Radar calibration method, device and system and vehicle

Abstract

The invention provides a radar calibration method, device and system and a vehicle, and relates to the technical field of vehicles, and the method comprises the steps: obtaining the position information and driving parameters of the vehicle, judging whether the vehicle meets a preset calibration condition or not according to the position information and driving parameters, and when the vehicle meets the preset calibration condition, carrying out the calibration of the vehicle. A calibration instruction is sent to the radar controller through the gateway controller, the calibration instruction is used for controlling the radar controller to carry out radar parameter calibration, radar parameters returned by the radar controller through the gateway controller are received, and a radar calibration result is obtained. Data communication is carried out through the whole vehicle network architecture, cooperative work of the vehicle terminal, the gateway controller and the radar controller is realized, whether the vehicle meets the calibration condition is rapidly judged, the calibration instruction is automatically generated, instruction and data forwarding is carried out through the gateway controller, cross-network-segment data interaction is realized, the calibration efficiency is improved, and the calibration efficiency is improved. And calibration cost is reduced, thereby ensuring high-efficiency production of vehicles.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a radar calibration method, device, system and vehicle. Background Art

[0002] Front Corner Radar (FCR) is a radar sensor installed at the front of the vehicle. It is used to detect obstacles, vehicles and pedestrians in front of and to the sides of the vehicle, and provides key environmental perception data for the vehicle's active safety system and autonomous driving system. Before the vehicle leaves the factory, the calibration of the front corner radar is an important step to ensure the normal operation of the vehicle's autonomous driving function.

[0003] At present, the calibration of front corner radar usually needs to be carried out in special calibration sites. These sites need to meet specific conditions, such as flat road surface, fixed calibration equipment, etc. Calibration equipment includes calibration plates, reflectors, moving targets, etc. In some cases, additional hardware equipment or after-sales calibrators are required to assist in completing vehicle calibration. These calibration conditions have high maintenance costs and occupy resources. At the same time, due to the limited calibration site and reliance on fixed calibration equipment, the calibration efficiency of the front corner radar of the whole vehicle is low, further affecting vehicle production. Summary of the invention

[0004] In view of this, the present invention aims to propose a radar calibration method, device, system and vehicle to solve the problem of low calibration efficiency of the front corner radar of the whole vehicle due to limited calibration site and reliance on fixed calibration equipment, and to achieve efficient and low-cost automatic radar calibration.

[0005] According to a first aspect of the present invention, a radar calibration method is provided, which is applied to a vehicle terminal in a radar calibration system, wherein the radar calibration system further includes a gateway controller and a radar controller, and the vehicle terminal communicates with the radar controller through the gateway controller. The method includes:

[0006] Acquiring the location information and driving parameters of the vehicle, and determining whether the vehicle meets the preset calibration conditions according to the location information and the driving parameters;

[0007] When the vehicle meets the preset calibration conditions, a calibration instruction is sent to the radar controller through the gateway controller; the calibration instruction is used to control the radar controller to perform radar parameter calibration;

[0008] Receive radar parameters returned by the radar controller through the gateway controller to obtain radar calibration results.

[0009] Optionally, the radar calibration system further includes an inertial navigation controller and an electronic stability controller, and the acquiring of the position information and driving parameters of the vehicle, and judging whether the vehicle meets the preset calibration conditions according to the position information and the driving parameters, includes:

[0010] Sending a security authentication instruction to the radar controller through the gateway controller;

[0011] In response to the radar controller passing security authentication, receiving vehicle position information and driving parameters sent by the inertial navigation controller and the electronic stability controller through the gateway controller;

[0012] It is determined whether the vehicle meets a first calibration condition based on the position information, and it is determined whether the vehicle meets a second calibration condition based on the driving parameters.

[0013] Optionally, judging whether the vehicle meets a first calibration condition according to the position information includes:

[0014] Determine the current position coordinates of the vehicle according to the coordinates of the inertial navigation base station sent by the inertial navigation controller and the positions of the vehicle and the inertial navigation base station;

[0015] Determining whether the vehicle is located in a preset calibration area according to the current position coordinates and the current vehicle speed sent by the electronic stability controller;

[0016] If so, the vehicle meets the first calibration condition.

[0017] Optionally, judging whether the vehicle satisfies a second calibration condition according to the driving parameter includes:

[0018] Calculate the lateral offset of the vehicle in the preset calibration area according to the current position coordinates of the vehicle;

[0019] Compare the lateral offset of the vehicle with the offset threshold to obtain a comparison result;

[0020] If the comparison result is that the lateral offset is less than or equal to the offset threshold, the vehicle meets the second calibration condition.

[0021] Optionally, when the vehicle meets a preset calibration condition, sending a calibration instruction to the radar controller through the gateway controller; the calibration instruction is used to control the radar controller to perform radar parameter calibration, including:

[0022] When the vehicle meets the preset calibration conditions, a calibration instruction is generated; the calibration instruction includes a parameter calibration instruction, a reset instruction and a fault identification;

[0023] The calibration instruction is sent to the radar controller through the gateway controller, and the radar controller is controlled to perform radar parameter calibration according to the calibration instruction.

[0024] Optionally, the receiving radar parameters returned by the radar controller through the gateway controller to obtain a radar calibration result includes:

[0025] In response to monitoring that the radar parameter calibration of the radar controller is completed, receiving the radar parameters returned by the radar controller through the gateway controller;

[0026] The radar parameters are stored in the vehicle computer to obtain the radar calibration result.

[0027] According to a second aspect of the present invention, a radar calibration device is provided, which is applied to a vehicle terminal in a radar calibration system, wherein the radar calibration system further includes a gateway controller and a radar controller, and the vehicle terminal communicates with the radar controller via the gateway controller. The device includes:

[0028] An information acquisition module is used to acquire the position information and driving parameters of the vehicle, and determine whether the vehicle meets the preset calibration conditions according to the position information and the driving parameters;

[0029] A sending instruction module, used for sending a calibration instruction to the radar controller through the gateway controller when the vehicle meets the preset calibration conditions; the calibration instruction is used to control the radar controller to perform radar parameter calibration;

[0030] The result receiving module is used to receive the radar parameters returned by the radar controller through the gateway controller to obtain the radar calibration result.

[0031] According to another aspect of the present invention, a radar calibration system is provided, comprising:

[0032] The radar calibration system includes a vehicle terminal, a gateway controller and a radar controller, and the vehicle terminal communicates with the radar controller through the gateway controller:

[0033] The vehicle terminal is used to obtain the location information and driving parameters of the vehicle, determine whether the vehicle meets the preset calibration conditions according to the location information and the driving parameters, and send a calibration instruction to the radar controller through the gateway controller when the vehicle meets the preset calibration conditions, receive the radar parameters returned by the radar controller through the gateway controller, and obtain the radar calibration result;

[0034] The gateway controller is used to send the calibration instruction of the vehicle terminal to the radar controller, and send the radar parameters returned by the radar controller to the vehicle terminal.

[0035] The radar controller is used to calibrate radar parameters and return radar parameters.

[0036] According to another aspect of the present application, a vehicle is provided, which implements the steps of the radar calibration method as described above when executed.

[0037] The radar calibration method provided by the embodiment of the present invention is applied to the vehicle end in the radar calibration system, and by obtaining the vehicle's location information and driving parameters, it is determined whether the vehicle meets the preset calibration conditions according to the location information and driving parameters. When the vehicle meets the preset calibration conditions, a calibration instruction is sent to the radar controller through the gateway controller, and the calibration instruction is used to control the radar controller to calibrate the radar parameters, and the radar parameters returned by the radar controller through the gateway controller are received to obtain the radar calibration result. The embodiment of the present invention realizes calibration through the development of the whole vehicle network function, without the need for the investment of additional hardware equipment, and reduces the calibration cost. The data communication is carried out through the whole vehicle network architecture, and the coordinated work of the vehicle end, the gateway controller, and the radar controller is realized. The vehicle location information and driving parameters are obtained in real time, and the vehicle is quickly judged whether the vehicle meets the calibration conditions. The calibration instruction is automatically generated to improve the automation degree of the calibration process. The gateway controller forwards the instructions and data to realize the data interaction across the network segment, and can calibrate multiple vehicles at the same time, significantly improve the calibration efficiency, reduce the calibration cost, further improve the radar calibration efficiency, and ensure the efficient production of vehicles.

[0038] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0040] Figure 1 is a flowchart of a radar calibration method provided by an embodiment of the present invention;

[0041] Figure 2 yes Figure 1 A flowchart of step 101 in the radar calibration method provided by an embodiment of the present invention;

[0042] Figure 3 yes Figure 1Flow chart of step 103 in the radar calibration method provided by the embodiment of the present invention;

[0043] Figure 4 yes Figure 1 Flow chart of step 103 in the radar calibration method provided by the embodiment of the present invention;

[0044] Figure 5 The following is a schematic diagram of a radar calibration method according to an embodiment of the present invention. Figure 1 ;

[0045] Figure 6 The following is a schematic diagram of a radar calibration method according to an embodiment of the present invention. Figure 2 ;

[0046] Figure 7 is a structural schematic diagram of a radar calibration device provided by an embodiment of the present invention;

[0047] Figure 8 It is a structural schematic diagram of a radar calibration system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0048] To make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented. The division of the following embodiments is for the convenience of description, and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other without contradiction.

[0049] Reference Figure 1 , shows a flowchart of the steps of a radar calibration method provided by an embodiment of the present invention, which is applied to a vehicle terminal in a radar calibration system, wherein the radar calibration system further includes a gateway controller and a radar controller, and the vehicle terminal communicates with the radar controller via the gateway controller. The method may include:

[0050] Step 101, obtaining the location information and driving parameters of the vehicle, and determining whether the vehicle meets the preset calibration conditions according to the location information and driving parameters.

[0051] In an embodiment of the present invention, in order to solve the problem that the calibration site of the front corner radar is limited and relies on fixed calibration equipment, resulting in low calibration efficiency of the front corner radar of the whole vehicle and affecting vehicle production, this embodiment communicates data through the whole vehicle network architecture, realizes the coordinated work of the vehicle terminal, gateway controller, and radar controller, quickly determines whether the vehicle meets the calibration conditions, automatically generates calibration instructions, forwards instructions and data through the gateway controller, realizes data interaction across network segments, improves calibration efficiency, reduces calibration costs, and ensures efficient vehicle production.

[0052] It should be noted that the executor of this embodiment is the vehicle-mounted end in the radar calibration system. The radar calibration system also includes a gateway controller and a radar controller. The vehicle-mounted end communicates with the radar controller through the gateway controller. Based on the function of the whole vehicle network, multiplexing is performed based on the transmission link of the whole vehicle signal to complete the calibration instructions and the whole vehicle data interaction. The calibration function can be completed without additional hardware equipment. By configuring the calibration APP on the vehicle-mounted end, the vehicle status information can be obtained. By identifying whether the vehicle meets the calibration status, the calibration of the front corner radar of the whole vehicle can be automatically triggered, and the whole vehicle can be controlled to complete the calibration of the front corner radar.

[0053] Specifically, before the vehicle machine calibrates the radar, the vehicle must meet the preset calibration conditions, which include prerequisites and result judgment conditions. Otherwise, the condition judgment fails and recalibration is required. In this embodiment, the vehicle position information and driving parameters sent by the inertial navigation controller and the electronic stability controller are received by the gateway controller, and the acquired position information and driving parameters are preprocessed to ensure the accuracy and completeness of the data. It is determined whether the vehicle meets the first calibration condition (prerequisite) based on the position information, and it is determined whether the vehicle meets the second calibration condition (result judgment condition) based on the driving parameters.

[0054] Step 102, when the vehicle meets the preset calibration conditions, a calibration instruction is sent to the radar controller through the gateway controller; the calibration instruction is used to control the radar controller to calibrate the radar parameters.

[0055] In the embodiment of the present invention, when the vehicle meets the preset calibration conditions, a calibration instruction is generated, and the calibration instruction includes a parameter calibration instruction, a reset instruction, and a fault mark. When the vehicle meets the first calibration condition and the second calibration condition, the vehicle computer generates a calibration instruction, sends the calibration instruction to the radar controller through the gateway controller, and controls the radar controller to perform radar parameter calibration according to the calibration instruction. The vehicle computer sends the generated calibration instruction to the radar controller through the gateway controller. After receiving the calibration instruction, the radar controller calibrates the radar parameters, resets the system, and processes the fault mark according to the instruction content.

[0056] Specifically, refer to Figure 5, which shows a scene diagram of the radar calibration method provided by an embodiment of the present invention Figure 1 , data communication is carried out through the network architecture of the whole vehicle itself, so as to complete the calibration of the front corner radar. In order to transmit CAN signals and messages across network segments, routing is required through the CAN-CAN gateway. In the entire calibration process, it mainly involves data interaction between 2 CANs: CHACAN / info CAN. Data communication is carried out through the network architecture of the whole vehicle, and the coordinated work of the vehicle end, gateway controller, and radar controller is realized. The vehicle position information and driving parameters are obtained in real time, and it is quickly determined whether the vehicle meets the calibration conditions. The calibration instructions are automatically generated to improve the automation level of the calibration process.

[0057] It should be noted that this embodiment takes into account human-computer interaction and adopts the development of an APP integrated into the in-vehicle infotainment system (IVI) for calibration operations. If human-computer interaction is not considered, the calibration condition judgment and calibration control can be placed on any controller of the vehicle. In addition to controlling the calibration by the vehicle itself, the calibration function can also be developed on a computer PC, that is, obtaining data to determine whether the calibration conditions are met, triggering and controlling the entire calibration process, and realizing the functions of the APP in this solution. I will not go into details here.

[0058] Step 103, receiving radar parameters returned by the radar controller through the gateway controller, and obtaining radar calibration results.

[0059] In an embodiment of the present invention, the vehicle computer side monitors the calibration status of the radar controller in real time. When it is detected that the radar controller has completed the radar parameter calibration, the operation of receiving the radar parameters is triggered. The vehicle computer side receives the radar parameters returned by the radar controller through the gateway controller. The radar parameters include the calibrated radar parameter values, calibration status information, etc. The vehicle computer side stores the received radar parameters in a local storage device to ensure the persistence and traceability of the radar parameters.

[0060] The radar calibration method provided by the embodiment of the present invention is applied to the vehicle end in the radar calibration system, and by obtaining the vehicle's location information and driving parameters, it is determined whether the vehicle meets the preset calibration conditions according to the location information and driving parameters. When the vehicle meets the preset calibration conditions, a calibration instruction is sent to the radar controller through the gateway controller, and the calibration instruction is used to control the radar controller to calibrate the radar parameters, and the radar parameters returned by the radar controller through the gateway controller are received to obtain the radar calibration result. The embodiment of the present invention realizes calibration through the development of the whole vehicle network function, without the need for the investment of additional hardware equipment, and reduces the calibration cost. The data communication is carried out through the whole vehicle network architecture, and the coordinated work of the vehicle end, the gateway controller, and the radar controller is realized. The vehicle location information and driving parameters are obtained in real time, and the vehicle is quickly judged whether the vehicle meets the calibration conditions. The calibration instruction is automatically generated to improve the automation degree of the calibration process. The gateway controller forwards the instructions and data to realize the data interaction across the network segment, and can calibrate multiple vehicles at the same time, significantly improve the calibration efficiency, reduce the calibration cost, further improve the radar calibration efficiency, and ensure the efficient production of vehicles.

[0061] Further, see Figure 2 , showing Figure 1 A flowchart of step 101 in a radar calibration method is provided. The method is substantially the same as the radar calibration method provided in the first embodiment of the present invention. Step 101 may include:

[0062] Step 201: Send a security authentication instruction to the radar controller through the gateway controller.

[0063] Step 202 , in response to the radar controller passing the security authentication, receiving the vehicle position information and driving parameters sent by the inertial navigation controller and the electronic stability controller through the gateway controller.

[0064] Step 203, determining whether the vehicle meets the first calibration condition based on the position information, and determining whether the vehicle meets the second calibration condition based on the driving parameters.

[0065] It should be noted that in the embodiment of the present invention, a security authentication instruction is sent to the radar controller through the gateway controller, and the vehicle end sends a security authentication instruction to the radar controller through the gateway controller to ensure that the radar controller is in a safe and controllable state. The authentication mechanism can use encryption algorithms and security protocols to ensure the security and reliability of instruction transmission.

[0066] Specifically, in response to the radar controller passing the security authentication, the vehicle position information and driving parameters sent by the inertial navigation controller and the electronic stability controller through the gateway controller are received. After the radar controller passes the security authentication, the vehicle terminal receives the vehicle position information and driving parameters sent by the inertial navigation controller and the electronic stability controller through the gateway controller, pre-processes the acquired position information and driving parameters to ensure the accuracy and completeness of the data, and determines whether the vehicle meets the first calibration condition (precondition) based on the position information, and determines whether the vehicle meets the second calibration condition (result determination condition) based on the driving parameters.

[0067] It should be noted that, in this embodiment, the preset calibration conditions are used to determine whether the vehicle meets the radar calibration conditions, including the first calibration condition and the second calibration condition, wherein the first calibration condition is to determine whether the vehicle enters a predetermined calibration area based on position information (such as longitude and latitude, speed, etc.); if the position information is within the threshold setting range, the first calibration condition is met; after the first calibration condition is met, it is determined whether the vehicle meets the second calibration condition; the second calibration condition is to determine whether the vehicle meets the conditions such as driving within the calibration area and the speed range based on driving parameters (such as vehicle speed, steering wheel angle, etc.); if the driving parameters are within the threshold setting range, the second calibration condition is met; logical judgment and threshold setting are used to ensure accurate judgment of the calibration conditions.

[0068] Specifically, it should be noted that the inertial navigation controller is an electronic device used for vehicle navigation and positioning. By integrating an inertial measurement unit (IMU), it measures and processes the acceleration and angular velocity of the vehicle in real time, thereby providing high-precision position and speed data. The inertial navigation controller measures the acceleration and angular velocity of the vehicle in real time, and calculates the current position of the vehicle (such as longitude and latitude) in combination with the initial position information. By measuring the acceleration of the vehicle, the current speed of the vehicle can be calculated, providing real-time speed information. The Electronic Stability Control (ESC) monitors the driving status of the vehicle in real time through sensors.

[0069] The embodiment of the present invention ensures that the radar controller is in a safe and controllable state through security authentication instructions, prevents unauthorized operations and data leakage, improves the security of the calibration process, collects vehicle position information and driving parameters in real time through the inertial navigation controller and the electronic stability controller, ensures the real-time and high efficiency of the calibration process, and quickly determines whether the vehicle meets the calibration conditions through real-time judgment of the position information and driving parameters, thereby improving the calibration efficiency.

[0070] Specifically, step 203 determines whether the vehicle meets the first calibration condition according to the position information, which may include the following steps:

[0071] First, according to the coordinates of the inertial navigation base station sent by the inertial navigation controller, and the positions of the vehicle and the inertial navigation base station, the current position coordinates of the vehicle are determined;

[0072] Secondly, judging whether the vehicle is located in a preset calibration area according to the current position coordinates and the current vehicle speed sent by the electronic stability controller;

[0073] Secondly, if yes, the vehicle satisfies the first calibration condition.

[0074] It should be noted that in the above steps, the current position coordinates of the vehicle are determined based on the coordinates of the inertial navigation base station sent by the inertial navigation controller and the positions of the vehicle and the inertial navigation base station. The inertial navigation base station coordinates are the coordinates (such as longitude and latitude) of the inertial navigation base station sent by the inertial navigation controller, and the position relationship (such as relative distance and direction) between the vehicle and the inertial navigation base station is obtained through the inertial navigation controller. The current position coordinates (such as longitude and latitude) of the vehicle are calculated based on the position relationship between the inertial navigation base station coordinates and the vehicle.

[0075] Specifically, whether the vehicle is located in a preset calibration area is determined based on the current position coordinates and the current vehicle speed sent by the electronic stability controller. The current vehicle speed sent by the electronic stability controller is used to determine whether the current position coordinates of the vehicle are within the preset calibration area. If the current position coordinates of the vehicle are within the preset calibration area and the current vehicle speed is within the preset range, the vehicle meets the first calibration condition. When the vehicle meets the first calibration condition, prepare to proceed to the next calibration operation.

[0076] For example, refer to Figure 5 , which shows a scene diagram of the radar calibration method provided by an embodiment of the present invention Figure 1 , taking the inertial navigation base station as the origin, establishing a local coordinate system according to the conversion relationship between longitude and latitude and actual distance, judging whether the current position coordinates of the vehicle are within the preset calibration area, and whether the current vehicle speed is within the preset range. For example, four calibrated boundary points are set in the calibration runway as the calibration area. The vehicle can meet the first calibration condition of the vehicle by driving in the calibration area. To further ensure the accuracy of radar calibration, the vehicle should keep driving in a straight line in the calibration area as much as possible, and the speed should be between 10-30km / h. In actual situations, the vehicle will deviate, so the second calibration condition is judged according to the displacement of the vehicle in the lateral direction, which will not be described one by one here.

[0077] The embodiment of the present invention accurately calculates the current position coordinates of the vehicle through the relationship between the inertial navigation base station coordinates and the vehicle position, ensures accurate judgment of the calibration area, and further ensures that the vehicle travels at an appropriate speed in the calibration area in combination with the current vehicle speed, thereby improving the accuracy of the calibration conditions. By acquiring the vehicle position information and speed in real time, it is quickly determined whether the vehicle meets the first calibration condition, thereby improving the calibration efficiency. By integrating the data of the inertial navigation controller and the electronic stability controller, the accuracy of the vehicle position and speed is ensured, thereby enhancing the reliability of the system.

[0078] Specifically, step 203 determines whether the vehicle meets the second calibration condition according to the driving parameters, which may include the following steps:

[0079] First, the lateral offset of the vehicle in the preset calibration area is calculated according to the current position coordinates of the vehicle;

[0080] Secondly, the lateral offset of the vehicle is compared with the offset threshold to obtain a comparison result;

[0081] Secondly, if the comparison result is that the lateral offset is less than or equal to the offset threshold, the vehicle meets the second calibration condition.

[0082] It should be noted that in the above steps, whether the vehicle meets the second calibration condition is determined based on the driving parameters, and the lateral offset of the vehicle in the preset calibration area is calculated based on the current position coordinates of the vehicle, wherein the preset calibration area is a calibration area preset on the vehicle's driving road, usually a specific geographical range (such as a latitude and longitude range). According to the current position coordinates of the vehicle and the center line or reference line of the preset calibration area, the offset of the vehicle in the lateral direction is calculated, and the lateral offset of the vehicle is compared with the offset threshold to obtain a comparison result. The offset threshold is a preset lateral offset threshold, which is used to determine whether the vehicle meets the second calibration condition, and the specific value is not specifically limited here.

[0083] Specifically, the lateral offset of the vehicle is compared with the offset threshold to obtain a comparison result. If the comparison result is that the lateral offset is less than or equal to the offset threshold, the vehicle meets the second calibration condition. When the vehicle meets the second calibration condition, prepare for the next calibration operation. Data communication is carried out through the vehicle network architecture to achieve collaborative work among the vehicle machine, gateway controller, radar controller, inertial navigation controller and electronic stability controller, thereby enhancing the integration and scalability of the system.

[0084] For example, refer to Figure 6 , which shows a scene diagram of the radar calibration method provided by an embodiment of the present invention Figure 2, with the inertial navigation base station as the origin, the second calibration condition is that the lateral movement of the vehicle at the time (t1, t2) during the entire process satisfies the following: when the lateral displacement at the time (t1, t2) When , the second result judgment condition of the calibration is met. Among them, since the trajectory equation of LI is y = Kx + b, the longitude and latitude information obtained from the inertial navigation IMU is converted to local coordinates every 10MS. At this moment, the path offset is |y t -(K x t +b)|, therefore, when the lateral offset D1≤(t2-t1)*D0 at (t1, t2), the second result judgment condition of the calibration is met, and the next calibration operation is prepared, wherein D0 is the offset threshold, which can be a standard value pre-set according to the vehicle driving data and is not specifically limited here.

[0085] The embodiment of the present invention obtains the vehicle position information and calculates the lateral offset in real time to quickly determine whether the vehicle meets the second calibration condition, thereby reducing unnecessary waiting time and improving calibration efficiency. By accurately calculating the lateral offset of the vehicle, the calibration condition is accurately determined, and the vehicle is ensured to travel in a suitable lateral position within the calibration area, thereby improving the accuracy of the calibration condition.

[0086] Further, see Figure 3 , showing Figure 1 A flowchart of step 102 in a radar calibration method is provided. The method is substantially the same as the radar calibration method provided in the first embodiment of the present invention. Step 102 may include:

[0087] Step 301, when the vehicle meets the preset calibration conditions, generate a calibration instruction; the calibration instruction includes a parameter calibration instruction, a reset instruction and a fault mark;

[0088] Step 302: Send the calibration instruction to the radar controller through the gateway controller, and control the radar controller to perform radar parameter calibration according to the calibration instruction.

[0089] It should be noted that in the embodiment of the present invention, when the vehicle meets the preset calibration conditions, a calibration instruction is generated, and the calibration instruction includes a parameter calibration instruction, a reset instruction, and a fault indicator. When the vehicle meets the first calibration condition and the second calibration condition, the vehicle terminal generates a calibration instruction, the parameter calibration instruction is used to instruct the radar controller to calibrate the radar parameters, the reset instruction is used to instruct the radar controller to reset the system to ensure the initial state of the calibration process, and the fault indicator is used to indicate the possible fault conditions of the radar controller during the calibration process, which is convenient for subsequent fault diagnosis and processing.

[0090] Specifically, the calibration command is sent to the radar controller through the gateway controller, and the radar controller is controlled to calibrate the radar parameters according to the calibration command. The vehicle sends the generated calibration command to the radar controller through the gateway controller. After receiving the calibration command, the radar controller calibrates the radar parameters, resets the system, and processes the fault identification according to the command content.

[0091] The embodiment of the present invention generates a calibration instruction including a parameter calibration instruction, a reset instruction and a fault identifier, thereby ensuring that the radar controller can accurately perform the calibration operation and improving the accuracy of the calibration result. The calibration instruction is automatically generated, and the calibration instruction is quickly sent to the radar controller through a gateway controller, thereby ensuring that the radar controller can perform the calibration operation in a timely manner and improving the calibration efficiency. Data communication is performed through the vehicle network architecture to achieve collaborative work among the vehicle terminal, the gateway controller and the radar controller, without the need for investment in additional hardware equipment, thereby reducing the calibration cost.

[0092] Further, see Figure 4 , showing Figure 1 A flowchart of step 103 in a radar calibration method is provided. The method is substantially the same as the radar calibration method provided in the first embodiment of the present invention. Step 103 may include:

[0093] Step 401 , in response to monitoring that the radar parameter calibration of the radar controller is completed, receiving the radar parameters returned by the radar controller through the gateway controller.

[0094] Step 402, store the radar parameters in the vehicle computer to obtain the radar calibration result.

[0095] It should be noted that in an embodiment of the present invention, in response to monitoring that the radar parameter calibration of the radar controller is completed, the radar parameters returned by the radar controller through the gateway controller are received, and the vehicle-side monitors the calibration status of the radar controller in real time. When it is monitored that the radar controller has completed the radar parameter calibration, the operation of receiving the radar parameters is triggered. The vehicle-side receives the radar parameters returned by the radar controller through the gateway controller, including the calibrated radar parameter values, calibration status information, etc.

[0096] Specifically, the radar parameters are stored in the vehicle computer to obtain the radar calibration results. The vehicle computer stores the received radar parameters in a local storage device (such as vehicle-mounted memory, cloud storage, etc.) to ensure the persistence and traceability of the radar parameters. According to the stored radar parameters, the radar calibration results are generated, including calibration status, calibration time, calibration parameter values ​​and other information.

[0097] The embodiment of the present invention ensures the accuracy and real-time performance of the calibration result by receiving the radar parameters returned by the radar controller in real time, quickly receives the radar parameters returned by the radar controller through the gateway controller, reduces the data transmission time, automates the calibration process, and further improves the calibration efficiency. The calibration is realized through the development of vehicle network functions, without the need for investment in additional hardware equipment, and reduces the calibration cost. It can calibrate multiple vehicles at the same time, significantly improving the calibration efficiency and reducing the calibration cost.

[0098] Reference Figure 7 , shows a schematic diagram of the structure of a radar calibration device provided by an embodiment of the present invention, which is applied to a vehicle terminal in a radar calibration system. The radar calibration system further includes a gateway controller and a radar controller. The vehicle terminal communicates with the radar controller through the gateway controller. The device includes:

[0099] The information acquisition module 501 is used to acquire the position information and driving parameters of the vehicle, and determine whether the vehicle meets the preset calibration conditions according to the position information and the driving parameters;

[0100] The instruction sending module 502 is used to send a calibration instruction to the radar controller through the gateway controller when the vehicle meets the preset calibration conditions; the calibration instruction is used to control the radar controller to perform radar parameter calibration;

[0101] The result receiving module 503 is used to receive the radar parameters returned by the radar controller through the gateway controller to obtain the radar calibration result.

[0102] Furthermore, the radar calibration system further includes an inertial navigation controller and an electronic stability controller, and the information acquisition module 501 includes:

[0103] A sending submodule, used for sending a security authentication instruction to the radar controller through the gateway controller;

[0104] a receiving submodule, configured to receive the vehicle position information and driving parameters sent by the inertial navigation controller and the electronic stability controller through the gateway controller in response to the radar controller passing the security authentication;

[0105] The judgment submodule is used to judge whether the vehicle meets the first calibration condition according to the position information, and to judge whether the vehicle meets the second calibration condition according to the driving parameters.

[0106] Furthermore, the judgment submodule includes:

[0107] A first determining unit, configured to determine the current position coordinates of the vehicle according to the coordinates of the inertial navigation base station sent by the inertial navigation controller and the positions of the vehicle and the inertial navigation base station;

[0108] A first judgment unit, configured to judge whether the vehicle is located in a preset calibration area according to the current position coordinates and the current vehicle speed sent by the electronic stability controller;

[0109] The second determining unit is configured to determine that if yes, the vehicle satisfies a first calibration condition.

[0110] Furthermore, the judgment submodule includes:

[0111] A calculation unit, used to calculate the lateral offset of the vehicle in a preset calibration area according to the current position coordinates of the vehicle;

[0112] A comparison unit, used for comparing the lateral offset of the vehicle with an offset threshold value to obtain a comparison result;

[0113] The third determination unit is configured to determine that the vehicle meets a second calibration condition if the comparison result is that the lateral offset is less than or equal to the offset threshold.

[0114] Furthermore, the sending instruction module 502 includes:

[0115] A generating submodule, used for generating a calibration instruction when the vehicle meets the preset calibration conditions; the calibration instruction includes a parameter calibration instruction, a reset instruction and a fault identification;

[0116] The control submodule is used to send the calibration instruction to the radar controller through the gateway controller, and control the radar controller to perform radar parameter calibration according to the calibration instruction.

[0117] Furthermore, the receiving result module 503 includes:

[0118] A receiving submodule, configured to receive radar parameters returned by the radar controller through the gateway controller in response to monitoring that the radar parameter calibration of the radar controller is completed;

[0119] The storage submodule is used to store the radar parameters in the vehicle machine to obtain the radar calibration results.

[0120] The radar calibration device provided by the embodiment of the present invention is applied to the vehicle end in the radar calibration system, and obtains the vehicle's location information and driving parameters, and judges whether the vehicle meets the preset calibration conditions according to the location information and driving parameters. When the vehicle meets the preset calibration conditions, the calibration instruction is sent to the radar controller through the gateway controller, and the calibration instruction is used to control the radar controller to calibrate the radar parameters, and the radar parameters returned by the radar controller through the gateway controller are received to obtain the radar calibration result. The embodiment of the present invention realizes calibration through the development of the whole vehicle network function, without the need for the investment of additional hardware equipment, and reduces the calibration cost. The data communication is carried out through the whole vehicle network architecture, and the coordinated work of the vehicle end, the gateway controller, and the radar controller is realized. The vehicle location information and driving parameters are obtained in real time, and the vehicle is quickly judged whether the vehicle meets the calibration conditions. The calibration instruction is automatically generated to improve the automation degree of the calibration process. The gateway controller forwards the instructions and data to realize the data interaction across the network segment, and can calibrate multiple vehicles at the same time, significantly improve the calibration efficiency, reduce the calibration cost, further improve the radar calibration efficiency, and ensure the efficient production of vehicles.

[0121] Reference Figure 8 , shows a schematic diagram of the structure of a radar calibration system provided by an embodiment of the present invention, the radar calibration system includes a vehicle terminal, a gateway controller and a radar controller, the vehicle terminal communicates with the radar controller through the gateway controller:

[0122] The vehicle terminal is used to obtain the location information and driving parameters of the vehicle, determine whether the vehicle meets the preset calibration conditions according to the location information and the driving parameters, and send a calibration instruction to the radar controller through the gateway controller when the vehicle meets the preset calibration conditions, receive the radar parameters returned by the radar controller through the gateway controller, and obtain the radar calibration result;

[0123] The gateway controller is used to send the calibration instruction of the vehicle terminal to the radar controller, and send the radar parameters returned by the radar controller to the vehicle terminal.

[0124] The radar controller is used to calibrate radar parameters and return radar parameters.

[0125] Specifically, the radar calibration system also includes an inertial navigation controller and an electronic stability controller:

[0126] The inertial navigation controller and the electronic stability controller communicate with the vehicle terminal through the gateway controller, and are used to send vehicle position information and driving parameters to the vehicle terminal through the gateway controller.

[0127] The radar calibration system provided by the embodiment of the present invention realizes calibration through the development of vehicle network functions, does not require the investment of additional hardware equipment, reduces the calibration cost, communicates data through the vehicle network architecture, realizes the coordinated work of the vehicle terminal, the gateway controller, and the radar controller, obtains vehicle position information and driving parameters in real time, quickly determines whether the vehicle meets the calibration conditions, automatically generates calibration instructions, improves the automation level of the calibration process, forwards instructions and data through the gateway controller, realizes data interaction across network segments, can calibrate multiple vehicles at the same time, significantly improves calibration efficiency, reduces calibration costs, further improves radar calibration efficiency, and ensures efficient vehicle production.

[0128] In another embodiment provided by the present invention, a vehicle is also provided, which includes the radar calibration system in the above embodiment, and when the radar calibration system is running on the vehicle, the vehicle executes any radar calibration method described in any of the above embodiments.

[0129] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0130] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device 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 device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0131] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0132] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A radar calibration method, characterized in that: The vehicle terminal is applied to a radar calibration system, wherein the radar calibration system further includes a gateway controller and a radar controller, and the vehicle terminal communicates with the radar controller via the gateway controller. The method includes: Acquiring the location information and driving parameters of the vehicle, and determining whether the vehicle meets the preset calibration conditions according to the location information and the driving parameters; When the vehicle meets the preset calibration conditions, a calibration instruction is sent to the radar controller through the gateway controller; the calibration instruction is used to control the radar controller to perform radar parameter calibration; Receive radar parameters returned by the radar controller through the gateway controller to obtain radar calibration results.

2. The method according to claim 1, characterized in that: The radar calibration system further includes an inertial navigation controller and an electronic stability controller. The acquiring of the position information and driving parameters of the vehicle and judging whether the vehicle meets the preset calibration conditions according to the position information and the driving parameters include: Sending a security authentication instruction to the radar controller through the gateway controller; In response to the radar controller passing security authentication, receiving vehicle position information and driving parameters sent by the inertial navigation controller and the electronic stability controller through the gateway controller; It is determined whether the vehicle meets a first calibration condition based on the position information, and it is determined whether the vehicle meets a second calibration condition based on the driving parameters.

3. The method according to claim 2, characterized in that The determining whether the vehicle meets the first calibration condition according to the position information includes: Determine the current position coordinates of the vehicle according to the coordinates of the inertial navigation base station sent by the inertial navigation controller and the positions of the vehicle and the inertial navigation base station; Determining whether the vehicle is located in a preset calibration area according to the current position coordinates and the current vehicle speed sent by the electronic stability controller; If so, the vehicle meets the first calibration condition.

4. The method according to claim 3, characterized in that The determining whether the vehicle satisfies the second calibration condition according to the driving parameter includes: Calculating the lateral offset of the vehicle in the preset calibration area according to the current position coordinates of the vehicle; Comparing the lateral offset of the vehicle with an offset threshold to obtain a comparison result; If the comparison result is that the lateral offset is less than or equal to the offset threshold, the vehicle meets the second calibration condition.

5. The method according to claim 1, characterized in that When the vehicle meets the preset calibration conditions, the gateway controller sends a calibration instruction to the radar controller; the calibration instruction is used to control the radar controller to calibrate the radar parameters, including: When the vehicle meets the preset calibration conditions, a calibration instruction is generated; the calibration instruction includes a parameter calibration instruction, a reset instruction and a fault identification; The calibration instruction is sent to the radar controller through the gateway controller, and the radar controller is controlled to perform radar parameter calibration according to the calibration instruction.

6. The method according to claim 1, characterized in that The receiving the radar parameters returned by the radar controller through the gateway controller to obtain the radar calibration result includes: In response to monitoring that the radar parameter calibration of the radar controller is completed, receiving the radar parameters returned by the radar controller through the gateway controller; The radar parameters are stored in the vehicle computer to obtain the radar calibration result.

7. A radar calibration device, characterized in that: The vehicle terminal is applied to a radar calibration system, wherein the radar calibration system further includes a gateway controller and a radar controller, and the vehicle terminal communicates with the radar controller via the gateway controller. The device includes: An information acquisition module is used to acquire the position information and driving parameters of the vehicle, and determine whether the vehicle meets the preset calibration conditions according to the position information and the driving parameters; A sending instruction module, used for sending a calibration instruction to the radar controller through the gateway controller when the vehicle meets the preset calibration conditions; the calibration instruction is used to control the radar controller to perform radar parameter calibration; The result receiving module is used to receive the radar parameters returned by the radar controller through the gateway controller to obtain the radar calibration result.

8. A radar calibration system, characterized in that: The radar calibration system includes a vehicle terminal, a gateway controller and a radar controller, and the vehicle terminal communicates with the radar controller through the gateway controller: The vehicle terminal is used to obtain the location information and driving parameters of the vehicle, determine whether the vehicle meets the preset calibration conditions according to the location information and the driving parameters, and send a calibration instruction to the radar controller through the gateway controller when the vehicle meets the preset calibration conditions, receive the radar parameters returned by the radar controller through the gateway controller, and obtain the radar calibration result; The gateway controller is used to send the calibration instruction of the vehicle terminal to the radar controller, and send the radar parameters returned by the radar controller to the vehicle terminal. The radar controller is used to calibrate radar parameters and return radar parameters.

9. The radar calibration system according to claim 8, characterized in that: The radar calibration system also includes an inertial navigation controller and an electronic stability controller: The inertial navigation controller and the electronic stability controller communicate with the vehicle terminal through the gateway controller, and are used to send vehicle position information and driving parameters to the vehicle terminal through the gateway controller.

10. A vehicle, characterized in that: The vehicle is used to perform the radar calibration method according to any one of claims 1 to 6.

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