Vehicle radar system and vehicle radar calibration method

Abstract

Embodiments of the present invention provide a vehicle radar system and a vehicle radar calibration method. The technical solution provided in the embodiments of the present invention includes a processing unit, a first sub-radar, a second sub-radar, and a second radar. The processing unit is electrically connected to the first sub-radar, the second sub-radar, and the second radar. The first sub-radar, the second sub-radar, and the second radar are arranged on the same surface of at least one side of the body of a target vehicle. The processing unit is configured to detect the curvature of the target vehicle using the first sub-radar, the second sub-radar, the second radar, and obstacles.

Description

Technical field

[0001] The present invention relates to the field of vehicle radar, and in particular to a vehicle radar system and a calibration method for the vehicle radar. [Background Technology]

[0002] Vehicle radar systems typically include two types of radar. One type is mounted on the center bumper of the vehicle, either front or rear, to measure obstacles in front of or behind the vehicle. The other type is mounted on either side of the vehicle to measure the distance to side obstacles.

[0003] As the shapes of vehicles are becoming more and more fashionable, beautiful and personalized, the curvature of the front of different vehicles or parking spaces is quite different. The curvature of the rear corner of each vehicle is different, which makes the reversing radars of different models not compatible. The existing technology generally installs at least three reversing radars on the vehicle, and the closest detected distance is used as the basis. This often makes it impossible to give accurate avoidance prompts according to the vehicle model, which will result in a waste of parking space. For example, there is a side obstacle in a narrow parking space. The radar of the protruding part in the middle detects that the obstacle has reached the alarm line while the side obstacle has not reached the alarm line, and starts to alarm, but the side direction is actually accessible. It is also possible that the detection distance has not reached the alarm line and the protruding part of the rear of the vehicle is already close to the obstacle, and there is a possibility of collision. In particular, self-driving cars make advance predictions about the possibility of collision based on the reversing direction and current vehicle speed.

[0004] Therefore, in the actual obstacle ranging process, it is necessary to consider the arc of the application vehicle model of the reversing radar to improve the accuracy of reversing or parking.

[0005] In addition, the curvature of the vehicle is an important reference factor when the vehicle enters a narrow space, such as a narrow space on both sides, or enters a low space. [Summary of the invention]

[0006] In view of this, an embodiment of the present invention provides a vehicle radar system and a vehicle radar calibration method, which can detect the curvature of a vehicle model.

[0007] In a first aspect, an embodiment of the present invention provides a vehicle radar system, comprising: a processing unit, a first sub-radar, a second sub-radar, and a second radar, wherein the processing unit is electrically connected to the first sub-radar, the second sub-radar, and the second radar; the first sub-radar, the second sub-radar, and the second radar are arranged on the same surface of at least one side of a vehicle body;

[0008] The processing unit is configured to detect the vehicle type curvature of the target vehicle through the first sub-radar, the second sub-radar, the second radar, and obstacles.

[0009] In another aspect, an embodiment of the present invention provides a vehicle radar calibration method, which is applied to a vehicle radar system. The vehicle radar system includes a processing unit, a first sub-radar, a second sub-radar, and a second radar. The processing unit is electrically connected to the first sub-radar, the second sub-radar, and the second radar. The first sub-radar, the second sub-radar, and the second radar are arranged on the same surface of at least one side of a vehicle body. The method includes:

[0010] The vehicle body curvature of the target vehicle is detected by the first sub-radar, the second sub-radar, the second radar, and obstacles.

[0011] In the technical solutions for a vehicle radar system and a vehicle radar calibration method provided in an embodiment of the present invention, the vehicle radar system includes: a processing unit, a first sub-radar, a second sub-radar, and a second radar, the processing unit being electrically connected to the first sub-radar, the second sub-radar, and the second radar; the first sub-radar, the second sub-radar, and the second radar being arranged on the same surface of at least one side of the body of a target vehicle; the processing unit being configured to detect the vehicle body curvature of the target vehicle through the first sub-radar, the second sub-radar, the second radar, and obstacles, and being capable of detecting the vehicle body curvature.

Brief Description of the Drawings

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 Schematic diagrams for setting radar positions based on two different vehicle models;

[0014] Figure 2 A schematic diagram of a vehicle radar system provided by an embodiment of the present invention;

[0015] Figure 3 A schematic diagram showing the principle of a solution for a processing unit to detect the vehicle body arc of a target vehicle through a first sub-radar, a second sub-radar, a second radar, and obstacles;

[0016] Figure 4 A schematic diagram showing another method for detecting the vehicle body curvature of a target vehicle by a processing unit using a first sub-radar, a second sub-radar, a second radar, and obstacles;

[0017] Figure 5 Schematic diagram for verifying whether the vehicle radar system meets the accuracy requirements for vehicle curvature detection;

[0018] Figure 6 A schematic diagram of correcting the distance between a target vehicle and an obstacle to be detected according to the curvature of the vehicle model in an embodiment of the present invention;

[0019] Figure 7 A flowchart of a vehicle radar calibration method provided by an embodiment of the present invention;

[0020] Figure 8 for Figure 7 A specific flow chart of detecting the vehicle type arc of a target vehicle by using a first sub-radar, a second sub-radar, a second radar and obstacles;

[0021] Figure 9 for Figure 7 Another specific flow chart of detecting the vehicle type curvature of a target vehicle by using a first sub-radar, a second sub-radar, a second radar and obstacles. [Specific implementation method]

[0022] In order to better understand the technical solution of the present invention, the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0023] It should be understood that the embodiments described are only a portion of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0024] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "an", "the" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0025] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the associated objects.

[0026] When a vehicle is reversing, the current vehicle radar system only uses the closest distance to the detected obstacle as the basis, which has low judgment accuracy and is not conducive to the correctness of automatic parking.

[0027] For example, if there is a side obstacle in a narrow parking space, the radar protruding in the middle of the rear of the vehicle detects that the obstacle has reached the alarm line, while the radar on the side of the vehicle detects that the obstacle has not reached the alarm line and starts to alarm, but the vehicle can actually enter from the side direction, thus wasting parking space.

[0028] For example, in a scenario where an autonomous vehicle predicts a possible collision based on the reversing direction and current vehicle speed, the vehicle's radar system may detect that the distance to the obstacle has not reached the alarm line, while the protruding part of the rear of the vehicle is already close to the obstacle and there is a possibility of a collision, which is not conducive to the accuracy of automatic parking.

[0029] These issues arise because the vehicle radar system fails to consider the impact of the vehicle's front or rear curvature on obstacle detection; or because different radars installed on different vehicles are unable to adapt to the varying curvatures of the vehicle, leading to misjudgments. Furthermore, with the increasing diversity of vehicle styling, the sides and top of the vehicle body also have varying curvatures, impacting automatic, semi-automatic, or active reversing and parking. Another example is the retractable brushes in some automatic car washes. However, a compressed brush exerts greater force on the vehicle body, and prolonged or improper cleaning can easily damage the vehicle body or paint. Therefore, vehicle curvature plays a crucial role in a variety of applications.

[0030] Figure 1 Schematic diagrams for setting radar positions based on two different vehicle models, such as Figure 1 As shown in the figure, different vehicles have different curvatures. The radar position is set according to the curvature of the vehicle, which results in different radar positions and different detection accuracy. Therefore, the curvature of the vehicle affects the detection accuracy of the vehicle radar system.

[0031] To address the aforementioned technical issues, embodiments of the present invention provide a vehicle radar system and radar calibration method capable of detecting vehicle curvature, thereby correcting the distance between the vehicle and obstacles based on the vehicle curvature, thereby improving judgment accuracy and facilitating the correctness of automatic parking. Furthermore, vehicle curvature may also be required in potential or as-yet-unforeseen application scenarios.

[0032] Figure 2 A schematic diagram of a vehicle radar system provided by an embodiment of the present invention is shown in FIG. Figure 2 As shown, the vehicle radar system includes a processing unit A1, a first sub-radar 11, a second sub-radar 12, and a second radar 20; the processing unit A1 is electrically connected to the first sub-radar 11, the second sub-radar 12, and the second radar 20; the first sub-radar 11, the second sub-radar 12, and the second radar 20 are used to be installed on the same surface of at least one side of the body of the target vehicle A. The processing unit A1 has a function of being installed on the target vehicle A.

[0033] Exemplarily, the radar of the above-mentioned vehicle radar system can be set on any surface such as the front of the vehicle, the body of the vehicle, the roof, etc., or a set of combined radars can be set on multiple surfaces at the same time.

[0034] Processing unit A1 is configured to detect the vehicle type and arc of target vehicle A using first sub-radar 11, second sub-radar 12, second radar 20, and obstacle C. Obstacle C is positioned so that it can be detected by all three sub-radars. Second radar 20 is positioned between first sub-radar 11 and second sub-radar 12.

[0035] The coordinates of the first sub-radar 11 and the second sub-radar 12 are pre-set. Since the coordinates of the first sub-radar 11 and the second sub-radar 12 serve as a reference, they can be set manually or with the aid of an instrument. Processing unit A1 is specifically configured to: obtain the coordinates of obstacle C by obtaining a first detection range of obstacle C using the first sub-radar 11 and / or the second sub-radar 12; obtain the second detection range of obstacle C using the second radar 20; obtain the coordinates of the second radar 20 based on the second detection range and the coordinates of obstacle C; and obtain the vehicle body arc based on the coordinates of the first sub-radar 11, the second sub-radar 12, and the second radar 20.

[0036] In one example, after obtaining the vehicle body curvature, the calibration parameters are obtained, and the distance between the target vehicle A and the obstacle to be measured is corrected using the calibration parameters. How to obtain the calibration parameters and how to perform the correction can be set and calculated according to actual conditions, and there is no restriction here.

[0037] The processing unit A1 detects the vehicle curvature of the target vehicle A through the first sub-radar 11, the second sub-radar 12, the second radar 20, and the obstacle C. Exemplary embodiments include the following two optional solutions:

[0038] Option 1

[0039] Figure 3 The schematic diagram of the processing unit detecting the arc of the target vehicle through the first sub-radar, the second sub-radar, the second radar and the obstacle. Figure 3 As shown, the obstacle C includes at least a first obstacle C1 and a second obstacle C2. The first obstacle C1 and the second obstacle C2 are located at positions that can be detected by the first sub-radar 11, the second sub-radar 12 and the second radar 20.

[0040] First, determine the plane coordinates of the first sub-radar 11 and the second sub-radar 12 as (x 11 ,y 11 )、(x 12 ,y 12), so the distance between the first sub-radar 11 and the second sub-radar 12 can be determined as the target distance L1 based on the coordinates of the first sub-radar 11 and the second sub-radar 12. For example, the coordinates of the first sub-radar 11 are (0,0), and the coordinates of the second sub-radar 12 are (L1,0). Then, through the first sub-radar 11 and the second sub-radar 12, the first distance S1 from the first obstacle C1 to the first sub-radar 11 and the second distance S2 from the first obstacle C1 to the second sub-radar 12 are obtained; based on the coordinates of the first sub-radar 11, the coordinates of the second sub-radar 12, the first distance S1 and the second distance S2, the coordinates of the first obstacle C1 can be obtained (x C1 ,y C1 Similarly, through the first sub-radar 11 and the second sub-radar 12, the third distance S3 from the second obstacle C2 to the first sub-radar 11 and the fourth distance S4 from the second obstacle C2 to the second sub-radar 12 are obtained; according to the coordinates of the first sub-radar 11, the coordinates of the second sub-radar 12, the third distance S3 and the fourth distance S4, the coordinates of the second obstacle C2 (x C2 ,y C2 ). The second radar 20 obtains the fifth distance S5 from the first obstacle C1 to the second radar 20 and the sixth distance S6 from the second obstacle C2 to the second radar 20; according to the coordinates (x C1 ,y C1 ), the coordinates of the second obstacle C2 (x C2 ,y C2 ), the fifth distance S5 and the sixth distance S6, and obtain the coordinates (x 20 ,y 20 Because, when the coordinates of the first obstacle C1 (x C1 ,y C1 ), the coordinates of the second obstacle C2 (x C2 ,y C2 ) is known (the distance L2 between the first obstacle C1 and the second obstacle C2 can also be known), and then the coordinates (x 20 ,y 20 Since the first sub-radar 11, the second sub-radar 12 and the second radar 20 are all located on an arc, the curvature of the arc can be determined by knowing the coordinates of three points on the arc. Therefore, the coordinates of the first sub-radar 11 (x 11 ,y 11 ), the coordinates of the second sub-radar 12 (x 12 ,y 12 ) and the coordinates (x 20 ,y 20) to obtain the vehicle head or tail curvature of the target vehicle.

[0041] In the embodiment of the present invention, the processing unit A1 is specifically configured to obtain, based on the first sub-radar 11 and the second sub-radar 12, a first distance S1 between the first obstacle C1 and the first sub-radar 11, and a second distance S2 between the first obstacle C1 and the second sub-radar 12; obtain the coordinates of the first obstacle C1 based on the coordinates of the first sub-radar 11, the coordinates of the second sub-radar 12, the first distance S1, and the second distance S2; obtain, based on the first sub-radar 11 and the second sub-radar 12, a third distance S3 between the second obstacle C2 and the first sub-radar 11, and a fourth distance S4 between the second obstacle C2 and the second sub-radar 12; and obtain the coordinates of the second obstacle C2 based on the coordinates of the first sub-radar 11, the coordinates of the second sub-radar 12, the third distance S3, and the fourth distance S4.

[0042] Processing unit A1 is further specifically configured to obtain, based on the second radar 20, a fifth distance S5 from the first obstacle C1 to the second radar 20 and a sixth distance S6 from the second obstacle C2 to the second radar 20; obtain the coordinates of the second radar 20 based on the coordinates of the first obstacle C1, the coordinates of the second obstacle C2, the fifth distance S5, and the sixth distance S6; and obtain the vehicle body arc based on the coordinates of the first sub-radar 11, the coordinates of the second sub-radar 12, and the coordinates of the second radar 20.

[0043] By using the above-mentioned optional solution 1, the curvature of the vehicle front or rear can be detected. Optionally, in order to simplify the calculation, the first sub-radar 11 and the second sub-radar 12 are arranged in parallel and / or symmetrically; for example, the first sub-radar 11 and the second sub-radar 12 are arranged in parallel and / or symmetrically relative to the symmetry axis of the target vehicle, such as Figure 2 As shown, when the line connecting the first and second sub-radars 11 and 12 is perpendicular to the symmetry axis A2 of the target vehicle A, the first and second sub-radars 11 and 12 are symmetrically arranged. When both the first and second sub-radars 11 and 12 are parallel to the symmetry axis A2 of the target vehicle A, the first and second sub-radars 11 and 12 are parallelly arranged. More preferably, the second radar 20 is positioned between the first and second sub-radars 11 and 12. The first and second obstacles C1 and C2 are arranged parallel and / or symmetrically. For example, the first and second obstacles C1 and C2 are arranged parallel and / or symmetrically with respect to the symmetry axis of the target vehicle. Of course, the placement of the first and second obstacles C1 and C2 is arbitrary, as long as they can be detected by the radar.

[0044] Option 2

[0045] Figure 4The schematic diagram of another scheme for the processing unit to detect the vehicle body arc of the target vehicle through the first sub-radar, the second sub-radar, the second radar and the obstacle. Figure 4 As shown, with the line connecting the first and second sub-radars 11, 12, as the horizontal axis and the direction perpendicular to the horizontal axis as the vertical axis, the horizontal coordinate of the second radar 20 differs from that of the first sub-radar 11 by a specified distance. The horizontal coordinate of obstacle C is the same as that of the first sub-radar 11, while the vertical coordinate of obstacle C is different from that of the first sub-radar 11. This solution allows for greater flexibility in the placement of the second sub-radar 12. It can be placed parallel or symmetrically with the first sub-radar 11, or anywhere on the front of the vehicle or in the parking space where it can detect obstacles. Similarly, it is preferred that the first and second sub-radars 11, 12 be placed parallel and / or symmetrically. More preferably, the second radar 20 is placed between the first and second sub-radars 11, 12.

[0046] For example, the designated distance is 1 / 2 of the target distance L1. The target distance L1 is the same as the first alternative, which is the distance between the first sub-radar 11 and the second sub-radar 12. Since the coordinates of the first sub-radar 11 and the second sub-radar 12 are used as a reference, the coordinates can be set manually or with the help of an instrument. For example, the coordinates of the first sub-radar 11 (x 11 ,y 11 ), determine the coordinates (x 12 ,y 12 ) is (x 11 +L1,y 11 ), the coordinates of the second radar 20 are determined to be where y 20 Then, the seventh distance S7 from the obstacle C to the first sub-radar 11 is obtained by the first sub-radar 11, so that according to the coordinates (x 11 ,y 11 ) and the seventh distance S7 to obtain the coordinates of the obstacle C (x 11 ,y 11 + S7); Obstacle C is obtained by the second radar 20 to the ninth distance S9 of the second radar 20, the length of the two sides of the right triangle is known S9, the included angle θ between the first sub-radar 11 and the second radar 20 perpendicular to the obstacle C can be obtained; because, cosθ=H2 / S9, thus obtaining the value of H2; and according to H1=S7-H2, obtaining the value of H1; therefore, the coordinates of the second radar 20 are

[0047] In an embodiment of the present invention, the processing unit is specifically configured to obtain, based on the first sub-radar 11, a seventh distance S7 between the obstacle C and the first sub-radar 11; obtain the coordinates of the obstacle C based on the coordinates of the first sub-radar 11 and the seventh distance S7; obtain, through the second radar 20, a ninth distance S9 between the obstacle C and the second radar 20; obtain the coordinates of the second radar 20 based on the coordinates of the first sub-radar 11, the coordinates of the obstacle C, the ninth distance S9, and the specified distance; and obtain the vehicle body arc of the front or rear of the target vehicle based on the coordinates of the first sub-radar 11, the coordinates of the second sub-radar 12, and the coordinates of the second radar 20.

[0048] Optionally, to simplify calculation, the first sub-radar 11 and the second sub-radar 12 are arranged in parallel and / or symmetrically.

[0049] Furthermore, to improve the accuracy of detecting the vehicle body's curvature, obstacle C can be placed directly in front of the second sub-radar 12. That is, the horizontal coordinate of obstacle C is the same as that of the second sub-radar 12, and the vertical coordinate of obstacle C is different from that of the second sub-radar 12. The coordinates of the second radar 20 are obtained using the above-mentioned optional solution 2, and the two obtained coordinates of the second radar 20 are compared. If the error between the two second radar 20 coordinates is within a certain error range, the accuracy is high; otherwise, re-detection is required.

[0050] Furthermore, in order to save detection time, two obstacles can also be used, placed in front of the first sub-radar 11 and the second sub-radar 12 respectively, and the above-mentioned optional solution 2 can be used to obtain the coordinates of the two second radars 20, and the coordinates of the two obtained second radars 20 can be compared. If the error of the coordinates of the two second radars 20 is within a certain error range, the accuracy is high; otherwise, re-detection is required.

[0051] Option 2 can also detect the curvature of the vehicle's front or rear. Compared to Option 1, Option 2 only requires one obstacle, making the method for obtaining the vehicle's curvature simpler and faster. It also reduces the need for human intervention and is more user-friendly. It also includes a verification function, further ensuring the accuracy of the detection.

[0052] Furthermore, before the processing unit detects the curvature of the target vehicle through the first sub-radar, the second sub-radar, the second radar and the obstacle, it can also pre-detect whether the vehicle radar system can be used for vehicle curvature detection, that is, verify whether the vehicle radar system meets the accuracy of vehicle curvature detection. Figure 5 The schematic diagram of the principle for verifying whether the vehicle radar system meets the accuracy of vehicle curvature detection is as follows: Figure 5As shown, based on the second sub-radar 12, the eighth distance S8 from the obstacle C to the second sub-radar 12 is obtained. As described in the above optional solution 2, the lengths L1 and S8 of the two sides of the right triangle are known. The angle δ between the obstacle C and the first sub-radar 11 and the second sub-radar 12, which are perpendicular to the obstacle C, and the angle β between the second sub-radar 12, the first sub-radar 11, and the obstacle C can be determined.

[0053] When the distance between first sub-radar 11 and second sub-radar 12 is target distance L1, the distances to obstacle C detected by first sub-radar 11 and second sub-radar 12 are S7 and S8, respectively. According to the Pythagorean theorem for a right triangle, if the length and included angle of one side are known, the lengths of the other sides can be determined.

[0054] For example, when S7 and δ are known, sinδ = L1 / S8', S8' = L1 / sinδ (or cosδ = S7 / S8', S8' = S7 / cosδ), where S8' is the calculated value corresponding to the eighth distance S8, i.e., the eighth calculated distance. S8' is compared with S8. If the error between the two is within the acceptable range, the vehicle curvature detection can continue. If the error is too large, it is necessary to repeat the detection or eliminate surrounding interference factors and perform the detection again.

[0055] For example, when S8 and β are known, tanβ = S7' / L1, S7' = L1*tanβ (or sinβ = S7' / S8, S7' = sinδ*S8, etc.), where S7' is the calculated value corresponding to the seventh distance S7, i.e., the seventh calculated distance. S7' is compared with S7. If the error between the two is within the acceptable range, the vehicle curvature detection can continue. If the error is too large, it is necessary to repeat the detection or eliminate surrounding interference factors and perform the detection again.

[0056] Therefore, by verifying the error range between S7 ′ and S7 , and / or the error range between S8 ′ and S8 , it is determined whether the detection result is within the expected error range, thereby improving the detection accuracy.

[0057] In an embodiment of the present invention, the processing unit is further configured to obtain, based on the second sub-radar 12, an eighth distance S8 between the obstacle C and the second sub-radar 12; obtain, based on the target distance L1, the seventh distance S7, the eighth distance S8, and a trigonometric relationship of a triangle formed by the first sub-radar 11, the second sub-radar 12, and the obstacle C, a seventh calculated distance S7' between the obstacle C and the first sub-radar 11 and / or an eighth calculated distance S8' between the obstacle C and the second sub-radar 12; obtain a first error based on the seventh distance S7 and the seventh calculated distance S7', and obtain a second error based on the eighth distance S8 and the eighth calculated distance S8'; and if both the first error and / or the second error are less than the target error, continue to perform the operation of detecting the vehicle type arc of the target vehicle using the first sub-radar, the second sub-radar, the second radar, and the obstacle.

[0058] Alternatively, as Figure 2-Figure 4 As shown, the second radar 20 is located between the first sub-radar 11 and the second sub-radar 12, simplifying the vehicle curvature detection solution and improving accuracy. For example, the first sub-radar 11 and the second sub-radar 12 are placed on either side of the front or rear of the target vehicle A. The second radar 20 is placed in the middle of the corresponding front or rear position.

[0059] Optionally, to simplify calculation, the first sub-radar 11 and the second sub-radar 12 are arranged in parallel and / or symmetrically; the first obstacle C1 and the second obstacle C2 are arranged in parallel and / or symmetrically.

[0060] Optionally, the processing unit A1 is also used to obtain correction parameters based on the curvature of the vehicle model; the processing unit A1 is also used to correct the distance between the target vehicle A and the obstacle to be measured (i.e., the actual obstacle during actual operation after the subsequent vehicle radar system is installed on the target vehicle, not the obstacle used to detect the curvature of the vehicle model) according to the correction parameters.

[0061] Exemplarily, after the processing unit obtains the vehicle's model curvature through the vehicle radar system, it models the vehicle model based on the model curvature to obtain its own model, and predicts a collision based on its own model and vehicle route. If the prediction result includes a collision point, indicating that a collision will occur, the collision time is then calculated based on the collision point, and correction parameters are obtained based on the collision time or an alarm is activated. Figure 6 FIG. 1 is a schematic diagram of correcting the distance between the target vehicle and the obstacle to be detected according to the curvature of the vehicle model in an embodiment of the present invention. Figure 6 As shown, the vehicle radians of Model 1 and Model 2 are different, both are equipped with the above vehicle radar system, and both have obtained the corresponding vehicle radians through the above vehicle radar system. Figure 6As shown in the figure, in the actual reversing process, the distance between the obstacle to be detected and the vehicle is X, and the vehicle reverses in the direction of the arrow. Model 1 can reverse safely, but model 2 may collide. Taking the automatic parking system as an example, when the vehicle corresponding to model 2 enters the Figure 6 When the vehicle is in the position shown, the automatic parking system can predict the reverse collision according to the stored vehicle model and correct the reverse arc in advance; taking the auxiliary parking system as an example, it can alert the user. Figure 6 The collision point is obtained from the reversing route of the vehicle type 2 shown, and then the collision time based on the reversing route is calculated. The correction or alarm function is activated only when the collision time is less than a preset value, so that parking in a narrow space can be achieved.

[0062] In another case, the radar will sound an alarm or automatically stop the vehicle when the distance to the obstacle is less than 1 meter, such as Figure 6 As shown, when the vehicle corresponding to model 1 is reversing in the direction of the arrow, although X is less than 1m, according to the arc calculation of the vehicle model, there is no possibility of collision in the current reversing direction, so the radar does not issue an alarm or automatically stop.

[0063] The above is just an example. There are many ways to use the curvature of the vehicle model to correct the distance between the target vehicle and the obstacle to be detected, and the embodiment of the present invention does not limit this.

[0064] The main purpose of the embodiment of the present invention is to detect the vehicle curvature, which can be used to measure distance and can also be used in other possible situations. Among them, the vehicle curvature is measured by distance as only a specific application scenario.

[0065] For ease of understanding and explanation, the above embodiments of the present invention are primarily explained and illustrated using a radar located at the rear of the vehicle. However, the radar can be installed on any surface, such as the front, body, or roof of the vehicle, or a combination of radars can be installed on multiple surfaces. It should be noted that the vehicle radar system of the embodiments of the present invention is used to detect the curvature of the vehicle model, but the number of radars installed on the vehicle can be increased or decreased as appropriate, as long as the processing unit obtains the vehicle model curvature data.

[0066] Based on the above-mentioned vehicle radar system, an embodiment of the present invention provides a vehicle radar calibration method, which is applied to the vehicle radar system. The vehicle radar system includes a processing unit, a first sub-radar, a second sub-radar, and a second radar. The processing unit is electrically connected to the first sub-radar, the second sub-radar, and the second radar; the first sub-radar, the second sub-radar, and the second radar are used to be set on the same surface of at least one side of the body of the target vehicle. Figure 7 A flow chart of a vehicle radar calibration method provided by an embodiment of the present invention is as follows: Figure 7 As shown, the method includes:

[0067] Step 101: Detect the vehicle body curvature of the target vehicle using the first sub-radar, the second sub-radar, the second radar, and obstacles.

[0068] In the embodiment of the present invention, the target vehicle includes a processing unit, and each step is executed by the processing unit.

[0069] Optionally, the first sub-radar and the second sub-radar are arranged in parallel and / or symmetrically.

[0070] In this embodiment of the present invention, the coordinates of the first and second sub-radars are pre-set, so that the difference between the first and second sub-radars is the target distance. The second radar is located between the first and second sub-radars. Step 101 specifically includes: obtaining the coordinates of the obstacle by obtaining a first detection range of the obstacle using the first and / or second sub-radar; obtaining the second detection range of the obstacle using the second radar; obtaining the coordinates of the second radar using the second detection range and the coordinates of the obstacle; and obtaining the arc of the vehicle model based on the coordinates of the first, second, and second sub-radars.

[0071] As an optional solution, the obstacle includes at least a first obstacle and a second obstacle. Optionally, the first obstacle and the second obstacle are arranged in parallel and / or symmetrically. Figure 8 As shown, step 101 specifically includes:

[0072] Step 1011: Obtain, based on the first sub-radar and the second sub-radar, a first distance from the first obstacle to the first sub-radar and a second distance from the first obstacle to the second sub-radar;

[0073] Step 1012: Obtain the coordinates of the first obstacle based on the coordinates of the first sub-radar, the coordinates of the second sub-radar, the first distance, and the second distance.

[0074] Step 1013: Obtain, based on the first sub-radar and the second sub-radar, a third distance from the second obstacle to the first sub-radar and a fourth distance from the second obstacle to the second sub-radar;

[0075] Step 1014: Obtain the coordinates of the second obstacle based on the coordinates of the first sub-radar, the coordinates of the second sub-radar, the third distance, and the fourth distance.

[0076] Step 1015: Obtain, based on the second radar, a fifth distance from the first obstacle to the second radar and a sixth distance from the second obstacle to the second radar;

[0077] Step 1016: Obtain the coordinates of the second radar according to the coordinates of the first obstacle, the coordinates of the second obstacle, the fifth distance, and the sixth distance;

[0078] Step 1017: Obtain the vehicle body arc according to the coordinates of the first sub-radar, the coordinates of the second sub-radar, and the coordinates of the second radar.

[0079] In the embodiment of the present invention, step 1011, step 1013 and step 1015 may be executed simultaneously.

[0080] As another optional solution, the line connecting the first and second sub-radars is used as the horizontal axis, and the direction perpendicular to the horizontal axis is used as the vertical axis. The horizontal coordinate of the second radar is different from the horizontal coordinate of the first sub-radar by a specified distance. For example, the specified distance is 1 / 2 times the target distance. The horizontal coordinate of the obstacle is the same as the horizontal coordinate of the first sub-radar, and the vertical coordinate of the obstacle is different from the vertical coordinate of the first sub-radar; Figure 9 As shown, step 101 specifically includes:

[0081] Step 101a: Obtain a seventh distance from the obstacle to the first sub-radar according to the first sub-radar;

[0082] Step 101b: Obtain the coordinates of the obstacle based on the coordinates of the first sub-radar and the seventh distance;

[0083] Step 101c: Obtain a ninth distance from the obstacle to the second radar using the second radar;

[0084] Step 101d, obtaining the coordinates of the second radar according to the coordinates of the first sub-radar, the coordinates of the first obstacle, the ninth distance, and the designated distance;

[0085] Step 101e: Obtain the vehicle model arc according to the coordinates of the first sub-radar, the coordinates of the second sub-radar, and the coordinates of the second radar.

[0086] In the embodiment of the present invention, step 101a and step 101c may be performed simultaneously.

[0087] As can be seen from the above, there is a target range difference between the first sub-radar and the second sub-radar. Optionally, before step 101, the method further includes: obtaining an eighth distance from the obstacle to the second sub-radar based on the second sub-radar; obtaining a seventh calculated distance from the obstacle to the first sub-radar and / or an eighth calculated distance from the obstacle to the second sub-radar based on the trigonometric relationship of the target range, the seventh range, the eighth range, and the triangle formed by the first sub-radar, the second sub-radar, and the obstacle; obtaining a first error based on the seventh range and the seventh calculated range, and obtaining a second error based on the eighth range and the eighth calculated range; and continuing with step 101 if the first error and / or the second error is less than the target error.

[0088] In the embodiment of the present invention, the first sub-radar and the second sub-radar are arranged in parallel and / or symmetrically; the second radar is located between the first sub-radar and the second sub-radar.

[0089] Optionally, step 101 further includes step 102 and step 103.

[0090] Step 102: Obtain correction parameters according to the vehicle model curvature.

[0091] Exemplarily, the processing unit models the vehicle model based on the vehicle curvature to obtain its own vehicle model, and predicts the collision based on its own vehicle model and vehicle route. If the prediction result includes a collision point, it indicates that a collision will occur; then the processing unit calculates the collision time based on the collision point. When the collision time is less than a preset value, a correction parameter is obtained based on the collision time.

[0092] Step 103: Correct the distance between the target vehicle and the obstacle to be detected according to the correction parameters.

[0093] For example, Figure 6 As shown, taking the automatic parking system as an example, when the vehicle corresponding to model 2 enters the Figure 6 When the vehicle reaches the position shown, the automatic parking system can correct the reversing arc in advance according to the correction parameters to prevent the vehicle from colliding with the obstacle to be measured.

[0094] A technical solution for a vehicle radar calibration method provided in an embodiment of the present invention is applied to a vehicle radar system, the vehicle radar system including a processing unit, a first sub-radar, a second sub-radar, and a second radar, wherein the processing unit is electrically connected to the first sub-radar, the second sub-radar, and the second radar; the first sub-radar, the second sub-radar, and the second radar are used to be arranged on the same surface of at least one side of the body of a target vehicle; the method includes: detecting the vehicle body curvature of the target vehicle using the first sub-radar, the second sub-radar, the second radar, and an obstacle, and being able to detect the vehicle body curvature so as to correct the distance between the obstacle and the vehicle based on the vehicle body curvature, thereby improving judgment accuracy and facilitating the correctness of reversing or parking.

[0095] In the correction method, in order to avoid repetition, some descriptions of the contents not mentioned can be found in the description of the reversing radar system.

[0096] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

Claims

1. A vehicle radar system, characterized in that: The system includes: a processing unit, a first sub-radar, a second sub-radar, and a second radar, wherein the processing unit is electrically connected to the first sub-radar, the second sub-radar, and the second radar; the first sub-radar, the second sub-radar, and the second radar are arranged on the same surface of at least one side of a body of a target vehicle; The processing unit is configured to detect the vehicle type curvature of the target vehicle through the first sub-radar, the second sub-radar, the second radar, and obstacles; The coordinates of the first sub-radar and the second sub-radar are preset coordinates, and the second radar is arranged between the first sub-radar and the second sub-radar. The processing unit is specifically configured to: obtain a first detection distance of the obstacle and the coordinates of the obstacle through the first sub-radar and / or the second sub-radar, obtain a second detection distance of the obstacle through the second radar, obtain the coordinates of the second radar through the second detection distance and the coordinates of the obstacle, and obtain the curvature of the vehicle model based on the coordinates of the first sub-radar, the second sub-radar, and the second radar.

2. The system according to claim 1, wherein: The obstacles include at least a first obstacle and a second obstacle, and the processing unit is specifically configured to: obtaining, based on the first sub-radar and the second sub-radar, a first distance from the first obstacle to the first sub-radar and a second distance from the first obstacle to the second sub-radar; Obtaining coordinates of the first obstacle according to the coordinates of the first sub-radar, the coordinates of the second sub-radar, the first distance, and the second distance; obtaining, based on the first sub-radar and the second sub-radar, a third distance from the second obstacle to the first sub-radar and a fourth distance from the second obstacle to the second sub-radar; Obtaining coordinates of the second obstacle according to the coordinates of the first sub-radar, the coordinates of the second sub-radar, the third distance, and the fourth distance; obtaining, based on the second radar, a fifth distance from the first obstacle to the second radar and a sixth distance from the second obstacle to the second radar; Obtaining coordinates of the second radar according to the coordinates of the first obstacle, the coordinates of the second obstacle, the fifth distance, and the sixth distance; The vehicle model arc is obtained according to the coordinates of the first sub-radar, the coordinates of the second sub-radar, and the coordinates of the second radar.

3. The system according to claim 2, characterized in that The line connecting the first and second sub-radars is used as the horizontal axis, and the direction perpendicular to the horizontal axis is used as the vertical axis. The horizontal coordinate of the second radar differs from the horizontal coordinate of the first sub-radar by a specified distance. The horizontal coordinate of the obstacle is the same as the horizontal coordinate of the first sub-radar, and the vertical coordinate of the obstacle is different from the vertical coordinate of the first sub-radar. The processing unit is specifically configured to: obtaining, according to the first sub-radar, a seventh distance from the obstacle to the first sub-radar; Obtaining coordinates of the obstacle according to the coordinates of the first sub-radar and the seventh distance; obtaining, by the second radar, a ninth distance from the obstacle to the second radar; Obtaining coordinates of the second radar according to the coordinates of the first sub-radar, the coordinates of the first obstacle, the ninth distance, and the designated distance; The vehicle model arc is obtained according to the coordinates of the first sub-radar, the coordinates of the second sub-radar, and the coordinates of the second radar.

4. The system according to claim 3, characterized in that The first sub-radar and the second sub-radar have a target distance difference; before detecting the vehicle type curvature of the target vehicle through the first sub-radar, the second sub-radar, the second radar, and the obstacle, the processing unit is further used to: obtaining, according to the second sub-radar, an eighth distance from the obstacle to the second sub-radar; Obtaining a seventh calculated distance from the obstacle to the first sub-radar and / or an eighth calculated distance from the obstacle to the second sub-radar based on a trigonometric function relationship among the target distance, the seventh distance, the eighth distance, and a triangle formed by the first sub-radar, the second sub-radar, and the obstacle; Obtain a first error based on the seventh distance and the seventh calculated distance, and obtain a second error based on the eighth distance and the eighth calculated distance; If the first error and / or the second error is smaller than the target error, the operation of detecting the vehicle type curvature of the target vehicle by using the first sub-radar, the second sub-radar, the second radar, and the obstacle is continued.

5. The system according to any one of claims 1 to 4, characterized in that: The processing unit is further configured to obtain a correction parameter according to the vehicle body arc, and the processing unit is further configured to correct the distance between the target vehicle and the obstacle to be detected according to the correction parameter.

6. A method for calibrating a vehicle radar, characterized in that: The invention is applied to a vehicle radar system, the vehicle radar system including a processing unit, a first sub-radar, a second sub-radar, and a second radar, the processing unit being electrically connected to the first sub-radar, the second sub-radar, and the second radar; the first sub-radar, the second sub-radar, and the second radar being arranged on the same surface of at least one side of a vehicle body; and the method including: Detecting the vehicle type curvature of the target vehicle by using the first sub-radar, the second sub-radar, the second radar, and obstacles; The coordinates of the first sub-radar and the second sub-radar are preset coordinates, and the second radar is arranged between the first sub-radar and the second sub-radar; and detecting the vehicle body curvature of the target vehicle by using the first sub-radar, the second sub-radar, the second radar, and the obstacle includes: Obtaining a first detection distance of the obstacle by the first sub-radar and / or the second sub-radar to obtain coordinates of the obstacle; obtaining a second detection distance of the obstacle by the second radar; Obtaining coordinates of the second radar according to the second detection distance and the coordinates of the obstacle; The vehicle model arc is obtained according to the coordinates of the first sub-radar, the second sub-radar, and the second radar.

7. The method according to claim 6, characterized in that The obstacle includes at least a first obstacle and a second obstacle; and detecting the vehicle type curvature of the target vehicle by using the first sub-radar, the second sub-radar, the second radar, and the obstacle includes: obtaining, based on the first sub-radar and the second sub-radar, a first distance from the first obstacle to the first sub-radar and a second distance from the first obstacle to the second sub-radar; Obtaining coordinates of the first obstacle according to the coordinates of the first sub-radar, the coordinates of the second sub-radar, the first distance, and the second distance; obtaining, based on the first sub-radar and the second sub-radar, a third distance from the second obstacle to the first sub-radar and a fourth distance from the second obstacle to the second sub-radar; Obtaining coordinates of the second obstacle according to the coordinates of the first sub-radar, the coordinates of the second sub-radar, the third distance, and the fourth distance; obtaining, based on the second radar, a fifth distance from the first obstacle to the second radar and a sixth distance from the second obstacle to the second radar; Obtaining coordinates of the second radar according to the coordinates of the first obstacle, the coordinates of the second obstacle, the fifth distance, and the sixth distance; The vehicle model arc is obtained according to the coordinates of the first sub-radar, the coordinates of the second sub-radar, and the coordinates of the second radar.

8. The method according to claim 7, characterized in that The horizontal axis is the line connecting the first and second sub-radars, and the vertical axis is perpendicular to the horizontal axis. The horizontal coordinate of the second radar differs from the horizontal coordinate of the first sub-radar by a specified distance. The horizontal coordinate of the obstacle is the same as that of the first sub-radar, but the vertical coordinate is different from that of the first sub-radar. The detecting the vehicle type curvature of the target vehicle by using the first sub-radar, the second sub-radar, the second radar, and the obstacle includes: obtaining, according to the first sub-radar, a seventh distance from the obstacle to the first sub-radar; Obtaining coordinates of the obstacle according to the coordinates of the first sub-radar and the seventh distance; obtaining, by the second radar, a ninth distance from the obstacle to the second radar; Obtaining coordinates of the second radar according to the coordinates of the first sub-radar, the coordinates of the first obstacle, the ninth distance, and the designated distance; The vehicle model arc is obtained according to the coordinates of the first sub-radar, the coordinates of the second sub-radar, and the coordinates of the second radar.

9. The method according to claim 8, characterized in that The first sub-radar and the second sub-radar have a target distance difference; before detecting the vehicle type curvature of the target vehicle by using the first sub-radar, the second sub-radar, the second radar, and the obstacle, the method further includes: obtaining, according to the second sub-radar, an eighth distance from the obstacle to the second sub-radar; Obtaining a seventh calculated distance from the obstacle to the first sub-radar and / or an eighth calculated distance from the obstacle to the second sub-radar based on a trigonometric function relationship among the target distance, the seventh distance, the eighth distance, and a triangle formed by the first sub-radar, the second sub-radar, and the obstacle; Obtain a first error based on the seventh distance and the seventh calculated distance, and obtain a second error based on the eighth distance and the eighth calculated distance; If the first error and / or the second error is smaller than the target error, the step of detecting the vehicle type curvature of the target vehicle by using the first sub-radar, the second sub-radar, the second radar, and the obstacle is continued.

10. The method according to any one of claims 6 to 9, characterized in that: The method further comprises, Obtaining a correction parameter according to the curvature of the vehicle model; The distance between the target vehicle and the obstacle to be detected is corrected according to the correction parameter.

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