Radar pitch error measurement method, device and equipment, storage medium and vehicle

Abstract

The invention relates to a radar pitching error measurement method, device and equipment, a storage medium and a vehicle, and the method comprises the steps: obtaining a target point in a radar point cloud in front of a vehicle, and measuring the Doppler velocity of the target point, the horizontal angle of the target point, and the pitching angle of a radar and the target point; according to the installation angle of the radar, the vehicle speed, the Doppler speed and the horizontal angle, the target pitch angle of the radar and the target point is calculated through an anti-trigonometric function, and due to the fact that the target point and the vehicle speed have an accurate conversion relation, the accuracy of the calculated target pitch angle is higher; according to the method, the pitching error between the pitching angle and the target pitching angle is calculated, the radar pitching error is calculated in real time, operation of a driver is not needed, the calculated amount is small, time is saved, the labor cost is reduced, and the measurement precision and the measurement efficiency of the radar pitching error are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to a radar pitch error measurement method, device, equipment, storage medium and vehicle. Background Art

[0002] With the continuous development of autonomous driving technology, vehicles have higher requirements for the reliability and stability of on-board sensors. Traditional 3D millimeter-wave radars have low point cloud density and poor point cloud quality, and cannot provide information such as object height, which hinders the improvement of autonomous driving technology. Therefore, the emergence of 4D millimeter-wave radar technology has improved the perception performance of autonomous driving vehicles. In order for the 4D millimeter-wave radar to output more accurate height information, it is necessary to measure the pitch angle error after the 4D millimeter-wave radar is installed. During the installation and use of the 4D millimeter-wave radar, it is inevitable that the set installation position will be offset, resulting in errors in the output target attributes.

[0003] The existing methods of determining radar pitch error mostly require measurement using professional instruments. Therefore, after a vehicle leaves the factory, if a radar pitch error occurs during use of the vehicle, it can only be measured and discovered when the vehicle arrives at the 4S store. Inaccurate radar data may cause safety hazards. Therefore, how to determine the radar pitch error more conveniently becomes an issue that needs to be solved urgently. Summary of the invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a radar pitch error measurement method, device, equipment, storage medium and vehicle to improve the measurement accuracy and measurement efficiency of the radar pitch error.

[0005] In a first aspect, an embodiment of the present disclosure provides a method for measuring a radar pitch error, comprising:

[0006] Obtain a target point in the radar point cloud in front of the vehicle, and measure the Doppler velocity of the target point, the horizontal angle of the target point, and the pitch angle between the radar and the target point;

[0007] Calculate the target pitch angle between the radar and the target point by inverse trigonometric function according to the installation angle of the radar, the vehicle speed, the Doppler speed and the horizontal angle;

[0008] A pitch error between the pitch angle and the target pitch angle is calculated.

[0009] In a second aspect, an embodiment of the present disclosure provides a radar pitch error measuring device, comprising:

[0010] A measurement module is used to obtain a target point in the radar point cloud in front of the vehicle, and measure the Doppler velocity of the target point, the horizontal angle of the target point, and the pitch angle between the radar and the target point;

[0011] A first calculation module is used to calculate the target pitch angle between the radar and the target point through an inverse trigonometric function according to the installation angle of the radar, the vehicle speed, the Doppler speed and the horizontal angle;

[0012] The second calculation module is used to calculate the pitch error between the pitch angle and the target pitch angle.

[0013] In a third aspect, an embodiment of the present disclosure provides an electronic device, including:

[0014] Memory;

[0015] Processor; and

[0016] Computer programs;

[0017] The computer program is stored in the memory and is configured to be executed by the processor to implement the method as described in the first aspect.

[0018] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the method described in the first aspect.

[0019] In a fifth aspect, an embodiment of the present disclosure further provides a vehicle, comprising: a radar pitch error measuring device as described in the second aspect; or, an electronic device as described in the third aspect; or, a computer-readable storage medium as described in the fourth aspect.

[0020] The radar pitch error measurement method, device, equipment, storage medium and vehicle provided by the embodiments of the present disclosure obtain a target point in the radar point cloud in front of the vehicle, measure the Doppler velocity of the target point, the horizontal angle of the target point and the pitch angle between the radar and the target point; calculate the target pitch angle between the radar and the target point by inverse trigonometric functions according to the installation angle of the radar, the speed of the vehicle, the Doppler velocity and the horizontal angle; since the target point and the speed of the vehicle have an accurate conversion relationship, the calculated target pitch angle has higher accuracy; calculate the pitch angle and the pitch error of the target pitch angle, and calculate the radar pitch error in real time without the need for driver operation, with a small amount of calculation, saving time, reducing labor costs, and improving the measurement accuracy and efficiency of the radar pitch error. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0023] Figure 1 A flow chart of a radar pitch error measurement method provided in an embodiment of the present disclosure;

[0024] Figure 2 A schematic diagram of an application scenario provided by an embodiment of the present disclosure;

[0025] Figure 3 A schematic diagram of the structure of the radar pitch error provided by an embodiment of the present disclosure;

[0026] Figure 4 A flow chart of a radar pitch error measurement method provided by another embodiment of the present disclosure;

[0027] Figure 5 A schematic diagram of the structure of a radar pitch error measuring device provided in an embodiment of the present disclosure;

[0028] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0030] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0031] The disclosed embodiment provides a method for measuring a radar pitch error, which is described below in conjunction with a specific embodiment.

[0032] Figure 1The present invention provides a flow chart of a radar pitch error measurement method according to an embodiment of the present invention. The method can be performed by a radar pitch error measurement device, which can be implemented in software and / or hardware, and can be configured in an electronic device, such as a server or a terminal, wherein the terminal specifically includes an electric vehicle, a fuel vehicle, and a hybrid vehicle. In addition, the method can be applied to Figure 2 The application scenario shown includes a terminal 21, a 4D millimeter wave radar 22 and a roadside stationary target 23. The terminal 21 may be a vehicle. It is understandable that the radar pitch error measurement method provided in the embodiment of the present disclosure may also be applied in other scenarios.

[0033] Combine the following Figure 2 The application scenario shown is Figure 1 The measurement method of radar elevation error is introduced as shown, for example, Figure 2 The self-driving car in the embodiment can execute the method. The specific steps of the method are as follows:

[0034] S101, obtaining a target point in the radar point cloud in front of the vehicle, and measuring the Doppler velocity of the target point, the horizontal angle of the target point, and the pitch angle between the radar and the target point.

[0035] When the vehicle rolls off the assembly line at the factory or due to aging of the connection or driving on a bumpy road, there may be an angle θ between the 0° normal direction of the 4D millimeter wave radar 22 and the non-horizontal direction. Figure 3 It can be seen that there is an angle θ between the 0° normal direction of the 4D millimeter wave radar 22 and the horizontal plane direction, and the angle θ is the pitch error between the pitch angle to be calculated in this embodiment and the target pitch angle.

[0036] like Figure 2 As shown, the vehicle 21 is traveling at a constant speed on a flat public road, without sudden acceleration and sharp turns, and the 4D millimeter wave radar 22 is operating normally. It is understandable that a gyroscope can be introduced to measure the angle and set the angle threshold to ensure that the vehicle 21 is traveling on a flat road, and acceleration can be introduced and the acceleration threshold can be set, and the yaw angular velocity YawRate can be introduced and the angular velocity threshold can be set to ensure that the vehicle 21 moves in a uniform straight line, and the Doppler velocity of the target point is synchronized with the vehicle speed. When the yaw angular velocity YawRate is less than the angular velocity threshold, the acceleration is less than the acceleration threshold, and the angle of the gyroscope is less than the angle threshold, the target point is screened.

[0037] The radar may be a 4D millimeter wave radar, and the radar will be described later by taking the 4D millimeter wave radar 22 as an example. In some embodiments, a target point in the radar point cloud in front of the vehicle is obtained. The target point may be a point on a stationary target 23 on the roadside of the vehicle. The vehicle 21 measures the Doppler velocity of the target point, the horizontal angle of the target point, and the pitch angle between the 4D millimeter wave radar and the target point. The stationary target on the roadside of the vehicle is an object that is stationary relative to the ground, generally located on both sides of the road. For example, the stationary target on the roadside of the vehicle may be a street lamp, a guardrail, a traffic light, a road sign, etc.

[0038] S102, calculating a target pitch angle between the radar and the target point by an inverse trigonometric function according to the installation angle of the radar, the vehicle speed, the Doppler speed and the horizontal angle.

[0039] According to the installation angle of the 4D millimeter-wave radar, the vehicle speed, Doppler speed, and horizontal angle, the target pitch angle between the 4D millimeter-wave radar and the target point is calculated by inverse trigonometric functions.

[0040] Specifically, in 4D millimeter wave radar, the Doppler velocity of the target point is related to the vehicle speed, horizontal angle and target pitch angle. The specific formula is as follows:

[0041] V doppler =V vehicle *cos(θ M +θ azi )*cosθ ele

[0042] Among them, V doppler represents the Doppler velocity of the roadside stationary target 23, V vehicle represents the vehicle speed, θ ele represents the target pitch angle between the 4D millimeter wave radar and the roadside stationary target 23, θ M represents the horizontal installation angle of the 4D millimeter wave radar in the vehicle coordinate system, θ azi Indicates the horizontal angle of the 4D millimeter-wave radar output point cloud.

[0043] The formula V doppler =V vehicle *cos(θ M +θ azi )*cosθ ele Perform inverse trigonometric function transformation and calculate the target pitch angle θ using the Doppler velocity, the vehicle speed and the angle of the target point in the vehicle coordinate system. ele_thr , the specific formula is as follows:

[0044]

[0045] S103: Calculate a pitch error between the pitch angle and the target pitch angle.

[0046] The pitch error between the pitch angle and the target pitch angle is calculated, and the installation angle of the radar is adjusted using the pitch error, or the installation angle of the radar is corrected in the software content during software processing.

[0047] In the actual vehicle verification, an electronic level is used to adjust the pitch error of the 4D millimeter wave radar. The actual measurement results show that within the range of ±3°, the absolute value of the target pitch angle and the pitch angle is less than 0.2°. The specific measurement verification results are shown in Table 1:

[0048] Table 1

[0049] Preset pitch angle (°) -3 -2 -1 0 1 2 3 This application calculates the angle (°) -3.20 -2.14 -1.12 0.10 1.02 2.08 3.15 Absolute value of error (°) 0.20 0.14 0.12 0.1 0.02 0.08 0.15

[0050] The pitch measurement accuracy of the 4D millimeter-wave radar can be improved by using the above-mentioned absolute value of the error to update the installation parameters in the radar software.

[0051] The disclosed embodiment acquires a target point in a radar point cloud in front of an own vehicle, measures the Doppler velocity of the target point, the horizontal angle of the target point, and the pitch angle between the radar and the target point; calculates the target pitch angle between the radar and the target point by inverse trigonometric functions according to the installation angle of the radar, the own vehicle speed, the Doppler velocity, and the horizontal angle; since the target point and the own vehicle speed have an accurate conversion relationship, the calculated target pitch angle has higher accuracy; calculates the pitch angle and the pitch error of the target pitch angle, and calculates the radar pitch error in real time without the need for driver operation, with a small amount of calculation, saving time, reducing labor costs, and improving the measurement accuracy and efficiency of the radar pitch error.

[0052] On the basis of the above embodiment, obtaining the target point in the radar point cloud in front of the vehicle includes: obtaining radar point cloud data in front of the vehicle; and screening the target point of the radar point cloud data by using the signal-to-noise ratio of the point and the field of view angle between the point and the radar.

[0053] When the vehicle is driving, the 4D millimeter-wave radar installed in front of the vehicle can collect radar point cloud data in front of the vehicle in real time; the signal-to-noise ratio of the point and the field of view angle between the point and the radar are used to screen the target points on the stationary targets on the roadside in the radar point cloud data.

[0054] Optionally, the target points of the radar point cloud data are screened using the signal-to-noise ratio of the point and the field of view angle between the point and the radar, including: determining the signal-to-noise ratios of multiple points in the radar point cloud data and the field of view angles between the multiple points and the radar respectively; and screening points whose signal-to-noise ratio is greater than a first preset threshold and whose field of view angle is less than a preset angle as target points.

[0055] Signal to Interference plus Noise Ratio (SINR), also known as "Signal to Noise Ratio", refers to the ratio of the strength of a received useful signal to the strength of a received interference signal (noise and interference).

[0056] The field of view is also called the field of view in optical engineering. The size of the field of view determines the field of view of the optical instrument. The field of view can be expressed as FOV. The relationship between the field of view and the focal length is as follows: image height = EFL*tan(half FOV); EFL is the focal length; FOV is the field of view.

[0057] Determine the signal-to-noise ratio of multiple points in the radar point cloud data and the field of view angles of the radar respectively; select points with a signal-to-noise ratio greater than a first preset threshold and a field of view angle less than a preset angle as target points on the roadside stationary target, wherein the first preset threshold and the preset angle can be set according to actual conditions, and this embodiment does not limit them.

[0058] The disclosed embodiment determines the signal-to-noise ratio of multiple points in the radar point cloud data and the field of view angles of the multiple points and the radar; selects points whose signal-to-noise ratio is greater than a first preset threshold and whose field of view angle is less than a preset angle as target points on the roadside stationary target, so as to facilitate the subsequent calculation of the pitch angle between the radar and the target point, thereby improving the calculation speed of the radar pitch angle.

[0059] In some embodiments, calculating the pitch error between the pitch angle and the target pitch angle includes: calculating a first error between the pitch angle and the target pitch angle; accumulating the first errors of multiple target points, and determining the pitch error between the pitch angle and the target pitch angle by maximum likelihood estimation.

[0060] Calculate the first error between the pitch angle and the target pitch angle. Specifically, the measured target point pitch angle θ ele_mea The target pitch angle calculated theoretically Make a difference and get the first error θ of the target point Mele_err , the specific formula is as follows:

[0061]

[0062] Accumulate the first errors of multiple target points, and determine the pitch error of the pitch angle and the target pitch angle by maximum likelihood estimation; thus determine the pitch error of the 4D millimeter wave radar. To ensure the accumulation effect and improve the accuracy of the radar pitch error measurement, calculate the pitch error of the target points that meet the screening conditions, and Make accumulation.

[0063] Optionally, the first errors of multiple target points are accumulated, and the pitch angle and the pitch error of the target pitch angle are determined by maximum likelihood estimation, including: when the number of target points is greater than a first accumulation threshold and the number of target points at each horizontal angle is greater than a second accumulation threshold, the first errors of multiple target points are accumulated to obtain the pitch angle and the pitch error of the target pitch angle, and the pitch error includes an average value of the first errors or a maximum value of the first errors.

[0064] In order to ensure the accumulation effect, that is, to ensure the accuracy of the radar pitch angle calibration, the first accumulation threshold Thr1 and the second accumulation threshold Thr2 are set before measurement, wherein the first accumulation threshold Thr1 represents the total number of target points accumulated in multiple frames, and the second accumulation threshold Thr2 represents the distribution of the accumulated target points at various horizontal angles. If the number of accumulated target points is less than the first accumulation threshold and the second accumulation threshold, the target points will continue to be accumulated. If the number of target points accumulated in multiple frames exceeds the first accumulation threshold and the second accumulation threshold, that is, the number of target points is greater than the first accumulation threshold and the number of target points at various horizontal angles is greater than the second accumulation threshold, then according to the error The distribution diagram of the pitch error is used to calculate the probability of pitch error at each angle. The calculated distribution probability formula is as follows:

[0065]

[0066] Where i = 1, 2, 3, ... N, N represents The number of equal parts within the accumulation range, that is, the accuracy of the 4D millimeter wave radar pitch angle error, P i Represents the probability of error in each copy.

[0067] According to the above distribution probability, the pitch error can be calculated Specifically, the pitch error may be an average value of the above errors or a maximum value of the above errors. Specifically, the average value of the errors may be obtained by calculating the average value through distribution probability.

[0068] Optionally, after calculating the pitch error between the pitch angle and the target pitch angle, the method further includes: clearing the target point information in the accumulator and resetting it to a first accumulation threshold and a second accumulation threshold; periodically calculating the pitch error between the pitch angle and the target pitch angle; calculating the absolute value of the difference between the pitch error of the current cycle and the pitch error of the previous cycle; and updating the pitch error of the current cycle to the target pitch error based on the absolute value being greater than a second preset threshold.

[0069] After completing steps S101-S103, clear the target point information in the accumulator and reset the first accumulation threshold and the second accumulation threshold, periodically repeat steps S101-S103, calculate the pitch error of the 4D millimeter wave radar, calculate the absolute value of the difference between the current cycle pitch error and the previous cycle pitch error, if the absolute value is greater than the second preset threshold, such as the absolute value is greater than 0.5°, update the current cycle pitch error to the target pitch error, use the above-mentioned current cycle pitch error to update the installation parameters in the radar software, and repeat steps S101-S103, otherwise, directly repeat steps S101-S103.

[0070] The disclosed embodiment further improves the measurement accuracy and efficiency of the radar pitch error by updating the installation parameters in the radar software in real time.

[0071] Figure 4 A flow chart of a radar pitch error measurement method provided by another embodiment of the present disclosure, such as Figure 4 As shown, the method includes the following steps:

[0072] S401: Obtain radar point cloud data in front of the vehicle.

[0073] When the vehicle is driving, the 4D millimeter-wave radar installed in front of the vehicle can collect radar point cloud data in front of the vehicle in real time.

[0074] S402: Determine signal-to-noise ratios of a plurality of points in the radar point cloud data and field of view angles of the plurality of points and the radar, respectively.

[0075] Signal to Interference plus Noise Ratio (SINR), also known as "Signal to Noise Ratio", refers to the ratio of the strength of a received useful signal to the strength of a received interference signal (noise and interference).

[0076] The field of view is also called the field of view in optical engineering. The size of the field of view determines the field of view of the optical instrument. The field of view can be expressed as FOV. The relationship between the field of view and the focal length is as follows: image height = EFL*tan(half FOV); EFL is the focal length; FOV is the field of view.

[0077] Determine the signal-to-noise ratio of multiple points in the radar point cloud data and the field of view angles of the multiple points and the radar.

[0078] S403: Select points whose signal-to-noise ratio is greater than a first preset threshold and whose field of view angle is less than a preset angle as target points.

[0079] Points with a signal-to-noise ratio greater than a first preset threshold and a field of view angle less than a preset angle are selected as target points on the roadside stationary target.

[0080] S404: Measure the Doppler velocity of the target point, the horizontal angle of the target point, and the pitch angle between the radar and the target point.

[0081] Specifically, the implementation process and principle of S404 and S101 are the same, and will not be repeated here.

[0082] S405, calculating the target pitch angle between the radar and the target point by using an inverse trigonometric function according to the installation angle of the radar, the vehicle speed, the Doppler speed and the horizontal angle.

[0083] Specifically, the implementation process and principle of S405 and S102 are the same, and will not be repeated here.

[0084] S406: Calculate a first error between the pitch angle and the target pitch angle.

[0085] Calculate the first error between the pitch angle and the target pitch angle. Specifically, the measured target point pitch angle θ ele_mea The target pitch angle calculated theoretically Make a difference and get the first error θ of the target point Mele_err , the specific formula is as follows:

[0086]

[0087] S407: Accumulate the first errors of multiple target points, and determine the pitch error between the pitch angle and the target pitch angle by means of maximum likelihood estimation.

[0088] Accumulate the first errors of multiple target points, and determine the pitch error of the pitch angle and the target pitch angle by maximum likelihood estimation; thus determine the pitch error of the 4D millimeter wave radar. To ensure the accumulation effect and improve the accuracy of the radar pitch error measurement, calculate the pitch error of the target points that meet the screening conditions, and Make accumulation.

[0089] Optionally, the first errors of multiple target points are used to determine the pitch error of the pitch angle and the target pitch angle by maximum likelihood estimation, including: when the number of target points is greater than a first accumulation threshold and the number of target points at each horizontal angle is greater than a second accumulation threshold, accumulating the first errors of multiple target points to obtain the pitch error of the pitch angle and the target pitch angle, and the pitch error includes an average value of the first errors or a maximum value of the first errors.

[0090] In order to ensure the accumulation effect, that is, to ensure the accuracy of the radar pitch angle calibration, the first accumulation threshold Thr1 and the second accumulation threshold Thr2 are set before measurement, wherein the first accumulation threshold Thr1 represents the total number of target points accumulated in multiple frames, and the second accumulation threshold Thr2 represents the distribution of the accumulated target points at various horizontal angles. If the number of accumulated target points is less than the first accumulation threshold and the second accumulation threshold, the target points will continue to be accumulated. If the number of target points accumulated in multiple frames exceeds the first accumulation threshold and the second accumulation threshold, that is, the number of target points is greater than the first accumulation threshold and the number of target points at various horizontal angles is greater than the second accumulation threshold, then according to the error The distribution diagram of the pitch error is used to calculate the probability of pitch error at each angle. The calculated distribution probability formula is as follows:

[0091]

[0092] Where i = 1, 2, 3, ... N, N represents The number of equal parts within the accumulation range, that is, the accuracy of the 4D millimeter wave radar pitch angle error, P i Represents the probability of error in each copy.

[0093] According to the above distribution probability, the pitch error can be calculated Specifically, the pitch error may be an average value of the above errors or a maximum value of the above errors. Specifically, the average value of the errors may be obtained by calculating the average value through distribution probability.

[0094] S408: Clear the target point information in the accumulator and reset it to the first accumulation threshold and the second accumulation threshold.

[0095] The target point information in the accumulator is cleared and the first accumulation threshold and the second accumulation threshold are reset.

[0096] S409: Periodically calculating a pitch error between the pitch angle and the target pitch angle.

[0097] The pitch error between the pitch angle and the target pitch angle is periodically calculated to calculate the pitch error of the 4D millimeter wave radar.

[0098] S410: Calculate the absolute value of the difference between the pitch error of the current cycle and the pitch error of the previous cycle.

[0099] Calculate the absolute value of the difference between the current cycle pitch error and the previous cycle pitch error.

[0100] S411: Based on the absolute value being greater than a second preset threshold, updating the current period pitch error to a target pitch error.

[0101] If the absolute value is greater than a second preset threshold, such as the absolute value is greater than 0.5°, the current period pitch error is updated to the target pitch error, the installation parameters in the radar software are updated using the current period pitch error, and steps S101-S103 are repeated; otherwise, steps S101-S103 are directly repeated.

[0102] The disclosed embodiment measures the Doppler velocity of a target point, the horizontal angle of the target point, and the pitch angle between the radar and the target point, where the target point is a point on a stationary target on the roadside of the own vehicle; calculates the target pitch angle between the radar and the target point by inverse trigonometric functions according to the installation angle of the radar, the speed of the own vehicle, the Doppler velocity, and the horizontal angle; since there is an accurate conversion relationship between the target point and the speed of the own vehicle, the calculated target pitch angle has higher accuracy; calculates the pitch error of the radar according to the pitch angle and the pitch error of the target pitch angle, and calculates the pitch error of the pitch angle and the target pitch angle in real time, which not only does not require driver operation and has a small amount of calculation, but also saves time, reduces labor costs, and improves the measurement efficiency of the radar pitch error.

[0103] Figure 5 The schematic diagram of the structure of the radar pitch error measuring device provided in the embodiment of the present disclosure. The radar pitch error measuring device may be the terminal as described in the above embodiment, or the radar pitch error measuring device may be a component or assembly in the terminal. The radar pitch error measuring device provided in the embodiment of the present disclosure may execute the processing flow provided in the radar pitch error measuring method embodiment, such as Figure 5 As shown, the radar pitch error measuring device 50 includes: a measuring module 51, a first calculating module 52, and a second calculating module 53; wherein the measuring module 51 is used to obtain a target point in the radar point cloud in front of the vehicle, and measure the Doppler velocity of the target point, the horizontal angle of the target point, and the pitch angle between the radar and the target point; the first calculating module 52 is used to calculate the target pitch angle between the radar and the target point through an inverse trigonometric function according to the installation angle of the radar, the vehicle speed, the Doppler velocity, and the horizontal angle; the second calculating module 53 is used to calculate the pitch angle and the pitch error of the target pitch angle.

[0104] Optionally, the measurement module 51 is further used to obtain radar point cloud data in front of the vehicle; and to filter target points of the radar point cloud data by using the signal-to-noise ratio of the point and the field of view angle between the point and the radar.

[0105] Optionally, the measurement module 51 is also used to determine the signal-to-noise ratio of multiple points in the radar point cloud data and the field of view angles of the multiple points and the radar; and select the points whose signal-to-noise ratio is greater than a first preset threshold and whose field of view angle is less than a preset angle as target points.

[0106] Optionally, the second calculation module 53 is further used to calculate a first error between the pitch angle and the target pitch angle; accumulate the first errors of multiple target points, and determine the pitch error between the pitch angle and the target pitch angle by maximum likelihood estimation.

[0107] Optionally, the second calculation module 53 is also used to accumulate the first errors of multiple target points when the number of target points is greater than a first accumulation threshold and the number of target points at each horizontal angle is greater than a second accumulation threshold, to obtain the pitch angle and the pitch error of the target pitch angle, and the pitch error includes an average value of the first error or a maximum value of the first error.

[0108] Optionally, the radar pitch error measuring device 50 also includes: a clearing module 54, a third calculation module 55 and an updating module 56, wherein the clearing module 54 is used to clear the target point information in the accumulator and reset it to a first accumulation threshold and a second accumulation threshold; the third calculation module 55 is also used to periodically calculate the pitch error of the pitch angle and the target pitch angle; calculate the absolute value of the difference between the current period pitch error and the previous period pitch error; and the updating module 56 is used to update the current period pitch error to the target pitch error based on the absolute value being greater than a second preset threshold.

[0109] Figure 5 The radar pitch error measuring device of the illustrated embodiment can be used to implement the technical solution of the radar pitch error measuring method embodiment described above, and its implementation principle and technical effect are similar and will not be described in detail here.

[0110] Figure 6 The electronic device provided in the embodiment of the present disclosure may be a terminal as described in the above embodiment. The electronic device provided in the embodiment of the present disclosure may execute the processing flow provided in the embodiment of the radar pitch error measurement method, such as Figure 6 As shown, the electronic device 60 includes: a memory 61, a processor 62, a computer program and a communication interface 63; wherein the computer program is stored in the memory 61 and is configured so that the processor 62 executes the radar pitch error measurement method as described above.

[0111] In addition, an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored. The computer program is executed by a processor to implement the radar pitch error measurement method described in the above embodiment.

[0112] In addition, an embodiment of the present disclosure further provides a vehicle, which includes a radar pitch error measurement device as described in the above embodiment; or an electronic device as described in the above embodiment; or a computer-readable storage medium as described in the above embodiment.

[0113] It should be noted that, in this article, relational terms such as "first" and "second" 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.

[0114] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for measuring radar pitch error, It is characterized in that The method comprises: Obtain a target point in the radar point cloud in front of the vehicle, and measure the Doppler velocity of the target point, the horizontal angle of the target point, and the pitch angle between the radar and the target point; Calculate the target pitch angle between the radar and the target point by inverse trigonometric function according to the installation angle of the radar, the vehicle speed, the Doppler speed and the horizontal angle; A pitch error between the pitch angle and the target pitch angle is calculated.

2. The method according to claim 1, It is characterized in that Get the target points in the radar point cloud in front of the vehicle, including: Obtain radar point cloud data in front of the vehicle; The target points of the radar point cloud data are screened using the signal-to-noise ratio of the point and the field of view angle between the point and the radar.

3. The method according to claim 2, It is characterized in that The method of screening the target points of the radar point cloud data by using the signal-to-noise ratio of the point and the field of view angle between the point and the radar comprises: Determine the signal-to-noise ratio of a plurality of points in the radar point cloud data and the field of view angles of the plurality of points and the radar respectively; The points whose signal-to-noise ratio is greater than a first preset threshold and whose field of view angle is less than a preset angle are selected as target points.

4. The method according to claim 1, It is characterized in that Calculating a pitch error between the pitch angle and the target pitch angle includes: Calculating a first error between the pitch angle and the target pitch angle; The first errors of multiple target points are accumulated, and a pitch error between the pitch angle and the target pitch angle is determined by maximum likelihood estimation.

5. The method according to claim 4, It is characterized in that Accumulating the first errors of a plurality of target points and determining a pitch error between the pitch angle and the target pitch angle by means of maximum likelihood estimation, comprises: When the number of target points is greater than a first accumulation threshold and the number of target points at each horizontal angle is greater than a second accumulation threshold, the first errors of multiple target points are accumulated to obtain the pitch angle and the pitch error of the target pitch angle, and the pitch error includes an average value of the first errors or a maximum value of the first errors.

6. The method according to claim 1, It is characterized in that After calculating the pitch error between the pitch angle and the target pitch angle, the method further includes: Clear the target point information in the accumulator and reset it to the first accumulation threshold and the second accumulation threshold; Periodically calculating a pitch error between the pitch angle and the target pitch angle; Calculate the absolute value of the difference between the pitch error of the current cycle and the pitch error of the previous cycle; Based on the absolute value being greater than a second preset threshold, the current period pitch error is updated to a target pitch error.

7. A radar pitch error measuring device, It is characterized in that The device comprises: A measurement module is used to obtain a target point in the radar point cloud in front of the vehicle, and measure the Doppler velocity of the target point, the horizontal angle of the target point, and the pitch angle between the radar and the target point; A first calculation module is used to calculate the target pitch angle between the radar and the target point through an inverse trigonometric function according to the installation angle of the radar, the vehicle speed, the Doppler speed and the horizontal angle; The second calculation module is used to calculate the pitch error between the pitch angle and the target pitch angle.

8. An electronic device, It is characterized in that include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and is configured to be executed by the processor to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. A vehicle, It is characterized in that include: The radar elevation error measuring device as claimed in claim 7; Or, the electronic device as claimed in claim 8; Or, the computer readable storage medium of claim 9.

Images