Vehicle-mounted radar positioning and orientation optimization method

Abstract

The invention belongs to the technical field of vehicle-mounted radar manual calibration. The invention provides a vehicle-mounted radar positioning and orientation optimization method. According to the embodiment of the invention, in the whole station orientation process of the radar, any marked position of the radar vehicle body is stopped to the first known standard point, the video calibration mirror is aimed at the marker post at the second known standard point by rotating the array plane, and the radar servo code disc value is introduced to calculate the manual orientation compensation angle; therefore, accurate orientation is carried out. The method can be suitable for radar manual positioning and orientation when a vehicle-mounted radar vehicle body stops at a known point at any fixed position. According to the method, the position is convenient to mark, a driver easily parks, whether parking is accurate or not is easily judged, parking errors are reduced, and the calibration speed is increased. The method has the advantages of simplicity and good effect.

Description

Background Art

[0002] Before a vehicle-mounted radar starts radiation detection of a target, positioning and orientation need to be completed. The methods of positioning and orientation are divided into two categories. One is autonomous positioning and orientation, and the other is manual positioning and orientation.

[0003] The commonly used method for autonomous positioning and orientation is to use the vehicle's own GNSS (Global Navigation Satellite System) for calibration. Currently, the single-point positioning accuracy of GNSS is within about 10 meters (CEP, Circular Error Probable), and the orientation accuracy is related to the distance between the two GNSS antennas installed on the radar vehicle. Taking a typical vehicle-mounted radar as an example, the distance between its two GNSS antennas is 2 meters, so the orientation accuracy is about 0.06 degrees (RMS error, Root Mean Square Error). Since the accuracy of radar positioning and orientation will affect the detection accuracy of the radar for the target, in some application scenarios that require high-precision detection, the autonomous positioning and orientation accuracy of the radar does not meet the requirements, and when the vehicle's own GNSS system is interfered and cannot work, manual positioning and orientation are required.

[0004] For manual orientation, two known points are used for calibration, and the coordinates of the known points are measured using precise geodesic equipment (CEP value less than 1 cm). Taking a typical vehicle-mounted radar as an example, the distance between the two known points is usually selected as 400 meters. If the video calibration mirror is installed at the middle position of the horizontal projection of the radar array, and the servo azimuth rotation center of the radar vehicle body is docked to one of the known points, then when the video calibration mirror aims at the benchmark, the radar orientation value can be considered as the angle between the two known points and the north direction. However, due to the layout limitation of the overall structure of the vehicle-mounted radar, it is difficult to install the video calibration mirror at the middle position of the horizontal projection of the array. Usually, the side of the radar antenna is selected for installation.

[0005] Refer to Figure 1 , the figure is a schematic diagram of calibration by the conventional method. Both point N and point O are known points. The horizontal projection distance from the array center B to the video calibration mirror C is BC. When the telescope aims at the benchmark position O, OC⊥BC. Draw a parallel line ND of BC through the servo rotation center, then CD⊥ND. The array normal line l⊥BC, l⊥ND, so ND = BC. It can be obtained from Figure 1 the figure shown that ∠NOD = arcsin(ND / NO). Let the angle between NO and the north direction be θ. According to the installation method of the calibration mirror and the array in the figure (along the radiation direction, the calibration mirror is on the right side of the array normal line), then the angle between the array normal line l and the north direction when the telescope aims at the benchmark is θ - ∠NOD.

[0006] The disadvantage of the existing conventional method of artificial orientation is that it is necessary to dock the servo azimuth rotation center of the vehicle body at a known point, which is not easy to achieve when parking. The servo azimuth rotation center is located at a relatively central position of the vehicle body. When docking, it is difficult for the operator to judge whether the vehicle body has been parked in place, resulting in a large operation difficulty for the driver and a large docking error.

[0007] Therefore, it is necessary to improve one or more problems existing in the above related technical solutions.

[0008] It should be noted that this part aims to provide background or context for the technical solutions of the present disclosure stated in the claims. The description herein is not admitted to be prior art merely because it is included in this part. Summary of the Invention

[0009] The purpose of the embodiments of the present disclosure is to provide an optimized method for vehicle-mounted radar positioning and orientation, thereby at least overcoming one or more problems caused by the limitations and defects of the related technologies to a certain extent.

[0010] According to the first aspect of the embodiments of the present disclosure, an optimized method for vehicle-mounted radar positioning and orientation is provided. The method includes: Docking an arbitrarily preset fixed marking point on the radar vehicle body at a first known standard point; Rotating the radar array surface to aim the video calibration mirror at the pole at a second known standard point; Obtaining the servo code disk value recorded by the servo code disk, and calculating the servo rotation angle according to the servo code disk value; Calculating the orientation compensation angle according to the servo rotation angle, and using the orientation compensation angle to correct the radar orientation value to obtain the orientation angle value.

[0011] Further, the expression of the orientation compensation angle is: )

[0012] Wherein, is the orientation compensation angle, is the included angle between the connection direction from the first known standard point to the second known standard point and the north direction, is the distance from the video calibration mirror to the horizontal projection center of the radar array surface, is the horizontal projection distance from the first known standard point to the normal line of the radar array surface, is the horizontal distance from the first known standard point to the pole, The horizontal projection distance between the first known standard point and the center of the radar servo turntable, is the servo rotation angle.

[0013] Further, the fixed marking point is located at the middle part of the rear of the radar vehicle body and is precisely aligned with the first known standard point when parked.

[0014] Further, the acquisition of the servo code disk value and the calculation of the orientation compensation angle are automatically completed by the terminal computer, and the corrected orientation angle value is output in real time.

[0015] Further, when the video calibration mirror aims at the benchmark, the included angle between the normal line of the radar array surface and the benchmark direction is determined through geometric triangle relationships and trigonometric function operations of the servo rotation angle of the trigonometric function operation.

[0016] According to a second aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of the optimization method for vehicle-mounted radar positioning and orientation described in any one of the above embodiments are implemented.

[0017] According to a third aspect of the embodiments of the present disclosure, there is provided an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the steps of the optimization method for vehicle-mounted radar positioning and orientation described in any one of the above embodiments by executing the executable instructions.

[0018] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects: In the embodiments of the present disclosure, through the above optimization method for vehicle-mounted radar positioning and orientation, on the one hand, during the process of the radar whole-station orientation, the radar vehicle body is parked at the first known standard point at any marked position, the video calibration mirror is aimed at the benchmark at the second known standard point by rotating the array surface, and the radar servo code disk value is introduced to calculate the artificial orientation compensation angle, so as to perform a more accurate orientation. On the other hand, this method can be applied to the artificial positioning and orientation of the vehicle-mounted radar when the vehicle body is parked at any fixed position at a known point. The position of this method is convenient to mark, easy for the driver to park, and easy to judge whether the parking is accurate, which is beneficial to reducing the parking error and improving the calibration speed. This method has the advantages of simplicity and good effect.

[0019] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings here are incorporated into and constitute a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure. Obviously, the accompanying drawings in the following description are only some embodiments of the present disclosure, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0021] Figure 1 Schematic diagram of the position docking of the conventional method for the radar to perform manual positioning and orientation in the exemplary embodiment of the present disclosure; Figure 2 Step diagram of an optimized method for vehicle-mounted radar positioning and orientation in the exemplary embodiment of the present disclosure; Figure 3 Schematic diagram of the position docking of the present application in the exemplary embodiment of the present disclosure; Figure 4 Schematic diagram of the calculation of the orientation compensation angle of the present application in the exemplary embodiment of the present disclosure; Figure 5 Schematic diagram of a program product in the exemplary embodiment of the present disclosure; Figure 6 Schematic diagram of an electronic device in the exemplary embodiment of the present disclosure. Detailed implementation manners

[0022] Now, the exemplary embodiments will be described more comprehensively with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the present disclosure will be more comprehensive and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The features, structures, or characteristics described can be combined in any suitable manner in one or more embodiments.

[0023] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repeated description will be omitted. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0024] In this exemplary embodiment, a step diagram of an optimized method for vehicle-mounted radar positioning and orientation is first provided. This method can be applied to a terminal device, such as a mobile terminal like a mobile phone, personal digital assistant, laptop computer, tablet computer, smart watch, etc.

Flexibly adjust according to the specific situation, such as if the terminal device is a server, etc.

[0025] Through the above optimization method for vehicle-mounted radar positioning and orientation, on the one hand, during the process of the whole-station orientation of the radar, dock any marked position of the radar vehicle body at the first known standard point, rotate the array so that the video calibration mirror aims at the pole at the second known standard point, and introduce the radar servo code disk value to calculate the artificial orientation compensation angle, so as to perform more accurate orientation. On the other hand, this method can be applied to the artificial positioning and orientation of the vehicle-mounted radar when the vehicle body is parked at any fixed position at a known point. The position of this method is convenient to mark, easy for the driver to park, and easy to judge whether the parking is accurate, which is beneficial to reducing the docking error and improving the calibration speed. This method has the advantages of simplicity and good effect.

[0026] Next, reference will be made to Figures 1 to 4 for a more detailed description of each step of the above method in this exemplary embodiment.

[0027] In one embodiment, referring to Figure 3 and Figure 4 , Figure 3 is a schematic diagram of the vehicle body docking in this application, Figure 4 is a schematic diagram when the video calibration mirror aims at the pole. In this application, only need to dock any marked position of the radar vehicle body at a known point A (the marked position selected this time is the middle part of the vehicle tail, and the calculation methods for other marked positions are similar and will not be elaborated here in detail). The relative position between the center of the vehicle tail and the servo azimuth rotation center is known. Rotate the array to aim the video calibration mirror at the pole O point (the second known point). It is necessary to find the angle between the normal direction of the array at this time and the line connecting the two known points (from the marked point position of the vehicle body to the direction of the pole), then the angle that needs to be compensated can be obtained: The orientation value of the two known points (from the marked point position of the vehicle body to the direction of the pole) - ∠AOC.

[0028] Referring to Figure 4 , aim the video calibration mirror at the pole O point, and record the servo rotation angle at this time ( It can be calculated from the servo azimuth value, with the positive direction defined as the clockwise rotation direction of the array plane. At this time, ∠BCO = 90°. Both point A and point O are known points, the length between AO is known, the lengths of NB and NA are both known, and the length of CB is fixed and known.

[0029] Draw AD⊥CB from point A to the array plane, and draw a perpendicular line AM from point A to NB. Then the extension line of AM intersects the extension line of OC at point Q. Then MQ∥BC, and it can be obtained that ∠ADC = ∠BMA = ∠AQC = 90°, MQ = BC, AQ = DC, and AM = BD. Through the rotation angle , NA and trigonometric formulas, the length of AM can be calculated: AM = NA*sin(α) Since MA = BD, then CD = AQ = CB - BD. It can be obtained that:

[0030] Let the angle between AO and the north direction be θ. Then the angle between the normal of the array plane and the north direction when the telescope aims at the benchmark (i.e., the angle that needs to be compensated) is θ - ∠AOC.

[0031] In this application, by introducing the servo code disk value, an accurate quantity that can be obtained, and using trigonometric functions to calculate the angle that needs to be compensated. Compared with the conventional method, without losing the compensation accuracy, the docking difficulty is reduced and the calibration speed is increased. The obtained formula is:

[0032] Summarizing the above formula, it can be obtained that:

[0033] The horizontal projection distance from the standard point to the normal of the radar array plane = the horizontal projection distance between the standard point and the center of the radar servo turntable × the sine value of the rotation angle During the actual working process, the rotation angle of the array plane is obtained by the terminal computer, and then the orientation value that needs to be compensated can be calculated through the program preset on the computer.

[0034] In a specific embodiment, it is known that the distance between the docking position A of a certain vehicle-mounted radar and the standard point O is 500m, and the angle between AO and the north direction is 10°. The distance BC from the video calibration mirror to the horizontal projection center of the radar array plane is 2m, and the horizontal projection distance AN between the standard point and the center of the radar servo turntable is 1.5m. At this time, the servo is rotated to make the video calibration mirror aim at the standard point O, and the code disk value read at this time is 50°.

[0035] Calculated by the formula proposed in this method, the compensation angle is 9.9025° Through the above optimization method for vehicle-mounted radar positioning and orientation, on the one hand, during the process of the overall station orientation of the radar, the vehicle body of the radar is parked at the first known standard point at any marked position, the video calibration mirror is aimed at the benchmark at the second known standard point by rotating the array surface, and the radar servo code disk value is introduced to calculate the artificial orientation compensation angle, so as to perform relatively accurate orientation. On the other hand, this method can be applied to the artificial positioning and orientation of the vehicle-mounted radar when the vehicle body is parked at any fixed position at a known point. The position of this method is convenient to mark, easy for the driver to park, and easy to judge whether the parking is accurate, which is beneficial to reducing the parking error and improving the calibration speed. This method has the advantages of simplicity and good effect.

[0036] It should be noted that although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that these steps must be executed in that specific order, or that all the steps shown must be executed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution, etc. Also, it is easily understood that these steps may be executed synchronously or asynchronously, for example, in multiple modules / processes / threads.

[0037] In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it can implement the steps of the optimization method for vehicle-mounted radar positioning and orientation described in any one of the above embodiments. In some possible implementation manners, various aspects of the present application can also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to cause the terminal device to execute the steps according to various exemplary embodiments of the present application described in the above vehicle-mounted radar positioning and orientation optimization method section of this specification.

[0038] Refer to Figure 5 As shown, a program product 300 for implementing the above method according to an embodiment of the present application is described. It can adopt a portable compact disc read-only memory (CD-ROM) and include program code, and can run on a terminal device, such as a personal computer. However, the program product of the present application is not limited to this. In this document, the readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device.

[0039] The program product may employ any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0040] The computer-readable storage medium may include a data signal propagated in a baseband or as part of a carrier wave, in which the readable program code is carried. Such a propagated data signal may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The readable storage medium may also be any readable medium other than the readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0041] The program code for performing the operations of this application may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0042] In an exemplary embodiment of the present disclosure, an electronic device is further provided, which may include a processor and a memory for storing executable instructions of the processor. Wherein, the processor is configured to execute the steps of the optimization method for vehicle-mounted radar positioning and orientation described in any one of the foregoing embodiments by executing the executable instructions.

[0043] Those skilled in the art can understand that various aspects of the present application can be implemented as a system, method, or program product. Therefore, various aspects of the present application can be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software aspects, which can be collectively referred to as "circuit", "module", or "system" here.

[0044] Reference is made below Figure 6 to describe the electronic device 600 according to this embodiment of the present application. Figure 6 The displayed electronic device 600 is only an example and should not impose any restrictions on the functions and usage scope of the embodiments of the present application.

[0045] As Figure 6 shown, the electronic device 600 is presented in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different system components (including the storage unit 620 and the processing unit 610), a display unit 640, etc.

[0046] Among them, the storage unit stores program code, and the program code can be executed by the processing unit 610, so that the processing unit 610 executes the steps according to various exemplary embodiments of the present application described in the above-mentioned optimization method part of vehicle-mounted radar positioning and orientation in this specification. For example, the processing unit 610 can execute the steps as Figure 1 shown in.

[0047] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 6201 and / or a cache storage unit 6202, and may further include a read-only storage unit (ROM) 6203.

[0048] The storage unit 620 may further include a program / utilities 6204 having a set (at least one) of program modules 6205. Such program modules 6205 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. The implementation of a network environment may be included in each or some combination of these examples.

[0049] The bus 630 may represent one or more of several types of bus structures, including a storage unit bus or a storage unit controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any bus structure in a variety of bus structures.

[0050] The electronic device 600 can also communicate with one or more external devices 700 (such as a keyboard, a pointing device, a Bluetooth device, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 600, and / or communicate with any device that enables the electronic device 600 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication can be carried out through the input / output (I / O) interface 650. Moreover, the electronic device 600 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 660. The network adapter 660 can communicate with other modules of the electronic device 600 through the bus 630. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0051] From the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, or a network device, etc.) to execute the above-optimized method for vehicle-mounted radar positioning and orientation according to the embodiments of the present disclosure.

[0052] After considering the specification and practicing the invention disclosed herein, those skilled in the art will readily conceive of other embodiments of the present disclosure. This application is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include known common knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and the embodiments are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the appended claims.

Claims

1. An optimization method for vehicle-mounted radar positioning and orientation, characterized in that, The method includes: Docking any preset fixed marking point on the radar vehicle body to a first known standard point; Rotating the radar array surface to aim the video calibration mirror at the benchmark at the second known standard point; Obtaining the servo code disk value recorded by the servo code disk and calculating the servo rotation angle according to the servo code disk value; Calculating the orientation compensation angle according to the servo rotation angle and using the orientation compensation angle to correct the radar orientation value to obtain the orientation angle value.

2. The optimization method for vehicle-mounted radar positioning and orientation according to claim 1, wherein The expression of the orientation compensation angle is: ) Among them, is the directional compensation angle, is the angle between the direction of the line connecting the first known reference point to the second known reference point and the north direction, is the distance from the video calibration mirror to the horizontal projection center of the radar array surface, is the horizontal projection distance from the first known reference point to the normal line of the radar array surface, is the horizontal distance from the first known reference point to the benchmark, The horizontal projection distance between the first known reference point and the center of the radar servo turntable, is the servo rotation angle.

3. The optimized method for vehicle-mounted radar positioning and orientation according to claim 1, wherein The fixed marking point is located at the middle part of the tail of the radar vehicle body and is precisely aligned with the first known standard point when docking.

4. The optimized method for vehicle-mounted radar positioning and orientation according to claim 1, characterized in that The acquisition of the servo code disk value and the calculation of the orientation compensation angle are automatically completed by the terminal computer, and the corrected orientation angle value is output in real time.

5. The optimized method for vehicle-mounted radar positioning and orientation according to claim 1, characterized in that When the video calibration mirror aims at the benchmark, the angle between the normal of the radar array surface and the benchmark direction is determined by geometric triangle relationships and trigonometric function operations of the servo rotation angle of the servo rotation angle.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the optimization method for vehicle-mounted radar positioning and orientation described in any one of claims 1 to 5.

7. An electronic device, characterized in that, It includes: A processor; And A memory for storing the executable instructions of the processor; Wherein, the processor is configured to execute the steps of the optimization method for vehicle-mounted radar positioning and orientation described in any one of claims 1 to 5 by executing the executable instructions.

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