Vehicle-mounted radar installation angle calibration method and device, electronic equipment and storage medium

Abstract

The application discloses a kind of vehicle-mounted radar installation angle calibration method, device, electronic equipment and storage medium, the method comprises: based on laser level and inclination instrument, the normal direction of reference plane is determined, and reference plane is installed on vehicle based on normal direction, wherein, at least 3 pins are included on reference plane, the line between pin hole is perpendicular to each other, normal direction matches with the straight running direction of vehicle;Based on pin hole, the rotation angle of the radar to be measured is determined, and the radar to be measured after rotation is fixed on reference plane;Based on inclination instrument, the first pitch angle of the radar to be measured is determined, and the first pitch angle is used as actual azimuth angle;Based on actual azimuth angle and the preset azimuth angle of the radar to be measured, the first installation angle of the radar to be measured is determined.The technical scheme of the embodiment of the application realizes the accurate measurement of the azimuth angle of the vehicle-mounted radar to be measured, and achieves the effect of reducing the measurement time and measurement steps of azimuth angle.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a method, device, electronic device, and storage medium for calibrating the installation angle of vehicle-mounted radar. Background Technology

[0002] In recent years, with the rapid development of autonomous driving, automotive millimeter-wave radar, as an important component of the vehicle's perception layer, has received increasing attention due to its all-weather, 24 / 7 operational capabilities. Since automotive millimeter-wave radar is directly related to driver safety, to ensure its stability and reliability, the radar's performance and functional parameters require rigorous and repetitive testing during the research and development phase. Among all radar tests, testing the calibration function of the radar's installation angle is crucial.

[0003] Currently, existing methods for measuring radar installation angles typically involve calibrating the installation angle of vehicle-mounted millimeter-wave radars in specialized, standardized calibration workshops. These dedicated calibration workshops require specific locations and are costly to build, making them prohibitively expensive for most autonomous driving R&D companies. Summary of the Invention

[0004] This invention provides a method, device, electronic device, and storage medium for calibrating the installation angle of a vehicle-mounted radar, so as to achieve accurate measurement of the azimuth angle of the vehicle-mounted radar under test. Furthermore, by using an inclinometer for measurement, the azimuth angle of the radar under test is made more accurate, thereby reducing the angle measurement time and measurement steps.

[0005] According to one aspect of the present invention, a method for calibrating the installation angle of a vehicle-mounted radar is provided, the method comprising:

[0006] Based on a laser level and an inclinometer, the normal direction of a reference plane is determined, and the reference plane is mounted on the vehicle based on the normal direction. The reference plane includes at least three pin holes, the lines connecting the pin holes are perpendicular to each other, and the normal direction matches the straight-line driving direction of the vehicle.

[0007] Based on the pin holes, the rotation angle of the radar under test is determined, and the rotated radar under test is fixed on the reference plane.

[0008] Based on the tiltmeter, the first elevation angle of the radar under test is determined, and the first elevation angle is used as the actual azimuth angle.

[0009] Based on the actual azimuth angle and the preset azimuth angle of the radar under test, the first installation angle of the radar under test is determined.

[0010] According to another aspect of the present invention, a vehicle-mounted radar mounting angle calibration device is provided, the device comprising:

[0011] A normal direction determination module is used to determine the normal direction of a reference plane based on a laser level and an inclinometer, and to install the reference plane on a vehicle based on the normal direction. The reference plane includes at least three pin holes, the lines connecting the pin holes are perpendicular to each other, and the normal direction matches the straight-line driving direction of the vehicle.

[0012] The rotation angle determination module is used to determine the rotation angle of the radar under test based on the pin hole, and fix the rotated radar under test on the reference plane.

[0013] The first elevation angle determination module is used to determine the first elevation angle of the radar under test based on the tilt meter, and to use the first elevation angle as the actual azimuth angle.

[0014] The first installation angle determination module is used to determine the first installation angle of the radar under test based on the actual azimuth angle and the preset azimuth angle of the radar under test.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the vehicle radar installation angle calibration method according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a processor to execute and implement the vehicle radar installation angle calibration method according to any embodiment of the present invention.

[0020] The technical solution of this invention determines the normal direction of a reference plane based on a laser level and an inclinometer, and then mounts the reference plane on the vehicle based on the normal direction. Next, the rotation angle of the radar under test is determined based on the pin holes, and the rotated radar is fixed to the reference plane. Further, the first pitch angle of the radar under test is determined based on the inclinometer, and this first pitch angle is used as the actual azimuth angle. Finally, the first installation angle of the radar under test is determined based on the actual azimuth angle and the preset azimuth angle of the radar under test. This achieves accurate measurement of the azimuth angle of the vehicle-mounted radar under test. Furthermore, the use of an inclinometer makes the azimuth angle of the radar under test more precise, reducing angle measurement time and steps.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of a vehicle-mounted radar installation angle calibration method according to Embodiment 1 of the present invention;

[0024] Figure 2 This is a schematic diagram of a reference plane provided according to Embodiment 1 of the present invention;

[0025] Figure 3 This is a schematic diagram of a method for determining the normal direction of a reference plane according to Embodiment 1 of the present invention;

[0026] Figure 4 This is a schematic diagram of the method for determining the rotation angle of the radar under test according to Embodiment 1 of the present invention;

[0027] Figure 5 This is a schematic diagram of the method for determining the actual azimuth angle of the radar under test according to Embodiment 1 of the present invention;

[0028] Figure 6 This is a schematic diagram of the method for determining the actual elevation angle of the radar under test according to Embodiment 1 of the present invention;

[0029] Figure 7This is a flowchart of a method for determining the actual azimuth angle and actual elevation angle of a radar under test according to Embodiment 1 of the present invention;

[0030] Figure 8 This is a schematic diagram of the structure of a vehicle-mounted radar installation angle calibration device according to Embodiment 2 of the present invention;

[0031] Figure 9 This is a schematic diagram of the structure of an electronic device that implements the vehicle-mounted radar installation angle calibration method according to an embodiment of the present invention. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] Example 1

[0035] Figure 1 This is a flowchart of a method for calibrating the installation angle of a vehicle-mounted radar according to Embodiment 1 of the present invention. This embodiment is applicable to situations where the azimuth installation angle of a vehicle-mounted radar needs to be measured. This method can be executed by a vehicle-mounted radar installation angle calibration device, which can be implemented in hardware and / or software. This vehicle-mounted radar installation angle calibration device can be configured in a terminal and / or server. Figure 1 As shown, the method includes:

[0036] S110. Based on the laser level and inclinometer, determine the normal direction of the reference plane, and install the reference plane on the vehicle based on the normal direction.

[0037] A laser level is a measuring tool that emits a laser beam to measure horizontality and verticality. In this embodiment, the normal direction of the reference plane can be determined based on the principle that any two laser beams emitted by the laser level are perpendicular to each other. An inclinometer is an angle measuring tool that monitors changes in the horizontal and tilt angles of an object. Inclinometers have high measurement accuracy and can adapt to various harsh environments, making them suitable for measuring precise angles. Inclinometers are ideal for measuring the parallelism or perpendicularity between two objects, as well as the tilt angle of the measured plane relative to the horizontal plane. The reference plane can be a radar rotation reference plane used to calibrate the installation angle of the vehicle radar during the installation and testing phase. The reference plane includes at least three pin holes, and the lines connecting the pin holes are perpendicular to each other. For example, as shown... Figure 2 As shown, the reference plane may include four pin holes, namely a, b, c, and d, and line segment ab is parallel to the horizontal plane, while line segment cd is perpendicular to line segment ab.

[0038] In this embodiment, the normal direction of the reference plane may include a first normal direction and a second normal direction. Since the reference plane serves as the angle calibration reference plane for the vehicle-mounted radar, and the angles corresponding to the vehicle-mounted radar when installed on the vehicle include azimuth and elevation angles, the normal direction of the reference plane can also include an azimuth normal direction and a elevation normal direction. That is, the first normal direction can be used as the azimuth normal direction, and the second normal direction as the elevation normal direction. Different normal directions can be determined using a laser level and an inclinometer, respectively.

[0039] Optionally, the normal direction of the reference plane is determined based on a laser level and an inclinometer, including: determining the first normal direction of the reference plane based on a first laser beam and a second laser beam emitted by the laser level; measuring the pitch angle of the reference plane based on the inclinometer, and adjusting the reference plane during the measurement process; and determining the second normal direction of the reference plane when the inclinometer measures the pitch angle of the reference plane to be a preset angle.

[0040] The pitch angle can be the angle between the projection of the reference plane onto the horizontal plane and the plumb plane when the reference plane is vertical. The preset angle can be a pre-set target angle. The preset angle can be any value, and optionally, it can be 90 degrees.

[0041] In practice, the principle of two laser beams of a laser level being perpendicular to each other is utilized. The first laser beam is tangent to the outer surfaces of the front and rear wheels of the vehicle. At the same time, the reference plane is adjusted so that it is parallel to the second laser beam. At this point, the first normal direction of the reference plane can be determined.

[0042] For example, such as Figure 3As shown in Figure a, the laser level can be placed at the headlight on the side of the vehicle body. Adjust the position of the laser level so that the first laser beam and the second laser beam emitted by the laser level are perpendicular to each other. Make the first laser beam tangent to both the front and rear wheels of the vehicle. At the same time, adjust the position of the reference plane so that the reference plane is parallel to the second laser beam. At this time, the first normal direction of the reference plane is parallel to the direction of the vehicle's travel vector.

[0043] Furthermore, based on the working principle of the inclinometer, the second normal direction of the reference plane can be determined. The inclinometer's plane is placed close to the reference plane to measure its pitch angle. The pitch angle of the reference plane is adjusted, and when the inclinometer measures a preset angle, the second normal direction of the reference plane is determined. For example, as shown... Figure 3 As shown in b, this is the process of determining the direction of the second normal to the reference plane.

[0044] In practical applications, after determining the first normal direction and the second normal direction of the reference plane, the reference plane can be fixed on the bumper directly in front of the vehicle.

[0045] S120. Based on the pin holes, determine the rotation angle of the radar under test, and fix the rotated radar under test on the reference plane.

[0046] The radar under test can be any vehicle-mounted radar that requires performance and installation angle testing. The radar under test can be any radar, optionally a millimeter-wave radar. The rotation angle can be the yaw angle of the radar under test, i.e., the angle at which the radar under test rotates on the plumb line. The rotation angle can be any value, optionally 90 degrees.

[0047] In practical applications, after the reference plane is fixed on the vehicle, since the lines connecting the pin holes on the reference plane are all perpendicular to each other, the angle between one pin hole and its adjacent pin hole is fixed. Therefore, the rotation angle of the radar under test can be determined based on the angle between any two adjacent pin holes.

[0048] Optionally, the rotation angle of the radar under test is determined based on the pin holes, including: obtaining the initial angle of the radar under test and determining at least three corresponding target pin holes based on the initial angle; and determining the rotation angle based on at least two adjacent target pin holes.

[0049] In this embodiment, the initial angle can be the angle corresponding to the initial installation state of the radar under test. It should be noted that, since the radar under test needs to be fixed on the reference plane, and the reference plane includes multiple pin holes, a pin surface can be provided on the contact surface between the radar under test and the reference plane. This pin surface includes multiple pins, and the lines connecting each pin are perpendicular to each other. The pins match the pin holes. For example, as shown... Figure 4 As shown, the radar clamp is used to fix the radar under test, and the universal joint is used to adjust the azimuth and elevation angles of the radar under test. The pin surface includes four pins, namely a ′ b ′ c ′ d ′ And line segment a ′ b ′ Parallel to the horizontal plane, line segment c ′ d ′ Perpendicular to line segment a ′ b ′ ,β ′ This refers to the rotation angle of the radar under test.

[0050] In practical applications, the specific positions of each pin on the pin surface can be determined based on the initial angle corresponding to the radar under test in its initial installation state. Based on the specific positions of the pins, multiple target pin holes that match them can be determined on the reference plane. Furthermore, any two adjacent target pin holes can be selected from these target pin holes to finally determine the rotation angle of the radar under test.

[0051] For example, such as Figure 2 and Figure 4 As shown, pin holes a, b, c, and d on the reference plane and pin a on the pin surface. ′ b ′ c ′ d ′ Mutual matching, hole A, the center position of hole A is consistent, the screw passes through hole A and hole A. ′ Fix the radar under test on the reference plane. When the initial angle of the radar under test corresponds to the position of each pin, Figure 4 At the position shown, through two adjacent pins a ′ and d ′ Rotate the radar under test by β ′ The rotated radar under test is then fixed on the reference plane.

[0052] S130. Based on the tiltmeter, determine the first elevation angle of the radar under test, and use the first elevation angle as the actual azimuth angle.

[0053] In this embodiment, the first elevation angle can be the elevation angle of the radar under test in its current state, that is, the elevation angle measured after the radar under test has rotated by a preset rotation angle from its initial installation state. The azimuth angle can be the angle between the projection of the radar under test onto the horizontal plane and a certain starting direction in the horizontal direction. The actual azimuth angle is the angle currently measured based on the inclinometer.

[0054] In practical applications, the pitch angle of a vehicle-mounted radar can be accurately determined based on an inclinometer. However, the azimuth angle of a vehicle-mounted radar is difficult to determine by measuring it with an inclinometer or other equipment. Therefore, in this embodiment, after rotating the radar under test by a certain angle, the azimuth and pitch angles of the radar under test can be accurately converted. At this time, the first pitch angle is obtained by measuring the pitch angle of the radar under test after rotation with an inclinometer, and this first pitch angle can be used as the actual azimuth angle of the radar under test.

[0055] For example, such as Figure 5 As shown in Figure a, when the radar under test is in its initial installation state, the radar azimuth angle θ is obtained. Further, as... Figure 5 As shown in b, after rotating the radar under test by 90 degrees, the first elevation angle θ' is measured based on the tilt meter, and θ' = θ, which is the actual azimuth angle of the radar under test.

[0056] S140. Based on the actual azimuth angle and the preset azimuth angle of the radar under test, determine the first installation angle of the radar under test.

[0057] The preset azimuth angle can be the actual azimuth angle determined by the radar under test through its self-calibration performance. In practical applications, the radar under test can determine its current azimuth angle by detecting the area in front of the vehicle and its surrounding environment, thereby achieving self-calibration of the azimuth angle. The currently determined azimuth angle can be used as the preset azimuth angle. The first installation angle can be the azimuth angle among the installation angles of the radar under test.

[0058] Optionally, based on the actual azimuth angle and the preset azimuth angle of the radar under test, the first installation angle of the radar under test is determined, including: determining the angle difference between the actual azimuth angle and the preset azimuth angle, and determining whether the angle difference is within the preset difference range; if so, the actual azimuth angle is taken as the first installation angle.

[0059] In this embodiment, the preset difference range can be a pre-set range used to determine whether the actually measured azimuth angle conforms to the calibration standard. For example, the preset difference range can be 0.3 degrees to 0.5 degrees.

[0060] In practice, after obtaining the actual azimuth angle, it can be compared with the preset azimuth angle of the radar under test to determine the difference between the two angles. Further, it is determined whether this angle difference is within the preset difference range. If it is within this range, the actual azimuth angle is considered to meet the requirements and can be used as the first installation angle, allowing the radar under test to be installed according to the first installation angle in subsequent installation stages. It should be noted that if this angle difference is not within the preset difference range, the first elevation angle of the radar under test can be adjusted to update the actual azimuth angle. The updated actual azimuth angle is then compared with the preset azimuth angle until the angle difference between the two azimuth angles is within the preset difference range. At this point, the actual azimuth angle can be used as the first installation angle of the radar under test.

[0061] It should be noted that since the radar under test is rotated from its initial installation state and then fixed on the reference plane, after determining the first elevation angle, the radar under test can be restored to its initial installation state, thereby determining the actual elevation angle of the radar under test.

[0062] Based on the above technical solution, it also includes: determining the initial position of the radar under test based on the target pin hole and the rotation angle, and rotating the radar under test to the initial position.

[0063] In this embodiment, the initial position can be the position of the radar under test in its initial installation state.

[0064] In practical applications, after determining the first elevation angle, to restore the radar under test to its initial installation state, the initial position of the radar under test before rotation can be determined based on the target pin holes and the rotation angle. The radar under test is then rotated to this initial position and fixed. It should be noted that the sum of the angle corresponding to rotating the radar under test to the initial position and the rotation angle is 0.

[0065] Furthermore, the actual elevation angle of the radar under test can be determined, thereby determining the actual installation elevation angle of the radar under test. Based on this, the above technical solution also includes: determining the second elevation angle of the radar under test based on an inclinometer, and using the second elevation angle as the actual elevation angle; determining the second installation angle of the radar under test based on the actual elevation angle and the preset elevation angle of the radar under test.

[0066] In this embodiment, the second elevation angle can be the elevation angle corresponding to the radar under test in its initial installation state, that is, the actual elevation angle of the radar under test. The preset elevation angle can be the true elevation angle determined by the radar under test through its self-calibration performance. The second installation angle can be the elevation angle in the installation angle of the radar under test.

[0067] In practice, after restoring the radar under test to its initial position, the pitch angle of the radar under test in its current state can be measured using an inclinometer, which is the actual pitch angle. Furthermore, the actual pitch angle is compared with the preset pitch angle to determine the difference between the two pitch angles. This difference is then compared with the preset difference range to determine whether it is within the preset difference range. If so, the actual pitch angle can be used as the second installation angle of the radar under test, so that the radar under test can be installed according to the pitch angle corresponding to the second installation angle in the subsequent installation stage.

[0068] For example, such as Figure 5 As shown, the plane of the inclinometer is placed close to the radar antenna surface of the radar under test. The reading displayed on the inclinometer at this time is the second elevation angle.

[0069] It should be noted that during the installation angle testing phase of the radar under test, the azimuth and elevation angles of the radar under test are adjusted multiple times. After each adjustment, the above method is used for measurement, and the measured angles are compared with the preset angles to finally determine the actual installation azimuth and elevation angles of the radar under test.

[0070] Based on this, in addition to the above technical solution, it also includes: adjusting the elevation and azimuth angles of the radar under test based on a gimbal, and measuring the adjusted elevation and azimuth angles based on an inclinometer to update the actual elevation and azimuth angles.

[0071] The universal joint is a component that enables variable-angle power transmission. Its structure and function are similar to joints in the human limbs, allowing the included angle between connected parts to vary within a certain range. The advantages of the universal joint are: simple structure, convenient and quick adjustment of azimuth and pitch angles, and stable and reliable performance after angle adjustment.

[0072] In practical applications, a gimbal is connected to the radar under test. The azimuth and elevation angles of the radar under test are adjusted within a certain range through the gimbal. After adjustment, the adjusted elevation angle is determined based on an inclinometer. Then, by executing all steps S110-S130, the adjusted azimuth angle of the radar under test is determined, thereby updating the actual elevation and azimuth angles of the radar under test. The updated actual elevation and azimuth angles are then compared with the preset elevation and azimuth angles, respectively, to finally determine the first and second installation angles of the radar under test.

[0073] For example, such as Figure 7As shown, the process of determining the azimuth and elevation angles of the radar under test can be illustrated as follows: 1. Determine the reference plane; 2. Adjust the azimuth and elevation angles of the radar under test to any angle; 3. Measure the actual elevation angle of the radar under test using an inclinometer. 4. Rotate the radar under test based on the rotation angle (e.g., 90 degrees); 5. Measure the elevation angle θ of the radar under test after rotation using an inclinometer, and take this elevation angle as the actual azimuth angle; 6. Return the radar under test to its initial state (rotated -90 degrees).

[0074] The technical solution of this invention determines the normal direction of a reference plane based on a laser level and an inclinometer, and then mounts the reference plane on the vehicle based on the normal direction. Next, the rotation angle of the radar under test is determined based on the pin holes, and the rotated radar is fixed to the reference plane. Further, the first pitch angle of the radar under test is determined based on the inclinometer, and this first pitch angle is used as the actual azimuth angle. Finally, the first installation angle of the radar under test is determined based on the actual azimuth angle and the preset azimuth angle of the radar under test. This achieves accurate measurement of the azimuth angle of the vehicle-mounted radar under test. Furthermore, the use of an inclinometer makes the azimuth angle of the radar under test more precise, reducing angle measurement time and steps.

[0075] Example 2

[0076] Figure 8 This is a schematic diagram of the structure of a vehicle-mounted radar installation angle calibration device provided in Embodiment 2 of the present invention. Figure 8 As shown, the device includes: a normal direction determination module 210, a rotation angle determination module 220, a first pitch angle determination module 230, and a first mounting angle determination module 240.

[0077] The normal direction determination module 210 is used to determine the normal direction of the reference plane based on a laser level and an inclinometer, and to install the reference plane on the vehicle based on the normal direction. The reference plane includes at least three pin holes, the lines connecting the pin holes are perpendicular to each other, and the normal direction matches the straight-line driving direction of the vehicle.

[0078] The rotation angle determination module 220 is used to determine the rotation angle of the radar under test based on the pin hole, and fix the rotated radar under test on the reference plane.

[0079] The first elevation angle determination module 230 is used to determine the first elevation angle of the radar under test based on the tilt meter, and to use the first elevation angle as the actual azimuth angle.

[0080] The first installation angle determination module 240 is used to determine the first installation angle of the radar under test based on the actual azimuth angle and the preset azimuth angle of the radar under test.

[0081] The technical solution of this invention determines the normal direction of a reference plane based on a laser level and an inclinometer, and then mounts the reference plane on the vehicle based on the normal direction. Next, the rotation angle of the radar under test is determined based on the pin holes, and the rotated radar is fixed to the reference plane. Further, the first pitch angle of the radar under test is determined based on the inclinometer, and this first pitch angle is used as the actual azimuth angle. Finally, the first installation angle of the radar under test is determined based on the actual azimuth angle and the preset azimuth angle of the radar under test. This achieves accurate measurement of the azimuth angle of the vehicle-mounted radar under test. Furthermore, the use of an inclinometer makes the azimuth angle of the radar under test more precise, reducing angle measurement time and steps.

[0082] Optionally, the normal direction includes a first normal direction and a second normal direction, and the normal direction determination module 210 includes a first normal direction determination unit, a reference plane adjustment unit, and a second normal direction determination unit.

[0083] The first normal direction determination unit is used to determine the first normal direction of the reference plane based on the first laser beam and the second laser beam emitted by the laser level.

[0084] A reference plane adjustment unit is used to measure the pitch angle of the reference plane based on the inclinometer, and to adjust the reference plane during the measurement process;

[0085] The second normal direction determination unit is used to determine the second normal direction of the reference plane when the tilt meter measures the pitch angle of the reference plane to be a preset angle.

[0086] Optionally, the rotation angle determination module 220 includes a target pin hole determination unit and a rotation angle determination unit.

[0087] The target pin hole determination unit is used to acquire the initial angle of the radar under test and determine at least three corresponding target pin holes based on the initial angle.

[0088] A rotation angle determination unit is used to determine the rotation angle based on at least two adjacent target pin holes.

[0089] Optionally, the first installation angle determination module 240 includes an angle difference determination unit and a first installation angle determination unit.

[0090] Angle difference determination unit is used to determine the angle difference between the actual azimuth angle and the preset azimuth angle, and to determine whether the angle difference is within the preset difference range;

[0091] The first installation angle determination unit is used to determine the actual azimuth angle as the first installation angle if the condition is met.

[0092] Optionally, after determining the first elevation angle of the radar under test based on the tiltmeter, the device further includes an initial position determination module.

[0093] An initial position determination module is used to determine the initial position of the radar under test based on the pin hole and the rotation angle, and to rotate the radar under test to the initial position.

[0094] Optionally, the device further includes: a second pitch angle determination module and a second installation angle determination module.

[0095] The second pitch angle determination module is used to determine the second pitch angle of the radar under test based on the tilt meter, and to use the second pitch angle as the actual pitch angle.

[0096] The second installation angle determination module is used to determine the second installation angle of the radar under test based on the actual pitch angle and the preset pitch angle of the radar under test.

[0097] Optionally, the device may further include an angle adjustment module.

[0098] An angle adjustment module is used to adjust the pitch and azimuth angles of the radar under test based on the gimbal, and to measure the adjusted pitch and azimuth angles based on the inclinometer to update the actual pitch and azimuth angles.

[0099] The vehicle-mounted radar installation angle calibration device provided in this embodiment of the invention can execute the vehicle-mounted radar installation angle calibration method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0100] Example 3

[0101] Figure 9A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0102] like Figure 9 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0103] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0104] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for calibrating the mounting angle of an automotive radar.

[0105] In some embodiments, the vehicle-mounted radar mounting angle calibration method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle-mounted radar mounting angle calibration method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle-mounted radar mounting angle calibration method by any other suitable means (e.g., by means of firmware).

[0106] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0107] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0108] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0109] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0110] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0111] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0112] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0113] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for calibrating the installation angle of a vehicle-mounted radar, characterized in that, include: Based on a laser level and an inclinometer, the normal direction of a reference plane is determined, and the reference plane is mounted on the vehicle based on the normal direction. The reference plane includes at least three pin holes, the lines connecting the pin holes are perpendicular to each other, and the normal direction matches the straight-line driving direction of the vehicle. Based on the pin holes, the rotation angle of the radar under test is determined, and the rotated radar under test is fixed on the reference plane. Based on the tiltmeter, the first pitch angle of the radar under test is determined, and the first pitch angle is used as the actual azimuth angle; wherein, the first pitch angle is the pitch angle measured after the radar under test is rotated from the initial installation state by a preset rotation angle. Based on the actual azimuth angle and the preset azimuth angle of the radar under test, the first installation angle of the radar under test is determined. Determining the rotation angle of the radar under test based on the pin hole includes: Obtain the initial angle of the radar under test, and determine at least three corresponding pin holes based on the initial angle; The rotation angle is determined based on at least two adjacent pin holes; After determining the first elevation angle of the radar under test based on the tiltmeter, the method further includes: Based on the pin hole and the rotation angle, the initial position of the radar under test is determined, and the radar under test is rotated to the initial position.

2. The method according to claim 1, characterized in that, The normal direction includes a first normal direction and a second normal direction. Determining the normal direction of the reference plane based on a laser level and an inclinometer includes: The first normal direction of the reference plane is determined based on the first and second laser beams emitted by the laser level. Based on the inclinometer, the pitch angle of the reference plane is measured, and the reference plane is adjusted during the measurement process; When the inclinometer measures the pitch angle of the reference plane to be a preset angle, the second normal direction of the reference plane is determined.

3. The method according to claim 1, characterized in that, Determining the first installation angle of the radar under test based on the actual azimuth angle and the preset azimuth angle of the radar under test includes: Determine the angle difference between the actual azimuth angle and the preset azimuth angle, and determine whether the angle difference is within the preset difference range; If so, the actual azimuth angle shall be taken as the first installation angle.

4. The method according to claim 1, characterized in that, It also includes, Based on the tilt meter, the second elevation angle of the radar under test is determined, and the second elevation angle is used as the actual elevation angle; Based on the actual pitch angle and the preset pitch angle of the radar under test, the second installation angle of the radar under test is determined.

5. The method according to claim 4, characterized in that, Also includes: Based on the gimbal, the first mounting angle, and the second mounting angle, the elevation and azimuth angles of the radar under test are adjusted, and the adjusted elevation and azimuth angles are measured based on the inclinometer to update the actual elevation and azimuth angles.

6. A vehicle-mounted radar mounting angle calibration device, characterized in that, include: A normal direction determination module is used to determine the normal direction of a reference plane based on a laser level and an inclinometer, and to install the reference plane on a vehicle based on the normal direction. The reference plane includes at least three pin holes, the lines connecting the pin holes are perpendicular to each other, and the normal direction matches the straight-line driving direction of the vehicle. The rotation angle determination module is used to determine the rotation angle of the radar under test based on the pin hole, and fix the rotated radar under test on the reference plane. The first elevation angle determination module is used to determine the first elevation angle of the radar under test based on the tilt meter, and to use the first elevation angle as the actual azimuth angle. The first installation angle determination module is used to determine the first installation angle of the radar under test based on the actual azimuth angle and the preset azimuth angle of the radar under test. Wherein, the first pitch angle is the pitch angle measured after the radar under test is rotated by a preset rotation angle from its initial installation state; The rotation angle determination module includes a target pin hole determination unit and a rotation angle determination unit; The target pin hole determining unit is used to obtain the initial angle of the radar under test, and determine at least three corresponding target pin holes based on the initial angle. The rotation angle determining unit is used to determine the rotation angle based on at least two adjacent target pin holes; After determining the first elevation angle of the radar under test based on the tiltmeter, the device further includes: an initial position determination module; The initial position determination module is used to determine the initial position of the radar under test based on the pin hole and the rotation angle, and rotate the radar under test to the initial position.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle radar installation angle calibration method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the vehicle radar installation angle calibration method according to any one of claims 1-5.

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