A dynamic calibration method and system for vehicle-mounted millimeter-wave radar

Abstract

The invention relates to a vehicle-mounted millimeter-wave radar dynamic calibration method and system. The dynamic calibration method comprises: arranging metal targets on both sides of a straight road, wherein the height of the metal targets corresponds to the height of a radar to be calibrated installed on a vehicle, and the metal targets are arranged at equal intervals; when the vehicle speed is within a threshold range required for radar calibration, the radar collects point cloud data of the metal targets, and performs point cloud matching on the point cloud data based on a vehicle attitude signal; the center point of the point cloud data of each metal target is calculated, and connecting straight lines L1 and L2 of the central points on both sides of the road are determined, and the installation angle deviation of the radar is obtained based on the positions of the straight lines L1 and L2, so as to calibrate the radar; a dynamic calibration method for a vehicle-mounted millimeter-wave radar is provided, which is simple to operate, low in cost, and has low requirements on a calibration site, and can improve the dynamic calibration accuracy of the millimeter-wave radar, thereby improving the detection performance of the radar.

Description

Technical Field

[0001] The present invention relates to the field of vehicle-mounted radars, and in particular to a vehicle-mounted millimeter-wave radar dynamic calibration method and system. Background Art

[0002] Millimeter-wave radar is increasingly used in automobiles and has become one of the important sensors in automobile driving assistance systems. When a vehicle equipped with a millimeter-wave radar rolls off the assembly line, static or dynamic calibration is often performed to compensate for installation errors during the production and assembly process.

[0003] At present, the method for dynamic calibration of millimeter-wave radar is relatively simple. There are no detailed requirements for the calibration site, calibration process, and calibration process. OEMs still generally adopt the offline static calibration solution, which requires the investment of expensive calibration equipment and the construction of high-specification calibration sites. Summary of the invention

[0004] In view of the technical problems existing in the prior art, the present invention provides a vehicle-mounted millimeter-wave radar dynamic calibration method and system, and provides a vehicle-mounted millimeter-wave radar dynamic calibration method that is simple to operate, low in cost, and has low requirements for the calibration site. It can improve the dynamic calibration accuracy of the millimeter-wave radar, and further improve the detection performance of the radar.

[0005] According to a first aspect of the present invention, a vehicle-mounted millimeter-wave radar dynamic calibration method is provided, comprising:

[0006] Step 1, arranging metal targets on both sides of a straight road, wherein the height of the metal targets corresponds to the height of the radar to be calibrated installed on the vehicle, and the metal targets are arranged at equal intervals;

[0007] Step 2: When the speed of the vehicle is within the threshold range required by the radar calibration, the radar collects point cloud data of the metal target and performs point cloud matching on the point cloud data based on the vehicle posture signal;

[0008] Step 3, calculate the center point of the point cloud data of each metal target, determine the connecting lines L1 and L2 of the center points on both sides of the road, obtain the installation angle deviation of the radar based on the positions of the lines L1 and L2, and calibrate the radar.

[0009] Based on the above technical solution, the present invention can also make the following improvements.

[0010] Optionally, the road has a flatness index of ≤2.0m / km, a flatness meter variance σ≤1.2mm, and a width range of 2m-3.5m;

[0011] The geometric center of the metal target must be within ±30mm of the radar center position, including at least 4 reflecting surfaces, with a surface uniformity of ≤0.4mm and a thickness of ≥1mm.

[0012] Optionally, before the step 2 collects the point cloud data, the step further includes: monitoring the yaw angle Yaw and the vehicle speed V of the vehicle by a radar, and collecting the point cloud data when the yaw angle Yaw and the vehicle speed V of the vehicle meet threshold requirements;

[0013] After collecting the point cloud data in step 2, the step further includes: eliminating invalid point cloud data with reflection intensity lower than a set threshold.

[0014] Optionally, after determining the connecting straight lines L1 and L2 of the central points on both sides of the road in step 3, the method further includes: calculating the parallelism of the straight lines L1 and L2, and determining the straight lines L1 and L2 whose parallelism meets the threshold requirement as valid;

[0015] The process of obtaining the installation angle deviation of the radar based on the effective positions of the straight lines L1 and L2 includes:

[0016] Establish a coordinate system O, in which the emission center of each radar is taken as the origin, the Y reference plane is the longitudinal symmetry plane of the vehicle; the X reference plane is a vertical plane perpendicular to the Y reference plane; and the Z reference plane is a horizontal plane perpendicular to the Y and X reference planes;

[0017] The straight lines L1 and L2 are projected onto the XY plane and the ZX plane of the coordinate system O, respectively. The straight line L1 is projected to generate straight lines L1′ and L1″. The angles between the straight lines L1′ and L1″ and the X-axis are α1 and β1. The straight line L2 is projected to generate straight lines L2′ and L2″. The angles between the straight lines L2′ and L2″ and the X-axis are α2 and β2. The horizontal installation angle deviation of the radar is calculated to be (α1+α2) / 2, and the vertical installation angle deviation is calculated to be (β1+β2) / 2.

[0018] Optionally, step 3 further includes:

[0019] The calculated actual installation pitch angle and the actual installation horizontal angle of the radar are quantitatively counted. When the statistical quantity reaches a set quantity threshold, the average values ​​of each actual installation pitch angle and each actual installation horizontal angle are respectively calculated, and the radar is calibrated with the average values ​​of the actual installation pitch angle and the actual installation horizontal angle.

[0020] Optionally, after step 3, the following steps may be further performed:

[0021] Step 4, when it is determined that the difference between the actual installation pitch angle and the theoretical pitch angle and the difference between the actual installation horizontal angle and the theoretical horizontal angle are both less than a set threshold, the calibration process is terminated and feedback is given indicating that the calibration is successful;

[0022] When the difference between the actual installation pitch angle and the theoretical pitch angle is not less than the set threshold, the calibration process is terminated and the pitch angle deviation is fed back; when the difference between the actual installation horizontal angle and the theoretical horizontal angle is not less than the set threshold, the calibration process is terminated and the horizontal angle deviation is fed back.

[0023] According to a second aspect of the present invention, there is provided a vehicle-mounted millimeter-wave radar dynamic calibration system, comprising: a diagnostic instrument, a vehicle and a metal target; the millimeter-wave radar to be calibrated is installed on the vehicle; the diagnostic instrument comprises a point cloud data matching module and other radar data fusion modules;

[0024] The metal targets are arranged on both sides of the straight road, the height of the metal targets corresponds to the height of the radar, and the metal targets are arranged at equal intervals;

[0025] When the speed of the vehicle is within the threshold range required by the radar calibration, the radar collects point cloud data of the metal target; the point cloud data matching module is used to perform point cloud matching on the point cloud data based on the vehicle posture signal;

[0026] The other radar data fusion module is used to calculate the center point of the point cloud data of each metal target, determine the connecting straight lines L1 and L2 of the center points on both sides of the road, obtain the installation angle deviation of the radar based on the positions of the straight lines L1 and L2, and calibrate the radar.

[0027] According to a third aspect of the present invention, there is provided an electronic device comprising a memory and a processor, wherein the processor is used to implement the steps of a vehicle-mounted millimeter-wave radar dynamic calibration method when executing a computer management program stored in the memory.

[0028] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer management program stored thereon, wherein the computer management program, when executed by a processor, implements the steps of a vehicle-mounted millimeter-wave radar dynamic calibration method.

[0029] The present invention provides a vehicle-mounted millimeter-wave radar dynamic calibration method, system, electronic device and storage medium, which perform corresponding calibration optimization by means of the requirements of the calibration site road, the requirements of the metal target, and the monitoring of the vehicle posture. The process of radar dynamic calibration is as follows: the radar receives the point cloud data of the target, matches the multi-frame point cloud data in combination with the vehicle posture, and fits the position of the metal target relative to the millimeter-wave radar in combination with the point cloud data of other radars, calculates the actual installation error of the radar, and performs corresponding angle compensation and coordinate system correction; a vehicle-mounted millimeter-wave radar dynamic calibration method is provided, which is simple to operate, low in cost, and has low requirements for the calibration site, and can improve the dynamic calibration accuracy of the millimeter-wave radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A flow chart of a vehicle-mounted millimeter-wave radar dynamic calibration method provided by the present invention;

[0031] Figure 2 A schematic diagram of an embodiment of calculating a center point provided by the present invention;

[0032] Figure 3 A schematic diagram of an embodiment of calculating the installation angle deviation of a radar provided by the present invention;

[0033] Figure 4 A schematic diagram of a vehicle-mounted millimeter-wave radar dynamic calibration system provided by the present invention;

[0034] Figure 5 A schematic diagram of the hardware structure of a possible electronic device provided by the present invention;

[0035] Figure 6 A schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION

[0036] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0037] Figure 1 A flow chart of a vehicle-mounted millimeter-wave radar dynamic calibration method provided by the present invention, such as Figure 1 As shown, the dynamic calibration method includes:

[0038] Step 1: Arrange metal targets on both sides of the straight road. The height of the metal targets corresponds to the height of the radar to be calibrated installed on the vehicle, and the metal targets are arranged at equal intervals.

[0039] Step 2: When the vehicle speed is within the threshold range required by the radar calibration, the radar collects point cloud data of the metal target and performs point cloud matching on the point cloud data based on the vehicle posture signal.

[0040] Step 3, calculate the center point of the point cloud data of each metal target, determine the connecting lines L1 and L2 of the center points on both sides of the road, obtain the installation angle deviation of the radar based on the positions of the lines L1 and L2, and calibrate the radar.

[0041] The present invention provides a dynamic calibration method for a vehicle-mounted millimeter-wave radar, which is simple to operate, low in cost, and has low requirements for a calibration site. It can improve the dynamic calibration accuracy of the millimeter-wave radar, and further improve the detection performance of the radar.

[0042] Example 1

[0043] Embodiment 1 of the present invention is an embodiment of a vehicle-mounted millimeter wave radar dynamic calibration method provided by the present invention, combined with Figure 1 It can be seen that the embodiment of the calibration method includes:

[0044] Step 1: Arrange metal targets on both sides of the straight road. The height of the metal targets corresponds to the height of the radar to be calibrated installed on the vehicle, and the metal targets are arranged at equal intervals.

[0045] In the specific implementation, in order to ensure the accuracy of dynamic calibration, corresponding requirements need to be made for the calibration environment. The roughness index of the calibration road IRI (m / km) is ≤ 2.0. Metal targets are arranged at a certain distance on both sides of the road. The number of targets on a single side depends on the actual site. The road and metal targets must meet the following requirements as shown in Table 1:

[0046] Table 1 Specifications of roads and metal targets

[0047]

[0048]

[0049] Step 2: When the vehicle speed is within the threshold range required by the radar calibration, the radar collects point cloud data of the metal target; the point cloud data is matched based on the vehicle posture signal to perform corresponding point cloud data correction.

[0050] In the specific implementation, the process before point cloud data is processed includes:

[0051] After the vehicle speed is increased to above the speed threshold V1 required by the radar calibration, the vehicle is kept moving in a straight line. The radar monitors the vehicle's yaw angle Yaw and speed V. When the vehicle's yaw angle Yaw and speed V meet the threshold requirements, point cloud data collection begins.

[0052] In a possible implementation manner, after collecting the point cloud data, step 2 further includes: eliminating invalid point cloud data with a reflection intensity lower than a set threshold.

[0053] In a possible implementation manner, the process of performing point cloud matching on point cloud data based on the vehicle posture signal in step 2 includes:

[0054] At the initial moment, the vehicle speed is Vm, the yaw angle is YAWm, and the radar point cloud data set is Rm={(i1,j1,k1),(i2,j2,k2)…(i n ,j n ,k n )}. In the next frame, the vehicle speed is Vn and the yaw angle is YAWn. At this time, the radar point cloud data set Rn={(i'1,j'1,k'1),(i'2,j'2,k'2)…(i' n ,j' n ,k' n )}. According to the vehicle speed and yaw angle information of the two frames of data, the point cloud data sets Rn and Rm are matched by the ICP algorithm.

[0055] In a possible implementation manner, the number of radars to be calibrated installed on the vehicle in step 1 is at least two, for example, four; since the emission ranges of the two rear (front) corner radars overlap to a certain extent, the point cloud data of the two radars can be fused to obtain a more accurate point cloud data set. The corner radar data matched by the point cloud data matching module are fused through the ICP algorithm.

[0056] Step 3, calculate the center point of the point cloud data of each metal target, determine the connecting lines L1 and L2 of the center points on both sides of the road, obtain the installation angle deviation of the radar based on the positions of the lines L1 and L2, and calibrate the radar.

[0057] It is understandable that if Figure 2 The schematic diagram of an embodiment of calculating the center point provided by the present invention is shown in FIG. Figure 2 It can be seen that the fused point cloud data is divided into point cloud data sets of each target. i ={(i1,j1,k1),(i2,j2,k2)…(i n ,j n ,k n )}. Calculate the center point P' of each target point cloudI , use the least squares method to fit the spatial straight lines L1 and L2.

[0058] in,

[0059] In a possible implementation manner, after determining the connecting straight lines L1 and L2 of the center points on both sides of the road in step 3, it also includes: calculating the parallelism of the straight lines L1 and L2, and determining the straight lines L1 and L2 whose parallelism meets the threshold requirement to be valid.

[0060] In a possible embodiment, Figure 3 FIG. 1 is a schematic diagram of an embodiment of calculating the installation angle deviation of a radar provided by the present invention, combined with Figure 3 It can be seen that the process of obtaining the installation angle deviation of the radar based on the positions of the effective straight lines L1 and L2 includes:

[0061] A coordinate system O is established. In the coordinate system O, the emission center of each radar is taken as the origin, the Y reference plane is the longitudinal symmetry plane of the vehicle; the X reference plane is the vertical plane perpendicular to the Y reference plane; and the Z reference plane is the horizontal plane perpendicular to the Y and X reference planes.

[0062] Lines L1 and L2 are projected onto the XY plane and ZX plane of the coordinate system O, and line L1 is projected to generate lines L1′ and L1″, and the angles between lines L1′ and L1″ and the X-axis are α1 and β1. Line L2 is projected to generate lines L2′ and L2″, and the angles between lines L2′ and L2″ and the X-axis are α2 and β2. The horizontal installation angle deviation of the radar is calculated to be (α1+α2) / 2, and the vertical installation angle deviation is calculated to be (β1+β2) / 2. Then, based on the known theoretical installation angle of the radar, the actual installation pitch angle and horizontal angle of the radar are calculated.

[0063] In a possible implementation manner, step 3 further includes:

[0064] The calculated actual installation pitch angle and actual installation horizontal angle of the radar are statistically counted. When the statistical quantity reaches the set quantity threshold, the average values ​​of each actual installation pitch angle and each actual installation horizontal angle are calculated respectively, and the radar is calibrated with the average values ​​of the actual installation pitch angle and the actual installation horizontal angle.

[0065] In a possible implementation manner, step 3 further includes:

[0066] Step 4: When it is determined that the difference between the actual installation pitch angle and the theoretical pitch angle and the difference between the actual installation horizontal angle and the theoretical horizontal angle are both less than the set threshold, the calibration process is terminated and feedback is given indicating that the calibration is successful.

[0067] It can be understood that in step 4, when the difference between the actual installation pitch angle and the theoretical pitch angle is not less than the set threshold, the calibration process is terminated and the pitch angle deviation is fed back; when the difference between the actual installation horizontal angle and the theoretical horizontal angle is not less than the set threshold, the calibration process is terminated and the horizontal angle deviation is fed back.

[0068] It can be understood that, based on the defects in the background technology, the embodiment of the present invention proposes a dynamic calibration method for a vehicle-mounted millimeter-wave radar.

[0069] Example 2

[0070] Embodiment 2 provided by the present invention is an embodiment of a vehicle-mounted millimeter-wave radar dynamic calibration system provided by the present invention. Figure 2 A schematic diagram of a vehicle-mounted millimeter-wave radar dynamic calibration system provided by an embodiment of the present invention, Figure 3 A schematic diagram of a vehicle-mounted millimeter-wave radar dynamic calibration system provided by an embodiment of the present invention, combined with Figure 2 and Figure 3 It can be seen that this embodiment includes: a diagnostic instrument, a vehicle and a metal target; the millimeter-wave radar to be calibrated is installed on the vehicle; the diagnostic instrument includes a point cloud data matching module and other radar data fusion modules.

[0071] The metal targets are arranged on both sides of the straight road. The height of the metal targets corresponds to the height of the radar, and the metal targets are set at equal intervals.

[0072] When the vehicle speed is within the threshold range required by the radar calibration, the radar collects point cloud data of the metal target; the point cloud data matching module is used to perform point cloud matching on the point cloud data based on the vehicle posture signal.

[0073] Other radar data fusion modules are used to calculate the center point of the point cloud data of each metal target, determine the connecting lines L1 and L2 of the center points on both sides of the road, obtain the installation angle deviation of the radar based on the positions of the lines L1 and L2, and calibrate the radar.

[0074] In the specific implementation, after the calibration process starts, the radar is connected to the diagnostic instrument, and the diagnostic instrument sends a calibration request to the radar. After receiving the calibration request, the radar starts the dynamic calibration mode, and collects point cloud data after detecting continuous targets and the vehicle speed reaches the threshold range.

[0075] It can be understood that the vehicle-mounted millimeter-wave radar dynamic calibration system provided by the present invention corresponds to the vehicle-mounted millimeter-wave radar dynamic calibration method provided by the aforementioned embodiments. The relevant technical features of the vehicle-mounted millimeter-wave radar dynamic calibration system can refer to the relevant technical features of the vehicle-mounted millimeter-wave radar dynamic calibration method, which will not be repeated here.

[0076] See also Figure 4 , Figure 4 Schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 4 As shown, an embodiment of the present invention provides an electronic device, including a memory 1310, a processor 1320, and a computer program 1311 stored in the memory 1320 and executable on the processor 1320. When the processor 1320 executes the computer program 1311, the following steps are implemented: metal targets are arranged on both sides of a straight road, the height of the metal targets corresponds to the height of a radar to be calibrated installed on a vehicle, and the metal targets are arranged at equal intervals; when the vehicle speed is within the threshold range required for radar calibration, the radar collects point cloud data of the metal targets, and performs point cloud matching on the point cloud data based on the vehicle posture signal; the center point of the point cloud data of each metal target is calculated, the connecting straight lines L1 and L2 of the central points on both sides of the road are determined, the installation angle deviation of the radar is obtained based on the positions of the straight lines L1 and L2, and the radar is calibrated.

[0077] See also Figure 5 , Figure 5 Schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. Figure 5 As shown, this embodiment provides a computer-readable storage medium 1400, on which a computer program 1411 is stored. When the computer program 1411 is executed by a processor, the following steps are implemented: metal targets are arranged on both sides of a straight road, the height of the metal targets corresponds to the height of the radar to be calibrated installed on the vehicle, and the metal targets are arranged at equal intervals; when the vehicle speed is within the threshold range required for radar calibration, the radar collects point cloud data of the metal targets, and performs point cloud matching on the point cloud data based on the vehicle posture signal; the center point of the point cloud data of each metal target is calculated, and the connecting lines L1 and L2 of the center points on both sides of the road are determined, and the installation angle deviation of the radar is obtained based on the positions of the lines L1 and L2, and the radar is calibrated.

[0078] The embodiments of the present invention provide a vehicle-mounted millimeter-wave radar dynamic calibration method, system and storage medium, which perform corresponding calibration optimization by meeting the requirements of the calibration site road, the requirements of the metal target, and the monitoring of the vehicle posture. The process of radar dynamic calibration is as follows: the radar receives the point cloud data of the target, matches the multi-frame point cloud data in combination with the vehicle posture, and fits the position of the metal target relative to the millimeter-wave radar in combination with the point cloud data of other radars, calculates the actual installation error of the radar, and performs corresponding angle compensation and coordinate system correction; a dynamic calibration method for a vehicle-mounted millimeter-wave radar is provided, which is simple to operate, low in cost, and has low requirements for the calibration site, and can improve the dynamic calibration accuracy of the millimeter-wave radar.

[0079] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0080] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0081] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0082] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0083] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0084] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0085] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A vehicle-mounted millimeter-wave radar dynamic calibration method, characterized in that: The dynamic calibration method comprises: Step 1, arranging metal targets on both sides of a straight road, wherein the height of the metal targets corresponds to the height of the radar to be calibrated installed on the vehicle, and the metal targets are arranged at equal intervals; Step 2: When the speed of the vehicle is within the threshold range required by the radar calibration, the radar collects point cloud data of the metal target and performs point cloud matching on the point cloud data based on the vehicle posture signal; Step 3, calculating the center point of the point cloud data of each metal target, determining the connecting lines L1 and L2 of the center points on both sides of the road, obtaining the installation angle deviation of the radar based on the positions of the lines L1 and L2, and calibrating the radar; The number of radars to be calibrated installed on the vehicle in step 1 is at least two; the process of performing point cloud matching on the point cloud data based on the vehicle posture signal in step 2 includes: The vehicle attitude signal includes vehicle speed and yaw angle information. According to the vehicle speed and yaw angle information corresponding to the two frames of point cloud data, point cloud matching is performed on the two frames of point cloud data sets through an ICP algorithm, and the matched point cloud data of at least two radars are fused; After determining the connecting straight lines L1 and L2 of the central points on both sides of the road in step 3, the method further includes: calculating the parallelism of the straight lines L1 and L2, and determining the straight lines L1 and L2 whose parallelism meets the threshold requirement as valid; The process of obtaining the installation angle deviation of the radar based on the effective positions of the straight lines L1 and L2 includes: Establish a coordinate system O, in which the emission center of each radar is taken as the origin, the Y reference plane is the longitudinal symmetry plane of the vehicle; the X reference plane is a vertical plane perpendicular to the Y reference plane; and the Z reference plane is a horizontal plane perpendicular to the Y and X reference planes; The straight lines L1 and L2 are projected onto the XY plane and the ZX plane of the coordinate system O, respectively. The straight line L1 is projected to generate straight lines L1′ and L1″. The angles between the straight lines L1′ and L1″ and the X-axis are α1 and β1. The straight line L2 is projected to generate straight lines L2′ and L2″. The angles between the straight lines L2′ and L2″ and the X-axis are α2 and β2. The horizontal installation angle deviation of the radar is calculated to be (α1+α2) / 2, and the vertical installation angle deviation is calculated to be (β1+β2) / 2. According to the known theoretical installation angle of the radar, the actual installation pitch angle and the actual installation horizontal angle of the radar are calculated.

2. The dynamic calibration method according to claim 1, characterized in that: The road has a flatness index of ≤2.0m / km, a flatness meter variance σ≤1.2mm, and a width range of 2m-3.5m; The geometric center of the metal target must be within ±30mm of the radar center position, including at least 4 reflecting surfaces, with a surface uniformity of ≤0.4mm and a thickness of ≥1mm.

3. The dynamic calibration method according to claim 1, characterized in that: Before the step 2 collects the point cloud data, the step also includes: monitoring the yaw angle Yaw and the vehicle speed V of the vehicle by a radar, and collecting the point cloud data when the yaw angle Yaw and the vehicle speed V of the vehicle meet the threshold requirements; After collecting the point cloud data in step 2, the step further includes: eliminating invalid point cloud data with reflection intensity lower than a set threshold.

4. The dynamic calibration method according to claim 1, characterized in that: The step 3 also includes: The calculated actual installation pitch angle and the actual installation horizontal angle of the radar are quantitatively counted. When the statistical quantity reaches a set quantity threshold, the average values ​​of each actual installation pitch angle and each actual installation horizontal angle are respectively calculated, and the radar is calibrated with the average values ​​of the actual installation pitch angle and the actual installation horizontal angle.

5. The dynamic calibration method according to claim 3, characterized in that: After step 3, the following steps are also included: Step 4, when it is determined that the difference between the actual installation pitch angle and the theoretical pitch angle and the difference between the actual installation horizontal angle and the theoretical horizontal angle are both less than a set threshold, the calibration process is terminated and feedback is given indicating that the calibration is successful; When the difference between the actual installation pitch angle and the theoretical pitch angle is not less than the set threshold, the calibration process is terminated and the pitch angle deviation is fed back; when the difference between the actual installation horizontal angle and the theoretical horizontal angle is not less than the set threshold, the calibration process is terminated and the horizontal angle deviation is fed back.

6. A vehicle-mounted millimeter-wave radar dynamic calibration system, characterized in that: include: A diagnostic instrument, a vehicle and a metal target; the millimeter-wave radar to be calibrated is installed on the vehicle; the diagnostic instrument includes a point cloud data matching module and other radar data fusion modules; The metal targets are arranged on both sides of the straight road, the height of the metal targets corresponds to the height of the radar, and the metal targets are arranged at equal intervals; When the speed of the vehicle is within the threshold range required by the radar calibration, the radar collects point cloud data of the metal target; the point cloud data matching module is used to perform point cloud matching on the point cloud data based on the vehicle posture signal; The other radar data fusion module is used to calculate the center point of the point cloud data of each metal target, determine the connecting lines L1 and L2 of the center points on both sides of the road, obtain the installation angle deviation of the radar based on the positions of the lines L1 and L2, and calibrate the radar; The number of radars to be calibrated installed on the vehicle is at least two; The process of performing point cloud matching on the point cloud data by the point cloud data matching module based on the vehicle posture signal includes: The vehicle attitude signal includes vehicle speed and yaw angle information. According to the vehicle speed and yaw angle information corresponding to the two frames of point cloud data, point cloud matching is performed on the two frames of point cloud data sets through an ICP algorithm, and the matched point cloud data of at least two radars are fused; After the other radar data fusion module determines the connecting straight lines L1 and L2 of the central points on both sides of the road, it also includes: calculating the parallelism of the straight lines L1 and L2, and determining the straight lines L1 and L2 whose parallelism meets the threshold requirement as valid; The process of obtaining the installation angle deviation of the radar based on the effective positions of the straight lines L1 and L2 includes: Establish a coordinate system O, in which the emission center of each radar is taken as the origin, the Y reference plane is the longitudinal symmetry plane of the vehicle; the X reference plane is a vertical plane perpendicular to the Y reference plane; and the Z reference plane is a horizontal plane perpendicular to the Y and X reference planes; The straight lines L1 and L2 are projected onto the XY plane and the ZX plane of the coordinate system O, respectively. The straight line L1 is projected to generate straight lines L1′ and L1″. The angles between the straight lines L1′ and L1″ and the X-axis are α1 and β1. The straight line L2 is projected to generate straight lines L2′ and L2″. The angles between the straight lines L2′ and L2″ and the X-axis are α2 and β2. The horizontal installation angle deviation of the radar is calculated to be (α1+α2) / 2, and the vertical installation angle deviation is calculated to be (β1+β2) / 2.

7. An electronic device, characterized in that: It includes a memory and a processor, and the processor is used to implement the steps of the vehicle-mounted millimeter-wave radar dynamic calibration method as described in any one of claims 1 to 5 when executing the computer management program stored in the memory.

8. A computer-readable storage medium, characterized in that: A computer management program is stored thereon, and when the computer management program is executed by the processor, the steps of the vehicle-mounted millimeter-wave radar dynamic calibration method as described in any one of claims 1 to 5 are implemented.

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