Radar calibration method, system, device, equipment and storage medium

Abstract

The present disclosure provides a method, system, device, equipment, and storage medium for calibrating a radar, relating to the automotive field. In the present disclosure, calibration objects in a calibration site can be moved by a mobile device. When calibrating an on-board radar on a vehicle, the calibration objects can be moved to the respective positions corresponding to the vehicle model by the mobile device, thereby completing the calibration of the on-board radar on the vehicle. It is easy to see that the calibration site can calibrate on-board radars on vehicles of different models, greatly saving site resources for calibrating on-board radars on vehicles.

Description

Technical Field

[0001] The present disclosure relates to the automotive field, and in particular to a method, system, device, equipment, and storage medium for calibrating a radar. Background Art

[0002] Generally, the method for calibrating an on-board radar of an automobile is to set up calibration sites for different vehicle models. The calibration site is equipped with a vehicle position indicator and multiple fixed calibration objects. The vehicle position indicator is used to indicate the position where the vehicle is parked when calibrating the on-board radar. The placement of the calibration objects in different calibration sites is determined based on the installation position of the on-board radar on different types of vehicles. Then, based on the coordinates of the calibration objects in the vehicle coordinate system and the coordinates of the calibration objects in the on-board radar coordinate system, the conversion relationship between the vehicle coordinate system and the on-board radar coordinate system is obtained, thereby completing the calibration of the on-board radar of the vehicle model. Using the above calibration method, one site can only calibrate the on-board radar of one model, which is a waste of site resources. Summary of the Invention

[0003] The embodiments of the present disclosure provide a method, system, apparatus, device, and storage medium for calibrating a radar, which can solve the technical problems existing in the related art. The technical solutions are as follows:

[0004] In a first aspect, embodiments of the present disclosure provide a method for calibrating a radar. The method is applied to a calibration system, wherein the calibration system includes a control device, a mobile device, a calibration object, and a first vehicle. The first vehicle includes a first on-vehicle radar. The calibration object is mounted on the mobile device, and a movement range of the calibration object on the mobile device is within a detection range of the first on-vehicle radar. The method includes:

[0005] Determining a plurality of positions corresponding to the model of the first vehicle based on a correspondence between the model and the position of the calibration object;

[0006] Controlling the moving device to drive the calibration object to move to the plurality of positions respectively, and controlling the first vehicle-mounted radar to detect the calibration object each time the calibration object moves to a position, to obtain radar detection data corresponding to the calibration object;

[0007] Coordinate conversion information between the coordinate system of the first vehicle and the coordinate system of the first vehicle-mounted radar is determined based on the first coordinate information of the calibration object in the coordinate system of the first vehicle corresponding to each position and the radar detection data.

[0008] In one possible implementation, the first vehicle-mounted radar is a millimeter-wave radar;

[0009] The determining, based on the first coordinate information of the calibration object at each position in the coordinate system of the first vehicle and the radar detection data, coordinate conversion information between the coordinate system of the first vehicle and the coordinate system of the first vehicle-mounted radar includes:

[0010] For each position, the control device determines second coordinate information of the calibration object in the coordinate system of the vehicle-mounted radar based on the radar monitoring data;

[0011] Based on the first coordinate information of the calibration object at each position in the coordinate system of the first vehicle and the second coordinate information at each position, coordinate conversion information between the coordinate system of the first vehicle and the coordinate system of the first vehicle-mounted radar is determined.

[0012] In a possible implementation, the mobile device is a rail vehicle, which includes a track and a vehicle.

[0013] In a possible implementation, the track is a curved track.

[0014] In a possible implementation, the first vehicle-mounted radar is located at the center of the arc track.

[0015] In a possible implementation, the track is a straight track.

[0016] In a second aspect, embodiments of the present disclosure provide a calibration system, comprising a control device, a mobile device, a calibration object, and a first vehicle, wherein the first vehicle includes a first on-vehicle radar, the calibration object is mounted on the mobile device, and a movement range of the calibration object on the mobile device is within a detection range of the first on-vehicle radar;

[0017] The control device is used to:

[0018] Determining a plurality of positions corresponding to the model of the first vehicle based on a correspondence between the model and the position of the calibration object;

[0019] Controlling the moving device to drive the calibration object to move to the plurality of positions respectively, and controlling the first vehicle-mounted radar to detect the calibration object each time the calibration object moves to a position, to obtain radar detection data corresponding to the calibration object;

[0020] Coordinate conversion information between the coordinate system of the first vehicle and the coordinate system of the first vehicle-mounted radar is determined based on the first coordinate information of the calibration object in the coordinate system of the first vehicle corresponding to each position and the radar detection data.

[0021] In one possible implementation, the first vehicle-mounted radar is a millimeter-wave radar;

[0022] The control device is used to:

[0023] For each position, determining second coordinate information of the calibration object in the coordinate system of the vehicle-mounted radar based on the radar monitoring data;

[0024] Based on the first coordinate information of the calibration object at each position in the coordinate system of the first vehicle and the second coordinate information at each position, coordinate conversion information between the coordinate system of the first vehicle and the coordinate system of the first vehicle-mounted radar is determined.

[0025] In a third aspect, embodiments of the present disclosure provide a radar calibration apparatus, the apparatus being applied to a control device, the control device being part of a calibration system, the calibration system comprising the control device, a mobile device, a calibration object, and a first vehicle, the first vehicle comprising a first on-vehicle radar, the calibration object being mounted on the mobile device, and the movement range of the calibration object on the mobile device being within the detection range of the first on-vehicle radar;

[0026] The device comprises:

[0027] a determination module, configured to determine a plurality of positions corresponding to the model of the first vehicle based on a correspondence between the model and the position of the calibration object;

[0028] a control module, configured to control the mobile device to drive the calibration object to move to different positions, and each time the calibration object moves to a different position, control the first vehicle-mounted radar to detect the calibration object to obtain radar detection data corresponding to the calibration object;

[0029] A determination module is used to determine the coordinate conversion information of the coordinate system of the first vehicle and the coordinate system of the first vehicle-mounted radar based on the first coordinate information of the calibration object at each position in the coordinate system of the first vehicle and the radar detection data.

[0030] In one possible implementation, the first vehicle-mounted radar is a millimeter-wave radar;

[0031] The determining module is configured to:

[0032] For each position, determining second coordinate information of the calibration object in the coordinate system of the vehicle-mounted radar based on the radar monitoring data;

[0033] Based on the first coordinate information of the calibration object at each position in the coordinate system of the first vehicle and the second coordinate information at each position, coordinate conversion information between the coordinate system of the first vehicle and the coordinate system of the first vehicle-mounted radar is determined.

[0034] In a fourth aspect, an electronic device is provided, which includes a memory and a processor, wherein the memory is used to store computer instructions; the processor executes the computer instructions stored in the memory to enable the electronic device to perform the method of the first aspect and its possible implementation methods.

[0035] In a fifth aspect, a computer-readable storage medium is provided, which stores computer program code. When the computer program code is executed by an electronic device, the electronic device executes the method of the first aspect and its possible implementation methods.

[0036] In a sixth aspect, a computer program product is provided, which includes a computer program code. When the computer program code is executed by an electronic device, the electronic device executes the method of the first aspect and its possible implementation methods.

[0037] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

[0038] In the present disclosure, the calibration objects in the calibration site can be moved using a mobile device. When calibrating a vehicle's onboard radar, the calibration objects can be moved to their respective positions based on the corresponding calibration objects for that vehicle model, thereby completing the calibration of the vehicle's onboard radar. As can be readily seen, this calibration site can calibrate onboard radars of different vehicle models, significantly saving site resources for calibrating the onboard radars. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0040] Figure 1 is a structural diagram of a control device provided by an embodiment of the present disclosure;

[0041] Figure 2 This is a schematic diagram of a radar calibration process provided by an embodiment of the present disclosure;

[0042] Figure 3 This is a schematic diagram of a process for recording the positional relationship between a vehicle model and a calibration object provided by an embodiment of the present disclosure;

[0043] Figure 4 It is a structural diagram of a device for calibrating a radar provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0044] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0045] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by persons of ordinary skill in the field to which the present disclosure belongs. The terms "first", "second", "third" and similar words used in the patent disclosure specification and claims of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, terms such as "one" or "a" do not indicate a quantity limitation, but rather indicate the presence of at least one. Terms such as "include" or "comprise" mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. Terms such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Terms such as "upper", "lower", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0046] Typically, different vehicle models are calibrated by setting up separate calibration sites for each type of vehicle, typically vehicles with significantly different body sizes or structures. The calibration site includes a vehicle position indicator, which indicates where the vehicle is parked during calibration. The calibration site also contains several calibration objects, each positioned and positioned in a fixed manner. The positions and postures of the multiple calibration objects vary across different calibration sites, ensuring that the radar on the vehicle model corresponding to that site can better detect the calibration objects, resulting in a stronger radar detection signal.

[0047] When calibrating the vehicle-mounted radar using the above method, technicians need to park the vehicle in different locations for different models, which is a cumbersome operation. In addition, this calibration method consumes a lot of site resources.

[0048] The present disclosure provides a calibration system, which includes a control device, a mobile device, a calibration object, and a vehicle. Each component is described below:

[0049] 1. Control equipment

[0050] The control device is used to control the mobile device. The control device can be a single computer device, a server group consisting of multiple computers, or a virtual machine running on a physical computer. The disclosed embodiments describe the control device as a single computer device. Other scenarios are similar and are not further described.

[0051] The control device may include a processor, memory, and communication components, such as Figure 1 As shown, they are introduced below.

[0052] The processor 110 can be a central processing unit (CPU), which can be used to read instructions and process data, for example, to identify radar detection data obtained by a vehicle-mounted radar, and for example, to determine the coordinate information of each calibration object based on the identified radar detection data, and then determine the coordinate conversion information between the vehicle coordinate system and the radar coordinate system, etc.

[0053] The memory 120 can be various volatile or non-volatile memories, such as a solid-state disk (SSD) or dynamic random access memory (DRAM). The memory 120 can be used to store pre-stored data, intermediate data, and result data during the radar calibration process, for example, the coordinate information of each calibration object and the calculated coordinate conversion information.

[0054] The communication component 130 may be a wired network connector, a wireless fidelity (WiFi) module, a Bluetooth module, a cellular network communication module, etc. The communication component 130 may be used to transmit data with other devices. For example, the communication component 130 may send calculated coordinate transformation information to another device, etc.

[0055] 2. Mobile Devices

[0056] The mobile device can be a rail car, which includes a track and a car. The track can be arc-shaped or straight-line. Relevant technicians can determine the shape of the track according to different actual conditions, and the embodiments of the present disclosure do not limit this.

[0057] A calibration object is mounted on the mobile device, and the mobile device can control the object's posture. Specifically, the calibration object can be mounted at a certain location on the mobile device's vehicle. The connection between the vehicle and the calibration object can be non-rigid, meaning the calibration object can be rotated so that it can be oriented in various directions, thereby controlling its posture. The mobile device can also adjust the height of the calibration object. In this way, the mobile device can move the calibration object both horizontally and vertically, and the calibration object's posture can also be changed.

[0058] 3. Calibration Objects

[0059] The calibration object can be a corner reflector, which can also be called a radar reflector. When the radar's electromagnetic wave scans the corner reflection, the electromagnetic wave will be refracted and amplified at the metal corner, generating a very strong echo signal.

[0060] 4. Vehicles

[0061] Vehicles are equipped with onboard radars, which emit electromagnetic waves. Millimeter-wave radars, in particular, emit millimeter-wave electromagnetic waves. Calibration is required to determine the radar's location on the vehicle. This involves converting between the vehicle coordinate system and the radar coordinate system.

[0062] Optionally, the calibration system may further include a baffle coated with an absorbing material to absorb stray electromagnetic waves to reduce the impact of the surrounding environment on the radar detection data.

[0063] The embodiment of the present disclosure provides a method for calibrating a vehicle-mounted radar. This method uses the above-mentioned calibration system and can calibrate vehicles of different models using the same site. Compared with the method of parking vehicles of different models in different sites for calibration, the method provided by the embodiment of the present disclosure greatly simplifies the operation steps of the technician. Figure 2 The processing flow of the method is shown, and the method is implemented by a control device and includes the following steps:

[0064] Step 201 : determining a plurality of positions corresponding to the model of a first vehicle based on a correspondence between the model and the position of a calibration object.

[0065] The corresponding relationship between different vehicle models and the location information of the calibration object can be recorded and stored in advance. The relevant processing flow is as follows: Figure 3 The position information of the calibration object is a set of information, each of which includes the spatial position and posture information of the calibration object.

[0066] Step 202 : Control the moving device to move the calibration object to multiple positions. Each time the calibration object moves to a position, control the first vehicle-mounted radar to detect the calibration object to obtain radar detection data corresponding to the calibration object.

[0067] The vehicle to be calibrated is parked at a pre-set parking position within the calibration site. This position can be marked to indicate the correct parking position. The vehicle model to be calibrated is then determined, and based on the correspondence between the model and the calibration object, the different positions of the calibration object corresponding to the vehicle to be calibrated are determined. A mobile device is then controlled to move the calibration object to each position and adjust its posture to the target posture. Each time the mobile device moves to a new position, the first on-board radar in the vehicle-to-vehicle interface emits electromagnetic waves, thereby acquiring radar detection data.

[0068] Step 203 : Determine coordinate conversion information between the coordinate system of the first vehicle and the coordinate system of the first vehicle-mounted radar based on the first coordinate information of the calibration object at each position in the coordinate system of the first vehicle and the radar detection data.

[0069] After recording and storing the correspondence between different vehicle models and the location information of the calibration object, the correspondence between each location of the calibration object and the second coordinate information can also be stored. The second coordinate information is the coordinate information of the calibration object in the vehicle coordinate system. Each location of the calibration object for each vehicle model corresponds to a second coordinate information. The second coordinate information can be obtained through measurement.

[0070] For each position, based on the radar detection data, the second coordinate information of the calibration object in the coordinate system of the onboard radar is determined. Then, based on the first coordinate information and the second coordinate information, the coordinate conversion information between the coordinate system of the first vehicle and the coordinate system of the onboard radar is determined. Specifically, at each different position of the calibration object, a set of first coordinate information and second coordinate information is obtained. A conversion equation between the first coordinate information and the second coordinate information can be set. Based on several sets of first coordinate information and second coordinate information, several conversion equations are obtained, and then the conversion parameters are calculated, that is, the conversion relationship between the coordinate system of the vehicle and the coordinate system of the onboard radar is obtained.

[0071] The following describes a method for recording and storing the corresponding relationship between different vehicle models and the location information of the calibration object. The following processing is performed on the second vehicle of different vehicle models, such as Figure 3 The processing flow of this method is shown, which includes the following steps:

[0072] Step 301: Control the moving device to move the calibration object to different positions. Each time the calibration object moves to a different position, control the second vehicle-mounted radar to detect the calibration object to obtain radar detection data corresponding to the calibration object.

[0073] First, the vehicle model is determined and recorded. The vehicle model can include information such as the brand and model to indicate the type of vehicle. The range and frequency of movement are then set. For example, if the track is a straight track, the range of movement can be set to 20 cm. If the track is an arc, the range of movement can be set to the length of the arc 20 cm. The arc should be centered around the on-board radar. Furthermore, information about the calibration object's posture change is required to control its rotation. This posture change information can include the angle of movement. Generally speaking, when the calibration object is a set square, the radar detection signal is stronger when the vertex where the three metal panels intersect faces the on-board radar. Each time the moving device moves, the calibration object is controlled to transform based on the pre-set posture change information. When the recording period is reached, that is, each time the calibration object moves and undergoes a posture change at this location, the second on-board radar detects the calibration object and records the corresponding radar detection data. Simultaneously, the calibration object's position and posture information corresponding to the radar detection data is also recorded.

[0074] Step 302 : Determine a target position of the calibration object corresponding to the model of the second vehicle based on the radar detection data of the calibration object at each position.

[0075] Based on several radar detection data detected by the second vehicle-mounted radar, the radar detection data is analyzed to obtain the strength of the detection signal of the radar detection data, and the position and posture of the calibration object corresponding to several radar detection data with stronger detection signals are recorded as the target position of the calibration object corresponding to the vehicle model.

[0076] The technical solutions provided by the embodiments of the present disclosure include at least the following beneficial effects:

[0077] In the disclosed embodiments, the calibration objects in the calibration site can be moved using a mobile device. When calibrating a vehicle's onboard radar, the calibration objects can be moved to their respective positions based on the corresponding calibration objects for that vehicle model, thereby completing the calibration of the vehicle's onboard radar. As can be readily seen, this calibration site can calibrate onboard radars of different vehicle models, significantly saving on site resources for calibrating the vehicle's onboard radars.

[0078] Based on the same technical concept, the embodiment of the present disclosure provides a device for calibrating a radar, such as Figure 4 As shown, the device is applied to a control device, the control device belongs to a calibration system, the calibration system includes the control device, a mobile device, a calibration object and a first vehicle, the first vehicle includes a first vehicle-mounted radar, the calibration object is installed on the mobile device, and the movement range of the calibration object on the mobile device is within the detection range of the first vehicle-mounted radar;

[0079] The device comprises:

[0080] a determination module 410 for determining a plurality of positions corresponding to the model of the first vehicle based on a correspondence between the model and the position of the calibration object;

[0081] The control module 420 is configured to control the mobile device to move the calibration object to different positions, and each time the calibration object moves to a different position, control the first vehicle-mounted radar to detect the calibration object to obtain radar detection data corresponding to the calibration object;

[0082] The determination module 410 is used to determine the coordinate conversion information of the coordinate system of the first vehicle and the coordinate system of the first vehicle-mounted radar based on the first coordinate information of the calibration object at each position in the coordinate system of the first vehicle and the radar detection data.

[0083] In one possible implementation, the first vehicle-mounted radar is a millimeter-wave radar;

[0084] The determining module 410 is configured to:

[0085] For each position, determining second coordinate information of the calibration object in the coordinate system of the vehicle-mounted radar based on the radar monitoring data;

[0086] Based on the first coordinate information of the calibration object at each position in the coordinate system of the first vehicle and the second coordinate information at each position, coordinate conversion information between the coordinate system of the first vehicle and the coordinate system of the first vehicle-mounted radar is determined.

[0087] In the disclosed embodiments, the calibration objects in the calibration site can be moved using a mobile device. When calibrating a vehicle's onboard radar, the calibration objects can be moved to their respective positions based on the corresponding calibration objects for that vehicle model, thereby completing the calibration of the vehicle's onboard radar. As can be readily seen, this calibration site can calibrate onboard radars of different vehicle models, significantly saving on site resources for calibrating the vehicle's onboard radars.

[0088] It should be noted that the radar calibration device provided in the above embodiment, when performing the process of calibrating a vehicle-mounted radar, is illustrated by the division of the above-mentioned functional modules. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the radar calibration device provided in the above embodiment and the radar calibration method embodiment are based on the same concept. The specific implementation process is detailed in the method embodiment and is not repeated here.

[0089] In the above embodiments, they can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, they can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a device, the process or function described in the embodiment of the present disclosure is generated in whole or in part. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by the device or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, and a tape), an optical medium (e.g., a digital video disk (DVD), etc.), or a semiconductor medium (e.g., a solid-state drive, etc.).

[0090] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0091] The above description is only one embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A method for calibrating a radar, characterized in that: The method is applied to a calibration system, the calibration system including a control device, a mobile device, a calibration object, and a first vehicle, the first vehicle including a first vehicle-mounted radar, the calibration object being mounted on the mobile device, the movement range of the calibration object on the mobile device being within the detection range of the first vehicle-mounted radar, the method comprising: Determining a plurality of positions corresponding to the model of the first vehicle based on a correspondence between the model and the position of the calibration object; Controlling the moving device to drive the calibration object to move to the plurality of positions respectively, and controlling the first vehicle-mounted radar to detect the calibration object each time the calibration object moves to a position, to obtain radar detection data corresponding to the calibration object; Coordinate conversion information between the coordinate system of the first vehicle and the coordinate system of the first vehicle-mounted radar is determined based on the first coordinate information of the calibration object in the coordinate system of the first vehicle corresponding to each position and the radar detection data.

2. The method according to claim 1, characterized in that The first vehicle-mounted radar is a millimeter-wave radar; The determining, based on the first coordinate information of the calibration object at each position in the coordinate system of the first vehicle and the radar detection data, coordinate conversion information between the coordinate system of the first vehicle and the coordinate system of the first vehicle-mounted radar includes: For each position, determining second coordinate information of the calibration object in the coordinate system of the vehicle-mounted radar based on the radar detection data; Based on the first coordinate information of the calibration object at each position in the coordinate system of the first vehicle and the second coordinate information at each position, coordinate conversion information between the coordinate system of the first vehicle and the coordinate system of the first vehicle-mounted radar is determined.

3. The method according to claim 1, characterized in that The mobile device is a rail vehicle, which includes a track and a vehicle.

4. The method according to claim 3, characterized in that The track is a curved track.

5. The method according to claim 4, characterized in that The first vehicle-mounted radar is located at the center of the arc track.

6. A calibration system, characterized in that: The calibration system includes a control device, a mobile device, a calibration object, and a first vehicle, wherein the first vehicle includes a first vehicle-mounted radar, the calibration object is mounted on the mobile device, and a movement range of the calibration object on the mobile device is within a detection range of the first vehicle-mounted radar; The control device is used to: Determining a plurality of positions corresponding to the model of the first vehicle based on a correspondence between the model and the position of the calibration object; Controlling the moving device to drive the calibration object to move to the plurality of positions respectively, and controlling the first vehicle-mounted radar to detect the calibration object each time the calibration object moves to a position, to obtain radar detection data corresponding to the calibration object; Coordinate conversion information between the coordinate system of the first vehicle and the coordinate system of the first vehicle-mounted radar is determined based on the first coordinate information of the calibration object in the coordinate system of the first vehicle corresponding to each position and the radar detection data.

7. A device for calibrating a radar, characterized in that: The device is applied to a control device, the control device belongs to a calibration system, the calibration system includes the control device, a mobile device, a calibration object and a first vehicle, the first vehicle includes a first vehicle-mounted radar, the calibration object is mounted on the mobile device, and the movement range of the calibration object on the mobile device is within the detection range of the first vehicle-mounted radar; The device comprises: a determination module, configured to determine a plurality of positions corresponding to the model of the first vehicle based on a correspondence between the model and the position of the calibration object; a control module, configured to control the mobile device to drive the calibration object to move to different positions, and each time the calibration object moves to a different position, control the first vehicle-mounted radar to detect the calibration object to obtain radar detection data corresponding to the calibration object; The determination module is used to determine the coordinate conversion information of the coordinate system of the first vehicle and the coordinate system of the first vehicle-mounted radar based on the first coordinate information of the calibration object at each position in the coordinate system of the first vehicle and the radar detection data.

8. An electronic device, characterized in that: The electronic device includes a memory and a processor, wherein the memory is used to store computer instructions; The processor executes the computer instructions stored in the memory to enable the electronic device to perform the method according to any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program code. When the computer program code is executed by an electronic device, the electronic device executes the method according to any one of claims 1 to 5.

10. A computer program product, characterized in that The computer program product includes computer program code. When the computer program code is executed by an electronic device, the electronic device performs the method according to any one of claims 1 to 5.

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