WO2020186409A1 - 雷达水平安装角度的校正方法、雷达和车辆 - Google Patents

雷达水平安装角度的校正方法、雷达和车辆 Download PDF

Info

Publication number
WO2020186409A1
WO2020186409A1 PCT/CN2019/078385 CN2019078385W WO2020186409A1 WO 2020186409 A1 WO2020186409 A1 WO 2020186409A1 CN 2019078385 W CN2019078385 W CN 2019078385W WO 2020186409 A1 WO2020186409 A1 WO 2020186409A1
Authority
WO
WIPO (PCT)
Prior art keywords
radar
offset
vehicle
threshold
detection data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/078385
Other languages
English (en)
French (fr)
Inventor
陈雷
陆新飞
李怡强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201980005008.8A priority Critical patent/CN111226127B/zh
Priority to PCT/CN2019/078385 priority patent/WO2020186409A1/zh
Publication of WO2020186409A1 publication Critical patent/WO2020186409A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles

Definitions

  • This application relates to the field of radar applications, and more specifically, to a method for correcting a horizontal installation angle of a radar, a radar, and a vehicle.
  • Radar is the core sensor in the automatic driving system.
  • the installation angle of the radar will change due to factors such as body vibration and loose installation structure.
  • the radar detects a target, it needs to transform the target position information into the body coordinate system through its own installation angle. Therefore, the change of the installation angle will cause a deviation between the target position detected by the radar and the actual position of the target, which will cause alarms and control. Mis-triggering or failure to trigger functions such as moving, even leading to failure of the automatic driving system and endangering the lives of passengers and pedestrians. Therefore, effective radar installation angle correction is an indispensable part to ensure the normal operation of the radar. Usually the radar installation angle correction requires additional equipment, such as lasers, angle counters, etc., to be completed by professionals, and the radar can only be calibrated under static conditions.
  • the present application provides a method for correcting the horizontal installation angle of a radar, a radar, and a vehicle, which can realize the adaptive correction of the radar installation angle during the running of the vehicle.
  • a method for correcting the horizontal installation angle of a radar includes: acquiring detection data of longitudinal obstacles detected by the radar when the vehicle is running; and calculating the deviation of the horizontal installation angle of the radar based on the detection data. Shift; according to the shift, the horizontal installation angle of the radar is corrected.
  • a radar including a transceiver and a processor.
  • the transceiver is used to transmit and receive electromagnetic wave signals when the vehicle is running, and the electromagnetic wave signals are used to obtain detection data of longitudinal obstacles;
  • the processor is configured to: calculate the offset of the horizontal installation angle of the radar according to the detection data; and correct the horizontal installation angle of the radar according to the offset.
  • a vehicle including: a vehicle body; a power system mounted on the vehicle body for driving the vehicle to travel; and the second aspect or the radar in any possible implementation manner of the second aspect.
  • a vehicle including: a body; a power system mounted on the body for driving the vehicle; a radar mounted on the body for detecting obstacles around the body; storage
  • the device is used to store a computer program; the processing device is used to call and run the computer program stored in the memory to perform the operations in the method of the first aspect described above.
  • a computer system including: a computer system including: a memory for storing a computer program; a processor for calling and running the computer program stored in the memory to execute the method of the first aspect In the operation.
  • the offset of the horizontal installation angle of the radar is calculated according to the detection data of the longitudinal obstacle detected by the radar, and the horizontal installation angle of the radar is corrected according to the offset.
  • the method does not rely on other external equipment, and can complete the adaptive correction of the radar horizontal installation angle when the vehicle is in normal driving, greatly improving the robustness of the radar system, and can realize safer and more reliable automatic driving functions.
  • Fig. 1 is a schematic flowchart of a method for correcting a radar installation angle according to an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a possible implementation manner of step 130 in FIG. 1.
  • FIG. 3 is a schematic diagram of the principle of a method for correcting the installation angle of a radar according to an embodiment of the present application.
  • Fig. 4 is a schematic flowchart of a method for correcting a radar installation angle according to an embodiment of the present application.
  • Fig. 5 is a schematic block diagram of a radar according to an embodiment of the present application.
  • Fig. 6 is a schematic block diagram of a vehicle according to an embodiment of the present application.
  • Fig. 7 is a schematic block diagram of a vehicle according to another embodiment of the present application.
  • Fig. 8 is a schematic block diagram of a radar installation angle correction device according to an embodiment of the present application.
  • Fig. 9 is a schematic block diagram of a computer system according to an embodiment of the present application.
  • the horizontal installation angle of the radar may be shifted due to vibration and other reasons.
  • a mechanical structure and special tools such as lasers and angle counters need to be used in a stationary state, and the correction process needs to be completed by professionals.
  • the present application provides a method for correcting the horizontal installation angle of the radar, which can complete the adaptive correction of the horizontal installation angle of the radar when the vehicle is running normally.
  • the radar mentioned in the embodiment of the present application includes but is not limited to millimeter wave radar.
  • Fig. 1 is a schematic flowchart of a method for correcting a horizontal installation angle of a radar according to an embodiment of the present application.
  • the method shown in FIG. 1 may be executed by a computer processing system, for example.
  • the computer processing system can be integrated with the radar, for example, the computer processing system is a processing system inside the radar. Alternatively, the computer processing system can also be separated from the radar, each as an independent part, as long as the computer processing system is in communication with the radar.
  • the method 100 shown in FIG. 1 may include all or part of the following steps.
  • Step 110 Obtain detection data of longitudinal obstacles detected by the radar when the vehicle is running.
  • Step 120 Calculate the offset of the horizontal installation angle of the radar based on the detection data.
  • Step 130 Correct the horizontal installation angle of the radar according to the offset.
  • the longitudinal obstacle in the longitudinal obstacle refers to a direction parallel to the driving direction of the vehicle.
  • the longitudinal obstacle may be guardrails, shoulders, fences, etc. on both sides of the road. It can be understood that “longitudinal” may also refer to a direction approximately parallel to the direction of travel of the vehicle.
  • parallel in the following, without specific reference, refers to the case of parallel and approximately parallel.
  • the offset of the horizontal installation angle of the radar can be calculated according to the detection data of the longitudinal obstacles detected by the radar, and the horizontal installation angle of the radar can be corrected according to the offset.
  • the method does not need to use external correction equipment, and can complete the adaptive correction of the horizontal installation angle of the radar when the vehicle is in a normal driving process, greatly improving the robustness of the radar system, and can realize safer and more reliable automatic driving functions.
  • the method further includes step 140.
  • step 140 it is determined that the vehicle is going straight.
  • the longitudinal obstacle When the vehicle is traveling straight, the longitudinal obstacle is parallel to the direction of travel of the vehicle. At this time, the detection data of the longitudinal obstacles detected by the radar is relatively accurate and stable, so that the offset of the horizontal installation angle of the radar can be accurately calculated, and the horizontal installation angle of the radar can be corrected.
  • the traveling speed of the vehicle is greater than or equal to the speed threshold, and/or the absolute value of the turning radius of the vehicle is greater than or equal to the radius threshold, it is determined that the vehicle is in a straight running state.
  • the speed threshold is, for example, at least 30 km/h.
  • the radius threshold is, for example, at least 5000 meters.
  • Information such as the driving speed and turning radius of the vehicle can be calculated by other sensors mounted on the vehicle body, and the calculation results can be transmitted to the computer system that executes the correction method.
  • this step 120 may include step 121 and step 122.
  • Step 121 Perform straight line fitting on the radar detection data.
  • Step 122 Calculate the offset of the radar horizontal installation angle according to the slope of the longitudinal obstacle obtained by the fitting.
  • the detection data obtained by the radar for the detection of longitudinal obstacles may be discrete, so it is necessary to fit these discrete detection data to a straight line to obtain the position of the longitudinal obstacle, and calculate the detected longitudinal obstacle
  • the slope of the object is the offset of the horizontal installation angle of the radar.
  • the longitudinal obstacle obtained by linear fitting the radar detection data should meet certain conditions to ensure the accuracy of the offset calculation.
  • the length of the longitudinal obstacle obtained by linear fitting the radar detection data is greater than or equal to the length threshold; and/or the standard deviation obtained after fitting the detection data is less than or equal to the standard deviation threshold.
  • the length of the longitudinal obstacle obtained by the fitting is greater than or equal to the length threshold, indicating that the amount of data of the detection data is sufficient; the standard deviation obtained by the fitting is less than or equal to the standard deviation threshold, indicating that the stability of the detection data is good.
  • the slope of the longitudinal obstacle obtained by fitting the detection data is reliable, so that the slope can be used to calculate the offset of the radar horizontal installation angle.
  • the length threshold is at least 20 meters.
  • the standard deviation threshold is 0.4-0.6.
  • the offset of the horizontal installation angle of the radar is related to the deflection angle of the linear obstacle.
  • the deflection angle of the linear obstacle can be reflected by the slope of the linear obstacle. Therefore, the offset of the horizontal installation angle of the radar can be calculated according to the slope of the linear obstacle.
  • the absolute value of the offset of the horizontal installation angle of the radar may be equal to the arctangent value of the slope.
  • the offset of the radar horizontal installation angle is calculated based on the detection data of the guardrail.
  • point O is the origin of the coordinates and also represents the phase center of the radar receiving antenna;
  • the X axis is parallel to the forward direction of the vehicle when driving in a straight line;
  • the Y axis is perpendicular to the forward direction of the vehicle when driving in a straight line ;
  • Angle ⁇ is the nominal horizontal installation angle of the radar;
  • Angle ⁇ is the offset of the radar horizontal installation angle caused by vibration and other reasons.
  • the guardrail detected by the radar is a real guardrail, such as guardrail A and guardrail B as shown in FIG. 3.
  • the guardrails detected by the radar are guardrail A'and guardrail B'respectively.
  • the deviation of the horizontal installation angle of the radar will cause the position of the guardrail detected by it to shift. According to the slopes of guardrail A'and guardrail B'detected by the radar, the deviation ⁇ of the horizontal installation angle of the radar can be calculated.
  • the horizontal installation angle of the radar and the slopes of guardrail A'and guardrail B' are all relative to the same coordinate system.
  • guardrails obtained by linear fitting according to the detection data of the radar are guardrail A and guardrail B.
  • the direction of guardrail A and guardrail B detected by the radar is taken as the X axis direction of the coordinate system.
  • the guardrails obtained by linear fitting according to the detection data of the radar are guardrail A'and guardrail B'.
  • the radar In the actual driving process of the vehicle, when the radar detects longitudinal obstacles, it may be affected by other passing vehicles. Therefore, the longitudinal obstacles detected by the radar may not be continuous. In other words, what is fitted by the radar-based detection data is not a complete longitudinal obstacle, but a multi-segment obstacle in the longitudinal direction.
  • the detection data of the longitudinal obstacles detected by the radar includes the detection data of multiple pieces of longitudinal obstacles.
  • step 121 it is necessary to respectively fit the detection data of multiple segments of longitudinal obstacles, and in step 122, it is necessary to calculate the offset of the radar horizontal installation angle according to the slopes of the multiple segments of longitudinal obstacles obtained by the fitting. the amount.
  • the detection data of multiple segments of longitudinal obstacles detected by radar are respectively fitted, and the corresponding offsets are calculated according to the slopes of the multiple segments of longitudinal obstacles obtained by the fitting, and the slopes of the multiple segments of longitudinal obstacles are offset correspondingly
  • the average value of the amount is used as the offset of the horizontal installation angle of the radar.
  • the multiple longitudinal obstacles all meet certain conditions. For example, the length of each segment of the multiple longitudinal obstacles is greater than or equal to the length threshold; and/or the standard deviation obtained after fitting the detection data of each segment is less than or equal to the standard deviation threshold.
  • the detection data of the multiple sections of longitudinal obstacles may be the detection data obtained by radar detection for N frames, and N is a positive integer.
  • the guardrail as an example, suppose the maximum number of detection frames of the radar is N, where the number of guardrails that meet the conditions obtained by the radar in the nth frame detection is m n , 1 ⁇ n ⁇ N, and the slope of the m- th guardrail in each frame is k m , 1 ⁇ m ⁇ m n , and N and m n are positive integers.
  • the total number of guardrails obtained by the radar in N frame detection is According to formula (1), the offset ⁇ t of the horizontal installation angle of the radar can be obtained.
  • the offset may be calculated multiple times, and the horizontal installation angle of the radar may be corrected based on the results of the multiple calculations.
  • step 130 if the difference between the current calculated offset and the last calculated offset is less than the first threshold, the horizontal installation angle of the radar is adjusted according to the current calculated offset. Make corrections.
  • the horizontal installation angle of the radar is corrected according to the current calculated offset. It makes sense.
  • a second threshold can be set, The second threshold is the maximum number of calculations of the offset.
  • the difference between the offset calculated the current time and the offset calculated last time is greater than the first threshold, and the number of calculations of the offset does not reach the second threshold, execute the next offset And/or, if the difference between the offset calculated last time and the offset calculated last time is greater than the first threshold, and the number of calculations of the offset reaches the second threshold, it is determined that the correction fails.
  • Figure 4 takes guardrail detection as an example.
  • the specific calibration process can be as follows.
  • step 410 when it is determined that the vehicle is in a straight state, the calibration process is started.
  • the vehicle when the speed of the vehicle is greater than 30 km/h, and the absolute value of the turning radius is greater than 10,000 meters, the vehicle is considered to be in a straight state.
  • t is the number of calculations of the offset, 1 ⁇ T, and T is the preset maximum number of calculations of the offset.
  • n is the number of detection frames of the radar, 1 ⁇ n ⁇ N, and N is the preset maximum number of detection frames of the radar.
  • Step 440 Record valid detection data m n groups.
  • the set of test data is regarded as valid test data.
  • Step 450 Determine whether n reaches the maximum number of detected frames N.
  • step 430 is executed.
  • step 460 is executed.
  • Step 460 Calculate the offset ⁇ t of the horizontal installation angle of the radar according to the m n sets of detection data.
  • guardrail slopes of m n sections of guardrails can be respectively calculated according to m n sets of detection data, and the offset ⁇ t can be calculated according to the guardrail slopes of m n sections of guardrail and formula (1).
  • Step 470 it is determined whether the number of times with t smaller than the maximum number T is calculated, and the calculated shift amount of the time offset beta] t and the last ⁇ t-1 calculated whether the difference between greater than a preset threshold value ⁇ .
  • step 420 is executed.
  • step 480 is executed.
  • Step 480 it is determined whether the number of detections is greater than or equal to t the maximum number of T calculated, and the calculations of the offset beta] t and the last offset ⁇ t-1 calculated whether the difference between the threshold value is greater than a ⁇ .
  • step 490 is executed.
  • Step 490 Correct the horizontal installation angle of the radar according to the offset ⁇ t calculated this time.
  • the detection data of the multi-segment guardrail obtained by the radar multiple detections is obtained, and the offset of the horizontal installation angle of the radar is calculated based on the detection data, and the average operation and multiple iterations are used to further Eliminate the estimation error of the radar horizontal installation angle. So as to realize the effective correction of the radar horizontal installation angle.
  • FIG. 5 is a schematic block diagram of a radar 500 according to an embodiment of the present application.
  • the radar 500 may include a transceiver 510, a memory 510, and a processor 530.
  • Transceiver 510 used to transmit and receive electromagnetic wave signals when the vehicle is running, and the electromagnetic wave signals are used to obtain detection data of longitudinal obstacles.
  • Memory 520 used to store computer executable instructions.
  • the processor 530 is configured to: calculate an offset of the horizontal installation angle of the radar according to the detection data; and correct the horizontal installation angle of the radar according to the offset.
  • the radar can transmit electromagnetic wave signals to the longitudinal obstacle and receive the electromagnetic wave signal returned by the longitudinal obstacle, so as to obtain the relative position of the longitudinal obstacle according to the difference between the transmitted and received electromagnetic wave signals.
  • the radar calculates the offset of the horizontal installation angle of the radar according to the detected data from the longitudinal obstacle, and corrects the horizontal installation angle of the radar according to the offset. It does not rely on other external equipment, and can complete the adaptive correction of the radar horizontal installation angle when the vehicle is in normal driving, which greatly improves the robustness of the radar system and can realize safer and more reliable automatic driving functions.
  • the radar may be, for example, a millimeter wave radar.
  • the longitudinal obstacle may be, for example, guardrails on both sides of the vehicle.
  • the processor 530 is further configured to determine that the vehicle is in a straight running state.
  • the processor 530 is specifically configured to: perform a straight line fitting on the detection data; and calculate the offset according to the slope of the longitudinal obstacle obtained by the fitting.
  • the absolute value of the offset of the horizontal installation angle of the radar may be equal to the arctangent value of the slope.
  • the detection data of the longitudinal obstacle includes detection data of multiple segments of longitudinal obstacles
  • the processor 530 is specifically configured to: respectively fit the detection data of the multiple segments of longitudinal obstacles; Calculate the offset amount based on the slope of the multi-section longitudinal obstacle.
  • the processor 530 is specifically configured to: respectively calculate the corresponding offsets according to the slopes of the multiple longitudinal obstacles obtained by fitting; and calculate the average value of the offsets corresponding to the slopes of the multiple longitudinal obstacles, As the offset.
  • the length of each segment of the plurality of longitudinal obstacles is greater than or equal to a length threshold, and/or the standard deviation obtained by linear fitting the detection data of each segment is less than or equal to the standard deviation threshold.
  • the length threshold is at least 20 meters.
  • the standard deviation threshold is 0.4-0.6.
  • the detection data of the multiple segments of longitudinal obstacles is the detection data obtained by the radar performing N frames of detection, and N is a positive integer.
  • the processor 530 is specifically configured to: when the driving speed of the vehicle is greater than or equal to a speed threshold, and/or, when the absolute value of the turning radius of the vehicle is greater than or equal to the radius threshold, determine that the vehicle is at Go straight state.
  • the speed threshold is at least 30 km/h.
  • the radius threshold is at least 5000 meters.
  • the processor 530 is specifically configured to: if the difference between the offset calculated at the current time and the offset calculated at the last time is less than a first threshold, perform a calculation based on the offset calculated at the current time. The displacement corrects the horizontal installation angle of the radar.
  • the processor 530 is further configured to: if the difference between the offset calculated the current time and the offset calculated last time is greater than a first threshold, and the number of calculations of the offset does not reach For the second threshold, perform the next offset calculation.
  • the processor 530 is further configured to: if the difference between the offset calculated the current time and the offset calculated last time is greater than a first threshold, and the number of calculations of the offset reaches the first Two thresholds, it is determined that the calibration has failed.
  • the processor 530 can access the memory 520 and execute the computer-executable instructions to perform the operations in the method for correcting the horizontal installation angle of the radar in the above embodiment of the present invention.
  • the processor 530 can access the memory 520 and execute the computer-executable instructions to perform the operations in the method for correcting the horizontal installation angle of the radar in the above embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a vehicle 600 according to an embodiment of the present application.
  • the vehicle 600 includes:
  • the power system 620 mounted on the vehicle body is used to drive the vehicle to travel;
  • the radar 630 may be the radar 500 shown in FIG. 5, and reference may be made to the aforementioned related description of the radar 500 in FIG. 5, which is not repeated here for brevity.
  • FIG. 7 is a schematic diagram of a vehicle 700 according to an embodiment of the present application.
  • the vehicle 700 includes:
  • the power system 720 mounted on the vehicle body is used to drive the vehicle to travel;
  • a radar 730 mounted on the vehicle body is used to detect obstacles around the vehicle body;
  • the storage device 740 is used to store computer executable instructions; and,
  • the processing device 750 is configured to access the storage device 740 and execute the computer-executable instructions to perform operations in the method for correcting the horizontal installation angle of the radar in the above embodiment of the present invention.
  • FIG. 8 is a schematic block diagram of a device 800 for correcting a horizontal installation angle of a radar according to an embodiment of the present application. As shown in Figure 8, the device 800 for correcting the horizontal installation angle of the radar includes:
  • the acquisition module 810 is used to acquire detection data of longitudinal obstacles detected by the radar when the vehicle is in a straight-moving state
  • the calculation module 820 is configured to calculate the offset of the horizontal installation angle of the radar according to the detection data
  • the correction module 830 is configured to correct the horizontal installation angle of the radar according to the offset.
  • the device 800 for correcting the horizontal installation angle of the radar further includes a determining module 840 configured to determine that the vehicle is in a straight-moving state.
  • the calculation module 820 is further configured to: perform straight line fitting on the detection data; and calculate the offset amount according to the slope of the longitudinal obstacle obtained by the fitting.
  • the detection data includes detection data of multiple segments of longitudinal obstacles
  • the calculation module 820 is further configured to: respectively perform straight line fitting on the detection data of the multiple segments of longitudinal obstacles; The slope of the object, the offset is calculated.
  • the calculation module 820 is further configured to: respectively calculate the corresponding offsets according to the slopes of the multiple segments of longitudinal obstacles obtained by the fitting; use the average value of the offsets corresponding to the slopes of the multiple longitudinal obstacles as the ⁇ Offset.
  • the length of each segment of the plurality of longitudinal obstacles is greater than or equal to a length threshold, and/or the standard deviation obtained by linear fitting the detection data of each segment is less than or equal to the standard deviation threshold.
  • the detection data of the multiple segments of longitudinal obstacles is the detection data obtained by the radar performing N frames of detection, and N is a positive integer.
  • the determining module 840 is further configured to: the driving speed of the vehicle is greater than or equal to a speed threshold, and/or, when the absolute value of the turning radius of the vehicle is greater than or equal to the radius threshold, determining that the vehicle is in a straight state .
  • the correction module 830 is further configured to: if the difference between the offset calculated the current time and the offset calculated last time is less than a first threshold, then according to the offset calculated the current time Correct the horizontal installation angle of the radar.
  • the calculation module 820 may be further configured to: if the difference between the offset calculated the current time and the offset calculated last time is greater than a first threshold, and the number of times the offset calculation has not reached the first Second threshold, then execute the next offset calculation.
  • the calculation module 820 may be further configured to: if the difference between the offset calculated the current time and the offset calculated last time is greater than a first threshold, and the number of calculations of the offset reaches the second Threshold value, it is determined that the correction has failed.
  • the device 800 for correcting the horizontal installation angle of the radar can implement the corresponding operations in the method 100. For the sake of brevity, details are not repeated here.
  • FIG. 9 is a schematic block diagram of a computer processing system 900 according to an embodiment of the present application.
  • the computer system 900 may include a memory 910 and a processor 920.
  • the computer system 900 may also include components normally included in other computer systems, for example, input/output devices, communication interfaces, etc., which are not limited in the embodiment of the present invention.
  • the memory 910 is used to store computer executable instructions.
  • the processor 920 is configured to access the memory 910 and execute the computer-executable instructions to perform the operations in the method for correcting the horizontal installation angle of the radar in the embodiment of the present invention.
  • the radar horizontal installation angle correction device and the computer system of the embodiment of the present invention can correspond to the execution body of the radar horizontal installation angle correction method of the embodiment of the present invention, and the radar horizontal installation angle correction device and the computer system
  • the foregoing and other operations and/or functions are used to implement the corresponding procedures of the foregoing methods, and are not repeated here for brevity.
  • the memory in the embodiments of the present application may be various types of memory, for example, it may include high-speed random access memory (Random Access Memory, RAM), and may also include non-volatile memory (non-volatile memory), such as at least one disk storage. This embodiment of the present invention does not limit this.
  • RAM Random Access Memory
  • non-volatile memory such as at least one disk storage. This embodiment of the present invention does not limit this.
  • the processor and processing device in the embodiments of the present application may include a central processing unit (CPU), a microprocessor, a field programmable gate array (Field-Programmable Gate Array, FPGA), and a graphics processing unit (Graphics Processing Unit). , GPU), digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), etc., which are not limited in the embodiment of the present invention.
  • CPU central processing unit
  • microprocessor a field programmable gate array
  • FPGA Field-Programmable Gate Array
  • FPGA Field-Programmable Gate Array
  • graphics processing unit Graphics Processing Unit
  • GPU digital signal processor
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • the computer program product includes one or more computer instructions.
  • the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, computer, server, or data center.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center integrated with one or more available media.
  • the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a digital video disc (DVD)), or a semiconductor medium (for example, a solid state disk (SSD)), etc.
  • the disclosed system, device, and method may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

提供一种雷达水平安装角度的校正方法、雷达和车辆，能够在车辆行驶过程中实现雷达安装角度的自适应校正。该方法包括：获取雷达在车辆行驶状态下检测到的纵向障碍物的检测数据（110）；根据检测数据，计算雷达的水平安装角度的偏移量（120）；根据偏移量，对雷达的水平安装角度进行校正（130）。

Description

雷达水平安装角度的校正方法、雷达和车辆
版权申明
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露。
技术领域
本申请涉及雷达应用领域，更为具体地，涉及一种雷达水平安装角度的校正方法、雷达和车辆。
背景技术
雷达是自动驾驶系统中的核心传感器，车辆在行驶过程中，由于车身震动、安装结构松动等因素，会使得雷达的安装角度发生变化。而雷达在检测目标时需要通过自身的安装角度将目标位置信息转化到车身坐标系，因此安装角度的变化会导致雷达检测出的目标位置与目标实际位置之间产生偏差，进而会造成报警、制动等功能的误触发或不能触发，甚至导致自动驾驶系统失效而危害到乘客和行人的生命安全。因此，有效的雷达安装角度校正是保证雷达正常工作的不可或缺的部分。通常雷达安装角度校正需要额外的设备，例如激光器、角反等通过专业人员来完成，只能够在静态的情况下进行对雷达的校准。
发明内容
本申请提供一种雷达水平安装角度的校正方法、雷达和车辆，能够在车辆行驶过程中实现雷达安装角度的自适应校正。
第一方面，提供一种雷达水平安装角度的校正方法，包括：获取雷达在车辆行驶状态下检测到的纵向障碍物的检测数据；根据所述检测数据，计算所述雷达的水平安装角度的偏移量；根据所述偏移量，对所述雷达的水平安装角度进行校正。
第二方面，提供一种雷达，包括收发器和处理器。
所述收发器用于：在车辆行驶状态下收发电磁波信号，所述电磁波信号 用于获取纵向障碍物的检测数据；
所述处理器用于：根据所述检测数据，计算所述雷达的水平安装角度的偏移量；根据所述偏移量，对所述雷达的水平安装角度进行校正。
第三方面，提供一种车辆，包括：车身；动力系统，搭载于所述车身，用于驱动所述车辆行驶；以及，第二方面或第二方面的任意可能的实现方式中的雷达。
第四方面，提供一种车辆，包括：车身；动力系统，搭载于所述车身，用于驱动所述车辆行驶；雷达，搭载于所述车身，用于检测所述车身周围的障碍物；存储装置，用于存储计算机程序；处理装置，用于调用并运行所述存储器中存储的计算机程序，以执行上述第一方面的方法中的操作。
第五方面，提供一种计算机系统，包括：计算机系统，包括：存储器，用于存储计算机程序；处理器，用于调用并运行所述存储器中存储的计算机程序，以执行上述第一方面的方法中的操作。
基于上述技术方案，在车辆行驶时，根据雷达检测到的纵向障碍物的检测数据，计算雷达的水平安装角度的偏移量，并根据该偏移量对雷达水平安装角度进行校正。该方法既不依赖于其他外部设备，并且能够在车辆处于正常行驶时完成雷达水平安装角度的自适应校正，大大提高了雷达系统的鲁棒性，能够实现更安全可靠的自动驾驶功能。
附图说明
图1是本申请实施例的雷达安装角度的校正方法的示意性流程图。
图2是图1中的步骤130的一种可能的实现方式的示意性流程图。
图3是本申请实施例的雷达安装角度的校正方法的原理示意图。
图4是本申请实施例的雷达安装角度的校正方法的示意性流程图。
图5是本申请实施例的雷达的示意性框图。
图6是本申请实施例的车辆的示意性框图。
图7是本申请另一实施例的车辆的示意性框图。
图8是本申请实施例的雷达安装角度的校正设备的示意性框图。
图9是本申请实施例的计算机系统的示意性框图。
具体实施方式
车辆在行驶过程中，由于震动等原因可能造成雷达水平安装角度的偏移。通常，在对雷达安装角度进行校正时，需要在静止的状态下采用机械结构以及激光器、角反等特殊工具来实现，且校正过程需要专业人员来完成。
本申请提供了一种雷达水平安装角度的校正方法，该方法能够在车辆正常行驶的情况下完成对雷达水平安装角度的自适应校正。
本申请实施例中所述的雷达包括但不限于毫米波雷达。
图1是本申请实施例的雷达水平安装角度的校正方法的示意性流程图。图1所示的方法例如可以由计算机处理系统执行。该计算机处理系统可以与雷达集成在一起，例如，该计算机处理系统为雷达内部的处理系统。或者，该计算机处理系统也可以与雷达相互分离，各自作为独立的部分，只要保证计算机处理系统与雷达通信连接即可。
图1所示的方法100可以包括以下步骤中的全部或部分。
步骤110，获取雷达在车辆行驶状态下检测到的纵向障碍物的检测数据。
步骤120，根据该检测数据，计算雷达的水平安装角度的偏移量。
步骤130，根据该偏移量，对雷达的水平安装角度进行校正。
其中，该纵向障碍物中的“纵向”指与车辆行驶方向平行的方向，例如，该纵向障碍物可以是道路两侧的护栏、路肩、围栏等。可以理解，“纵向”也可以指与车辆行驶方向近似平行的方向。下文中所称的“平行”，无特指则均指包括平行与近似平行的情况。
当雷达当前的水平安装角度与雷达的标称水平安装角度之间存在偏移量时，雷达检测到的纵向障碍物的位置与纵向障碍物的实际位置之间会存在偏差，因此雷达检测到的纵向障碍物可能不会平行于车辆行驶方向。这时，可以根据雷达检测到的纵向障碍物的检测数据，计算雷达的水平安装角度的偏移量，并根据该偏移量对雷达水平安装角度进行校正。该方法无需使用外部的校正设备，并且可以在车辆处于正常行驶过程中完成雷达水平安装角度的自适应校正，大大提高了雷达系统的鲁棒性，能够实现更安全可靠的自动驾驶功能。
可选地，在步骤110之前，该方法还包括步骤140。
在步骤140中，确定车辆处于直行状态。
当车辆处于直行状态时，该纵向障碍物与该车辆的行驶方向是平行的。这时雷达检测到的纵向障碍物的检测数据是相对准确和稳定的，从而可以准 确地计算出该雷达的水平安装角度的偏移量，并对雷达的水平安装角度进行校正。
例如，可以基于车辆行驶速度、车辆转弯半径的大小等因素确定车辆是否处于直行状态。
例如，当车辆的行驶速度大于或等于速度阈值，和/或，车辆的转弯半径的绝对值大于或等于半径阈值时，确定该车辆处于直行状态。
其中，该速度阈值例如至少为30公里/小时。
该半径阈值例如至少为5000米。
车辆的行驶速度和转弯半径等信息可以由车身上搭载的其他传感器来计算，并将计算结果传递给执行校正方法的该计算机系统。
以下，均以车辆处于直行状态为例对本申请实施例进行描述。
下面结合图2，给出步骤120的一种可能的实现方式。如图2所示，该步骤120可以包括步骤121和步骤122。
步骤121，对雷达的检测数据，进行直线拟合。
步骤122，根据拟合得到的纵向障碍物的斜率，计算雷达水平安装角度的偏移量。
车辆行驶过程中，雷达针对纵向障碍物进行检测得到的检测数据可能是离散的，因此需要对这些离散的检测数据进行直线拟合，以得到纵向障碍物的位置，并通过计算检测到的纵向障碍物的斜率，得到雷达水平安装角度的偏移量。
可选地，本申请实施例中，对雷达的检测数据进行直线拟合得到的纵向障碍物应当满足一定条件，以保证偏移量计算的准确性。
例如，对雷达的检测数据进行直线拟合后得到的纵向障碍物的长度大于或等于长度阈值；和/或，对检测数据拟合后得到的标准差小于或等于标准差阈值。
拟合得到的纵向障碍物的长度大于或等于长度阈值，表明检测数据的数据量是充足的；拟合得到的标准差小于或等于标准差阈值，表明检测数据的稳定性较好。此时，可以认为根据该检测数据拟合得到的纵向障碍物的斜率是可靠，从而可以使用该斜率计算雷达水平安装角度的偏移量。
例如，该长度阈值至少为20米。
例如，该标准差阈值为0.4-0.6。
在相同坐标系下，当雷达的水平安装角度发生偏移时，其检测到的直线障碍物的角度也会发生偏转。也就是说，雷达水平安装角度的偏移量与该直线障碍物的偏转角度相关联。而该直线障碍物的偏转角度可以通过该直线障碍物的斜率来反映，因此可以根据该直线障碍物的斜率，来计算雷达的水平安装角度的偏移量。
例如，假设雷达检测到的该纵向障碍物的斜率为k，那么雷达水平安装角度的偏移量的绝对值可以等于该斜率的反正切值。
下面结合图3对本申请实施例的校正原理进行详细说明。图3中以护栏为例，基于护栏的检测数据计算雷达水平安装角度的偏移量。如图3所示的坐标系，其中O点为坐标原点，也代表雷达接收天线的相位中心；X轴与车辆在直线行驶时的前进方向平行；Y轴与车辆在直线行驶时的前进方向垂直；角度α为雷达的标称水平安装角度；角度β为由于震动等原因造成的雷达水平安装角度的偏移量。
当雷达的水平安装角度为α时，即β＝0时，雷达检测到的护栏为真实护栏，如图3所示的护栏A和护栏B。当雷达的水平安装角度偏移β时，雷达检测到的护栏分别为护栏A’和护栏B’。雷达水平安装角度的偏移会导致其检测的护栏位置发生偏移。根据雷达检测到的护栏A’和护栏B’的斜率，可以计算出雷达水平安装角度的偏移量β。
其中，雷达的水平安装角度，以及护栏A’和护栏B’的斜率，均是相对于相同坐标系而言的。
如图3所示，在车身与护栏平行，且雷达的水平安装角度为α时，根据雷达的检测数据进行直线拟合得到的护栏为护栏A和护栏B。将雷达检测到的护栏A和护栏B的方向作为该坐标系的X轴方向。车辆在直线行驶过程中，当雷达的水平安装角度偏移β时，根据雷达的检测数据进行直线拟合得到的护栏为护栏A’和护栏B’。以护栏B’为例，计算护栏B’在该坐标系中的斜率k，通过旋转变换即可以得到雷达水平安装角度的偏移量β＝-arctan(k)。
在车辆实际行驶过程中，雷达检测纵向障碍物时，可能会受到其他往来车辆等的影响，因此雷达检测到的纵向障碍物不一定是连续的。也就是说，基于雷达的检测数据所拟合出来的并非完整的纵向障碍物，而是纵向上的多段障碍物。
可选地，雷达检测到的纵向障碍物的检测数据中包括多段纵向障碍物的 检测数据。这时，在步骤121中，需要分别对多段纵向障碍物的检测数据进行拟合，并且，在步骤122中，需要根据拟合得到的多段纵向障碍物的斜率，计算雷达水平安装角度的偏移量。
例如，分别对雷达检测到的多段纵向障碍物的检测数据进行拟合，根据拟合得到的多段纵向障碍物的斜率分别计算对应的偏移量，并将多段纵向障碍物的斜率对应的偏移量的平均值，作为雷达水平安装角度的偏移量。
类似地，为了保证这多段纵向障碍物的斜率的可靠性，这多段纵向障碍物均满足一定条件。例如，这多段纵向障碍物中的每一段的长度大于或等于长度阈值；和/或，对每一段的检测数据拟合后得到的标准差小于或等于标准差阈值。
可选地，该多段纵向障碍物的检测数据可以为雷达进行N帧检测得到的检测数据，N为正整数。
当N＝1时，雷达仅进行一帧检测。当N＞1时，雷达需要连续进行多帧检测，其中，雷达在第n帧检测中得到满足上述条件的m n组数据，对这m n组数据进行直线拟合后可以分别得到m n段纵向障碍物，1≤n≤N。
以护栏为例，假设雷达的最大检测帧数为N，其中雷达在第n帧检测中得到的满足条件的护栏数量为m n，1≤n≤N，每帧中第m段护栏的斜率为k m，1≤m≤m n，N和m n为正整数。雷达在N帧检测中获得的护栏总数量为
Figure PCTCN2019078385-appb-000001
根据公式(1)，即可以得到雷达的水平安装角度的偏移量β t。
Figure PCTCN2019078385-appb-000002
这样就完成一次偏移量的计算。
为了提高偏移量计算的准确性，本申请实施例中还可以对该偏移量进行多次计算，并且基于多次计算的结果对雷达的水平安装角度进行校正。
可选地，在步骤130中，若当前次计算的偏移量与上一次计算的偏移量之间的差值小于第一阈值，则根据当前次计算的偏移量对雷达的水平安装角度进行校正。
如果当前次计算的偏移量与上一次计算的偏移量之间的差值较大时，很可能是车辆发生了特殊情况导致车身位置发生严重改变，这时对雷达进行校正是没有意义的。因此，在判断当前次计算的偏移量与上一次计算的偏移量之间的差值小于一个预设的阈值时，根据当前次计算的偏移量对雷达的水平 安装角度进行校正，才是有意义的。
另外，对于当前次计算的偏移量与上一次计算的偏移量之间的差值大于第一阈值的情况，为了避免不断地执行没有意义的偏移量计算，可以设置一个第二阈值，该第二阈值为偏移量的最大计算次数。
可选地，若当前次计算的偏移量与上一次计算的偏移量之间的差值大于第一阈值，且偏移量的计算次数未达到第二阈值，则执行下一次的偏移量计算；和/或，若当前次计算的偏移量与上一次计算的偏移量之间的差值大于第一阈值，且偏移量的计算次数达到第二阈值，则确定校正失败。
为了更加清楚地理解本申请提到的校正方法。下面将结合图4进行详细说明。图4中以护栏检测为例。具体的校正流程可以如下所示。
步骤410，确定车辆处于直行状态时，启动校正流程。
例如，车辆行驶速度大于30公里/小时，且转弯半径的绝对值大于10000米时，认为车辆处于直行状态。
步骤420，计数器记录：t＝t+1，n＝0。
其中，t为偏移量的计算次数，1≤T，T为预设的偏移量的最大计算次数。n为雷达的检测帧数，1≤n≤N，N为预设的雷达的最大检测帧数。
步骤430，计数器记录：n＝n+1。
步骤440，记录有效的检测数据m n组。
例如，根据检测数据拟合得到的护栏长度大于30米，且拟合得到的标准差小于0.5时，将该组检测数据作为有效的检测数据。
步骤450，判断n是否达到最大检测帧数N。
如果n＜N，则执行步骤430。
如果n＝N，则执行步骤460。
步骤460，根据m n组检测数据计算雷达水平安装角度的偏移量β t。
具体地，可以根据m n组检测数据分别计算m n段护栏的护栏斜率，并根据m n段护栏的护栏斜率以及公式(1)计算偏移量β t。
步骤470，判断检测次数t是否小于最大计算次数T，以及该次计算的偏移量β t与上一次计算的偏移量β t-1之间的差值是否大于预设的阈值Δβ。
如果t＜T且|β t-β t-1|＞Δβ，则执行步骤420。
否则，执行步骤480。
步骤480，判断检测次数t是否大于或等于最大计算次数T，以及该次 计算的偏移量β t与上一次计算的偏移量β t-1之间的差值是否大于阈值Δβ。
如果t≥T且|β t-β t-1|＞Δβ，则判定校正失败。
否则，则执行步骤490。
步骤490，根据该次计算的偏移量β t对雷达水平安装角度进行校正。
例如，控制雷达在水平方向上转动-β t。
可以看出，在车辆处于直行状态时，获取雷达多次检测得到的多段护栏的检测数据，根据这些检测数据计算雷达的水平安装角度的偏移量，并通过平均运算以及多次迭代的方式进一步消除雷达水平安装角度的估计误差。从而实现对雷达水平安装角度的有效校正。
图5是根据本申请实施例的雷达500的示意性框图。如图5所示，该雷达500可以包括收发器510、存储器510和处理器530。
收发器510：用于在车辆行驶状态下收发电磁波信号，所述电磁波信号用于获取纵向障碍物的检测数据。
存储器520：用于存储计算机可执行指令。
处理器530用于：根据所述检测数据，计算所述雷达的水平安装角度的偏移量；根据所述偏移量对所述雷达的水平安装角度进行校正。
该雷达可以向纵向障碍物发射电磁波信号，并接收该纵向障碍物返回的电磁波信号，从而根据发送和接收的电磁波信号之间的差异，获取该纵向障碍物的相对位置。该雷达根据检测到的来自纵向障碍物的数据，计算雷达的水平安装角度的偏移量，并根据该偏移量对雷达水平安装角度进行校正。既不依赖于其他外部设备，并且能够在车辆处于正常行驶时完成雷达水平安装角度的自适应校正，大大提高了雷达系统的鲁棒性，能够实现更安全可靠的自动驾驶功能。
该雷达例如可以是毫米波雷达。
该纵向障碍物例如可以车辆两旁的护栏等。
可选地，所述处理器530还用于：确定所述车辆处于直行状态。
可选地，所述处理器530具体用于：对所述检测数据进行直线拟合；根据拟合得到的纵向障碍物的斜率，计算所述偏移量。
例如，假设雷达检测到的该纵向障碍物的斜率为k，那么雷达水平安装角度的偏移量的绝对值可以等于该斜率的反正切值。
可选地，所述纵向障碍物的检测数据包括多段纵向障碍物的检测数据， 所述处理器530具体用于：分别对所述多段纵向障碍物的检测数据进行拟合；根据拟合得到的所述多段纵向障碍物的斜率，计算所述偏移量。
可选地，所述处理器530具体用于：根据拟合得到的多段纵向障碍物的斜率分别计算对应的偏移量；将所述多段纵向障碍物的斜率对应的偏移量的平均值，作为所述偏移量。
可选地，所述多段纵向障碍物中的每一段的长度大于或等于长度阈值，和/或，对每一段的检测数据进行直线拟合得到的标准差小于或等于标准差阈值。
例如，所述长度阈值至少为20米。
又例如，所述标准差阈值为0.4-0.6。
可选地，所述多段纵向障碍物的检测数据为所述雷达进行N帧检测得到的检测数据，N为正整数。
可选地，所述处理器530具体用于：所述车辆的行驶速度大于或等于速度阈值，和/或，所述车辆的转弯半径的绝对值大于或等于半径阈值时，确定所述车辆处于直行状态。
例如，所述速度阈值至少为30公里/小时。
又例如，所述半径阈值至少为5000米。
可选地，所述处理器530具体用于：若当前次计算的所述偏移量与上一次计算的偏移量之间的差值小于第一阈值，则根据当前次计算的所述偏移量对所述雷达的水平安装角度进行校正。
可选地，所述处理器530还用于：若当前次计算的所述偏移量与上一次计算的偏移量之间的差值大于第一阈值，且偏移量的计算次数未达到第二阈值，则执行下一次的偏移量计算。
可选地，所述处理器530还用于：若当前次计算的所述偏移量与上一次计算的偏移量之间的差值大于第一阈值，且偏移量的计算次数达到第二阈值，则确定校正失败。
其中，处理器530可以访问存储器520，并执行所述计算机可执行指令，以进行上述本发明实施例的雷达水平安装角度的校正方法中的操作。雷达500具体可以参考前述针对图1至图4的描述，为了简洁，不再赘述。
图6是根据本申请实施例的车辆600的示意图，该车辆600包括：
车身610；
搭载于所述车身的动力系统620，用于驱动所述车辆行驶；以及，
雷达630。
其中，该雷达630可以为图5中所示的雷达500，可以参考前述针对图5中的雷达500的相关描述，为了简洁，不在赘述。
图7是根据本申请实施例的车辆700的示意图，该车辆700包括：
车身710；
搭载于所述车身的动力系统720，用于驱动所述车辆行驶；
搭载于所述车身的雷达730，用于检测所述车身周围的障碍物；
存储装置740，用于存储计算机可执行指令；以及，
处理装置750，用于访问所述存储装置740，并执行所述计算机可执行指令，以进行上述本发明实施例的雷达水平安装角度的校正方法中的操作。
图8是根据本申请实施例的雷达水平安装角度的校正设备800的示意性框图。如图8所示，该雷达水平安装角度的校正设备800包括：
获取模块810，用于获取雷达在车辆处于直行状态下检测到的纵向障碍物的检测数据；
计算模块820，用于根据所述检测数据，计算所述雷达的水平安装角度的偏移量；
校正模块830，用于根据所述偏移量，对所述雷达的水平安装角度进行校正。
可选地，所述雷达水平安装角度的校正设备800还包括确定模块840，确定模块840用于：确定所述车辆处于直行状态。
可选地，计算模块820进一步用于：对所述检测数据进行直线拟合；根据拟合得到的纵向障碍物的斜率，计算所述偏移量。
可选地，所述检测数据包括多段纵向障碍物的检测数据，其中，计算模块820进一步用于：分别对所述多段纵向障碍物的检测数据进行直线拟合；根据拟合得到的多段纵向障碍物的斜率，计算所述偏移量。
可选地，计算模块820进一步用于：根据拟合得到的多段纵向障碍物的斜率分别计算对应的偏移量；将所述多段纵向障碍物的斜率对应的偏移量的平均值，作为所述偏移量。
可选地，所述多段纵向障碍物中的每一段的长度大于或等于长度阈值，和/或，对每一段的检测数据进行直线拟合得到的标准差小于或等于标准差阈 值。
可选地，所述多段纵向障碍物的检测数据为所述雷达进行N帧检测得到的检测数据，N为正整数。
可选地，确定模块840进一步用于：所述车辆的行驶速度大于或等于速度阈值，和/或，所述车辆的转弯半径的绝对值大于或等于半径阈值时，确定所述车辆处于直行状态。
可选地，校正模块830进一步用于：若当前次计算的所述偏移量与上一次计算的偏移量之间的差值小于第一阈值，则根据当前次计算的所述偏移量对所述雷达的水平安装角度进行校正。
可选地，计算模块820还可以用于：若当前次计算的所述偏移量与上一次计算的偏移量之间的差值大于第一阈值，且偏移量的计算次数未达到第二阈值，则执行下一次的偏移量计算。
可选地，计算模块820还可以用于：若当前次计算的所述偏移量与上一次计算的偏移量之间的差值大于第一阈值，且偏移量的计算次数达到第二阈值，则确定校正失败。
应理解，该雷达水平安装角度的校正设备800可以实现方法100中的相应操作，为了简洁，在此不再赘述。
图9是根据本申请实施例的计算机处理系统900的示意性框图。如图9所示，该计算机系统900可以包括存储器910和处理器920。
应理解，该计算机系统900还可以包括其他计算机系统中通常所包括的部件，例如，输入输出设备、通信接口等，本发明实施例对此并不限定。
存储器910用于存储计算机可执行指令。
处理器920用于访问存储器910，并执行该计算机可执行指令，以进行上述本发明实施例的雷达水平安装角度的校正方法中的操作。
本发明实施例的雷达水平安装角度的校正装置和计算机系统可对应于本发明实施例的雷达水平安装角度的校正方法的执行主体，并且雷达水平安装角度的校正装置和计算机系统中的各个模块的上述和其它操作和/或功能分别为了实现前述各个方法的相应流程，为了简洁，在此不再赘述。
本申请实施例中的存储器可以是各个种类的存储器，例如可以包括高速随机存取存储器(Random Access Memory，RAM)，还可以包括非不稳定的存储器(non-volatile memory)，例如至少一个磁盘存储器，本发明实施例对 此并不限定。
本申请实施例中的处理器和处理装置可以包括中央处理器(Central Processing unit，CPU)、微处理器、现场可编程门阵列(Field-Programmable Gate Array，FPGA)、图形处理器(Graphics Processing Unit，GPU)、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)等，本发明实施例对此并不限定。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其他任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本发明实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如数字视频光盘(digital video disc，DVD))、或者半导体介质(例如固态硬盘(solid state disk，SSD))等。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间 的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (36)

  1. 一种雷达水平安装角度的校正方法，其特征在于，包括：
    获取雷达在车辆行驶状态下检测到的纵向障碍物的检测数据；
    根据所述检测数据，计算所述雷达的水平安装角度的偏移量；
    根据所述偏移量，对所述雷达的水平安装角度进行校正。
  2. 根据权利要求1所述的方法，其特征在于，在所述获取雷达在车辆行驶状态下检测到的纵向障碍物的检测数据之前，所述方法还包括：
    确定所述车辆处于直行状态。
  3. 根据权利要求1或2所述的方法，其特征在于，所述根据所述检测数据，计算所述雷达的水平安装角度的偏移量，包括：
    对所述检测数据进行直线拟合；
    根据拟合得到的纵向障碍物的斜率，计算所述偏移量。
  4. 根据权利要求3所述的方法，其特征在于，所述纵向障碍物的检测数据包括多段纵向障碍物的检测数据，
    所述对所述检测数据进行直线拟合，包括：
    分别对所述多段纵向障碍物的检测数据进行拟合；
    所述根据拟合得到的纵向障碍物的斜率，计算所述偏移量，包括：
    根据拟合得到的所述多段纵向障碍物的斜率，计算所述偏移量。
  5. 根据权利要求4所述的方法，其特征在于，所述根据拟合得到的所述多段纵向障碍物的斜率，计算所述偏移量，包括：
    根据拟合得到的多段纵向障碍物的斜率分别计算对应的偏移量；
    将所述多段纵向障碍物的斜率对应的偏移量的平均值，作为所述偏移量。
  6. 根据权利要求4或5所述的方法，其特征在于，所述多段纵向障碍物中的每一段的长度大于或等于长度阈值，和/或，对每一段的检测数据进行直线拟合得到的标准差小于或等于标准差阈值。
  7. 根据权利要求6所述的方法，其特征在于，所述长度阈值至少为20米。
  8. 根据权利要求6或7所述的方法，其特征在于，所述标准差阈值为0.4-0.6。
  9. 根据权利要求4至8中任一项所述的方法，其特征在于，所述多段纵向障碍物的检测数据为所述雷达进行N帧检测得到的检测数据，N为正整 数。
  10. 根据权利要求2至9中任一项所述的方法，其特征在于，所述确定车辆处于直行状态，包括：
    所述车辆的行驶速度大于或等于速度阈值，和/或，所述车辆的转弯半径的绝对值大于或等于半径阈值时，确定所述车辆处于直行状态。
  11. 根据权利要求10所述的方法，其特征在于，所述速度阈值至少为30公里/小时。
  12. 根据权利要求10或11所述的方法，其特征在于，所述半径阈值至少为5000米。
  13. 根据权利要求1至12中任一项所述的方法，其特征在于，所述根据所述偏移量，对所述雷达的水平安装角度进行校正，包括：
    若当前次计算的所述偏移量与上一次计算的偏移量之间的差值小于第一阈值，则根据当前次计算的所述偏移量对所述雷达的水平安装角度进行校正。
  14. 根据权利要求1至13中任一项所述的方法，其特征在于，所述方法还包括：
    若当前次计算的所述偏移量与上一次计算的偏移量之间的差值大于第一阈值，且偏移量的计算次数未达到第二阈值，则执行下一次的偏移量计算。
  15. 根据权利要求1至14中任一项所述的方法，其特征在于，所述方法还包括：
    若当前次计算的所述偏移量与上一次计算的偏移量之间的差值大于第一阈值，且偏移量的计算次数达到第二阈值，则确定校正失败。
  16. 根据权利要求1至15中任一项所述的方法，其特征在于，所述雷达为毫米波雷达。
  17. 根据权利要求1至16中任一项所述的方法，其特征在于，所述纵向障碍物为护栏。
  18. 一种雷达，其特征在于，包括收发器和处理器，
    所述收发器用于：
    在车辆行驶状态下收发电磁波信号，所述电磁波信号用于获取纵向障碍物的检测数据；
    所述处理器用于：
    根据所述检测数据，计算所述雷达的水平安装角度的偏移量；
    根据所述偏移量，对所述雷达的水平安装角度进行校正。
  19. 根据权利要求18所述的雷达，其特征在于，所述处理器还用于：
    确定所述车辆处于直行状态。
  20. 根据权利要求18或19所述的雷达，其特征在于，所述处理器具体用于：
    对所述检测数据进行直线拟合；
    根据拟合得到的纵向障碍物的斜率，计算所述偏移量。
  21. 根据权利要求20所述的雷达，其特征在于，所述纵向障碍物的检测数据包括多段纵向障碍物的检测数据，
    所述处理器具体用于：
    分别对所述多段纵向障碍物的检测数据进行拟合；
    根据拟合得到的所述多段纵向障碍物的斜率，计算所述偏移量。
  22. 根据权利要求21所述的雷达，其特征在于，所述处理器具体用于：
    根据拟合得到的多段纵向障碍物的斜率分别计算对应的偏移量；
    将所述多段纵向障碍物的斜率对应的偏移量的平均值，作为所述偏移量。
  23. 根据权利要求21或22所述的雷达，其特征在于，所述多段纵向障碍物中的每一段的长度大于或等于长度阈值，和/或，对每一段的检测数据进行直线拟合得到的标准差小于或等于标准差阈值。
  24. 根据权利要求23所述的雷达，其特征在于，所述长度阈值至少为20米。
  25. 根据权利要求23或24所述的雷达，其特征在于，所述标准差阈值为0.4-0.6。
  26. 根据权利要求21至25中任一项所述的雷达，其特征在于，所述多段纵向障碍物的检测数据为所述雷达进行N帧检测得到的检测数据，N为正整数。
  27. 根据权利要求19至26中任一项所述的雷达，其特征在于，所述处理器具体用于：
    所述车辆的行驶速度大于或等于速度阈值，和/或，所述车辆的转弯半径的绝对值大于或等于半径阈值时，确定所述车辆处于直行状态。
  28. 根据权利要求27所述的雷达，其特征在于，所述速度阈值至少为 30公里/小时。
  29. 根据权利要求27或28所述的雷达，其特征在于，所述半径阈值至少为5000米。
  30. 根据权利要求18至29中任一项所述的雷达，其特征在于，所述处理器具体用于：
    若当前次计算的所述偏移量与上一次计算的偏移量之间的差值小于第一阈值，则根据当前次计算的所述偏移量对所述雷达的水平安装角度进行校正。
  31. 根据权利要求18至30中任一项所述的雷达，其特征在于，所述处理器具还用于：
    若当前次计算的所述偏移量与上一次计算的偏移量之间的差值大于第一阈值，且偏移量的计算次数未达到第二阈值，则执行下一次的偏移量计算。
  32. 根据权利要求18至31中任一项所述的雷达，其特征在于，所述处理器还用于：
    若当前次计算的所述偏移量与上一次计算的偏移量之间的差值大于第一阈值，且偏移量的计算次数达到第二阈值，则确定校正失败。
  33. 根据权利要求18至32中任一项所述的雷达，其特征在于，所述雷达为毫米波雷达。
  34. 根据权利要求18至33中任一项所述的雷达，其特征在于，所述纵向障碍物为护栏。
  35. 一种车辆，其特征在于，包括：
    车身；
    动力系统，搭载于所述车身，用于驱动所述车辆行驶；以及，
    根据权利要求18至34中任一项所述的雷达。
  36. 一种车辆，其特征在于，包括：
    车身；
    动力系统，搭载于所述车身，用于驱动所述车辆行驶；
    雷达，搭载于所述车身，用于检测所述车身周围的障碍物；
    存储装置，用于存储计算机可执行指令；以及，
    处理装置，用于访问所述存储装置，并执行所述计算机可执行指令，以进行根据权利要求1至17中任一项所述的方法中的操作。
PCT/CN2019/078385 2019-03-15 2019-03-15 雷达水平安装角度的校正方法、雷达和车辆 Ceased WO2020186409A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980005008.8A CN111226127B (zh) 2019-03-15 2019-03-15 雷达水平安装角度的校正方法、雷达和车辆
PCT/CN2019/078385 WO2020186409A1 (zh) 2019-03-15 2019-03-15 雷达水平安装角度的校正方法、雷达和车辆

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/078385 WO2020186409A1 (zh) 2019-03-15 2019-03-15 雷达水平安装角度的校正方法、雷达和车辆

Publications (1)

Publication Number Publication Date
WO2020186409A1 true WO2020186409A1 (zh) 2020-09-24

Family

ID=70828545

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/078385 Ceased WO2020186409A1 (zh) 2019-03-15 2019-03-15 雷达水平安装角度的校正方法、雷达和车辆

Country Status (2)

Country Link
CN (1) CN111226127B (zh)
WO (1) WO2020186409A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112578355A (zh) * 2020-12-16 2021-03-30 百度在线网络技术（北京）有限公司 雷达标定的方法、装置、设备以及存储介质
CN115236614A (zh) * 2022-06-24 2022-10-25 浙江大华技术股份有限公司 雷达标定方法、设备及计算机可读存储介质
CN119224742A (zh) * 2024-10-18 2024-12-31 江苏涵润汽车电子有限公司 一种激光雷达的校准方法、装置、电子设备及存储介质

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111856418A (zh) * 2020-07-29 2020-10-30 深圳安智杰科技有限公司 车载雷达相位校准方法、装置、电子设备及存储介质
CN114384505B (zh) * 2020-10-19 2024-12-31 富士通株式会社 雷达偏转角的确定方法和装置
CN112526465A (zh) * 2020-11-23 2021-03-19 北京小马慧行科技有限公司 动态标定车载毫米波雷达的方位角度安装偏差的方法
JP7564015B2 (ja) * 2021-02-25 2024-10-08 株式会社Soken 軸ずれ推定装置
CN112782658A (zh) * 2021-03-17 2021-05-11 成都安智杰科技有限公司 一种雷达角度校准方法及装置
CN115390021B (zh) * 2021-05-25 2025-01-28 南京隼眼电子科技有限公司 车载雷达校验方法、装置及存储介质
CN113702929B (zh) * 2021-08-16 2024-07-05 中汽创智科技有限公司 一种车载雷达安装角度校准方法、装置、设备及存储介质
CN113805149A (zh) * 2021-09-09 2021-12-17 四川豪智融科技有限公司 一种车辆雷达自适应角度标定方法
CN114167390B (zh) * 2021-10-29 2025-01-21 岚图汽车科技有限公司 一种车载毫米波雷达动态标定方法及系统
CN114994685B (zh) * 2022-06-06 2025-06-27 合肥保航汽车科技有限公司 一种基于雷达航迹点的动态标定算法、动态标定设备及计算机可读存储介质
CN115436918B (zh) * 2022-08-19 2025-09-23 九识(苏州)智能科技有限公司 一种激光雷达与无人车的水平角度的校正方法和装置
CN115629361B (zh) * 2022-08-29 2026-02-10 深圳市豪恩汽车电子装备股份有限公司 车载毫米波雷达的安装角度校正装置及方法
CN116679290B (zh) * 2023-08-02 2024-04-19 东莞市沃百泰优电子科技有限公司 一种旋转激光雷达旋转中心偏移测试方法、系统及介质
CN120703697A (zh) * 2024-03-19 2025-09-26 深圳引望智能技术有限公司 一种雷达外壳状态的检测方法和装置
WO2026064974A1 (zh) * 2024-09-25 2026-04-02 深圳引望智能技术有限公司 传感器检测方法、装置和车辆
CN121208769B (zh) * 2025-11-26 2026-03-06 北京理工睿行电子科技有限公司 车载毫米波雷达安装误差自校准方法、装置、设备及介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003270327A (ja) * 2002-03-20 2003-09-25 Murata Mfg Co Ltd レーダ、レーダシステム、およびレーダの基準方位設定方法
CN107247268A (zh) * 2017-05-16 2017-10-13 深圳市速腾聚创科技有限公司 多线激光雷达系统及其水平安装角度的校正方法
CN109073748A (zh) * 2016-04-29 2018-12-21 奥托立夫开发公司 对车辆雷达传感器的未对准检测
CN109188379A (zh) * 2018-06-11 2019-01-11 深圳市保途者科技有限公司 驾驶辅助雷达工作角度的自动校准方法
CN109425852A (zh) * 2017-08-21 2019-03-05 比亚迪股份有限公司 汽车及车载雷达的标定方法、装置

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5977906A (en) * 1998-09-24 1999-11-02 Eaton Vorad Technologies, L.L.C. Method and apparatus for calibrating azimuth boresight in a radar system
JP2001174540A (ja) * 1999-12-15 2001-06-29 Fujitsu Ten Ltd 車両用レーダ装置の取付け角度調整方法および取付け角度調整用支援装置
JP4698087B2 (ja) * 2001-08-15 2011-06-08 富士通テン株式会社 レーダの水平方向軸ずれ発生検出装置、軸ずれ量決定装置、および軸ずれ補正装置
DE102013021401A1 (de) * 2013-12-18 2015-06-18 Daimler Ag Verfahren zur Bestimmung einer Einbauorientierung zumindest eines an einem Fahrzeug angeordneten Radarsensors
US20160209211A1 (en) * 2015-01-16 2016-07-21 GM Global Technology Operations LLC Method for determining misalignment of an object sensor
JP6768299B2 (ja) * 2016-01-25 2020-10-14 三菱重工業株式会社 アンテナ設置角度の校正システム、および、アンテナ設置角度の校正方法
CN106291488B (zh) * 2016-08-16 2018-08-03 中国人民解放军防空兵学院 一种雷达标定误差校正方法
CN108909721B (zh) * 2018-04-28 2021-04-23 南通职业大学 一种基于毫米波雷达的车辆偏航角计算方法
CN109188438B (zh) * 2018-09-12 2021-04-06 百度在线网络技术（北京）有限公司 偏航角确定方法、装置、设备和介质
CN109239685A (zh) * 2018-10-19 2019-01-18 芜湖易来达雷达科技有限公司 一种车载毫米波雷达安装位置的标定装置及其标定方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003270327A (ja) * 2002-03-20 2003-09-25 Murata Mfg Co Ltd レーダ、レーダシステム、およびレーダの基準方位設定方法
CN109073748A (zh) * 2016-04-29 2018-12-21 奥托立夫开发公司 对车辆雷达传感器的未对准检测
CN107247268A (zh) * 2017-05-16 2017-10-13 深圳市速腾聚创科技有限公司 多线激光雷达系统及其水平安装角度的校正方法
CN109425852A (zh) * 2017-08-21 2019-03-05 比亚迪股份有限公司 汽车及车载雷达的标定方法、装置
CN109188379A (zh) * 2018-06-11 2019-01-11 深圳市保途者科技有限公司 驾驶辅助雷达工作角度的自动校准方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112578355A (zh) * 2020-12-16 2021-03-30 百度在线网络技术（北京）有限公司 雷达标定的方法、装置、设备以及存储介质
CN115236614A (zh) * 2022-06-24 2022-10-25 浙江大华技术股份有限公司 雷达标定方法、设备及计算机可读存储介质
CN119224742A (zh) * 2024-10-18 2024-12-31 江苏涵润汽车电子有限公司 一种激光雷达的校准方法、装置、电子设备及存储介质

Also Published As

Publication number Publication date
CN111226127A (zh) 2020-06-02
CN111226127B (zh) 2024-07-02

Similar Documents

Publication Publication Date Title
CN111226127B (zh) 雷达水平安装角度的校正方法、雷达和车辆
US9286796B2 (en) Traffic flow measuring apparatus and method, and computer-readable storage medium for judging size of vehicle depending on number of times reflected wave from vehicle is detected within detection time
US8589116B2 (en) Object sensor
CN109738884B (zh) 对象检测方法、装置和计算机设备
US11941989B2 (en) Method for determining collision distance, storage medium and electronic equipment
KR102183224B1 (ko) 차량 레이더 오차 보정 시스템 및 그 방법
KR20160081506A (ko) 차량의 후측방 레이더의 얼라인먼트 보정 시스템 및 그 제어방법
CN112782658A (zh) 一种雷达角度校准方法及装置
CN112689842B (zh) 一种目标检测方法以及装置
CN112946623B (zh) 基于车辆上安装77g毫米波雷达的测速方法和装置
CN114019182B (zh) 零速状态检测方法、装置及电子设备
EP3505863B1 (en) Scanned image correction apparatus, method and mobile scanning device
CN113093145A (zh) 目标检测方法及目标检测装置
US12306020B1 (en) Magnetostrictive displacement sensor calibration method, system, device, and storage medium
CN115755078A (zh) 一种激光雷达的测距方法、激光雷达及存储介质
CN113743228B (zh) 基于多数据融合结果的障碍物存在性检测方法和装置
CN116381633B (zh) 雷达横滚角的自标定方法、装置及存储介质
CN115980677A (zh) 雷达安装角度的自适应标定方法、雷达及存储介质
US12298385B2 (en) Apparatus and method for monitoring surrounding environment of vehicle
CN114205739B (zh) 一种无线定位方法、无线定位装置及计算机可读存储介质
CN115327528B (zh) 目标稳定跟踪方法、装置、雷达及存储介质
CN116299401B (zh) 基于目标散射点位置的恒虚警方法、设备及其存储介质
US12422537B2 (en) Method and apparatus for detecting signal propagation type
CN118818518A (zh) 使用距离传感器检测来估计对象尺寸的方法和系统
US12379463B2 (en) Radar device and control method

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19920201

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19920201

Country of ref document: EP

Kind code of ref document: A1