Method and device for determining radar deflection angle

Abstract

An embodiment of the present application provides a method and device for determining a radar deflection angle, wherein the determination method includes: measuring a first deflection angle between a straight lane and a longitudinal axis of a first coordinate system; a plane formed by the longitudinal axis and the transverse axis of the first coordinate system is parallel to a plane formed by the longitudinal axis and the transverse axis of an electronic map coordinate system, and the origin of the first coordinate system coincides with the origin of the radar coordinate system; acquiring radar data, the radar data including radar coordinates of a target detected by the radar; selecting radar data of a motion trajectory of the target within the range of at least one straight lane from the radar data; estimating a trajectory line according to the selected radar data, and determining a second deflection angle between the trajectory line and the longitudinal axis of the radar coordinate system; and determining the radar deflection angle according to the first deflection angle and the second deflection angle.

Description

Technical Field

[0001] The present application relates to the field of information processing technology. Background Art

[0002] In recent years, with the development of semiconductor technology, miniaturized, low-power, and low-cost microwave radars have begun to be mass-produced and put on the market, and are applied to many fields such as smart industry, smart buildings, smart security, smart health, and smart transportation. Among them, in the field of intelligent transportation, microwave radars are mainly used to detect targets around vehicles, and collaborate with sensors such as cameras and lidar to achieve automatic driving of vehicles. In the intelligent transportation system based on vehicle-road collaboration, the microwave radar deployed on the roadside senses and the edge computing unit (ECU) processes the position, speed, trajectory and other information of the detected target, and integrates the information sensed and processed by other types of sensors such as cameras to generate a high-precision electronic map.

[0003] The coordinates of each target in the electronic map coordinate system reflect the position of the target (object) in the real world. In the radar coordinate system, the position of the radar is the origin of the radar coordinate system. Since the information sensed by the radar must eventually be marked as geographic location information on a high-precision electronic map, it can be provided to nearby traffic participants. The result of radar detection is the detection value of the target in the radar coordinate system. Therefore, it is necessary to convert the radar perception information from the radar coordinate system to the electronic map coordinate system.

[0004] It should be noted that the above introduction to the technical background is only for the convenience of providing a clear and complete description of the technical solutions of the present application and for the convenience of understanding by those skilled in the art. It cannot be considered that the above technical solutions are well known to those skilled in the art simply because they are described in the background technology section of the present application. Summary of the invention

[0005] The inventors have found that roadside radars are usually installed on high crossbars on the roadside. In actual deployment, due to construction difficulty or cost considerations, the radar usually has a deflection angle (α) during installation. Figure 1 is a schematic diagram of the deflection angle, such as Figure 1 As shown, the radar antenna normal plane (i.e. radar coordinate system Y r The angle between the Y axis of the electronic map coordinate system and the Y axis of the radar is the radar deflection angle α. If the radar deflection angle is not considered during coordinate conversion, the coordinate conversion will be inaccurate.

[0006] In the existing method, the radar deflection angle can be determined based on the radar data, but the inventors found that in real scenarios, the Y-axis of the electronic map coordinate system is not necessarily parallel to the lane. Therefore, if only the radar data is considered to determine the deflection angle, it will lead to inaccurate estimation of the deflection angle, and thus the target coordinates measured by the radar in the radar coordinate system cannot be accurately converted to the electronic map coordinate system.

[0007] In response to at least one of the above problems, an embodiment of the present application provides a method and device for determining a radar deflection angle.

[0008] According to one aspect of an embodiment of the present application, a method for determining a radar deflection angle is provided, wherein the method comprises:

[0009] measuring a first deflection angle between the straight lane and the longitudinal axis of a first coordinate system; the longitudinal axis of the first coordinate system is parallel to the first axis of the electronic map coordinate system, the transverse axis of the first coordinate system is parallel to the second axis of the electronic map coordinate system, and the origin of the first coordinate system coincides with the origin of the radar coordinate system;

[0010] Acquiring radar data, the radar data including radar coordinates of a target detected by the radar;

[0011] Selecting radar data in which the movement trajectory of the target is within at least one straight lane from the radar data;

[0012] Estimating a trajectory line according to the selected radar data, and determining a second deflection angle between the trajectory line and the longitudinal axis of the radar coordinate system;

[0013] The radar deflection angle is determined according to the first deflection angle and the second deflection angle.

[0014] According to another aspect of an embodiment of the present application, a device for determining a radar deflection angle is provided, wherein the device includes:

[0015] a measuring unit, which is used to measure a first deflection angle between the straight lane and the longitudinal axis of a first coordinate system; the longitudinal axis of the first coordinate system is parallel to the first axis of the electronic map coordinate system, the transverse axis of the first coordinate system is parallel to the second axis of the electronic map coordinate system, and the origin of the first coordinate system coincides with the origin of the radar coordinate system;

[0016] an acquisition unit, which is used to acquire radar data, wherein the radar data includes radar coordinates of a target detected by the radar;

[0017] A filtering unit, which is used to select radar data of a target whose motion trajectory is within at least one straight lane from the radar data;

[0018] A first determining unit, which is used to estimate a trajectory line according to the selected radar data, and determine a second deflection angle between the trajectory line and the longitudinal axis of the radar coordinate system;

[0019] A second determining unit is configured to determine the radar deflection angle according to the first deflection angle and the second deflection angle.

[0020] One of the beneficial effects of the embodiment of the present application is that: according to the embodiment of the present application, the influence of the road deflection angle is taken into account when determining the radar deflection angle, so that the radar deflection angle can be accurately estimated to effectively convert the radar coordinates into electronic map coordinates.

[0021] With reference to the following description and accompanying drawings, the specific embodiments of the present application are disclosed in detail, indicating the way in which the principles of the present application can be adopted. It should be understood that the embodiments of the present application are not limited in scope. Within the scope of the spirit and clauses of the appended claims, the embodiments of the present application include many changes, modifications and equivalents.

[0022] Features described and / or illustrated with respect to one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments.

[0023] It should be emphasized that the term “include / comprises” when used herein refers to the presence of features, integers, steps or components, but does not exclude the presence or addition of one or more other features, integers, steps or components. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The elements and features described in one figure or one implementation of the present application embodiment may be combined with the elements and features shown in one or more other figures or implementations. In addition, in the accompanying drawings, similar reference numerals represent corresponding parts in several figures and can be used to indicate corresponding parts used in more than one implementation.

[0025] The included drawings are used to provide a further understanding of the embodiments of the present application, which constitute a part of the specification, are used to illustrate the implementation methods of the present application, and together with the text description, explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0026] Figure 1 is a schematic diagram of the radar deflection angle;

[0027] Figure 2 is a schematic diagram of a method for determining a radar deflection angle according to an embodiment of the present application;

[0028] Figure 3 is a schematic diagram of operation 205 of an embodiment of the present application;

[0029] Figure 4A , Figure 4B , Figure 4C , Figure 4D Schematic diagram of the relationship between the radar deflection angle and the first deflection angle and the second deflection angle;

[0030] Figure 5 is a schematic diagram of a coordinate conversion method according to an embodiment of the present application;

[0031] Fig. 6A and Figure 6B is a schematic diagram of an electronic map generated by coordinate conversion in an embodiment of the present application;

[0032] Figure 7 is a schematic diagram of a device for determining a radar deflection angle according to an embodiment of the present application;

[0033] Figure 8 is a schematic diagram of the second determining unit 705 in an embodiment of the present application;

[0034] Fig. 9 is a schematic diagram of a device for determining a radar deflection angle according to an embodiment of the present application;

[0035] Fig.10 is a schematic diagram of the conversion unit 907 of an embodiment of the present application;

[0036] Fig.11 is a schematic diagram of a data processing device according to an embodiment of the present application;

[0037] FIG. 12A to FIG. 12H is a schematic diagram of the relationship between the road deflection angles of the first coordinate system and the electronic map coordinate system of the embodiment of the present application;

[0038] Fig.13 It is a schematic diagram of four correspondences between the first coordinate system and the electronic map coordinate system in an embodiment of the present application. DETAILED DESCRIPTION

[0039] With reference to the accompanying drawings, the above and other features of the present application will become apparent through the following description. In the description and the accompanying drawings, specific embodiments of the present application are specifically disclosed, which show some embodiments in which the principles of the present application can be adopted. It should be understood that the present application is not limited to the described embodiments. On the contrary, the present application includes all modifications, variations and equivalents falling within the scope of the attached claims.

[0040] In the embodiments of the present application, the terms "first", "second", etc. are used to distinguish different elements in terms of title, but do not indicate the spatial arrangement or temporal order of these elements, etc., and these elements should not be limited by these terms. The term "and / or" includes any one and all combinations of one or more of the associated listed terms. The terms "comprising", "including", "having", etc. refer to the presence of the stated features, elements, components or components, but do not exclude the presence or addition of one or more other features, elements, components or components.

[0041] In the embodiments of the present application, the singular forms "a", "the", etc. include plural forms and should be broadly understood as "a kind" or "a type" rather than being limited to the meaning of "one"; in addition, the term "said" should be understood to include both singular and plural forms, unless the context clearly indicates otherwise. In addition, the term "according to" should be understood as "at least in part according to...", and the term "based on" should be understood as "at least in part based on...", unless the context clearly indicates otherwise.

[0042] In the embodiment of the present application, Figure 1 In the example, taking the horizontal axis and vertical axis of the electronic map coordinate system corresponding to the east-west direction and the north-south direction respectively, the installation direction of the radar is relative to the electronic map coordinate system. The present application is not limited to this, and vice versa is also possible. In addition, the horizontal axis and vertical axis of the electronic map coordinate system may also have an angle offset relative to the east-west direction and the north-south direction. In this case, the installation direction of the radar is also offset by a corresponding angle. For example, if the horizontal axis of the electronic map coordinate system is offset by 45 degrees relative to the east-west direction, then the radar coordinate system in an ideal situation also has a 45-degree offset, and the radar deflection angle is the angle relative to the 45-degree offset.

[0043] In addition, since the radar is usually installed at a certain height relative to the ground, the origin of the radar coordinate system and the origin of the electronic map coordinate system do not coincide. For the convenience of description, the embodiment of the present application uses a first coordinate system instead of an electronic map coordinate system for description. The longitudinal axis of the first coordinate system is parallel to the first axis of the electronic map coordinate system, and the horizontal axis of the first coordinate system is parallel to the second axis of the electronic map coordinate system. For example, the first axis is the longitudinal axis and the second axis is the horizontal axis, or the first axis is the horizontal axis and the second axis is the longitudinal axis, but the origin of the first coordinate system coincides with the origin of the radar coordinate system.

[0044] Various implementations of the embodiments of the present application are described below in conjunction with the accompanying drawings. These implementations are only exemplary and are not intended to limit the embodiments of the present application.

[0045] Embodiments of the first aspect

[0046] The present application embodiment provides a method for determining a radar deflection angle. Figure 2This is a schematic diagram of a method for determining the radar deflection angle of an embodiment of the present application. Please refer to Figure 2 , the method comprising:

[0047] 201, measuring a first deflection angle between a straight lane and a longitudinal axis of a first coordinate system; the longitudinal axis of the first coordinate system is parallel to a first axis of an electronic map coordinate system, the transverse axis of the first coordinate system is parallel to a second axis of the electronic map coordinate system, and the origin of the first coordinate system coincides with the origin of the radar coordinate system;

[0048] 202, acquiring radar data, where the radar data includes radar coordinates of a target detected by the radar;

[0049] 203, selecting radar data in which the movement trajectory of the target is within at least one straight lane from the radar data;

[0050] 204, estimating a trajectory line according to the selected radar data, and determining a second deflection angle between the trajectory line and the longitudinal axis of the radar coordinate system;

[0051] 205. Determine the radar deflection angle according to the first deflection angle and the second deflection angle.

[0052] Therefore, according to the embodiment of the present application, the influence of the road deflection angle is taken into account when determining the radar deflection angle, so that the radar deflection angle can be accurately estimated to effectively convert the radar coordinates into the electronic map coordinate system.

[0053] In some embodiments, in 201, the angle γ' between the straight lane and the first axis of the electronic map coordinate system can be measured in the electronic map by surveying, and the angle γ between the straight lane and the vertical axis of the first coordinate system and the horizontal and vertical axes of the electronic map coordinate system can be determined according to the angle γ' and the correspondence between the horizontal and vertical axes of the first coordinate system and the horizontal and vertical axes of the electronic map coordinate system, and the angle γ is used as the first deflection angle FIG. 12A to FIG. 12H is a schematic diagram of the relationship between γ' and γ, where (x, y) is the first coordinate system and (x', y') is the electronic map coordinate system. Figures 12A to 12D As shown, when the horizontal axis of the electronic map coordinate system is parallel to the horizontal axis of the first coordinate system, and the vertical axis of the electronic map coordinate system is parallel to the vertical axis of the first coordinate system, regardless of whether the positive and negative directions of the parallel axes of the two coordinate systems are consistent, γ = γ', such as Figures 12E to 12H As shown, when the horizontal axis of the electronic map coordinate system is parallel to the vertical axis of the first coordinate system, and the vertical axis of the electronic map coordinate system is parallel to the horizontal axis of the first coordinate system, regardless of whether the positive and negative directions of the parallel axes of the two coordinate systems are consistent, γ = ±(90°-|γ'|), but the signs of γ and γ' are opposite.

[0054] In some embodiments, the angle γ is an angle greater than -90° and less than or equal to 90°, and the positive or negative (sign) of the angle can be determined according to the first orientation of the straight lane in the first coordinate system. For example, when the first orientation of the straight lane in the first coordinate system is the direction of the longitudinal axis of the first coordinate system rotated clockwise by |γ|, the first deflection angle is determined to be a positive angle; when the first orientation of the straight lane in the first coordinate system is the direction of the longitudinal axis of the first coordinate system rotated counterclockwise by |γ|, the first deflection angle is determined to be a negative angle, and vice versa. The embodiments of the present application are not limited to this.

[0055] In some embodiments, in 202-204, the second deflection angle may be determined based on radar data, where the radar data includes coordinates of a target detected by the radar in a radar coordinate system, and the radar data also includes other information such as a speed of the target detected by the radar.

[0056] In some embodiments, the trajectory of the same target vehicle traveling along the straight lane can be obtained by radar tracking. The trajectory of the target vehicle turning at the intersection can be filtered out, the trajectories of other vehicles can be filtered out, and the background objects can be filtered out, that is, the radar data of the target's motion trajectory within the range of at least one straight lane can be determined from the radar data. The implementation method of the radar tracking can refer to the existing related technology and will not be repeated here.

[0057] In some embodiments, after the radar is installed, the lane where the radar is installed is the nth lane, the lanes on its left are the n-1, n-2, …1th lanes, and the lanes on its right are the n+1, n+2, …, n+mth lanes, where n and m are integers greater than or equal to 1. In some embodiments, the radar can detect the motion trajectory of vehicles in a lane (for example, the nth lane), fit the trajectory data, and obtain the trajectory line of the lane; or, the radar can detect the motion trajectory of vehicles in each lane of at least two lanes (for example, m lanes), fit the trajectory data by lane, and obtain the trajectory lines of each lane respectively. The embodiments of the present application are not limited to this.

[0058] In some embodiments, the trajectory line TL is estimated based on the selected radar data. The present application does not limit the method for estimating the trajectory line TL based on the radar data. For example, for the radar data RD, firstly perform a correlation analysis of u and v, where u and v are the horizontal and vertical coordinates of the target in the radar coordinate system, respectively. If there is a correlation between u and v, then set the trajectory line function to v i =a i +b i u i(i represents the trajectory in the i-th lane), and the least squares method is used to estimate the trajectory line TL, or the RANSAC (RANdom SAmple Consensus) method is used to estimate the trajectory line TL, or other methods are used to estimate the trajectory line TL. For the principles of the least squares method and the RANSAC method, please refer to the relevant technology, which will not be repeated here.

[0059] In the embodiment of the present application, the Spearman method or the Pearson method or other methods can be used for correlation analysis. Regarding the principle of the Spearman method or the Pearson method, reference can be made to the relevant technology, which will not be repeated here.

[0060] In some embodiments, a second deflection angle between the trajectory line and the longitudinal axis of the radar coordinate system is determined, for example, a second deflection angle between the trajectory line of a single lane and the longitudinal axis of the radar coordinate system is determined, or a second deflection angle between the trajectory line of each lane and the longitudinal axis of the radar coordinate system is determined respectively; the second deflection angle β can be determined according to the trajectory line function i =arctan(1 / b i ), from which the second deflection angle β between the target motion trajectory fitting line in each lane i and the longitudinal axis of the radar coordinate system can be obtained i .

[0061] In some embodiments, the second deflection angle β i If the positive or negative angle is positive, it means that the second direction of the trajectory line in the radar coordinate system is the direction after the longitudinal axis of the radar coordinate system rotates clockwise by |β|. The second deflection angle β i If it is a negative angle, it means that the second direction of the trajectory line in the radar coordinate system is the direction after the longitudinal axis of the radar coordinate system is rotated counterclockwise by |β|, and the embodiment of the present application is not limited to this.

[0062] In some embodiments, in 205 , the radar deflection angle may be determined according to the first deflection angle and the second deflection angle.

[0063] Figure 3 is a schematic diagram of the implementation method of operation 205, such as Figure 3 As shown, operation 205 includes:

[0064] 301, determining a magnitude of the radar deflection angle according to a sum of absolute values ​​or a difference between absolute values ​​of the second deflection angle and the first deflection angle;

[0065] 302 , determining a deflection direction of the radar deflection angle according to a first orientation of the through lane in the first coordinate system and a second orientation of the trajectory in the radar coordinate system.

[0066] In some embodiments, the relationship between the magnitude of the radar deflection angle and the first deflection angle and the second deflection angle includes: the magnitude of the radar deflection angle is equal to the sum of the absolute values ​​of the second deflection angle and the first deflection angle |α|=|β|+|γ|, or the magnitude of the radar deflection angle is equal to the difference between the absolute values ​​of the second deflection angle and the first deflection angle |α|=|β|-|γ|, and whether it is the sum or the difference can be determined according to the first orientation and the second orientation. FIG. 4A to FIG. 4D It is a schematic diagram of the relationship between the radar deflection angle and the first deflection angle and the second deflection angle. <X r ,Y r > is the horizontal and vertical axis of the radar coordinate system,<X,Y> is the horizontal and vertical axis of the first coordinate system, such as Figure 4A and 4D As shown, when the first deflection angle and the second deflection angle have the same sign, that is, the first orientation and the second orientation are both in the clockwise direction or counterclockwise direction of the longitudinal axis of the first coordinate system and the longitudinal axis of the radar coordinate system, the magnitude of the radar deflection angle is equal to the difference between the absolute values ​​of the second deflection angle and the first deflection angle, as shown in FIG. Figure 4B and 4C As shown, when the signs of the first deflection angle and the second deflection angle are different, that is, the first direction is in the clockwise direction of the longitudinal axis of the first coordinate system, and the second direction is in the counterclockwise direction of the longitudinal axis of the radar coordinate system, or the first direction is in the counterclockwise direction of the longitudinal axis of the first coordinate system, and the second direction is in the clockwise direction of the longitudinal axis of the radar coordinate system, the magnitude of the radar deflection angle is equal to the sum of the absolute values ​​of the second deflection angle and the first deflection angle.

[0067] In some embodiments, the deflection direction of the radar deflection angle, that is, the sign of the radar deflection angle, can also be determined according to the first orientation and the second orientation, such as Figure 4A and 4C As shown, the longitudinal axis of the radar coordinate system is on the counterclockwise side of the longitudinal axis of the first coordinate system, and the radar deflection angle is negative, that is, the radar deflects counterclockwise toward the longitudinal axis of the electronic map coordinate system, as shown in FIG. Figure 4B and 4D As shown, the longitudinal axis of the radar coordinate system is on the clockwise side of the longitudinal axis of the first coordinate system, and the radar deflection angle is positive, that is, the radar is deflected in the clockwise direction of the longitudinal axis of the electronic map coordinate system.

[0068] In some embodiments, when the radar detects the motion trajectory of the vehicle in each lane of at least two lanes (e.g., m lanes) in 203, the radar deflection angle corresponding to each lane can be determined by lane in 205, that is, according to the first deflection angle and the second deflection angle β corresponding to each lane i Determine the radar deflection angle α corresponding to each lane i , the radar deflection angle α corresponding to each lane i The method for determining is the same as that of 301-302 above, and will not be repeated here.

[0069] In some embodiments, the method may further include (not shown): according to the radar deflection angle, converting the coordinates of the target detected by the radar in the radar coordinate system into coordinates in the first coordinate system.

[0070] In some embodiments, the radar deflection angle variance of the radar deflection angle corresponding to each lane can be determined, and the size of the variance can be used to distinguish whether coordinate transformation is required for each lane. For example, when the size of the variance is less than a threshold, it means that the radar deflection angles corresponding to each lane are relatively close. Therefore, when performing coordinate transformation, the influence of different lanes can be ignored, that is, there is no need to perform coordinate transformation for each lane. Conversely, when the size of the variance is greater than or equal to the threshold, it means that the radar deflection angles corresponding to each lane are different. Therefore, when performing coordinate transformation, the influence of different lanes needs to be considered, that is, coordinate transformation needs to be performed for each lane. The threshold can be determined based on actual conditions, and this embodiment is not limited to this.

[0071] In some embodiments, when coordinate conversion is performed for lanes, the coordinates of the target in each lane detected by the radar in the radar coordinate system are converted into temporary coordinates in the first coordinate system according to the radar deflection angle corresponding to each lane, see formula (2); when coordinate conversion is performed without dividing by lanes, the coordinates of the target in the radar coordinate system detected by the radar are converted into coordinates in the first coordinate system according to the average radar deflection angle of the radar deflection angles corresponding to each lane, see formula (1).

[0072] x=x r cos(α m )+y r sin(α m ) y=y r cos(α m )-x r sin(α m ) Formula (1)

[0073] xL=x r cos(α i )+y r sin(α i ) yL=y r cos(α i )-x r sin(α i ) Formula (2)

[0074] Among them, (x r ,y r ) is the coordinate of the target in the radar coordinate system, (x, y) is the coordinate of the target in the first coordinate system, α m is the average radar deflection angle, which is equal to α i is the radar deflection angle corresponding to each lane i, and (xL, yL) is the temporary coordinate of the target in the first coordinate system.

[0075] In some embodiments, the horizontal axis coordinate of the temporary coordinate can be compensated to obtain the horizontal axis coordinate of the target in the first coordinate system, and the vertical axis coordinate of the target in the first coordinate system can be determined according to the distance d from the radar to the target measured by the radar and the horizontal axis coordinate, see formula (3).

[0076]

[0077] In some embodiments, the compensation x offset It includes lane translation compensation and deflection angle rotation compensation. The lane translation compensation takes into account the distance between the lane where the target is located (the i-th lane) and the lane where the radar is located (the n-th lane), which can be expressed as Where w is the lane width, that is, if the target is also in the lane where the radar is located, there is no need to introduce this compensation; the deflection angle rotation compensation takes into account the radar rotation angle α corresponding to the lane where the target is located (the i-th lane) i The resulting compensation of the intercept of the target trajectory line on the horizontal axis of the first coordinate system can be expressed as a i sin(α i ), the accuracy of the electronic map can be further improved through the above compensation.

[0078] Figure 5 is a schematic diagram of the coordinate conversion method of the embodiment of the present application, such as Figure 5 As shown, the method includes:

[0079] 501, determining a radar deflection angle variance of a radar deflection angle corresponding to each lane;

[0080] 502, determine whether the variance is greater than or equal to a threshold; if the determination result is yes, execute 505-506, otherwise execute 503-504;

[0081] 503, determining an average radar deflection angle of radar deflection angles corresponding to each lane;

[0082] 504, according to the average radar deflection angle, convert the coordinates of the target detected by the radar in the radar coordinate system into coordinates in the first coordinate system, for example, formula (1);

[0083] 505, converting the coordinates of the targets in the lanes detected by the radar in the radar coordinate system into temporary coordinates in the first coordinate system according to the radar deflection angles corresponding to the lanes, for example, formula (2);

[0084] 506, after compensating the horizontal axis coordinate of the temporary coordinate, the horizontal axis coordinate of the target in the first coordinate system is obtained, and the vertical axis coordinate of the target in the first coordinate system is determined according to the distance from the radar to the target measured by the radar and the horizontal axis coordinate, such as formula (3).

[0085] In some embodiments, the coordinates of the target in the first coordinate system can be converted to the coordinates in the electronic map coordinate system by translation to generate an electronic map. Since the horizontal and vertical axes of the first coordinate system and the electronic map coordinate system have the same or different orientations, the translation method is also different. Fig.13 A schematic diagram showing the correspondence between four electronic map coordinate systems and the first coordinate system is shown, corresponding to radars 1, 2, 3, and 4 respectively.

[0086] For example, if the horizontal axis u of the first coordinate system is parallel to the x-axis of the electronic map coordinate system and has the same direction as the x-axis of the electronic map coordinate system; the vertical axis v of the first coordinate system is parallel to the y-axis of the electronic map coordinate system and has the same direction as the y-axis of the electronic map coordinate system, Fig.13 For radar 1 shown in the figure, the coordinate transformation formula can be expressed as:

[0087]

[0088] Among them, (x1, y1) is the coordinate of the origin of the first coordinate system uv in the electronic map coordinate system, and (u″, v″) is the coordinate of the target in the first coordinate system.

[0089] For another example, if the horizontal axis k of the first coordinate system is parallel to the y axis of the world coordinate system and has the same direction as the y axis of the electronic map coordinate system; the vertical axis j of the first coordinate system is parallel to the x axis of the world coordinate system and has the opposite direction to the x axis of the electronic map coordinate system, such as Fig.13 For radar 2 shown in the figure, the coordinate transformation formula can be expressed as:

[0090]

[0091] Among them, (x2, y2) is the coordinate of the origin of the first coordinate system kj in the electronic map coordinate system, and (j″, k″) is the coordinate of the target in the first coordinate system.

[0092] For another example, if the horizontal axis m of the first coordinate system is parallel to the x-axis of the world coordinate system and in the opposite direction to the x-axis of the electronic map coordinate system; the vertical axis n of the first coordinate system is parallel to the y-axis of the world coordinate system and in the opposite direction to the y-axis of the electronic map coordinate system, such as Fig.13 For radar 3 shown in FIG. 3 , the coordinate transformation formula can be expressed as:

[0093]

[0094] Among them, (x3, y3) is the coordinate of the origin of the first coordinate system mn in the electronic map coordinate system, and (m″, n″) is the coordinate of the target in the first coordinate system.

[0095] For another example, if the horizontal axis s of the first coordinate system is parallel to the y-axis of the electronic map coordinate system and is in the opposite direction to the y-axis of the electronic map coordinate system; the vertical axis t of the first coordinate system is parallel to the x-axis of the world coordinate system and is in the same direction as the x-axis of the electronic map coordinate system, such as Fig.13 The radar 4 shown, the coordinate conversion formula can be expressed as:

[0096]

[0097] Among them, (x4, y4) is the coordinate of the origin of the first coordinate system st in the electronic map coordinate system, and (t″, s″) is the coordinate of the target in the first coordinate system.

[0098] In the above example, the coordinates of the origin of the radar (first) coordinate system in the electronic map coordinate system, such as (x1, y1), (x2, y2), (x3, y3), and (x4, y4), can be obtained by manual measurement or through the installation data of the radar. This application does not limit the method of obtaining the coordinates.

[0099] It is worth noting that the above only describes the steps or processes related to the present application, but the present application is not limited thereto. The method may also include other steps or processes, and the specific contents of these steps or processes may refer to the prior art.

[0100] Fig. 6A and Figure 6B is a schematic diagram of an electronic map generated by an embodiment of the present application, such as Fig. 6A As shown, the target vehicle is moving towards the radar in the left lane. Figure 6B As shown in the figure, the target vehicle is moving away from the radar in the right lane. The left side is the detection scene captured by the camera, and the right side is the result of the radar detecting the target and converting it to the electronic map coordinate system. Fig. 6A and Figure 6B It can be seen that by estimating the radar deflection angle for lane division and coordinate conversion, the accurate position of the target can be generated on the electronic map in the detection of two lanes and two directions, and the lane where the target is located can be accurately located.

[0101] It can be seen from the above embodiments that the influence of the road deflection angle is taken into account when determining the radar deflection angle, so that the radar deflection angle can be accurately estimated, so as to effectively convert the radar coordinates into electronic map coordinates.

[0102] In addition, in the embodiment of the present application, the radar deflection angle of each lane is determined by lane division, and the coordinate conversion is performed by lane division, thereby more effectively converting the radar coordinates into electronic map coordinates, which can improve the accuracy of the electronic map.

[0103] In addition, in the embodiment of the present application, lane compensation is taken into account during coordinate conversion, which can further improve the accuracy of the electronic map.

[0104] Embodiments of the second aspect

[0105] The embodiment of the present application provides a device for determining a radar deflection angle. Since the principle of solving the problem by the device is similar to that of the embodiment of the first aspect, its specific implementation can refer to the embodiment of the first aspect, and the same contents will not be repeated.

[0106] Figure 7 is a schematic diagram of a device for determining a radar deflection angle according to an embodiment of the present application. Figure 7 As shown, the radar deflection angle determination device 700 of the embodiment of the present application includes:

[0107] A measuring unit 701, which is used to measure a first deflection angle between a straight lane and a longitudinal axis of a first coordinate system; the longitudinal axis of the first coordinate system is parallel to a first axis of the electronic map coordinate system, the transverse axis of the first coordinate system is parallel to a second axis of the electronic map coordinate system, and the origin of the first coordinate system coincides with the origin of the radar coordinate system;

[0108] An acquisition unit 702, which is used to acquire radar data, where the radar data includes radar coordinates of a target detected by the radar;

[0109] A filtering unit 703, which is used to select radar data whose movement trajectory of the target is within at least one straight lane from the radar data;

[0110] A first determining unit 704, which is used to estimate a trajectory line according to the selected radar data, and determine a second deflection angle between the trajectory line and the longitudinal axis of the radar coordinate system;

[0111] The second determining unit 705 is configured to determine the radar deflection angle according to the first deflection angle and the second deflection angle.

[0112] It can be seen from the above embodiments that the influence of the road deflection angle is taken into account when determining the radar deflection angle, so that the radar deflection angle can be accurately estimated, so as to effectively convert the radar coordinates into electronic map coordinates.

[0113] In some embodiments, the implementation of the measuring unit 701, the acquiring unit 702, the filtering unit 703, the first determining unit 704, and the second determining unit 705 can refer to 201-205 of the first aspect embodiment and will not be repeated here.

[0114] Figure 8 is a schematic diagram of the second determining unit 705 in the embodiment of the present application. Figure 8 As shown, the second determining unit 705 includes:

[0115] A size determination module 801, which is used to determine the size of the radar deflection angle according to the sum of the absolute values ​​of the second deflection angle and the first deflection angle or the difference in absolute values;

[0116] The deflection direction determining module 802 is used to determine the deflection direction of the radar deflection angle according to the first orientation of the through lane in the first coordinate system and the second orientation of the trajectory line in the radar coordinate system.

[0117] In some embodiments, the implementation of the size determination module 801 and the deflection direction determination module 802 can refer to 301-302 of the first aspect embodiment. For example, the size determination module 801 determines whether the radar deflection angle is equal to the sum or the difference of the absolute values ​​of the second deflection angle and the first deflection angle based on the first orientation and the second orientation, which will not be repeated here.

[0118] Fig. 9 is a schematic diagram of a device for determining a radar deflection angle according to an embodiment of the present application. Fig. 9 As shown, the radar deflection angle determination device 900 of the embodiment of the present application includes: a measuring unit 901, an acquisition unit 902, a filtering unit 903, a first determination unit 904, and a second determination unit 905. Its specific implementation method is similar to the measuring unit 701, the acquisition unit 702, the filtering unit 703, the first determination unit 704, and the second determination unit 705, and will not be repeated here.

[0119] In some embodiments, the first determination unit 904 performs lane fitting on the selected radar data to obtain the trajectory of each lane, and determines the second deflection angle between the trajectory of each lane and the longitudinal axis of the radar coordinate system;

[0120] Furthermore, the second determining unit 905 determines the radar deflection angle corresponding to each lane according to the first deflection angle and the second deflection angle corresponding to each lane.

[0121] In some embodiments, the apparatus further comprises:

[0122] The third determining unit 906 is configured to determine the radar deflection angle variance of the radar deflection angle corresponding to each lane.

[0123] The conversion unit 907 is used to convert the coordinates of the target detected by the radar in the radar coordinate system into the coordinates in the first coordinate system according to the radar deflection angle.

[0124] Fig.10 is a schematic diagram of the conversion unit 907, such as Fig.10 As shown, the conversion unit 907 includes:

[0125] A judging module 1001 is used to judge whether the radar deflection angle variance is greater than or equal to a threshold;

[0126] A conversion module 1002 is used for converting the coordinates of the target in each lane detected by the radar in the radar coordinate system into temporary coordinates in the first coordinate system according to the radar deflection angle corresponding to each lane when the judgment result of the judgment module 1001 is greater than or equal to the threshold value; when the judgment result of the judgment module 1001 is less than the threshold value, converting the coordinates of the target in the radar coordinate system detected by the radar into coordinates in the first coordinate system according to the average radar deflection angle of the radar deflection angles corresponding to each lane;

[0127] The compensation module 1003 is used to compensate the horizontal axis coordinate of the temporary coordinate to obtain the horizontal axis coordinate of the target in the first coordinate system.

[0128] In some embodiments, the implementation of the judgment module 1001, the conversion module 1002, and the compensation module 1003 can refer to 501-506 of the first aspect embodiment, and the repeated parts are not repeated.

[0129] In some embodiments, the conversion module 1002 determines the longitudinal coordinate of the target in the first coordinate system based on the distance between the radar and the target and the transverse coordinate measured by the radar. The compensation includes: compensation for lane translation and compensation for deflection angle rotation. The specific compensation calculation method can refer to the embodiment of the first aspect.

[0130] It can be seen from the above embodiments that the influence of the road deflection angle is taken into account when determining the radar deflection angle, so that the radar deflection angle can be accurately estimated, so as to effectively convert the radar coordinates into electronic map coordinates.

[0131] Embodiments of the third aspect

[0132] An embodiment of the present application provides a data processing device, which may be, for example, a computer, a server, a workstation, a laptop computer, a smart phone, etc.; however, the embodiment of the present application is not limited thereto.

[0133] Fig.11 is a schematic diagram of a data processing device according to an embodiment of the present application. Fig.11 As shown, the data processing device 1100 of the embodiment of the present application may include: at least one interface ( Fig.111101), a processor (e.g., a central processing unit (CPU)) 1101, and a memory 1102; the memory 1102 is coupled to the processor 1101. The memory 1102 can store various data; in addition, the memory 1102 also stores a radar deflection angle determination program 1103, and executes the program 1103 under the control of the processor 1101, and stores various preset values ​​and predetermined conditions.

[0134] In one embodiment, the function of the radar deflection angle determination device 900 described in the embodiment of the second aspect can be integrated into the processor 1101 to implement the radar deflection angle determination method described in the embodiment of the first aspect. For example, the processor 1101 can be configured to: measure a first deflection angle between a straight lane and a longitudinal axis of a first coordinate system; the longitudinal axis of the first coordinate system is parallel to a first axis of an electronic map coordinate system, the transverse axis of the first coordinate system is parallel to a second axis of the electronic map coordinate system, and the origin of the first coordinate system coincides with the origin of the radar coordinate system; obtain radar data, the radar data including radar coordinates of a target detected by the radar; select radar data of a target's motion trajectory within at least one straight lane from the radar data; estimate a trajectory line according to the selected radar data, and determine a second deflection angle between the trajectory line and the longitudinal axis of the radar coordinate system; determine the radar deflection angle according to the first deflection angle and the second deflection angle.

[0135] In some embodiments, the implementation of the processor 1101 can refer to the embodiment of the first aspect and will not be repeated here.

[0136] In another embodiment, the radar deflection angle determination device 900 described in the embodiment of the second aspect can be configured separately from the processor 1101. For example, the radar deflection angle determination device 900 can be configured as a chip connected to the processor 1101, and the function of the radar deflection angle determination device 900 is realized through the control of the processor 1101.

[0137] It is worth noting that the data processing device 1100 may also include a display 1105 and an I / O device 1104, or it is not necessary to include Fig.11 All components shown in , for example, may also include a camera (not shown) for acquiring input image frames; in addition, the image processing device 1100 may also include Fig.11 For components not shown in the figure, reference may be made to the related art.

[0138] In the embodiment of the present application, the processor 1101 is sometimes also referred to as a controller or an operation control, and may include a microprocessor or other processor device and / or logic device. The processor 1101 receives input and controls the operation of various components of the data processing device 1100.

[0139] In the embodiment of the present application, the memory 1102 may be, for example, one or more of a cache, a flash memory, a hard drive, a removable medium, a volatile memory, a non-volatile memory or other suitable devices. Various information may be stored, and programs for executing relevant information may also be stored. And the processor 1101 may execute the program stored in the memory 1102 to implement information storage or processing, etc. The functions of other components are similar to those of the prior art and will not be described in detail here. The components of the data processing device 1100 may be implemented by dedicated hardware, firmware, software or a combination thereof without departing from the scope of the present application.

[0140] It can be seen from the above embodiments that the influence of the road deflection angle is taken into account when determining the radar deflection angle, so that the radar deflection angle can be accurately estimated, so as to effectively convert the radar coordinates into electronic map coordinates.

[0141] An embodiment of the present application also provides a computer-readable program, wherein when the program is executed in a data processing device, the program causes the data processing device to execute the method for determining the radar deflection angle described in the first aspect of the embodiment.

[0142] An embodiment of the present application further provides a storage medium storing a computer-readable program, wherein the computer-readable program enables a data processing device to execute the method for determining a radar deflection angle described in the first aspect of the embodiment.

[0143] The above devices and methods of the present application can be implemented by hardware, or by hardware combined with software. The present application relates to such a computer-readable program, which, when executed by a logic component, enables the logic component to implement the above-mentioned devices or components, or enables the logic component to implement the various methods or steps described above. The present application also relates to a storage medium for storing the above program, such as a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory, etc.

[0144] The method / device described in conjunction with the embodiments of the present application may be directly embodied as hardware, a software module executed by a processor, or a combination of the two. One or more of the functional block diagrams shown in the figure and / or one or more combinations of functional block diagrams may correspond to various software modules of the computer program flow or to various hardware modules. These software modules may correspond to the various steps shown in the figure, respectively. These hardware modules may be implemented by solidifying these software modules, for example, using a field programmable gate array (FPGA).

[0145] The software module may be located in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. A storage medium may be coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium; or the storage medium may be an integral part of the processor. The processor and the storage medium may be located in an ASIC. The software module may be stored in a memory of a mobile terminal or in a memory card that can be inserted into the mobile terminal. For example, if a device (such as a mobile terminal) uses a large-capacity MEGA-SIM card or a large-capacity flash memory device, the software module may be stored in the MEGA-SIM card or the large-capacity flash memory device.

[0146] For one or more of the functional blocks described in the drawings and / or one or more combinations of functional blocks, it can be implemented as a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component or any appropriate combination thereof for performing the functions described in the present application. For one or more of the functional blocks described in the drawings and / or one or more combinations of functional blocks, it can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in communication with a DSP, or any other such configuration.

[0147] The present application is described above in conjunction with specific implementation methods, but it should be clear to those skilled in the art that these descriptions are exemplary and are not intended to limit the scope of protection of the present application. Those skilled in the art can make various modifications and variations to the present application based on the spirit and principles of the present application, and these modifications and variations are also within the scope of the present application.

[0148] Regarding the above implementation methods disclosed in the examples of this application, the following notes are also disclosed:

[0149] 1. A device for determining a radar deflection angle, characterized in that the device comprises:

[0150] a measuring unit, configured to measure a first deflection angle between a straight lane and a longitudinal axis of a first coordinate system, wherein the longitudinal axis of the first coordinate system is parallel to a first axis of an electronic map coordinate system, the transverse axis of the first coordinate system is parallel to a second axis of the electronic map coordinate system, and the origin of the first coordinate system coincides with the origin of the radar coordinate system;

[0151] an acquisition unit, configured to acquire radar data, wherein the radar data includes radar coordinates of a target detected by the radar;

[0152] A filtering unit, configured to select radar data in which a motion trajectory of a target is within at least one straight lane from the radar data;

[0153] a first determining unit, configured to estimate a trajectory line according to the selected radar data, and determine a second deflection angle between the trajectory line and the longitudinal axis of the radar coordinate system;

[0154] A second determining unit is configured to determine the radar deflection angle according to the first deflection angle and the second deflection angle.

[0155] 2. The determination device according to Supplement 1, wherein the second determination unit comprises:

[0156] A size determination module, used to determine the size of the radar deflection angle according to the sum of absolute values ​​or the difference in absolute values ​​between the second deflection angle and the first deflection angle;

[0157] A deflection direction determination module is used to determine a deflection direction of the radar deflection angle according to a first orientation of the through lane in the first coordinate system and a second orientation of the trajectory line in the radar coordinate system.

[0158] 3. A determination device according to Note 2, wherein the size determination module determines whether the radar deflection angle is equal to the sum or difference of absolute values ​​of the second deflection angle and the first deflection angle based on the first orientation and the second orientation.

[0159] 4. The determination device according to Supplementary Note 1, wherein the first determination unit fits the selected radar data by lanes to obtain the trajectory lines of each lane respectively, and determines the second deflection angle between the trajectory lines of each lane and the longitudinal axis of the radar coordinate system respectively;

[0160] Furthermore, the second determination unit determines the radar deflection angle corresponding to each lane according to the first deflection angle and the second deflection angle corresponding to each lane.

[0161] 5. The determination device according to Note 4, wherein the device further comprises:

[0162] The third determining unit is used to determine the radar deflection angle variance of the radar deflection angle corresponding to each lane.

[0163] 6. The determination device according to Note 5, wherein the device further comprises:

[0164] A conversion unit is used to convert the coordinates of the target detected by the radar in the radar coordinate system into the coordinates in the first coordinate system according to the radar deflection angle.

[0165] 7. The determination device according to Note 6, wherein the conversion unit comprises:

[0166] A judging module, used to judge whether the radar deflection angle variance is greater than or equal to a threshold;

[0167] a conversion module, configured to, when the judgment result of the judgment module is greater than or equal to a threshold value, convert the coordinates of the target in each lane detected by the radar in the radar coordinate system into temporary coordinates in the first coordinate system according to the radar deflection angle corresponding to each lane; and, when the judgment result of the judgment module is less than the threshold value, convert the coordinates of the target in the radar coordinate system detected by the radar into coordinates in the first coordinate system according to the average radar deflection angle of the radar deflection angles corresponding to each lane;

[0168] A compensation module is used to compensate the horizontal axis coordinate of the temporary coordinate to obtain the horizontal axis coordinate of the target in the first coordinate system.

[0169] 8. The determination device according to Note 7, wherein the conversion module determines the vertical axis coordinate of the target in the first coordinate system based on the distance from the radar to the target and the horizontal axis coordinate measured by the radar.

[0170] 9. The determination device according to Note 7, wherein the compensation includes: compensation for lane translation and compensation for deflection angle rotation.

[0171] 10. A method for determining a radar deflection angle, characterized in that the method comprises:

[0172] measuring a first deflection angle between the straight lane and the longitudinal axis of a first coordinate system; the longitudinal axis of the first coordinate system is parallel to the first axis of the electronic map coordinate system, the transverse axis of the first coordinate system is parallel to the second axis of the electronic map coordinate system, and the origin of the first coordinate system coincides with the origin of the radar coordinate system;

[0173] Acquiring radar data, wherein the radar data includes radar coordinates of a target detected by the radar;

[0174] Selecting radar data in which the movement trajectory of the target is within at least one straight lane from the radar data;

[0175] Estimating a trajectory line according to the selected radar data, and determining a second deflection angle between the trajectory line and the longitudinal axis of the radar coordinate system;

[0176] The radar deflection angle is determined based on the first deflection angle and the second deflection angle.

[0177] 11. The determination method according to supplementary note 10, wherein the step of determining the radar deflection angle according to the first deflection angle and the second deflection angle comprises:

[0178] Determining the magnitude of the radar deflection angle according to the sum of absolute values ​​of the second deflection angle and the first deflection angle or the difference in absolute values;

[0179] The deflection direction of the radar deflection angle is determined according to a first orientation of the through lane in the first coordinate system and a second orientation of the trajectory in the radar coordinate system.

[0180] 12. The determination method according to Note 11, wherein the radar deflection angle is determined according to the first orientation and the second orientation to be equal to the sum of the absolute values ​​of the second deflection angle and the first deflection angle or the difference in absolute values.

[0181] 13. The determination method according to supplementary note 10, wherein the step of estimating a trajectory line according to the selected radar data and determining a second deflection angle between the trajectory line and the longitudinal axis of the radar coordinate system comprises:

[0182] Fitting the selected radar data by lane to obtain the trajectory of each lane, and determining the second deflection angle between the trajectory of each lane and the longitudinal axis of the radar coordinate system;

[0183] Furthermore, radar deflection angles corresponding to the respective lanes are determined respectively according to the first deflection angles and the second deflection angles corresponding to the respective lanes.

[0184] 14. The determination method according to Note 13, wherein the method further comprises:

[0185] The radar deflection angle variance of the radar deflection angle corresponding to each lane is determined.

[0186] 15. The determination method according to Note 14, wherein the method further comprises:

[0187] The coordinates of the target detected by the radar in the radar coordinate system are converted into coordinates in the first coordinate system according to the radar deflection angle.

[0188] 16. The determination method according to supplementary note 15, wherein the step of converting the coordinates of the target detected by the radar in the radar coordinate system into the coordinates in the first coordinate system comprises:

[0189] Determining whether the radar deflection angle variance is greater than or equal to a threshold;

[0190] When the judgment result is greater than or equal to the threshold, the coordinates of the target in each lane detected by the radar in the radar coordinate system are converted into temporary coordinates in the first coordinate system according to the radar deflection angle corresponding to each lane; when the judgment result is less than the threshold, the coordinates of the target in the radar coordinate system detected by the radar are converted into coordinates in the first coordinate system according to the average radar deflection angle of the radar deflection angles corresponding to each lane;

[0191] The horizontal axis coordinate of the temporary coordinate is compensated to obtain the horizontal axis coordinate of the target in the first coordinate system.

[0192] 17. The determination method according to Note 16, wherein the vertical axis coordinate of the target in the first coordinate system is determined based on the distance from the radar to the target and the horizontal axis coordinate measured by the radar.

[0193] 18. The determination method according to Note 16, wherein the compensation includes: compensation for lane translation and compensation for deflection angle rotation.

Claims

1. A device for determining a radar deflection angle, characterized in that: The device comprises: a measuring unit, configured to measure a first deflection angle between a straight lane and a longitudinal axis of a first coordinate system, wherein the longitudinal axis of the first coordinate system is parallel to a first axis of an electronic map coordinate system, the transverse axis of the first coordinate system is parallel to a second axis of the electronic map coordinate system, and the origin of the first coordinate system coincides with the origin of the radar coordinate system; an acquisition unit, configured to acquire radar data, wherein the radar data includes radar coordinates of a target detected by the radar; A filtering unit, configured to select radar data in which a motion trajectory of a target is within at least one straight lane from the radar data; a first determining unit, configured to estimate a trajectory line according to the selected radar data, and determine a second deflection angle between the trajectory line and the longitudinal axis of the radar coordinate system; A second determining unit is configured to determine the radar deflection angle according to the first deflection angle and the second deflection angle.

2. The determination device according to claim 1, wherein: The second determining unit includes: A size determination module, used to determine the size of the radar deflection angle according to the sum of absolute values ​​or the difference in absolute values ​​between the second deflection angle and the first deflection angle; A deflection direction determination module is used to determine a deflection direction of the radar deflection angle according to a first orientation of the through lane in the first coordinate system and a second orientation of the trajectory line in the radar coordinate system.

3. The determination device according to claim 2, wherein: The size determination module determines whether the radar deflection angle is equal to a sum of absolute values ​​of the second deflection angle and the first deflection angle or a difference in absolute values ​​according to the first orientation and the second orientation.

4. The determination device according to claim 1, wherein: The first determination unit performs lane fitting on the selected radar data to obtain trajectory lines of each lane, and determines a second deflection angle between the trajectory line of each lane and the longitudinal axis of the radar coordinate system; Furthermore, the second determination unit determines the radar deflection angle corresponding to each lane according to the first deflection angle and the second deflection angle corresponding to each lane.

5. The determination device according to claim 4, wherein: The device also includes: The third determining unit is used to determine the radar deflection angle variance of the radar deflection angle corresponding to each lane.

6. The determination device according to claim 5, wherein: The device also includes: A conversion unit is used to convert the coordinates of the target detected by the radar in the radar coordinate system into the coordinates in the first coordinate system according to the radar deflection angle.

7. The determination device according to claim 6, wherein: The conversion unit comprises: A judging module, used to judge whether the radar deflection angle variance is greater than or equal to a threshold; a conversion module, configured to, when the judgment result of the judgment module is greater than or equal to a threshold value, convert the coordinates of the target in each lane detected by the radar in the radar coordinate system into temporary coordinates in the first coordinate system according to the radar deflection angle corresponding to each lane; and, when the judgment result of the judgment module is less than the threshold value, convert the coordinates of the target in the radar coordinate system detected by the radar into coordinates in the first coordinate system according to the average radar deflection angle of the radar deflection angles corresponding to each lane; A compensation module is used to compensate the horizontal axis coordinate of the temporary coordinate to obtain the horizontal axis coordinate of the target in the first coordinate system.

8. The determination device according to claim 7, wherein: The conversion module determines the vertical axis coordinate of the target in the first coordinate system according to the distance from the radar to the target and the horizontal axis coordinate measured by the radar.

9. The determination device according to claim 7, wherein: The compensation includes lane translation compensation and deflection angle rotation compensation.

10. A method for determining a radar deflection angle, characterized in that: The method comprises: measuring a first deflection angle between the straight lane and the longitudinal axis of a first coordinate system; the longitudinal axis of the first coordinate system is parallel to the first axis of the electronic map coordinate system, the transverse axis of the first coordinate system is parallel to the second axis of the electronic map coordinate system, and the origin of the first coordinate system coincides with the origin of the radar coordinate system; Acquiring radar data, wherein the radar data includes radar coordinates of a target detected by the radar; Selecting radar data in which the movement trajectory of the target is within at least one straight lane from the radar data; Estimating a trajectory line according to the selected radar data, and determining a second deflection angle between the trajectory line and the longitudinal axis of the radar coordinate system; The radar deflection angle is determined based on the first deflection angle and the second deflection angle.

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