Millimeter wave radar pitch installation angle calibration method, device, vehicle control system and vehicle

Abstract

A method for calibrating the pitch installation angle of a millimeter wave radar (21), comprising obtaining the total number of specific targets detected by the millimeter wave radar (21) within a specified time; wherein the total number of specific targets is greater than a specified number (S11); determining the pitch angle of the specific targets detected within the specified time (S12); determining the pitch installation error value of the millimeter wave radar (21) according to the total number of specific targets and the pitch angle of the specific targets (S13); and correcting the millimeter wave radar according to the pitch installation error value (S14). The millimeter wave radar is corrected by calculating the pitch installation error value of the millimeter wave radar and correcting the millimeter wave radar according to the pitch installation error value.

Description

Technical Field

[0001] The present application relates to the field of radar, and in particular to a method and device for calibrating the pitch installation angle of a millimeter-wave radar, a vehicle control system, and a vehicle. Background Art

[0002] With the rapid development of Advanced Driver Assistant System (ADAS) and Autonomous Driving (AD), millimeter-wave radar is widely used in ADAS and AD due to its advantages of all-day, all-weather, long range, and high speed measurement accuracy. However, sometimes there may be installation errors in the pitch direction of millimeter-wave radar, resulting in the installation pitch angle being inconsistent with the initially set pitch angle. The pitch angle here refers to the angle between the radar beam and the horizontal direction, which will seriously affect the accuracy of the pitch angle measurement of the radar detection target, thereby affecting the detection rate of the target, resulting in false alarms and missed detections in ADAS and AD systems based on millimeter-wave radar, thus bringing safety hazards. Summary of the invention

[0003] In order to solve the problems of the prior art, the present application provides a method and device for calibrating the pitch installation angle of a millimeter-wave radar, a vehicle control system and a vehicle.

[0004] Specifically, the present application is implemented through the following technical solutions:

[0005] A method for calibrating the pitch installation angle of a millimeter wave radar comprises the following steps:

[0006] Obtaining the total number of specific target objects detected by the millimeter wave radar within a specified time; wherein the total number of the specific target objects is greater than a specified number;

[0007] Determine the pitch angle of the specific target object detected within the specified time;

[0008] Determine the elevation installation error value of the millimeter wave radar according to the total number of the specific targets and the elevation angles of the specific targets;

[0009] The millimeter wave radar is calibrated according to the pitch installation error value.

[0010] In one embodiment, before obtaining the total number of specific targets detected by the millimeter wave radar within a specified time, the method further includes:

[0011] It is determined that the vehicle on which the millimeter-wave radar is installed is in the same plane as the specific target object.

[0012] In one embodiment, the specific target object satisfies any one or more of the following conditions:

[0013] The speed of the specific target object relative to the ground is greater than a predetermined speed;

[0014] The detection time of the specific target object by the millimeter wave radar is longer than a predetermined time;

[0015] The distance between the specific target object and the millimeter-wave radar is within a preset distance range.

[0016] In one embodiment, the specific target object is a vehicle;

[0017] The predetermined speed is set based on the minimum driving speed of the vehicle;

[0018] The preset distance is set based on the safe vehicle distance and the millimeter wave radar range.

[0019] In one embodiment, the specified time is a number of millimeter wave radar detection cycles.

[0020] In one embodiment, the determining the elevation installation error value of the millimeter wave radar according to the total number of the specific targets and the elevation angle of the specific targets detected includes:

[0021] Determine the average value of the pitch angles of the specific targets detected within the specified time according to the total number of the specific targets and the pitch angles of the specific targets detected;

[0022] The pitch installation error value of the millimeter wave radar is determined according to the pitch angle mean value.

[0023] In one embodiment, determining the elevation installation error value of the millimeter wave radar according to the elevation angle mean value includes:

[0024] An initial value of a pitch angle for detecting the specific target object is determined, and the pitch installation error value is determined according to the pitch angle mean value and the initial value of the pitch angle.

[0025] In one embodiment, the pitch installation error value is the difference between the pitch angle mean value and the pitch angle initial value.

[0026] In one embodiment, after determining the elevation installation error value of the millimeter wave radar according to the elevation angle mean value, the method further includes:

[0027] The total number of the specific targets and the average pitch angle are reset to 0.

[0028] In one embodiment, the millimeter wave radar corresponds to a target detection threshold; the target detection threshold is used to detect the specific target;

[0029] The correcting the millimeter wave radar according to the pitch installation error value includes:

[0030] The target detection threshold of the millimeter wave radar is adjusted according to the pitch installation error value.

[0031] In one embodiment, adjusting the target detection threshold of the radar according to the pitch installation error value includes:

[0032] Determine a threshold adjustment ratio value according to the pitch installation error value and an antenna pitch transmission energy diagram of the millimeter wave radar;

[0033] A new target detection threshold is determined according to the current target detection threshold and the threshold adjustment ratio value.

[0034] In one embodiment, the new target detection threshold is the product of the current target detection threshold and the threshold adjustment ratio value.

[0035] A millimeter wave radar pitch installation angle calibration device, the device comprising:

[0036] processor;

[0037] a memory for storing processor-executable instructions;

[0038] Wherein, the processor is configured to:

[0039] Obtaining the total number of specific target objects detected by the millimeter wave radar within a specified time; wherein the total number of the specific target objects is greater than a specified number;

[0040] Determine the pitch angle of the specific target object detected within the specified time;

[0041] Determine the elevation installation error value of the millimeter wave radar according to the total number of the specific targets and the elevation angles of the specific targets;

[0042] The millimeter wave radar is calibrated according to the pitch installation error value.

[0043] In one embodiment, the processor is further configured to:

[0044] Before obtaining the total number of specific target objects detected by the millimeter-wave radar within a specified time, it is determined that the vehicle on which the millimeter-wave radar is installed and the specific target objects are in the same plane.

[0045] In one embodiment, the specific target object satisfies any one or more of the following conditions:

[0046] The speed of the specific target object relative to the ground is greater than a predetermined speed;

[0047] The detection time of the specific target object by the millimeter wave radar is longer than a predetermined time;

[0048] The distance between the specific target object and the millimeter-wave radar is within a preset distance range.

[0049] In one embodiment, the specific target object is a vehicle;

[0050] The predetermined speed is set based on the minimum driving speed of the vehicle;

[0051] The preset distance is set based on the safe vehicle distance and the millimeter wave radar range.

[0052] In one embodiment, the specified time is a number of millimeter wave radar detection cycles.

[0053] In one embodiment, the processor is configured to:

[0054] Determine the average value of the pitch angles of the specific targets detected within the specified time according to the total number of the specific targets and the pitch angles of the specific targets detected;

[0055] The pitch installation error value of the millimeter wave radar is determined according to the pitch angle mean value.

[0056] In one embodiment, the processor is configured to:

[0057] An initial value of a pitch angle for detecting the specific target object is determined, and the pitch installation error value is determined according to the pitch angle mean value and the initial value of the pitch angle.

[0058] In one embodiment, the pitch installation error value is the difference between the pitch angle mean value and the pitch angle initial value.

[0059] In one embodiment, the processor is further configured to:

[0060] After determining the elevation installation error value of the millimeter wave radar according to the elevation angle mean, the total number of the specific targets and the elevation angle mean are reset to 0.

[0061] In one embodiment, the millimeter wave radar corresponds to a target detection threshold; the target detection threshold is used to detect the specific target;

[0062] The processor is configured to:

[0063] The target detection threshold of the millimeter wave radar is adjusted according to the pitch installation error value.

[0064] In one embodiment, the processor is configured to:

[0065] Determine a threshold adjustment ratio value according to the pitch installation error value and an antenna pitch transmission energy diagram of the millimeter wave radar;

[0066] A new target detection threshold is determined according to the current target detection threshold and the threshold adjustment ratio value.

[0067] In one embodiment, the new target detection threshold is the product of the current target detection threshold and the threshold adjustment ratio value.

[0068] A vehicle control system, comprising a millimeter wave radar and a calibration device for the millimeter wave radar pitch installation angle;

[0069] The millimeter wave radar is used to detect specific targets;

[0070] The device for calibrating the horizontal installation error of the millimeter wave radar comprises:

[0071] processor;

[0072] a memory for storing processor-executable instructions;

[0073] Wherein, the processor is configured to:

[0074] Obtaining the total number of specific target objects detected by the millimeter wave radar within a specified time; wherein the total number of the specific target objects is greater than a specified number;

[0075] Determine the pitch angle of the specific target object detected within the specified time;

[0076] Determine the elevation installation error value of the millimeter wave radar according to the total number of the specific targets and the elevation angles of the specific targets;

[0077] The millimeter wave radar is calibrated according to the pitch installation error value.

[0078] In one embodiment, the processor is further configured to:

[0079] Before obtaining the total number of specific target objects detected by the millimeter-wave radar within a specified time, it is determined that the vehicle on which the millimeter-wave radar is installed and the specific target objects are in the same plane.

[0080] In one embodiment, the specific target object satisfies any one or more of the following conditions:

[0081] The speed of the specific target object relative to the ground is greater than a predetermined speed;

[0082] The detection time of the specific target object by the millimeter wave radar is longer than a predetermined time;

[0083] The distance between the specific target object and the millimeter-wave radar is within a preset distance range.

[0084] In one embodiment, the specific target object is a vehicle;

[0085] The predetermined speed is set based on the minimum driving speed of the vehicle;

[0086] The preset distance is set based on the safe vehicle distance and the millimeter wave radar range.

[0087] In one embodiment, the specified time is a number of millimeter wave radar detection cycles.

[0088] In one embodiment, the processor is configured to:

[0089] Determine, according to the total number of the specific targets and the pitch angles at which the specific targets are detected, an average of the pitch angles at which the specific targets are detected within the specified time;

[0090] The pitch installation error value of the millimeter wave radar is determined according to the pitch angle mean value.

[0091] In one embodiment, the processor is configured to:

[0092] An initial value of a pitch angle for detecting the specific target object is determined, and the pitch installation error value is determined according to the pitch angle mean value and the initial value of the pitch angle.

[0093] In one embodiment, the pitch installation error value is the difference between the pitch angle mean value and the pitch angle initial value.

[0094] In one embodiment, the processor is further configured to:

[0095] After determining the elevation installation error value of the millimeter wave radar according to the elevation angle mean, the total number of the specific targets and the elevation angle mean are reset to 0.

[0096] In one embodiment, the millimeter wave radar corresponds to a target detection threshold; the target detection threshold is used to detect the specific target;

[0097] The processor is configured to:

[0098] The target detection threshold of the millimeter wave radar is adjusted according to the pitch installation error value.

[0099] In one embodiment, the processor is configured to:

[0100] Determine a threshold adjustment ratio value according to the pitch installation error value and an antenna pitch transmission energy diagram of the millimeter wave radar;

[0101] A new target detection threshold is determined according to the current target detection threshold and the threshold adjustment ratio value.

[0102] In one embodiment, the new target detection threshold is the product of the current target detection threshold and the threshold adjustment ratio value.

[0103] In one embodiment, the vehicle control system is an advanced driver assistance system or an automatic driving system.

[0104] The present application also provides a vehicle, wherein the vehicle is equipped with a vehicle control system, and the vehicle control system includes the system described in any one of the embodiments.

[0105] The embodiment of the present application obtains the total number of specific targets detected by the millimeter-wave radar within a specified time and the pitch angles of the specific targets, and then determines the pitch installation error value of the millimeter-wave radar according to the total number of the specific targets and the pitch angles of the specific targets, so as to calibrate the pitch installation angle of the millimeter-wave radar according to the pitch installation error value, thereby improving the accuracy of the millimeter-wave radar in detecting targets, improving the detection rate of the millimeter-wave radar for targets, and reducing the occurrence of false alarms and missed detections. BRIEF DESCRIPTION OF THE DRAWINGS

[0106] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. 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 paying any creative labor.

[0107] Figure 1 A schematic diagram of the millimeter wave radar pitch installation error.

[0108] Figure 2 The present invention is a flowchart of a method for calibrating the elevation installation angle of a millimeter-wave radar, shown as an exemplary embodiment of the present application.

[0109] Figure 3 for Figure 2 The illustrated embodiment is a flow chart of determining the elevation installation error value of the millimeter wave radar according to the total number of specific targets and the elevation angles of the specific targets.

[0110] Figure 4 for Figure 2 The flowchart of correcting the millimeter wave radar according to the pitch installation error value in the illustrated embodiment.

[0111] Figure 5 A schematic diagram of the target detection energy drop caused by the pitch installation error of the millimeter-wave radar.

[0112] Figure 6 The present invention is a flowchart of a method for calibrating the elevation installation angle of a millimeter-wave radar, shown as an exemplary embodiment of the present application.

[0113] Figure 7 This is a structural block diagram of a millimeter-wave radar pitch installation angle calibration device shown as an exemplary embodiment of the present application.

[0114] Figure 8 The present invention is a structural block diagram of a vehicle control device according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0115] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0116] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0117] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0118] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention and to make the above-mentioned purposes, features and advantages of the embodiments of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0119] Nowadays, vehicles are generally equipped with vehicle control systems. Especially with the rapid development of autonomous driving and advanced driver assistance, vehicle control systems are particularly important. Vehicle control systems usually include radars. Radars can be installed in front or behind the vehicle. They usually include front parking radars and front and rear parking radars. Front parking radars are used to detect the distance of obstacles in front of the car when the car is parking or driving slowly, providing convenience for drivers to park, follow cars, and merge lanes when driving slowly or in congestion, and helping them reduce or eliminate collisions and scratches caused by poor vision when moving forward. Front and rear parking radars are developed on the basis of reversing radars, combining the functions of reversing radars and front parking radars. In the process of car parking, the needs of front and rear detection are met, and at the same time, obstacles in front of the car can be effectively detected during the slow moving process. Radars combined with some software programs can be used as part of the vehicle control system. The software records and processes the data detected by the radar, but the radar may be installed with errors, especially the horizontal installation angle may be different from the pre-set angle, resulting in incorrect detection data, such as Figure 1 As shown, the radar that should be installed vertically on the horizontal plane may be installed at an angle greater than 90 degrees to the horizontal plane, resulting in a pitch installation error of the radar. The angle between the energy beam it transmits and the horizontal plane is the pitch installation error value, which affects the radar's detection rate of the target.

[0120] Based on the above questions, please refer to Figure 2 , is a flow chart of a method for calibrating the pitch installation angle of a millimeter wave radar according to an exemplary embodiment of the present application. The method can be applied to a vehicle equipped with a millimeter wave radar, such as Figure 2 As shown, the method comprises the following steps:

[0121] In step S11, the total number of specific target objects detected by the millimeter wave radar within a specified time is obtained; wherein the total number of the specific target objects is greater than the specified number.

[0122] In step S12, the pitch angle of the specific target object detected within a specified time is determined.

[0123] In step S13, the elevation installation error value of the millimeter wave radar is determined according to the total number of specific targets and the elevation angles of the specific targets.

[0124] In step S14, the millimeter wave radar is calibrated according to the pitch installation error value.

[0125] In one embodiment, the millimeter-wave radar detects targets within its detection range within a specified time, and the vehicle records targets that meet the specified conditions and are detected by the millimeter-wave radar as specific targets. In order to ensure the accuracy of the correction result, the vehicle is preset with a specified number, and the specified number represents the minimum threshold that the number of detected specific targets should reach. The vehicle counts the total number of specific targets recorded and compares the total number of specific targets with the specified number. If the total number of specific targets is greater than the specified number, subsequent steps are performed. It can be understood that the embodiment of the present application does not limit the specific value of the specified number, and can be specifically set according to the actual application scenario. For example, the specified number can be set by technicians in this field based on experience.

[0126] The specified condition that the specific target object needs to meet may be one of the following, or a combination of any of the following. The embodiment of the present application does not impose any limitation on this. People who use this solution can make multiple choices according to the needs of the actual scenario:

[0127] For example, the specified condition may be that the speed of a specific target object relative to the ground must be greater than a predetermined speed. The millimeter wave radar can detect the speed of the target object. The vehicle records the target object whose speed relative to the ground is greater than the predetermined speed based on the detection of the millimeter wave radar. By judging the speed of the target object, objects that are obviously not specific targets can be excluded, thereby avoiding interference caused by irrelevant objects detected by the millimeter wave radar. For example, objects such as walking people and bicycles can be excluded.

[0128] For another example, the specified condition may be that the detection time of the millimeter-wave radar on a specific target object is greater than a predetermined time. The millimeter-wave radar detects the target object within its detection range. When the millimeter-wave radar detects the existence of the target object for a period greater than a predetermined time, the vehicle records it as a specific target object; that is, for a specific target tracked by the millimeter-wave radar, the time for which the specific target is tracked and detected by the millimeter-wave radar must be greater than a predetermined time. By judging the detection time of the target object, objects that briefly appear within the detection range of the millimeter-wave radar can be excluded to avoid interference from objects that "flash by".

[0129] For another example, the specified condition may be that the distance between the specific target and the millimeter wave radar is within a preset distance range. When the distance between the target and the millimeter wave radar is within the preset distance range, the vehicle records it as a specific target. By judging the distance of the target, it can be ensured that the detected target is suitable for subsequent calculations, avoiding larger errors caused by low detection energy for objects that are too far away.

[0130] It can be understood that the predetermined speed, predetermined duration and preset distance range in this embodiment can all be set by technicians in this field based on experience, and the embodiments of the present application are not limited to this; as an example, the specific target object can be a vehicle, and the predetermined speed can be set based on the minimum driving speed of the vehicle to ensure that the tracked target is a vehicle; and the preset distance can be set based on the safe vehicle distance and the range of the millimeter-wave radar to ensure that the millimeter-wave radar can detect the presence of the vehicle while being at a safe distance from the vehicle.

[0131] In one embodiment, while determining the specific target object, the vehicle also determines the pitch angle of the specific target object based on the detection of the specific target object by the millimeter wave radar, so as to perform subsequent steps based on the total number of the specific target objects and the pitch angle of the specific target object.

[0132] In one embodiment, the specified time may be several detection cycles of the millimeter-wave radar. In each detection cycle, the millimeter-wave radar detects targets within its detection range. The vehicle records targets that meet the specified conditions detected in the detection cycle as specific targets, and the vehicle determines the pitch angle of the specific target based on the detection of the specific target by the millimeter-wave radar. At the same time, after each detection cycle, the vehicle counts the total number of specific targets in all detection cycles, compares the total number of specific targets with the specified number, and if the total number of specific targets is greater than the specified number, proceed. The subsequent error value determination step is performed, otherwise, the millimeter-wave radar continues the target detection process of the next detection cycle until the total number of the specific targets is greater than the specified number; it should be noted that the same target can appear repeatedly in different detection cycles of the millimeter-wave radar, and the embodiment of the present application does not impose any restrictions on this; the specified condition can be a combination of one or any multiple conditions listed above. As an example, the specified condition can be that the speed of the specific target relative to the ground is greater than 30km / h, the detection cycle in which the specific target is detected is greater than 30 cycles, and the distance between the vehicle and the specific target is between 30m-80m.

[0133] In step S13, after determining the total number of the specific targets and detecting the pitch angles of the specific targets, the vehicle may determine the pitch installation error value of the millimeter wave radar according to the total number of the specific targets and the pitch angles of the detected specific targets.

[0134] As an example, the average pitch angle of the specific targets detected within a specified time can be calculated based on the total number of the specific targets and the pitch angles corresponding to all the detected specific targets, and the pitch installation error value of the millimeter wave radar can be calculated by the average pitch angle of the specific targets and the initial pitch angle of the detected targets; wherein the initial pitch angle of the specific targets represents the theoretical value of the pitch angle of the specific targets detected without a pitch angle error.

[0135] In one embodiment, Figure 3 A specific implementation method of step S13 is shown, comprising the following steps:

[0136] In step S131 , an average pitch angle of the specific target within a specified time is determined according to the total number of the specific target and the pitch angle of the detected specific target.

[0137] The average pitch angle of the specific target object is the ratio of the sum of the pitch angles of all detected specific targets within a specified time to the total number of specific targets within the specified time.

[0138] In one embodiment, the average pitch angle of a specific target object within a specified time period can be calculated by the following method:

[0139] Assume that the specified time is a number of detection cycles of the millimeter-wave radar. When a detection cycle is reached, the number of specific targets detected by the millimeter-wave radar in the current cycle is counted (denoted as N cur ), and the pitch angles of all specific targets detected in the current cycle, calculate the mean pitch angle of the specific targets detected in the current cycle (recorded as θ cur ), the pitch angle mean is the ratio of the sum of the pitch angles of all specific targets detected in the current cycle to the number of specific targets detected in the current cycle;

[0140] Count the total number of specific targets detected cumulatively up to the last cycle (denoted as N k-1 ), and the pitch angle of the specific target object detected cumulatively up to the last cycle, calculate the average pitch angle of the specific target object detected cumulatively up to the last cycle (recorded as θ k-1 ), the pitch angle mean is the ratio of the sum of the pitch angles of the specific targets detected cumulatively up to the last cycle to the total number of the specific targets detected cumulatively up to the last cycle;

[0141] According to the number of specific targets detected in the current cycle (denoted as N cur ) and the mean pitch angle of the specific target detected in the current cycle (denoted as θ cur ), and the total number of specific targets detected cumulatively up to the last cycle (denoted as N k-1) and the average pitch angle of the specific target object detected by the previous cycle (denoted as θ k-1 ), calculate the mean pitch angle of a specific target object within a specified time (denoted as θ k ), as shown below:

[0142]

[0143] Among them, N k N k-1 and N cur The sum is the total number of specific targets detected by the millimeter-wave radar up to the current period.

[0144] When N k When the number is less than the specified number, the radar continues to detect and record specific targets in the next detection cycle until N k Greater than the specified amount.

[0145] In step S132, the elevation installation error value of the millimeter wave radar is determined according to the mean value of the elevation angle.

[0146] In one embodiment, to determine the pitch installation error value of the millimeter wave radar, it is necessary to first determine the initial value of the pitch angle for detecting a specific target object. The initial value of the pitch angle is the theoretical value of the pitch angle for detecting a specific target object when the millimeter wave radar is initially installed, that is, the pitch angle for detecting a specific target object when the millimeter wave radar is correctly installed. It is usually set manually before installing the millimeter wave radar. The pitch installation error value of the millimeter wave radar can be calculated based on the initial value of the pitch angle and the average value of the pitch angle.

[0147] In one embodiment, the pitch installation error value of the millimeter wave radar is the difference between the mean value of the pitch angle and the initial value of the pitch angle. For example, when the target object is other vehicles traveling on the road, it can be considered that the road is flat, and that other vehicles are in the same direction as the vehicle in the pitch direction, that is, the initial value of the pitch angle for detecting a specific target object is determined to be 0. In this case, the pitch installation error value is equal to the mean value of the pitch angle obtained by detection. Of course, when the target object is some other object, or the driving road condition is some other situation, the initial value of the pitch angle may not be 0, and the present invention is not limited to this.

[0148] In one embodiment, after step S132, the vehicle can reset the total number of specific target objects and the average pitch angle of the specific target objects detected within the specified time to 0, so that after completing the calibration of the pitch installation error of the millimeter-wave radar this time, the data of all specific target objects collected in this calibration is cleared to avoid the data of existing specific target objects interfering with the data of specific target objects to be collected in the next calibration.

[0149] In step S14, the vehicle calibrates the millimeter wave radar according to the pitch installation error value.

[0150] In one embodiment, the millimeter wave radar corresponds to a target detection threshold, which is a set energy value used to compare with the beam energy reflected after the millimeter wave radar is emitted to a specific target object. The specific target object can be detected according to the comparison result. The principle is that the millimeter wave radar emits beam energy to the specific target object, and the beam energy is reflected after irradiating the specific target object. The millimeter wave radar receives the reflected beam energy and compares it with the target detection threshold to achieve detection of the specific target object. If the millimeter wave radar has an elevation installation error, the reflected beam energy actually received by the millimeter wave radar will be different from the theoretically received reflected beam energy. The current target detection threshold is used to compare with the theoretically received reflected beam energy of the millimeter wave radar. Since the installation error of the millimeter wave radar causes the current target detection threshold to no longer apply, it is necessary to adjust the current target detection threshold. Therefore, the calibration of the elevation installation error of the millimeter wave radar requires the adjustment of the target detection threshold of the millimeter wave radar first. The embodiment of the present application can adjust the target detection threshold of the millimeter wave radar according to the elevation installation error value.

[0151] In one embodiment, Figure 4 A specific implementation method of step S14 is shown, comprising the following steps:

[0152] In step S141, a threshold adjustment ratio value is determined according to the elevation installation error value and the antenna elevation transmission energy diagram of the millimeter wave radar.

[0153] In one embodiment, based on the pitch installation error value of the millimeter-wave radar combined with the antenna pitch transmission energy diagram of the millimeter-wave radar, the beam energy emitted by the millimeter-wave radar corresponding to the pitch installation error value of the millimeter-wave radar can be determined, and the beam energy emitted by the millimeter-wave radar when there is a pitch installation error is compared with the beam energy emitted by the millimeter-wave radar when it is correctly installed to obtain the adjustment ratio of the target detection threshold, and the target detection threshold can be adjusted according to the adjustment ratio.

[0154] In step S142, a new target detection threshold is determined based on the current target detection threshold and the threshold adjustment ratio value.

[0155] In one embodiment, the new target detection threshold is the product of the current target detection threshold and the threshold adjustment ratio value.

[0156] In one embodiment, considering that, for example, in the case of uphill or downhill, the vehicle and the target object may not be on the same horizontal plane, for example, when going uphill, the target object has already gone uphill, but the vehicle has not yet gone uphill, and the plane where the vehicle is located and the plane where the target object is located will have an angle (i.e., a slope) less than 90 degrees. At this time, the pitch angle of the target object detected is the pitch angle of the original millimeter-wave radar installation plus this angle less than 90 degrees. Obviously, the existence of the slope will affect the pitch angle correction result of the millimeter-wave radar. Therefore, before detecting the target, the millimeter-wave radar needs to determine whether the vehicle on which the millimeter-wave radar is installed and the target object are in the same plane.

[0157] In one implementation, when the pitch angle of the current target object detected is different from the pitch angle of the object detected last time by a specified threshold, it is determined that the vehicle equipped with the millimeter wave radar and the target object are not in the same plane, and the target object and the pitch angle of the target object may not be recorded. It is understandable that the embodiment of the present application does not limit the specified threshold, and it can be specifically set according to actual conditions.

[0158] For a millimeter wave radar installed on a vehicle for detecting a target vehicle, such as Figure 5 As shown in the figure, when it is correctly installed, the millimeter-wave radar is installed on a vertical horizontal plane, and the angle between its emitted energy beam and the horizontal plane should be 0. The strongest part of the emitted energy beam irradiates the vehicle in front, and the reflected beam energy is also the strongest. When there is an error in its installation, the angle between its emitted energy beam and the horizontal plane is no longer 0, and the weaker part of the emitted energy beam irradiates the vehicle in front, and the reflected beam energy is also relatively weak. At this time, it will be difficult to detect the vehicle by comparing the original target detection threshold with the reflected wave velocity energy. Therefore, it is necessary to calibrate the pitch installation error of the millimeter-wave radar.

[0159] Figure 6 For calibration Figure 5 The flowchart of the millimeter wave radar with pitch installation error is shown in the figure, including the following steps:

[0160] In step S61, it is determined whether the vehicle on which the millimeter wave radar is installed and the target vehicle are in the same plane.

[0161] In step S62, the total number of target vehicles detected by the millimeter wave radar in several detection cycles is obtained; wherein the total number of target vehicles is greater than a specified number.

[0162] In step S63, it is determined to detect the pitch angle of the target vehicle within a number of cycles.

[0163] In step S64, the average pitch angles of the detected target vehicles in a plurality of cycles are determined according to the total number of target vehicles and the pitch angles of the detected target vehicles.

[0164] In step S65, the pitch installation error value of the millimeter wave radar is determined according to the pitch angle mean value and the pitch angle initial value.

[0165] In step S66, the threshold adjustment ratio value is determined according to the elevation installation error value and the antenna elevation transmission energy diagram of the millimeter wave radar.

[0166] In step S67, a new target detection threshold is determined based on the current target detection threshold and the threshold adjustment ratio value.

[0167] In one embodiment, when a vehicle equipped with a millimeter-wave radar determines that it is in the same plane as a target vehicle, the vehicle obtains the total number of target vehicles detected by the millimeter-wave radar in several cycles and the pitch angles of the target vehicles detected in several cycles, and calculates the average pitch angles of the target vehicles detected in several cycles according to the method of step S131. Since the millimeter-wave radar is correctly installed in a vertical horizontal plane, the initial value of the pitch angle of the target vehicle is 0. The millimeter-wave radar pitch installation error value is obtained by the difference between the pitch angle average and the pitch angle initial value. The energy value corresponding to the millimeter-wave radar pitch installation error value is found from the millimeter-wave radar antenna pitch transmission energy diagram, and the energy value is compared with the energy value corresponding to the installation error value of 0 to obtain the threshold adjustment ratio, thereby calculating the new target detection threshold.

[0168] The present application also provides a millimeter wave radar pitch installation angle calibration device, the device is equipped with a software program, the software program can only realize the function of calibrating the millimeter wave radar pitch installation angle, or can not only realize the function of calibrating the millimeter wave radar pitch installation angle, but also realize other control functions, such as Figure 7 As shown, the device comprises:

[0169] Processor 10;

[0170] A memory 11 for storing processor executable instructions;

[0171] The processor 10 is configured as follows:

[0172] Obtain the total number of specific target objects detected by the millimeter wave radar within a specified time; wherein the total number of the specific target objects is greater than a specified number.

[0173] Determine the pitch angle of the specific target object detected within the specified time.

[0174] The elevation installation error value of the millimeter wave radar is determined according to the total number of the specific targets and the elevation angles of the specific targets.

[0175] The millimeter wave radar is calibrated according to the pitch installation error value.

[0176] In one embodiment, the processor 10 is further configured to:

[0177] Before obtaining the total number of specific target objects detected by the millimeter-wave radar within a specified time, it is determined that the vehicle on which the millimeter-wave radar is installed and the specific target objects are in the same plane.

[0178] In one embodiment, the specific target object satisfies any one or more of the following conditions:

[0179] The speed of the specific target object relative to the ground is greater than a predetermined speed.

[0180] The detection time of the millimeter wave radar on the specific target object is greater than a predetermined time.

[0181] The distance between the specific target object and the millimeter-wave radar is within a preset distance range.

[0182] In one embodiment, the specific target object is a vehicle.

[0183] The predetermined speed is set based on a minimum traveling speed of the vehicle.

[0184] The preset distance is set based on the safe vehicle distance and the millimeter wave radar range.

[0185] In one embodiment, the specified time is a number of millimeter wave radar detection cycles.

[0186] In one embodiment, the processor 10 is configured to:

[0187] The average value of the pitch angles of the specific targets detected within the specified time is determined according to the total number of the specific targets and the pitch angles of the specific targets detected.

[0188] The pitch installation error value of the millimeter wave radar is determined according to the pitch angle mean value.

[0189] In one embodiment, the processor 10 is configured to:

[0190] An initial value of a pitch angle for detecting the specific target object is determined, and the pitch installation error value is determined according to the pitch angle mean value and the initial value of the pitch angle.

[0191] In one embodiment, the pitch installation error value is the difference between the pitch angle mean value and the pitch angle initial value.

[0192] In one embodiment, the processor 10 is further configured to:

[0193] After determining the elevation installation error value of the millimeter wave radar according to the elevation angle mean, the total number of the specific targets and the elevation angle mean are reset to 0.

[0194] In one embodiment, the millimeter wave radar corresponds to a target detection threshold; the target detection threshold is used to detect the specific target object.

[0195] The processor 10 is configured to:

[0196] The target detection threshold of the millimeter wave radar is adjusted according to the pitch installation error value.

[0197] In one embodiment, the processor 10 is configured to:

[0198] A threshold adjustment ratio value is determined according to the elevation installation error value and the antenna elevation transmission energy diagram of the millimeter wave radar.

[0199] A new target detection threshold is determined according to the current target detection threshold and the threshold adjustment ratio value.

[0200] In one embodiment, the new target detection threshold is the product of the current target detection threshold and the threshold adjustment ratio value.

[0201] The present application also provides a vehicle control system 20, such as Figure 8 As shown, the system includes a millimeter-wave radar 21 and a calibration device 22 for the pitch installation angle of the millimeter-wave radar. The system can be distributedly arranged on the vehicle, attached to the system carried by the vehicle, and integrated with the system carried by the vehicle, which not only realizes the installation calibration of the millimeter-wave radar, but also realizes other control functions for the vehicle; it can also be a single system relatively independent of the vehicle, which only realizes the function of radar calibration, can be connected to the system carried by the vehicle for use, and can also be used outside the system carried by the vehicle.

[0202] The millimeter wave radar 21 is used to detect specific targets.

[0203] The calibration device 22 for the horizontal installation error of the millimeter wave radar comprises:

[0204] Processor 23;

[0205] a memory 24 for storing processor executable instructions;

[0206] Wherein, the processor 23 is configured to:

[0207] Obtain the total number of specific target objects detected by the millimeter wave radar within a specified time; wherein the total number of the specific target objects is greater than a specified number.

[0208] Determine the pitch angle of the specific target object detected within the specified time.

[0209] The elevation installation error value of the millimeter wave radar is determined according to the total number of the specific targets and the elevation angles of the specific targets.

[0210] The millimeter wave radar is calibrated according to the pitch installation error value.

[0211] In one embodiment, the processor 23 is further configured to:

[0212] Before obtaining the total number of specific target objects detected by the millimeter-wave radar within a specified time, it is determined that the vehicle on which the millimeter-wave radar is installed and the specific target objects are in the same plane.

[0213] In one embodiment, the specific target object satisfies any one or more of the following conditions:

[0214] The speed of the specific target object relative to the ground is greater than a predetermined speed.

[0215] The detection time of the millimeter wave radar on the specific target object is greater than a predetermined time.

[0216] The distance between the specific target object and the millimeter-wave radar is within a preset distance range.

[0217] In one embodiment, the specific target object is a vehicle.

[0218] The predetermined speed is set based on a minimum traveling speed of the vehicle.

[0219] The preset distance is set based on the safe vehicle distance and the millimeter wave radar range.

[0220] In one embodiment, the specified time is a number of millimeter wave radar detection cycles.

[0221] In one embodiment, the processor 23 is configured to:

[0222] The average value of the pitch angles of the specific targets detected within the specified time is determined according to the total number of the specific targets and the pitch angles of the specific targets detected.

[0223] The pitch installation error value of the millimeter wave radar is determined according to the pitch angle mean value.

[0224] In one embodiment, the processor 23 is configured to:

[0225] An initial value of a pitch angle for detecting the specific target object is determined, and the pitch installation error value is determined according to the pitch angle mean value and the initial value of the pitch angle.

[0226] In one embodiment, the pitch installation error value is the difference between the pitch angle mean value and the pitch angle initial value.

[0227] In one embodiment, the processor 23 is further configured to:

[0228] After determining the elevation installation error value of the millimeter wave radar according to the elevation angle mean, the total number of the specific targets and the elevation angle mean are reset to 0.

[0229] In one embodiment, the millimeter wave radar corresponds to a target detection threshold; the target detection threshold is used to detect the specific target object.

[0230] The processor 23 is configured to:

[0231] The target detection threshold of the millimeter wave radar is adjusted according to the pitch installation error value.

[0232] In one embodiment, the processor 23 is configured to:

[0233] A threshold adjustment ratio value is determined according to the elevation installation error value and the antenna elevation transmission energy diagram of the millimeter wave radar.

[0234] A new target detection threshold is determined according to the current target detection threshold and the threshold adjustment ratio value.

[0235] In one embodiment, the new target detection threshold is the product of the current target detection threshold and the threshold adjustment ratio value.

[0236] The present application also provides a vehicle, wherein the vehicle is equipped with a vehicle control system, and the vehicle control system includes the system described in any one of the embodiments.

[0237] The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application. In the absence of conflict, the features in the above embodiments and implementation methods can be combined with each other.

Claims

1. A method for calibrating the pitch installation angle of a millimeter wave radar, characterized in that: The following steps are involved: Obtaining the total number of specific targets detected by the millimeter-wave radar within a specified time; the specific targets are vehicles; the specified time is a number of detection cycles of the millimeter-wave radar; Determine the pitch angle of the specific target object detected within the specified time; The total number of the specific targets is greater than the specified number, and determining the pitch installation error value of the millimeter wave radar according to the total number of the specific targets and the pitch angles of the specific targets includes: determining the average pitch angle of the specific targets detected within the specified time according to the total number of the specific targets and the pitch angles of the specific targets; determining the pitch installation error value of the millimeter wave radar according to the average pitch angle; Determining the pitch installation error value of the millimeter wave radar according to the pitch angle mean value includes: determining an initial value of the pitch angle for detecting the specific target object, and determining the pitch installation error value according to the pitch angle mean value and the pitch angle initial value; The millimeter wave radar is calibrated according to the pitch installation error value.

2. The method according to claim 1, characterized in that: Before obtaining the total number of specific targets detected by the millimeter wave radar within a specified time, the method further includes: It is determined that the vehicle on which the millimeter-wave radar is installed is in the same plane as the specific target object.

3. The method according to claim 1, characterized in that The specific target object meets any one or more of the following conditions: The speed of the specific target object relative to the ground is greater than a predetermined speed; The detection time of the specific target object by the millimeter wave radar is longer than a predetermined time; The distance between the specific target object and the millimeter-wave radar is within a preset distance range.

4. The method according to claim 3, characterized in that The predetermined speed is set based on the minimum driving speed of the vehicle; The preset distance is set based on the safe vehicle distance and the millimeter wave radar range.

5. The method according to claim 1, characterized in that The pitch installation error value is the difference between the pitch angle mean value and the pitch angle initial value.

6. The method according to claim 1, characterized in that After determining the elevation installation error value of the millimeter wave radar according to the elevation angle mean value, the method further includes: The total number of the specific targets and the average pitch angle are reset to 0.

7. The method according to claim 1, characterized in that The millimeter wave radar corresponds to a target detection threshold; The target detection threshold is used to detect the specific target object; The correcting the millimeter wave radar according to the pitch installation error value includes: The target detection threshold of the millimeter wave radar is adjusted according to the pitch installation error value.

8. The method according to claim 7, characterized in that The step of adjusting the target detection threshold of the radar according to the pitch installation error value comprises: Determine a threshold adjustment ratio value according to the pitch installation error value and an antenna pitch transmission energy diagram of the millimeter wave radar; A new target detection threshold is determined according to the current target detection threshold and the threshold adjustment ratio value.

9. The method according to claim 8, characterized in that The new target detection threshold is the product of the current target detection threshold and the threshold adjustment ratio value.

10. A millimeter wave radar pitch installation angle calibration device, characterized in that: The device comprises: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: Obtaining the total number of specific targets detected by the millimeter-wave radar within a specified time; the specific targets are vehicles; the specified time is a number of detection cycles of the millimeter-wave radar; Determine the pitch angle of the specific target object detected within the specified time; The total number of the specific targets is greater than the specified number, and determining the pitch installation error value of the millimeter wave radar according to the total number of the specific targets and the pitch angles of the specific targets includes: determining the average pitch angle of the specific targets detected within the specified time according to the total number of the specific targets and the pitch angles of the specific targets; determining the pitch installation error value of the millimeter wave radar according to the average pitch angle; Determining the pitch installation error value of the millimeter wave radar according to the pitch angle mean value includes: determining an initial value of the pitch angle for detecting the specific target object, and determining the pitch installation error value according to the pitch angle mean value and the pitch angle initial value; The millimeter wave radar is calibrated according to the pitch installation error value.

11. The device according to claim 10, characterized in that The processor is further configured to: Before obtaining the total number of specific target objects detected by the millimeter-wave radar within a specified time, it is determined that the vehicle on which the millimeter-wave radar is installed and the specific target objects are in the same plane.

12. The device according to claim 10, characterized in that The specific target object meets any one or more of the following conditions: The speed of the specific target object relative to the ground is greater than a predetermined speed; The detection time of the specific target object by the millimeter wave radar is longer than a predetermined time; The distance between the specific target object and the millimeter-wave radar is within a preset distance range.

13. The device according to claim 12, characterized in that The predetermined speed is set based on the minimum driving speed of the vehicle; The preset distance is set based on the safe vehicle distance and the millimeter wave radar range.

14. The device according to claim 10, characterized in that The pitch installation error value is the difference between the pitch angle mean value and the pitch angle initial value.

15. The device according to claim 10, characterized in that The processor is further configured to: After determining the elevation installation error value of the millimeter wave radar according to the elevation angle mean, the total number of the specific targets and the elevation angle mean are reset to 0.

16. The device according to claim 10, characterized in that The millimeter wave radar corresponds to a target detection threshold; the target detection threshold is used to detect the specific target; The processor is configured to: The target detection threshold of the millimeter wave radar is adjusted according to the pitch installation error value.

17. The device according to claim 16, characterized in that The processor is configured to: Determine a threshold adjustment ratio value according to the pitch installation error value and an antenna pitch transmission energy diagram of the millimeter wave radar; A new target detection threshold is determined according to the current target detection threshold and the threshold adjustment ratio value.

18. The device according to claim 17, characterized in that The new target detection threshold is the product of the current target detection threshold and the threshold adjustment ratio value.

19. A vehicle control system, characterized in that: The vehicle control system includes a millimeter wave radar and a calibration device for the millimeter wave radar pitch installation angle; The millimeter wave radar is used to detect specific targets; The device for calibrating the horizontal installation error of the millimeter wave radar comprises: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: Obtaining the total number of specific targets detected by the millimeter-wave radar within a specified time; the specific targets are vehicles; the specified time is a number of detection cycles of the millimeter-wave radar; Determine the pitch angle of the specific target object detected within the specified time; The total number of the specific targets is greater than the specified number, and determining the pitch installation error value of the millimeter wave radar according to the total number of the specific targets and the pitch angles of the specific targets includes: determining the average pitch angle of the specific targets detected within the specified time according to the total number of the specific targets and the pitch angles of the specific targets; determining the pitch installation error value of the millimeter wave radar according to the average pitch angle; Determining the pitch installation error value of the millimeter wave radar according to the pitch angle mean value includes: determining an initial value of the pitch angle for detecting the specific target object, and determining the pitch installation error value according to the pitch angle mean value and the pitch angle initial value; The millimeter wave radar is calibrated according to the pitch installation error value.

20. The system according to claim 19, characterized in that The processor is further configured to: Before obtaining the total number of specific target objects detected by the millimeter-wave radar within a specified time, it is determined that the vehicle on which the millimeter-wave radar is installed and the specific target objects are in the same plane.

21. The system according to claim 19, characterized in that The specific target object meets any one or more of the following conditions: The speed of the specific target object relative to the ground is greater than a predetermined speed; The detection time of the specific target object by the millimeter wave radar is longer than a predetermined time; The distance between the specific target object and the millimeter-wave radar is within a preset distance range.

22. The system according to claim 21, characterized in that The predetermined speed is set based on the minimum driving speed of the vehicle; The preset distance is set based on the safe vehicle distance and the millimeter wave radar range.

23. The system according to claim 19, characterized in that The pitch installation error value is the difference between the pitch angle mean value and the pitch angle initial value.

24. The system according to claim 19, characterized in that The processor is further configured to: After determining the elevation installation error value of the millimeter wave radar according to the elevation angle mean, the total number of the specific targets and the elevation angle mean are reset to 0.

25. The system according to claim 19, characterized in that The millimeter wave radar corresponds to a target detection threshold; the target detection threshold is used to detect the specific target; The processor is configured to: The target detection threshold of the millimeter wave radar is adjusted according to the pitch installation error value.

26. The system according to claim 25, characterized in that The processor is configured to: Determine a threshold adjustment ratio value according to the pitch installation error value and an antenna pitch transmission energy diagram of the millimeter wave radar; A new target detection threshold is determined according to the current target detection threshold and the threshold adjustment ratio value.

27. The system according to claim 26, characterized in that The new target detection threshold is the product of the current target detection threshold and the threshold adjustment ratio value.

28. The system according to claim 19, characterized in that: The vehicle control system is an advanced driver assistance system or an automatic driving system.

29. A vehicle, characterized in that: The vehicle is equipped with a vehicle control system, which includes the system described in any one of claims 19 to claim 28.

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