Radar Installation Angle Calibration Method and Device

Abstract

The present invention provides a method and device for calibrating the installation angle of a radar. The method includes: obtaining detection points output by the radar and the current driving speed of the vehicle; obtaining the installation angle range according to each detection point and the current driving speed of the vehicle; and obtaining the calibrated installation angle by using an objective function based on the installation angle range. According to the obtained radar detection points and the current driving speed of the vehicle, the present invention obtains the installation angle range, and obtains the optimal solution of the installation angle as the calibrated installation angle based on the objective function, so as to facilitate subsequent judgment of whether the installation angle of the current vehicle-mounted radar has shifted or rotated according to the calibrated installation angle, thereby determining whether the external parameters of the vehicle-mounted radar have changed, and further facilitating subsequent adjustment of the current vehicle-mounted radar according to the calibrated installation angle, improving the perception accuracy and the control accuracy of the vehicle, and enhancing the system safety; in addition, by performing online calculation of the installation angle of the vehicle-mounted radar in real time during the driving process of the vehicle, the calculation amount is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular, to a method and device for calibrating the installation angle of a radar. Background Art

[0002] With the development of in-vehicle radars, in-vehicle radars are widely used in vehicles equipped with assisted driving systems, autonomous driving systems, and automatic safety systems. During the installation process of one-dimensional scanning in-vehicle radars, it is necessary to estimate and measure the installation angle of the radar so that after the vehicle is off the production line and driving, more accurate environmental measurement results can be obtained based on the radar. Before the vehicle leaves the factory, the installation angle of the in-vehicle radar will be calibrated to obtain a more accurate installation angle. Generally, the mechanical installation accuracy is on the order of 10 -1 magnitude.

[0003] However, after the vehicle is off the production line and driving, with the vehicle driving on the road, long-term vehicle jitter, vibration, etc. cause the actual installation angle of the in-vehicle radar to shift or rotate. At this time, the trajectory information of the detected obstacles output by it also shifts accordingly. Inaccurate positioning information will reduce the perception accuracy, thereby reducing the control accuracy of the vehicle and even reducing the system safety. Summary of the Invention

[0004] The present invention provides a method and device for calibrating the installation angle of a radar, which are used to solve the defect in the prior art that the actual installation angle of the in-vehicle radar changes due to the driving state of the vehicle, resulting in a reduction in perception accuracy, and to realize the online estimation of the installation angle of the in-vehicle radar, thereby facilitating the timely adjustment of the installation angle of the in-vehicle radar and improving the perception accuracy and the control accuracy of the vehicle.

[0005] The present invention provides a method for calibrating the installation angle of a radar, including: obtaining detection points output by the radar and the current driving speed of the vehicle; obtaining an installation angle range according to each of the detection points and the current driving speed of the vehicle; and obtaining a calibrated installation angle according to the installation angle range by using an objective function.

[0006] According to the method for calibrating the installation angle of a radar provided by the present invention, the step of obtaining an installation angle range according to each of the detection points and the current driving speed of the vehicle includes: selecting an installation angle according to each of the detection points and the current driving speed of the vehicle to obtain a set of detection points; adjusting the installation angle, re-obtaining a set of detection points, and comparing the number of points in the re-obtained set of detection points with the number of points in the previously obtained set of detection points until the number of detection points in the obtained set of detection points is the least, so as to determine the installation angle range according to the installation angle corresponding to the set of detection points with the least number of points.

[0007] A radar installation angle calibration method provided by the present invention, which selects an installation angle according to each of the detection points and the current driving speed of the vehicle to obtain a detection point set, includes: selecting an installation angle according to each of the detection points and the current driving speed of the vehicle to obtain the ground speed corresponding to the detection point; based on a preset ground speed threshold, screening the ground speed of the detection point to obtain the detection points corresponding to non-zero ground speed, and forming a detection point set.

[0008] A radar installation angle calibration method provided by the present invention, wherein the step of selecting an installation angle according to each of the detection points and the current driving speed of the vehicle to obtain the ground speed corresponding to the detection point includes: obtaining the Doppler speed and detection angle of the detection point according to each of the detection points; selecting an installation angle according to the current driving speed of the vehicle, the Doppler speed and detection angle of the detection point to obtain the ground speed corresponding to the detection point.

[0009] A radar installation angle calibration method provided by the present invention, before obtaining the installation angle range according to each of the detection points and the current driving speed of the vehicle, includes: obtaining the signal echo intensity corresponding to each of the detection points according to the detection points; screening the signal echo intensity based on a preset intensity threshold to obtain the corresponding detection points.

[0010] A radar installation angle calibration method provided by the present invention, before obtaining the installation angle range according to each of the detection points and the current driving speed of the vehicle, further includes: obtaining the parameters of the radar corresponding to each of the detection points according to the detection points; screening the detection points based on the parameters.

[0011] A radar installation angle calibration method provided by the present invention, before obtaining the installation angle range according to each of the detection points and the current driving speed of the vehicle, further includes: obtaining the detection angle, distance and number of echo times corresponding to each of the detection points according to the detection points; screening the detection points based on the detection angle, distance and number of echo times of each of the detection points.

[0012] The present invention also provides a radar installation angle calibration device, including: a data acquisition module for acquiring the detection points output by the radar and the current driving speed of the vehicle; a range acquisition module for obtaining the installation angle range according to each of the detection points and the current driving speed of the vehicle; an angle calibration module for obtaining the calibrated installation angle according to the installation angle range by using an objective function.

[0013] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of any one of the above-mentioned radar installation angle calibration methods when executing the program.

[0014] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-described radar installation angle calibration methods are implemented.

[0015] The present invention also provides a computer program product, including a computer program. When the computer program is executed by a processor, the steps of any of the above-described radar installation angle calibration methods are implemented.

[0016] The radar installation angle calibration method and device provided by the present invention obtain an installation angle range according to the acquired radar detection points and the current driving speed of the vehicle, and obtain the optimal solution of the installation angle based on the objective function as the calibrated installation angle, so as to facilitate subsequent judgment of whether the installation angle of the current vehicle-mounted radar has shifted or rotated according to the calibrated installation angle, thereby determining whether the external parameters of the vehicle-mounted radar have changed, and further facilitating subsequent adjustment of the current vehicle-mounted radar according to the calibrated installation angle, improving the perception accuracy and the control accuracy of the vehicle, and improving the system safety; in addition, by calculating the installation angle of the vehicle-mounted radar online in real time during the vehicle driving process, the calculation amount is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 is a flowchart of the radar installation angle calibration method provided by the present invention;

[0019] Figure 2 is a schematic diagram of the radar installation angle provided by the present invention;

[0020] Figure 3 is a schematic structural diagram of the radar installation angle calibration device provided by the present invention;

[0021] Figure 4 is a schematic structural diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention with reference to the drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0023] Figure 1 The flowchart of a method for calibrating the installation angle of a radar according to the present invention is shown. The method includes:

[0024] S11. Obtain the detection points output by the radar and the current driving speed of the vehicle;

[0025] S12. Obtain the installation angle range according to each detection point and the current driving speed of the vehicle;

[0026] S13. Obtain the calibrated installation angle according to the installation angle range by using the objective function.

[0027] It should be noted that S1N in this specification does not represent the sequence of the radar installation angle calibration method. The following specifically describes the radar installation angle calibration method of the present invention in combination with Figure 2 Describe the radar installation angle calibration method of the present invention.

[0028] Step S11. Obtain the detection points output by the radar and the current driving speed of the vehicle.

[0029] It should be noted that the detection points include the detection angle θ, the distance l, the Doppler velocity v, and the signal echo intensity ρ.

[0030] In an alternative embodiment, before obtaining the installation angle range according to each detection point and the current driving speed of the vehicle, it includes: screening the detection points based on a preset intensity threshold. Further, screening the detection points based on a preset intensity threshold includes: obtaining the signal echo intensity corresponding to the detection point according to the detection point; screening the signal echo intensity based on the preset intensity threshold to obtain the corresponding detection points.

[0031] It should be noted that screening the signal echo intensity based on a preset intensity threshold to obtain the corresponding detection points includes: deleting the detection points corresponding to the signal echo intensity less than or equal to the preset intensity threshold. Further, the preset threshold intensity can be determined according to the object of the reflection point. For example, when the reflection point is a leaf or the ground, the preset threshold intensity can refer to the RCS intensity threshold of the reflection, and usually can be [0.1, 0.5]. By screening the detection points, the points with abnormal features are filtered out, so as to avoid the influence of the reflection of objects such as leaves and the ground on the detection points, resulting in inaccurate installation angles of the vehicle-mounted radar, and further affecting the perception accuracy of the vehicle-mounted radar.

[0032] In an alternative embodiment, before obtaining the installation angle range according to each detection point and the current driving speed of the vehicle, it further includes: obtaining the parameters of the radar corresponding to the output detection points according to the detection points; screening the detection points based on the parameters. In this embodiment, the parameters of the radar include the effective linear measurement angle range [-λ, λ] and the Doppler interval [-σ, σ] of the radar.

[0033] Correspondingly, based on the parameters, the detection points are screened, including: obtaining a detection angle according to the detection point; if the detection angle does not belong to the effective linear measurement angle range of the radar, deleting the corresponding detection point; and / or, obtaining a Doppler velocity according to the detection point; if the Doppler velocity does not belong to the Doppler interval, deleting the corresponding detection point.

[0034] It should be added that assuming that the effective linear measurement angle range of the radar is expressed as [-λ, λ], and the Doppler interval is expressed as [-σ, σ], if the detection angle of the detection point then the detection point corresponding to θ is deleted; and / or, if the Doppler velocity of the detection point then the detection point corresponding to v is deleted. Further screening the detection points through the parameters of the radar facilitates eliminating points not within the linear detection interval of the sensor and / or points exceeding the Doppler interval, avoiding interference with the subsequent calculation result of the installation angle, and reducing the subsequent calculation amount.

[0035] In an alternative embodiment, before obtaining the installation angle range according to each detection point and the current driving speed of the vehicle, it further includes: obtaining the detection angle, distance, and echo count corresponding to each detection point according to the detection point; screening the detection points based on the detection angle, distance, and echo count of each detection point. Further, screening the detection points based on the detection angle, distance, and echo count of each detection point includes: comparing the distances of two detection points based on the equality of the detection angles of any two detection points; if the echo count of the detection point with a larger distance among the two detection points is greater than or equal to a preset count threshold, deleting it.

[0036] For example, assume there are two detection points A and B, where detection point A includes a detection angle θ A , a distance l A , and an echo count n A , and detection point B includes a detection angle θ B , a distance l B , and an echo count n B . When θ A = θ B , compare the magnitudes of l A and l B . If l A < l B , and ν B ≈ n·ν A , and n = 2, 3..., then delete detection point B.

[0037] Step S12, obtaining the installation angle range according to each detection point and the current driving speed of the vehicle.

[0038] In this embodiment, an installation angle range is obtained according to each detection point and the current driving speed of the vehicle, including: selecting an installation angle according to each detection point and the current driving speed of the vehicle to obtain a detection point set; adjusting the installation angle, re-obtaining the detection point set, and comparing the number of points in the re-obtained detection point set with the number of points in the previously obtained detection point set until the number of detection points in the obtained detection point set is the least, so as to determine the installation angle range according to the installation angle correspondingly adjusted by the detection point set with the least number of points.

[0039] In an alternative embodiment, an installation angle is selected according to each detection point and the current driving speed of the vehicle to obtain a detection point set. Further, obtaining the detection point set includes: selecting an installation angle according to each detection point and the current driving speed of the vehicle to obtain the ground speed corresponding to the detection point; based on a preset ground speed threshold, screening the ground speed of the detection point to obtain the detection points corresponding to non-zero ground speed, and constituting the detection point set. Specifically:

[0040] First, selecting an installation angle according to each detection point and the current driving speed of the vehicle to obtain the ground speed corresponding to the detection point includes: obtaining the Doppler speed and detection angle of the detection point according to each detection point; selecting an installation angle according to the current driving speed of the vehicle, the Doppler speed of the detection point, and the detection angle to obtain the ground speed corresponding to the detection point.

[0041] It should be noted that the ground speed is expressed as:

[0042] v g = v·cos(α + θ) - V

[0043] wherein, v g represents the ground speed of the detection point, v represents the Doppler speed of the detection point, α represents the selected installation angle, θ represents the detection angle corresponding to the detection point, and V represents the current driving speed of the vehicle along the driving direction. In addition, the direction of the ground speed is consistent with the direction of the vehicle for the corresponding detection point along the current driving speed of the vehicle.

[0044] Secondly, based on a preset ground speed threshold, screening the ground speed of the detection point to obtain the detection points corresponding to non-zero ground speed, and constituting the detection point set. It should be noted that screening the ground speed of the detection point based on a preset ground speed threshold includes: obtaining the absolute value of the ground speed according to the ground speed of the detection point; if the absolute value is less than the preset ground speed threshold, the corresponding ground speed is considered to be 0, and thus the ground speed is deleted. In a possible implementation manner, the preset ground speed threshold can be a value near 0.1, for example, it can be 0.1. For example, when the preset ground speed threshold is 0.1, if the absolute value of the ground speed |v g | < 0.1, then v g= 0. In the actual design process, the preset ground speed threshold can be set with reference to the actual road section conditions, the radar detection angle of the corresponding road section, the speed of the vehicle on the corresponding road section, etc., and no further limitation is made here.

[0045] Step S13: According to the installation angle range, use the objective function to obtain the calibrated installation angle. It should be noted that the objective function aims to obtain the optimal installation angle within the installation angle range and uses the optimal installation angle as the calibrated installation angle.

[0046] In this embodiment, the objective function is expressed as:

[0047]

[0048] where C represents the set of detection points, C = [point(v g ≠0), point ∈ D], D represents the domain of the function, v point represents the Doppler velocity of the corresponding point detection point, α represents the installation angle, θ point represents the detection angle of the corresponding point detection point, and V represents the real-time driving speed of the vehicle.

[0049] It should be noted that based on the above objective function, the optimal installation angle is obtained as the calibrated installation angle, so as to facilitate subsequent judgment of whether the installation angle of the current vehicle-mounted radar has shifted or rotated according to the calibrated installation angle, thereby determining whether the external parameters of the vehicle-mounted radar have changed, and further facilitating subsequent adjustment of the current vehicle-mounted radar according to the calibrated installation angle, improving the perception accuracy and the control accuracy of the vehicle, and enhancing the system safety.

[0050] In summary, in the embodiment of the present invention, according to the obtained radar detection points and the current driving speed of the vehicle, the installation angle range is obtained, and the optimal solution of the installation angle is obtained as the calibrated installation angle based on the objective function, so as to facilitate subsequent judgment of whether the installation angle of the current vehicle-mounted radar has shifted or rotated according to the calibrated installation angle, thereby determining whether the external parameters of the vehicle-mounted radar have changed, and further facilitating subsequent adjustment of the current vehicle-mounted radar according to the calibrated installation angle, improving the perception accuracy and the control accuracy of the vehicle, and enhancing the system safety; in addition, by performing online calculation of the installation angle of the vehicle-mounted radar in real time during the vehicle driving process, the calculation amount is reduced.

[0051] Next, the radar installation angle calibration device provided by the present invention will be described. The radar installation angle calibration device described below can be correspondingly referred to the radar installation angle calibration method described above.

[0052] Figure 3 The structural schematic diagram of a radar installation angle calibration device is shown. The device includes:

[0053] The data acquisition module 31 acquires the detection points output by the radar and the current driving speed of the vehicle.

[0054] The range acquisition module 32 obtains the installation angle range according to each detection point and the current driving speed of the vehicle.

[0055] The angle calibration module 33 obtains the calibrated installation angle according to the installation angle range by using the objective function.

[0056] In this embodiment, the data acquisition module 31 includes: a detection point acquisition unit that acquires the detection points output by the radar; and a speed acquisition unit that acquires the current driving speed of the vehicle.

[0057] It should be noted that the detection points include the detection angle θ, the distance l, the Doppler speed v, and the signal echo intensity ρ.

[0058] In an alternative embodiment, the device further includes: a first screening module that screens the detection points based on a preset intensity threshold. Further, the first screening module includes: an intensity acquisition unit that obtains the signal echo intensity corresponding to the detection point according to the detection point; and a first screening unit that screens the signal echo intensity based on the preset intensity threshold to obtain the corresponding detection points.

[0059] It should be noted that the first screening unit includes: a first screening subunit that deletes the detection points corresponding to the signal echo intensity less than or equal to the preset intensity threshold. Further, the preset threshold intensity can be determined according to the object of the reflection point. For example, when the reflection point is a leaf or the ground, the preset threshold intensity can refer to the RCS intensity threshold of the reflection, and usually can be [0.1, 0.5]. By screening the detection points, the points with abnormal characteristics are filtered out, so as to avoid the influence of the reflection of objects such as leaves and the ground on the detection points, resulting in inaccurate installation angles of the vehicle-mounted radar, and further affecting the perception accuracy of the vehicle-mounted radar.

[0060] In an alternative embodiment, the device further includes: a parameter acquisition module that obtains the parameters of the radar corresponding to the output detection points according to the detection points; and a second screening module that screens the detection points based on the parameters. In this embodiment, the parameters of the radar include the effective linear measurement angle range [-λ, λ] and the Doppler interval [-σ, σ] of the radar.

[0061] The second screening module includes: a detection angle acquisition unit that obtains a detection angle according to a detection point; a second screening unit that deletes a corresponding detection point if the detection angle does not belong to the effective linear measurement angle range of the radar; and / or a speed acquisition unit that obtains a Doppler speed according to a detection point; a second screening unit that deletes a corresponding detection point if the Doppler speed does not belong to the Doppler interval. Further screening of the detection points by the parameters of the radar facilitates eliminating points not within the linear detection interval of the sensor and / or points exceeding the Doppler interval, avoiding interference with the subsequent installation angle calculation results and reducing the subsequent calculation amount.

[0062] In an alternative embodiment, the device further includes: an information acquisition module that obtains a detection angle, a distance, and an echo count corresponding to each detection point according to the detection points; a third screening module that screens the detection points based on the detection angle, distance, and echo count of each detection point. Further, the third screening module includes: a distance comparison unit that compares the distances of two detection points based on the equality of the detection angles of any two detection points; a third screening unit that deletes the detection point with a larger distance among the two detection points if its echo count is greater than or equal to a preset count threshold.

[0063] The range acquisition module 32 includes: a point set acquisition unit that selects an installation angle according to each detection point and the current driving speed of the vehicle to obtain a detection point set; an angle range acquisition unit that adjusts the installation angle, re-obtains the detection point set, and compares the number of points in the re-obtained detection point set with the number of points in the previously obtained detection point set until the number of detection points in the obtained detection point set is the least, so as to determine the installation angle range according to the installation angle corresponding to the detection point set with the least number of points.

[0064] In an alternative embodiment, the point set acquisition unit includes: a ground speed acquisition subunit that selects an installation angle according to each detection point and the current driving speed of the vehicle to obtain the ground speed corresponding to the detection point; a screening subunit that screens the ground speed of the detection points based on a preset ground speed threshold to obtain the detection points corresponding to non-zero ground speed, which constitute the detection point set.

[0065] Further, the ground speed acquisition subunit includes: an information acquisition great-grandson unit that obtains the Doppler speed and detection angle of the detection point according to each detection point; a ground speed acquisition great-grandson unit that selects an installation angle according to the current driving speed of the vehicle, the Doppler speed of the detection point, and the detection angle to obtain the ground speed corresponding to the detection point.

[0066] The ground speed acquisition great-grandson unit includes: an absolute value acquisition great-great-grandson unit that obtains the absolute value of the ground speed according to the ground speed of the detection point; a screening great-great-grandson unit that determines that the corresponding ground speed is 0 if the absolute value is less than the preset ground speed threshold, and thus deletes the ground speed.

[0067] In summary, in the embodiment of the present invention, the range acquisition module obtains the installation angle range according to the radar detection points and the current vehicle speed acquired by the data acquisition module, and the angle calibration module obtains the optimal solution of the installation angle based on the objective function as the calibrated installation angle, so as to facilitate subsequent judgment of whether the installation angle of the current vehicle-mounted radar has shifted or rotated according to the calibrated installation angle, thereby determining whether the external parameters of the vehicle-mounted radar have changed, and further facilitating subsequent adjustment of the current vehicle-mounted radar according to the calibrated installation angle, improving the perception accuracy and the control accuracy of the vehicle, and enhancing the system safety; in addition, by calculating the installation angle of the vehicle-mounted radar online in real time during the vehicle driving process, the calculation amount is reduced.

[0068] Figure 4 An example of the physical structure diagram of an electronic device is shown as Figure 4 shown. The electronic device may include: a processor 41, a communication interface 42, a memory 43, and a communication bus 44. Among them, the processor 41, the communication interface 42, and the memory 43 complete mutual communication through the communication bus 44. The processor 41 can call the logic instructions in the memory 43 to execute the radar installation angle calibration method, and the method includes: obtaining the detection points output by the radar and the current vehicle speed; obtaining the installation angle range according to each detection point and the current vehicle speed; and obtaining the calibrated installation angle according to the installation angle range by using the objective function.

[0069] In addition, when the logic instructions in the above-mentioned memory 43 are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0070] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the radar installation angle calibration method provided by each of the above methods. The method includes: obtaining detection points output by the radar and the current driving speed of the vehicle; obtaining an installation angle range based on each detection point and the current driving speed of the vehicle; and obtaining a calibrated installation angle based on the installation angle range by using an objective function.

[0071] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it realizes the radar installation angle calibration method provided by each of the above methods. The method includes: obtaining detection points output by the radar and the current driving speed of the vehicle; obtaining an installation angle range based on each detection point and the current driving speed of the vehicle; and obtaining a calibrated installation angle based on the installation angle range by using an objective function.

[0072] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0073] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disc, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in each of the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the present invention.

Claims

1. A method for calibrating the installation angle of a radar, characterized in that, Including: Obtain the detection points output by the radar and the current driving speed of the vehicle; According to each of the detection points and the current driving speed of the vehicle, obtain the installation angle range corresponding to the non-zero speed detection point set; According to the installation angle range, use the objective function to obtain the calibrated installation angle; The step of obtaining the installation angle range corresponding to the non-zero speed detection point set according to each of the detection points and the current driving speed of the vehicle includes: According to each of the detection points and the current driving speed of the vehicle, select an installation angle to obtain a detection point set; Adjust the installation angle, re-obtain the detection point set, and compare the number of points in the re-obtained detection point set with the number of points in the previously obtained detection point set until the number of detection points in the obtained detection point set is the least, so as to determine the installation angle range according to the installation angle corresponding to the detection point set with the least number of points; The step of selecting an installation angle according to each of the detection points and the current driving speed of the vehicle to obtain a detection point set includes: According to each of the detection points and the current driving speed of the vehicle, select an installation angle to obtain the ground speed of the corresponding detection point; Based on a preset ground speed threshold, screen the ground speed of the detection points to obtain the detection points corresponding to non-zero ground speed, and form a detection point set; The objective function represents: ； Among them, C represents the set of detection points, C = [point(v g ≠0), point ∈ D], where v g represents the ground speed of the detection point, D represents the domain of the function, v point represents the Doppler speed corresponding to the detection point of point, α represents the installation angle, θ point represents the detection angle corresponding to the detection point of point, and V represents the real-time driving speed of the vehicle.

2. The radar installation angle calibration method according to claim 1, wherein, The step of selecting an installation angle according to each of the detection points and the current driving speed of the vehicle to obtain the ground speed of the corresponding detection point includes: According to each of the detection points, obtain the Doppler speed and detection angle of the detection point; According to the current driving speed of the vehicle, the Doppler speed and detection angle of the detection point, select an installation angle to obtain the ground speed of the corresponding detection point.

3. The radar installation angle calibration method according to claim 1, wherein Before obtaining the installation angle range according to each of the detection points and the current driving speed of the vehicle, it includes: According to the detection points, obtain the signal echo intensity corresponding to the detection points; Based on a preset intensity threshold, screen the signal echo intensity to obtain the corresponding detection points.

4. The radar installation angle calibration method according to claim 1, wherein, Before obtaining the installation angle range according to each of the detection points and the current driving speed of the vehicle, it further includes: According to the detection points, obtain the parameters of the radar corresponding to the output of the detection points; Based on the parameters, screen the detection points.

5. The radar installation angle calibration method according to claim 1, characterized in that Before obtaining the installation angle range according to each of the detection points and the current driving speed of the vehicle, it further includes: According to the detection points, obtain the detection angle, distance and echo times corresponding to each detection point; Based on the detection angle, distance and echo times of each of the detection points, screen the detection points.

6. A radar installation angle calibration device, characterized in that, Including: A data acquisition module that acquires the detection points output by the radar and the current driving speed of the vehicle; A range acquisition module that obtains the installation angle range according to each of the detection points and the current driving speed of the vehicle; An angle calibration module that obtains the calibrated installation angle according to the installation angle range by using the objective function; The range acquisition module includes: A point set acquisition unit that selects an installation angle according to each of the detection points and the current driving speed of the vehicle to obtain a detection point set; An angle range acquisition unit adjusts the installation angle, re-acquires a set of detection points, and compares the number of points in the re-obtained set of detection points with the number of points in the previously obtained set of detection points until the number of detection points in the obtained set of detection points is the smallest, so as to determine the installation angle range according to the installation angle correspondingly adjusted by the set of detection points with the smallest number of points; The point set acquisition unit includes: A ground speed acquisition subunit selects an installation angle according to each of the detection points and the current driving speed of the vehicle to obtain the ground speed of the corresponding detection point; A screening subunit screens the ground speed of the detection points based on a preset ground speed threshold to obtain the detection points corresponding to non-zero ground speed, and forms a set of detection points; The objective function represents: ； Among them, C represents the set of detection points, C = [point(v g ≠0), point ∈ D], where v g represents the ground speed of the detection point, D represents the domain of the function, v point represents the Doppler speed corresponding to the detection point of point, α represents the installation angle, θ point represents the detection angle corresponding to the detection point of point, and V represents the real-time driving speed of the vehicle.

7. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, When the processor executes the program, the steps of the radar installation angle calibration method according to any one of claims 1 to 5 are implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the radar installation angle calibration method according to any one of claims 1 to 5 are implemented.

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