Vehicle-mounted radar calibrating method, device, vehicle-mounted equipment and storage medium

Abstract

The embodiment of the invention relates to a vehicle-mounted radar calibrating method, device, vehicle-mounted equipment and storage medium. The method comprises acquiring multiple first distances, multiple second distances, multiple third distances and vehicle-mounted radar data; based on the multiple first distances, the multiple second distances, the multiple third distances and the vehicle-mounted radar data, determining the mounting position and the detecting errors of a vehicle-mounted radar, wherein the first distances are distances between preset measuring points around a vehicle and the center of the wheels of the vehicle, the second distances are distances between the measuring points and a reflecting mark preset on the vehicle, the third distances are distances between obstaclepositions preset around the vehicle and the reflecting mark, and the vehicle-mounted radar data are data of obstacles in the obstacle positions, which are collected by a vehicle-mounted radar. The vehicle-mounted radar calibrating method achieves calibration of the vehicle-mounted radar through the reflecting mark, angle reflectors, a tripod and a laser range finder, saves large calibrating devices and large field areas and accordingly is applicable to small-scale application scenarios.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of vehicle radar calibration, and in particular to a vehicle radar calibration method, device, vehicle equipment and storage medium. Background technique [0002] With the rapid development of vehicle autonomous driving technology, the requirements for the perception of the surrounding environment of the vehicle are getting higher and higher. The perception sensors mainly used in the current vehicle automatic driving system include: camera and radar. Radar also includes: millimeter wave radar, ultrasonic radar and laser radar. Different sensing sensors have different characteristics and different sensing ranges. For example, millimeter-wave radar has high ranging accuracy and angle measuring accuracy, high detection distance and environmental adaptability, and is widely used in the precise detection and detection of middle-distance obstacles. position. [0003] In actual use, the acc...

AI Technical Summary

Problems solved by technology

[0004] It can be seen that the existing technology has the following technical problems in the calibration of vehicle-mounted radars through large-scale calibration devices: the layout of large-scale calibration devices is complicated, requires a large site area, and has relatively high efficiency only in large-scale calibration

For small-batch application scenarios such as system development, testing, and trial installation, the installation accuracy of millimeter-wave radar is relatively low, and even lacks accurate data on the radar installation location. External calibration of the radar installation location is required, but for small-batch application scenarios, configure large The calibration device and the large area of ​​the calibration site are expensive

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