Calibration method and device of vehicle-mounted millimeter wave radar, electronic equipment and storage medium

Abstract

The application provides a calibration method and device of a vehicle-mounted millimeter wave radar, electronic equipment and a storage medium. The calibration method of the vehicle-mounted millimeter wave radar comprises: acquiring a radar position ID of the vehicle-mounted millimeter wave radar, the radar position ID being used to indicate an installation position of the vehicle-mounted millimeter wave radar; determining a search reference angle based on the radar position ID; searching for a calibration object in a specific area based on the search reference angle; after the calibration object is searched in the specific area, the vehicle-mounted millimeter wave radar transmits a radar signal to the calibration object and receives a return signal reflected by the calibration object; and the vehicle-mounted millimeter wave radar is calibrated based on the return signal. According to the application, the calibration object arranged at different positions can be calibrated, so that the production line of different customers can be adapted.

Description

Technical Field

[0001] This invention relates to the field of radar technology, and in particular to calibration methods, devices, electronic equipment, and storage media for vehicle-mounted millimeter-wave radar. Background Technology

[0002] With the development and popularization of autonomous vehicles, they are becoming increasingly intelligent and widely used. Both driver assistance and autonomous driving functions require various onboard sensors for detection and perception to achieve their respective functions. Millimeter-wave radar can measure crucial information such as the azimuth angle of targets within its observation range, the distance from the target to the radar, and the target's speed, playing a vital role in realizing autonomous driving functions.

[0003] To use millimeter-wave radar more accurately, it needs to be calibrated. Typically, millimeter-wave radar is installed behind a vehicle and can be calibrated by placing one or more specific calibration objects, such as metal plates or corner reflectors, in a specific environment.

[0004] The calibration objects are set in different locations on different customers' calibration production lines. Current calibration methods for automotive millimeter-wave radars often cannot be adapted to different customers' production lines without any internal logic modifications. Summary of the Invention

[0005] This invention was made to solve the above-mentioned problems, and its purpose is to provide a calibration method, device, electronic device and storage medium for vehicle-mounted millimeter-wave radar, which can calibrate calibration objects set in different locations, thereby adapting to the production lines of different customers.

[0006] According to one aspect of the present invention, a calibration method for a vehicle-mounted millimeter-wave radar is provided, comprising the following steps: obtaining a radar position ID of the vehicle-mounted millimeter-wave radar, the radar position ID being used to indicate the installation position of the vehicle-mounted millimeter-wave radar; determining a search reference angle based on the radar position ID; searching for a calibration object in a specific area based on the search reference angle; after the calibration object is found in the specific area, the vehicle-mounted millimeter-wave radar transmits a radar signal to the calibration object and receives an echo signal reflected back from the calibration object; and calibrating the vehicle-mounted millimeter-wave radar based on the echo signal.

[0007] Preferably, the search reference angle represents the angle relative to the vehicle-mounted millimeter-wave radar in the vehicle coordinate system, wherein the vehicle coordinate system is a rectangular coordinate system with the center of the vehicle as the origin, the longitudinal centerline of the vehicle as the x-axis direction, and the forward direction of the vehicle as the positive x-axis direction.

[0008] Preferably, the correspondence between the radar position ID and the search reference angle is stored in advance.

[0009] Preferably, the radar location ID is pre-stored.

[0010] Preferably, the specific area is a predetermined angular range with the center of the vehicle-mounted millimeter-wave radar as the origin and a search reference angle of 0 degrees.

[0011] Preferably, the predetermined angle range is -6° to 6°.

[0012] Preferably, the installation positions of the vehicle-mounted millimeter-wave radar include the front right side of the vehicle, the front left side of the vehicle, the rear right side of the vehicle, and the rear left side of the vehicle.

[0013] According to another aspect of the present invention, a calibration device for a vehicle-mounted millimeter-wave radar is provided, comprising: an acquisition module for acquiring a radar position ID of the vehicle-mounted millimeter-wave radar, the radar position ID being used to indicate the installation position of the vehicle-mounted millimeter-wave radar; a setting module for setting a search reference angle based on the radar position ID; a search module for searching for a calibration object in a specific area based on the search reference angle; a transceiver module for, after finding the calibration object in the specific area, causing the vehicle-mounted millimeter-wave radar to transmit a radar signal to the calibration object and receiving an echo signal reflected back from the calibration object; and a calibration module for calibrating the vehicle-mounted millimeter-wave radar based on the echo signal.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded by the processor and executing the method described in one aspect above.

[0015] According to another aspect of the present invention, a computer storage medium is provided, wherein at least one instruction or at least one program is stored therein, the at least one instruction or the at least one program being loaded by a processor and executing the method as described in one aspect above. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the calibration method for vehicle-mounted millimeter-wave radar provided in an embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram illustrating an example of the search reference angle in the calibration method for the vehicle-mounted millimeter-wave radar provided in this embodiment of the invention.

[0018] Figure 3 This is a structural block diagram of the calibration device for vehicle-mounted millimeter-wave radar provided in an embodiment of the present invention.

[0019] Figure 4This is a structural block diagram of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0021] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. As used herein, the singular forms “a” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the said feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded.

[0022] The embodiments described herein can be described with reference to plan views and / or cross-sectional views using the ideal schematic diagrams of this disclosure. Therefore, the example illustrations can be modified according to manufacturing techniques and / or tolerances. Therefore, the embodiments are not limited to those shown in the drawings, but include modifications to configurations formed based on manufacturing processes. Therefore, the areas illustrated in the drawings are schematic in nature, and the shapes of the areas shown in the figures illustrate specific shapes of areas of an element, but are not intended to be limiting.

[0023] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this disclosure, and will not be interpreted as having an idealized or overly formal meaning, unless expressly so defined herein.

[0024] This invention provides a calibration method and apparatus for vehicle-mounted millimeter-wave radar, which can calibrate calibration objects placed in different locations, thereby adapting to the production lines of different customers. The method and apparatus are based on the same concept, and since the principles by which the method and apparatus solve the problem are similar, their implementations can be mutually referenced, and repeated details will not be elaborated further.

[0025] Figure 1This is a flowchart illustrating the calibration method for a vehicle-mounted millimeter-wave radar provided in an embodiment of the present invention. This specification provides the method operation steps as shown in the embodiments or flowcharts, but based on conventional or non-inventive labor, more or fewer operation steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many steps and does not represent the only possible execution order. In actual system or server product execution, the method can be executed sequentially according to the embodiments or drawings, or in parallel (e.g., in a parallel processor or multi-threaded processing environment).

[0026] Figure 2 This is a schematic diagram illustrating an example of the search reference angle in the calibration method for vehicle-mounted millimeter-wave radar provided in this embodiment of the invention. (In conjunction with...) Figure 1 and Figure 2 A calibration method for an on-board millimeter-wave radar according to an embodiment of the present invention will be described. This embodiment is applicable to situations where automobile manufacturers calibrate on-board millimeter-wave radars before the vehicles leave the factory.

[0027] like Figure 1 As shown, the calibration method for vehicle-mounted millimeter-wave radar provided in this embodiment includes the following steps.

[0028] S101: Obtain the radar location ID of the vehicle-mounted millimeter-wave radar.

[0029] Vehicle-mounted millimeter-wave radar refers to a device installed on a vehicle that can measure the distance, angle, and relative speed to surrounding vehicles in real time by transmitting and receiving radio waves. Currently, the main installation schemes for vehicle-mounted millimeter-wave radar are the 1+2 and 1+4 schemes, where 2 and 4 refer to the number of corner radars. For example, with two corner radars, two rear-facing corner radars can be symmetrically installed on the right rear and left rear of the vehicle, mainly used to observe the area behind the vehicle, enabling blind spot detection, lane change assist, and rear collision warning; with four corner radars, four corner radars can be installed on the right front, left front, right rear, and left rear of the vehicle. Figure 2 As shown in the figure, this embodiment illustrates the situation where four corner radars 11, 12, 13, and 14 are installed at the front right, front left, rear right, and rear left of the vehicle, respectively.

[0030] In the calibration method for vehicle-mounted millimeter-wave radar provided in this embodiment, the radar position IDs of four vehicle-mounted millimeter-wave radars 11, 12, 13, and 14 are first obtained. The radar position IDs represent the installation positions of the vehicle-mounted millimeter-wave radars, and can be, for example, FR, FL, RR, and RL, respectively indicating that the vehicle-mounted millimeter-wave radar is installed at the front right side of the vehicle (vehicle-mounted millimeter-wave radar 12), at the front left side of the vehicle (vehicle-mounted millimeter-wave radar 11), at the rear right side of the vehicle (vehicle-mounted millimeter-wave radar 14), and at the rear left side of the vehicle (vehicle-mounted millimeter-wave radar 13). Here, the radar position IDs of the vehicle-mounted millimeter-wave radars can be pre-stored in a memory.

[0031] S102: Determine the search reference angle based on the radar position ID.

[0032] The search reference angle is the angle used as the search reference when the vehicle-mounted millimeter-wave radar searches for a target object. The memory pre-stores the correspondence between radar position IDs and search reference angles. Therefore, after obtaining the radar position ID of the vehicle-mounted millimeter-wave radar, the search reference angle of that radar can be determined based on that radar position ID.

[0033] In this embodiment, the search reference angle represents the angle relative to the vehicle-mounted millimeter-wave radar in the vehicle coordinate system. The vehicle coordinate system is a rectangular coordinate system with the center of the vehicle as the origin, the longitudinal centerline of the vehicle as the x-axis direction, and the forward direction of the vehicle as the positive x-axis direction.

[0034] based on Figure 2 An example of a search reference angle is provided. In this example, calibration objects (corner reflectors) 21, 22, 23, and 24 of the customer calibration production line are positioned in the driving direction of vehicle 1. Corner reflectors 21 and 22 are located directly in front of vehicle-mounted millimeter-wave radars 11 and 12, respectively, while corner reflectors 23 and 24 are located directly behind vehicle-mounted millimeter-wave radars 13 and 14, respectively. Figure 2 As shown, the vehicle coordinate system has its origin at the center O of vehicle 1, the longitudinal centerline of vehicle 1 as the x-axis direction, and the forward direction of vehicle 1 as the positive x-axis direction. Starting from the positive x-axis direction as 0°, the angle gradually increases counterclockwise, that is, the negative x-axis direction is 180°, and then returns to the positive x-axis direction as 360°.

[0035] Since corner reflectors 21 and 22 are located directly in front of vehicle-mounted millimeter-wave radars 11 and 12, respectively, and corner reflectors 23 and 24 are located directly behind vehicle-mounted millimeter-wave radars 13 and 14, respectively, that is, corner reflector 21 is at 0° relative to vehicle-mounted millimeter-wave radar 11, corner reflector 22 is at 360° relative to vehicle-mounted millimeter-wave radar 12, corner reflector 23 is at 180° relative to vehicle-mounted millimeter-wave radar 13, and corner reflector 24 is at 180° relative to vehicle-mounted millimeter-wave radar 14, the following correspondence between radar position IDs and search reference angles can be pre-stored in the memory: if the radar position ID is FL, the search reference angle is 0°; if the radar position ID is FR, the search reference angle is 360°; if the radar position ID is RL, the search reference angle is 180°; if the radar position ID is RR, the search reference angle is 180°.

[0036] S103: Search for a reference object in a specific area based on the search baseline angle.

[0037] Next, a calibration object (corner reflector) is searched for in a specific area based on the search reference angle determined in step S102. Here, the specific area can be a predetermined angular range with the center of the vehicle-mounted millimeter-wave radar as the origin and the search reference angle as 0 degrees. This predetermined angular range can be an angle range of -6° to 6°. Figure 2 Taking the vehicle-mounted millimeter-wave radar 13 as an example, its search reference angle is 180°, that is, it is 180° relative to the vehicle-mounted millimeter-wave radar 13 in the vehicle coordinate system. Figure 2 The dotted line O1A is shown. Therefore, the specific region is an angular range of -6° to 6° with the dotted line O1A as 0 degrees. Then, the corner reflector 23 is searched within this specific region. Of course, the predetermined angular range here is just an example and can be set to other ranges.

[0038] S104: After a target is located in a specific area, the vehicle-mounted millimeter-wave radar transmits radar signals to the target and receives the echo signals reflected back from the target.

[0039] After locating the corner reflector, the vehicle-mounted millimeter-wave radar transmits radar signals towards it and receives the echo signals reflected back. Corner reflectors are radar electromagnetic wave reflectors of various specifications made from metal sheets for different applications. When radar electromagnetic waves strike the corner reflector, they are reflected, generating a strong echo signal, which is then received by the radar.

[0040] S105: Calibrates vehicle-mounted millimeter-wave radar based on echo signals.

[0041] The echo signal contains information such as the X, Y, and Z values ​​of the obstacle (corner reflector) relative to the vehicle-mounted millimeter-wave radar's coordinate system, as well as pitch, roll, and yaw angles. This information can be used to calibrate the vehicle-mounted millimeter-wave radar.

[0042] Figure 3 This is a structural block diagram of the calibration device for vehicle-mounted millimeter-wave radar provided in an embodiment of the present invention.

[0043] like Figure 3 As shown, the calibration device 200 for vehicle-mounted millimeter-wave radar includes: an acquisition module 201, a setting module 202, a search module 203, a transceiver module 204, and a calibration module 205.

[0044] The system comprises the following modules: Acquisition module 201 acquires the radar location ID of the vehicle-mounted millimeter-wave radar, which indicates the installation location of the radar. Setting module 202 sets a search reference angle based on the radar location ID. Search module 203 searches for a calibration object in a specific area based on the search reference angle. Transceiver module 204, after locating the calibration object in the specific area, transmits radar signals to the calibration object and receives the echo signals reflected back from it. Calibration module 205 calibrates the vehicle-mounted millimeter-wave radar based on the echo signals.

[0045] Figure 4 This is a structural block diagram of the electronic device provided in an embodiment of the present invention. Figure 4 As shown, the present invention also provides an electronic device 300, which includes a processor and a memory. The memory stores at least one instruction or at least one program, which is loaded by the processor and executed using the vehicle positioning method described in the above embodiments.

[0046] The present invention also provides a computer storage medium storing at least one instruction or at least one program, wherein the at least one instruction or at least one program is loaded and executed by a processor to implement the vehicle positioning method described in the above embodiments.

[0047] Optionally, in this embodiment, the storage medium may be located at at least one of the multiple network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0048] Furthermore, the embodiments shown in this invention disclose four vehicle-mounted millimeter-wave radars installed at the front right, front left, rear right, and rear left of the vehicle. However, this invention is not limited to this and may also include millimeter-wave radars located, for example, at the center of the front or rear of the vehicle. Radar position IDs are set for these vehicle-mounted millimeter-wave radars, and corresponding search reference angles are set.

[0049] Furthermore, the search reference angle can be set according to the actual location of the calibration object in the customer's calibration production line, and is not limited to the situation shown in this embodiment.

[0050] Those skilled in the art will recognize that the modules, units, and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of electronic hardware and software, the components and steps of the examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can implement the described functions using different methods for each specific application, but such implementations should not be considered beyond the scope of the invention.

[0051] Although the present invention has been described with reference to specific embodiments, those skilled in the art should recognize that the scope of the invention is not limited to the specific combinations of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the present invention.

Claims

1. A method for calibrating a vehicle-mounted millimeter wave radar, characterized by, Includes the following steps: Obtain the radar location ID of the vehicle-mounted millimeter-wave radar, which indicates the installation location of the vehicle-mounted millimeter-wave radar; The search reference angle is determined based on the radar position ID; Search for a marker in a specific area based on the aforementioned search reference angle; After the target is located in the specific area, the vehicle-mounted millimeter-wave radar transmits radar signals to the target and receives the echo signals reflected back from the target. as well as The vehicle-mounted millimeter-wave radar is calibrated based on the echo signal.

2. The calibration method for vehicle-mounted millimeter-wave radar as described in claim 1, characterized in that, The search reference angle represents the angle relative to the vehicle-mounted millimeter-wave radar in the vehicle coordinate system. The vehicle coordinate system is a rectangular coordinate system with the center of the vehicle on which the vehicle-mounted millimeter-wave radar is installed as the origin, the longitudinal centerline of the vehicle as the x-axis direction, and the forward direction of the vehicle as the positive x-axis direction.

3. The calibration method for vehicle-mounted millimeter-wave radar as described in claim 1 or 2, characterized in that, The correspondence between the radar position ID and the search reference angle is stored in advance.

4. The calibration method for vehicle-mounted millimeter-wave radar as described in claim 1 or 2, characterized in that, The radar location ID is stored in advance.

5. The calibration method for vehicle-mounted millimeter-wave radar as described in claim 1 or 2, characterized in that, The specific area is a predetermined angular range with the center of the vehicle-mounted millimeter-wave radar as the origin and a search reference angle of 0 degrees.

6. The calibration method for vehicle-mounted millimeter-wave radar as described in claim 5, characterized in that, The predetermined angle range is -6° to 6°.

7. The calibration method for vehicle-mounted millimeter-wave radar as described in claim 1 or 2, characterized in that, The vehicle-mounted millimeter-wave radar can be installed at the following locations: front right, front left, rear right, and rear left.

8. A calibration device for a vehicle-mounted millimeter wave radar, characterized by comprising: include: The acquisition module is used to acquire the radar location ID of the vehicle-mounted millimeter-wave radar, which indicates the installation location of the vehicle-mounted millimeter-wave radar. The setting module is used to set the search reference angle based on the radar location ID; The search module is used to search for a marker in a specific area based on the search reference angle; The transceiver module is used to, after the target object is located in the specific area, enable the vehicle-mounted millimeter-wave radar to transmit radar signals to the target object and receive the echo signals reflected back from the target object. as well as A calibration module is used to calibrate the vehicle-mounted millimeter-wave radar based on the echo signal.

9. An electronic device, comprising: The electronic device includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded by the processor and executed as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The storage medium stores at least one instruction or at least one program segment, which is loaded by a processor and executed according to any one of claims 1 to 7.

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