Vehicle-mounted radar installation angle value measurement method and system

Abstract

The invention discloses a vehicle-mounted radar installation angle value measurement method and system. The doppler speed and the azimuth angle measurement value of each target point in an observationarea are measured and recorded in a vehicle linear driving process; the possible installation angle values of the vehicle-mounted radar on the vehicle are calculated on the basis of the doppler speedand the azimuth angle measurement value of each target point and the running speed of the vehicle at the current moment; and effective installation angle values corresponding to static target pointsare extracted from the possible installation angle values, and an average value is obtained for the effective installation angle values to obtain the installation angle measurement value of the vehicle-mounted radar. According to the method, the distribution requirements of the target points in the observation area are low, the method is suitable for any radar installation angle, the processing instantaneity is high; and an estimated value of an installation angle can be given in each radar data period, the interference of the non-static target can be eliminated through a statistical method, and meanwhile the influence of the target point measurement error is reduced.

Description

technical field [0001] The present invention relates to the technical field of vehicle radar, more specifically, to a method and system for measuring the installation angle value of vehicle radar. Background technique [0002] Vehicle-mounted radar has become an irreplaceable sensor choice in intelligent driving solutions because of its good speed measurement ability for targets and good penetration ability for rain and fog. The installation angle value of the vehicle radar generally refers to the angle between the center of the radar beam and the vehicle axis. After the vehicle radar is installed, it is necessary to calibrate the deviation between the actual installation angle value and the theoretical installation angle value. The installation position of the radar is adjusted or the deviation value is corrected inside the software. Therefore, the accuracy of the vehicle radar calibration determines the measurement accuracy of the target angle. In addition, after the vehi...

AI Technical Summary

Problems solved by technology

[0004] However, for the forward-looking radar whose installation angle value is parallel to the driving direction of the vehicle, it is generally impossible to observe specific stationary objects due to the limitation of the beam width.

In addition, when the Doppler velocity of a stationary object is zero, its angle relative to the pointing angle of the radar beam may be relatively large, and the angle measurement accuracy of the vehicle-mounted radar for a target with a large angle is generally poor, so the azimuth measurement value is used to determine the radar installation There may also be a large error in the angle value

Images