Radar calibration method, apparatus, system, and vehicle

Abstract

The application provides a radar calibration method, device, system and vehicle, and relates to the technical field of vehicles.The application comprises the following steps: acquiring position information and driving parameters of the vehicle; judging whether the vehicle meets preset calibration conditions according to the position information and the driving parameters; in the case that the vehicle meets the preset calibration conditions, sending a calibration instruction to a radar controller through a gateway controller, the calibration instruction being used to control the radar controller to perform radar parameter calibration; and receiving radar parameters returned by the radar controller through the gateway controller to obtain a radar calibration result.The application realizes the cooperative work of a vehicle machine end, the gateway controller and the radar controller through the communication of data in a whole vehicle network architecture, quickly judges whether the vehicle meets calibration conditions, automatically generates a calibration instruction, forwards the instruction and data through the gateway controller, realizes the data interaction across network segments, improves the calibration efficiency, reduces the calibration cost, and thus guarantees the efficient production of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a radar calibration method, device, system and vehicle. BACKGROUND

[0002] The front corner radar (FCR) is a radar sensor installed on the front of the vehicle, which is used to detect obstacles, vehicles and pedestrians in front and side front of the vehicle, and provides key environmental perception data for the active safety system and automatic driving system of the vehicle. Before the vehicle is delivered, the calibration of the front corner radar is an important step to ensure the normal operation of the automatic driving function of the vehicle.

[0003] At present, the calibration of the front corner radar usually needs to be carried out in a special calibration site, which needs to meet specific conditions, such as flat road surface, fixed calibration equipment, etc. The calibration equipment such as calibration board, reflector, moving target, etc. In some cases, additional hardware equipment or after-sales calibration instrument is needed to assist the calibration of the vehicle. The calibration conditions have high maintenance cost and occupy resources. At the same time, due to the limited calibration site and the dependence on fixed calibration equipment, the calibration efficiency of the front corner radar of the whole vehicle is low, which further affects the production of the vehicle. SUMMARY

[0004] Therefore, the present application aims to provide 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 the limited calibration site and the dependence on fixed calibration equipment, and to realize efficient and low-cost automatic radar calibration.

[0005] According to a first aspect of the present application, a radar calibration method is provided, which is applied to a vehicle terminal in a radar calibration system, the radar calibration system further comprising a gateway controller and a radar controller, the vehicle terminal communicates with the radar controller through the gateway controller, and the method comprises:

[0006] Obtaining position information and driving parameters of the vehicle, and determining whether the vehicle meets a preset calibration condition according to the position information and the driving parameters;

[0007] In the case that the vehicle meets the 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;

[0008] Receiving the radar parameters returned by the radar controller through the gateway controller, and obtaining a radar calibration result.

[0009] Optionally, the radar calibration system further comprises an inertial navigation controller and an electronic stability controller, the obtaining of the position information and the driving parameter of the vehicle, and the determining of whether the vehicle meets the preset calibration condition according to the position information and the driving parameter, comprises:

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

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

[0012] determining whether the vehicle meets a first calibration condition according to the position information, and determining whether the vehicle meets a second calibration condition according to the driving parameter.

[0013] Optionally, the determining of whether the vehicle meets the first calibration condition according to the position information comprises:

[0014] determining a current position coordinate of the vehicle according to the inertial navigation base station coordinate sent by the inertial navigation controller and the position 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 coordinate and a current vehicle speed sent by the electronic stability controller;

[0016] if yes, the vehicle meets the first calibration condition.

[0017] Optionally, the determining of whether the vehicle meets the second calibration condition according to the driving parameter comprises:

[0018] calculating a lateral offset of the vehicle in the preset calibration area according to the current position coordinate of the vehicle;

[0019] comparing the lateral offset of the vehicle with an 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, in the case that the vehicle meets the preset calibration condition, the gateway controller sends a calibration instruction to the radar controller; the calibration instruction is used to control the radar controller to perform radar parameter calibration, comprising:

[0022] generating a calibration instruction in the case that the vehicle meets the preset calibration condition; the calibration instruction comprises a parameter calibration instruction, a reset instruction and a fault identification;

[0023] sending the calibration instruction to the radar controller through the gateway controller, and controlling the radar controller to perform radar parameter calibration according to the calibration instruction.

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

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

[0026] The radar parameter is stored to the vehicle terminal to obtain a radar calibration result.

[0027] According to a second aspect of the present application, a radar calibration device is provided, which is applied to a vehicle terminal in a radar calibration system, the radar calibration system further comprising a gateway controller and a radar controller, the vehicle terminal communicates with the radar controller through the gateway controller, and the device comprises:

[0028] An information acquisition module is configured to acquire position information and driving parameters of a vehicle, and determine whether the vehicle meets a preset calibration condition according to the position information and the driving parameters.

[0029] A sending instruction module is configured to send a calibration instruction to the radar controller through the gateway controller when the vehicle meets the preset calibration condition, the calibration instruction being used to control the radar controller to perform radar parameter calibration.

[0030] A receiving result module is configured to receive the radar parameter returned by the radar controller through the gateway controller to obtain a radar calibration result.

[0031] According to still another aspect of the present application, a radar calibration system is further provided, which comprises:

[0032] The radar calibration system comprises 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 configured to acquire position information and driving parameters of a vehicle, and determine whether the vehicle meets a preset calibration condition according to the position information and the driving parameters, send a calibration instruction to the radar controller through the gateway controller when the vehicle meets the preset calibration condition, and receive the radar parameter returned by the radar controller through the gateway controller to obtain a radar calibration result.

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

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

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

[0037] The radar calibration method provided by the embodiments of the present application is applied to a vehicle terminal in a radar calibration system. The position information and the driving parameters of the vehicle are acquired. It is determined whether the vehicle meets the preset calibration condition according to the position information and the driving parameters. In the case that the vehicle meets the preset calibration condition, 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. The radar parameters returned by the radar controller through the gateway controller are received, and the radar calibration result is obtained. The embodiments of the present application realize calibration through the whole vehicle network function development, do not need to invest in additional hardware devices, reduce the calibration cost, realize the cooperative work of the vehicle terminal, the gateway controller and the radar controller through the communication of data in the whole vehicle network architecture, realize real-time acquisition of the position information and the driving parameters of the vehicle, quickly determine whether the vehicle meets the calibration condition, automatically generate the calibration instruction, improve the automation degree of the calibration process, realize the cross-network segment data interaction through the gateway controller to forward the instruction and the data, can simultaneously calibrate multiple vehicles, significantly improve the calibration efficiency, reduce the calibration cost, further improve the radar calibration efficiency, and ensure efficient production of the vehicle.

[0038] The above description is only a summary of the technical solutions of the present application. In order to enable one of ordinary skill in the art to better understand the technical means of the present application and implement it according to the content of the description, and in order to enable the above and other purposes, characteristics and advantages of the present application to be more apparent, the following specifically describes the embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0039] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the present application. Furthermore, the same reference numerals are used throughout the several views that follow. In the drawings:

[0040] Figure 1 is a step flowchart of the radar calibration method provided by the embodiments of the present application;

[0041] Figure 2 is Figure 1 is a flowchart of step 101 in the radar calibration method provided by the embodiments of the present application;

[0042] Figure 3 is Figure 1The flowchart of step 103 in the radar calibration method provided by the embodiment of the present application is shown in the figure.

[0043] Figure 4 The figure is a scenario diagram of the radar calibration method provided by the embodiment of the present application. Figure 1 The flowchart of step 103 in the radar calibration method provided by the embodiment of the present application is shown in the figure.

[0044] Figure 5 The figure is a scenario diagram of the radar calibration method provided by the embodiment of the present application. Figure 1 ;

[0045] Figure 6 The figure is a scenario diagram of the radar calibration method provided by the embodiment of the present application. Figure 2 ;

[0046] Figure 7 The figure is a structure diagram of a radar calibration device provided by the embodiment of the present application.

[0047] Figure 8 The figure is a structure diagram of a radar calibration system provided by the embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below with reference to the drawings. However, those skilled in the art can understand that, in the embodiments of the present application, many technical details are proposed in order to make the readers better understand the present application. However, the technical solutions claimed by the present application can be realized even if there are no such technical details and various changes and modifications based on the following embodiments. 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 application, and the embodiments can be combined and referenced with each other under the premise of no contradiction.

[0049] Referring to Figure 1 , a step flowchart of a radar calibration method provided by the embodiment of the present application is shown, which is applied to a vehicle machine end in a radar calibration system, the radar calibration system further comprising a gateway controller and a radar controller, the vehicle machine end communicates with the radar controller through the gateway controller, and the method can comprise:

[0050] Step 101, acquiring position information and driving parameters of a vehicle, and determining whether the vehicle meets a preset calibration condition according to the position information and the driving parameters.

[0051] In the embodiment of the present application, in order to solve the problem of low calibration efficiency of the front corner radar of the whole vehicle and the influence on the production of the vehicle caused by the limited calibration site of the front corner radar and the dependence on the fixed calibration equipment, the data communication is carried out through the network architecture of the whole vehicle, the cooperative work of the vehicle terminal, the gateway controller and the radar controller is realized, it is quickly judged whether the vehicle meets the calibration condition, the calibration instruction is automatically generated, the instruction and the data are forwarded through the gateway controller, the data interaction across the network segment is realized, the calibration efficiency is improved, the calibration cost is reduced, and the efficient production of the vehicle is ensured.

[0052] It should be noted that the execution subject of the embodiment is the vehicle terminal in the radar calibration system, and 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, specifically, based on the transmission link of the whole vehicle signal, the calibration instruction and the whole vehicle data interaction are completed through multiplexing according to the function of the whole vehicle network, the calibration function can be completed without additional hardware equipment, the state information of the vehicle can be obtained by configuring the calibration APP on the vehicle terminal, and whether the vehicle meets the calibration state is identified, so that the triggering of the calibration of the front corner radar of the whole vehicle is automatically completed, and the calibration of the front corner radar of the whole vehicle is controlled.

[0053] Specifically, before calibrating the radar, the vehicle needs to meet the preset calibration condition, and the preset calibration condition includes a prerequisite condition and a result judgment condition, otherwise, the condition judgment fails and needs to be recalibrated. In the embodiment, the vehicle position information and the driving parameter sent by the inertial navigation controller and the electronic stability controller are received by the gateway controller, the obtained position information and driving parameter are preprocessed to ensure the accuracy and integrity of the data, whether the vehicle meets the first calibration condition (the prerequisite condition) is judged according to the position information, and whether the vehicle meets the second calibration condition (the result judgment condition) is judged according to the driving parameter.

[0054] Step 102, in the case that the vehicle meets the preset calibration condition, 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 parameter.

[0055] In the embodiment of the present application, in the case that the vehicle meets the preset calibration condition, the calibration instruction is generated, the calibration instruction includes the parameter calibration instruction, the reset instruction and the fault identification, in the case that the vehicle meets the first calibration condition and the second calibration condition, the vehicle terminal generates the calibration instruction, sends the calibration instruction to the radar controller through the gateway controller, and controls the radar controller to calibrate the radar parameter according to the calibration instruction. The vehicle terminal sends the generated calibration instruction to the radar controller through the gateway controller, and the radar controller receives the calibration instruction and processes the calibration of the radar parameter, the system reset and the fault identification according to the content of the instruction.

[0056] Specifically, referring to Figure 5The illustration shows a scenario of the radar calibration method provided in the embodiment of the present invention. Figure 1 The calibration of the front corner radar is achieved through data communication via the vehicle's network architecture. To transmit CAN signals and messages across network segments, routing is required via a CAN-CAN gateway. The calibration process mainly involves data interaction between two CAN channels: CHACAN and info CAN. Data communication is achieved through the vehicle's network architecture, enabling collaborative work between the vehicle's infotainment system, gateway controller, and radar controller. This allows for real-time acquisition of vehicle location information and driving parameters, rapid determination of whether the vehicle meets the calibration conditions, and automated generation of calibration commands, thereby improving the automation level of the calibration process.

[0057] It should be noted that, considering human-computer interaction, this embodiment uses an app developed and integrated into the in-vehicle infotainment (IVI) system for calibration. 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 the vehicle itself controlling the calibration, a calibration function can also be developed on a PC, that is, to acquire data to determine whether the calibration conditions are met, trigger and control the entire calibration process, and realize the functions of the app in this solution. These will not be elaborated on here.

[0058] Step 103: Receive the radar parameters returned by the radar controller through the gateway controller to obtain the radar calibration result.

[0059] In this embodiment of the invention, the vehicle-mounted terminal monitors the calibration status of the radar controller in real time. When the radar controller completes the radar parameter calibration, the operation of receiving radar parameters is triggered. The vehicle-mounted terminal 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-mounted terminal stores the received radar parameters to the local storage device to ensure the persistence and traceability of the radar parameters.

[0060] The radar calibration method provided in the embodiment of the present application is applied to a vehicle terminal in a radar calibration system, position information and driving parameters of a vehicle are acquired, whether the vehicle meets preset calibration conditions is determined according to the position information and the driving parameters, in the case that the vehicle meets the preset calibration conditions, a calibration instruction is sent to a radar controller through a gateway controller, the calibration instruction is used to control the radar controller to perform radar parameter calibration, radar parameters returned by the radar controller through the gateway controller are received, and a radar calibration result is obtained. The calibration is realized through the whole vehicle network function development in the embodiment of the present application, no additional hardware device needs to be invested, the calibration cost is reduced, data communication is performed through the whole vehicle network architecture, the vehicle terminal, the gateway controller and the radar controller are cooperatively worked, the vehicle position information and the driving parameters are acquired in real time, whether the vehicle meets the calibration conditions is quickly determined, the calibration instruction is automatically generated, the automation degree of the calibration process is improved, the instruction and the data are forwarded through the gateway controller, data interaction across network segments is realized, multiple vehicles can be calibrated at the same time, the calibration efficiency is significantly improved, the calibration cost is reduced, the radar calibration efficiency is further improved, and efficient production of the vehicle is ensured.

[0061] Further, referring to Figure 2 , a flowchart of step 101 in a radar calibration method provided by the present application is shown. Figure 1 The method is basically the same as the radar calibration method provided by the first embodiment of the present application, and step 101 can include:

[0062] In step 201, a security authentication instruction is sent to the radar controller through the gateway controller.

[0063] In step 202, in response to the security authentication of the radar controller passing, vehicle position information and driving parameters sent by an inertial navigation controller and an electronic stability controller through the gateway controller are received.

[0064] In step 203, whether the vehicle meets a first calibration condition is determined according to the position information, and whether the vehicle meets a second calibration condition is determined according to the driving parameters.

[0065] It should be noted that in the embodiment of the present application, the security authentication instruction is sent to the radar controller through the gateway controller, the vehicle terminal sends the security authentication instruction to the radar controller through the gateway controller, the radar controller is ensured to be in a safe and controllable state, and an encryption algorithm and a security protocol can be used in the authentication mechanism to ensure the safety and reliability of the instruction transmission.

[0066] Specifically, in response to the radar controller security authentication passing, the vehicle position information and the driving parameter sent by the inertial navigation controller and the electronic stability controller through the gateway controller are received. After the radar controller security authentication passing, the vehicle position information and the driving parameter sent by the inertial navigation controller and the electronic stability controller through the gateway controller are received, the acquired position information and driving parameter are preprocessed to ensure the accuracy and integrity of the data, whether the vehicle meets the first calibration condition (precondition) is judged according to the position information, and whether the vehicle meets the second calibration condition (result determination condition) is judged according to the driving parameter.

[0067] It should be noted that in the embodiment, the preset calibration condition is used to judge whether the vehicle meets the radar calibration condition, including the first calibration condition and the second calibration condition, wherein the first calibration condition is to judge whether the vehicle enters a predetermined calibration area according to the position information (such as latitude and longitude, speed, etc.), and the position information within the threshold setting range is the first calibration condition, and whether the vehicle meets the second calibration condition is judged after meeting the first calibration condition, and the second calibration condition is to judge whether the vehicle meets the driving condition in the calibration area, the speed range and other conditions according to the driving parameter (such as speed, steering wheel angle, etc.), and the driving parameter within the threshold setting range is the second calibration condition. The logic judgment and threshold setting are adopted to ensure the accurate judgment of the calibration condition.

[0068] Specifically, it should be noted that the inertial navigation controller is an electronic device for vehicle navigation and positioning, which measures and processes the acceleration and angular velocity of the vehicle in real time through the integrated inertial measurement unit (IMU), thereby providing high-precision position and speed data. The inertial navigation controller measures the acceleration and angular velocity of the vehicle in real time, combines the initial position information to calculate the current position (such as latitude and longitude) of the vehicle, and measures the acceleration of the vehicle to calculate the current speed of the vehicle and provide real-time speed information. The electronic stability controller (Electronic Stability Control, ESC) is a sensor that monitors the driving state of the vehicle in real time.

[0069] The embodiment of the application ensures that the radar controller is in a safe and controllable state through the security authentication instruction, prevents unauthorized operation and data leakage, improves the safety of the calibration process, collects the vehicle position information and driving parameter 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 condition through real-time judgment of the position information and the driving parameter, thereby improving the calibration efficiency.

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

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

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

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

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

[0075] Specifically, according to the current position coordinates and the current vehicle speed sent by the electronic stability controller, it is judged whether the vehicle is located in a preset calibration area. The current position coordinates of the vehicle are determined according to the current vehicle speed sent by the electronic stability controller. If the current position coordinates of the vehicle are in the preset calibration area and the current vehicle speed is in the preset range, the vehicle meets the first calibration condition. In the case that the vehicle meets the first calibration condition, the next calibration operation is prepared.

[0076] For example, referring to Figure 5 , a scene schematic diagram of the radar calibration method provided by the embodiment of the application is shown. Figure 1 With the inertial navigation base station as the origin, a local coordinate system is established according to the conversion relationship between longitude and latitude and actual distance. It is judged whether the current position coordinates of the vehicle are in the preset calibration area and whether the current vehicle speed is in the preset range. For example, four boundary points of the calibration runway are set as the calibration area. The vehicle meets the first calibration condition when it travels in the calibration area. In order to further ensure the accuracy of the radar calibration, the vehicle should as far as possible keep straight-line driving in the calibration area and the vehicle speed should be between 10-30km / h. In actual situations, the vehicle will deviate, so the second calibration condition is judged according to the deviation of the vehicle in the lateral direction. Here, it is not described one by one.

[0077] The embodiment of the present application accurately calculates the current position coordinates of the vehicle through the relationship between the inertial navigation base station coordinates and the vehicle position, ensures the accurate judgment of the calibration area, and further ensures the vehicle to travel at a suitable speed in the calibration area by combining the current vehicle speed, thereby improving the accuracy of the calibration condition. By acquiring the vehicle position information and the vehicle speed in real time, it is quickly judged whether the vehicle meets the first calibration condition, the calibration efficiency is improved, the accuracy of the vehicle position and the vehicle speed is ensured by fusing the data of the inertial navigation controller and the electronic stability controller, and the reliability of the system is enhanced.

[0078] Specifically, step 203 judges whether the vehicle meets the second calibration condition according to the driving parameter, which can specifically 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] Second, the lateral offset of the vehicle is compared with the offset threshold to obtain a comparison result;

[0081] Second, 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 judged according to the driving parameter, the lateral offset of the vehicle in the preset calibration area is calculated according to the current position coordinates of the vehicle, wherein the preset calibration area is a calibration area previously set on the vehicle driving road, which is usually a specific geographic range (such as a latitude and longitude range). The offset of the vehicle in the lateral direction is calculated according to the current position coordinates of the vehicle and the center line or reference line of the preset calibration area, the lateral offset of the vehicle is compared with the offset threshold to obtain a comparison result, and the offset threshold is a preset lateral offset threshold for judging whether the vehicle meets the second calibration condition, and the specific value is not limited here.

[0083] Specifically, the lateral offset of the vehicle is compared with the offset threshold to obtain a comparison result, and 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. In the case where the vehicle meets the second calibration condition, the next calibration operation is prepared, data communication is carried out through the vehicle network architecture, the collaborative work of the vehicle machine end, the gateway controller, the radar controller, the inertial navigation controller and the electronic stability controller is realized, and the integration and scalability of the system are enhanced.

[0084] For example, referring to Figure 6 , a scene schematic diagram of the radar calibration method provided by the embodiment of the present application is shown Figure 2With the inertial navigation base station as the origin, the second calibration condition is that the lateral movement of the vehicle at time (t1, t2) throughout the entire process satisfies the following: when the lateral offset at time (t1, t2) At this time, the second result judgment condition of the calibration is met. Specifically, since the trajectory equation of LI is y = Kx + b, the latitude and longitude information obtained from the inertial navigation IMU every 10 ms is converted to local coordinates, and the path offset at this moment is |y|. t -(K x t +b)|, therefore, when the lateral offset D1 ≤ (t2-t1)*D0 at time (t1, t2), it serves as the second result judgment condition for satisfying the calibration, and the next calibration operation is prepared. Here, D0 is the offset threshold, which can be a standard value set in advance based on the vehicle driving data, and is not specifically limited here.

[0085] This invention, through real-time acquisition of vehicle position information and calculation of lateral offset, quickly determines whether a vehicle meets the second calibration condition, reducing unnecessary waiting time and improving calibration efficiency. By accurately calculating the vehicle's lateral offset, it ensures the accurate determination of the calibration condition, guaranteeing that the vehicle travels in a suitable lateral position within the calibration area, thus improving the accuracy of the calibration condition.

[0086] Furthermore, refer to Figure 3 , showed Figure 1 A flowchart of step 102 in a radar calibration method is provided. This method is basically the same as the radar calibration method provided in the first embodiment of the present invention. Step 102 may include:

[0087] Step 301: If the vehicle meets the preset calibration conditions, generate a calibration command; the calibration command includes a parameter calibration command, a reset command, and a fault identifier.

[0088] Step 302: 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.

[0089] It should be noted that, in this embodiment of the invention, when the vehicle meets the preset calibration conditions, a calibration command is generated. The calibration command includes a parameter calibration command, a reset command, and a fault identifier. When the vehicle meets the first calibration condition and the second calibration condition, the vehicle-mounted unit generates a calibration command. The parameter calibration command instructs the radar controller to calibrate the radar parameters, the reset command instructs the radar controller to reset the system to ensure the initial state of the calibration process, and the fault identifier indicates possible faults that may occur in the radar controller during the calibration process, facilitating subsequent fault diagnosis and handling.

[0090] Specifically, the calibration instruction is sent to the radar controller through the gateway controller, and the radar controller performs radar parameter calibration according to the calibration instruction. The vehicle terminal sends the generated calibration instruction to the radar controller through the gateway controller, and the radar controller processes the calibration of the radar parameter, system reset and fault identification according to the instruction content after receiving the calibration instruction.

[0091] The embodiment of the present application generates calibration instructions containing parameter calibration instructions, reset instructions and fault identification, ensures that the radar controller can accurately perform calibration operations, improves the accuracy of the calibration result, automatically generates calibration instructions, quickly sends the calibration instructions to the radar controller through the gateway controller, ensures that the radar controller can perform calibration operations in time, improves the calibration efficiency, communicates data through the vehicle network architecture, realizes the cooperative work of the vehicle terminal, the gateway controller and the radar controller, does not need to invest additional hardware devices, and reduces the calibration cost.

[0092] Further, referring to Figure 4 , a flowchart of step 103 in a radar calibration method provided by the present application is shown. Figure 1 The method provided by the present application is basically the same as the radar calibration method provided by the first embodiment of the present application, and step 103 can include:

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

[0094] Step 402, storing the radar parameter to the vehicle terminal to obtain the radar calibration result.

[0095] It should be noted that in the embodiment of the present application, in response to monitoring that the radar parameter calibration of the radar controller is completed, the radar parameter returned by the radar controller through the gateway controller is received, the vehicle terminal monitors the calibration state of the radar controller in real time, when it is monitored that the radar parameter calibration of the radar controller is completed, the operation of receiving the radar parameter is triggered, and the vehicle terminal receives the radar parameter returned by the radar controller through the gateway controller, including the calibrated radar parameter value, calibration state information and the like.

[0096] Specifically, the radar parameter is stored to the vehicle terminal to obtain the radar calibration result, the received radar parameter is stored to the local storage device (such as vehicle-mounted storage, cloud storage and the like) of the vehicle terminal, the persistence and traceability of the radar parameter are ensured, the radar calibration result is generated according to the stored radar parameter, including calibration state, calibration time, calibration parameter value and the like.

[0097] The embodiment of the application ensures the accuracy and real-time performance of the calibration result by receiving the radar parameters returned by the radar controller in real time, reduces the data transmission time by quickly receiving the radar parameters returned by the radar controller through the gateway controller, automates the calibration process, further improves the calibration efficiency, realizes calibration through the whole vehicle network function development, reduces the calibration cost without additional hardware investment, can simultaneously calibrate multiple vehicles, significantly improves the calibration efficiency, and reduces the calibration cost.

[0098] With reference to Figure 7 , a structure schematic diagram of a radar calibration device provided by an embodiment of the application is shown, which is applied to a vehicle machine end in a radar calibration system, the radar calibration system further comprising a gateway controller and a radar controller, the vehicle machine end communicating with the radar controller through the gateway controller, and the device comprising:

[0099] An information acquisition module 501 is configured to acquire position information and driving parameters of a vehicle, and determine whether the vehicle meets a preset calibration condition according to the position information and the driving parameters;

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

[0101] A receiving result module 503 is configured to receive radar parameters returned by the radar controller through the gateway controller, and obtain a radar calibration result.

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

[0103] A sending sub-module is configured to send a security authentication instruction to the radar controller through the gateway controller;

[0104] A receiving sub-module is configured to receive 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 security authentication of the radar controller being passed;

[0105] A judging sub-module is configured to determine whether the vehicle meets a first calibration condition according to the position information, and determine whether the vehicle meets a second calibration condition according to the driving parameters.

[0106] Further, the judging sub-module comprises:

[0107] A first determining unit is configured to determine a current position coordinate of the vehicle according to an inertial navigation base station coordinate sent by the inertial navigation controller and a position of the vehicle and the inertial navigation base station;

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

[0109] a second determining unit, configured to determine that the vehicle meets a first calibration condition if the vehicle is located in the preset calibration area.

[0110] Further, the determining sub-module comprises:

[0111] a calculating unit, configured to calculate a lateral offset of the vehicle in the preset calibration area according to the current position coordinate of the vehicle;

[0112] a comparing unit, configured to compare the lateral offset of the vehicle with an offset threshold to obtain a comparison result;

[0113] a third determining unit, 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] Further, the sending instruction module 502 comprises:

[0115] a generating sub-module, configured to generate a calibration instruction in a case where the vehicle meets a preset calibration condition; the calibration instruction comprises a parameter calibration instruction, a reset instruction and a fault identification;

[0116] a control sub-module, configured to send the calibration instruction to the radar controller through the gateway controller to control the radar controller to perform radar parameter calibration according to the calibration instruction.

[0117] Further, the receiving result module 503 comprises:

[0118] a receiving sub-module, configured to receive a radar parameter 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] a storage sub-module, configured to store the radar parameter to the vehicle terminal to obtain a radar calibration result.

[0120] The radar calibration device provided by the embodiment of the present application is applied to a vehicle terminal in a radar calibration system, the position information and the driving parameter of the vehicle are acquired, whether the vehicle meets the preset calibration condition is determined according to the position information and the driving parameter, the calibration instruction is sent to the radar controller through the gateway controller in the case that the vehicle meets the preset calibration condition, the calibration instruction is used for controlling the radar controller to perform radar parameter calibration, the radar parameter returned by the radar controller through the gateway controller is received, and the radar calibration result is obtained. The calibration is realized through the whole vehicle network function development, the investment of additional hardware devices is not needed, the calibration cost is reduced, the data communication is performed through the whole vehicle network architecture, the collaborative work of the vehicle terminal, the gateway controller and the radar controller is realized, the vehicle position information and the driving parameter are acquired in real time, whether the vehicle meets the calibration condition is quickly determined, the calibration instruction is automatically generated, the automation degree of the calibration process is improved, the instruction and the data are forwarded through the gateway controller, the data interaction across the network segments is realized, a plurality of vehicles can be calibrated at the same time, the calibration efficiency is significantly improved, the calibration cost is reduced, the radar calibration efficiency is further improved, and the efficient production of the vehicle is ensured.

[0121] Reference Figure 8 The structure schematic diagram of the radar calibration system provided by the embodiment of the present application is shown, the radar calibration system comprises 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 for acquiring the position information and the driving parameter of the vehicle, determining whether the vehicle meets the preset calibration condition according to the position information and the driving parameter, sending the calibration instruction to the radar controller through the gateway controller in the case that the vehicle meets the preset calibration condition, receiving the radar parameter returned by the radar controller through the gateway controller, and obtaining the radar calibration result.

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

[0124] The radar controller is used for performing radar parameter calibration and returning the radar parameter.

[0125] Specifically, the radar calibration system further comprises 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 for sending the vehicle position information and the driving parameter to the vehicle terminal through the gateway controller.

[0127] The radar calibration system provided by the embodiment of the present application realizes calibration through vehicle network function development, does not need additional hardware device investment, reduces calibration cost, realizes cooperative work of the vehicle machine end, the gateway controller and the radar controller through vehicle network architecture data communication, realizes real-time acquisition of vehicle position information and driving parameters, quickly judges whether the vehicle meets the calibration condition, automatically generates calibration instructions, improves the automation degree of the calibration process, forwards instructions and data through the gateway controller, realizes cross-network segment data interaction, can simultaneously calibrate multiple vehicles, significantly improves the calibration efficiency, reduces the calibration cost, further improves the radar calibration efficiency, and guarantees efficient vehicle production.

[0128] In another embodiment provided by the present application, a vehicle is also provided, which comprises the radar calibration system in the above-mentioned embodiments, and when it is running on the vehicle, the vehicle executes the radar calibration method in any of the above-mentioned embodiments.

[0129] In the above-mentioned embodiments, all or part of them can be realized by software, hardware, firmware or any combination thereof. When realized by software, all or part of them can be realized in the form of a computer program product. The computer program product comprises one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices. The computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another, for example, the computer instructions can be transferred from one website, computer, server or data center to another through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)) and the like.

[0130] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0131] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0132] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A radar calibration method, characterized by, The application is applied to a vehicle terminal in a radar calibration system, the radar calibration system further comprises a gateway controller and a radar controller, the vehicle terminal communicates with the radar controller through the gateway controller, and the method comprises the following steps: Obtaining position information and driving parameters of a vehicle, and judging whether the vehicle meets a preset calibration condition according to the position information and the driving parameters, the radar calibration system further comprises an inertial navigation controller and an electronic stability controller, the position information of the vehicle is an inertial navigation base station coordinate sent by the inertial navigation controller, and the position of the vehicle and the inertial navigation base station is determined, the electronic stability controller is used for sending a current vehicle speed, the judging whether the vehicle meets the preset calibration condition according to the position information and the driving parameters comprises the following steps: in the case that the vehicle is determined to be in a preset calibration area through the position information and the current vehicle speed, calculating a lateral offset of the vehicle in the preset calibration area according to the position information 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 preset calibration condition; In the case that the vehicle meets the preset calibration condition, sending a calibration instruction to the radar controller through the gateway controller; the calibration instruction is used for controlling the radar controller to perform radar parameter calibration; Receiving radar parameters returned by the radar controller through the gateway controller to obtain a radar calibration result.

2. The method of claim 1, wherein, The obtaining position information and driving parameters of a vehicle, and judging whether the vehicle meets a preset calibration condition according to the position information and the driving parameters comprises the following steps: Sending a security authentication instruction to the radar controller through the gateway controller; In response to the security authentication of the radar controller being passed, receiving vehicle position information and driving parameters sent by the inertial navigation controller and the electronic stability controller through the gateway controller; Judging whether the vehicle meets a first calibration condition according to the position information, and judging whether the vehicle meets a second calibration condition according to the driving parameters.

3. The method of claim 2, wherein, The judging whether the vehicle meets the first calibration condition according to the position information comprises the following steps: Determining a current position coordinate of the vehicle according to the inertial navigation base station coordinate sent by the inertial navigation controller and the position of the vehicle and the inertial navigation base station; Judging whether the vehicle is located in a preset calibration area according to the current position coordinate and the current vehicle speed sent by the electronic stability controller; If yes, the vehicle meets the first calibration condition.

4. The method of claim 1, wherein, The sending a calibration instruction to the radar controller through the gateway controller in the case that the vehicle meets the preset calibration condition; the calibration instruction is used for controlling the radar controller to perform radar parameter calibration comprises the following steps: In the case that the vehicle meets the preset calibration condition, generating a calibration instruction; the calibration instruction comprises a parameter calibration instruction, a reset instruction and a fault identification; Sending the calibration instruction to the radar controller through the gateway controller to control the radar controller to perform radar parameter calibration according to the calibration instruction.

5. The method of claim 1, wherein, The receiving the radar parameter returned by the radar controller through the gateway controller obtains a radar calibration result, including: In response to monitoring that the radar parameter calibration of the radar controller is completed, the radar parameter returned by the radar controller through the gateway controller is received; The radar parameter is stored to the vehicle terminal to obtain a radar calibration result.

6. A radar calibration device, characterized by The vehicle terminal applied to a radar calibration system also includes a gateway controller and a radar controller, the vehicle terminal communicates with the radar controller through the gateway controller, and the device includes: An information acquisition module is configured to acquire position information and driving parameters of a vehicle, determine whether the vehicle meets a preset calibration condition according to the position information and the driving parameters, the radar calibration system further includes an inertial navigation controller and an electronic stability controller, the position information of the vehicle is an inertial navigation base station coordinate sent by the inertial navigation controller, and the position of the vehicle and the inertial navigation base station is determined, the electronic stability controller is configured to send a current vehicle speed, and the determination of whether the vehicle meets the preset calibration condition according to the position information and the driving parameters includes: in a case where it is determined that the vehicle is in a preset calibration area through the position information and the current vehicle speed, calculating a lateral offset of the vehicle in the preset calibration area according to the position information 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 preset calibration condition; A sending instruction module is configured to send a calibration instruction to the radar controller through the gateway controller in a case where the vehicle meets the preset calibration condition; the calibration instruction is used to control the radar controller to perform radar parameter calibration; A receiving result module is configured to receive the radar parameter returned by the radar controller through the gateway controller to obtain a radar calibration result.

7. A radar calibration system, characterized by, 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 machine end is configured to acquire position information and driving parameters of the vehicle, determine whether the vehicle meets a preset calibration condition according to the position information and the driving parameters, send a calibration instruction to the radar controller through the gateway controller when the vehicle meets the preset calibration condition, receive radar parameters returned by the radar controller through the gateway controller, and obtain a radar calibration result. The radar calibration system further includes an inertial navigation controller and an electronic stability controller. The position information of the vehicle is an inertial navigation base station coordinate sent by the inertial navigation controller, and is determined according to the position of the vehicle and the inertial navigation base station. The electronic stability controller is configured to send a current vehicle speed. The determination of whether the vehicle meets the preset calibration condition according to the position information and the driving parameters includes: when it is determined that the vehicle is in a preset calibration area according to the position information and the current vehicle speed, calculating a lateral offset of the vehicle in the preset calibration area according to the position information of the vehicle; comparing the lateral offset of the vehicle with an offset threshold to obtain a comparison result; and if the comparison result is that the lateral offset is less than or equal to the offset threshold, the vehicle meets the preset calibration condition. The gateway controller is configured to send the calibration instruction of the vehicle machine end to the radar controller and send the radar parameters returned by the radar controller to the vehicle machine end. The radar controller is configured to calibrate radar parameters and return the radar parameters.

8. The radar calibration system of claim 7, wherein, The inertial navigation controller and the electronic stability controller communicate with the vehicle machine end through the gateway controller and are configured to send vehicle position information and driving parameters to the vehicle machine end through the gateway controller.

9. A vehicle characterized by comprising: The vehicle is configured to perform the radar calibration method of any one of claims 1 to 5.

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