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External parameter calibration method, device, equipment and medium for vehicle-mounted millimeter-wave radar

A technology of millimeter-wave radar and calibration method, which is applied in the field of automatic driving and computer, and can solve the problems of low precision, complicated operation and high cost

Active Publication Date: 2021-09-10
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The existing first type of millimeter-wave radar calibration method is low in accuracy, high in cost and time-consuming, requires at least one worker to operate the equipment, and takes a long time; the second type of millimeter-wave radar calibration method depends on specific scenarios and calibration objects Moreover, the operation is complicated and the calibration takes a long time

Method used

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  • External parameter calibration method, device, equipment and medium for vehicle-mounted millimeter-wave radar
  • External parameter calibration method, device, equipment and medium for vehicle-mounted millimeter-wave radar
  • External parameter calibration method, device, equipment and medium for vehicle-mounted millimeter-wave radar

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Embodiment 1

[0057] figure 1 It is a flowchart of an external parameter calibration method for a vehicle-mounted millimeter-wave radar provided in Embodiment 1 of the present application. This embodiment is applicable to the case of calibrating the external parameters of a vehicle-mounted millimeter-wave radar while the vehicle is running. This method can It is performed by an external parameter calibration device of a vehicle-mounted millimeter-wave radar, which can be implemented by software and / or hardware, and can generally be integrated into a vehicle-mounted device or other terminal devices that communicate with the vehicle-mounted device. The in-vehicle device may be a car machine or a vehicle rearview mirror, and the terminal device may be a mobile phone or a tablet computer.

[0058] Specifically, refer to figure 1 , the method specifically includes the following steps:

[0059] S110. During the driving process of the vehicle, obtain obstacle target point sets respectively colle...

Embodiment 2

[0082] image 3 It is an external parameter calibration method for a vehicle-mounted millimeter-wave radar provided in Embodiment 2 of the present application; this embodiment refines any of the above-mentioned embodiments, and uses multiple external parameter settings corresponding to the external parameters to be calibrated for the vehicle-mounted millimeter-wave radar Values, the calibration basic data are mapped to the set coordinate system, and the external parameter setting values ​​corresponding to the mapping results that meet the calibration conditions are refined as the calibration results of the external parameters to obtain the initial external parameter settings of the vehicle-mounted millimeter-wave radar. value, and map the calibration basic data to the coordinate system according to the initial external parameter setting value;

[0083] According to the pre-established energy equation and the mapping result of the calibration basic data, calculate the energy va...

Embodiment 3

[0109] Figure 4 It is a flow chart of an external parameter calibration method for a vehicle-mounted millimeter-wave radar provided in Embodiment 3 of the present application. This embodiment refines the above-mentioned embodiments. According to the pre-established energy equation and the mapping results of the calibration basic data, Calculate the energy value of the energy equation, and refine it as follows: divide the coordinate system into multiple grids according to the set horizontal and vertical spans; in the mapping results, respectively obtain the paired target points closest to each obstacle target point, where , the obstacle target point and the corresponding paired target point belong to the obstacle target point set at different times; the number of grids spanned between each obstacle target point and the corresponding paired target point is substituted into the energy equation to obtain the energy equation energy value. Specifically, refer to Figure 4 , the m...

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Abstract

The application discloses an external parameter calibration method, device, equipment and medium of a vehicle-mounted millimeter-wave radar, and relates to the technical field of automatic driving. The specific implementation plan is: during the driving process of the vehicle, obtain the obstacle target point sets collected by the vehicle-mounted millimeter-wave radar at least two times respectively, as the calibration basic data; A plurality of external parameter setting values, respectively mapping the calibration basic data to the set coordinate system, and using the external parameter setting values ​​corresponding to the mapping results that meet the calibration conditions as the calibration results of the external parameters; wherein, the external parameters use It is used to describe the coordinate system conversion relationship between the coordinate system of the vehicle-mounted millimeter-wave radar and the coordinate system of the vehicle. The present application realizes the rapid and accurate completion of the external parameter calibration of the vehicle-mounted millimeter-wave radar without introducing any calibration objects and manpower costs.

Description

technical field [0001] The embodiments of the present application relate to the field of computer technology, in particular to the field of automatic driving technology, and in particular to a method, device, device and medium for calibrating external parameters of a vehicle-mounted millimeter-wave radar. Background technique [0002] Millimeter wave radar is a radar that works in the millimeter wave band and is widely used in the fields of automotive electronics and autonomous driving. In order to use the millimeter-wave radar more accurately, it is necessary to calibrate the external parameters of the millimeter-wave radar. [0003] There are usually two types of existing millimeter-wave radar external parameter calibration methods: the first is that the car factory uses four-wheel alignment and laser reflection measuring instruments in the production workshop to adjust the angle of the millimeter-wave radar before the vehicle leaves the factory; One type is to use calibr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S7/40G01S13/931
CPCG01S7/4052G01S13/931G01S7/4082
Inventor 周珣谢远帆王亮
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD