Vehicular radar deflection angle estimation method and device
A vehicle-mounted radar and declination technology, which is applied in the field of vehicle-mounted radars, can solve the problems of increasing the cost of vehicle-mounted radar declination correction, increasing the complexity of the radar system and the difficulty of design, and achieving the effect of reducing costs
Active Publication Date: 2019-12-20
BEIJING JINGWEI HIRAIN TECH CO INC
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Therefore, the estimation method using external calibration equipment or internal auxiliary measurement equipment requires additional calibration equipment, which leads to an increase in the cost of vehicle radar declination correction, and increases the complexity and design difficulty of the radar system.
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[0069] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0070] The embodiment of the present invention discloses a vehicle-mounted radar deflection angle estimation method and device. Based on the initialized vehicle-mounted radar system, the target point cloud information is collected, and the distribution map of the radar point cloud is obtained. According to the characteristics of the preset plane target, the radar point cloud Determine the target point cloud area on the distribution map, establish a correspondin...
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The invention discloses a vehicular radar deflection angle estimation method and device. On the basis of an initialized vehicular radar system, target point cloud information collection is carried outto obtain a radar point cloud distribution graph is obtained; a target point cloud area is determined on the radar point cloud distribution graph according to characteristics of a preset planar target; a corresponding zero value matrix is established for the target point cloud area; the zero value matrix is converted into a binary image; a Hough parameter statistics space is initialized; Hough transform is carried out on the binary image to obtain a fitting straight line; on the basis of the fitting straight line, a first deflection angle between a radar central axis and a y-axis of a groundcoordinate system is determined; and on the basis of the first deflection angle, and a second deflection angle between a vehicle central axis and the y-axis of the ground coordinate system, a radar deflection angle is obtained. According to the method and the device, point cloud information obtained by a vehicular radar through detection of a target is converted into the binary image and the fitting straight line is searched through Hough transformation and through utilization of an expansion algorithm, so the radar deflection angle is estimated through computing of slope of the fitting straight line, and vehicular radar deflection angle correction cost and complexity degree of the radar system are reduced.
Description
technical field [0001] The present invention relates to the technical field of vehicle radar, more specifically, to a method and device for estimating the deflection angle of vehicle radar. Background technique [0002] Automotive radar plays an important role in modern vehicle systems. The on-board radar transmits the measurement information, including: the distance, speed and angle of the target, to ADAS (Advanced Driver Assistant System, Advanced Driver Assistance System), and the ADAS judges the position and moving direction of the target based on the measurement information, and makes a make next decisions. However, during the installation or long-term use of the vehicle-mounted radar, the central axis of the radar may deviate. Therefore, it is necessary to estimate and correct the vehicle-mounted radar deflection angle when the vehicle-mounted radar leaves the factory or returns to the factory. [0003] At present, the existing vehicle radar deflection angle estimati...
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Login to View More IPC IPC(8): G01S7/40
CPCG01S7/40
Inventor 张志豪毛聪刘长江顾翔
Owner BEIJING JINGWEI HIRAIN TECH CO INC