Ultrasonic radar calibration method, device, system, equipment and storage medium

Abstract

This disclosure provides an ultrasonic radar calibration method, apparatus, system, device, and storage medium, related to technical fields such as autonomous driving and autonomous parking machine learning. The specific implementation involves controlling the ultrasonic radar and obstacle movement to detection points; and calibrating the ultrasonic radar at these detection points. This disclosure can effectively improve the calibration efficiency and accuracy of ultrasonic radars.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, specifically to technical fields such as autonomous driving and machine learning for autonomous parking, and more particularly to a calibration method, apparatus, system, device, and storage medium for an ultrasonic radar. Background Art

[0002] Ultrasonic radar is a very important component of self-driving cars. The measurement accuracy of ultrasonic radar directly affects the performance of self-driving cars.

[0003] In existing technology, ultrasonic radar calibration is primarily performed manually. For example, an obstacle to be detected can be manually placed within the ultrasonic radar's measurement area. The distance to the obstacle, as measured by the ultrasonic radar, is then obtained. Furthermore, the distance from the obstacle to the ultrasonic radar is manually measured with a ruler. If the ultrasonic radar's measurement accuracy falls outside the required range, staff manually adjust various ultrasonic radar parameters based on experience to achieve the ideal measurement accuracy for the current location. This process is then repeated, with the obstacle's position continuously adjusted, until the ultrasonic radar parameters meet the product's measurement accuracy requirements for multiple locations. Summary of the Invention

[0004] The present disclosure provides an ultrasonic radar calibration method, apparatus, system, device, and storage medium.

[0005] According to one aspect of the present disclosure, a calibration method for an ultrasonic radar is provided, comprising:

[0006] Control the ultrasonic radar and obstacles to move to the detection point;

[0007] The ultrasonic radar is calibrated at the detection point.

[0008] According to another aspect of the present disclosure, a calibration device for an ultrasonic radar is provided, comprising:

[0009] A control module is used to control the ultrasonic radar and the obstacle to move to the detection point;

[0010] A calibration module is used to calibrate the ultrasonic radar at the detection point.

[0011] According to another aspect of the present disclosure, there is provided a calibration system for an ultrasonic radar, comprising: an ultrasonic radar, an obstacle, and a controller for controlling the ultrasonic radar and the obstacle to move to a detection point;

[0012] The controller is further used to calibrate the ultrasonic radar at the detection point.

[0013] According to another aspect of the present disclosure, there is provided an electronic device, including:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any possible implementation manner and the aspects described above.

[0017] According to yet another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to execute the method of the above-mentioned aspects and any possible implementation manner.

[0018] According to yet another aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the method of the aspect and any possible implementation manner described above.

[0019] According to the technology disclosed in the present invention, the calibration efficiency and calibration accuracy of the ultrasonic radar can be effectively improved.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0022] Figure 1 is a schematic diagram according to a first embodiment of the present disclosure;

[0023] Figure 2 is a schematic diagram according to a second embodiment of the present disclosure;

[0024] Figure 3 is a horizontal schematic diagram of the measurement area of ​​the ultrasonic radar disclosed herein;

[0025] Figure 4 is a vertical schematic diagram of the measurement area of ​​the ultrasonic radar disclosed herein;

[0026] Figure 5 is a schematic diagram according to a third embodiment of the present disclosure;

[0027] Figure 6 is a schematic diagram according to a fourth embodiment of the present disclosure;

[0028] Figure 7 yes Figure 6 An electrical block diagram of the ultrasonic radar calibration system of the illustrated embodiment;

[0029] Figure 8 yes Figure 7 Schematic diagram of the planar position relationship between the ultrasonic radar 601 and the PVC pipe 602 in the structure shown;

[0030] Figure 9 is a schematic diagram according to a fifth embodiment of the present disclosure;

[0031] Figure 10 is a schematic diagram according to a sixth embodiment of the present disclosure;

[0032] Figure 11 is a schematic diagram according to a seventh embodiment of the present disclosure;

[0033] Figure 12 is a schematic diagram according to an eighth embodiment of the present disclosure;

[0034] Figure 13 is a block diagram of an electronic device for implementing the above method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0036] Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0037] It should be noted that the terminal devices involved in the embodiments of the present disclosure may include but are not limited to mobile phones, personal digital assistants (PDAs), wireless handheld devices, tablet computers and other smart devices; display devices may include but are not limited to personal computers, televisions and other devices with display functions.

[0038] In this document, the term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0039] Given that the existing manual calibration process is time-consuming and labor-intensive, and manual measurement errors are large, resulting in poor efficiency and accuracy of manual calibration, the present disclosure provides an ultrasonic radar calibration solution to effectively improve the calibration efficiency and accuracy of ultrasonic radar.

[0040] Figure 1 is a schematic diagram according to the first embodiment of the present disclosure; Figure 1 As shown, this embodiment provides an ultrasonic radar calibration method, which can be applied to an ultrasonic radar calibration system and may specifically include the following steps:

[0041] S101, control the ultrasonic radar and the obstacle to move to the detection point;

[0042] S102: Calibrate the ultrasonic radar at the detection point.

[0043] In the technical solution of this embodiment, the movement of the ultrasonic radar and the obstacle can be automatically controlled to reach the detection point. At this time, a spatial position relationship between the ultrasonic radar and the obstacle is obtained, and this spatial position relationship exactly corresponds to the spatial position relationship of the detection point.

[0044] In actual applications, when calibrating parameters of an ultrasonic radar, there may be multiple detection points. The detection point in this embodiment is any one of the multiple detection points.

[0045] Compared with the manual calibration of the prior art, in this embodiment, the movement of the ultrasonic radar and the obstacle is automatically controlled so that the positional relationship between the ultrasonic radar and the obstacle after movement is exactly the positional relationship corresponding to the detection point. The accuracy of automatic control of the movement of the ultrasonic radar and the obstacle is higher.

[0046] The ultrasonic radar calibration method of this embodiment can accurately control the movement of the ultrasonic radar and the obstacle by controlling the movement of the ultrasonic radar and the obstacle to the detection point; and automatically calibrate the ultrasonic radar at the detection point without manual participation, saving time and effort, and can effectively improve the calibration efficiency of the ultrasonic radar; and compared with manual calibration, it can effectively improve the calibration accuracy.

[0047] Figure 2 is a schematic diagram according to the second embodiment of the present disclosure; Figure 2As shown, the calibration method of the ultrasonic radar of this embodiment is as follows: Figure 1 Based on the technical solutions of the embodiments shown, the technical solutions of the present disclosure are further described in more detail. Figure 2 As shown, the ultrasonic radar calibration method of this embodiment may specifically include the following steps:

[0048] S201. Setting multiple detection points within the measurement area of ​​the ultrasonic radar;

[0049] S202, obtaining the positional relationship of each detection point relative to the ultrasonic radar;

[0050] S203, based on the positional relationship of each detection point relative to the ultrasonic radar, recording the corresponding detection point position to obtain multiple detection point positions;

[0051] In this embodiment, steps S201-S203 may be a pre-configuration process of multiple detection points. This process may be implemented during planning without the need for obstacles, or the planning and configuration of detection points may be implemented through movement.

[0052] The obstacle in this embodiment can be realized by using a polyvinyl chloride (PVC) pipe. The PVC pipe used as the obstacle can be a pipe with a diameter of 7.5 cm and a height of about 1-1.5 meters.

[0053] Figure 3 is a horizontal schematic diagram of the measurement area of ​​the ultrasonic radar disclosed herein; Figure 4 : is a vertical schematic diagram of the measurement area of ​​the ultrasonic radar disclosed in the present invention. Figure 3 and Figure 4 It can be seen that the ultrasonic radar's measurement area is a fan-shaped area in both the horizontal and vertical directions. This means that within the ultrasonic radar's minimum detection distance, such as around 10-15 cm, the ultrasonic radar cannot accurately identify objects within this minimum detection distance. Furthermore, objects within the measurement area outside the ultrasonic radar's maximum detection range cannot be identified. Different ultrasonic radars have different maximum detection ranges, such as 2.5m, 3m, or 5m, or other distances, which are not limited here.

[0054] For example, Figure 3As shown, a detection point can be set per unit area in the horizontal direction within the sector-shaped measurement area of ​​the ultrasonic radar. Then the positional relationship between each detection point and the ultrasonic radar is obtained. In the present disclosure, the positional relationship between the detection point and the ultrasonic radar includes the distance between the detection point and the ultrasonic radar, and the angle between the straight line where the detection point and the ultrasonic radar are located and the front of the ultrasonic radar. In the present disclosure, based on the positional relationship between each detection point and the ultrasonic radar, the corresponding detection point position is recorded. That is to say, a detection point is just a point, and the detection point position includes not only the detection point, but also the positional relationship between the detection point and the ultrasonic radar. In accordance with the above method, multiple detection point positions of the ultrasonic radar can be pre-configured to facilitate the subsequent more accurate calibration of the parameters of the ultrasonic radar based on each detection point position.

[0055] For example, in one embodiment of the present disclosure, Figure 3 On the horizontal surface shown, a detection point is selected per square centimeter. The algorithm automatically traverses tens of thousands of detection points across the measurement area to calibrate the ultrasonic radar. Compared to the traditional method of manually placing PVC pipes as obstacles at the detection points, this method increases the number of detection points and calibration accuracy by more than an order of magnitude, significantly improving the efficiency and quality of ultrasonic radar calibration.

[0056] S204, selecting an uncalibrated detection point from multiple detection points;

[0057] S205: Using a controller to control the ultrasonic radar and the obstacle to move to a selected detection point;

[0058] For example, based on the positional relationship between the detection point and the ultrasonic radar, a controller may be used to control the movement of the ultrasonic radar and the obstacle, so that the ultrasonic radar and the obstacle move to the detection point.

[0059] In other words, when the controller controls the movement of the ultrasonic radar and obstacle, it doesn't do so randomly. Instead, it references the positional relationship between the ultrasonic radar and the detection point to achieve targeted control, ensuring that the final positional relationship between the ultrasonic radar and the obstacle matches the positional relationship between the detection points. However, unlike existing methods that manually place obstacles at detection points within the ultrasonic radar's measurement area, in this embodiment, the controller simultaneously controls the movement of both the ultrasonic radar and the obstacle to simulate the obstacle's movement to the detection point within the ultrasonic radar's measurement area. This approach, in which the controller controls the movement of the ultrasonic radar and obstacle to selected detection points, can effectively improve the accuracy of the movement of the ultrasonic radar and obstacle, thereby improving calibration accuracy.

[0060] Further optionally, in one embodiment of the present disclosure, based on the positional relationship between the detection point and the ultrasonic radar, a controller is used to control the movement of the ultrasonic radar and the obstacle to move the ultrasonic radar and the obstacle to the detection point. In a specific implementation, the following steps may be included:

[0061] (1) Based on the positional relationship between the detection point and the ultrasonic radar, obtaining a first pulse number of the controller controlling the ultrasonic radar to move from a first initial point to the detection point;

[0062] (2) Based on the positional relationship between the detection point and the ultrasonic radar, obtaining a second pulse number of the controller controlling the obstacle to move from the second initial point to the detection point;

[0063] (3) Based on the first pulse number and the second pulse number, a controller is used to control the movement of the ultrasonic radar and the obstacle respectively, so that the ultrasonic radar and the obstacle move to the detection point.

[0064] In this embodiment, to more precisely control the movement of the ultrasonic radar and obstacle, the controller uses pulses to control their movement. First, the controller obtains the first pulse count required to control the ultrasonic radar's movement from a first starting point to a detection point, and the second pulse count required to control the obstacle's movement from a second starting point to the detection point. The controller then controls the ultrasonic radar's movement from the first starting point to complete the first pulse count, and controls the obstacle's movement from the second starting point to complete the second pulse count. At this point, the ultrasonic radar and obstacle are considered to have reached the detection point. This method allows for very precise control of the movement of the ultrasonic radar and obstacle, thereby improving the calibration accuracy of the ultrasonic radar.

[0065] In one embodiment of the present disclosure, based on the positional relationship between the detection point and the ultrasonic radar, the first pulse number of the controller controlling the ultrasonic radar to move from the first initial point to the detection point is obtained. In specific implementation, it may include: obtaining the first total number of pulses required for the controller to control the ultrasonic radar to move for one cycle; based on the positional relationship between the detection point and the ultrasonic radar and the first total number of pulses, obtaining the first pulse number required for the controller to control the ultrasonic radar to move from the first initial point to the detection point.

[0066] Combined with the above, the positional relationship between the detection point and the ultrasonic radar includes the distance between the detection point and the ultrasonic radar, as well as the angle between the straight line between the detection point and the ultrasonic radar and the direction directly in front of the ultrasonic radar. Therefore, the controller's control of the ultrasonic radar's movement through a cycle is necessarily related to the distance or angle.

[0067] For example, in this embodiment, the controller can be configured to control the ultrasonic radar to perform circular motion. Based on this, the first total number of pulses required for the controller to control the ultrasonic radar to move in a circle can be obtained. During the specific acquisition process, to ensure the accuracy of the obtained first total number of pulses, the total number of pulses required for the controller to control the ultrasonic radar to move for multiple cycles can be obtained, and then the average number of pulses per cycle can be taken to obtain the first total number of pulses. Then, based on the ratio of the angle between the detection point, the straight line on which the ultrasonic radar is located, and the direction directly in front of the ultrasonic radar to one circle, the first total number of pulses can be referenced to obtain the first number of pulses required for the controller to control the ultrasonic radar to move from the first initial point to the detection point.

[0068] In one embodiment of the present disclosure, based on the positional relationship between the detection point and the ultrasonic radar, a second pulse number for the controller to control the obstacle to move from the second initial point to the detection point is obtained. In specific implementation, it can include: obtaining a second total pulse number required for the controller to control the obstacle to move for one cycle; based on the positional relationship between the ultrasonic radar corresponding to the detection point and the obstacle and the second total pulse number, obtaining a second pulse number for the controller to control the obstacle to move from the second initial point to the detection point.

[0069] Since the positional relationship between the detection point and the ultrasonic radar includes information on both angle and distance, if the controller is configured to control the ultrasonic radar to perform angle-related circular motion, the controller needs to be configured to control the obstacle to perform distance-related linear motion.

[0070] In this embodiment, the distances between all detection points and obstacles are determined based on the ultrasonic radar's measurement area. The controller controls the obstacle's linear motion to control the distance between the obstacle and the lidar, which is also limited by the ultrasonic radar's measurement area. Therefore, using the controller to control the obstacle's linear motion theoretically allows it to move between the minimum and maximum detection distances within the ultrasonic radar's measurement area.

[0071] In this embodiment, the controller can control the obstacle to complete a single movement between the minimum detection distance and the maximum detection distance, which is defined as one cycle of movement. Alternatively, the controller can control the obstacle to complete a single movement between the maximum detection distance and the minimum detection distance, which is defined as one cycle of movement. Alternatively, the controller can control the obstacle to complete a single movement from the maximum detection distance to the minimum detection distance, and then from the minimum detection distance to the maximum detection distance, which is defined as one cycle of movement.

[0072] Similarly, to ensure the accuracy of the second total pulse count, in this embodiment, the total pulse count of the controller's control of the obstacle's movement over multiple cycles can be obtained, and the average pulse count per cycle can be taken as the second total pulse count. Based on the distance between the detection point and the ultrasonic radar, the distance the obstacle is controlled to move through one cycle, and the second total pulse count, the second pulse count of the controller's control of the obstacle's movement from the second initial point to the detection point can be obtained.

[0073] In one embodiment of the present disclosure, the first and second pulse numbers corresponding to each detection point can be pre-acquired and stored in a data table. During use, the first and second pulse numbers corresponding to the detection point can be directly retrieved from the data table. Based on the acquired first pulse number, a controller can be used to control the ultrasonic radar to move to the detection point. Based on the acquired second pulse number, the controller can be used to control the obstacle to move to the detection point.

[0074] In practice, the controller's movements for controlling the ultrasonic radar and the obstacle can be interchanged. For example, if the controller is configured to control the ultrasonic radar's linear motion related to distance, the controller needs to be configured to control the obstacle's circular motion related to angle. The implementation principles are the same and will not be further explained here.

[0075] S206: Obtain the distance between the obstacle and the ultrasonic radar measured by the ultrasonic radar at the detection point;

[0076] Specifically, the measured distance can be directly acquired based on the ultrasonic radar.

[0077] S207, obtaining the actual distance between the obstacle and the ultrasonic radar at the detection point;

[0078] Specifically, the actual distance can be obtained based on the hardware structure of the ultrasonic radar's calibration system. For example, the distance between the obstacle and the ultrasonic radar can be obtained at the detection point, the angle between the line between the detection point and the ultrasonic radar and the direction directly in front of the ultrasonic radar, and the radius of the obstacle's circular motion controlled by the controller. The actual distance from the obstacle to the ultrasonic radar can then be calculated.

[0079] S208, detecting whether the error between the measured distance and the actual distance is within a preset error threshold; if not, executing step S209; if so, executing step S211;

[0080] S209, correct the parameters of the ultrasonic radar so that the error between the measured distance and the actual distance is within a preset error threshold; then execute step 210;

[0081] S210, marking the current detection point as calibrated, marking all other detection points as uncalibrated, and executing step S204;

[0082] That is to say, if the parameters of the ultrasonic radar are corrected, it is necessary to recalibrate all detection points based on the corrected parameters of the ultrasonic radar.

[0083] S211, check whether all detection points have been calibrated. If so, end; if not, return to step S204, that is, select the next uncalibrated detection point to continue calibration.

[0084] This can also be understood as checking whether there are any uncalibrated detection points. If so, the process returns to step S204 and continues with the next calibration point. If not, this indicates the end of this round of calibration, with the errors of all detection points now within a preset error threshold. Furthermore, this preset error threshold can be reduced, and the next round of calibration can be continued, gradually improving the calibration accuracy of the ultrasonic radar.

[0085] Steps S206-S209 of this embodiment are Figure 1 The detailed implementation process of step S102 of the illustrated embodiment is to calibrate the ultrasonic radar at the detection point.

[0086] In this embodiment, during the calibration process of the ultrasonic radar, if calibration fails at any detection point, that is, the absolute value of the difference between the measured distance between the ultrasonic radar and the obstacle and the actual distance is greater than the preset error threshold, the radar parameters can be automatically corrected through the software algorithm until the absolute value of the difference between the measured distance between the ultrasonic radar and the obstacle at the current detection point and the actual distance is within the set value. In this case, the calibration of the current detection point is successful.

[0087] This embodiment uses a software algorithm to automatically correct ultrasonic radar parameters. In practical applications, ultrasonic radars have a large number of parameters. To improve correction efficiency, multiple parameter combinations can be configured. Each correction can be performed by matching the ultrasonic radar parameter combinations one by one to obtain the most suitable ultrasonic radar parameter combination and perform the correction. Compared to traditional engineers' empirical correction of key parameters, this method can more efficiently match the optimal parameter combination over a wider range.

[0088] In other words, the ultrasonic radar calibration method of this embodiment requires configuring a set of ultrasonic radar parameters so that the absolute difference between the measured distance and the actual distance to the obstacle at all detection points within the measurement range is within the allowable error range. In practice, the preset error threshold can be adjusted to achieve gradual convergence and gradually improve the accuracy of the calibration parameters.

[0089] The ultrasonic radar calibration method of this embodiment can effectively improve the calibration efficiency and calibration accuracy of the ultrasonic radar by adopting the above-mentioned method.

[0090] Compared with traditional manual calibration, which can only be performed on a small number of samples, the calibration method of this embodiment can perform individual calibration on all products leaving the factory, and the calibration accuracy can be increased from 1 cm to 1 mm. This can effectively improve the ultrasonic radar's measurement accuracy of obstacle distances in actual complex scenarios, and thus effectively improve the safety and stability of the automatic parking process of the automated valet parking (AVP) system, thereby effectively improving the safety performance of driverless cars.

[0091] Figure 5 is a schematic diagram according to the third embodiment of the present disclosure; Figure 5 As shown, this embodiment provides an ultrasonic radar calibration system 500, including: an ultrasonic radar 501, an obstacle 502, and a controller 503 for controlling the movement of the ultrasonic radar 501 and the obstacle 502 to a detection point.

[0092] The controller 503 of this embodiment is also used to calibrate the ultrasonic radar 501 at the detection point.

[0093] like Figure 5 As shown, the ultrasonic radar calibration system 500 of this embodiment can be considered as the above Figure 1 The hardware system corresponding to the embodiment shown can be implemented based on the hardware system. Figure 1 The calibration of the ultrasonic radar in the illustrated embodiment can realize automatic calibration of the ultrasonic radar and can effectively improve the calibration efficiency and calibration accuracy of the ultrasonic radar.

[0094] Figure 6 is a schematic diagram according to a fourth embodiment of the present disclosure; Figure 6 As shown, this embodiment provides an ultrasonic radar calibration system 600, including: Figure 5 The ultrasonic radar 601, obstacle 602 and controller 603 are the same as those in the embodiment shown. Figure 6 As shown, the obstacle in this embodiment is a cylindrical PVC pipe with a diameter of 75 mm, so it can also be said to be a PVC pipe 602.

[0095] like Figure 6 As shown, the ultrasonic radar calibration system 600 of this embodiment further includes: a first position sensor 604 for limiting the moving position of the ultrasonic radar 601, and a second position sensor 605 and a third position sensor 606 for limiting the moving position of the obstacle 602.

[0096] Further optionally, in one embodiment of the present disclosure, as Figure 6 As shown, the ultrasonic radar calibration system 600 of this embodiment further includes: a first stepper motor 607; the controller 603 controls the ultrasonic radar 601 to perform circular motion through the first stepper motor 607; and the ultrasonic radar 601 can be connected to the first stepper motor 607 through a radar bracket.

[0097] The first position sensor 604 is used to define the starting position of the movement of the ultrasonic radar 601 .

[0098] Further optionally, in one embodiment of the present disclosure, as Figure 6 As shown, the ultrasonic radar calibration system 600 of this embodiment further includes: a second stepper motor 608; the controller 603 controls the obstacle to move linearly between the second position sensor 605 and the third position sensor 606 through the second stepper motor 608.

[0099] For example, the second stepper motor 608 can control the obstacle 602 to move linearly between the second position sensor 605 and the third position sensor 606 via a screw rod. Specifically, when the second stepper motor 608 rotates, the obstacle can move linearly between the second position sensor 605 and the third position sensor 606 along the screw rod.

[0100] Further optionally, in order to ensure the accuracy of the movement of the obstacle 602 and prevent the obstacle 602 from being stuck at both ends of the screw rod on the second stepper motor 608 and unable to move, in this embodiment, a first baffle 609 can also be provided on the outside of the second position sensor 605, away from the third position sensor 606, to limit the continued movement of the obstacle 602.

[0101] A second baffle 610 is provided on the outer side of the third position sensor 606 in a direction away from the second position sensor 605 , for limiting the obstacle 602 from continuing to move.

[0102] like Figure 6 As shown, in this embodiment, the first stepper motor 607, the second stepper motor 608, the second position sensor 605 and the third position sensor 606 are arranged on the same straight line.

[0103] like Figure 6 As shown, in this embodiment, the first stepper motor 607, the second stepper motor 608, the second position sensor 605 and the third position sensor 606 are arranged on the base 611;

[0104] The first position sensor 604 is disposed on the base 611 via a sensor bracket 612 .

[0105] Figure 7 yes Figure 6 An electrical block diagram of the ultrasonic radar calibration system of the illustrated embodiment.

[0106] The following combination Figure 6 and Figure 7 The working principle of the ultrasonic radar calibration system 600 of this embodiment is described in detail.

[0107] like Figure 6 As shown, the first stepper motor 607 is mounted on the ultrasonic radar 601, and the first position sensor 604 is used to calibrate the starting and ending points of the circular motion of the ultrasonic radar 601. Specifically, when the first position sensor 604 detects the ultrasonic radar 601, the IO signal is high; when the first position sensor 604 does not detect the ultrasonic radar 601, the IO signal is low. Therefore, regardless of whether the ultrasonic radar 601 rotates clockwise or counterclockwise, when the first position sensor 604 detects the ultrasonic radar 601's arrival, the IO signal output by the first position sensor 604 changes from low to high, indicating a rising edge signal; when the first position sensor 604 detects the ultrasonic radar 601's departure, the IO signal output by the first position sensor 604 changes from high to low, indicating a falling edge signal.

[0108] Controller 603 uses pulse width modulation (PWM) technology to output PWM1 pulses to control the first stepper motor 607 to rotate clockwise. Counterclockwise rotation is also possible, as long as the direction of subsequent control remains consistent. When controller 603 detects a rising edge in the IO signal from first position sensor 604, indicating that ultrasonic radar 601 has reached the first position sensor 604, the PWM1 pulse count is reset to 0, and the angle β of the ultrasonic radar 601's circular motion is recorded as 0 degrees.

[0109] The controller 603 continues to output PWM1 pulses to control the first stepper motor 607 to rotate clockwise. When the controller 603 captures the rising edge of the IO signal output by the first position sensor 604, the ultrasonic radar 601 rotates 360 degrees and returns to the first position sensor 604. At this time, the PWM1 pulse count is N. The pulse count N of the first stepper motor 607 is proportional to the angle of the ultrasonic radar 601's 360-degree rotation. The mathematical relationship between the ultrasonic radar 601's rotation angle β from the first starting point and the PWM1 pulse count n output by the controller 603 can be expressed as:

[0110] β=(n*360.0) / N (1)

[0111] After repeating the above process several times and calculating the average value, we can get the number of pulses N output by the controller 603 when the ultrasonic radar 601 rotates one circle. In this way, we can eliminate the calibration error caused by single test and mechanical structure design. Figure 2 The acquisition controller in the illustrated embodiment controls the total number of first pulses required for the ultrasonic radar to move one circle.

[0112] For example, the number of PWM1 pulses for one rotation of the first stepper motor 607 can be set to 3600. If the mechanical transmission ratio is 1:1, then the theoretical number of PWM1 pulses of N is 3600. According to formula (1), the controller 603 outputs 1 PWM1 pulse, which corresponds to a rotation of the radar probe of 0.1 degrees.

[0113] The second stepper motor 608 is mounted on a cylindrical PVC pipe, or obstacle 602. The second position sensor 605 and the third position sensor 606 are used to calibrate the starting and ending points of the PVC pipe's linear motion, respectively. The screw on the second stepper motor 608 can have right-hand threads. When the second stepper motor 608 rotates clockwise, the PVC pipe 602 moves toward the first baffle 609. When the second stepper motor 608 rotates counterclockwise, the PVC pipe moves toward the second baffle 610. The first baffle 609 and the second baffle 610 protect the PVC pipe 602 from moving beyond the mechanical protection range. Initially, the PVC pipe 602 is positioned between the second position sensor 605 and the third position sensor 606. When the second position sensor 605 or the third position sensor 606 detects the PVC pipe 602, the IO signal is high. When the second position sensor 605 or the third position sensor 606 does not detect the PVC pipe 602, the IO signal is low. Therefore, when the second position sensor 605 or the third position sensor 606 detects the arrival of the PVC tube 602, the IO signal output by the second position sensor 605 or the third position sensor 606 changes from low to high, indicating a rising edge signal. When the ultrasonic radar 601 is parallel to the screw rod of the second stepper motor 608, and the PVC tube 602 is between the second position sensor 605 and the third position sensor 606, when the PVC tube 602 reaches the second position sensor 605, that is, when the controller captures the rising edge of the IO signal from the second position sensor 605, the distance between the PVC tube 602 and the ultrasonic radar 601 is 10 cm. In this embodiment, 10 cm is used as an example; in actual applications, this distance can be set based on the structure. When the PVC tube 602 reaches the third position sensor 606, that is, when the controller 603 captures the rising edge signal from the third position sensor 606, the distance between the PVC tube 602 and the ultrasonic radar 601 is 500 cm. Similarly, in this embodiment, 500 cm is used as an example; in actual applications, this distance can be set based on the structure. The above distance accuracy is determined by the mechanical structure design and mechanical installation calibration, and the accuracy requirement is 1mm.

[0114] PVC pipe 602 is initially installed between second position sensor 605 and third position sensor 606. Controller 603 outputs PWM2 pulses to control second stepper motor 608 to rotate clockwise, causing PVC pipe 602 to move toward second position sensor 605. When controller 603 detects a rising edge 10 signal from second position sensor 605, the distance between ultrasonic radar 601 and PVC pipe 602 is 10 cm, and the PWM2 count is reset to 0. Controller 603 then outputs PWM2 pulses to control second stepper motor 608 to rotate counterclockwise, causing PVC pipe 602 to move toward third position sensor 606. When controller 603 detects a rising edge 10 signal from third position sensor 606, the distance between ultrasonic radar 601 and PVC pipe 602 is 500 cm, and the PWM2 pulse count is M. The number of pulses M of the second stepper motor 608 is proportional to the distance between the PVC pipe 602 at the second position sensor 605 and the third position sensor 606. The linear distance between the PVC pipe 602 and the ultrasonic radar 601 is set to d. The controller 603 controls the second stepper motor 608 to rotate counterclockwise to make the pulse count when the PVC pipe 602 moves linearly from the second position sensor 605 to the third position sensor 606 is m. The mathematical relationship can be expressed as follows:

[0115] d=15+m*(500-10) / M (2)

[0116] After repeating the above process several times, the average value is calculated to obtain the PWM2 pulse count M when the PVC pipe 602 reaches the third position sensor 606 from the second position sensor 605, eliminating the calibration error caused by a single test. Figure 2 The controller in the illustrated embodiment acquires the second total number of pulses required to control the obstacle movement for one cycle.

[0117] For example, if the screw rod on the second stepper motor 608 is an M20 screw with a pitch of 2.5 mm, the PVC tube 602 will move 2.5 mm for each rotation of the second stepper motor 608. The number of PWM2 pulses per rotation of the second stepper motor 608 is set to 800. From formula (2), it can be concluded that if the controller 603 outputs 100 PWM2 pulses, the PVC tube 602 will move 0.3125 mm.

[0118] Figure 8 yes Figure 7 Schematic diagram of the plane position relationship between the ultrasonic radar 601 and the PVC pipe 602 in the structure shown. Figure 8As shown, the ultrasonic radar 601 is at point A, moving in a circular motion along the center O of a circle with a constant radius R, for example, 20 cm. When the ultrasonic radar 601 is at the first position sensor 604, that is, at point D, point A and point D coincide with each other. Then, the angle ɑ between the line segments OC and OA is 180 degrees. At this time, the angle β in formula (1) is 0 degrees. When the ultrasonic radar 601 moves in a clockwise circular motion, the conversion relationship between β and ɑ is as follows:

[0119] ɑ=180-β; (β>=90; β<=180;) (3)

[0120] ɑ=β-180; (β>180; β<=270;) (4)

[0121] When point A and point C coincide, the distance CB between the ultrasonic radar 601 and the PVC pipe 602 is d in formula (2). When the angle ɑ between OA and OC is greater than or equal to 0 and ɑ less than or equal to 90 degrees, the distance d' between the ultrasonic radar 601 and the PVC pipe 2, i.e., the distance between AB, is obtained by mathematical deduction as follows:

[0122]

[0123] When ɑ>=0 and ɑ<=90 degrees, the relative position relationship between the ultrasonic radar 601 and the PVC pipe 602 meets the measurement range of the ultrasonic radar 601, so the situation when ɑ>90 degrees is no longer considered.

[0124] The angle between the extended line AA' from point A where the ultrasonic radar 601 is located and the line segment AB at point B 602 of the PVC pipe is θ, which is the angle between the ultrasonic radar 601 and the PVC pipe 602. From plane geometry, we can deduce:

[0125] θ=arcsin((d+R)×sinɑ / d'); (6)

[0126] In summary, the controller 603 controls the PWM1 digital signal of the first stepper motor 607 and the PWM2 digital signal of the second stepper motor 608. Through the above conversion formula, the actual distance and angle information between the ultrasonic radar 601 and the PVC pipe 602 can be obtained.

[0127] For example, for Figure 2 For each detection point in the embodiment shown, the distance d' and the angle θ between the ultrasonic radar 601 and the PVC pipe 2 are known. Based on the above formula (6), the distance d can be calculated. Based on formula (2), the number of pulses m required for the controller 603 to control the PVC pipe 602 to move from the second starting position, i.e., the second position sensor 605, to the detection point can be obtained. That is, corresponding to the above Figure 2In step (2) of the illustrated embodiment, based on the positional relationship between the detection point and the ultrasonic radar, the controller obtains a second pulse number for controlling the obstacle to move from the second initial point to the detection point.

[0128] Then, according to the above formula (5), α can be obtained. Further referring to the conversion relationship between β and ɑ in the above formula (3) or (4), the angle β can be obtained. Finally, according to formula (1), the first pulse number n of the controller 603 controlling the ultrasonic radar 601 to move to the detection point can be obtained. That is, corresponding to the above Figure 2 In the illustrated embodiment, (1) based on the positional relationship between the detection point and the ultrasonic radar, the controller is used to obtain a first pulse number for controlling the ultrasonic radar to move from a first initial point to a detection point.

[0129] Figure 6 The calibration system of the ultrasonic radar in the embodiment shown is the above Figure 2 A hardware implementation result corresponding to the embodiment shown. Figure 6 The system structure shown can be realized Figure 2 The ultrasonic radar is calibrated as shown. During use, for each detection point, the first pulse number and the second pulse number corresponding to the detection point can be obtained in the above manner. Then, the controller 603 controls the first stepper motor 607 and the second stepper motor 608 to respectively control the ultrasonic radar 601 and the PVC pipe 602 as an obstacle to move to the corresponding detection point.

[0130] When the controller 603 calibrates the detection point, the measured distance between the ultrasonic radar 601 and the PVC pipe 602 of the obstacle is the measured distance output by the ultrasonic radar 601. The actual distance between the ultrasonic radar 601 and the PVC pipe 602 of the obstacle is the distance d′ shown in formula (5), and calibration can be performed based on these two distances. If the difference between the two distances is within the preset error threshold range, there is no need to correct the parameters of the ultrasonic radar. If it is not within the preset error threshold range, the controller 603 needs to correct the parameters of the ultrasonic radar. Specifically, a combination of multiple ultrasonic radar parameters can be pre-configured in the controller 603. After correcting the parameters of any combination of ultrasonic radars, the difference between the measured distance and the actual distance of the detection point is detected to be within the preset error threshold range. If not, it is necessary to continue to correct the next parameter combination until the difference between the measured distance and the actual distance of the detection point is within the preset error threshold range. At this time, the calibration of the detection point is completed. At this point, since the ultrasonic radar 601 parameters have been corrected, the remaining detection points need to be recalibrated. This process continues until all detection points have been calibrated, and the ultrasonic radar parameters remain unchanged. This completes a calibration cycle. In practical applications, the preset error threshold can be further reduced to allow for the next round of calibration, effectively improving the calibration accuracy of the ultrasonic radar 601.

[0131] The ultrasonic radar calibration system 600 of this embodiment can calibrate the ultrasonic radar through the above structure. Compared with the existing manual calibration, it can save manpower and calibration time, thereby effectively improving the calibration efficiency and calibration accuracy.

[0132] Figure 9 is a schematic diagram according to the fifth embodiment of the present disclosure; Figure 9 As shown, this embodiment provides a calibration method for ultrasonic radar. Figure 1 Based on the technical solutions of the embodiments shown, the technical solutions of the present disclosure are further described in more detail. Figure 9 As shown, the ultrasonic radar calibration method of this embodiment may specifically include the following steps:

[0133] S901: The controller controls the ultrasonic radar and the obstacle to move to a first initial point and a second initial point respectively.

[0134] This step is used for initialization. To facilitate calibration of each detection point, the ultrasonic radar and obstacle can be controlled to start from their respective starting points in each round of calibration.

[0135] S902, based on the first preset number of pulses required for each step of the obstacle's movement, controlling the obstacle to move an integer number of steps using a controller;

[0136] Specifically, the first preset number of pulses required for each movement step can be set based on the total number of pulses in one cycle of obstacle movement, ensuring that the first preset number of pulses required for each movement step is an integer. For example, if the total number of pulses in one cycle of obstacle movement is Q, and a total of W steps are set, then the first preset number of pulses required for each movement step is Q / W, where W can be any common divisor of Q to ensure that the resulting quotient is an integer. For example, each movement step can ultimately require 1 pulse, 2 pulses, 3 pulses, or any other number of pulses.

[0137] In this embodiment, for ease of control, the obstacle can be controlled to move an integer number of steps each time during each detection, such as one step, two steps, or more. Furthermore, during the multiple movement cycles of the obstacle, the number of steps each time is the same.

[0138] S903, fix the position of the obstacle; execute step S904;

[0139] S904. Based on the second preset number of pulses required for each step of movement of the ultrasonic radar, the controller is used to control the ultrasonic radar to move an integer number of steps to simulate the ultrasonic radar and the obstacle moving to a detection point; then step S905 is executed.

[0140] Similar to the movement of obstacles, the same principle applies to the movement of ultrasonic radar. The second preset number of pulses required for each step of movement can be set based on the total number of pulses in one cycle of ultrasonic radar movement to ensure that the second preset number of pulses required for each step of movement is an integer. For example, the total number of pulses in one cycle of ultrasonic radar movement is B. Assuming a total of Z steps are set, the second preset number of pulses required for each step of movement is B / Z, where Z can be taken as all common divisors of B to ensure that the resulting quotient is an integer. For example, it can be determined that each step of movement requires 1 pulse, 2 pulses, 3 pulses, or another number of pulses.

[0141] Similarly, for ease of control, the ultrasonic radar can be controlled to move an integer number of steps each time during each detection, such as one step, two steps, or more. Furthermore, during the multiple movements of the ultrasonic radar within a cycle, the number of steps each time is the same.

[0142] Since the position of the obstacle is fixed at this time, each time the ultrasonic radar moves an integer step, there is a certain positional relationship between the ultrasonic radar and the obstacle, corresponding to a detection point.

[0143] That is, every integer step the obstacle moves, and every integer step the ultrasonic radar moves, corresponds to a detection point. Thus, the combination of all the movement positions of the obstacle and all the movement positions of the ultrasonic radar can form a large number of detection points.

[0144] S905: Detect whether the obstacle at the detection point is within the measurement area of ​​the ultrasonic radar; if so, execute step S908; otherwise, execute step S906;

[0145] In this embodiment, the detection points obtained in the above manner are not necessarily within the ultrasonic radar's measurement area. Therefore, this step requires screening the detection points. Detection points within the ultrasonic radar's measurement area can be further calibrated. Detection points outside the ultrasonic radar's measurement area can be discarded, and the process returns to step S904 to obtain the next detection point.

[0146] S906: Check whether the ultrasonic radar has completed a cycle of movement. If so, execute step S907; if not, return to step 904 and continue to control the ultrasonic radar to move an integer number of steps to reach the next detection point;

[0147] S907: Check whether the obstacle has completed a cycle of movement. If so, determine that this round of calibration is complete. Otherwise, return to step S902 and continue to control the obstacle to move an integer number of steps.

[0148] S908: Obtain the distance between the obstacle and the ultrasonic radar measured by the ultrasonic radar at the detection point;

[0149] S909: Obtain the actual distance between the obstacle and the ultrasonic radar at the detection point;

[0150] S910, detecting whether the error between the measured distance and the actual distance is within a preset error threshold; if not, executing step S911; if so, returning to step S906;

[0151] S911. Correct the parameters of the ultrasonic radar so that the error between the measured distance and the actual distance is within a preset error threshold; return to step 901 and recalibrate based on the corrected parameters of the ultrasonic radar.

[0152] In this embodiment, two nested loops are used to acquire all detection points. It should be noted that in this embodiment, the movement of the obstacle serves as the outer loop, and the movement of the ultrasonic radar serves as the inner loop. In actual applications, these two loops can be interchanged, with the movement of the ultrasonic radar serving as the outer loop and the movement of the obstacle serving as the inner loop, as long as all detection points of the ultrasonic radar and the obstacle can be acquired.

[0153] It should be noted that the calibration method of the ultrasonic radar in this embodiment can also be used Figure 6 The hardware structure of the embodiment shown is implemented.

[0154] In this embodiment, it is also necessary to pre-calibrate the ultrasonic radar 601 and the PVC pipe 602 to complete a cycle of movement, and the required pulse counts N and M are the same as above. Figure 6 The embodiments shown are described in the same manner.

[0155] For example, during initialization, the controller 602 may be used to control the ultrasonic radar 601 to be located at a first initial point, namely, the first position sensor 604 , and to control the PVC pipe 602 to be located at a second initial point, namely, the second position sensor 605 .

[0156] The following example takes the case where the PVC tube 602 and the ultrasonic radar 601 move one step each time, and each step of the PVC tube 602 requires the same first preset number of pulses; each step of the ultrasonic radar 601 requires the same second preset number of pulses.

[0157] In this embodiment, under the control of controller 603, PVC pipe 602 is fixed in position each time it moves one step from second position sensor 605 to third position sensor 606. Ultrasonic radar 601, under the control of controller 603, can sequentially move multiple steps from first position sensor 604 until it completes one cycle of circular motion. Then, controller 603 controls PVC pipe 602 to move one step toward third position sensor 606, and ultrasonic radar 601 again moves multiple steps, completing one cycle of circular motion. This continues in this manner until PVC pipe 602 reaches third position sensor 606, where it again moves multiple steps, completing one cycle of circular motion, completing all movements.

[0158] During the aforementioned movement process, each time the PVC pipe 602 is fixed, each step of the ultrasonic radar 601's movement forms a detection point corresponding to the position where the PVC pipe 602 was previously fixed. This means that there is a certain positional relationship between the ultrasonic radar 601 and the PVC pipe 602, with a corresponding distance and angle. However, further testing is required to determine whether this detection point is within the measurement area of ​​the ultrasonic radar 601.

[0159] For example, during specific detection, the above Figure 6 The formulas in the illustrated embodiment calculate the distance and angle between ultrasonic radar 601 and PVC pipe 602, and then detect whether this distance and angle are within the measurement area of ​​ultrasonic radar 601. If so, calibration can be performed based on this detection point. If not, this detection point is ignored and detection continues at the next detection point.

[0160] The calibration steps S908-S911 of this embodiment are the same as those above. Figure 2Steps S206 to S209 of the illustrated embodiment are the same, and details can be referred to the description of the above embodiment, which will not be repeated here.

[0161] The calibration process of the ultrasonic radar in this embodiment is the same as that in the above Figure 2 The embodiment shown is different in that: Figure 2 While the illustrated embodiment preconfigured detection points, this embodiment does not. Instead, it assumes that each positional relationship between the ultrasonic radar 601 and the PVC pipe 602 corresponds to a detection point. This detection point is then checked to see if it is within the ultrasonic radar's measurement area. If so, further calibration is performed; if not, it is discarded. This avoids calibrating invalid detection points, which could affect calibration efficiency and accuracy.

[0162] Theoretically, in this embodiment, the fewer the number of steps each time, the more detection points can be obtained, which can cover the above Figure 2 The pre-configured detection points in the illustrated embodiment. Regardless of which method is used, it can effectively improve the ultrasonic radar calibration efficiency and accuracy, thereby enhancing the safety and stability of the AVP system's automatic parking process, and thus effectively improving the safety performance of autonomous vehicles.

[0163] above Figure 6 and Figure 9 by Figure 6 The architecture shown in the figure is used as an example to describe the calibration method of the ultrasonic radar disclosed in the present invention. In actual application, the architecture used in the calibration method of the ultrasonic radar disclosed in the present invention is not limited to Figure 6 The architecture shown can also be used Figure 5 and other architectures. For example Figure 6 The ultrasonic radar 601 and the PVC tube 602 in the embodiment shown may also be interchanged. Alternatively, other structures capable of detecting the positional relationship between the ultrasonic radar 601 and the PVC tube 602 may be used, which will not be listed here one by one.

[0164] Figure 10 is a schematic diagram according to the sixth embodiment of the present disclosure; Figure 10 As shown, this embodiment provides an ultrasonic radar calibration device 1000, including:

[0165] The control module 1001 is used to control the ultrasonic radar and the obstacle to move to the detection point;

[0166] The calibration module 1002 is used to calibrate the ultrasonic radar at the detection point.

[0167] The ultrasonic radar calibration device 1000 of this embodiment realizes the calibration of the ultrasonic radar by adopting the above-mentioned module, and the implementation principle and technical effect are the same as those described in the above-mentioned related embodiments. For details, please refer to the relevant records of the above-mentioned embodiments, which will not be repeated here.

[0168] Figure 11 is a schematic diagram according to the seventh embodiment of the present disclosure; Figure 11 As shown, this embodiment provides an ultrasonic radar calibration device 1100, including: Figure 10 The control module 1101 and the calibration module 1102 have the same functions as the embodiment.

[0169] like Figure 11 As shown, the ultrasonic radar calibration device 1100 of this embodiment further includes:

[0170] A setting module 1103 is used to set multiple detection points within the measurement area of ​​the ultrasonic radar;

[0171] An acquisition module 1104 is used to obtain the position relationship of each detection point relative to the ultrasonic radar;

[0172] The recording module 1105 is used to record the corresponding detection point position based on the position relationship of each detection point relative to the ultrasonic radar to obtain multiple detection point positions.

[0173] Further optionally, in one embodiment of the present disclosure, the control module 1101 is configured to:

[0174] A controller is used to control the ultrasonic radar and obstacles to move to the detection point.

[0175] Further optionally, in one embodiment of the present disclosure, the control module 1101 is configured to:

[0176] Based on the positional relationship between the detection point and the ultrasonic radar, a controller is used to control the movement of the ultrasonic radar and the obstacle to move the ultrasonic radar and the obstacle to the detection point.

[0177] Further optionally, in one embodiment of the present disclosure, the control module 1101 is configured to:

[0178] Based on the positional relationship between the detection point and the ultrasonic radar, obtaining a first pulse number of the controller controlling the ultrasonic radar to move from the first initial point to the detection point;

[0179] Based on the positional relationship between the detection point and the ultrasonic radar, obtaining a second pulse number for the controller to control the obstacle to move from the second initial point to the detection point;

[0180] Based on the first pulse number and the second pulse number, a controller is used to control the movement of the ultrasonic radar and the obstacle respectively, so that the ultrasonic radar and the obstacle move to the detection point.

[0181] Further optionally, in one embodiment of the present disclosure, the control module 1101 is configured to:

[0182] Obtaining a first total number of pulses required by the controller to control the ultrasonic radar to move for one cycle;

[0183] Based on the positional relationship between the detection point and the ultrasonic radar and the first total pulse number, the controller is used to control the first pulse number of the ultrasonic radar to move from the first initial point to the detection point.

[0184] Further optionally, in one embodiment of the present disclosure, the control module 1101 is configured to:

[0185] Obtain the second total number of pulses required by the controller to control the obstacle movement for one cycle;

[0186] Based on the positional relationship between the detection point and the ultrasonic radar and the second total number of pulses, a second pulse number for the controller to control the obstacle to move from the second initial point to the detection point is obtained.

[0187] The ultrasonic radar calibration device 1100 of this embodiment realizes the calibration of the ultrasonic radar by adopting the above-mentioned module, and the implementation principle and technical effect are the same as those described in the above-mentioned related embodiments. For details, please refer to the relevant records of the above-mentioned embodiments, which will not be repeated here.

[0188] Figure 12 is a schematic diagram according to the eighth embodiment of the present disclosure; Figure 12 As shown, this embodiment provides an ultrasonic radar calibration device 1200, including: Figure 10 The control module 1201 and the calibration module 1202 have the same functions as the embodiment.

[0189] In the ultrasonic radar calibration device 1200 of this embodiment, the control module 1101 is configured to:

[0190] Based on the first preset number of pulses required for each step of the obstacle movement, a controller is used to control the obstacle to move an integer number of steps;

[0191] Based on the fact that each step of the ultrasonic radar requires a second preset number of pulses, a controller is used to control the ultrasonic radar to move an integer number of steps to simulate the ultrasonic radar and the obstacle moving to the detection point.

[0192] like Figure 12 The ultrasonic radar calibration device 1200 of this embodiment further includes:

[0193] The detection module 1203 is used to detect and determine whether the obstacle at the detection point is within the measurement area of ​​the ultrasonic radar.

[0194] Further optionally, in one embodiment of the present disclosure, the calibration module 1202 is configured to:

[0195] Obtain the distance between the obstacle and the ultrasonic radar at the detection point;

[0196] Obtain the actual distance between the obstacle and the ultrasonic radar at the detection point;

[0197] Detect whether the error between the measured distance and the actual distance is within a preset error threshold;

[0198] If not, the parameters of the ultrasonic radar are corrected so that the error between the measured distance and the actual distance is within a preset error threshold.

[0199] It should be noted that the above Figure 11 The calibration module 1102 can also be implemented by the calibration module 1202 of this embodiment.

[0200] The ultrasonic radar calibration device 1200 of this embodiment realizes the calibration of the ultrasonic radar by adopting the above-mentioned module, and the implementation principle and technical effect are the same as those described in the above-mentioned related embodiments. For details, please refer to the relevant records of the above-mentioned embodiments, which will not be repeated here.

[0201] In the technical solutions disclosed herein, the acquisition, storage, and application of user personal information involved comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0202] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0203] Figure 13 A schematic block diagram of an example electronic device 1200 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are provided as examples only and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0204] like Figure 13As shown, device 1300 includes a computing unit 1301, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1302 or a computer program loaded from a storage unit 1308 into a random access memory (RAM) 1303. Various programs and data required for the operation of device 1300 can also be stored in RAM 1303. Computing unit 1301, ROM 1302, and RAM 1303 are connected to each other via a bus 1304. An input / output (I / O) interface 1305 is also connected to bus 1304.

[0205] Various components in device 1300 are connected to I / O interface 1305, including an input unit 1306, such as a keyboard and mouse; an output unit 1307, such as various types of displays and speakers; a storage unit 1308, such as a magnetic disk and optical disk; and a communication unit 1309, such as a network card, a modem, a wireless communication transceiver, etc. Communication unit 1309 allows device 1300 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0206] The computing unit 1301 can be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 1301 performs the various methods and processes described above, such as the above-mentioned methods of the present disclosure. For example, in some embodiments, the above-mentioned methods of the present disclosure can be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 1308. In some embodiments, part or all of the computer program can be loaded and / or installed on the device 1300 via the ROM 1302 and / or the communication unit 1309. When the computer program is loaded into the RAM 1303 and executed by the computing unit 1301, one or more steps of the above-mentioned methods of the present disclosure described above can be performed. Alternatively, in other embodiments, the computing unit 1301 may be configured to execute the above method of the present disclosure in any other appropriate manner (for example, by means of firmware).

[0207] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0208] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0209] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0210] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0211] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0212] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact through a communication network. The client-server relationship arises through computer programs running on the respective computers and having a client-server relationship with each other. The server may be a cloud server, a server in a distributed system, or a server integrated with a blockchain.

[0213] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not a limitation herein.

[0214] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A method for calibrating an ultrasonic radar, comprising: Control the ultrasonic radar and obstacles to move to the detection point; calibrating the ultrasonic radar at the detection point; Control the ultrasonic radar and obstacles to move to the detection point, including: A controller is used to control the ultrasonic radar and the obstacle to move to the detection point; Using a controller to control the ultrasonic radar and the obstacle to move to the detection point includes: Based on the positional relationship between the detection point and the ultrasonic radar, obtaining a first pulse number for the controller to control the ultrasonic radar to move from a first initial point to the detection point; Based on the positional relationship between the detection point and the ultrasonic radar, obtaining a second pulse number for the controller to control the obstacle to move from the second initial point to the detection point; Based on the first pulse number and the second pulse number, the controller is used to control the movement of the ultrasonic radar and the obstacle respectively, so that the ultrasonic radar and the obstacle move to the detection point.

2. The method according to claim 1, wherein Before controlling the ultrasonic radar and the obstacle to move to the detection point, the method further includes: Within the measurement area of ​​the ultrasonic radar, a plurality of detection points are set; Obtaining a positional relationship of each detection point relative to the ultrasonic radar; Based on the positional relationship of each detection point relative to the ultrasonic radar, the corresponding detection point position is recorded to obtain a plurality of detection point positions.

3. The method according to claim 1, wherein Obtaining, based on a positional relationship between the ultrasonic radar and the obstacle corresponding to the detection point, a first pulse number for the controller to control the ultrasonic radar to move from a first initial point to the detection point, comprising: Obtaining a first total number of pulses required by the controller to control the ultrasonic radar to move for one cycle; Based on the positional relationship between the detection point and the ultrasonic radar and the first total number of pulses, the first number of pulses used by the controller to control the ultrasonic radar to move from the first initial point to the detection point is obtained.

4. The method according to claim 1, wherein Obtaining, based on a positional relationship between the ultrasonic radar and the obstacle corresponding to the detection point, a second pulse number for the controller to control the obstacle to move from a second initial point to the detection point, comprising: Obtaining a second total number of pulses required by the controller to control the movement of the obstacle for one cycle; The second pulse number used by the controller to control the obstacle to move from the second initial point to the detection point is obtained based on the positional relationship between the detection point and the ultrasonic radar and the second total pulse number.

5. The method according to claim 1, wherein Using a controller to control the ultrasonic radar and the obstacle to move to the detection point includes: Based on the first preset number of pulses required for each step of movement of the obstacle, the controller is used to control the obstacle to move an integer number of steps; Based on the fact that each step of movement of the ultrasonic radar requires a second preset number of pulses, the controller is used to control the ultrasonic radar to move an integer number of steps to simulate the ultrasonic radar and the obstacle moving to the detection point.

6. The method according to claim 5, wherein: After the controller is used to control the ultrasonic radar and the obstacle to move to the detection point, and before the ultrasonic radar is calibrated at the detection point, the method includes: Detect and determine whether the obstacle at the detection point is within the measurement area of ​​the ultrasonic radar.

7. The method according to any one of claims 1 to 6, wherein: Calibrating the ultrasonic radar at the detection point includes: Obtaining a measurement distance between the obstacle and the ultrasonic radar measured at the detection point; Obtaining the actual distance between the obstacle and the ultrasonic radar at the detection point; Detecting whether an error between the measured distance and the actual distance is within a preset error threshold range; If not, the parameters of the ultrasonic radar are modified so that the error between the measured distance and the actual distance is within the preset error threshold range.

8. A calibration device for an ultrasonic radar, comprising: A control module is used to control the ultrasonic radar and the obstacle to move to the detection point; A calibration module, used for calibrating the ultrasonic radar at the detection point; The control module is used to: A controller is used to control the ultrasonic radar and the obstacle to move to the detection point; The control module is used to: Based on the positional relationship between the detection point and the ultrasonic radar, obtaining a first pulse number for the controller to control the ultrasonic radar to move from a first initial point to the detection point; Based on the positional relationship between the detection point and the ultrasonic radar, obtaining a second pulse number for the controller to control the obstacle to move from the second initial point to the detection point; Based on the first pulse number and the second pulse number, the controller is used to control the movement of the ultrasonic radar and the obstacle respectively, so that the ultrasonic radar and the obstacle move to the detection point.

9. The device according to claim 8, wherein Also includes: A setting module, used to set a plurality of detection points within the measurement area of ​​the ultrasonic radar; An acquisition module, configured to acquire a positional relationship of each detection point relative to the ultrasonic radar; The recording module is used to record the corresponding detection point position based on the position relationship of each detection point relative to the ultrasonic radar to obtain multiple detection point positions.

10. The device according to claim 8, wherein The control module is used to: Obtaining a first total number of pulses required by the controller to control the ultrasonic radar to move for one cycle; Based on the positional relationship between the detection point and the ultrasonic radar and the first total number of pulses, the first number of pulses used by the controller to control the ultrasonic radar to move from the first initial point to the detection point is obtained.

11. The device according to claim 8, wherein The control module is used to: Obtaining a second total number of pulses required by the controller to control the movement of the obstacle for one cycle; The second pulse number used by the controller to control the obstacle to move from the second initial point to the detection point is obtained based on the positional relationship between the detection point and the ultrasonic radar and the second total pulse number.

12. The device according to claim 8, wherein The control module is used to: Based on the first preset number of pulses required for each step of movement of the obstacle, the controller is used to control the obstacle to move an integer number of steps; Based on the fact that each step of movement of the ultrasonic radar requires a second preset number of pulses, the controller is used to control the ultrasonic radar to move an integer number of steps to simulate the ultrasonic radar and the obstacle moving to the detection point.

13. The apparatus according to claim 12, further comprising: The detection module is used to detect and determine whether the obstacle at the detection point is within the measurement area of ​​the ultrasonic radar.

14. The device according to any one of claims 8 to 13, wherein: The calibration module is used to: Obtaining a measurement distance between the obstacle and the ultrasonic radar measured at the detection point; Obtaining the actual distance between the obstacle and the ultrasonic radar at the detection point; Detecting whether an error between the measured distance and the actual distance is within a preset error threshold range; If not, the parameters of the ultrasonic radar are modified so that the error between the measured distance and the actual distance is within the preset error threshold range.

15. A calibration system for an ultrasonic radar, comprising: An ultrasonic radar, an obstacle, and a controller for controlling the ultrasonic radar and the obstacle to move to a detection point; The controller is used to calibrate the ultrasonic radar at the detection point; the controller is specifically used to calibrate the ultrasonic radar using the method described in any one of claims 1 to 7 above.

16. The system according to claim 15, wherein: The system further includes: a first position sensor for defining the moving position of the ultrasonic radar, and a second position sensor and a third position sensor for defining the moving position of the obstacle.

17. The system according to claim 16, wherein: It also includes a first stepper motor; the controller controls the ultrasonic radar to move in a circular motion through the first stepper motor; The first position sensor is used to define a starting position of the ultrasonic radar movement.

18. The system according to claim 17, wherein: It also includes a second stepper motor; the controller controls the obstacle to move linearly between the second position sensor and the third position sensor through the second stepper motor.

19. The system according to claim 18, wherein The second stepper motor controls the obstacle to move linearly between the second position sensor and the third position sensor via a screw rod.

20. The system of claim 18, wherein: The first stepper motor, the second stepper motor, the second position sensor and the third position sensor are arranged on the same straight line.

21. The system of claim 18, wherein: A first baffle is provided on the outer side of the second position sensor in a direction away from the third position sensor, for limiting the further movement of the obstacle.

22. The system of claim 18, wherein: A second baffle is provided on the outer side of the third position sensor in a direction away from the second position sensor, for limiting the further movement of the obstacle.

23. The system according to any one of claims 18 to 22, wherein: The first stepper motor, the second stepper motor, the second position sensor and the third position sensor are arranged on a base; The first position sensor is arranged on the base via a sensor bracket.

24. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

25. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 7.

26. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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