Method for registering radar devices, radar device and computer readable storage medium

Abstract

The application provides a registration method of a radar device, a radar device and a computer readable storage medium. The registration method of the radar device comprises the following steps: obtaining driving track data of a vehicle collected by the radar device within a preset period of time in a coordinate system of the radar device, and obtaining lane center line data of a lane where the vehicle is located in a reference coordinate system; determining a coordinate conversion matrix between the coordinate system of the radar device and the reference coordinate system when a deviation between the driving track data and the lane center line data in the reference coordinate system is within a preset range. Since the vehicle generally drives along the lane center line, when the deviation between the lane center line and the driving track data is within the preset range, it can be determined that the coordinate conversion matrix is registered, and the registration efficiency of the radar device is improved.

Description

Technical Field

[0001] This application belongs to the field of radar applications, and in particular relates to registration methods for radar equipment, radar equipment, and computer-readable storage media. Background Technology

[0002] For newly installed radar equipment, or radar equipment whose installation angle, position, or other objective factors have changed, registration is required to ensure the accuracy of data detection. Current registration methods generally involve manual matching, which is inefficient. Summary of the Invention

[0003] In view of this, embodiments of this application provide a registration method for radar equipment, radar equipment, and a computer-readable storage medium, which can improve the registration efficiency of radar equipment.

[0004] The first aspect of this application provides a registration method for a radar device, including:

[0005] Acquire vehicle trajectory data collected by radar equipment within a preset time period, wherein the trajectory data is data in the coordinate system of the radar equipment;

[0006] Obtain the lane centerline data of the lane where the vehicle is located, wherein the lane centerline data is data in a reference coordinate system;

[0007] When the deviation between the driving trajectory data and the lane centerline data is determined to be within a preset range, the coordinate transformation matrix between the radar coordinate system and the reference coordinate system is determined.

[0008] In one embodiment, when determining that the deviation between the driving trajectory data and the lane centerline data is within a preset range, the coordinate transformation matrix between the radar coordinate system and the reference coordinate system includes:

[0009] When the driving trajectory data is determined to be within the lane, the candidate coordinate transformation matrix between the radar coordinate system and the reference coordinate system;

[0010] Based on the deviation between the driving trajectory data and the lane centerline data, the candidate coordinate transformation matrix is ​​adjusted so that the deviation is within a preset range, thus obtaining the coordinate transformation matrix.

[0011] In one embodiment, when it is determined that the driving trajectory data is located within the lane, the candidate coordinate transformation matrix between the radar coordinate system and the reference coordinate system includes:

[0012] The driving trajectory data is mapped to the reference coordinate system based on the initial coordinate transformation matrix;

[0013] The initial coordinate transformation matrix is ​​adjusted so that the driving trajectory data is located within the lane, and the adjusted initial coordinate transformation matrix is ​​used as the candidate coordinate transformation matrix.

[0014] In one embodiment, adjusting the candidate coordinate transformation matrix based on the deviation between the driving trajectory data and the lane centerline data, so that the deviation is within a preset range, to obtain the coordinate transformation matrix includes:

[0015] The driving trajectory data is fitted to obtain a first straight line;

[0016] Determine the second straight line where the lane centerline data is located;

[0017] Based on the positional relationship between the first line and the second line, the candidate coordinate transformation matrix is ​​adjusted so that the angle between the first line and the second line is less than a preset angle and / or the distance is less than a preset value, thereby obtaining the coordinate transformation matrix.

[0018] In one embodiment, adjusting the candidate coordinate transformation matrix based on the positional relationship between the first straight line and the second straight line, so that the angle between the first straight line and the second straight line is less than a preset angle and / or the distance is less than a preset value, to obtain the coordinate transformation matrix, includes:

[0019] If the first line is parallel to the second line, the candidate coordinate transformation matrix is ​​adjusted according to the distance between the first line and the second line so that the distance between the first line and the second line is less than a preset value, thus obtaining the coordinate transformation matrix.

[0020] In one embodiment, adjusting the candidate coordinate transformation matrix based on the positional relationship between the first straight line and the second straight line, so that the angle between the first straight line and the second straight line is less than a preset angle or the distance is less than a preset value, to obtain the coordinate transformation matrix includes:

[0021] If the first line intersects the second line and the angle between the first line and the second line is greater than an angle threshold, the first line is rotated and translated so that the angle between the first line and the second line is less than a preset angle and the distance is less than a preset value, thus obtaining the coordinate transformation matrix.

[0022] In one embodiment, after determining that the deviation between the driving trajectory data and the lane centerline data is within a preset range in the reference coordinate system, and after determining the coordinate transformation matrix between the radar coordinate system and the reference coordinate system, the method further includes:

[0023] The coordinate transformation matrix is ​​verified based on the data collected in real time by the radar equipment.

[0024] In one embodiment, the radar device is a millimeter-wave radar, the lane centerline data is determined based on a high-definition point cloud map, the reference coordinate system is the coordinate system of a multi-line lidar, and both the multi-line lidar and the millimeter-wave radar are installed on roadside equipment.

[0025] A second aspect of this application provides a registration apparatus for a radar device, comprising:

[0026] The first acquisition module is used to acquire vehicle trajectory data collected by the radar device within a preset time period, wherein the trajectory data is data in the coordinate system of the radar device.

[0027] The second acquisition module is used to acquire the lane centerline data of the lane where the vehicle is located, and the lane centerline data is data in a reference coordinate system;

[0028] The calculation module is used to determine the coordinate transformation matrix between the radar coordinate system and the reference coordinate system when the deviation between the driving trajectory data and the lane centerline data is within a preset range.

[0029] A third aspect of this application provides a radar device including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the registration method of the radar device as described in the first aspect above.

[0030] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the registration method for a radar device as described in the first aspect above.

[0031] The fifth aspect of this application provides a computer program product that, when run on a radar device, causes the radar device to execute the registration method of the radar device described in any one of the first aspects.

[0032] The beneficial effects of this application embodiment compared with the prior art are as follows: By acquiring vehicle trajectory data collected by the radar device within a preset time period in the radar device's coordinate system, and acquiring lane centerline data of the lane where the vehicle is located in the reference coordinate system; the coordinate transformation matrix between the radar coordinate system and the reference coordinate system is determined when the deviation between the trajectory data and the lane centerline data in the reference coordinate system is within a preset range. Since vehicles generally travel along the lane centerline, the coordinate transformation matrix registration can be determined to be complete when the deviation between the lane centerline and the trajectory data is within the preset range, thus improving the registration efficiency of the radar device. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0034] Figure 1 This is a schematic diagram illustrating the implementation process of a registration method for a radar device provided in an embodiment of this application;

[0035] Figure 2 This is a schematic diagram showing the distribution of trajectory points on the lane according to an embodiment of this application;

[0036] Figure 3 This is a diagram showing the positional relationship between the first and second straight lines provided in an embodiment of this application;

[0037] Figure 4 This is a schematic diagram of a registration device for a radar device provided in an embodiment of this application;

[0038] Figure 5 This is a schematic diagram of the radar device provided in the embodiments of this application. Detailed Implementation

[0039] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0040] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of a described feature, integral, step, operation, element, and / or component, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof. It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0041] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrases "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0042] To address the low efficiency issue caused by manual registration of radar equipment in existing technologies, this application provides a radar equipment registration method. The method involves acquiring vehicle trajectory data collected by the radar equipment within a preset time period in the radar equipment's coordinate system, and acquiring lane centerline data of the lane where the vehicle is located in a reference coordinate system. A coordinate transformation matrix between the radar coordinate system and the reference coordinate system is then determined when the deviation between the trajectory data and the lane centerline data is within a preset range. Since vehicles generally travel along the lane centerline, the registration is considered complete when the deviation between the lane centerline and the trajectory data is within the preset range, thus improving the registration efficiency of the radar equipment.

[0043] The registration method for the radar equipment provided in this application is illustrated below.

[0044] The radar device described in this application embodiment can be a millimeter-wave radar, lidar, etc. The radar device can be installed on roadside equipment or on a vehicle. The radar device configuration method provided in this application embodiment can be executed on the radar device or on a terminal device communicatively connected to the radar device. The following describes the radar device registration method provided in this application, taking the method executed on a radar device as an example.

[0045] Please see the appendix Figure 1 The registration method for radar equipment provided in one embodiment of this application includes:

[0046] S101: Acquire vehicle trajectory data collected by the radar device within a preset time period, wherein the trajectory data is data in the coordinate system of the radar device.

[0047] Specifically, within a preset time period, the radar equipment collects continuous position data of one or more vehicles, and the trajectory formed by the position data constitutes the vehicle's driving trajectory data. The coordinate system of the radar equipment can be a coordinate system with the location of the radar equipment as the origin.

[0048] S102: Obtain the lane centerline data of the lane where the vehicle is located, wherein the lane centerline data is data in a reference coordinate system.

[0049] Specifically, the location of the lane and the lane centerline data can be determined based on a pre-established high-definition point cloud map. The lane where the vehicle is located can be determined based on the detection information of calibrated equipment or radar equipment. The reference coordinate system can be a coordinate system built based on the high-definition point cloud map, or it can be the coordinate system of a multi-line LiDAR. The coordinate system of the multi-line LiDAR can be a coordinate system with the location of the multi-line LiDAR as the origin.

[0050] In one embodiment, both the radar device and the multi-line lidar are installed on the roadside equipment. After the radar device determines the lane centerline data based on the high-definition point cloud map, it maps the lane centerline data to the coordinate system of the multi-line lidar.

[0051] S103: When the deviation between the driving trajectory data and the lane centerline data is determined to be within a preset range, the coordinate transformation matrix between the radar coordinate system and the reference coordinate system.

[0052] Specifically, an initial coordinate transformation matrix exists between the radar coordinate system and the reference coordinate system. The driving trajectory data is mapped to the reference coordinate system based on this initial transformation matrix. Then, within the same coordinate system, the deviation between the driving trajectory data and the lane centerline data is determined, and the initial coordinate transformation matrix is ​​adjusted accordingly. When the adjusted coordinate transformation matrix is ​​used for coordinate transformation, and the deviation between the driving trajectory data and the lane centerline data is within a preset range, this final coordinate transformation matrix is ​​obtained.

[0053] In one embodiment, the configuration process of the radar equipment includes two stages: coarse registration and fine registration. The coarse registration stage determines the candidate coordinate transformation matrix between the radar coordinate system and the reference coordinate system when the driving trajectory is within the lane. The fine registration stage adjusts the candidate coordinate transformation matrix based on the deviation between the driving trajectory data and the lane centerline data, ensuring the deviation is within a preset range, thus obtaining the final coordinate transformation matrix. Completing the radar equipment configuration through these two stages (coarse and fine registration) improves registration efficiency.

[0054] In one embodiment, the driving trajectory data is first mapped to a reference coordinate system based on an initial coordinate transformation matrix. The initial coordinate transformation matrix is ​​then adjusted so that the driving trajectory data is located within the lane. The adjusted initial coordinate transformation matrix is ​​then used as a candidate coordinate transformation matrix.

[0055] Specifically, such as Figure 2 (a) Figure 2 (b) Figure 2 As shown in (c), when performing coordinate transformation based on the initial coordinate transformation matrix, the driving trajectory data (i.e., each trajectory point) is located at different positions in the lane under the same coordinate system. By rotating and translating the initial coordinate transformation matrix, the driving trajectory data is made to be completely located within the lane. The initial coordinate transformation matrix after rotation and translation is the candidate coordinate transformation matrix.

[0056] Among them, the driving trajectory data is the driving trajectory data within the same lane. The radar equipment can determine whether the vehicle has changed lanes based on the trajectory composed of multiple trajectory points. If it is determined that the vehicle has changed lanes, the driving trajectory data during the lane change is deleted, thereby ensuring that an accurate candidate coordinate transformation matrix is ​​obtained.

[0057] After determining the candidate coordinate transformation matrix, the candidate coordinate transformation matrix is ​​adjusted to obtain the final coordinate transformation matrix.

[0058] In one embodiment, the driving trajectory data is fitted to obtain a first straight line; a second straight line is determined where the lane centerline data is located; and the candidate coordinate transformation matrix is ​​adjusted according to the positional relationship between the first straight line and the second straight line so that the angle between the first straight line and the second straight line is less than a preset angle and / or the distance is less than a preset value, thereby obtaining the coordinate transformation matrix.

[0059] Specifically, a candidate coordinate transformation matrix is ​​used to project the driving trajectory data onto a reference coordinate system, and the driving trajectory data is fitted to obtain a first straight line. When the lane is determined to be a straight lane, a second straight line containing the lane centerline is determined based on the coordinates of the lane centerline. For example... Figure 3 (a) Figure 3 (b) Figure 3 As shown in (c), the first straight line (trajectory line) and the second straight line (lane center line) can coincide, be parallel, or intersect. Based on the positional relationship between the first and second straight lines, the candidate coordinate transformation matrix is ​​translated and rotated to make the first and second straight lines coincide, intersect with an angle less than a preset angle, or be parallel with a distance less than a preset value. When the positions of the first and second straight lines satisfy the above relationships, it is determined that the driving trajectory is basically close to the lane center line. Since vehicles generally travel along the lane center line, when the driving trajectory is close to the lane center line, it indicates that the correct coordinate transformation matrix has been obtained, and the registration of the radar equipment has been completed.

[0060] In one embodiment, the RANSC algorithm can be used to fit the driving trajectory data to obtain a first straight line, thereby removing driving trajectory data that are not in the same lane (i.e., noise). Finally, only the data within the same lane is retained for fitting, improving the fitting accuracy. For example, if it is determined from the driving trajectory data that the vehicle has changed lanes multiple times and it is impossible to determine which lane the trajectory points are located in, then the data corresponding to these trajectory points are deleted and not included in the fitting of the first straight line.

[0061] In one embodiment, after determining the first and second straight lines, if the first and second straight lines are parallel, the candidate coordinate transformation matrix is ​​adjusted according to the distance between the first and second straight lines so that the distance between the first and second straight lines is less than a preset value, thus obtaining the coordinate transformation matrix. If the first and second straight lines intersect and the angle between the first and second straight lines is greater than an angle threshold, the first straight line is rotated and translated so that the angle between the first and second straight lines is less than a preset angle and the distance is less than a preset value, thus obtaining the coordinate transformation matrix.

[0062] For example, the driving trajectory data is transformed according to the candidate coordinate transformation matrix. In the reference coordinate system, the driving trajectory data includes the coordinates of each trajectory point, denoted as y. r0 ,y r1 ,y r1 ,y r1 ..., the spatial coordinates of the points forming the lane centerline are y c0 ,y c1 ,y c1 ,y c1 ... Correspondingly, the first straight line can be represented as y r0 =k r0 x+b r0 The second straight line can be represented as y c0 =k c0 x+b c0 The first straight line passes through the point (0, b). c0 The second line passes through the point (0, b). r0 ).

[0063] If the first and second straight lines coincide, it means that the vehicle's trajectory coincides with the lane centerline, and the radar equipment registration is complete. The candidate coordinate transformation matrix is ​​then used as the radar equipment's coordinate transformation matrix.

[0064] If the first and second lines are parallel and the distance between them is d, that is, d = b c0 -b r0Then, the candidate coordinate transformation matrix is ​​adjusted so that after coordinate transformation according to the adjusted matrix, the first and second lines coincide or nearly coincide. For example, when the first line is to the right of the second line, the candidate coordinate transformation matrix is ​​adjusted so that the first line moves by d along the X-axis. When the first line is to the left of the second line, the candidate coordinate transformation matrix is ​​adjusted so that the first line moves by -d along the X-axis until |b c0 -b r0 | = 0 indicates that the radar equipment has completed registration and obtained the coordinate transformation matrix. Alternatively, the radar equipment can determine the movement distance of the first straight line based on the positions of the first and second straight lines, update the candidate coordinate transformation matrix based on the movement distance, obtain the coordinate transformation matrix, and complete the registration of the radar equipment.

[0065] If the first line and the second line intersect, the angle between the first line and the X-axis is θ. r0 The angle between the second line and the X-axis is θ. c0 If 0 ≤ |θ c0 -θ r0 |≤σ (where σ is a threshold value, selected according to the actual situation) indicates that the millimeter-wave radar has been registered and the rotation and translation matrix does not need to be modified.

[0066] If |θ c0 -θ r0 |>σ,θ c0 >θ r0 Then, with point (0, b) r0 Centered on θ, rotate the first straight line counterclockwise. c0 ≤θ r0 Then, rotate the first straight line clockwise until the angle between the first and second straight lines is less than a preset angle. Next, determine the distance between the rotated first and second straight lines, and translate the first straight line according to this distance until the distance between the first and second straight lines is less than a preset value. Adjust the candidate coordinate transformation matrix according to the rotation angle and translation distance of the first straight line to obtain the coordinate transformation matrix. Alternatively, adjust the candidate coordinate transformation matrix until the angle between the first and second straight lines is less than a preset angle and the distance is less than a preset value, and use the adjusted candidate coordinate transformation matrix as the coordinate transformation matrix.

[0067] In one embodiment, after obtaining the coordinate transformation matrix, the coordinate transformation matrix is ​​verified based on the data collected in real time by the radar device. For example, it is determined whether the driving trajectory data collected in real time by the radar device is located on the lane centerline; if so, the verification is considered successful. If the verification is successful, the registered coordinate transformation matrix is ​​obtained; if the verification fails, the radar device is re-registered using the above method.

[0068] In the above embodiments, the vehicle's driving trajectory data collected by the radar device within a preset time period is obtained in the radar device's coordinate system, and the lane centerline data of the lane where the vehicle is located is obtained in the reference coordinate system. The coordinate transformation matrix between the radar coordinate system and the reference coordinate system is determined when the deviation between the driving trajectory data and the lane centerline data is within a preset range in the reference coordinate system. Since vehicles generally travel along the lane centerline, the coordinate transformation matrix registration is considered complete when the deviation between the lane centerline and the driving trajectory data is within the preset range, thus improving the registration efficiency of the radar device.

[0069] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0070] Corresponding to the registration method of the radar equipment described in the above embodiments, Figure 4 A structural block diagram of a registration device for a radar device provided in an embodiment of this application is shown. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0071] like Figure 4 As shown, the registration device for radar equipment includes,

[0072] The first acquisition module 41 is used to acquire vehicle trajectory data collected by the radar device within a preset time period, wherein the trajectory data is data in the coordinate system of the radar device.

[0073] The second acquisition module 42 is used to acquire the lane centerline data of the lane where the vehicle is located, and the lane centerline data is data in a reference coordinate system;

[0074] The calculation module 43 is used to determine the coordinate transformation matrix between the radar coordinate system and the reference coordinate system when the deviation between the driving trajectory data and the lane centerline data is within a preset range.

[0075] In one embodiment, the calculation module 43 is specifically used to: determine the candidate coordinate transformation matrix between the radar coordinate system and the reference coordinate system when the driving trajectory data is located within the lane;

[0076] Based on the deviation between the driving trajectory data and the lane centerline data, the candidate coordinate transformation matrix is ​​adjusted so that the deviation is within a preset range, thus obtaining the coordinate transformation matrix.

[0077] In one embodiment, the calculation module 43 is specifically used for:

[0078] The driving trajectory data is mapped to the reference coordinate system based on the initial coordinate transformation matrix;

[0079] The initial coordinate transformation matrix is ​​adjusted so that the driving trajectory data is located within the lane, and the adjusted initial coordinate transformation matrix is ​​used as the candidate coordinate transformation matrix.

[0080] In one embodiment, the calculation module 43 is specifically used for:

[0081] The driving trajectory data is fitted to obtain a first straight line;

[0082] Determine the second straight line where the lane centerline data is located;

[0083] Based on the positional relationship between the first line and the second line, the candidate coordinate transformation matrix is ​​adjusted so that the angle between the first line and the second line is less than a preset angle and / or the distance is less than a preset value, thereby obtaining the coordinate transformation matrix.

[0084] In one embodiment, the calculation module 43 is specifically used for:

[0085] If the first line is parallel to the second line, the candidate coordinate transformation matrix is ​​adjusted according to the distance between the first line and the second line so that the distance between the first line and the second line is less than a preset value, thus obtaining the coordinate transformation matrix.

[0086] In one embodiment, the calculation module 43 is specifically used for:

[0087] If the first line intersects the second line and the angle between the first line and the second line is greater than an angle threshold, the first line is rotated and translated so that the angle between the first line and the second line is less than a preset angle and the distance is less than a preset value, thus obtaining the coordinate transformation matrix.

[0088] In one embodiment, the calculation module 43 is further configured to:

[0089] The coordinate transformation matrix is ​​verified based on the data collected in real time by the radar equipment.

[0090] In one embodiment, the radar device is a millimeter-wave radar, the lane centerline data is determined based on a high-definition point cloud map, the reference coordinate system is the coordinate system of a multi-line lidar, and both the multi-line lidar and the millimeter-wave radar are installed on roadside equipment.

[0091] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0092] Figure 5 This is a schematic diagram of the radar device provided in an embodiment of this application. For example... Figure 5 As shown, the radar device of this embodiment includes: a processor 51, a memory 52, and a computer program 53 stored in the memory 52 and executable on the processor 51. When the processor 51 executes the computer program 53, it implements the steps in the registration method embodiment of the radar device described above, for example... Figure 1 The steps S101 to S103 are shown. Alternatively, when the processor 51 executes the computer program 53, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 4 The functions of the first acquisition module 41 to the calculation module 43 are shown.

[0093] For example, the computer program 53 may be divided into one or more modules / units, which are stored in the memory 52 and executed by the processor 51 to complete this application. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 53 in the radar device.

[0094] Those skilled in the art will understand that Figure 5 This is merely an example of a radar device and does not constitute a limitation on the radar device. It may include more or fewer components than shown, or combine certain components, or different components. For example, the radar device may also include input / output devices, network access devices, buses, etc.

[0095] The processor 51 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0096] The memory 52 can be an internal storage unit of the radar device, such as a hard drive or RAM. Alternatively, the memory 52 can be an external storage device of the radar device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 52 can include both internal and external storage units. The memory 52 is used to store the computer program and other programs and data required by the radar device. The memory 52 can also be used to temporarily store data that has been output or will be output.

[0097] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0098] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0099] In the embodiments provided in this application, it should be understood that the disclosed apparatus / radar devices and methods can be implemented in other ways. For example, the apparatus / radar device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0100] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0101] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0102] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0103] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A registration method for radar equipment, characterized in that, include: Acquire vehicle trajectory data collected by radar equipment within a preset time period, wherein the trajectory data is data in the coordinate system of the radar equipment; Obtain the lane centerline data of the lane where the vehicle is located, wherein the lane centerline data is data in a reference coordinate system; When the deviation between the driving trajectory data and the lane centerline data is determined to be within a preset range, the coordinate transformation matrix between the coordinate system of the radar device and the reference coordinate system; the coordinate transformation matrix between the coordinate system of the radar device and the reference coordinate system when the deviation between the driving trajectory data and the lane centerline data is determined to be within a preset range includes: When the driving trajectory data is determined to be within the lane, the candidate coordinate transformation matrix between the coordinate system of the radar device and the reference coordinate system; The driving trajectory data is fitted to obtain a first straight line; Determine the second straight line where the lane centerline data is located; Based on the positional relationship between the first line and the second line, the candidate coordinate transformation matrix is ​​adjusted so that the angle between the first line and the second line is less than a preset angle and / or the distance is less than a preset value, thereby obtaining the coordinate transformation matrix.

2. The method as described in claim 1, characterized in that, When it is determined that the driving trajectory data is located within the lane, the candidate coordinate transformation matrix between the coordinate system of the radar device and the reference coordinate system includes: The driving trajectory data is mapped to the reference coordinate system based on the initial coordinate transformation matrix; The initial coordinate transformation matrix is ​​adjusted so that the driving trajectory data is located within the lane, and the adjusted initial coordinate transformation matrix is ​​used as the candidate coordinate transformation matrix.

3. The method as described in claim 1, characterized in that, The step of adjusting the candidate coordinate transformation matrix based on the positional relationship between the first straight line and the second straight line, so that the angle between the first straight line and the second straight line is less than a preset angle and / or the distance is less than a preset value, to obtain the coordinate transformation matrix includes: If the first line is parallel to the second line, the candidate coordinate transformation matrix is ​​adjusted according to the distance between the first line and the second line so that the distance between the first line and the second line is less than a preset value, thus obtaining the coordinate transformation matrix.

4. The method as described in claim 1, characterized in that, The step of adjusting the candidate coordinate transformation matrix based on the positional relationship between the first straight line and the second straight line, so that the angle between the first straight line and the second straight line is less than a preset angle or the distance is less than a preset value, to obtain the coordinate transformation matrix includes: If the first line intersects the second line and the angle between the first line and the second line is greater than an angle threshold, the first line is rotated and translated so that the angle between the first line and the second line is less than a preset angle and the distance is less than a preset value, thus obtaining the coordinate transformation matrix.

5. The method as described in claim 1, characterized in that, After determining that the deviation between the driving trajectory data and the lane centerline data is within a preset range, and after establishing the coordinate transformation matrix between the radar device's coordinate system and the reference coordinate system, the method further includes: The coordinate transformation matrix is ​​verified based on the data collected in real time by the radar equipment.

6. The method as described in claim 1, characterized in that, The radar device is a millimeter-wave radar, the lane centerline data is determined based on a high-definition point cloud map, the reference coordinate system is the coordinate system of a multi-line lidar, and both the multi-line lidar and the millimeter-wave radar are installed on roadside equipment.

7. A radar device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the registration method for the radar device as described in any one of claims 1 to 6.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the registration method for the radar device as described in any one of claims 1 to 6.

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