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Reference-free self-calibration method, device, equipment and medium for millimeter-wave radar

A millimeter-wave radar and self-calibration technology, applied in radio wave measurement systems, instruments, etc., can solve problems such as inapplicability, and achieve the effect of short time consumption and simple calibration method

Active Publication Date: 2021-09-17
TIANJIN SOTEREA AUTOMOTIVE TECH LMITED CO +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method depends on the external reference object and is not suitable for calibration when there is no external reference object

Method used

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  • Reference-free self-calibration method, device, equipment and medium for millimeter-wave radar
  • Reference-free self-calibration method, device, equipment and medium for millimeter-wave radar
  • Reference-free self-calibration method, device, equipment and medium for millimeter-wave radar

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Embodiment Construction

[0036] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. 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.

[0037] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the refe...

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Abstract

The present invention relates to the field of radar calibration, in particular to a self-calibration method, device, equipment and medium for a millimeter-wave radar without a reference object. The method includes: collecting multiple frames of data detected by the target radar during the driving of the vehicle on an actual road, and determining the position of a static reflection point from each frame of data of the multiple frames of data; position, identify the straight line corresponding to each static reflection point; calculate the angle between each straight line and the radar normal, and the probability density of the angle between each straight line; select the angle of the straight line whose probability density meets the requirements as the target radar The bias angle; according to the bias angle, the target radar is self-calibrated. The embodiments of the present invention can realize radar self-calibration without reference objects.

Description

technical field [0001] The present invention relates to the technical field of radar calibration, in particular to a self-calibration method, device, equipment and medium of a millimeter-wave radar without a reference object. Background technique [0002] Millimeter wave radar is a radar that works in the millimeter wave band and has the characteristics of small size, light weight and high spatial resolution. Millimeter-wave radars are commonly installed on target vehicles to detect forward vision. [0003] During the driving process of the vehicle, if there is an accident or long-term bumps and shakes, the millimeter-wave radar may have an installation angle tilt, and the radar needs to be recalibrated. [0004] The calibration of the target to the millimeter-wave radar generally uses fixed-position reference objects, such as corner reflectors and guardrails, to perform self-calibration through the data detected by the radar. This method relies on external reference objec...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S7/40
CPCG01S7/40
Inventor 徐显杰于彬管玲
Owner TIANJIN SOTEREA AUTOMOTIVE TECH LMITED CO