Millimeter wave radar azimuth angle self-calibration method and system, electronic device and medium

Abstract

The invention discloses a millimeter-wave radar azimuth angle self-calibration method and system, an electronic device and a medium. The method comprises the following steps: selecting m static detection points in a detection range of a millimeter-wave radar, and carrying out N rounds of calibration to obtain a calibration azimuth angle array composed of N calibration results; calculating an azimuth angle error of each azimuth angle by using the calibrated azimuth angle array to obtain a first azimuth angle error of each azimuth angle; calculating an error average value by using the first azimuth angle error of each azimuth angle, and screening out static detection points exceeding a preset range of the error average value; calculating a root-mean-square error of a relative fitting linear equation of the transverse position of the screened static detection point; static detection points corresponding to the root-mean-square errors exceeding a preset error value are filtered out; and calculating azimuth angle errors of the remaining static detection points to obtain second azimuth angle errors of the remaining static detection points, and calculating a radar azimuth compensation angle according to the second azimuth angle errors to complete self-calibration of the millimeter wave radar azimuth angle.

Description

Technical Field

[0001] The present invention relates to the technical field, and in particular to a millimeter wave radar azimuth self-calibration method, system, electronic device and storage medium. Background Art

[0002] Millimeter-wave radar is known for its high precision, good penetration and anti-interference ability. Its non-line-of-sight detection capability makes it effective even in complex environments. It also has high resolution and fast response characteristics, making it an indispensable and important component of modern vehicle-mounted sensors.

[0003] The azimuth self-calibration of the vehicle-mounted millimeter-wave radar is crucial to ensure the measurement accuracy and stability of the radar system in various complex road environments. By automatically calibrating the azimuth regularly, the operating efficiency and manageability of the system can be improved, while meeting the requirements of high-precision applications, ensuring vehicle safe driving and system reliability.

[0004] However, due to the complexity of the actual road or the vibration of the vehicle itself, mechanical deviations may occur, thereby affecting the azimuth self-calibration results, resulting in deviations in the azimuth error angle finally compensated to the radar. Summary of the invention

[0005] The present invention provides a millimeter wave radar azimuth self-calibration method, system, electronic device and medium, aiming to effectively solve the technical problem in the prior art that mechanical deviation may be caused by the complexity of actual roads or the vibration of the vehicle itself, thereby affecting the azimuth self-calibration result and causing the azimuth error angle finally compensated to the radar to be deviated.

[0006] According to a first aspect of the present invention, the present invention provides a millimeter-wave radar azimuth self-calibration method, comprising: selecting m static detection points within the detection range of the millimeter-wave radar for N rounds of calibration to obtain a calibration azimuth array composed of N calibration results; using the calibration azimuth array to calculate the azimuth error of each azimuth to obtain a first azimuth error of each azimuth; using the first azimuth error of each azimuth to calculate an error average value, and screening out static detection points that exceed a preset range of the error average value; calculating the root mean square error of the lateral position of the screened static detection points relative to the fitting straight line equation; filtering out the static detection points corresponding to the root mean square error that exceeds the preset error value; calculating the azimuth errors of the remaining static detection points to obtain second azimuth errors of the remaining static detection points, and calculating the radar azimuth compensation angle according to the second azimuth error to complete the millimeter-wave radar azimuth self-calibration.

[0007] Furthermore, the step of selecting m static detection points within the detection range of the millimeter-wave radar for N rounds of calibration to obtain a calibration azimuth array composed of N calibration results includes: selecting static detection points that meet the conditions, fitting a straight line equation according to the historical n frames of position information of the static detection points and calculating the azimuth information corresponding to the straight line equation; selecting a total of m static detection points to fit the azimuth information to obtain a current azimuth array; taking the median of the current azimuth array as the calibration result of the current round, performing a total of N rounds of calibration, and obtaining a calibration azimuth array composed of N rounds of calibration results.

[0008] Furthermore, the step of calculating the azimuth error of each azimuth using the calibrated azimuth array includes: calculating the complementary angle of each azimuth using the calibrated azimuth array to obtain a first azimuth error of each azimuth.

[0009] Furthermore, the step of calculating the azimuth errors of the remaining static detection points to obtain the second azimuth errors of the remaining static detection points, and calculating the radar azimuth compensation angle based on the second azimuth error includes: calculating the azimuth average value using the calibrated azimuths of the remaining static detection points, calculating the complementary angle of the azimuth average value to obtain the second azimuth errors of the remaining static detection points; and inverting the second azimuth error to obtain the radar azimuth compensation angle.

[0010] Furthermore, after the step of calculating the azimuth average value using the calibrated azimuths of the remaining static detection points, if the azimuth average value is less than zero, the complementary angle of the azimuth average value is calculated, and the complementary angle of the complementary angle of the azimuth average value is calculated to obtain the second azimuth error of the remaining static detection points.

[0011] Furthermore, the preset range of the error average value is the range of the error average value minus 0.6 to the error average value plus 0.6.

[0012] Furthermore, the preset error value is 0.085.

[0013] According to the second aspect of the present invention, the present invention also provides a millimeter wave radar azimuth self-calibration system, comprising: a calibration module, used to select m static detection points within the detection range of the millimeter wave radar for N rounds of calibration to obtain a calibration azimuth array composed of N calibration results; an azimuth error calculation module, used to use the calibration azimuth array to calculate the azimuth error of each azimuth to obtain a first azimuth error of each azimuth; a screening module, used to use the first azimuth error of each azimuth to calculate the error average value, and screen out static detection points that are outside a preset range of the error average value; a root mean square error calculation module, used to calculate the root mean square error of the lateral position of the screened static detection point relative to the fitting straight line equation; a filtering module, used to filter out the static detection points corresponding to the root mean square error that exceeds the preset error value; a self-calibration module, used to calculate the azimuth error of the remaining static detection points, obtain the second azimuth error of the remaining static detection points, and calculate the radar azimuth compensation angle according to the second azimuth error to complete the millimeter wave radar azimuth self-calibration.

[0014] According to the third aspect of the present invention, the present invention also provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, any one of the above-mentioned millimeter-wave radar azimuth self-calibration methods is implemented.

[0015] According to another aspect of the present invention, the present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, any one of the above-mentioned millimeter-wave radar azimuth self-calibration methods is implemented.

[0016] Through one or more of the above embodiments of the present invention, at least the following technical effects can be achieved:

[0017] In the technical solution disclosed in the present invention, the lateral root mean square error value of the straight line fitted by the static detection points in each round of self-calibration can be limited, and the abnormal values ​​of the radar azimuth compensation angle can be filtered out, thereby improving the accuracy of azimuth self-calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The technical solutions and other beneficial effects of the present invention will be made apparent by describing in detail the specific embodiments of the present invention in conjunction with the accompanying drawings.

[0019] Figure 1 A flowchart of a millimeter wave radar azimuth self-calibration method provided by an embodiment of the present invention;

[0020] Figure 2 The error distribution diagram of each round of the millimeter wave radar azimuth self-calibration method provided by the embodiment of the present invention;

[0021] Figure 3 The lateral root mean square error value of all static monitoring points outside the preset range of angle error of the millimeter wave radar azimuth self-calibration method provided in the embodiment of the present invention;

[0022] Figure 4 A historical status information distribution diagram of abnormal value points of the lateral root mean square error value of the millimeter wave radar azimuth self-calibration method provided by an embodiment of the present invention;

[0023] Figure 5 A comparison diagram of angle errors of static monitoring points before and after filtering corresponding to abnormal values ​​of the lateral root mean square error value of the millimeter wave radar azimuth self-calibration method provided by an embodiment of the present invention;

[0024] Figure 6 A distribution diagram of azimuth angle errors after filtering out static monitoring points corresponding to abnormal values ​​of the root mean square error value of the millimeter wave radar azimuth angle self-calibration method provided by an embodiment of the present invention;

[0025] Figure 7 A framework diagram of a millimeter wave radar azimuth self-calibration system provided in an embodiment of the present invention;

[0026] Figure 8 A schematic block diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The technical scheme in the embodiment of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " herein, unless otherwise specified, generally indicates that the associated objects before and after are in an "or" relationship.

[0029] Millimeter-wave radar is known for its high precision, good penetration and anti-interference ability. Its non-line-of-sight detection capability makes it effective even in complex environments. It also has high resolution and fast response characteristics, making it an indispensable and important component of modern vehicle-mounted sensors.

[0030] The azimuth self-calibration of the vehicle-mounted millimeter-wave radar is crucial to ensure the measurement accuracy and stability of the radar system in various complex road environments. By automatically calibrating the azimuth regularly, the operating efficiency and manageability of the system can be improved, while meeting the requirements of high-precision applications, ensuring vehicle safe driving and system reliability.

[0031] However, deviations in the installation azimuth of the vehicle-mounted millimeter-wave radar may cause errors in the radar detection data, affecting the accurate positioning and distance measurement of the target vehicle, thereby reducing the performance of the Advanced Driving Assistance System (ADAS). The existing method of calibrating the installation azimuth is mainly through azimuth self-calibration. Compared with manual calibration, this method has high calibration accuracy and is efficient and reliable. However, due to the complexity of the actual road or the mechanical deviation caused by the vehicle's own vibration, the azimuth self-calibration result will be affected, resulting in a deviation in the azimuth error angle finally compensated to the radar.

[0032] In order to solve the above problems, the embodiments of the present application provide a millimeter-wave radar azimuth self-calibration method, system, electronic device and medium, which can improve the accuracy of azimuth self-calibration.

[0033] like Figure 1 The figure shows a millimeter wave radar azimuth self-calibration method provided by an embodiment of the present invention, comprising:

[0034] S101, selecting m static detection points within the detection range of the millimeter wave radar to perform N rounds of calibration to obtain a calibration azimuth array consisting of N calibration results;

[0035] S102, calculating the azimuth error of each azimuth using the calibration azimuth array to obtain a first azimuth error of each azimuth;

[0036] S103, calculating an error average value using the first azimuth error of each azimuth, and screening out static detection points that are outside a preset range of the error average value;

[0037] S104, calculating the root mean square error of the horizontal position of the selected static detection point relative to the fitting straight line equation;

[0038] S105, filtering out static detection points corresponding to root mean square errors exceeding a preset error value;

[0039] S106, calculating the azimuth errors of the remaining static detection points to obtain second azimuth errors of the remaining static detection points, and calculating the radar azimuth compensation angle according to the second azimuth error to complete the self-calibration of the millimeter wave radar azimuth.

[0040] In step S101, the values ​​of m and N can be set automatically or manually according to the situation. In this embodiment, the value of m is greater than or equal to 10, such as 10, 12, 14, 16, 18 or 20, and the value of N is greater than or equal to 20, such as 20, 23, 26, 29, 30, 33, 36, 39, etc. It should be noted that the above values ​​of m and N are only exemplary. As long as the value of m is greater than or equal to 10 and the value of N is greater than or equal to 20, they are within the protection scope of the present application.

[0041] In the present embodiment, m and N can be automatically set, and the steps of automatic setting include: first setting the values ​​of m and N to initial values, for example, the initial values ​​of m and N are 15 and 33 respectively, and executing steps S101 to S106 when the values ​​of m and N are 15 and 33 respectively. After executing step S106, applying the result of self-calibration to the vehicle and generating a self-calibration estimated image; collecting the actual image of the camera device on the vehicle, and extracting the features of the actual image and the self-calibration image; comparing the features of the two, if the similarity is less than the estimated value, increasing the value of m or N, and executing steps S101 to S106 again until the similarity of the features of the actual image and the self-calibration image obtained in the current round is greater than or equal to the estimated value, ending the change of the values ​​of m and N, and using the self-calibration results of the round of steps S101 to S106 executed by the values ​​of m and N when the similarity of the features of the actual image and the self-calibration image is greater than or equal to the estimated value to perform self-calibration on the vehicle.

[0042] And in step S101, the step of selecting m static detection points within the detection range of the millimeter-wave radar for N rounds of calibration to obtain a calibration azimuth array composed of N calibration results includes: selecting static detection points that meet the conditions, fitting a straight line equation according to the historical n-frame position information of the static detection points and calculating the azimuth information corresponding to the straight line equation; selecting a total of m static detection points to fit the azimuth information to obtain a current azimuth array; taking the median of the current azimuth array as the calibration result of the current round, performing N rounds of calibration in total, and obtaining a calibration azimuth array composed of N rounds of calibration results.

[0043] In this embodiment, in N rounds of calibration, each round needs to select a static monitoring point that meets the conditions, fit the linear equation according to its historical n-frame position information, and calculate the azimuth information α corresponding to the equation. i , then the azimuth information obtained by fitting the m detection points in this round is the azimuth array {α1, α2…α m}; In the azimuth array {α1, α2…α m The median of the} can be used as the calibration result of this round θ i; Thus, N rounds can obtain a calibration azimuth array consisting of N calibration results {θ1, θ2, …θ N}.

[0044] In step S102, the step of calculating the azimuth error of each azimuth using the calibration azimuth array includes: calculating the complementary angle of each azimuth using the calibration azimuth array to obtain the first azimuth error of each azimuth. In this embodiment, N is 33 as an example for explanation, and the azimuth error distribution obtained in all rounds, that is, 33 rounds, can be seen in Figure 2 .

[0045] In step S103, the preset range of the error average value is the range from the error average value minus 0.6 to the error average value plus 0.6. After obtaining the average value of the azimuth angle error of 33 rounds, all static monitoring points exceeding this range can be screened out according to the preset range of the error average value, and the root mean square error xRMSE of the lateral position of these static monitoring points relative to the fitting straight line equation is generated in step S104, where the lateral position root mean square error distribution is as follows: Figure 3 shown.

[0046] In step S105, the preset error value in this embodiment is set to 0.085. In other embodiments, the preset error value may also be any value less than 0.08, such as 0.09, 0.095, etc.

[0047] This embodiment analyzes the historical status information of the target detection point corresponding to the xRMSE outlier value. The historical status information distribution of three xRMSE outlier points is selected, such as Figure 4 As shown. Figure 4 It can be seen that the historical status information corresponding to the xRMSE outlier points has a large absolute value of the straight line slope after least squares fitting of these points, which leads to a large angle error. Therefore, filtering out the static detection points whose xRMSE values ​​exceed the preset error value can reduce the errors of all static detection points and improve the self-calibration accuracy.

[0048] The angle error distribution of the static detection points after filtering out the xRMSE outliers in round 33 can be compared with that before filtering out. Figure 5 , blue represents the error angle before filtering, and red represents the error angle after filtering. It can be seen that most of the angle error outliers have been filtered out.

[0049] Therefore, when selecting the azimuth information obtained by fitting the historical state information of the detection points in each round of self-calibration, adding restrictions on xRMSE to filter out some static detection points, and then fitting the straight line equation of all the remaining monitoring points can obtain a more accurate azimuth error value.

[0050] For details, please refer to Figure 6 ,After limiting the value of xRMSE, the abnormal value of the azimuth angle error is effectively suppressed, the final radar azimuth compensation angle is more accurate, and the accuracy of radar azimuth self-calibration is effectively improved.

[0051] In step S106, the steps of calculating the azimuth errors of the remaining static detection points to obtain the second azimuth errors of the remaining static detection points, and calculating the radar azimuth compensation angle according to the second azimuth error include: calculating the azimuth average value using the calibrated azimuths of the remaining static detection points, calculating the complementary angle of the azimuth average value to obtain the second azimuth errors of the remaining static detection points; and negating the second azimuth error to obtain the radar azimuth compensation angle.

[0052] In some embodiments, after the step of calculating the azimuth average value using the calibrated azimuth angles of the remaining static detection points, if the azimuth average value is less than zero, the supplementary angle of the azimuth average value is calculated, and the complementary angle of the supplementary angle of the azimuth average value is calculated to obtain the second azimuth error of the remaining static detection points.

[0053] Therefore, the millimeter-wave radar azimuth self-calibration method provided in the embodiment of the present application can limit the lateral root mean square error value of the straight line fitted by the static detection points in each round of self-calibration, and can filter out abnormal values ​​of the radar azimuth compensation angle, thereby improving the accuracy of azimuth self-calibration.

[0054] See also Figure 7 The embodiment of the present application also provides a millimeter wave radar azimuth self-calibration system, including: a calibration module 1, an azimuth error calculation module 2, a screening module 3, a root mean square error calculation module 4, a filtering module 5 and a self-calibration module 6; the calibration module 1 is used to select m static detection points within the detection range of the millimeter wave radar for N rounds of calibration to obtain a calibration azimuth array composed of N calibration results; the azimuth error calculation module 2 is used to use the calibration azimuth array to calculate the azimuth error of each azimuth to obtain a first azimuth error of each azimuth; the screening module 3 is used to use the calibration azimuth array of each azimuth to calculate the azimuth error of each azimuth to obtain a first azimuth error of each azimuth The first azimuth error calculates the error average value, and screens out the static detection points that are outside the preset range of the error average value; the root mean square error calculation module 4 is used to calculate the root mean square error of the lateral position of the screened static detection points relative to the fitting straight line equation; the filtering module 5 is used to filter out the static detection points corresponding to the root mean square error that exceeds the preset error value; the self-calibration module 6 is used to calculate the azimuth error of the remaining static detection points, obtain the second azimuth error of the remaining static detection points, and calculate the radar azimuth compensation angle according to the second azimuth error to complete the self-calibration of the millimeter wave radar azimuth.

[0055] In some embodiments, the calibration module 1 includes: a static monitoring point selection unit, a static detection point fitting unit, and a calibration unit; the static monitoring point selection unit is used to select static detection points that meet the conditions, fit the straight line equation according to the historical n-frame position information of the static detection points, and calculate the azimuth information corresponding to the straight line equation; the static detection point fitting unit is used to select a total of m static detection points to fit the azimuth information to obtain the current azimuth array; the calibration unit is used to take the median of the current azimuth array as the calibration result of the current round, and perform N rounds of calibration to obtain a calibration azimuth array composed of N rounds of calibration results.

[0056] In some embodiments, the azimuth error calculation module 2 is specifically configured to calculate the complementary angle of each azimuth using the calibration azimuth array to obtain a first azimuth error of each azimuth.

[0057] In some embodiments, the self-calibration module 6 includes: a second azimuth error calculation unit and a negation unit; the second azimuth error calculation unit is used to calculate the azimuth average value using the calibration azimuths of the remaining static detection points, calculate the complementary angle of the azimuth average value, and obtain the second azimuth error of the remaining static detection points; the negation unit is used to negate the second azimuth error to obtain the radar azimuth compensation angle.

[0058] In some embodiments, the second azimuth error calculation unit is also used to calculate the complementary angle of the azimuth average value after the step of calculating the azimuth average value using the calibrated azimuth angles of the remaining static detection points, if the azimuth average value is less than zero, and calculate the complementary angle of the complementary angle of the azimuth average value to obtain the second azimuth error of the remaining static detection points.

[0059] In some embodiments, the preset range of the error average value is from the error average value minus 0.6 to the error average value plus 0.6.

[0060] In some embodiments, the preset error value is 0.085.

[0061] The present application embodiment provides an electronic device. Figure 8 The electronic device includes: a memory 601, a processor 602, and a computer program stored in the memory 601 and executable on the processor 602. When the processor 602 executes the computer program, the millimeter wave radar azimuth self-calibration method described above is implemented.

[0062] Furthermore, the electronic device also includes: at least one input device 603 and at least one output device 604 .

[0063] The memory 601 , processor 602 , input device 603 and output device 604 are connected via a bus 605 .

[0064] The input device 603 may be a camera, a touch panel, a physical button or a mouse, etc. The output device 604 may be a display screen.

[0065] The memory 601 may be a high-speed random access memory (RAM) memory or a non-volatile memory, such as a disk memory. The memory 601 is used to store a set of executable program codes, and the processor 602 is coupled to the memory 601 .

[0066] Furthermore, the embodiment of the present application also provides a computer-readable storage medium, which may be disposed in the electronic device in each of the above embodiments, and the computer-readable storage medium may be the memory 601 in the above embodiments. The computer-readable storage medium stores a computer program, which, when executed by the processor 602, implements the millimeter-wave radar azimuth self-calibration method described in the above method embodiment.

[0067] Furthermore, the computer storable medium may also be a U disk, a mobile hard disk, a read-only memory (ROM), a RAM, a magnetic disk or an optical disk, or other medium that can store program codes.

[0068] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0069] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0070] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of software functional modules.

[0071] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention.

[0072] It should be noted that, for the convenience of description, the aforementioned method embodiments are all described as a series of action combinations, but those skilled in the art should be aware that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0073] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0074] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A millimeter wave radar azimuth self-calibration method, characterized in that: include: Select m static detection points within the detection range of the millimeter wave radar to perform N rounds of calibration to obtain a calibration azimuth array consisting of N calibration results; Calculating the azimuth error of each azimuth using the calibration azimuth array to obtain a first azimuth error of each azimuth; Calculating an error average value using the first azimuth error of each azimuth, and screening out static detection points that are outside a preset range of the error average value; Calculate the root mean square error of the horizontal position of the selected static detection points relative to the fitting straight line equation; Filter out static detection points corresponding to root mean square errors exceeding a preset error value; The azimuth errors of the remaining static detection points are calculated to obtain the second azimuth errors of the remaining static detection points, and the radar azimuth compensation angle is calculated according to the second azimuth error to complete the self-calibration of the millimeter wave radar azimuth.

2. The millimeter wave radar azimuth self-calibration method according to claim 1, characterized in that: The step of selecting m static detection points within the detection range of the millimeter wave radar to perform N rounds of calibration to obtain a calibration azimuth array consisting of N calibration results comprises: Selecting a static detection point that meets the conditions, fitting a straight line equation according to the historical n-frame position information of the static detection point, and calculating the azimuth information corresponding to the straight line equation; A total of m static detection points are selected to fit the azimuth information to obtain the current azimuth array; The median of the current azimuth array is taken as the calibration result of the current round, and N rounds of calibration are performed in total to obtain a calibration azimuth array composed of the calibration results of N rounds.

3. The millimeter wave radar azimuth self-calibration method according to claim 1, characterized in that: The step of calculating the azimuth error of each azimuth using the calibration azimuth array comprises: The complementary angle of each azimuth is calculated using the calibration azimuth array to obtain the first azimuth error of each azimuth.

4. The millimeter wave radar azimuth self-calibration method according to claim 1, characterized in that: The step of calculating the azimuth errors of the remaining static detection points to obtain second azimuth errors of the remaining static detection points, and calculating the radar azimuth compensation angle according to the second azimuth error comprises: Calculate the azimuth average value using the calibrated azimuths of the remaining static detection points, calculate the complementary angle of the azimuth average value, and obtain the second azimuth errors of the remaining static detection points; The second azimuth angle error is inverted to obtain a radar azimuth compensation angle.

5. The millimeter wave radar azimuth self-calibration method according to claim 4, characterized in that: After the step of calculating the azimuth average value using the calibrated azimuths of the remaining static detection points, the step of calculating the second azimuth error also includes: if the azimuth average value is less than zero, calculating the supplementary angle of the azimuth average value, and calculating the complementary angle of the supplementary angle of the azimuth average value, to obtain the second azimuth error of the remaining static detection points.

6. The millimeter wave radar azimuth self-calibration method according to claim 1, characterized in that: The preset range of the error average value is from the error average value minus 0.6 to the error average value plus 0.

6.

7. The millimeter wave radar azimuth self-calibration method according to claim 1, characterized in that: The preset error value is 0.

085.

8. A millimeter wave radar azimuth self-calibration system, characterized in that: include: A calibration module is used to select m static detection points within the detection range of the millimeter wave radar to perform N rounds of calibration to obtain a calibration azimuth array consisting of N calibration results; An azimuth error calculation module is used to calculate the azimuth error of each azimuth using the calibration azimuth array to obtain a first azimuth error of each azimuth; A screening module, used to calculate an error average value by using the first azimuth error of each azimuth, and screen out static detection points that are outside a preset range of the error average value; A root mean square error calculation module is used to calculate the root mean square error of the horizontal position of the screened static detection point relative to the fitting straight line equation; A filtering module, used to filter out static detection points corresponding to root mean square errors exceeding a preset error value; The self-calibration module is used to calculate the azimuth errors of the remaining static detection points, obtain the second azimuth errors of the remaining static detection points, and calculate the radar azimuth compensation angle according to the second azimuth error to complete the self-calibration of the millimeter wave radar azimuth.

9. An electronic device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method described in any one of claims 1 to 7 is implemented.

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