Millimeter wave radar installation position calibration device and method

Abstract

The invention discloses a millimeter wave radar installation position calibration device and method. The device comprises a millimeter wave radar installed on a vehicle, a corner reflector capable ofreflecting millimeter waves, a processor and a calibration site marked with a distance identifier, the millimeter wave radar is located in the calibration site, and the corner reflector is placed in the calibration site through a support and located in the detection range of the millimeter wave radar. According to the method, the recorded real position of a corner reflector and the position of thecorner reflector detected by the corresponding millimeter wave radar are utilized, and calibration parameters of the installation position of the millimeter wave radar are solved for a target function through an LM optimization algorithm based on a g2o graph optimization library. The calibration method is convenient, rapid, easy to operate and relatively good in calibration effect, and has a veryhigh use value in error correction of the millimeter wave radar installation position of the pilotless automobile.

Description

technical field [0001] The invention relates to the field of computer vision, in particular to a device and method for marking the installation position of a millimeter-wave radar. Background technique [0002] With the rapid development of sensor technology and artificial intelligence, driverless car technology has also developed rapidly. Unmanned vehicles mainly include key technologies such as environmental perception, intelligent decision-making and control, among which environmental perception technology is the basic technology of unmanned vehicles. At present, sensors commonly used in environmental perception include cameras, millimeter-wave radars, and lidars. Among them, millimeter-wave radar is a more widely used depth sensor in driverless cars. [0003] Millimeter-wave radars have high requirements on the accuracy of the installation position. If the installation position deviation of the millimeter-wave radar is large, the target position detected by the millime...

AI Technical Summary

Problems solved by technology

[0003] Millimeter-wave radars have high requirements on the accuracy of the installation position. If the installation position deviation of the millimeter-wave radar is large, the target position detected by the millimeter-wave radar will have a large error; in addition, the millimeter-wave radars produced by domestic and foreign millimeter-wave radar manufacturers have A certain angle deviation, and this deviation is difficult to completely eliminate at present

These deficiencies have a great impact on environmental perception in driverless car technology

[0004] CN109239685A discloses a calibration device and a calibration method for the installation position of a vehicle-mounted millimeter-wave radar, which can calibrate the installation position of the millimeter-wave radar, but the calibration method is relatively complicated, and after calibration, it needs to be based on the calculated installation attitude of the millimeter-wave radar The deviation, adjusting the installation position of the millimeter-wave radar, the operation is troublesome

Images