and the vehicle 200 detected by the camera 20. Meanwhile, the millimeter wave radar 30 detects the target object, and may acquire second angle position information of the target object. It is understood that the second angular position information is the angular position information of the target object determined by the millimeter wave radar 30 relative to the vehicle 200, for example, the target object is the vehicle, and the second angular position information is the angle between the vehicle and the vehicle 200 detected by the millimeter wave radar 30.
Since the first angular position information is obtained from the calibrated camera 20, the first angular position information can reflect the actual angular position of the object relative to the vehicle 200. Therefore, it is possible to correct the second angular position information detected by the millimeter wave radar 30 with the first angular position information as a reference, thereby calibrating the mounting error of the millimeter wave radar 30.
Specifically, the controller determines an installation error of the millimeter wave radar 30 according to the first angular position information, the second angular position information, and the speed and curvature of the vehicle 200, and sends the installation error to the millimeter wave radar 30, so that the millimeter wave radar 30 performs calibration according to the installation error. For example, when the first angular position information is 0 ° and the second angular position information is 2 °, the controller may calculate an installation error a of the millimeter radar wave in combination with the speed and the curvature of the vehicle 200, and send the installation error a to the millimeter wave radar 30, so that the millimeter wave radar 30 may perform calibration according to the installation error a, for example, adjust internal parameters of the millimeter wave radar 30 by compensation, so that the second angular position information is consistent with the first angular position information, for example, changes from 2 ° to 0 °.
In some embodiments, the controller may be integrated into the camera 20, thereby forming an intelligent camera 20 that can assist the millimeter wave radar 30. In some embodiments, the controller may also be integrated into the millimeter wave radar 30, thereby forming a self-calibrated millimeter wave radar 30.
In some embodiments, referring to fig. 2, the system 100 further includes a first CAN bus 41, and the camera 20 is communicatively connected to the vehicle 200 through the first CAN bus 41. For example, the vehicle 200 is provided with a CAN bus interface 202, the interior of the CAN bus interface 202 is connected to a CAN bus of the vehicle 200, one end of the first CAN bus 41 is connected to the CAN bus interface 202, and the other end is connected to the camera 20, so that the camera 20 is in communication connection with the vehicle 200, and the camera 20 CAN acquire the vehicle speed, curvature and other related driving information of the vehicle 200. When the controller is integrated in the camera 20, the controller CAN acquire the driving information of the vehicle 200, such as the speed and the curvature, through the first CAN bus 41. When the controller is integrated in the millimeter wave radar 30, since the controller is communicatively connected to the camera 20, the controller can acquire the vehicle speed, curvature, and other relevant driving information of the vehicle 200 through the camera 20.
In some embodiments, please refer to fig. 2, further comprising a second CAN bus 42, wherein the millimeter radar wave is communicatively connected to the camera 20 through the second CAN bus 42. Thereby, communication connection between the vehicle 200, the camera 20, and the millimeter wave radar 30 is made through the CAN bus. When the controller is integrated in the camera 20, the controller CAN acquire second angular position information detected by the millimeter wave radar 30 through the second CAN bus 42. When the controller is integrated in the millimeter wave radar 30, the controller CAN acquire the second angular position information detected by the camera 20 through the second CAN bus 42.
In some embodiments, the system 100 further includes a power supply connected to the camera 20, the millimeter wave radar 30, and the controller, respectively, to supply power to the camera 20, the millimeter wave radar 30, and the controller. For convenience, in some embodiments, as shown in fig. 2, the power supply is a power supply 201 in the vehicle 200, that is, the camera 20, the millimeter wave radar 30 and the controller are electrically connected to the power supply 201 in the vehicle 200.
In some embodiments, the camera 20 and the millimeter-wave radar 30 are both mounted on the upper surface of the vehicle 200, so that the camera 20 and the millimeter-wave radar 30 are not shielded, which is beneficial for calibrating the millimeter-wave radar 30.
In some embodiments, the camera 20 and the millimeter-wave radar 30 are both located on the longitudinal symmetry plane of the vehicle 200, so that the relative position relationship between the camera 20 and the millimeter-wave radar 30 is simple, the calculation amount in the calibration process can be reduced, and the calibration efficiency can be improved.
In summary, the system 100 for calibrating a millimeter wave radar provided in the embodiment of the present invention can quickly and accurately calibrate and compensate for the installation error of the millimeter wave radar 30 by using the self-calibrated camera 20 as a reference, and is simple and convenient, and low in cost.
One embodiment of the present invention further provides a vehicle 200, and the vehicle 200 may be a bus, a car, or the like. The vehicle 200 includes the system 100 for calibrating millimeter wave radar in the above-described embodiment. In practical application, the system 100 for calibrating the millimeter wave radar is directly installed on the vehicle 200. The system 100 for calibrating the millimeter wave radar has the same structure and function as the system 100 for calibrating the millimeter wave radar in the above embodiments, and details are not repeated here.
It should be noted that the description of the present invention and the accompanying drawings illustrate preferred embodiments of the present invention, but the present invention may be embodied in many different forms and is not limited to the embodiments described in the present specification, which are provided as additional limitations to the present invention and to provide a more thorough understanding of the present disclosure. Moreover, the above technical features are combined with each other to form various embodiments which are not listed above, and all the embodiments are regarded as the scope of the present invention described in the specification; further, modifications and variations will occur to those skilled in the art in light of the foregoing description, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the utility model as defined by the appended claims.
Claims (9)
1. A system for calibrating a millimeter wave radar is applied to a vehicle and is characterized by comprising a camera, the millimeter wave radar and a controller, wherein the camera, the millimeter wave radar and the controller are all arranged on the vehicle, and the controller is respectively in communication connection with the vehicle, the camera and the millimeter wave radar;
the camera is used for acquiring first angle position information of a target object after self calibration and sending the first angle position information to the controller;
the millimeter wave radar is used for acquiring second angle position information of the target object and sending the second angle position information to the controller;
the controller is used for determining the installation error of the millimeter wave radar according to the first angle position information, the second angle position information, the speed and the curvature of the vehicle, and sending the installation error to the millimeter wave radar so that the millimeter wave radar can be calibrated according to the installation error.
2. A system for calibrating a millimeter wave radar according to claim 1, wherein said controller is integrated into said camera or into said millimeter wave radar.
3. The system for calibrating millimeter wave radar according to claim 2, further comprising a first CAN bus, wherein said camera is communicatively coupled to said vehicle via said first CAN bus.
4. A system for calibrating millimeter wave radar according to claim 3, further comprising a second CAN bus, said millimeter wave radar being communicatively coupled to said camera via said second CAN bus.
5. A system for calibrating millimeter wave radar according to any of claims 1 to 4, further comprising a power supply, wherein said power supply is connected to said camera, said millimeter wave radar and said controller, respectively.
6. A system for calibrating millimeter wave radar according to claim 5, wherein said power supply is a power supply in said vehicle.
7. A system for calibrating millimeter wave radar according to any of claims 1 to 4, wherein said camera and said millimeter wave radar are both mounted on the upper surface of said vehicle.
8. A system for calibrating a millimeter wave radar according to claim 7, wherein said camera and said millimeter wave radar are both located on a longitudinal plane of symmetry of said vehicle.
9. A vehicle comprising a system for calibrating millimeter wave radar according to any of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202023346377.2U CN215867088U (en) | 2020-12-31 | 2020-12-31 | System for calibrating millimeter wave radar and vehicle |
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| CN202023346377.2U CN215867088U (en) | 2020-12-31 | 2020-12-31 | System for calibrating millimeter wave radar and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114619986A (en) * | 2022-03-07 | 2022-06-14 | 金龙联合汽车工业（苏州）有限公司 | AEB and LKA fusion control system for passenger car |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114619986A (en) * | 2022-03-07 | 2022-06-14 | 金龙联合汽车工业（苏州）有限公司 | AEB and LKA fusion control system for passenger car |
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