Radar installation angle calibration method and device
A technology of installation angle and calibration method, applied in the field of vehicles, can solve problems such as relative position changes, production line calibration value errors, and misjudgments
Active Publication Date: 2021-04-16
BEIQI FOTON MOTOR CO LTD
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However, when the production line is calibrated, due to the error in the position of the vehicle, the calibration value of the production line will also have errors. In addition, factors such as vibration and scratches during the long-term use of the vehicle may also cause changes in the relative position of the radar and the body. , that is, the installation angle of the vehicle radar changes
In this way, during the driving process of the vehicle, if the above-mentioned production line calibration values are still used to calibrate the detection results of the on-board radar, there will inevitably be detection errors, which will lead to misjudgment of the relative orientation of the vehicle and the surrounding vehicles, and the accuracy of the auxiliary driving function will be reduced. Can not guarantee, vehicle safety can not be guaranteed
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[0063] Specific embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.
[0064] figure 1 It is a flow chart of a method for calibrating a radar installation angle according to an exemplary embodiment. Among them, the radar can be a radar installed at any position of the vehicle, for example, the side rear radar of the vehicle (including the left rear radar and the right rear radar), the front side radar of the vehicle (including the left front radar and the right front radar), etc. , and the radar may be a millimeter-wave radar, a laser radar, an ultrasonic radar, or the like. In addition, the radar installation angle calibration may be performed once each time the vehicle is started, or the radar installation angle calibration ...
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The disclosure relates to a radar installation angle calibration method and device. The method includes: obtaining current road information, vehicle speed and vehicle driving state information; judging whether the calibration condition is satisfied according to the current road information, vehicle speed and vehicle driving state information; The first detection result of a stationary target; according to the first detection result, determine whether to correct the current calibration angle of the radar; if it is determined to correct the current calibration angle, then obtain the radar's M second stationary targets in the current road environment The second detection result; according to the second detection result, the current calibration angle is corrected. Therefore, once the current driving condition of the vehicle satisfies the calibration conditions, the radar will be calibrated, thereby ensuring the accuracy of the calibration angle of the radar throughout the life cycle, ensuring normal driving assistance functions and vehicle driving safety.
Description
technical field [0001] The present disclosure relates to the field of vehicles, in particular, to a method and device for calibrating a radar installation angle. Background technique [0002] Radar is a device that senses the distance, orientation, and speed of an object by transmitting a signal to an object and receiving a signal reflected by the object, and is used in various fields that require object sensing. In particular, in the field of vehicles, radar devices are installed on vehicles to detect the distance, orientation and speed of other vehicles or obstacles around the vehicle, so as to realize safe driving of the vehicle according to the detection results. [0003] However, due to different models, differences in the structure of the mounting bracket, and human factors, there is a certain deviation between the actual installation angle of the radar and the preset installation angle. Misjudgment of the relative position means that the auxiliary driving function is...
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IPC IPC(8): G01S7/40
CPCG01S7/40
Inventor 武锡斌邵华
Owner BEIQI FOTON MOTOR CO LTD