Method, device and system for calibrating millimeter wave radar

A millimeter wave radar and coordinate system technology, applied in radio wave measurement systems, measurement devices, instruments, etc., can solve the problems of low accuracy of distance information, difficult to guarantee accuracy, large data errors, etc., to improve accuracy and ensure calibration accuracy. , the effect of reducing requirements

Active Publication Date: 2020-04-28
SUZHOU ZHIJIA SCI & TECH CO LTD
View PDF20 Cites 21 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The camera of the camera has no distance information. Generally, a binocular camera is used to calculate the depth using parallax. However, the accuracy of the distance information measured by binocular reconstruction is low, especially for long-distance scenes, and the accuracy is difficult to guarantee.
Therefore, adapting the more accurate millimeter-wave radar data to the target data measured by the camera for calibration of the millimeter-wave radar will lead to large errors in the final fused data

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method, device and system for calibrating millimeter wave radar
  • Method, device and system for calibrating millimeter wave radar
  • Method, device and system for calibrating millimeter wave radar

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0058] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below in conjunction with the drawings in one or more embodiments of this specification Obviously, the described embodiments are only some of the embodiments in the description, not all of them. Based on one or more embodiments in the description, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the embodiments of the description.

[0059] The vehicle driving perception system can include various sensors such as millimeter-wave radar, lidar, and camera installed on the vehicle. The processing equipment of the vehicle driving perception system can fuse data from various sensors such as lidar, camera, and millimeter-wave radar. , to achieve accurate percep...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The embodiment of the invention discloses a method, device and system for calibrating a millimeter-wave radar. The method comprises the steps: acquiring laser radar feature point data which are obtained by information collection of a target object through a laser radar when a vehicle where the laser radar is located moves along a preset track; acquiring millimeter-wave radar data that are acquiredby performing information acquisition on the target object by the millimeter-wave radar when the vehicle moves along a preset track; projecting the millimeter-wave radar data into a laser radar coordinate system by using an initial calibration matrix to obtain millimeter-wave radar data under the laser radar coordinate system; and determining a calibration matrix of the millimeter-wave radar according to the laser radar feature point data and millimeter-wave radar data under a laser radar coordinate system so as to calibrate the millimeter-wave radar by using the calibration matrix. Accordingto each embodiment of the specification, accurate fusion of millimeter wave radar data can be realized.

Description

technical field [0001] This specification relates to the technical field of automatic driving, in particular, to a method, device and system for calibrating millimeter-wave radar. Background technique [0002] In the current autonomous driving perception system, it generally relies on the fusion of multiple sensors such as lidar, camera and millimeter wave radar in order to take advantage of different advantages and practice safety redundancy. [0003] At present, the joint calibration of the millimeter-wave radar and the camera is usually used to fuse the data of the millimeter-wave radar. By placing multiple calibration objects in the detection field of view of the camera and the millimeter-wave radar, the relative coordinate position of the calibration object is obtained by simultaneous measurement of the camera and the millimeter-wave radar. Then, match the coordinates to obtain the external parameter matrix, and then realize the fusion of millimeter-wave radar data. ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/40G01C25/00
CPCG01S7/40G01C25/00
Inventor 董国勇龚伟林孙恒
Owner SUZHOU ZHIJIA SCI & TECH CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap