WO2020186409A1 - Procédé de correction d'angle de montage horizontal de radar, radar et véhicule - Google Patents

Procédé de correction d'angle de montage horizontal de radar, radar et véhicule 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
Application number
PCT/CN2019/078385
Other languages
English (en)
Chinese (zh)
Inventor
陈雷
陆新飞
李怡强
Original Assignee
深圳市大疆创新科技有限公司
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 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980005008.8A priority Critical patent/CN111226127B/zh
Priority to PCT/CN2019/078385 priority patent/WO2020186409A1/fr
Publication of WO2020186409A1 publication Critical patent/WO2020186409A1/fr

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

L'invention concerne un procédé de correction d'un angle de montage horizontal d'un radar, un radar et un véhicule, permettant de mettre en œuvre une correction auto-adaptative d'un angle de montage d'un radar dans un processus de déplacement de véhicule. Le procédé consiste : à obtenir des données de détection d'un obstacle longitudinal détecté par un radar dans un état de déplacement de véhicule (110) ; à calculer un décalage d'un angle de montage horizontal du radar en fonction des données de détection (120) ; et à corriger l'angle de montage horizontal du radar en fonction du décalage (130).
PCT/CN2019/078385 2019-03-15 2019-03-15 Procédé de correction d'angle de montage horizontal de radar, radar et véhicule WO2020186409A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980005008.8A CN111226127B (zh) 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 (fr) 2019-03-15 2019-03-15 Procédé de correction d'angle de montage horizontal de radar, radar et véhicule

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/078385 WO2020186409A1 (fr) 2019-03-15 2019-03-15 Procédé de correction d'angle de montage horizontal de radar, radar et véhicule

Publications (1)

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

Family

ID=70828545

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/078385 WO2020186409A1 (fr) 2019-03-15 2019-03-15 Procédé de correction d'angle de montage horizontal de radar, radar et véhicule

Country Status (1)

Country Link
WO (1) WO2020186409A1 (fr)

Cited By (1)

* 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

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

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 (1)

* 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

Also Published As

Publication number Publication date
CN111226127A (zh) 2020-06-02

Similar Documents

Publication Publication Date Title
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
CN109738884B (zh) 对象检测方法、装置和计算机设备
US8217829B2 (en) Apparatus and method for determining axis deviation of radar
KR102183224B1 (ko) 차량 레이더 오차 보정 시스템 및 그 방법
KR20160081506A (ko) 차량의 후측방 레이더의 얼라인먼트 보정 시스템 및 그 제어방법
US20200400814A1 (en) Method of determination of alignment angles of radar sensors for a road vehicle radar auto-alignment controller
US20220180750A1 (en) Method for determining collision distance, storage medium and electronic equipment
EP3505863B1 (fr) Appareil de correction d'image balayée, procédé et dispositif de balayage mobile
WO2020186409A1 (fr) Procédé de correction d'angle de montage horizontal de radar, radar et véhicule
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
CN113625234A (zh) 一种车辆雷达的安装角度校正方法及一种车辆雷达
CN111226127B (zh) 雷达水平安装角度的校正方法、雷达和车辆
JP2021025945A (ja) 物標検出装置
CN114019182B (zh) 零速状态检测方法、装置及电子设备
US20220120853A1 (en) Radar device and control method
EP2159595B1 (fr) Système de suivi de cibles et procédé de suivi d'une cible
JP2008097089A (ja) 自律走行装置とそのプログラムおよび記録媒体
JP2007263882A (ja) 地中探査装置
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
CN116381633B (zh) 雷达横滚角的自标定方法、装置及存储介质
US20220390593A1 (en) Apparatus and method for monitoring surrounding environment of vehicle
CN117288182B (zh) 位置信息获取方法、装置、终端及介质
US20230166736A1 (en) Method and apparatus for tracking road facility based on vehicle motion characteristics
JP3326130B2 (ja) 障害物検出方法

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