Vehicle-mounted radar calibration method, device and storage medium

Abstract

The present application discloses a vehicle-mounted radar calibration method, device and storage medium. The vehicle-mounted radar calibration method includes: obtaining the track line of the target object within the detection range of the vehicle-mounted radar relative to the moving vehicle, and performing a preprocessing operation on the track line to obtain the target track line; generating a reference line based on the target track line; calculating the installation error angle of the vehicle-mounted radar according to the reference line; and calibrating the vehicle-mounted radar based on the calculated installation error angle. The vehicle-mounted radar calibration method, device and storage medium provided by the present invention can solve the problems of high cost, low efficiency and large error of vehicle-mounted radar calibration.

Description

Technical Field

[0001] The present application relates to the field of radar calibration technology, and in particular to a vehicle-mounted radar calibration method, device and storage medium. Background Art

[0002] With the rapid development of science and technology, autonomous driving technology has gradually become popular. In the field of advanced driver assistance systems (ADAS) and autonomous driving, millimeter wave radar is widely used due to its advantages of working around the clock, high precision and low cost. Due to installation errors and position changes caused by vehicle vibration or collision after installation, vehicle radar needs to be calibrated after installation. For example, in the case of a larger range of perception, a small installation error of the vehicle radar will result in a huge distance offset, resulting in a significant decrease in detection accuracy.

[0003] The existing calibration method for vehicle-mounted radar after installation usually consumes a lot of manpower and material resources due to the high requirements for the calibration environment. It uses specific scenarios (such as installing strong reflective targets such as angle reflection in the environment where the deviation angle is measured) to measure the deviation angle of the vehicle-mounted radar installation. This approach not only consumes a lot of time, but also requires manual intervention during the measurement process, which is costly and inefficient. At the same time, due to excessive human intervention, the calibration result will also cause a large error between the actual situation.

[0004] Therefore, a vehicle-mounted radar calibration method is urgently needed to solve the above technical problems. Summary of the invention

[0005] The object of the present invention is to provide a vehicle-mounted radar calibration method, system and storage medium to solve the problem that radar detection is time-consuming and labor-intensive.

[0006] To achieve the above-mentioned purpose, an embodiment of the present invention provides a calibration method for a vehicle-mounted radar, the calibration method comprising: obtaining a track line of a target object within the detection range of the vehicle-mounted radar relative to a moving vehicle, and performing a preprocessing operation on the track line to obtain a target track line; generating a baseline based on the target track line; calculating the installation error angle of the vehicle-mounted radar according to the baseline; and calibrating the vehicle-mounted radar based on the calculated installation error angle.

[0007] Preferably, the preprocessing operation includes: determining whether the target objects within the detection range of the vehicle-mounted radar include static target objects; if the target objects within the detection range of the vehicle-mounted radar do not include static target objects, re-executing the step of obtaining the track line of the target objects within the detection range of the vehicle-mounted radar relative to the moving vehicle after a preset time interval; if the target objects within the detection range of the vehicle-mounted radar include at least one static target object, determining the track lines corresponding to all the static target objects as the target track line, wherein each static target object corresponds to a track line.

[0008] Preferably, the step of generating a baseline based on the target track line further includes: obtaining the target track line of the at least one static target object within a preset distance range, and determining whether the number of target track lines within the preset distance range is greater than a preset first threshold; if the number of target track lines within the preset distance range is greater than the preset first threshold, fitting all target track lines within the preset distance range to obtain the baseline, wherein the baseline is a straight line.

[0009] Preferably, the step of generating a baseline based on the target track line further includes: if the number of target track lines within the preset distance range is not greater than the preset first threshold, deleting the target track line and re-executing the step of obtaining the track line of the target object within the detection range of the vehicle-mounted radar relative to the moving vehicle after a preset time interval.

[0010] Preferably, the step of calculating the installation error angle of the vehicle-mounted radar based on the baseline further includes: calculating a first angle and a second angle, the first angle being the angle between a first direction and a second direction, the second angle being the angle between the baseline and the second direction, wherein the first direction is the driving direction of the vehicle on which the vehicle-mounted radar is installed at an initial position of the preset distance range, and the second direction is the driving direction of the vehicle on which the vehicle-mounted radar is installed at an end position of the preset distance range; calculating the installation error angle based on the first angle and the second angle, wherein the installation error angle is the difference between the first angle and the second angle.

[0011] Preferably, the preprocessing operation further includes: before determining whether the target objects within the detection range of the vehicle-mounted radar include static target objects, judging whether the number of dynamic target objects among the target objects within the detection range of the vehicle-mounted radar is greater than a second threshold; if the number of dynamic target objects among the target objects within the detection range of the vehicle-mounted radar is greater than the second threshold, re-executing the step of obtaining the track line of the target objects within the detection range of the vehicle-mounted radar relative to the moving vehicle after a preset time interval, otherwise, continuing to perform subsequent preprocessing operations.

[0012] Preferably, the preprocessing operation further includes: before determining whether the target objects within the detection range of the vehicle-mounted radar include static target objects, judging whether there are dynamic target objects among the target objects within the detection range of the vehicle-mounted radar; if there are dynamic target objects among the target objects within the detection range of the vehicle-mounted radar, re-executing the step of obtaining the track line of the target objects within the detection range of the vehicle-mounted radar relative to the moving vehicle after a preset time interval, otherwise, continuing to perform subsequent preprocessing operations.

[0013] Furthermore, the present invention also provides a vehicle-mounted radar calibration device, which includes: a track line processing unit, used to obtain the track line of a target object within the detection range of the vehicle-mounted radar relative to a moving vehicle, and perform preprocessing operations on the track line to obtain a target track line; a baseline generation unit, used to generate a baseline based on the target track line; an error angle calculation unit, used to calculate the installation error angle of the vehicle-mounted radar according to the baseline; and a radar calibration unit, used to calibrate the vehicle-mounted radar based on the calculated installation error angle.

[0014] Preferably, the preprocessing operation performed by the track processing unit includes:

[0015] Determine whether the target objects within the detection range of the vehicle-mounted radar include static target objects;

[0016] If the target objects within the detection range of the vehicle-mounted radar do not include static target objects, re-performing the step of obtaining the track line of the target objects within the detection range of the vehicle-mounted radar relative to the moving vehicle after a preset time interval;

[0017] If the target objects within the detection range of the vehicle-borne radar include at least one static target object, the track lines corresponding to all the static target objects are determined as the target track line, wherein each static target object corresponds to one track line.

[0018] Furthermore, the present invention also provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is read and executed by a processor, the calibration method of any vehicle-mounted radar described above is executed.

[0019] The vehicle-mounted radar calibration method, device and storage medium provided by the embodiments of the present invention can solve the problems of high cost, low efficiency and large error in vehicle-mounted radar calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The technical solution and other beneficial effects of the present application will be made apparent by describing in detail the specific implementation methods of the present application in conjunction with the accompanying drawings.

[0021] Figure 1 A flowchart of a vehicle-mounted radar calibration method provided in one embodiment of the present application.

[0022] Figure 2 A schematic diagram of the structure of a vehicle-mounted radar calibration system provided in one embodiment of the present application.

[0023] Figure 3 A schematic diagram of a vehicle-mounted radar calibration scenario provided in an embodiment of the present application.

[0024] The following are marked in the figure:

[0025] 11 track line processing unit, 12 baseline generation unit, 13 error angle calculation unit, 14 radar calibration unit.

[0026] 21 vehicle, 22 static target object, 23 vehicle radar detection range. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0028] Example 1

[0029] See also Figure 2-3 As shown, this embodiment provides a vehicle-mounted radar calibration device, and the calibration system includes: a track line processing unit 11, a baseline generating unit 12, an error angle calculating unit 13 and a radar calibration unit 14.

[0030] Further, the track processing unit 11 is used to obtain the track of the target object within the detection range 23 of the vehicle-mounted radar relative to the moving vehicle 21. The track is the motion track of the target object detected by the vehicle-mounted radar relative to the vehicle-mounted radar. For example, the vehicle-mounted radar scans the objects within the preset space outside the vehicle 21 once every fixed time. The electromagnetic waves emitted by the radar are reflected on the surface of the object, and the vehicle-mounted radar receives the echo data to obtain a frame of detection data. A frame of detection data contains multiple reflection point data of electromagnetic waves reflected on the surfaces of various objects. The reflection points corresponding to the same object can reflect the outline of the object. Through the clustering method, the reflection points of the same object are summarized into a point trace to indicate the position of the object in the current frame. The various point traces contained in the current frame and the corresponding point traces in the past frames form tracks for different objects, that is, in one frame, one object corresponds to one point trace, and the position connection line of the point traces corresponding to an object in multiple frames constitutes the track corresponding to the object, and the track represents the motion trajectory of the corresponding target object.

[0031] Preferably, the vehicle-mounted radar is a 77 GHz high-precision millimeter wave radar, and in other embodiments, other types of radars may also be selected. The detection range of the vehicle-mounted radar is determined by the type of the vehicle-mounted radar.

[0032] Furthermore, the track processing unit 11 is also used to perform a preprocessing operation on the track to obtain a target track.

[0033] Exemplarily, the preprocessing operation includes: determining whether the target objects within the vehicle-mounted radar detection range 23 include a static target object 22; if the target objects within the vehicle-mounted radar detection range 23 do not include a static target object 22, then reacquiring the track line of the target object within the vehicle-mounted radar detection range 23 relative to the moving vehicle 21 after a preset time interval; if the target objects within the vehicle-mounted radar detection range 23 include at least one static target object 22, then determining the track lines corresponding to all the static target objects 22 as the target track line, wherein each static target object 22 corresponds to a track line.

[0034] The preset time interval is preferably 3 seconds, and in other embodiments it may also be 6 seconds, 8 seconds, 9 seconds, etc., which is not limited in the present invention.

[0035] Optionally, the preprocessing operation further includes: before determining whether the target objects within the vehicle-mounted radar detection range 23 include static target objects 22, judging whether the number of dynamic target objects among the target objects within the vehicle-mounted radar detection range 23 is greater than a second threshold; if the number of dynamic target objects among the target objects within the vehicle-mounted radar detection range 23 is greater than the second threshold, then re-executing the step of obtaining the track line of the target objects within the vehicle-mounted radar detection range 23 relative to the moving vehicle 21 after a preset time interval, otherwise, continuing to perform subsequent preprocessing operations.

[0036] Optionally, the preprocessing operation further includes: before determining whether the target objects within the vehicle-mounted radar detection range 23 include static target objects 22, judging whether there are dynamic target objects among the target objects within the vehicle-mounted radar detection range 23; if there are dynamic target objects among the target objects within the vehicle-mounted radar detection range 23, then re-executing the step of obtaining the track line of the target object within the vehicle-mounted radar detection range 23 relative to the moving vehicle 21 after a preset time interval, otherwise, continuing to perform subsequent preprocessing operations.

[0037] For example, the dynamic target may be a dynamic creature or object such as an animal or a vehicle. The second threshold is preferably 4, and may be 5, 7, 11, etc. in other embodiments, which is not limited in the present invention.

[0038] In the calibration environment of the vehicle-mounted radar, the running trajectory of the dynamic target cannot be predicted, and will have a great impact on the calibration result. This embodiment determines the number of dynamic targets and does not perform calibration operations in scenes with a large number of dynamic targets or in scenes where dynamic targets exist, thereby reducing the impact of dynamic targets on the calibration result, reducing the error of the calibration result, and improving the accuracy of the calibration result.

[0039] Furthermore, the baseline generating unit 12 is used to generate a baseline based on the target track line.

[0040] Furthermore, the baseline generation unit 12 is used to obtain the target track line of the at least one static target object 22 within a preset distance range, and determine whether the number of target track lines within the preset distance range is greater than a preset first threshold; if the number of target track lines within the preset distance range is greater than the preset first threshold, all target track lines within the preset distance range are fitted to obtain the baseline, wherein the baseline is a straight line. Exemplarily, the static objects may be stationary objects such as fences and signboards on both sides of the road. As can be seen from the above, by ensuring the number of samples of the target track line, the accuracy of the vehicle-mounted radar calibration can be ensured to be within the expected range.

[0041] Exemplarily, the first threshold is preferably 5, and in other embodiments, it may also be 7, 9, 10 and 15, which is not limited in the present invention.

[0042] Exemplarily, the reference line generation unit 12 forms a reference line in the form of a straight line by first-order fitting of the track lines of the plurality of target objects relative to the moving vehicle 21 .

[0043] Exemplarily, the preset distance range is a cuboid with the vehicle-mounted radar as the center, and the present invention does not limit the length, width and height of the cuboid. In other embodiments, the preset distance range can also be selected as a sphere with the vehicle-mounted radar as the center, and the present invention does not limit the size and shape of the preset distance range.

[0044] Furthermore, if the baseline generation unit 12 determines that the number of target track lines within the preset distance range is not greater than the preset first threshold, the target track line is deleted and the track line processing unit 11 is triggered to re-execute the step of obtaining the track line of the target object within the vehicle-mounted radar detection range 23 relative to the moving vehicle 21 after a preset time interval.

[0045] Furthermore, the error angle calculation unit 13 is used to calculate the installation error angle of the vehicle-mounted radar according to the baseline.

[0046] Furthermore, the error angle calculation unit 13 calculates the first angle and the second angle to obtain the installation error angle of the vehicle-mounted radar, wherein the installation error angle is the difference between the first angle and the second angle.

[0047] Further, the first angle is the angle between the first direction and the second direction, and the second angle is the angle between the reference line and the second direction. The first direction is the driving direction of the vehicle 21 on which the vehicle-mounted radar is installed at the initial position of the preset distance range. The second direction is the driving direction of the vehicle 21 on which the vehicle-mounted radar is installed at the end position of the preset distance range.

[0048] Exemplarily, the first direction and the second direction are obtained by a user based on vehicle driving information of the vehicle 21 on which the vehicle-mounted radar is installed.

[0049] For example, if the first angle is 2° and the second angle is 0.5°, the error angle is the difference between the first angle and the second angle, that is, 1.5°.

[0050] Furthermore, the radar calibration unit 14 is used to calibrate the vehicle-mounted radar based on the calculated installation error angle.

[0051] Exemplarily, when performing the on-vehicle radar calibration operation, the vehicle 21 on which the on-vehicle radar is installed is traveling in a straight line at a constant speed greater than a preset speed value.

[0052] Exemplarily, the vehicle-mounted radar is preferably a 77 GHz high-precision millimeter radar wave.

[0053] Exemplarily, the preset speed is 30 km / h. In other embodiments, the preset speed may be 40 km / h, 43 km / h and 52 km / h, which is not limited in the present invention.

[0054] Obviously, it should be understood by those skilled in the art that the above-mentioned units or steps of the present invention can be implemented by a general-purpose computing device, and they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices. Optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a computer storage medium (ROM / RAM, magnetic disk, optical disk) and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Therefore, the present invention is not limited to any specific combination of hardware and software.

[0055] The beneficial effect of this embodiment is that compared with the vehicle-mounted radar calibration system and method in a specific scenario provided by the prior art, the vehicle-mounted radar calibration system and method provided by the present invention does not require a fixed calibration scene, and the calibration operation can be completed only through the stationary target objects around the vehicle where the vehicle-mounted radar is located. And in the vehicle-mounted radar calibration process provided by the present invention, the vehicle where the vehicle-mounted radar is located travels at a minimum speed of 30Km / h. Under the same calibration route, the calibration method provided by the present invention takes less time and is more efficient. In addition to the above content, the present invention does not require a large amount of manpower to arrange the calibration environment throughout the process, nor does it require site fees, which greatly reduces the calibration cost of the vehicle-mounted radar.

[0056] Example 2

[0057] See also Figure 1 As shown, this embodiment provides a calibration method for a vehicle-mounted radar, and the calibration method includes the following steps:

[0058] Step S1) obtaining the track line of the target object within the detection range of the vehicle-mounted radar relative to the moving vehicle, and performing a preprocessing operation on the track line to obtain the target track line. The track line is the movement trajectory of the target object detected by the vehicle-mounted radar relative to the vehicle-mounted radar.

[0059] Preferably, the vehicle-mounted radar is a 77 GHz high-precision millimeter wave radar, and in other embodiments, other types of radars may also be selected. The detection range of the vehicle-mounted radar is determined by the type of the vehicle-mounted radar.

[0060] Further, the preprocessing operation includes: determining whether the target objects within the detection range of the vehicle-mounted radar include static target objects.

[0061] Exemplarily, if the target objects within the detection range of the vehicle-mounted radar do not include the static target object 22, the step of obtaining the track line of the target object within the detection range of the vehicle-mounted radar relative to the moving vehicle is re-executed after a preset time interval. If the target objects within the detection range of the vehicle-mounted radar include at least one static target object, the track lines corresponding to all the static target objects 22 are determined as the target track line, wherein each static target object corresponds to a track line. The preset time interval is preferably 3 seconds, and in other embodiments it can also be selected as 6 seconds, 8 seconds, 9 seconds, etc., which is not limited by the present invention.

[0062] Furthermore, the preprocessing operation further includes: before determining whether the target objects within the detection range of the vehicle-mounted radar include static target objects, determining whether there are dynamic target objects among the target objects within the detection range of the vehicle-mounted radar. Exemplarily, the dynamic target may be a dynamic creature or object such as an animal or a vehicle.

[0063] Exemplarily, if there is a dynamic target object among the target objects within the detection range of the vehicle-mounted radar, the step of obtaining the track line of the target object within the detection range of the vehicle-mounted radar relative to the moving vehicle is re-executed after a preset time interval, otherwise, the subsequent preprocessing operations are continued.

[0064] Furthermore, the preprocessing operation further includes: determining whether the number of dynamic target objects in the detection range of the vehicle-mounted radar is greater than a second threshold value. The second threshold value is preferably 4, and in other embodiments, it can also be selected as 5, 7, 11, etc., which is not limited in the present invention.

[0065] Exemplarily, if the number of dynamic target objects among the target objects within the detection range of the vehicle-mounted radar is greater than a second threshold, the step of obtaining the track line of the target objects within the detection range of the vehicle-mounted radar relative to the moving vehicle is re-executed after a preset time interval; otherwise, the subsequent preprocessing operations are continued.

[0066] Step S2) Generate a baseline based on the target track line.

[0067] Further, the target track line of the at least one static target object within a preset distance range is obtained, and it is determined whether the number of target track lines within the preset distance range is greater than a preset first threshold. The static object may be a stationary object such as fences and signboards on both sides of the road. The purpose of this step is to ensure the accuracy of the vehicle-mounted radar calibration.

[0068] Exemplarily, if the number of target track lines within the preset distance range is greater than the preset first threshold, all target track lines within the preset distance range are fitted to obtain the baseline. Wherein, the baseline is a straight line. Exemplarily, the first threshold is preferably 5, and in other embodiments, it can also be selected as 7, 9, 10 and 15, which is not limited by the present invention.

[0069] Exemplarily, the step of fitting all target track lines within the preset distance range to obtain the baseline includes: forming a straight line baseline through first-order fitting of the track lines of multiple target objects relative to the moving vehicle.

[0070] Exemplarily, the preset distance range is a cuboid with the vehicle-mounted radar as the center, and the present invention does not limit the length, width and height of the cuboid. In other embodiments, the preset distance range can also be selected as a sphere with the vehicle-mounted radar as the center, and the present invention does not limit the size and shape of the preset distance range.

[0071] Furthermore, if the number of target track lines within the preset distance range is not greater than the preset first threshold, the target track line is deleted and the step of obtaining the track line of the target object within the detection range of the vehicle-mounted radar relative to the moving vehicle is re-executed after a preset time interval.

[0072] Step S3) calculating the installation error angle of the vehicle-mounted radar according to the baseline.

[0073] The step S3) further comprises: calculating a first angle and a second angle. The first angle is the angle between the first direction and the second direction, and the second angle is the angle between the reference line and the second direction.

[0074] Exemplarily, the first direction is the driving direction of the vehicle on which the vehicle-mounted radar is installed at an initial position of the preset distance range. The second direction is the driving direction of the vehicle on which the vehicle-mounted radar is installed at an end position of the preset distance range.

[0075] The step S3) further includes: calculating the installation error angle based on the first angle and the second angle, wherein the installation error angle is the difference between the first angle and the second angle.

[0076] Exemplarily, the first direction and the second direction are obtained by a user based on vehicle driving information of a vehicle on which the vehicle-mounted radar is installed.

[0077] For example, if the first angle is 2° and the second angle is 0.5°, the error angle is the difference between the first angle and the second angle, that is, 1.5°.

[0078] Step S4) calibrating the vehicle-mounted radar based on the calculated installation error angle.

[0079] Exemplarily, when performing a vehicle-mounted radar calibration operation, the vehicle on which the vehicle-mounted radar is installed travels in a straight line at a constant speed greater than a preset speed value.

[0080] Exemplarily, the preset speed is 30 km / h. In other embodiments, the preset speed may be 40 km / h, 43 km / h and 52 km / h, which is not limited in the present invention.

[0081] The beneficial effect of this embodiment is that compared with the vehicle-mounted radar calibration system and method under specific scenarios provided by the prior art, the vehicle-mounted radar calibration system and method provided by the present invention does not require a fixed calibration scene, and the calibration operation can be completed only through stationary objects around the vehicle where the vehicle-mounted radar is located. And in the vehicle-mounted radar calibration process provided by the present invention, the vehicle where the vehicle-mounted radar is located travels at a minimum speed of 30Km / h. Under the same calibration route, the calibration method provided by the present invention takes less time and is more efficient. In addition to the above content, the present invention does not require a large amount of manpower to arrange the calibration environment throughout the process, and does not require site fees, which greatly reduces the calibration cost of the vehicle-mounted radar.

[0082] In addition, this embodiment further provides a storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the vehicle radar calibration method of the above embodiment 1. Please refer to the description in the above embodiment 1 for details, which will not be repeated here.

[0083] The above is a detailed introduction to a radar test data verification method, system and storage medium provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the technical solutions and core ideas of the present application. Ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle-mounted radar calibration method, characterized in that: The calibration method comprises: Acquire a track line of a target object within the detection range of the vehicle-mounted radar relative to the moving vehicle, and perform a preprocessing operation on the track line to obtain a target track line; generating a reference line based on the target track line; Calculating the installation error angle of the vehicle-mounted radar according to the reference line; the step of calculating the installation error angle of the vehicle-mounted radar according to the reference line further includes: Calculating a first angle and a second angle, wherein the first angle is an angle between a first direction and a second direction, and the second angle is an angle between the reference line and the second direction, wherein the first direction is a driving direction of a vehicle on which the vehicle-mounted radar is installed at an initial position of a preset distance range, and the second direction is a driving direction of a vehicle on which the vehicle-mounted radar is installed at an end position of the preset distance range; Calculating the installation error angle based on the first angle and the second angle, wherein the installation error angle is the difference between the first angle and the second angle; The vehicle-mounted radar is calibrated based on the calculated installation error angle.

2. The vehicle-mounted radar calibration method according to claim 1, characterized in that: The pre-processing operation includes: Determine whether the target objects within the detection range of the vehicle-mounted radar include static target objects; If the target objects within the detection range of the vehicle-mounted radar do not include static target objects, re-performing the step of obtaining the track line of the target objects within the detection range of the vehicle-mounted radar relative to the moving vehicle after a preset time interval; If the target objects within the detection range of the vehicle-borne radar include at least one static target object, the track lines corresponding to all the static target objects are determined as the target track line, wherein each static target object corresponds to one track line.

3. The vehicle-mounted radar calibration method according to claim 2, characterized in that: The step of generating a reference line based on the target track line further comprises: Acquire a target track line of the at least one static target object within a preset distance range, and determine whether the number of target track lines within the preset distance range is greater than a preset first threshold; If the number of target track lines within the preset distance range is greater than the preset first threshold, all target track lines within the preset distance range are fitted to obtain the baseline, wherein the baseline is a straight line.

4. The vehicle-mounted radar calibration method according to claim 3, characterized in that: The step of generating a reference line based on the target track line further comprises: If the number of target track lines within the preset distance range is not greater than the preset first threshold, the target track line is deleted and the step of obtaining the track line of the target object within the detection range of the vehicle-mounted radar relative to the moving vehicle is re-executed after a preset time interval.

5. The vehicle-mounted radar calibration method according to claim 2, characterized in that: The pre-processing operation further comprises: Before determining whether the target objects within the detection range of the vehicle-mounted radar include static target objects, determining whether the number of dynamic target objects among the target objects within the detection range of the vehicle-mounted radar is greater than a second threshold; If the number of dynamic target objects among the target objects within the detection range of the vehicle-mounted radar is greater than the second threshold, the step of obtaining the track line of the target objects within the detection range of the vehicle-mounted radar relative to the moving vehicle is re-executed after a preset time interval; otherwise, the subsequent preprocessing operations are continued.

6. The vehicle-mounted radar calibration method according to claim 2, characterized in that: The pre-processing operation further comprises: Before determining whether the target objects within the detection range of the vehicle-mounted radar include static target objects, determining whether there are dynamic target objects among the target objects within the detection range of the vehicle-mounted radar; If there is a dynamic target object among the target objects within the detection range of the vehicle-mounted radar, the step of obtaining the track line of the target object within the detection range of the vehicle-mounted radar relative to the moving vehicle is re-executed after a preset time interval, otherwise, the subsequent preprocessing operations are continued.

7. A vehicle-mounted radar calibration device, characterized in that: include: A track processing unit, used to obtain a track of a target object within the detection range of the vehicle-mounted radar relative to the moving vehicle and perform a preprocessing operation on the track to obtain a target track; A baseline generating unit, used to generate a baseline based on the target track line; An error angle calculation unit, used to calculate the installation error angle of the vehicle-mounted radar according to the reference line; The step of calculating the installation error angle of the vehicle-mounted radar according to the reference line further includes: Calculating a first angle and a second angle, wherein the first angle is an angle between a first direction and a second direction, and the second angle is an angle between the reference line and the second direction, wherein the first direction is a driving direction of a vehicle on which the vehicle-mounted radar is installed at an initial position of a preset distance range, and the second direction is a driving direction of a vehicle on which the vehicle-mounted radar is installed at an end position of the preset distance range; Calculating the installation error angle based on the first angle and the second angle, wherein the installation error angle is the difference between the first angle and the second angle; A radar calibration unit is used to calibrate the vehicle-mounted radar based on the calculated installation error angle.

8. The vehicle-mounted radar calibration device according to claim 7, characterized in that: The pre-processing operation includes: Determine whether the target objects within the detection range of the vehicle-mounted radar include static target objects; If the target objects within the detection range of the vehicle-mounted radar do not include static target objects, re-performing the step of obtaining the track line of the target objects within the detection range of the vehicle-mounted radar relative to the moving vehicle after a preset time interval; If the target objects within the detection range of the vehicle-borne radar include at least one static target object, the track lines corresponding to all the static target objects are determined as the target track line, wherein each static target object corresponds to one track line.

9. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is read and executed by the processor, the steps of the vehicle-mounted radar calibration method according to any one of claims 1 to 6 are executed.

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