Radar calibration and verification method, device, equipment, storage medium and product

Abstract

The present application discloses a radar calibration and verification method, device, equipment, storage medium and product, which relates to the field of electronic appliances. The method includes: discretely segmenting the calibration angle range and the verification angle range of the radar to obtain the calibration angle segment and the verification angle segment, and placing the radar on a mechanical arm; running the mechanical arm, and when it is detected that the angle corresponding to the radar falls within the calibration angle segment, calibrating and calculating the radar's guidance vector set within the calibration angle segment; when it is detected that the angle corresponding to the radar falls within the verification angle segment, collecting the radar's amplitude and phase information set within the verification angle segment; and verifying the radar based on the guidance vector set and the amplitude and phase information set. The present application discretely segments the calibration angle range and the verification angle range of the radar to obtain the calibration angle segment and the verification angle segment, and calibrates and verifies the radar in the calibration angle segment and the verification angle segment, which improves the radar calibration and verification efficiency while taking into account the radar angle measurement performance.

Description

Technical Field

[0001] The present application relates to the field of electronic appliances, and in particular to a radar calibration and verification method, device, equipment, storage medium and product. Background Art

[0002] As one of the sensors widely used in assisted driving, millimeter-wave radar can accurately obtain information such as the distance, speed, and angle of the target vehicle through signal processing. Parameters such as the calibration coefficient used in millimeter-wave radar angle measurement and the distance compensation value used in distance measurement need to be calculated in advance on the production line and stored in memory for use by vehicles on urban roads or high-speed scenarios.

[0003] The high-frequency millimeter-wave radar has a very short signal wavelength, so its angle measurement performance is easily affected by manufacturing process deviations. In particular, if there are deviations in the PCB manufacturing process, the RF path will be delayed. Therefore, each radar must pass the radar calibration station on the production line before it goes offline. Since the time taken by the radar calibration station directly determines the cost of the production line, it is very important to adopt a radar calibration and verification solution that can both guarantee angle measurement performance and save processing time. Summary of the invention

[0004] The main purpose of this application is to provide a radar calibration and verification method, device, equipment, storage medium and product, aiming to solve the technical problem that the prior art cannot save radar calibration and verification time while ensuring angle measurement performance.

[0005] To achieve the above object, the present application provides a radar calibration and verification method, the method comprising the following steps:

[0006] The radar is placed on a mechanical arm and the calibration angle range and the verification angle range are discretely segmented to obtain calibration angle segments and verification angle segments.

[0007] Running the robotic arm, when detecting that the angle corresponding to the radar falls within the calibration angle segment, calibrating and calculating a set of steering vectors of the radar within the calibration angle segment;

[0008] When it is detected that the angle corresponding to the radar falls within the verification angle segment, collecting a set of amplitude and phase information of the radar within the verification angle segment;

[0009] The radar is verified based on the steering vector set and the amplitude and phase information set.

[0010] In one embodiment, the calibration angle segment includes a first calibration angle segment, a second calibration angle segment and a third calibration angle segment, the verification angle segment includes a first verification angle segment, a second verification angle segment and a third verification angle segment, and the step of performing discrete segmentation processing on the calibration angle range and the verification angle range of the radar to obtain the calibration angle segment and the verification angle segment includes:

[0011] Determine a calibration angle range and a verification angle range of the radar according to the field of view angle range of the radar, and discretize the calibration angle range and the verification angle range to obtain a calibration discrete interval and a verification discrete interval;

[0012] Segmenting the calibration angle range based on the calibration discrete intervals to obtain a first calibration angle segment, a second calibration angle segment, and a third calibration angle segment;

[0013] The calibration angle range is segmented based on the calibration discrete interval to obtain a first calibration angle segment, a second calibration angle segment and a third calibration angle segment.

[0014] In one embodiment, when the angle corresponding to the radar is detected to fall within the calibration angle segment, the step of calibrating and calculating the steering vector set of the radar within the calibration angle segment includes:

[0015] Operating the robotic arm so that the robotic arm starts to move at a preset rotation speed from an initial angle;

[0016] When it is detected that the angle corresponding to the radar reaches the sampling angle within the calibration angle segment, the radar is calibrated and a set of steering vectors within the calibration angle segment is calculated based on the real amplitude and phase information corresponding to the sampling angle.

[0017] In one embodiment, the step of calibrating and calculating a set of steering vectors of the radar within the calibration angle segment based on the real amplitude and phase information of the radar corresponding to the sampling angle includes:

[0018] Calibrate and calculate a real steering vector group of the radar at the sampling angle based on the real amplitude and phase information of the radar corresponding to the sampling angle;

[0019] An interpolation steering vector group is obtained by performing interpolation calculation on the real steering vector group, and the real steering vector group and the interpolation steering vector group are combined into a steering vector set.

[0020] In one embodiment, the step of performing interpolation calculation on the real steering vector group to obtain an interpolated steering vector group, and merging the real steering vector group and the interpolated steering vector group into a steering vector set includes:

[0021] Dividing the real steering vector group into a plurality of target vector pairs, wherein the target vector pairs are real steering vectors in the real steering vector group that are adjacent in angle to each other;

[0022] An interpolation steering vector group is obtained after interpolation calculation is performed on the target vector pair, and the real steering vector group and the interpolation steering vector group are combined into a steering vector set.

[0023] In one embodiment, the step of verifying the radar based on the steering vector set and the amplitude and phase information set includes:

[0024] Determining a calibration angle of the radar based on the steering vector set and the amplitude and phase information set, and calculating a difference between the calibration angle and a current angle corresponding to the mechanical arm;

[0025] If the difference value is greater than a preset threshold, it is determined that the radar has failed the verification; if the difference value is less than or equal to the preset threshold, it is determined that the radar has passed the verification.

[0026] In addition, to achieve the above purpose, the present application also proposes a radar calibration and verification device, the radar calibration and verification device comprising:

[0027] A discrete segmentation module is used to perform discrete segmentation processing on the calibration angle range and the verification angle range of the radar to obtain the calibration angle segment and the verification angle segment, wherein the radar is placed on the mechanical arm;

[0028] A radar calibration module, used to operate the manipulator, and when it is detected that the angle corresponding to the radar falls within the calibration angle segment, calibrate and calculate the steering vector set of the radar within the calibration angle segment;

[0029] A data acquisition module, configured to acquire a set of amplitude and phase information of the radar within the verification angle segment when it is detected that the angle corresponding to the radar falls within the verification angle segment;

[0030] A radar calibration module is used to calibrate the radar based on the steering vector set and the amplitude and phase information set.

[0031] In addition, to achieve the above-mentioned purpose, the present application also proposes a radar calibration and verification device, which includes: a memory, a processor, and a radar calibration and verification program stored in the memory and executable on the processor, and the radar calibration and verification program is configured to implement the steps of the radar calibration and verification method described above.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a radar calibration verification program is stored on the storage medium. When the radar calibration verification program is executed by the processor, the steps of the radar calibration verification method described above are implemented.

[0033] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer program product, which includes a radar calibration and verification program, and when the radar calibration and verification program is executed by a processor, the steps of the radar calibration and verification method described above are implemented.

[0034] The present application performs discrete segmentation processing on the calibration angle range and the verification angle range of the radar to obtain the calibration angle segment and the verification angle segment, and the radar is placed on a mechanical arm; the mechanical arm is operated, and when it is detected that the angle corresponding to the radar falls within the calibration angle segment, the steering vector set of the radar within the calibration angle segment is calibrated and calculated; when it is detected that the angle corresponding to the radar falls within the verification angle segment, the amplitude and phase information set of the radar within the verification angle segment is collected; the radar is verified based on the steering vector set and the amplitude and phase information set. Compared with the traditional radar calibration and verification method, the above method of the present application performs discrete segmentation processing on the calibration angle range and the verification angle range of the radar to obtain the calibration angle segment and the verification angle segment, and calibrates and verifies the radar in the calibration angle segment and the verification angle segment, thereby improving the radar calibration and verification efficiency while taking into account the radar's angle measurement performance for large and small angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of the structure of a radar calibration and verification device in a hardware operating environment according to an embodiment of the present application;

[0036] Figure 2 This is a flow chart of the first embodiment of the radar calibration and verification method of the present application;

[0037] Figure 3 This is a flow chart of a second embodiment of the radar calibration and verification method of the present application;

[0038] Figure 4 This is a flow chart of a third embodiment of the radar calibration and verification method of the present application;

[0039] Figure 5 This is a structural block diagram of the first embodiment of the radar calibration and verification device of the present application.

[0040] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0042] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of the radar calibration and verification equipment in the hardware operating environment involved in the embodiment of the present application.

[0043] like Figure 1 As shown, the radar calibration and verification device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RandomAccess Memory, RAM) or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0044] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the radar calibration and verification equipment, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently.

[0045] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a radar calibration and verification program.

[0046] exist Figure 1 In the radar calibration and verification device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the radar calibration and verification device of the present application can be set in the radar calibration and verification device, and the radar calibration and verification device calls the radar calibration and verification program stored in the memory 1005 through the processor 1001, and executes the radar calibration and verification method provided in the embodiment of the present application.

[0047] The present application embodiment provides a radar calibration and verification method, referring to Figure 2 , Figure 2 This is a flow chart of the first embodiment of the radar calibration and verification method of the present application.

[0048] In this embodiment, the radar calibration and verification method includes the following steps:

[0049] Step S1: discretely segmenting the calibration angle range and the verification angle range of the radar to obtain calibration angle segments and verification angle segments, wherein the radar is placed on a mechanical arm.

[0050] It should be noted that the execution subject of the method of this embodiment can be a terminal device with data calculation, data processing and program running functions, such as a smart phone, a computer, etc., or an electronic device with the same or similar functions, such as the above-mentioned radar calibration and verification device. The following takes the radar calibration and verification device as an example to illustrate this embodiment and the following embodiments.

[0051] It can be understood that the above-mentioned calibration angle range can be the angle range between the maximum calibration angle and the minimum calibration angle of the radar, and the above-mentioned verification angle range can be the angle range between the maximum verification angle and the minimum verification angle of the radar. The above-mentioned radar is placed on a robotic arm and moves with the movement of the robotic arm.

[0052] In a specific implementation, the calibration angle range and the verification angle range of the above radar may be pre-discretized into a preset number of segments (e.g., three segments), and then the calibration angle range may be divided into a plurality of calibration angle segments and the verification angle range may be divided into a plurality of verification angle segments based on a step length (also called a discrete interval). In addition, the number of calibration angle segments and verification angle segments is not limited in this embodiment.

[0053] More specifically, after being clamped by the robotic arm, the radar can be placed in the tooling (i.e., auxiliary device or tool) on the robotic arm. When the radar is installed on the tooling by the manipulator, the robotic arm will reset to 0°, that is, the radar will face the target (the target is stationary from beginning to end). After power-on, the robotic arm will move to the minimum angle set by the program, and then move to the maximum angle set by the radar calibration and verification program according to the speed set by the radar calibration and verification program, and finally reset to 0°. The target used for radar calibration is fixed in front of the radar, and the robotic arm rotates so that the radar faces the target at different angles, that is, the radar and the target move relative to each other, thereby realizing the calibration and verification of the radar at various angles.

[0054] Step S2: Run the robotic arm, and when it is detected that the angle corresponding to the radar falls within the calibration angle segment, calibrate and calculate the steering vector set of the radar within the calibration angle segment.

[0055] It should be understood that each radar needs to pass through the radar calibration station on the production line before it goes off the production line, and the goal of the calibration is to obtain the correct guidance vector.

[0056] It is understandable that the above steering vector set includes several steering vectors, which are used to describe how the antenna array adjusts its beam to maximize the reception or transmission of signals from a specific direction. The steering vector is usually represented as a complex vector, whose elements correspond to the complex weights of each element in the antenna array. These weights can be phase weights, amplitude weights, or a combination of the two, which are used to achieve beam focusing and pointing.

[0057] In the specific implementation, the radar calibration process can be briefly described as the manipulator placing the radar on the tooling with the robotic arm, then the robotic arm moves to the specified initial angle, the radar is powered on, and the software pre-burned in the radar performs amplitude and phase data collection and guidance vector calculation as the robotic arm moves. When the robotic arm moves to the last specified angle, and when the software processes the data of the last angle, the guidance vectors of all angles are automatically stored in the memory, thereby obtaining the guidance vector set within the above calibration angle segment, and notifying the robotic arm that the radar calibration process is over.

[0058] Step S3: when it is detected that the angle corresponding to the radar falls within the verification angle segment, a set of amplitude and phase information of the radar within the verification angle segment is collected.

[0059] It should be noted that the above-mentioned amplitude and phase information set contains several amplitude and phase information, which refers to the amplitude (Amplitude) and phase (Phase) information in the target echo signal received by the radar. Among them, the amplitude information reflects the strength or energy of the echo signal, which is usually related to factors such as the size, shape, reflection characteristics of the target and the distance between the radar and the target; the phase information describes the phase difference between the echo signal and the transmitted signal, which contains the target's position information (such as distance, direction) and the target's motion information (such as speed).

[0060] In a specific implementation, the amplitude and phase information set of the radar within the calibration angle segment can be collected through software burned into the radar in advance.

[0061] Step S4: verifying the radar based on the steering vector set and the amplitude and phase information set.

[0062] It should be noted that, similar to the radar calibration process, the software in the radar collects amplitude and phase information as the robotic arm moves, and at the same time retrieves the guidance vector in the memory for angle calculation. More specifically, the correctness of the guidance vector can be measured by comparing the difference between the angle calculated by the software and the current angle of the robotic arm: if the difference is greater than the threshold, it is incorrect; otherwise, it is correct. When the robotic arm moves to the last angle and the software calculates the last angle, it indicates that the radar calibration process is over.

[0063] In this embodiment, the calibration angle range and the verification angle range of the radar are processed by discrete segmentation to obtain the calibration angle segment and the verification angle segment, and the radar is placed on a mechanical arm; the mechanical arm is operated, and when it is detected that the angle corresponding to the radar falls within the calibration angle segment, the steering vector set of the radar within the calibration angle segment is calibrated and calculated; when it is detected that the angle corresponding to the radar falls within the verification angle segment, the amplitude and phase information set of the radar within the verification angle segment is collected; and the radar is verified based on the steering vector set and the amplitude and phase information set. Compared with the traditional radar calibration and verification method, the above method of this embodiment processes the calibration angle range and the verification angle range of the radar by discrete segmentation to obtain the calibration angle segment and the verification angle segment, and calibrates and verifies the radar in the calibration angle segment and the verification angle segment, thereby improving the radar calibration and verification efficiency while taking into account the radar's angle measurement performance for large and small angles.

[0064] refer to Figure 3 , Figure 3 This is a flow chart of the second embodiment of the radar calibration and verification method of the present application.

[0065] In a feasible implementation manner, the calibration angle segment includes a first calibration angle segment, a second calibration angle segment and a third calibration angle segment, the verification angle segment includes a first verification angle segment, a second verification angle segment and a third verification angle segment, and the step S1 may include:

[0066] Step S11: determining a calibration angle range and a verification angle range of the radar according to the field of view angle range of the radar, and performing discretization processing on the calibration angle range and the verification angle range to obtain a calibration discrete interval and a verification discrete interval.

[0067] It should be noted that the field of view (FOV) of the above radar refers to the angular range in which the radar can detect targets. In particular, the field of view of the radar can be determined by parameters such as the radar's antenna type, shape, size, operating frequency, and detection mode. The above discrete intervals can be flexibly set based on the properties of the radar and the application scenario. For example, the discrete intervals can include a first discrete interval, a second discrete interval, and a third discrete interval, and the numerical relationship between the first discrete interval, the second discrete interval, and the third discrete interval may be the same or different, and this embodiment does not limit this.

[0068] Step S12: segmenting the calibration angle range based on the calibration discrete intervals to obtain a first calibration angle segment, a second calibration angle segment and a third calibration angle segment.

[0069] In the specific implementation, the calibration angle can be minimized according to the FOV range. , the maximum is The above calibration angle range can be discretized into three segments (i.e., the first calibration angle segment, the second calibration angle segment, and the third calibration angle segment), and the first segment is recorded as ( : : ), the second paragraph is recorded as ( : : ), the third paragraph is recorded as ( : : ).in equal , equal , equal , equal . , , They respectively represent the step sizes of the three segments, namely the first discrete interval, the second discrete interval and the third discrete interval mentioned above.

[0070] Step S13: segmenting the calibration angle range based on the verification discrete intervals to obtain a first verification angle segment, a second verification angle segment and a third verification angle segment.

[0071] In the specific implementation, the minimum calibration angle can be , the maximum is The above calibration angle range can be discretized into three segments (i.e., the first calibration angle segment, the second calibration angle segment, and the third calibration angle segment), and the first segment is recorded as ( : : ), the second paragraph is recorded as ( : : ), the third paragraph is recorded as ( : : ).in:

[0072] =

[0073] =

[0074]

[0075] .

[0076] For example, suppose that during a radar calibration process, according to the antenna design and angle measurement performance indicators, is -80°, is 80°. The first calibration angle segment, the second calibration angle segment and the third calibration angle segment are (-80°:2°:-40°), (-40°:4°:40°), (40°:2°:80°) respectively (In this example, a larger step size will increase the angle measurement error. In actual application scenarios, the selection of the step size can be adaptively adjusted according to the angle measurement error result). It should be noted that the reason why the step size for large angle settings is small, such as (-80°:2°:-40°) and (40°:2°:80°) mentioned above, and the step size for small angle settings is large, such as (-40°:4°:40°) mentioned above, is because the larger the angle, the worse the phase fluctuation, which is specifically manifested as the more sensitive the angle measurement error is to the step size. Therefore, a smaller step size needs to be set for large angles, and a larger step size can be set for small angles. Based on the above discussion, the steering vector corresponding to the angle calculated from -80° to 80° with a step size of 1° can be recorded as ,in That is, in this example, the first calibration angle segment, the second calibration angle segment, and the third calibration angle segment are (-79°:2°:-41°), (-38°:4°:38°), and (41°:2°:79°), respectively. , represents any angle in the discrete calibration angle described in S2, and at the same time collects the amplitude and phase information of the angle, which is recorded as , and are stored in sequence in a specific memory.

[0077] In a feasible implementation manner, the step S4 may include:

[0078] Step S41: Determine the calibration angle of the radar based on the steering vector set and the amplitude and phase information set, and calculate the difference between the calibration angle and the current angle corresponding to the mechanical arm.

[0079] Step S42: If the difference value is greater than a preset threshold, it is determined that the radar has not passed the verification; if the difference value is less than or equal to the preset threshold, it is determined that the radar has passed the verification.

[0080] It should be noted that in the traditional radar calibration and verification method, the radar calibration link and the radar verification link are usually two independent links, and there is a mechanical arm reset process between the two links, which will take a certain amount of time. However, in order to save costs, this embodiment can integrate radar calibration and radar verification into one link, saving the mechanical arm reset time.

[0081] In this embodiment, the calibration angle range and the verification angle range of the radar are determined according to the field of view angle range of the radar, and the calibration angle range and the verification angle range are discretely processed to obtain a calibration discrete interval and a verification discrete interval; the calibration angle range is segmented based on the calibration discrete interval to obtain a first calibration angle segment, a second calibration angle segment and a third calibration angle segment; the calibration angle range is segmented based on the verification discrete interval to obtain a first verification angle segment, a second verification angle segment and a third verification angle segment; the verification angle of the radar is determined based on the steering vector set and the amplitude and phase information set, and the difference between the verification angle and the current angle corresponding to the manipulator is calculated; if the difference is greater than a preset threshold, it is determined that the radar has not passed the verification, and if the difference is less than or equal to the preset threshold, it is determined that the radar has passed the verification. Compared with the traditional radar calibration and verification method, the above method of this embodiment accelerates the running speed of the manipulator to improve the calibration and verification efficiency of the radar by discretely segmenting the angles within the FOV range; at the same time, by integrating the two independent links of radar calibration and radar verification into one link, the time for resetting the manipulator is saved.

[0082] refer to Figure 4 , Figure 4 This is a flow chart of the third embodiment of the radar calibration and verification method of the present application.

[0083] In a feasible implementation manner, the step S2 may include:

[0084] Step S21: operating the robotic arm so that the robotic arm starts to move at a preset rotation speed from an initial angle.

[0085] Step S22: When it is detected that the angle corresponding to the radar reaches the sampling angle within the calibration angle segment, the steering vector set of the radar within the calibration angle segment is calibrated and calculated based on the real amplitude and phase information of the radar corresponding to the sampling angle.

[0086] It should be noted that from arrive The steering vector corresponding to the calibration angle needs to be calculated according to a 1° step size, which is recorded as ,in . Let the turntable change from angle Start the movement, assuming the turntable moves to , Indicates any angle in the discrete calibration angles described in S1. At the same time, the software pre-burned into the radar will collect the real amplitude and phase information of the angle channel after calibration, which is recorded as Then the steering vector of the calibration angle is recorded as ,in , calculated as follows:

[0087] .

[0088] in, Indicates the total number of antennas, Indicates the current antenna number.

[0089] When the turntable moves to ,in express At the same time, the real amplitude and phase information of the angle channel after calibration is collected and recorded as Then the steering vector of this angle is recorded as ,in , calculated as follows:

[0090] .

[0091] In a feasible implementation manner, the step S22 may include:

[0092] Step S221: Calibrate and calculate the real steering vector group of the radar at the sampling angle based on the real amplitude and phase information of the radar corresponding to the sampling angle.

[0093] Step S222: performing interpolation calculation on the real steering vector group to obtain an interpolated steering vector group, and merging the real steering vector group and the interpolated steering vector group into a steering vector set.

[0094] In the specific implementation, and Take interpolation calculation as an example. Interpolation calculation is to calculate and The steering vector corresponding to the 1° step interval angle is recorded as ,in , calculated as follows:

[0095] .

[0096] By analogy, we can get arrive All steering vectors corresponding to 1° steps.

[0097] In a feasible implementation manner, the step S222 may include:

[0098] Step S2221: Divide the real steering vector group into a plurality of target vector pairs, where the target vector pairs are real steering vectors in the real steering vector group that are angularly adjacent to each other.

[0099] Step S2222: performing interpolation calculation on the target vector pair to obtain an interpolation steering vector group, and merging the real steering vector group and the interpolation steering vector group into a steering vector set.

[0100] It is understandable that, assuming that the radar calibration and verification process mentioned in step S13 is still taken as an example, the amplitude and phase information after -80° channel calibration can be obtained in the first calibration angle segment. and -78° amplitude and phase information . We can further obtain the corresponding steering vector and , as shown below:

[0101] .

[0102] The -79° steering vector can be obtained by interpolating the amplitude and phase information of the -80° and -78° channels after calibration. The specific interpolation method is as follows:

[0103] .

[0104] By analogy, the steering vectors corresponding to all calibration angles with 1° steps in the first calibration angle segment (-80°: 1°: -40°) and all calibration angles with 1° steps in the third calibration angle segment (40°: 1°: 80°) can be obtained.

[0105] In the second calibration angle segment, the amplitude and phase information of the -40° channel after calibration can be obtained respectively. Amplitude and phase information after calibration of -36° channel . We can further obtain the corresponding steering vector and , as shown below:

[0106] .

[0107] Steering vectors of -39°, -38°, -37° , , It can be obtained by interpolating the amplitude and phase information after calibration of the -40° and -36° channels. The specific interpolation method is as follows:

[0108]

[0109] By analogy, the steering vectors corresponding to all calibration angles (-40°:1°:40°) with a step of 1° in the second calibration angle segment can be obtained. Since calibration and verification are performed at intervals, when the calibration angle is reached, the amplitude and phase information at the angle is saved in sequence. Until the last angle, i.e., 80°, the calibration is completed, and all steering vectors are combined to calculate the angle of all amplitude and phase information in the memory, thus completing all steering vector calculations and verification angle calculations.

[0110] In this embodiment, the manipulator is operated so that the manipulator moves at a preset speed from an initial angle; when it is detected that the angle corresponding to the radar reaches the sampling angle within the calibration angle segment, the real steering vector group of the radar at the sampling angle is calibrated and calculated based on the real amplitude and phase information corresponding to the radar at the sampling angle; the real steering vector group is divided into a number of target vector pairs, and the target vector pairs are real steering vectors with adjacent angles in the real steering vector group; the target vector pairs are interpolated to obtain an interpolated steering vector group, and the real steering vector group and the interpolated steering vector group are combined into a steering vector set. Compared with the traditional radar calibration and verification method, the above method of this embodiment compensates for the radar angle measurement performance loss caused by the angle discreteness of the turntable speed corresponding to the manipulator by interpolating the steering vector in the radar calibration, and adopts the segmented discrete method (i.e., different discrete intervals are used for different angle segments), ultimately ensuring that both cost and performance are taken into account.

[0111] In addition, an embodiment of the present application further proposes a storage medium, on which a radar calibration and verification program is stored. When the radar calibration and verification program is executed by a processor, the steps of the radar calibration and verification method described above are implemented.

[0112] Reference Figure 5 , Figure 5 This is a structural block diagram of the first embodiment of the radar calibration and verification device of the present application.

[0113] like Figure 5As shown, the radar calibration and verification device proposed in the embodiment of the present application includes:

[0114] A discrete segmentation module 501 is used to perform discrete segmentation processing on the calibration angle range and the verification angle range of the radar to obtain calibration angle segments and verification angle segments, wherein the radar is placed on the mechanical arm;

[0115] A radar calibration module 502 is used to operate the manipulator, and when it is detected that the angle corresponding to the radar falls within the calibration angle segment, calibrate and calculate the steering vector set of the radar within the calibration angle segment;

[0116] The data acquisition module 503 is used to acquire a set of amplitude and phase information of the radar within the verification angle segment when it is detected that the angle corresponding to the radar falls within the verification angle segment;

[0117] The radar verification module 504 is used to verify the radar based on the steering vector set and the amplitude and phase information set.

[0118] In this embodiment, the calibration angle range and the verification angle range of the radar are processed by discrete segmentation to obtain the calibration angle segment and the verification angle segment, and the radar is placed on a mechanical arm; the mechanical arm is operated, and when it is detected that the angle corresponding to the radar falls within the calibration angle segment, the steering vector set of the radar within the calibration angle segment is calibrated and calculated; when it is detected that the angle corresponding to the radar falls within the verification angle segment, the amplitude and phase information set of the radar within the verification angle segment is collected; and the radar is verified based on the steering vector set and the amplitude and phase information set. Compared with the traditional radar calibration and verification method, the above method of this embodiment processes the calibration angle range and the verification angle range of the radar by discrete segmentation to obtain the calibration angle segment and the verification angle segment, and calibrates and verifies the radar in the calibration angle segment and the verification angle segment, thereby improving the radar calibration and verification efficiency while taking into account the radar's angle measurement performance for large and small angles.

[0119] Based on the first embodiment of the radar calibration and verification device described above in the present application, a second embodiment of the radar calibration and verification device described above in the present application is proposed.

[0120] In this embodiment, the calibration angle segment includes a first calibration angle segment, a second calibration angle segment and a third calibration angle segment, and the verification angle segment includes a first verification angle segment, a second verification angle segment and a third verification angle segment. The discrete segmentation module 501 is also used to determine the calibration angle range and the verification angle range of the radar according to the field of view angle range of the radar, and to discretize the calibration angle range and the verification angle range to obtain a calibration discrete interval and a verification discrete interval; to segment the calibration angle range based on the calibration discrete interval to obtain a first calibration angle segment, a second calibration angle segment and a third calibration angle segment; to segment the calibration angle range based on the verification discrete interval to obtain a first verification angle segment, a second verification angle segment and a third verification angle segment.

[0121] Furthermore, the radar calibration module 502 is also used to run the robotic arm so that the robotic arm moves at a preset speed starting from an initial angle; when it is detected that the angle corresponding to the radar reaches a sampling angle within the calibration angle segment, the radar is calibrated based on the real amplitude and phase information corresponding to the sampling angle and the steering vector set of the radar within the calibration angle segment is calculated.

[0122] Furthermore, the radar calibration module 502 is also used to calibrate and calculate a real steering vector group of the radar at the sampling angle based on the real amplitude and phase information corresponding to the radar at the sampling angle; obtain an interpolated steering vector group after interpolation calculation of the real steering vector group, and merge the real steering vector group and the interpolated steering vector group into a steering vector set.

[0123] Furthermore, the radar calibration module 502 is also used to divide the real steering vector group into a number of target vector pairs, where the target vector pairs are real steering vectors that are angularly adjacent to each other in the real steering vector group; obtain an interpolation steering vector group after interpolation calculation on the target vector pairs, and merge the real steering vector group and the interpolation steering vector group into a steering vector set.

[0124] Furthermore, the radar verification module 504 is also used to determine the verification angle of the radar based on the steering vector set and the amplitude and phase information set, and calculate the difference between the verification angle and the current angle corresponding to the robotic arm; if the difference is greater than a preset threshold, it is determined that the radar has failed the verification; if the difference is less than or equal to the preset threshold, it is determined that the radar has passed the verification.

[0125] Other embodiments or specific implementation methods of the radar calibration and verification device of the present application can refer to the above-mentioned method embodiments and will not be repeated here.

[0126] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0127] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0128] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0129] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A radar calibration and verification method, characterized in that: The method comprises the following steps: The radar is placed on a mechanical arm and the calibration angle range and the verification angle range are discretely segmented to obtain calibration angle segments and verification angle segments. Running the robotic arm, when detecting that the angle corresponding to the radar falls within the calibration angle segment, calibrating and calculating a set of steering vectors of the radar within the calibration angle segment; When it is detected that the angle corresponding to the radar falls within the verification angle segment, an amplitude and phase information set of the radar within the verification angle segment is collected, where the amplitude and phase information set includes an amplitude information set and a phase information set; Verifying the radar based on the steering vector set and the amplitude and phase information set; Wherein, when it is detected that the angle corresponding to the radar falls within the calibration angle segment, the step of calibrating and calculating the steering vector set of the radar within the calibration angle segment includes: Operating the robotic arm so that the robotic arm starts to move at a preset rotation speed from an initial angle; When it is detected that the angle corresponding to the radar reaches the sampling angle within the calibration angle segment, calibrate and calculate the steering vector set of the radar within the calibration angle segment based on the real amplitude and phase information of the radar corresponding to the sampling angle; The step of calibrating and calculating a set of steering vectors of the radar within the calibration angle segment based on the real amplitude and phase information of the radar corresponding to the sampling angle comprises: Calibrate and calculate a real steering vector group of the radar at the sampling angle based on the real amplitude and phase information of the radar corresponding to the sampling angle; Performing interpolation calculation on the real steering vector group to obtain an interpolated steering vector group, and merging the real steering vector group and the interpolated steering vector group into a steering vector set; The step of performing interpolation calculation on the real steering vector group to obtain an interpolated steering vector group, and merging the real steering vector group and the interpolated steering vector group into a steering vector set comprises: Dividing the real steering vector group into a plurality of target vector pairs, wherein the target vector pairs are real steering vectors in the real steering vector group that are adjacent in angle to each other; An interpolation steering vector group is obtained after interpolation calculation is performed on the target vector pair, and the real steering vector group and the interpolation steering vector group are combined into a steering vector set.

2. The radar calibration and verification method according to claim 1, characterized in that: The calibration angle segment includes a first calibration angle segment, a second calibration angle segment and a third calibration angle segment, the verification angle segment includes a first verification angle segment, a second verification angle segment and a third verification angle segment, and the step of performing discrete segmentation processing on the calibration angle range and the verification angle range of the radar to obtain the calibration angle segment and the verification angle segment includes: Determine a calibration angle range and a verification angle range of the radar according to the field of view angle range of the radar, and discretize the calibration angle range and the verification angle range to obtain a calibration discrete interval and a verification discrete interval; Segmenting the calibration angle range based on the calibration discrete intervals to obtain a first calibration angle segment, a second calibration angle segment, and a third calibration angle segment; The calibration angle range is segmented based on the calibration discrete interval to obtain a first calibration angle segment, a second calibration angle segment and a third calibration angle segment.

3. The radar calibration and verification method according to claim 1, characterized in that: The step of verifying the radar based on the steering vector set and the amplitude and phase information set comprises: Determining a calibration angle of the radar based on the steering vector set and the amplitude and phase information set, and calculating a difference between the calibration angle and a current angle corresponding to the mechanical arm; If the difference value is greater than a preset threshold, it is determined that the radar has failed the verification; if the difference value is less than or equal to the preset threshold, it is determined that the radar has passed the verification.

4. A radar calibration and verification device, characterized in that: The radar calibration and verification device comprises: A discrete segmentation module is used to perform discrete segmentation processing on the calibration angle range and the verification angle range of the radar to obtain the calibration angle segment and the verification angle segment, wherein the radar is placed on the mechanical arm; A radar calibration module, used to operate the manipulator, and when it is detected that the angle corresponding to the radar falls within the calibration angle segment, calibrate and calculate the steering vector set of the radar within the calibration angle segment; A data acquisition module, configured to acquire an amplitude and phase information set of the radar within the verification angle segment when it is detected that the angle corresponding to the radar falls within the verification angle segment, wherein the amplitude and phase information set includes an amplitude information set and a phase information set; A radar calibration module, used for calibrating the radar based on the steering vector set and the amplitude and phase information set; Wherein, when it is detected that the angle corresponding to the radar falls within the calibration angle segment, the step of calibrating and calculating the steering vector set of the radar within the calibration angle segment includes: Operating the robotic arm so that the robotic arm starts to move at a preset rotation speed from an initial angle; When it is detected that the angle corresponding to the radar reaches the sampling angle within the calibration angle segment, calibrate and calculate the steering vector set of the radar within the calibration angle segment based on the real amplitude and phase information of the radar corresponding to the sampling angle; The step of calibrating and calculating a set of steering vectors of the radar within the calibration angle segment based on the real amplitude and phase information of the radar corresponding to the sampling angle comprises: Calibrate and calculate a real steering vector group of the radar at the sampling angle based on the real amplitude and phase information of the radar corresponding to the sampling angle; Performing interpolation calculation on the real steering vector group to obtain an interpolated steering vector group, and merging the real steering vector group and the interpolated steering vector group into a steering vector set; The step of performing interpolation calculation on the real steering vector group to obtain an interpolated steering vector group, and merging the real steering vector group and the interpolated steering vector group into a steering vector set comprises: Dividing the real steering vector group into a plurality of target vector pairs, wherein the target vector pairs are real steering vectors in the real steering vector group that are adjacent in angle to each other; An interpolation steering vector group is obtained after interpolation calculation is performed on the target vector pair, and the real steering vector group and the interpolation steering vector group are combined into a steering vector set.

5. A radar calibration and verification device, characterized in that: The device comprises: a memory, a processor, and a radar calibration verification program stored in the memory and executable on the processor, wherein the radar calibration verification program is configured to implement the steps of the radar calibration verification method according to any one of claims 1 to 3.

6. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a radar calibration and verification program is stored. When the radar calibration and verification program is executed by a processor, the steps of the radar calibration and verification method according to any one of claims 1 to 3 are implemented.

7. A computer program product, characterized in that The computer program product comprises a radar calibration and verification program, and when the radar calibration and verification program is executed by a processor, the steps of the radar calibration and verification method according to any one of claims 1 to 3 are implemented.

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