Radar calibration device, radar calibration method, device, system, medium and product

Abstract

The invention discloses a radar calibration device, a radar calibration method, an electronic device, a radar calibration system, a computer readable storage medium and a computer program product, the radar calibration device comprises a calibration module and a marker, and the calibration module is configured to calibrate the target point cloud data of a radar to be calibrated for the marker according to the target point cloud data of the radar to be calibrated for the marker. And calibrating the target parameters of the radar to be calibrated. Therefore, the target parameters of the radar to be calibrated can be calibrated according to the target point cloud data of the radar to be calibrated for the marker, so that the calibration of the radar to be calibrated is completed, errors occurring in the radar production or assembly process can be quantified and corrected to a certain extent, and the calibration accuracy of the radar to be calibrated is improved. And target parameters can be calibrated to correct the point cloud data output by the radar, so that the corrected point cloud data can accurately reflect a real physical space, the radar precision is further guaranteed, and the vehicle can accurately sense the external environment according to the point cloud data output by the radar.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and in particular to a radar calibration device, a radar calibration method, an electronic device, a radar calibration system, a computer-readable storage medium, and a computer program product. Background Art

[0002] As vehicles become increasingly intelligent and electronic, they are often equipped with sensors such as radar to perceive the outside world, enabling features like automated parking. However, errors can occur during the production or assembly process, making it difficult for the point cloud data generated by the radar to accurately reflect the real physical space. Therefore, ensuring that the radar point cloud data matches the real physical space remains a key challenge in implementing intelligent driving features. Summary of the Invention

[0003] The present application provides a radar calibration device, a radar calibration method, an electronic device, a radar calibration system, a computer-readable storage medium, and a computer program product.

[0004] An embodiment of the present application provides a radar calibration device, the device comprising a calibration module and a marker;

[0005] The calibration module is configured to calibrate target parameters of the radar to be calibrated according to target point cloud data of the radar to be calibrated with respect to the marker.

[0006] In this way, in the embodiment of the present application, the target parameters of the radar to be calibrated can be calibrated based on the target point cloud data of the radar to be calibrated for the marker, thereby completing the calibration of the radar to be calibrated. To a certain extent, the errors occurring during the production or assembly process of the radar can be quantified and corrected, and the point cloud data output by the radar can be corrected through calibration to complete the target parameter correction, so that the corrected point cloud data can accurately reflect the real physical space, thereby ensuring the accuracy of the radar, and enabling the vehicle to accurately perceive the external environment based on the point cloud data output by the radar.

[0007] In certain embodiments of the present application, the marker includes a reflective plate and / or a calibration rod.

[0008] Thus, in the embodiment of the present application, the target parameters of the radar to be calibrated can be calibrated through the reflector and / or calibration rod, thereby reducing the deployment difficulty of the radar calibration device to a certain extent, and further improving the radar calibration effect to a certain extent.

[0009] In certain embodiments of the present application, a marking point is provided on the reflector, and the relative position information between the marking point and the radar to be calibrated is predetermined.

[0010] In this way, in the embodiment of the present application, the target parameters of the radar to be calibrated can be calibrated based on the point cloud data of the radar to be calibrated for the marker point on the reflector, combined with the predetermined relative position information between the radar to be calibrated and the marker point, thereby completing the calibration work of the radar to be calibrated.

[0011] In certain embodiments of the present application, the marker point includes a first marker point, and a position of the first marker point coincides with a vertical projection position of the radar to be calibrated on the reflector.

[0012] Thus, in the embodiment of the present application, the target parameters of the radar to be calibrated can be calibrated according to the first mark point that coincides with the vertical projection position of the radar to be calibrated, which can ensure efficient calibration of the target parameters to a certain extent.

[0013] In certain embodiments of the present application, the marking point includes a second marking point, and the first marking point and the second marking point are arranged on the reflective plate along a preset direction, and the preset direction is perpendicular to the horizontal direction.

[0014] Thus, in the embodiment of the present application, the target parameters of the radar to be calibrated can be calibrated according to the first marking point and the second marking point set on the reflector along the preset direction, thereby completing the calibration work of the radar to be calibrated.

[0015] In some embodiments of the present application, the second marking point includes a plurality of second marking points, and the plurality of second marking points are distributed on both sides of the first marking point.

[0016] Thus, in the embodiment of the present application, the target parameters of the radar to be calibrated can be calibrated according to the multiple second marking points distributed on both sides of the first marking point, which can ensure efficient calibration of the target parameters to a certain extent.

[0017] In certain embodiments of the present application, the placement direction of the calibration rod is perpendicular to the horizontal direction.

[0018] In this way, in the embodiment of the present application, the placement direction of the calibration pole can be made perpendicular to the horizontal direction, so that the deployment of the calibration pole can be completed, which can reduce the deployment difficulty of the radar calibration device to a certain extent, and thus improve the radar calibration effect to a certain extent.

[0019] In certain embodiments of the present application, at least one calibration pole is placed on one side of the field of view of the radar to be calibrated, and at least one calibration pole is placed on the other side of the field of view of the radar to be calibrated.

[0020] In this way, in the embodiment of the present application, at least one calibration rod can be placed on one side of the field of view of the radar to be calibrated, and at least one calibration rod can be placed on the other side of the field of view of the radar to be calibrated, thereby completing the deployment of the calibration rods, thereby reducing the deployment difficulty of the radar calibration device to a certain extent, and further improving the radar calibration effect to a certain extent.

[0021] In certain embodiments of the present application, the device further includes a parameter configuration module, and the parameter configuration module is configured to configure the operating parameters of the device according to a parameter input operation.

[0022] Thus, in the embodiment of the present application, the operating parameters of the device can be configured according to the parameter input operation triggered by the parameter configuration module, thereby ensuring the robust calibration of the radar to be calibrated.

[0023] In certain embodiments of the present application, the device further includes a point cloud acquisition module, which is configured to acquire the target point cloud data of the radar to be calibrated.

[0024] Thus, in the embodiment of the present application, the point cloud data output by the radar to be calibrated can be collected by the point cloud collection module.

[0025] In some embodiments of the present application, the apparatus further comprises a point cloud visualization module, wherein the point cloud visualization module is configured to generate point cloud data for display according to the target parameters.

[0026] Thus, in the embodiment of the present application, point cloud data can be generated according to the target parameters for display, thereby intuitively presenting the similarities and differences between the point cloud data generated by the target parameters and the real physical space.

[0027] An embodiment of the present application provides a radar calibration method, which is applied to the above-mentioned radar calibration device, and includes:

[0028] The target parameters of the radar to be calibrated are calibrated according to the target point cloud data of the radar to be calibrated with respect to the marker.

[0029] In this way, in the embodiment of the present application, the target parameters of the radar to be calibrated can be calibrated based on the target point cloud data of the radar to be calibrated for the marker, thereby completing the calibration of the radar to be calibrated. To a certain extent, the errors occurring during the production or assembly process of the radar can be quantified and corrected, and the point cloud data output by the radar can be corrected through calibration to complete the target parameter correction, so that the corrected point cloud data can accurately reflect the real physical space, thereby ensuring the accuracy of the radar, and enabling the vehicle to accurately perceive the external environment based on the point cloud data output by the radar.

[0030] In certain embodiments of the present application, the target point cloud data is used to indicate a first spatial point corresponding to the marker in the original point cloud data generated by the radar to be calibrated, and / or includes a second spatial point in the original point cloud data that is within a preset range of the first spatial point.

[0031] In this way, in the embodiment of the present application, the target parameters of the radar to be calibrated can be calibrated based on the first spatial point corresponding to the marker in the original point cloud data, and the second spatial point located within the preset range of the first spatial point, thereby realizing the calibration work of the radar to be calibrated.

[0032] In certain embodiments of the present application, the marker includes a reflective plate and / or a calibration rod, a marking point is provided on the reflective plate, and the first spatial point corresponds to the calibration rod and / or to the marking point.

[0033] Thus, in the embodiment of the present application, the target parameters of the radar to be calibrated can be calibrated according to the first spatial point corresponding to the calibration rod and / or the marking point on the reflector, thereby achieving the calibration work of the radar to be calibrated.

[0034] In certain embodiments of the present application, the target parameters include a ranging deviation parameter and an angle deviation parameter.

[0035] In this way, in the embodiment of the present application, the ranging deviation parameters and angle deviation parameters of the radar to be calibrated can be calibrated, thereby completing the calibration work of the radar to be calibrated.

[0036] In certain embodiments of the present application, the target point cloud data includes an angle measurement value of the first spatial point and / or an angle measurement value of the second spatial point, and calibrating the target parameters of the radar to be calibrated based on the target point cloud data of the radar to be calibrated for the marker includes:

[0037] The angle deviation parameter is determined according to the angle measurement value of the first spatial point and / or the angle measurement value of the second spatial point, and the angle of the marker relative to the radar to be calibrated.

[0038] Thus, in an embodiment of the present application, the angle deviation parameter of the radar to be calibrated can be determined based on the angle measurement value of the first spatial point and / or the angle measurement value of the second spatial point, and the angle of the marker relative to the radar to be calibrated, thereby achieving calibration of the angle deviation parameter.

[0039] In certain embodiments of the present application, the marker includes a calibration pole, the angle measurement value includes a horizontal angle measurement value, the angle deviation parameter includes a horizontal angle deviation parameter, the first spatial point corresponds to the calibration pole, and determining the angle deviation parameter based on the angle measurement value of the first spatial point and / or the angle measurement value of the second spatial point, and the angle of the marker relative to the radar to be calibrated includes:

[0040] The horizontal angle deviation parameter is determined according to the horizontal angle measurement value of the first spatial point, the horizontal angle measurement value of the second spatial point, and the target horizontal angle of the calibration rod relative to the radar to be calibrated.

[0041] In this way, in the embodiment of the present application, the horizontal angle deviation parameter of the radar to be calibrated can be calibrated based on the horizontal angle measurement value of the first spatial point, the horizontal angle measurement value of the second spatial point, and the target horizontal angle of the calibration rod relative to the radar to be calibrated.

[0042] In certain embodiments of the present application, determining the horizontal angle deviation parameter based on the horizontal angle measurement value of the first spatial point, the horizontal angle measurement value of the second spatial point, and the target horizontal angle of the calibration rod relative to the radar to be calibrated includes:

[0043] The horizontal angle deviation parameter is determined based on a difference between the horizontal angle measurement value of the first spatial point and the target horizontal angle, and based on a difference between the horizontal angle measurement value of the second spatial point and the target horizontal angle.

[0044] In this way, in the embodiment of the present application, the horizontal angle deviation parameter of the radar to be calibrated can be calibrated based on the difference between the horizontal angle measurement value of the first spatial point and the target horizontal angle, and based on the difference between the horizontal angle measurement value of the second spatial point and the target horizontal angle.

[0045] In certain embodiments of the present application, the marker includes a reflector, the angle measurement value includes a vertical angle measurement value, the angle deviation parameter includes a vertical angle deviation parameter, the first spatial point corresponds to a second marker point set on the reflector, and determining the angle deviation parameter based on the angle measurement value of the first spatial point and / or the angle measurement value of the second spatial point, and the angle of the marker relative to the radar to be calibrated includes:

[0046] The vertical angle deviation parameter is determined according to the vertical angle measurement value of the first spatial point, the vertical angle measurement value of the second spatial point, and the target vertical angle of the second marker point relative to the radar to be calibrated.

[0047] In this way, in the embodiment of the present application, the vertical angle deviation parameter of the radar to be calibrated can be calibrated based on the vertical angle measurement value of the first spatial point, the vertical angle measurement value of the second spatial point, and the target vertical angle of the second marker point relative to the radar to be calibrated.

[0048] In certain embodiments of the present application, determining the vertical angle deviation parameter based on the vertical angle measurement value of the first spatial point, the vertical angle measurement value of the second spatial point, and the target vertical angle of the second marker point relative to the radar to be calibrated includes:

[0049] The vertical angle deviation parameter is determined based on a difference between the vertical angle measurement value of the first spatial point and the target vertical angle, and based on a difference between the vertical angle measurement value of the second spatial point and the target vertical angle.

[0050] In this way, in the embodiment of the present application, the vertical angle deviation parameter of the radar to be calibrated can be calibrated based on the difference between the vertical angle measurement value of the first spatial point and the target vertical angle, and based on the difference between the vertical angle measurement value of the second spatial point and the target vertical angle.

[0051] In certain embodiments of the present application, the marker includes a reflector, the first spatial point corresponds to a first marker point set on the reflector, the target point cloud data includes a distance measurement value of the first spatial point and / or a distance measurement value of the second spatial point, and calibrating the target parameters of the radar to be calibrated based on the target point cloud data of the radar to be calibrated for the marker includes:

[0052] A ranging deviation parameter is determined according to the distance measurement value of the first spatial point, the distance measurement value of the second spatial point, and the target distance of the first marker point relative to the radar to be calibrated.

[0053] Thus, in the embodiment of the present application, the ranging deviation parameter of the radar to be calibrated can be calibrated based on the distance measurement value of the first spatial point, the distance measurement value of the second spatial point, and the target distance of the first marker point relative to the radar to be calibrated.

[0054] In certain embodiments of the present application, determining the ranging deviation parameter based on the distance measurement value of the first spatial point, the distance measurement value of the second spatial point, and the target distance of the first marker point relative to the radar to be calibrated includes:

[0055] The distance measurement deviation parameter is determined according to a difference between the distance measurement value of the first spatial point and the target distance, and according to a difference between the distance measurement value of the second spatial point and the target distance.

[0056] Thus, in the embodiment of the present application, the ranging deviation parameter of the radar to be calibrated can be calibrated based on the difference between the distance measurement value of the first spatial point and the target distance, and based on the difference between the distance measurement value of the second spatial point and the target distance.

[0057] In certain embodiments of the present application, the radar calibration method further includes:

[0058] Based on the target parameters, current point cloud data is generated for display.

[0059] Finally, rendering and display are performed based on the calculated coordinates of each spatial point.

[0060] Thus, in an embodiment, the current point cloud data may be determined for display based on the target parameters, thereby allowing the user to determine whether the target parameters at the current moment meet expectations based on the displayed current point cloud data.

[0061] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned radar calibration method is implemented.

[0062] An embodiment of the present application provides a radar calibration system, which includes the above-mentioned radar calibration device and the above-mentioned electronic device.

[0063] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by one or more processors, the above-mentioned radar calibration method is implemented.

[0064] An embodiment of the present application provides a computer program product, including a computer program / instruction, which implements the above-mentioned radar calibration method when executed by a processor.

[0065] The electronic device, radar calibration system, computer-readable storage medium, and computer program product provided in the embodiments of the present application can calibrate the target parameters of the radar to be calibrated based on the target point cloud data of the radar to be calibrated for the marker, thereby completing the calibration of the radar to be calibrated. To a certain extent, it can quantify and correct errors occurring during the radar production or assembly process, and can complete the target parameter correction of the point cloud data output by the radar through calibration, so that the corrected point cloud data can accurately reflect the real physical space, thereby ensuring the accuracy of the radar, and enabling the vehicle to accurately perceive the external environment based on the point cloud data output by the radar.

[0066] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0068] Figure 1 This is a schematic diagram of a radar calibration device in some embodiments of the present application;

[0069] Figure 2 This is a schematic diagram of a radar calibration device in some embodiments of the present application;

[0070] Figure 3 This is a schematic diagram of a radar calibration device in some embodiments of the present application;

[0071] Figure 4 This is a schematic diagram of a radar calibration device in some embodiments of the present application;

[0072] Figure 5 A schematic flow chart of a radar calibration method in certain embodiments of the present application;

[0073] Figure 6 Schematic diagram of an electronic device in some embodiments of the present application. DETAILED DESCRIPTION

[0074] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and should not be understood as limiting the embodiments of the present application.

[0075] In related technologies, to eliminate systematic errors caused by the radar's hardware and installation, the radar's internal parameters are typically calibrated. This calibration quantifies and corrects systematic errors to ensure that the point cloud data output by the radar accurately reflects the real physical space. However, these internal parameter calibration schemes typically utilize point cloud data obtained from multiple LiDAR scans and utilize other auxiliary devices, making them difficult to deploy and complex to operate.

[0076] Based on the above problems you may encounter, please refer to Figure 1 An embodiment of the present application provides a radar calibration device 100, which includes a calibration module 110 and a marker 120. The calibration module 110 is configured to calibrate target parameters of the radar to be calibrated based on target point cloud data of the marker 120 of the radar to be calibrated.

[0077] Specifically, in an embodiment of the present application, the calibration module 110 can scan and detect the marker 120 on the radar to be calibrated to generate corresponding point cloud data, that is, target point cloud data, and obtain the target point cloud data of the radar to be calibrated and perform corresponding processing to determine the specific values of the target parameters of the radar to be calibrated.

[0078] In one example, the target parameters include intrinsic parameters of the radar to be calibrated.

[0079] In one example, the radar to be calibrated includes a lidar to be calibrated.

[0080] In this way, in the embodiment of the present application, the target parameters of the radar to be calibrated can be calibrated based on the target point cloud data of the radar to be calibrated for the marker 120, thereby completing the calibration of the radar to be calibrated. To a certain extent, the errors occurring during the production or assembly process of the radar can be quantified and corrected, and the point cloud data output by the radar can be corrected through calibration to complete the target parameter correction, so that the corrected point cloud data can accurately reflect the real physical space, thereby ensuring the accuracy of the radar, and enabling the vehicle to accurately perceive the external environment based on the point cloud data output by the radar.

[0081] In certain embodiments of the present application, the marker 120 includes a reflective plate 121 and / or a calibration rod 122 .

[0082] Specifically, in the embodiment of the present application, the calibration of the radar to be calibrated can be completed by using a radar to be calibrated, a reflector 121 and one or more calibration rods 122, which is simple, fast and easy to operate.

[0083] Specifically, see Figure 2 , Figure 2 This is a schematic diagram of an application scenario in some embodiments of the present application, that is, in Figure 2 In an example shown, the radar calibration device 100 includes a reflector 121 and two calibration rods 122. Furthermore, the calibration module 110 can calibrate the target parameters of the radar 200 to be calibrated based on the point cloud data obtained when the radar 200 to be calibrated detects the reflector 121, and / or based on the point cloud data obtained when the radar 200 to be calibrated detects the calibration rods 122.

[0084] In such Figure 2 In the example shown, the length of the reflective plate 121 is 4 m (meters), and the width of the reflective plate 121 is 2 m.

[0085] In such Figure 2 In one example shown, the reflector 121 includes two surfaces, a front surface and a back surface. The front surface is a surface close to or facing the radar 200 to be calibrated, and the front surface is a flat diffuse reflection surface.

[0086] Furthermore, in one example, the reflectivity of the front surface of the reflective plate 121 may be 10%.

[0087] In one example, the distance between the front of the reflective plate 121 and the radar 200 to be calibrated may be 6 meters, or the reflective plate 121 may be placed at a distance of six meters from the radar 200 to be calibrated.

[0088] In one example, the calibration module 110 may calibrate the horizontal angle deviation parameter of the radar 200 to be calibrated based on the point cloud data of the radar 200 to be calibrated with respect to the calibration pole 122 .

[0089] In an example, the calibration module 110 may calibrate the offset calibration and vertical angle deviation of the radar 200 to be calibrated based on the point cloud data of the radar 200 to be calibrated with respect to a known point on the reflector 121 .

[0090] In addition, it should be noted that in the embodiments of this application, the horizontal direction can be understood as the direction corresponding to the azimuth angle of the radar 200 to be calibrated, or the horizontal angle in the embodiments of this application can be understood as the rotation angle of the radar beam in the horizontal plane. Conversely, the vertical direction can be understood as the direction corresponding to the elevation angle of the radar 200 to be calibrated, or the elevation angle in the embodiments of this application can be understood as the vertical tilt angle of the radar beam relative to the horizontal plane.

[0091] Thus, in the embodiment of the present application, the target parameters of the radar 200 to be calibrated can be calibrated through the reflector 121 and / or the calibration rod 122, thereby reducing the deployment difficulty of the radar calibration device 100 to a certain extent, and further improving the radar calibration effect to a certain extent.

[0092] In certain embodiments of the present application, a marking point is provided on the reflector 121 , and the relative position information between the marking point and the radar 200 to be calibrated is predetermined.

[0093] Specifically, in an embodiment of the present application, one or more marker points with known positions are provided on the reflector 121. Then, after the radar 200 to be calibrated detects the reflector 121 to obtain corresponding target point cloud data, the calibration module 110 can determine the difference between the target point cloud data obtained by the radar detection and the real physical space based on the point cloud data corresponding to these marker points in the target point cloud data.

[0094] In one example, the relative position information between the marker point and the radar 200 to be calibrated includes but is not limited to the vertical angle, horizontal angle, relative distance, etc. of the marker point relative to the radar 200 to be calibrated.

[0095] In this way, in the embodiment of the present application, the target parameters of the radar 200 to be calibrated can be calibrated based on the point cloud data of the radar 200 to be calibrated for the marking point on the reflector 121, combined with the predetermined relative position information between the radar 200 to be calibrated and the marking point, thereby completing the calibration work of the radar 200 to be calibrated.

[0096] See also Figure 2 In some embodiments of the present application, the marker point includes a first marker point 123 , and the position of the first marker point 123 coincides with the vertical projection position of the radar 200 to be calibrated on the reflector 121 .

[0097] Specifically, if Figure 2 As shown, a first marking point 123 is provided on the reflector 121 , and the first marking point 123 coincides with the vertical projection position of the radar 200 to be calibrated on the reflector 121 .

[0098] It is understandable that, because the first marker point 123 coincides with the vertical projection position of the radar 200 to be calibrated on the reflector 121, the "distance of the first marker point 123 relative to the radar 200 to be calibrated" can, to a certain extent, be understood as the "true depth of each point on the reflector 121 relative to the radar 200 to be calibrated." Therefore, in one example, after the radar 200 to be calibrated detects the reflector 121 to obtain target point cloud data corresponding to the reflector 121, the distance measurement error of the radar 200 to be calibrated can be calibrated based on the "predetermined 'distance of the first marker point 123 relative to the radar 200 to be calibrated'" and the "depth of each three-dimensional spatial point in the target point cloud data corresponding to the reflector 121."

[0099] In one example, the distance between the first marker point 123 and the radar 200 to be calibrated may be 6 meters, or the reflector 121 may be placed at a position six meters relative to the radar 200 to be calibrated.

[0100] Thus, in the embodiment of the present application, the target parameters of the radar 200 to be calibrated can be calibrated according to the first mark point 123 that coincides with the vertical projection position of the radar 200 to be calibrated, which can ensure efficient calibration of the target parameters to a certain extent.

[0101] In some embodiments of the present application, the marking point includes a second marking point 124 , and the first marking point 123 and the second marking point 124 are set on the reflective plate 121 along a preset direction, and the preset direction is perpendicular to the horizontal direction.

[0102] Specifically, if Figure 2 As shown, in the embodiment of the present application, the first marking point 123 and the second marking point 124 on the reflective plate 121 are arranged along a preset direction.

[0103] To more clearly illustrate the placement of each marker point in the embodiment of this application, please refer to Figure 2 and Figure 3 , Figure 3 This is a schematic diagram of an application scenario in some embodiments of the present application. Specifically, Figure 2 As shown, the reflector 110 is provided with a second marking point 124 and a first marking point 123 arranged along a preset direction. Therefore, the reflector 121 is observed from a top view, that is, Figure 3 As shown, the second marking point 124 and the first marking point 123 on the reflective plate 121 overlap and overlap to form point P1.

[0104] In one example, the preset direction refers to a direction perpendicular to the horizontal plane and upward or downward, based on the horizontal plane. Figure 3 The direction of the Z axis perpendicular to the XY plane.

[0105] In one example, the calibration module 110 can calibrate the vertical angle error of the radar 200 to be calibrated in a preset direction based on the "vertical angle of the second marker point 124 relative to the radar 200 to be calibrated" and the "vertical angle of the three-dimensional space point corresponding to the second marker point 124" in the target point cloud data of the radar 200 to be calibrated for the reflector 121.

[0106] Thus, in the embodiment of the present application, the target parameters of the radar 200 to be calibrated can be calibrated according to the first marking point 123 and the second marking point 124 set on the reflector 121 along the preset direction, thereby completing the calibration work of the radar 200 to be calibrated.

[0107] In some embodiments of the present application, the second marking point 124 includes a plurality of second marking points 124 , and the plurality of second marking points 124 are distributed on both sides of the first marking point 123 .

[0108] Specifically, in the embodiment of the present application, the number of the second marking points 124 is at least 2, and each second marking point 124 can be distributed on both sides of the first marking point 123, such as Figure 2 As shown, a second marking point 124 (let this point be T1) is set in the positive direction of the preset direction of the first marking point 123, and another second marking point 124 (let this point be T2) is set in the negative direction of the preset direction of the first marking point 123.

[0109] Furthermore, in Figure 2In an example shown, the calibration module 110 can calibrate the vertical angle error of the radar 200 to be calibrated in a preset direction based on the predetermined "vertical angle of T1 relative to the radar 200 to be calibrated", "vertical angle of T2 relative to the radar 200 to be calibrated", and "vertical angle of the three-dimensional space point corresponding to T1" and "vertical angle of the three-dimensional space point corresponding to T2" in the target point cloud data of the radar 200 to be calibrated with respect to the reflector 121.

[0110] In one example, the first marker point 123 and the second marker point 124 are both located on the vertical center line of the laser radar.

[0111] Thus, in the embodiment of the present application, the target parameters of the radar 200 to be calibrated can be calibrated according to the multiple second marking points 124 distributed on both sides of the first marking point 123, which can ensure efficient calibration of the target parameters to a certain extent.

[0112] Please also refer to Figure 2 and Figure 3 In some embodiments of the present application, the placement direction of the calibration rod 122 is perpendicular to the horizontal direction.

[0113] Specifically, in Figure 2 As shown, the placement direction of the calibration rod 122 is perpendicular to the horizontal direction. It is understood that in the embodiment of the present application, the preset direction refers to the direction perpendicular to the horizontal plane upward or downward with the horizontal plane as the reference, that is, Figure 3 The direction of the Z axis perpendicular to the XY plane.

[0114] In one example, when the calibration pole 122 is placed perpendicular to the horizontal direction, the calibration module 110 can calibrate the horizontal angle deviation of the radar 200 to be calibrated based on the point cloud data of the radar 200 to be calibrated with respect to the calibration pole 122 .

[0115] In this way, in the embodiment of the present application, the placement direction of the calibration rod 122 can be made perpendicular to the horizontal direction, so that the deployment of the calibration rod 122 can be completed, thereby reducing the deployment difficulty of the radar calibration device 100 to a certain extent, and further improving the radar calibration effect to a certain extent.

[0116] In some embodiments of the present application, at least one calibration pole 122 is placed on one side of the field of view of the radar 200 to be calibrated, and at least one calibration pole 122 is placed on the other side of the field of view of the radar 200 to be calibrated.

[0117] Specifically, in the embodiment of the present application, two or more calibration rods 122 may be matched with the reflector 121 to complete the target parameter calibration of the radar 200 to be calibrated.

[0118] Specifically, in Figure 2 In the example shown, one calibration rod 122 can be placed on the left side of the field of view of the radar 200 to be calibrated, and the other calibration rod 122 can be placed on the right side of the field of view of the radar 200 to be calibrated. Then, when the two calibration rods 122 are observed from a bird's-eye view, as shown in FIG. Figure 3 As shown, the calibration pole 122 located on the left side of the field of view of the radar 200 to be calibrated coincides with point P2, and the calibration pole 122 located on the right side of the field of view of the radar 200 to be calibrated coincides with point P3.

[0119] In such Figure 2 and Figure 3 In an example shown, the distance between P2 and P0, and the distance between P3 and P0 are both 2 meters, or the distance between the "calibration pole 122 placed on the left side of the field of view of the radar 200 to be calibrated" and the "calibration pole 122 placed on the right side of the field of view of the radar 200 to be calibrated" and the "radar 200 to be calibrated" are both 2 meters.

[0120] In this way, in the embodiment of the present application, at least one calibration rod 122 can be placed on one side of the field of view of the radar 200 to be calibrated, and at least one calibration rod 122 can be placed on the other side of the field of view of the radar 200 to be calibrated, thereby completing the deployment of the calibration rods 122, thereby reducing the deployment difficulty of the radar calibration device 100 to a certain extent, and thus improving the radar calibration effect to a certain extent.

[0121] See also Figure 4 In certain embodiments of the present application, the device 100 further includes a parameter configuration module 130, and the parameter configuration module 130 is configured to configure the operating parameters of the device 100 according to the parameter input operation.

[0122] Specifically, in the embodiment of the present application, the radar calibration device 100 further includes a parameter configuration module 130. The parameter configuration module 130 can determine the values of the operating parameters required for the radar calibration process of the radar 200 to be calibrated according to the user's parameter input operation.

[0123] In one example, operational parameters that can be configured based on parameter input operations include, but are not limited to, the RX optical center Z coordinate, the TX optical center Z coordinate, and the radius of the circle drawn by the rotating mirror. The RX optical center Z coordinate refers to the vertical offset (Z axis) of the optical center of the radar receiver (RX). The TX optical center Z coordinate refers to the vertical offset (Z axis) of the optical center of the radar transmitter (TX). The radius of the circle drawn by the rotating mirror refers to the radius of the circular trajectory formed by the rotating mirror when it rotates.

[0124] Thus, in the embodiment of the present application, the operating parameters of the device 100 can be configured according to the parameter input operation triggered by the parameter configuration module 130, thereby ensuring the robust calibration of the radar 200 to be calibrated.

[0125] Please refer to the Figure 3 In some embodiments of the present application, the device 100 further includes a point cloud acquisition module 140 , which is configured to acquire target point cloud data of the radar 200 to be calibrated.

[0126] Specifically, in the embodiment of the present application, a point cloud acquisition module 140 may be provided in the radar calibration device 100 , and the point cloud data output by the radar 200 to be calibrated may be acquired through the point cloud acquisition module 140 .

[0127] In one example, the process of acquiring point cloud data by the point cloud acquisition module 140 may include:

[0128] Step 1: The radar 200 to be calibrated transmits point cloud data to the point cloud acquisition module 140 via UDP (User Datagram Protocol). The point cloud acquisition module 140 receives the point cloud data sent by the radar 200 to be calibrated through the UDP port. If the calibration module 110 requires 100 frames of point cloud data each time it calibrates target parameters, the radar 200 to be calibrated transmits 100 frames of point cloud data to the point cloud acquisition module 140.

[0129] Step 2: Cache each frame of point cloud data sent by the radar 200 to be calibrated.

[0130] Step 3: If 100 frames of data cannot be received and cached, re-collect 100 frames of data.

[0131] Step 4: For the 100 frames of images collected, the number of pixels in each frame is 96*1500, and then extract the mirror deflection angle θ u , the distance d of each point cloud is divided into 4 groups for calibration calculation, thereby completing the collection of point cloud data.

[0132] Thus, in the embodiment of the present application, the point cloud data output by the radar 200 to be calibrated may be collected by the point cloud collection module 140 .

[0133] Please refer to the Figure 4 In some embodiments of the present application, the apparatus 100 further includes a point cloud visualization module 150 , which is configured to generate point cloud data for display according to target parameters.

[0134] Specifically, in an embodiment of the present application, a point cloud visualization module 150 is provided in the radar 200 to be calibrated. The module can generate visual point cloud data based on the target parameters at the current moment for the user to view the point cloud data, so that the user can directly judge with the naked eye whether the target parameters at the current moment meet expectations.

[0135] In one example, the point cloud data generated by the point cloud visualization module 150 can be understood as a three-dimensional model.

[0136] In one example, before target parameter calibration, the point cloud visualization module 150 can modify and display the point cloud data sent by the radar 200 to be calibrated using the default values of the target parameters. Conversely, after target parameter calibration, the point cloud visualization module 150 can modify and display the point cloud data sent by the radar 200 to be calibrated using the calibrated values of the target parameters, allowing the user to compare the point cloud data with the actual scene and determine whether the target parameters at the current moment meet expectations.

[0137] In one example, when the radar calibration module 110 determines the values of the operating parameters required for the radar calibration process of the radar 200 to be calibrated based on the parameter configuration module and the user's parameter input operation, the point cloud visualization module 150 can generate corresponding point cloud data based on the values of the operating parameters for correction and display, so that the user can compare the differences between the point cloud data and the real physical space, and thus make corresponding adjustments to the values of the operating parameters.

[0138] Thus, in the embodiment of the present application, point cloud data can be generated according to the target parameters for display, thereby intuitively presenting the similarities and differences between the point cloud data generated by the target parameters and the real physical space.

[0139] In addition, it can be understood that based on Figure 2 and / or Figure 3 The marker 120 shown, and Figure 4 The radar calibration device 100 shown in this embodiment enables calibration of a radar 200 to be completed using a single radar, a reflector 121, and multiple (e.g., two) calibration rods 122. Furthermore, the deployment of the markers 120 is simple, fast, and easy to operate. Furthermore, this embodiment provides a complete lidar calibration solution that supports configuration of radar operating parameters, adjustment of known operating parameters as needed, storage of calibration results, and visualization of point clouds for analysis of calibration results.

[0140] Furthermore, the embodiments of the present application can implement phased calibration based on the point cloud visualization module 150 and the parameter configuration module 130. For example, in different stages, the operating parameters of the radar 200 to be calibrated are configured to different values through the parameter configuration module 130, and the point cloud visualization module 150 generates point cloud data for display when the operating parameters are of different values at different stages, so that the user can intuitively determine the target parameter calibration results at different stages. Furthermore, the user can adjust the initial input parameters based on real-time feedback, and finely control and continuously optimize the calibration process to ensure the accuracy of the final calibration results. Therefore, compared with the calibration schemes in the related art based on the probability distribution method of radar reflection intensity, the reprojection method, etc., which cannot continuously optimize the calibration parameters, the radar calibration device 100 provided by the embodiments of the present application can support a more flexible radar calibration method.

[0141] See also Figure 5 Corresponding to the above-mentioned radar calibration device, an embodiment of the present application further provides a radar calibration method, which is applied to the above-mentioned radar calibration device, and the method includes:

[0142] 01: Calibrate the target parameters of the radar to be calibrated based on the target point cloud data of the marker.

[0143] The present application also provides an electronic device comprising a memory and a processor. The radar calibration method of the present application can be implemented by the electronic device of the present application. Specifically, the memory stores a computer program, and the processor is configured to calibrate target parameters of the radar to be calibrated based on target point cloud data of the radar to be calibrated relative to a landmark.

[0144] Specifically, in an embodiment of the present application, the electronic device can control the radar to be calibrated to detect in the direction of the marker, and then calibrate the target parameters of the radar to be calibrated based on the target point cloud data of the marker by the electronic device, thereby completing the calibration of the radar to be calibrated.

[0145] It can be understood that the structure and position of the markers in the radar calibration device, as well as the structure of the radar calibration device, can be found in the above content. To avoid repetition, they will not be described here.

[0146] It is also understood that in the embodiments of the present application, the specific structure of the electronic device can be set according to actual conditions, for example, see Figure 6 , Figure 6 This is a schematic diagram of an electronic device in some embodiments of the present application, that is, Figure 6In one example shown, the radar to be calibrated is a laser radar. Furthermore, the electronic device may include components such as an input device, a processor, a memory, a laser radar, a communication device, and an output device. These components may be connected via a bus or other means.

[0147] The input device is used to receive digital or character information, or signal input related to user settings and function control. For example, the above-mentioned parameter configuration module can configure various operating parameters based on the parameter values entered by the user through the input device. For example, it can trigger relevant instructions for the radar calibration process.

[0148] The processor is used to execute the internal calibration program, which can obtain radar point cloud data and perform related calculations for lidar calibration.

[0149] Memory, including volatile memory and non-volatile memory. Volatile memory is used to store point cloud data collected by the internal calibration program, user-entered configuration parameters, or internal calibration control instructions. Non-volatile memory is used to store executable computer programs and radar calibration results.

[0150] Bus or other connection methods refer to the connection method between input devices, processors, memory, LiDAR, communication devices, and output devices. For example, if the processor, memory, and communication devices are connected via the computer's internal bus, the input devices, LiDAR, and computer are connected via a USB (Universal Serial Bus) adapter.

[0151] LiDAR, scanning LiDAR data is transmitted via the network to an executable internal calibration program stored on a computer.

[0152] Communication devices, such as network cards, provide support for application network data transmission.

[0153] Output devices, such as displays and disks, in this application, the point cloud visualization module visualizes the point cloud data and displays it to the user through the display. The internal reference calibration program executes the calibration results and saves them to the file system and stores them to the disk.

[0154] In this way, in the embodiment of the present application, the target parameters of the radar to be calibrated can be calibrated based on the target point cloud data of the radar to be calibrated for the marker, thereby completing the calibration of the radar to be calibrated. To a certain extent, the errors occurring during the production or assembly process of the radar can be quantified and corrected, and the point cloud data output by the radar can be corrected through calibration to complete the target parameter correction, so that the corrected point cloud data can accurately reflect the real physical space, thereby ensuring the accuracy of the radar, and enabling the vehicle to accurately perceive the external environment based on the point cloud data output by the radar.

[0155] In certain embodiments of the present application, the target point cloud data includes a first spatial point corresponding to the marker in the original point cloud data generated by the radar to be calibrated, and / or includes a second spatial point in the original point cloud data that is within a preset range of the first spatial point.

[0156] Specifically, in an embodiment of the present application, after the radar to be calibrated detects in the direction of the marker and generates corresponding original point cloud data, the electronic device can use the first spatial point corresponding to the marker in the original point cloud data, and / or the second spatial point within a preset range of the first spatial point, for target parameter calibration of the radar to be calibrated.

[0157] It can be understood that, considering that the number of first spatial points corresponding to the markers is small, the second spatial points located within the preset range of the first spatial points can be used to calibrate the target parameters of the radar to be calibrated, thereby ensuring that the target parameter calibration process of the radar to be calibrated can obtain sufficient data support, thereby ensuring reliable calibration of the target parameters.

[0158] It can also be understood that when the second spatial point is used to calibrate the target parameters of the radar to be calibrated, since the second spatial point is located within the preset range of the first spatial point, the second spatial point can be equivalent to the first spatial point to a certain extent. In other words, the credibility of the second spatial point is higher. When the target parameters of the radar to be calibrated are calibrated through the second spatial point, the calibration accuracy of the target parameters can be guaranteed.

[0159] In one example, the aforementioned preset range may be determined by a default value pre-stored in the radar calibration device, or may be set by a user through an operation triggered by a parameter configuration module.

[0160] In this way, in the embodiment of the present application, the target parameters of the radar to be calibrated can be calibrated based on the first spatial point corresponding to the marker in the original point cloud data, and the second spatial point located within the preset range of the first spatial point, thereby realizing the calibration work of the radar to be calibrated.

[0161] In certain embodiments of the present application, the marker includes a reflective plate and / or a calibration rod, a marking point is provided on the reflective plate, and the first spatial point corresponds to the calibration rod and / or to the marking point.

[0162] Specifically, in an embodiment of the present application, when the marker includes a reflective plate and / or a calibration rod, the electronic device may, upon receiving the original point cloud data of the radar to be calibrated, use the three-dimensional spatial point used to indicate the calibration rod and / or for indicating the marker point in the original point cloud data as the above-mentioned first spatial point to calibrate the target parameters of the radar to be calibrated.

[0163] For example, Figure 2 and Figure 3 As shown, after the radar to be calibrated detects the calibration rod and the reflector to obtain the corresponding point cloud data, the three-dimensional space point used to indicate the first mark point on the reflector, the three-dimensional space point used to indicate the second mark point on the reflector, and the three-dimensional space point used to indicate the calibration rod in the point cloud data can all be used as the first space point for the subsequent calibration process.

[0164] In one example, “a three-dimensional space point for indicating a calibration pole” may include “a three-dimensional space point for indicating a preset point on a calibration pole”, wherein Figure 2 and Figure 3 Taking the "calibration pole placed on the left side of the field of view of the radar to be calibrated" and the "calibration pole placed on the right side of the field of view of the radar to be calibrated" as examples, let the preset point position of the calibration pole on the left be P5, and let the preset point position of the calibration pole on the right be P6, then the line segment formed by P5 and P6 is parallel to the Y axis and intersects with the first mark point.

[0165] Thus, in the embodiment of the present application, the target parameters of the radar to be calibrated can be calibrated according to the first spatial point corresponding to the calibration rod and / or the marking point on the reflector, thereby achieving the calibration work of the radar to be calibrated.

[0166] In certain embodiments of the present application, the target parameters include a ranging deviation parameter and an angle deviation parameter.

[0167] Specifically, in the embodiment of the present application, the electronic device can perform angle calibration and offset calibration on the radar to be calibrated, that is, determine the angle deviation parameter of the ranging deviation parameter.

[0168] In one example, the ranging deviation parameter may be understood as a fixed offset of the measured distance. For example, when a radar detects an object at a distance of 10 meters, the detection result may be that the distance of the object relative to the radar is 10.1 meters.

[0169] In one example, the angle deviation parameter includes a vertical angle deviation parameter and a horizontal angle deviation parameter. The horizontal angle deviation parameter can be understood as the difference between the actual and theoretical horizontal direction of the radar beam. For example, if the design is 90° due east, the actual direction is 89.5°, with a deviation of -0.5°. The vertical angle deviation parameter can be understood as the difference between the actual transmission / reception angle of the radar beam in the vertical direction and the theoretical angle. For example, if the design is +1°, the actual direction is +1.2°, with a deviation of +0.2°.

[0170] It can be understood that after the ranging deviation parameters and angle deviation parameters are calibrated, the point cloud data output by the radar can be corrected according to the calibrated ranging deviation parameters and angle deviation parameters, so that the point cloud data output by the radar can match the real physical space.

[0171] In this way, in the embodiment of the present application, the ranging deviation parameters and angle deviation parameters of the radar to be calibrated can be calibrated, thereby completing the calibration work of the radar to be calibrated.

[0172] In certain embodiments of the present application, the target point cloud data includes an angle measurement value of a first spatial point and / or an angle measurement value of a second spatial point. Then, step 01 includes:

[0173] An angle deviation parameter is determined based on the angle measurement value of the first spatial point and / or the angle measurement value of the second spatial point, and the angle of the marker relative to the radar to be calibrated.

[0174] The processor of the embodiment of the present application is also used to determine the angle deviation parameter based on the angle measurement value of the first spatial point and / or the angle measurement value of the second spatial point, and the angle of the marker relative to the radar to be calibrated.

[0175] Specifically, in an embodiment of the present application, the angle deviation parameters of the radar to be calibrated can be calibrated based on at least one of the angle measurement value of the first spatial point and the angle measurement value of the second spatial point, and the angle of a predetermined marker relative to the radar to be calibrated.

[0176] In one example, the angle deviation parameter of the radar to be calibrated can be determined based on "the difference between the 'angle measurement value of the first spatial point used to indicate the marker point and / or calibration pole' and the 'angle of the marker point and / or calibration pole relative to the radar to be calibrated'" and / or "the difference between the 'angle measurement value of the second spatial point located within a preset range of the first marker point' and the 'angle of the marker point and / or calibration pole relative to the radar to be calibrated'".

[0177] Thus, in an embodiment of the present application, the angle deviation parameter of the radar to be calibrated can be determined based on the angle measurement value of the first spatial point and / or the angle measurement value of the second spatial point, and the angle of the marker relative to the radar to be calibrated, thereby achieving calibration of the angle deviation parameter.

[0178] In certain embodiments of the present application, the marker includes a calibration pole, the angle measurement value includes a horizontal angle measurement value, the angle deviation parameter includes a horizontal angle deviation parameter, and the first spatial point corresponds to the calibration pole. The step of determining the angle deviation parameter based on the angle measurement value of the first spatial point and / or the angle measurement value of the second spatial point, and the angle of the marker relative to the radar to be calibrated includes:

[0179] A horizontal angle deviation parameter is determined according to the horizontal angle measurement value of the first spatial point, the horizontal angle measurement value of the second spatial point, and the target horizontal angle of the calibration rod relative to the radar to be calibrated.

[0180] The processor of the embodiment of the present application is also used to determine the horizontal angle deviation parameter based on the horizontal angle measurement value of the first spatial point, the horizontal angle measurement value of the second spatial point, and the target horizontal angle of the calibration rod relative to the radar to be calibrated.

[0181] Specifically, in an embodiment of the present application, after the radar to be calibrated detects the calibration pole to obtain target point cloud data for the calibration pole, the angular observation error of the radar to be calibrated in the horizontal plane direction, that is, the horizontal angle deviation parameter, can be determined based on the horizontal angle measurement value of the first spatial point in the target point cloud data, the horizontal angle measurement value of the second spatial point in the target point cloud data, and the target horizontal angle of the calibration pole relative to the radar to be calibrated.

[0182] In one example, the process of obtaining the horizontal angle measurement value of the first spatial point and the horizontal angle measurement value of the second spatial point may include: first, using the center of the radar to be calibrated (such as Figure 3 P0 in the figure is the origin, and the target point cloud data for indicating the calibration rod and the target point cloud data are extracted. The deflection angle θ of the rotating mirror u , or, extract the first spatial point and the second spatial point used to indicate the calibration rod, and the deflection angle θ of the rotating mirror at the first spatial point u and the deflection angle θ of the mirror at the second spatial point u .

[0183] Then, the light deflection angle θ of the rotating mirror at the first spatial point is u Calculate the horizontal angle measurement value θ of each first spatial point, and the deflection angle θ of the mirror at the second spatial point u Calculate the horizontal angle measurement value θ of each second spatial point, as shown in the following formula:

[0184]

[0185] In one example, the rotating mirror light deflection angle is used to indicate the angle between the incident light and the reflected light corresponding to the incident light on the rotating mirror of the radar to be calibrated.

[0186] In one example, two calibration rods are provided, namely Figure 2 and Figure 3 As shown in the “calibration pole placed on the left side of the field of view of the radar to be calibrated” and the “calibration pole placed on the right side of the field of view of the radar to be calibrated”, the target point cloud data of the “calibration pole on the left side” and the corresponding rotating mirror light deflection angle θ can be extracted in the embodiment of the present application. u , as well as the target point cloud data of the "calibration rod on the right" and the corresponding mirror deflection angle θ u .

[0187] In this way, in the embodiment of the present application, the horizontal angle deviation parameter of the radar to be calibrated can be calibrated based on the horizontal angle measurement value of the first spatial point, the horizontal angle measurement value of the second spatial point, and the target horizontal angle of the calibration rod relative to the radar to be calibrated.

[0188] In certain embodiments of the present application, the step of determining the horizontal angle deviation parameter based on the horizontal angle measurement value of the first spatial point, the horizontal angle measurement value of the second spatial point, and the target horizontal angle of the calibration rod relative to the radar to be calibrated includes:

[0189] A horizontal angle deviation parameter is determined based on a difference between a horizontal angle measurement value of the first spatial point and a target horizontal angle, and based on a difference between a horizontal angle measurement value of the second spatial point and the target horizontal angle.

[0190] The processor of the embodiment of the present application is further configured to determine a horizontal angle deviation parameter based on a difference between a horizontal angle measurement value of the first spatial point and a target horizontal angle, and based on a difference between a horizontal angle measurement value of the second spatial point and the target horizontal angle.

[0191] Specifically, in the implementation mode of the present application, the angular observation error of the radar to be calibrated in the horizontal plane direction, that is, the horizontal angle deviation parameter, can be determined based on the difference between the "horizontal angle measurement value of the first spatial point in the target point cloud data for the calibration rod" and the "target horizontal angle of the calibration rod relative to the radar to be calibrated", and the difference between the "horizontal angle measurement value of the second spatial point in the target point cloud data for the calibration rod" and the "target horizontal angle of the calibration rod relative to the radar to be calibrated".

[0192] Please also refer to Figure 2 and Figure 3 In one example, the process of determining the horizontal angle deviation parameter Δθ may include:

[0193] First, the radar center to be calibrated (such as Figure 3 P0 in the figure is the origin, and the target point cloud data for indicating the calibration rod and the target point cloud data are extracted. The deflection angle θ of the rotating mirror u , or, extract the first spatial point and the second spatial point used to indicate the calibration rod, and the deflection angle θ of the rotating mirror at the first spatial point u and the deflection angle θ of the mirror at the second spatial point u .

[0194] Next, Δθ is calibrated for each group of point cloud data. The number of groups is the number of groups in the point cloud acquisition module. The horizontal angle of the calibration rod relative to the radar to be calibrated is θ. fix , then the horizontal angle deviation parameter Δθ can be calculated as follows:

[0195]

[0196] Wherein, N represents the total number of the first spatial point and the second spatial point, or represents the number of spatial points used to calibrate the horizontal angle deviation parameter Δθ. i Represents the horizontal angle measurement value of the i-th spatial point.

[0197] It can be understood that for each group, within any group, the light deflection angle θ of the first spatial point can be u Calculate the horizontal angle measurement value θ of each first spatial point, and the deflection angle θ of the mirror at the second spatial point u Calculate the horizontal angle measurement value θ of each second spatial point, as shown in the following formula:

[0198]

[0199] In this way, in the embodiment of the present application, the horizontal angle deviation parameter of the radar to be calibrated can be calibrated based on the difference between the horizontal angle measurement value of the first spatial point and the target horizontal angle, and based on the difference between the horizontal angle measurement value of the second spatial point and the target horizontal angle.

[0200] In certain embodiments of the present application, the marker includes a reflector, the angle measurement value includes a vertical angle measurement value, the angle deviation parameter includes a vertical angle deviation parameter, the first spatial point corresponds to a second marker point set on the reflector, and determining the angle deviation parameter based on the angle measurement value of the first spatial point and / or the angle measurement value of the second spatial point, and the angle of the marker relative to the radar to be calibrated includes:

[0201] A vertical angle deviation parameter is determined according to the vertical angle measurement value of the first spatial point, the vertical angle measurement value of the second spatial point, and the target vertical angle of the second marker point relative to the radar to be calibrated.

[0202] The processor of the embodiment of the present application is also used to determine the vertical angle deviation parameter based on the vertical angle measurement value of the first spatial point, the vertical angle measurement value of the second spatial point, and the target vertical angle of the second marker point relative to the radar to be calibrated.

[0203] Specifically, in an embodiment of the present application, after the radar to be calibrated detects the second marker point (such as a second marker point 124 set in the positive direction of the preset direction of the first marker point 123, and another second marker point 124 set in the negative direction of the preset direction of the first marker point 123) to obtain target point cloud data for the second marker point, the vertical angle observation error of the radar to be calibrated, that is, the vertical angle deviation parameter, can be determined based on the vertical angle measurement value of the first spatial point in the target point cloud data, the vertical angle measurement value of the second spatial point in the target point cloud data, and the target vertical angle of the calibration rod relative to the radar to be calibrated.

[0204] In one example, the process of obtaining the vertical angle measurement value of the first spatial point and the vertical angle measurement value of the second spatial point may include: after the radar to be calibrated detects the second marker point (such as the second marker point 124 set in the positive direction of the preset direction of the first marker point 123, and another second marker point 124 is set in the negative direction of the preset direction of the first marker point 123), determining the vertical angle measurement value of the first spatial point with respect to the second marker point The vertical angle measurement value of the second spatial point Vertical angle measurement It can be determined by the following formula:

[0205]

[0206] Among them, c is the channel number of the spatial point, and the value range of c is [1,96].

[0207] In this way, in the embodiment of the present application, the vertical angle deviation parameter of the radar to be calibrated can be calibrated based on the vertical angle measurement value of the first spatial point, the vertical angle measurement value of the second spatial point, and the target vertical angle of the second marker point relative to the radar to be calibrated.

[0208] In certain embodiments of the present application, the step of determining the vertical angle deviation parameter based on the vertical angle measurement value of the first spatial point, the vertical angle measurement value of the second spatial point, and the target vertical angle of the second marker point relative to the radar to be calibrated includes:

[0209] A vertical angle deviation parameter is determined based on a difference between a vertical angle measurement value of the first spatial point and a target vertical angle, and based on a difference between a vertical angle measurement value of the second spatial point and the target vertical angle.

[0210] The processor of the embodiment of the present application is further configured to determine a vertical angle deviation parameter based on a difference between the vertical angle measurement value of the first spatial point and the target vertical angle, and based on a difference between the vertical angle measurement value of the second spatial point and the target vertical angle.

[0211] Specifically, in the implementation manner of the present application, the vertical angle deviation parameter of the radar to be calibrated can be determined based on the difference between "the vertical angle measurement value of the first spatial point in the target point cloud data for the second marker point" and "the target vertical angle of the second marker point relative to the radar to be calibrated", and the difference between "the vertical angle measurement value of the second spatial point in the target point cloud data for the second marker point" and "the target vertical angle of the second marker point relative to the radar to be calibrated".

[0212] See also Figure 2 and Figure 3 In one example, the vertical angle deviation parameter of the radar to be calibrated is The determination process may include:

[0213] First, after the radar to be calibrated detects the second marker point (such as a second marker point 124 set in the positive direction of the preset direction of the first marker point 123, and another second marker point 124 set in the negative direction of the preset direction of the first marker point 123), the target point cloud data for the second marker point is obtained.

[0214] Then, each set of point cloud data is calibrated The number of groups is the number of groups in the point cloud acquisition module. Let the vertical angle of the second marker point relative to the radar to be calibrated be The vertical angle deviation parameter The calculation formula is as follows:

[0215]

[0216] Where N represents the total number of the first space point and the second space point, or represents the vertical angle deviation parameter used to calibrate The number of spatial points. Represents the vertical angle measurement value of the i-th spatial point

[0217] In one example, the vertical angle measurement value of the i-th spatial point is It can be calculated by the following formula:

[0218]

[0219] Among them, c is the channel number of the i-th spatial point, and the value range of c is [1,96].

[0220] In this way, in the embodiment of the present application, the vertical angle deviation parameter of the radar to be calibrated can be calibrated based on the difference between the vertical angle measurement value of the first spatial point and the target vertical angle, and based on the difference between the vertical angle measurement value of the second spatial point and the target vertical angle.

[0221] In certain embodiments of the present application, the marker includes a reflector, the first spatial point corresponds to a first marker point set on the reflector, and the target point cloud data includes a distance measurement value of the first spatial point and / or a distance measurement value of the second spatial point. Furthermore, the step of calibrating the target parameters of the radar to be calibrated based on the target point cloud data of the radar to be calibrated with respect to the marker includes:

[0222] A ranging deviation parameter is determined according to the distance measurement value of the first spatial point, the distance measurement value of the second spatial point, and the target distance of the first marker point relative to the radar to be calibrated.

[0223] The processor of the embodiment of the present application is also used to determine the ranging deviation parameter based on the distance measurement value of the first spatial point, the distance measurement value of the second spatial point, and the target distance of the first marker point relative to the radar to be calibrated.

[0224] Specifically, in the embodiment of the present application, the radar to be calibrated can be used for Figure 2 The target point cloud data obtained by detecting the first marker point in the target point cloud is used to determine the error in distance (or depth) measurement of the radar to be calibrated.

[0225] Specifically, the radar to be calibrated can be Figure 2 The distance measurement value of the first spatial point obtained by detecting the first marker point in the image, the radar to be calibrated for Figure 2 The distance measurement value of the second spatial point obtained by detecting the first marker point in the image is combined with the distance of the first marker point relative to the radar to be calibrated (i.e., the target distance) to calculate the error in the distance (or depth) measurement of the radar to be calibrated.

[0226] More specifically, the target point cloud data corresponding to the first marker point can be extracted, or the distance measurement value d of the first spatial point corresponding to the first marker point and the distance measurement value d of the second spatial point within the preset range of the first spatial point can be extracted from the original point cloud data output by the radar to be calibrated. The error in distance (or depth) measurement of the radar to be calibrated can be determined based on the distance measurement value d of the first spatial point and the distance measurement value d of the second spatial point within the preset range of the first spatial point.

[0227] In one example, each frame of point cloud data collected by the radar to be calibrated includes 96*1500 three-dimensional space points, where 96 represents the number of channels. Furthermore, for any channel, the target distance of the first marker point in that channel relative to the radar to be calibrated can be calculated using the following formula:

[0228]

[0229] Where x fix represents the target distance of the first marker point relative to the radar to be calibrated, θ represents the horizontal angle measurement value of the first spatial point corresponding to the first marker point under the channel, Represents the vertical angle measurement value of the first spatial point corresponding to the first marker point under the channel.

[0230] Thus, in the embodiment of the present application, the ranging deviation parameter of the radar to be calibrated can be calibrated based on the distance measurement value of the first spatial point, the distance measurement value of the second spatial point, and the target distance of the first marker point relative to the radar to be calibrated.

[0231] In certain embodiments of the present application, determining the ranging deviation parameter based on the distance measurement value of the first spatial point, the distance measurement value of the second spatial point, and the target distance of the first marker point relative to the radar to be calibrated includes:

[0232] A distance measurement deviation parameter is determined based on a difference between a distance measurement value of the first spatial point and a target distance, and based on a difference between a distance measurement value of the second spatial point and the target distance.

[0233] The processor of the embodiment of the present application is further configured to determine a ranging deviation parameter based on a difference between a distance measurement value of the first spatial point and a target distance, and based on a difference between a distance measurement value of the second spatial point and the target distance.

[0234] Specifically, in the embodiment of the present application, after determining the distance measurement value d of the first spatial point corresponding to the first marker point and the distance measurement value d of the second spatial point within the preset range of the first spatial point in the original point cloud data output by the radar to be calibrated, the distance measurement value d of the first spatial point can be calculated based on the "distance measurement value d of the first spatial point" and the "target distance d of the first marker point relative to the radar to be calibrated". fix ", and the difference between "the distance measurement value d of the second spatial point" and "the target distance d of the first marker point relative to the radar to be calibrated" fix " is used to determine the error in distance (or depth) measurement of the radar to be calibrated.

[0235] Please also refer to Figure 2 and Figure 3 In one example, the process of determining the ranging deviation parameter may include:

[0236] First, the distance measurement value d of the first spatial point corresponding to the first marker point and the distance measurement value d of the second spatial point within the preset range of the first spatial point are extracted from the original point cloud data output by the radar to be calibrated. The error of the distance (or depth) measurement of the radar to be calibrated is determined based on the distance measurement value d of the first spatial point and the distance measurement value d of the second spatial point within the preset range of the first spatial point.

[0237] Next, the ranging deviation parameter Δd is calibrated for each channel, as shown in the following formula:

[0238]

[0239] Wherein, N represents the total number of the first spatial point and the second spatial point, or represents the number of spatial points used to calibrate the distance measurement deviation parameter Δd. i Represents the distance measurement value d of the i-th spatial point.

[0240] The target distance corresponding to each channel can be calculated using the following formula:

[0241]

[0242] Where x fix represents the target distance of the first marker point relative to the radar to be calibrated, θ represents the horizontal angle measurement value of the first spatial point corresponding to the first marker point under the channel, Represents the vertical angle measurement value of the first spatial point corresponding to the first marker point under the channel.

[0243] Thus, in the embodiment of the present application, the ranging deviation parameter of the radar to be calibrated can be calibrated based on the difference between the distance measurement value of the first spatial point and the target distance, and based on the difference between the distance measurement value of the second spatial point and the target distance.

[0244] In certain embodiments of the present application, the radar calibration method further includes:

[0245] Based on the target parameters, the current point cloud data is generated for display.

[0246] The processor of the embodiment of the present application is also used to generate current point cloud data for display based on the target parameters.

[0247] Specifically, in the embodiment of the present application, after completing the calibration of the target parameters, or in other words, after determining the above-mentioned Δd, and Δθ, according to Δd, The original point cloud data output by the radar to be calibrated is corrected by Δd and Δθ, and the corrected original point cloud data is displayed so that the user can intuitively observe the Δd, Δθ and Δθ at the current moment according to the displayed current point cloud data. And whether Δθ meets expectations.

[0248] Specifically, taking LiDAR as an example, the current point cloud data generation and display process may include:

[0249] First, according to the optical structure of the laser radar, the values of the constants required for point cloud coordinate calculation are obtained. In one example, the constants required for point cloud coordinate calculation may include: RX optical center Z coordinate ΔZ R , TX optical center Z coordinate ΔZ T , the radius r of the circle drawn by the rotating mirror, the x-coordinate x of the spad with the center of the rotating mirror as the origin spad , with the center of the rotating mirror as the origin vcsel y-coordinate y vcsel , take the center of the rotating mirror as the origin, the spad y-axis coordinate y spad , the radar center coordinates (x0, y0) with the center of the rotating mirror as the origin.

[0250] Then, for the original point cloud data output by the laser radar, the coordinates of each spatial point in the original point cloud data are transformed to determine the horizontal angle θ and vertical angle θ of each spatial point. At the same time, the distance measurement (or depth) d of each spatial point is obtained.

[0251] Next, substitute the internal reference calibration result Δθ, and Δd to correct the coordinates of each space point. This process can be represented by the following formula:

[0252]

[0253] ΔL t =y spad +L R

[0254]

[0255]

[0256] Finally, based on the calculated coordinates of each spatial point, the corrected original point cloud data is rendered and displayed.

[0257] Thus, in an embodiment, the current point cloud data may be determined for display based on the target parameters, thereby allowing the user to determine whether the target parameters at the current moment meet expectations based on the displayed current point cloud data.

[0258] An embodiment of the present application further provides a radar calibration system, which includes the above-mentioned electronic device and the above-mentioned radar calibration device.

[0259] The embodiments of the present application further provide a computer-readable storage medium, which stores a computer program. When the computer program is executed by one or more processors, the above-mentioned radar calibration method is implemented.

[0260] The embodiments of the present application further provide a computer program product, including a computer program / instruction, which implements the above-mentioned radar calibration method when executed by a processor.

[0261] In the description of this specification, the descriptions with reference to the terms "particularly", "further", "particularly", "understandably", etc. are intended to mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms are not intended to refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0262] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0263] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A radar calibration device, characterized in that: The device includes a calibration module and a marker; The calibration module is configured to calibrate target parameters of the radar to be calibrated according to target point cloud data of the radar to be calibrated with respect to the marker.

2. The device according to claim 1, characterized in that The marker includes a reflective plate and / or a calibration rod.

3. The device according to claim 2, characterized in that A marking point is provided on the reflector, and the relative position information between the marking point and the radar to be calibrated is predetermined.

4. The device according to claim 3, characterized in that The marking points include a first marking point, and the position of the first marking point coincides with the vertical projection position of the radar to be calibrated on the reflecting plate.

5. The device according to claim 4, characterized in that The marking points include a second marking point, and the first marking point and the second marking point are arranged on the reflective plate along a preset direction, and the preset direction is perpendicular to the horizontal direction.

6. The device according to claim 5, characterized in that The second marking points include a plurality of second marking points, and the plurality of second marking points are distributed on both sides of the first marking point.

7. The device according to claim 2, characterized in that The placement direction of the calibration rod is perpendicular to the horizontal direction.

8. The device according to claim 2, characterized in that At least one calibration rod is placed on one side of the field of view of the radar to be calibrated, and at least one calibration rod is placed on the other side of the field of view of the radar to be calibrated.

9. The device according to claim 1, characterized in that The device further comprises a parameter configuration module, wherein the parameter configuration module is configured to configure the operating parameters of the device according to a parameter input operation.

10. The device according to claim 1, characterized in that The device further includes a point cloud acquisition module configured to acquire the target point cloud data of the radar to be calibrated.

11. The device according to claim 1, characterized in that The apparatus further includes a point cloud visualization module configured to generate point cloud data for display based on the target parameters.

12. A radar calibration method, characterized in that: The method is applied to the radar calibration device according to any one of claims 1 to 11, and the method includes: The target parameters of the radar to be calibrated are calibrated according to the target point cloud data of the radar to be calibrated with respect to the marker.

13. The method according to claim 12, characterized in that The target point cloud data is used to indicate a first spatial point corresponding to the marker in the original point cloud data generated by the radar to be calibrated, and / or includes a second spatial point in the original point cloud data that is within a preset range of the first spatial point.

14. The method according to claim 13, characterized in that The marker includes a reflective plate and / or a calibration rod, a marking point is provided on the reflective plate, and the first spatial point corresponds to the calibration rod and / or corresponds to the marking point.

15. The method according to claim 13, characterized in that The target parameters include a distance deviation parameter and an angle deviation parameter.

16. The method according to claim 15, characterized in that The target point cloud data includes an angle measurement value of the first spatial point and / or an angle measurement value of the second spatial point, and calibrating target parameters of the radar to be calibrated based on the target point cloud data of the radar to be calibrated for the marker includes: The angle deviation parameter is determined according to the angle measurement value of the first spatial point and / or the angle measurement value of the second spatial point, and the angle of the marker relative to the radar to be calibrated.

17. The method according to claim 16, characterized in that The marker includes a calibration pole, the angle measurement value includes a horizontal angle measurement value, the angle deviation parameter includes a horizontal angle deviation parameter, the first spatial point corresponds to the calibration pole, and determining the angle deviation parameter based on the angle measurement value of the first spatial point and / or the angle measurement value of the second spatial point, and the angle of the marker relative to the radar to be calibrated includes: The horizontal angle deviation parameter is determined according to the horizontal angle measurement value of the first spatial point, the horizontal angle measurement value of the second spatial point, and the target horizontal angle of the calibration rod relative to the radar to be calibrated.

18. The method according to claim 17, characterized in that The determining the horizontal angle deviation parameter according to the horizontal angle measurement value of the first spatial point, the horizontal angle measurement value of the second spatial point, and the target horizontal angle of the calibration rod relative to the radar to be calibrated includes: The horizontal angle deviation parameter is determined based on a difference between the horizontal angle measurement value of the first spatial point and the target horizontal angle, and based on a difference between the horizontal angle measurement value of the second spatial point and the target horizontal angle.

19. The method according to claim 16, wherein The marker includes a reflector, the angle measurement value includes a vertical angle measurement value, the angle deviation parameter includes a vertical angle deviation parameter, the first spatial point corresponds to a second marker point set on the reflector, and determining the angle deviation parameter based on the angle measurement value of the first spatial point and / or the angle measurement value of the second spatial point, and the angle of the marker relative to the radar to be calibrated includes: The vertical angle deviation parameter is determined according to the vertical angle measurement value of the first spatial point, the vertical angle measurement value of the second spatial point, and the target vertical angle of the second marker point relative to the radar to be calibrated.

20. The method according to claim 19, characterized in that The determining the vertical angle deviation parameter according to the vertical angle measurement value of the first spatial point, the vertical angle measurement value of the second spatial point, and the target vertical angle of the second marker point relative to the radar to be calibrated includes: The vertical angle deviation parameter is determined based on a difference between the vertical angle measurement value of the first spatial point and the target vertical angle, and based on a difference between the vertical angle measurement value of the second spatial point and the target vertical angle.

21. The method according to claim 15, wherein The marker includes a reflector, the first spatial point corresponds to a first marker point set on the reflector, the target point cloud data includes a distance measurement value of the first spatial point and / or a distance measurement value of the second spatial point, and calibrating the target parameters of the radar to be calibrated based on the target point cloud data of the radar to be calibrated with respect to the marker includes: A ranging deviation parameter is determined according to the distance measurement value of the first spatial point, the distance measurement value of the second spatial point, and the target distance of the first marker point relative to the radar to be calibrated.

22. The method according to claim 21, characterized in that The determining of the ranging deviation parameter according to the distance measurement value of the first spatial point, the distance measurement value of the second spatial point, and the target distance of the first marker point relative to the radar to be calibrated includes: The distance measurement deviation parameter is determined according to a difference between the distance measurement value of the first spatial point and the target distance, and according to a difference between the distance measurement value of the second spatial point and the target distance.

23. The method according to claim 12, wherein: The method further comprises: Based on the target parameters, current point cloud data is generated for display.

24. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method according to any one of claims 12 to 23 is implemented.

25. A radar calibration system, characterized in that: The system includes the radar calibration device according to any one of claims 1 to 11, and the electronic device according to claim 24.

26. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 12 to 23 is implemented.

27. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the method according to any one of claims 12 to 23 is implemented.

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