Radar calibration method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a radar calibration method and device, electronic equipment and a storage medium. The method comprises the following steps: determining a plurality of pieces of first track information, wherein the first track information is a movement track formed by transverse and longitudinal axis positions for detecting and tracking the same reference detection object at continuous different moments through a target radar; determining at least one piece of second track information from the plurality of pieces of first track information based on the motion angles of the reference detection object at different moments in each piece of first track information; and performing angle compensation calibration on the target radar based on the at least one piece of second track information. According to the invention, angle compensation calibration is carried out on the target radar through the second track information formed by moving the detected reference detection object along the linear motion track or the approximate linear track, so that the angle measurement error of the radar is efficiently and accurately corrected, and the accuracy and reliability of radar detection are improved.

Description

Technical Field

[0001] The present invention relates to the field of radar detection technology, and in particular to a radar calibration method, device, electronic equipment and storage medium. Background Art

[0002] In radar applications, angular measurement errors are inevitable due to variations in radar hardware and antenna manufacturing accuracy, as well as deviations during site survey and installation. This can cause vehicle targets to deviate slightly during radar detection, resulting in the vehicle's trajectory appearing tilted on the screen. Manual calibration is often required to correct this deflection, but this manual calibration not only increases configuration time and wastes manpower, but also complicates subsequent lane configuration if the angle calibration is inaccurate or deviates, ultimately leading to inaccurate vehicle detection. Summary of the Invention

[0003] The present invention provides a radar calibration method, device, electronic equipment and storage medium to efficiently and accurately correct the angle measurement error of the radar and improve the accuracy and reliability of radar detection.

[0004] In a first aspect, an embodiment of the present invention provides a radar calibration method, the method comprising:

[0005] Determining a plurality of first track information, where the first track information is a motion track formed by detecting and tracking the horizontal and vertical axis positions of the same reference detection object by the target radar at different consecutive times;

[0006] determining at least one second track information from the plurality of first track information based on motion angles of a reference detection object at different times in each of the first track information, wherein the motion angles of the reference detection object at different times are determined based on the horizontal and vertical axis positions of the reference detection object at different times, and the reference detection object indicated in the second track information moves along a straight motion trajectory or an approximately straight motion trajectory;

[0007] Angle compensation calibration is performed on the target radar based on the at least one second track information.

[0008] In a second aspect, an embodiment of the present invention further provides a radar calibration device, the device comprising:

[0009] A first information determination module is configured to determine a plurality of first track information, wherein the first track information is a motion track formed by detecting and tracking the horizontal and vertical axis positions of the same reference detection object at different consecutive moments by a target radar;

[0010] a second information determining module, configured to determine at least one second track information from the plurality of first track information based on motion angles of reference detection objects at different moments in each of the first track information, wherein the motion angles of the reference detection objects at different moments are determined based on the horizontal and vertical axis positions of the reference detection objects at different moments, and the reference detection objects indicated in the second track information move along a straight motion trajectory or a substantially straight motion trajectory;

[0011] A calibration module is used to perform angle compensation calibration on the target radar based on the at least one second track information.

[0012] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising:

[0013] at least one processor; and

[0014] a memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the radar calibration method according to any one of the above embodiments.

[0016] In a fourth aspect, an embodiment of the present invention further provides a computer-readable medium, wherein the computer-readable medium stores computer instructions, and the computer instructions are used to enable a processor to implement any one of the radar calibration methods described in the above embodiments when executed.

[0017] In an embodiment of the present invention, multiple first track information are determined, where the first track information is a motion track formed by the horizontal and vertical axis positions of the same reference detection object detected and tracked by the target radar at different consecutive moments, and then based on the motion angle of the reference detection object at different moments in each first track information, at least one second track information is determined from the multiple first track information, and the reference detection object indicated in the second track information moves along a straight motion trajectory or an approximate straight motion trajectory. Further, based on the at least one second track information, angle compensation calibration is performed on the target radar, that is, the present application performs angle compensation calibration on the target radar through a straight motion trajectory or an approximate straight motion trajectory, thereby achieving efficient and accurate correction of the radar's angular measurement error and improving the accuracy and reliability of radar detection.

[0018] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other features, advantages, and aspects of the various embodiments of the present invention will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that the originals and elements are not necessarily drawn to scale.

[0020] Figure 1 This is a schematic flow chart of a radar calibration method provided by an embodiment of the present invention;

[0021] Figure 2 This is a schematic flow chart of a radar calibration method provided by an embodiment of the present invention;

[0022] Figure 3a This is a schematic flow chart of a radar calibration method provided by an embodiment of the present invention;

[0023] Figure 3b is a schematic diagram of an oncoming lane applicable to the embodiment of the present invention;

[0024] Figure 3c is a road vehicle energy distribution diagram applicable to the embodiment of the present invention;

[0025] Figure 3d is a distribution diagram of motion angle measurement values ​​applicable to the embodiment of the present invention;

[0026] Figure 3e Schematic diagram of the MAD method for energy and motion angle distribution applicable to an embodiment of the present invention;

[0027] Figure 4 This is a schematic flow chart of a radar calibration method provided by an embodiment of the present invention;

[0028] Figure 5 This is a schematic structural diagram of a radar calibration device provided by an embodiment of the present invention;

[0029] Figure 6 2 is a schematic structural diagram of an electronic device for implementing the radar calibration method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Figure 1 This is a flow chart of a radar calibration method provided in an embodiment of the present invention. The embodiment of the present invention is applicable to the situation of calibrating the angle of a traffic radar. The method can be performed by a radar calibration device, which can be implemented in the form of software and / or hardware and integrated into any electronic device with network communication function, which can be a mobile terminal, PC or server, etc.

[0033] like Figure 1 As shown, the radar calibration method according to the embodiment of the present invention may include the following process:

[0034] S110 , determining a plurality of first track information, where the first track information is a motion track formed by detecting and tracking the horizontal and vertical axis positions of the same reference detection object at different consecutive moments by a target radar.

[0035] Since the antenna and hardware processing precision cannot guarantee consistency, different radars have different angle measurement phase errors. In addition, the radar cannot be guaranteed to be absolutely installed upright and absolutely horizontal. Therefore, the radar angle needs to be calibrated to lay a good foundation for subsequent lane configuration and traffic index statistics.

[0036] The reference detection object may be a moving vehicle on a lane.

[0037] Specifically, the radar is installed in a forward-facing manner, that is, facing the lane. Therefore, after the radar is powered on, it detects and tracks the same reference detection object at different consecutive times, and forms a motion trajectory based on the obtained horizontal and vertical axis positions, that is, forms multiple first track information, so that the compensation angle that can be used to calibrate the target radar angle can be obtained based on the first track information.

[0038] S120: Determine at least one second track information from the plurality of first track information based on the motion angles of the reference detection object at different times in each first track information.

[0039] The motion angles of the reference detection object at different times are determined based on the horizontal and vertical axis positions of the reference detection object at different times, and the reference detection object indicated in the second track information moves along a straight motion trajectory or an approximately straight motion trajectory.

[0040] Specifically, in order to improve the efficiency of angle compensation, it is necessary to calculate the movement angle of the reference detection object in each first track information at different times, and then judge whether the movement trajectory indicated by the first track information is a straight line or an approximate straight line based on the deviation of the movement angle, so as to obtain the second track information, and use the straight line trajectory to perform angle compensation to ensure the accuracy of angle compensation.

[0041] Optionally, determining at least one second track information from a plurality of first track information based on the motion angles of the reference detection object at different moments in each first track information includes steps A1-A3:

[0042] Step A1: for each first track information, determine the change in the motion angle of the reference detection object at different time intervals according to the motion angle of the reference detection object at different moments in the first track information.

[0043] Specifically, the motion angle θ of the reference detection object at different times in the first track information is i It can be determined according to the following formula:

[0044] θ i =arctan(x / y);

[0045] Wherein, x and y are the horizontal and vertical coordinates corresponding to the reference detection object at different times in the first track information;

[0046] Set a preset angle interval θ0, which is the change in trajectory angle between two consecutive moments set according to the actual straight vehicle operation situation. Further, according to the motion angle of the reference detection object at different moments in the first track information and the preset angle interval, determine the motion angle change Δθ of the reference detection object at different time intervals. i , which is expressed as follows:

[0047] Δθ i =abs(θ i -θ0).

[0048] Step A2: Determine a reference cumulative result corresponding to each first track information based on the motion angle change of the reference detection object at different time intervals. The reference cumulative result is a statistical count of the motion angle changes that are greater than a preset angle change in the motion angle changes at different time intervals.

[0049] Specifically, a motion angle change greater than a preset angle change may be considered a sudden angle jump phenomenon, but if it is a straight line trajectory, no angle jump will occur. However, in order to avoid data statistical errors, a record reference cumulative result is set to determine the number of angle jumps, thereby ensuring accurate judgment of the straight line trajectory.

[0050] Step A3: Determine at least one second track information from multiple first track information based on the reference cumulative result corresponding to each first track information. The smaller the count value of the reference cumulative result corresponding to each first track information, the greater the possibility that the reference detection object indicated by the corresponding first track information moves along a straight motion trajectory or an approximate straight motion trajectory.

[0051] Specifically, a reference accumulation result is obtained and compared with a preset count value. If the count value of the reference accumulation result corresponding to the first track information is greater than the preset count value, it indicates that an angle jump has occurred, that is, the reference detection object may change lanes or turn. Then, it is determined that the first track information indicates that the reference detection object is not moving along a straight line trajectory or a nearly straight line trajectory. The first track information is discarded.

[0052] If the count value of the reference cumulative result corresponding to the first track information is not greater than the preset count value, that is, the reference detection object remains in a straight-line state, then it is determined that the first track information indicates that the reference detection object is more likely to move along a straight-line motion trajectory or an approximate straight-line trajectory, and the first track information is retained as the second track information.

[0053] For example, if the preset angle change is 0.08°, the preset count value may be set to 5 to effectively filter out the second track information from the first track information.

[0054] In this embodiment, for each first track information, the movement angle change of the reference detection object at different time intervals is determined based on the movement angle of the reference detection object in the first track information at different moments; the movement angle change is further compared with the preset angle change, and the number of movement angle changes that are greater than the preset angle change in the movement angle change is determined, and recorded as the reference cumulative result. Then, according to the reference cumulative result corresponding to each first track information, at least one second track information is determined from multiple first track information, thereby avoiding the situation where the result is determined based on only one comparison result and misjudgment occurs due to data error, and also achieving the accurate retention of the trajectory information of the straight-line motion, thereby ensuring the accuracy of the subsequent angle compensation calibration of the target radar based on the second track information.

[0055] S130: Perform angle compensation calibration on the target radar based on at least one second track information.

[0056] Specifically, by obtaining the second track information, the target compensation angle used by the target radar can be directly determined from the motion angle of the reference detection object corresponding to the second track information, thereby performing angle compensation calibration based on the target compensation angle; the second track information can also be further screened, and the track information that is more straight-line in the second track information can be selected as the high-quality track information, so as to determine the target compensation angle used by the target radar from the motion angle of the reference detection object corresponding to the high-quality track information, thereby performing angle compensation calibration based on the target compensation angle.

[0057] Optionally, performing angle compensation calibration on the target radar based on at least one second track information includes steps B1-B2:

[0058] Step B1: Determine target track information from at least one second track information.

[0059] The target track information may be high-quality track information for performing angle compensation calibration on the radar.

[0060] Specifically, such as Figure 2 As shown in the figure, due to the differences in traffic volume in different scenarios and at different time periods, in order to adapt to the data in different scenarios, the number of second track information can be counted to determine the traffic volume. If the traffic volume is large, a dense scenario solution can be used to screen high-quality tracks. If the traffic volume is small, a sparse scenario solution can be used to screen high-quality tracks to screen out accurate target track information, thereby performing angle compensation calibration on the target radar based on the target track information.

[0061] The dense scenario solution primarily screens low-quality tracks based on the energy and motion angle distribution formed by the energy and motion angles of each reference detection object. It then combines prior information about the radar's lane location with the relative positional relationships between track samples to screen high-quality tracks in the radar's lane location, ultimately determining the optimal track. The sparse scenario solution primarily uses the angular variance statistics of track information to perform a preliminary screening of candidate tracks. It then uses the least squares criterion to lock onto the optimal track based on the standard deviation of the X-estimates of the compensated posterior results.

[0062] Step B2: determining a target compensation angle used by the target radar based on the motion angle of the reference detection object in the target track information, and performing angle compensation calibration on the target radar using the target compensation angle of the target radar.

[0063] The compensation angle is an additional angle introduced to correct or adjust a quantity or parameter. It is used to correct deviations, errors, or inaccuracies in the system to improve the accuracy of measurement, positioning, or navigation. The compensation angle in this application is used to perform angle compensation calibration for target radars.

[0064] Optionally, determining a target compensation angle used by the target radar based on a motion angle of a reference detection object in the target track information includes steps C1-C4:

[0065] Step C1: determining a first candidate compensation angle used by the target radar based on the average motion angle of the reference detection object in the target track information.

[0066] Specifically, the opposite of the mean value of the motion angle of the reference detection object in the target track information is used as the first candidate compensation angle.

[0067] Step C2: performing first angle compensation debugging on the target radar using the first candidate compensation angle of the target radar.

[0068] The first angle compensation adjustment may be a coarse adjustment of the target radar angle.

[0069] Step C3: After the first angle compensation is debugged, different second candidate compensation angles are determined by traversing the candidate angle interval according to a preset angle compensation step.

[0070] The candidate angle interval and the angle compensation step can be set according to actual needs. For example, the candidate angle interval is set to -1° to 1°, and the angle compensation step is set to 0.1°.

[0071] Specifically, different second candidate compensation angles are determined by traversing the candidate angle interval and the preset angle compensation step.

[0072] Step C4: determining a target compensation angle adopted by the target radar based on the first candidate compensation angle and each second candidate compensation angle.

[0073] Specifically, based on each second candidate compensation angle, the motion angle of the reference detection object indicated by the target track information is angle-compensated and adjusted, and the sum of the standard deviations of the transverse axis positions of the reference detection object indicated by the target track information after the angle compensation adjustment is calculated using the least squares criterion; based on the sum of the standard deviations of the transverse axis positions of the reference detection object indicated by the target track information after the angle compensation adjustment corresponding to each second candidate compensation angle, a third candidate compensation angle is determined from each second candidate compensation angle; further, based on the first candidate compensation angle and the third candidate compensation angle, the target compensation angle adopted by the target radar is determined, that is, the sum of the first candidate compensation angle and the third candidate compensation angle is used as the target compensation angle.

[0074] In this embodiment, a first candidate compensation angle adopted by the target radar is accurately determined based on the average motion angle of the reference detection object in the target track information, and the target radar is further debugged for first angle compensation using the first candidate compensation angle of the target radar. To ensure the accuracy of the target compensation angle, after the first angle compensation debugging, different second candidate compensation angles are determined within the candidate angle interval according to a preset angle compensation step, thereby obtaining the angle at which the radar angle needs to be fine-tuned. This ensures that the target compensation angle adopted by the target radar is accurately obtained based on the first candidate compensation angle and each second candidate compensation angle, thereby achieving accurate correction of the radar's angular measurement error using the target compensation angle.

[0075] In an embodiment of the present invention, multiple first track information are determined, where the first track information is a motion track formed by the horizontal and vertical axis positions of the same reference detection object detected and tracked by the target radar at different consecutive moments, and then based on the motion angle of the reference detection object at different moments in each first track information, at least one second track information is determined from the multiple first track information, and the reference detection object indicated in the second track information moves along a straight motion trajectory or an approximate straight motion trajectory. Further, based on the at least one second track information, angle compensation calibration is performed on the target radar, that is, the present application performs angle compensation calibration on the target radar through a straight motion trajectory or an approximate straight motion trajectory, thereby achieving efficient and accurate correction of the radar's angular measurement error and improving the accuracy and reliability of radar detection.

[0076] Figure 3a This is a flow chart of a radar calibration method provided in an embodiment of the present invention. The technical solution of this embodiment is based on the technical solution of the above-mentioned embodiment, and further optimizes the process of performing angle compensation calibration of the target radar based on at least one second track information in the above-mentioned embodiment under the condition of heavy traffic. This embodiment can be combined with various optional solutions in one or more of the above-mentioned embodiments.

[0077] S210: Determine a plurality of first track information, and determine at least one second track information from the plurality of first track information based on the motion angle of the reference detection object at different times in each first track information.

[0078] This process has been described in detail in the above embodiment and will not be described in detail here.

[0079] S220: If the number of tracks of the at least one second track information is greater than a preset number, determine reference distribution information corresponding to the at least one second track information.

[0080] This embodiment provides a detailed description of angle compensation calibration of a target radar based on at least one second track information in situations with heavy traffic. Specifically, the target track information is determined through a dense scenario solution, and then the target compensation angle used by the target radar is determined based on the motion angle of the reference detection object in the target track information. The target radar is then angle-compensated and calibrated using the target compensation angle of the target radar.

[0081] Among them, the reference distribution information includes the energy distribution and motion angle distribution formed by the energy and motion angle of each reference detection object indicated by at least one second track information. The energy of the reference detection object is characterized by the radar echo intensity returned when the reference detection object is detected by the target radar; the reference energy interval range and the reference angle interval range corresponding to the reference distribution information are interval ranges formed based on the median absolute deviation corresponding to the energy distribution in the reference distribution information and the median absolute deviation of the motion angle distribution.

[0082] In actual applications, non-motor vehicles have a higher frequency of maneuvering changes, and the actual tracking results are of poor quality, which has an adverse effect on angle compensation. Therefore, the second track information corresponding to motor vehicles should be eliminated as much as possible. On urban roads, non-motor vehicles have the following two characteristics: 1) Compared with motor vehicles, non-motor vehicles have a smaller reflection area and weaker echo energy; 2) Non-motor vehicles are generally located on both sides of the motor vehicle lane. For the oncoming lane, the relative position relationship between the motor vehicle lane and the non-motor vehicle lane is as follows: Figure 3b shown.

[0083] According to the radar equation, the strength of the target echo signal is proportional to the target's reflection cross-sectional area. Therefore, for road vehicles, the smaller the target's reflection cross-sectional area, the weaker the radar echo signal. Figure 3c The echo energy distribution of different types of vehicles relative to the radar is shown, and non-motor vehicles are in the lowest energy range. Figure 3b It shows the relative position relationship between the non-motorized vehicle lane and the motor vehicle lane under the oncoming lane. Figure 3b The radar is oriented along the three motor vehicle lanes. From the radar's perspective, the radar is facing the three motor vehicle lanes, with the non-motor vehicle lane on the left and the motor vehicle lane on the right. Therefore, at the same detection distance, the angle measurement value of the non-motor vehicle target is smaller than the angle measurement value of the motor vehicle. Figure 3b For the five targets in the figure, the distribution of the radar's angle measurement values ​​and the angle ranges corresponding to the motor vehicle lane and non-motor vehicle lane are as follows: Figure 3d shown.

[0084] The median absolute value method (MAD method) is a commonly used outlier detection method in statistics. This application uses the median absolute value method to determine the reference distribution information corresponding to at least one second track information. Assume that the energy P of N reference detection objects is P = {p1, p2, ..., pN} and the motion angle θ={θ1,θ2,...,θ N The medians of} are P M ,θ M , the median absolute deviations are P MAD ,θ MAD , then the reference energy range can be expressed as: (P M -3P MAD , +∞), the reference angle range can be expressed as: (θ M -3θ MAD ,+∞), such as Figure 3e ,The target energy in the figure can be the energy of the reference detection object, and the target angle is the motion angle of the reference detection object.

[0085] The calculation process of the median absolute deviation is as follows: calculate the absolute values ​​of the motion angle difference and energy difference between each second track information and the adjacent second track information, add the motion angle differences to obtain a total motion angle difference value, sort all the motion angle difference sum values, and select the middle value as the median absolute deviation of the motion angle; add the energy differences to obtain a total energy difference value, sort all the energy difference sum values, and select the middle value as the median absolute deviation of the energy.

[0086] S230. Determine at least one third track information from at least one second track information according to the reference distribution information, wherein the energy and motion angle of the reference detection object indicated in the third track information are within a reference energy distribution range and a reference angle distribution range corresponding to the reference distribution information.

[0087] Specifically, the second track information in which the energy and the motion angle of the reference detection object in the second track information are within the reference energy distribution range and the reference angle distribution range corresponding to the reference distribution information is used as the third track information. The second track information can be screened using the following formula. If the following formula is satisfied, it is considered to be a motor vehicle and the second track information is retained. If the following formula is not satisfied, it is considered to be track information corresponding to a non-motor vehicle and is discarded. The formula is as follows:

[0088] P M -3·P MAD <p i ;

[0089] θ M -3·θ MAD <θ i .

[0090] S240: Determine target track information based on at least one third track information.

[0091] Specifically, the target track information may be filtered according to the third track information and the position information of the lane where the radar is installed, that is, the third track information as close as possible to the lane where the radar is installed is selected as the target track information.

[0092] Optionally, determining target track information based on at least one third track information includes steps D1-D3:

[0093] Step D1: Determine the sorting results of each piece of third track information according to the average value of the motion angle of the reference detection object indicated by each piece of third track information.

[0094] Step D2: Determine at least one fourth track information from at least one third track information according to the sorting results of each piece of third track information, wherein the reference detection objects indicated by each piece of fourth track information are located in the same lane.

[0095] Specifically, the relative position between the target lane where the target radar is installed and each piece of third track information is determined; based on the relative position between the target lane and each piece of third track information and the sorting results of each piece of third track information, at least one fourth track information is determined from at least one piece of third track information, and the reference detection object indicated by the fourth track information is located in the target lane where the target radar is installed.

[0096] Optionally, determining at least one fourth track information from at least one third track information according to the relative position between the target lane and each piece of the third track information and the sorting result of each piece of the third track information includes steps E1-E3:

[0097] Step E1: determining a reference track screening interval based on the sorting results of each third track information, where the reference track screening interval is used to indicate the maximum motion angle and the minimum motion angle corresponding to the reference detection object in each third track information.

[0098] Step E2: determining a target lane buffer factor corresponding to the target lane, where the target lane buffer factor is used to amplify a motion angle interval corresponding to the third track information belonging to the target lane;

[0099] Specifically, considering that there are errors in radar angle measurement in practice and that vehicles do not necessarily drive strictly in the middle of the lane according to the lane lines, a target lane buffer factor corresponding to the target lane is set to amplify the motion angle range corresponding to the third track information belonging to the target lane, so as to facilitate the screening of high-quality tracks.

[0100] Step E3: determining at least one fourth track information from the at least one third track information based on the target lane buffer factor, the relative position between the target lane and each third track information, and the reference track screening interval range.

[0101] Specifically, the reference track screening interval range [θ Min ,θ Max ], based on the target lane buffer factor σ s The reference track screening interval is enlarged to obtain the final track screening interval [θ Min_l ,θ Max_l ], the amplification process can be expressed as:

[0102] θ Min_l =θ Min +(-σ s / 3)·(θ Max -θ Min );

[0103] θ Max_l =θ Max +[(1+σ s ) / 3]·(θ Max -θ Min ).

[0104] When θ is satisfied i ≥θ Min_l And θ i ≤θ Max_l When , the extracted third track information is determined to be a high-quality track of the lane facing the radar, and is used as the fourth track information.

[0105] The technical solution of this embodiment, after determining the reference track screening interval range based on the sorting results of each third track information, uses the target lane buffer factor to amplify the reference track screening interval range, thereby avoiding errors in the screening track caused by radar angle measurement errors and / or the vehicle not driving completely straight along the lane line, ensuring data integrity, and further determining at least one fourth track information from at least one third track information based on the target lane buffer factor, the relative position between the target lane and each third track information, and the reference track screening interval range, thereby ensuring accurate determination of the target track information.

[0106] Step D3: Determine at least one fourth track information as target track information.

[0107] In this embodiment, the sorting results of each piece of third track information are determined based on the average of the motion angles of the reference detection object indicated by each piece of third track information. Then, based on the sorting results of each piece of third track information, at least one piece of fourth track information is determined from the at least one piece of third track information, and the at least one piece of fourth track information is determined as the target track information. The sorting of the track information achieves the accurate identification of the track information that is closer to the lane where the radar is installed, thereby ensuring the accuracy of the target track information.

[0108] S250 , determining a target compensation angle used by the target radar based on a motion angle of the reference detection object in the target track information, and performing angle compensation calibration on the target radar using the target compensation angle of the target radar.

[0109] In an embodiment of the present invention, multiple first track information are determined, and based on the movement angles of the reference detection objects in each first track information at different times, at least one second track information is determined from the multiple first track information. If the number of tracks of at least one second track information is greater than a preset number, it means that the traffic volume in the current scene is relatively large, and the target track information can be further determined, specifically by determining reference distribution information corresponding to at least one second track information, and determining at least one third track information from at least one second track information based on the reference distribution information. The energy and movement angle of the reference detection object indicated in the third track information are within the reference energy distribution range and the reference angle distribution range corresponding to the reference distribution information, thereby ensuring that the track information is closer to the lane where the radar is installed; then, the target track information is determined based on the at least one third track information, thereby achieving accurate determination of the target track information; finally, the target radar is angle-compensated and calibrated based on the target track information, thereby achieving efficient and accurate correction of the radar's angle measurement error, thereby improving the accuracy and reliability of radar detection.

[0110] Figure 4 A flow chart of another radar calibration method provided in an embodiment of the present invention. The technical solution of this embodiment is based on the technical solution of the above embodiment, and further optimizes the process of angle compensation calibration of the target radar based on at least one second track information in the above embodiment under the condition of low traffic volume. This embodiment can be combined with various optional solutions in one or more of the above embodiments.

[0111] S310: Determine a plurality of first track information, and determine at least one second track information from the plurality of first track information based on the motion angle of the reference detection object at different times in each first track information.

[0112] This process has been described in detail in the above embodiment and will not be described in detail here.

[0113] S320: If the number of tracks of at least one second track information is not greater than a preset number, determine a reference statistic corresponding to each second track information, where the reference statistic is a motion angle variance statistic result of the reference detection object indicated by the second track information.

[0114] This embodiment provides a detailed description of angle compensation calibration of a target radar based on at least one second track information in a case of low traffic volume. That is, the target track information is determined through a sparse scenario solution, and then the target compensation angle used by the target radar is determined based on the motion angle of the reference detection object in the target track information. The target radar is then angle-compensated and calibrated using the target compensation angle of the target radar.

[0115] Specifically, the reference statistic D i The calculation method can be used as follows:

[0116]

[0117]

[0118] Where n is the number of frames of the second track information of the i-th item, is the angle mean within the consecutive frames of the i-th second track information.

[0119] S330. Determine at least one fifth track information from at least one second track information based on a reference statistic corresponding to each second track information, where the reference statistic is used to measure a stable state of a reference detection object indicated by the second track information moving along a straight motion trajectory or an approximately straight motion trajectory.

[0120] The reference statistic can reflect the degree of jitter of the reference detection object and reflect the stable navigation state of the reference detection object. The more stable the reference detection object is in a straight line, the smaller the reference statistic is. Therefore, in this case, the present invention sets a certain threshold D T Filter out the high-quality tracks I that travel along a straight line: I = find(D i <D T ), when the second track information meets the high-quality track I, it is used as the fifth track information.

[0121] S340: Determine target track information based on at least one fifth track information.

[0122] Specifically, for each fifth track information in the at least one fifth track information, a reference compensation angle is determined based on the mean motion angle of the reference detection object indicated by each fifth track information. For example, the inverse of the mean motion angle can be used as the reference compensation angle; further, an angle compensation adjustment is performed on the motion angle of the reference detection object indicated by each fifth track information based on the reference compensation angle, and a least squares criterion is used to calculate the standard deviation Δx of the horizontal axis position of the reference detection object indicated by each fifth track information after the angle compensation adjustment. i The sum Δx can be expressed as follows:

[0123]

[0124] Δx=sum(Δx i ),i∈I;

[0125] Then, according to the sum of the standard deviations of the horizontal axis positions of the reference detection objects indicated by each fifth track information, the sixth track information is determined from at least one fifth track information. For example, the fifth track information with the smallest sum of the standard deviations of the horizontal axis positions of the reference detection objects indicated by each fifth track information can be selected as the sixth track information, and the sixth track information is determined as the target track information.

[0126] S350: Determine a target compensation angle used by the target radar based on the motion angle of the reference detection object in the target track information, and perform angle compensation calibration on the target radar using the target compensation angle of the target radar.

[0127] In an embodiment of the present invention, multiple first track information are determined, and based on the motion angles of the reference detection objects in each first track information at different times, at least one second track information is determined from the multiple first track information. If the number of tracks of at least one second track information is not greater than a preset number, it indicates that the traffic volume in the current scenario is relatively small. In order to ensure the accuracy of the final angle adjustment, it is necessary to further determine the target track information, specifically, to determine the reference statistics corresponding to each second track information. Because the reference statistics are used to measure the stable state of the reference detection object indicated by the second track information moving along a straight motion trajectory or an approximately straight motion trajectory, at least one fifth track information is further determined from the at least one second track information based on the reference statistics corresponding to each second track information, thereby achieving accurate determination of the track information. The target track information is then determined based on the at least one fifth track information, thereby ensuring the accuracy of the finally selected track information. The target radar is then angle-compensated and calibrated based on the target track information, thereby achieving efficient and accurate correction of the radar's angle measurement error and improving the accuracy and reliability of radar detection.

[0128] Figure 5 This is a schematic structural diagram of a radar calibration device provided in an embodiment of the present invention. The embodiment of the present invention is applicable to situations where the angle of a traffic radar is calibrated. The radar calibration device can be implemented in the form of software and / or hardware and is generally integrated into any electronic device with network communication capabilities, which can be a mobile terminal, PC, or server, etc.

[0129] like Figure 5 As shown, the radar calibration device according to the embodiment of the present invention may include:

[0130] A first information determination module 410 is configured to determine a plurality of first track information, wherein the first track information is a motion trajectory formed by detecting and tracking the horizontal and vertical axis positions of the same reference detection object by the target radar at different consecutive moments;

[0131] a second information determining module 420 configured to determine at least one second track information from the plurality of first track information based on the motion angles of the reference detection object at different moments in each of the first track information, wherein the motion angles of the reference detection object at different moments are determined based on the horizontal and vertical axis positions of the reference detection object at different moments, and the reference detection object indicated in the second track information moves along a straight motion trajectory or a substantially straight motion trajectory;

[0132] The calibration module 430 is configured to perform angle compensation calibration on the target radar based on the at least one second track information.

[0133] Optionally, the second information determination module includes:

[0134] a motion angle change amount determining unit, configured to determine, for each piece of the first track information, a motion angle change amount of the reference detection object at different time intervals according to the motion angle of the reference detection object at different moments in the first track information;

[0135] a reference cumulative result determining unit, configured to determine a reference cumulative result corresponding to each piece of first track information based on the motion angle changes of the reference detection object at different time intervals, wherein the reference cumulative result is a statistical count of the number of motion angle changes greater than a preset angle change value among the motion angle changes at different time intervals;

[0136] The second track information determination unit is used to determine at least one second track information from the multiple first track information based on the reference cumulative result corresponding to each first track information. The smaller the count value of the reference cumulative result corresponding to each first track information, the greater the possibility that the reference detection object indicated by the first track information moves along a straight motion trajectory or an approximate straight motion trajectory.

[0137] Optionally, the second track information determining unit includes:

[0138] a first judgment unit, configured to determine that the first track information indicates that the reference detection object is not moving along a straight line trajectory or an approximately straight line trajectory, if the count value of the reference accumulation result corresponding to the first track information is greater than a preset count value, and to discard the first track information;

[0139] The second judgment unit is used to determine that if the count value of the reference cumulative result corresponding to the first track information is not greater than the preset count value, the possibility that the reference detection object indicated in the first track information moves along a straight line motion trajectory or an approximate straight line trajectory is greater, and retain the first track information as the second track information.

[0140] Optional calibration module, including:

[0141] a track information determining unit, configured to determine target track information from the at least one second track information;

[0142] The compensation angle determination unit is used to determine the target compensation angle used by the target radar based on the motion angle of the reference detection object in the target track information, and perform angle compensation calibration on the target radar through the target compensation angle of the target radar.

[0143] Optionally, the track information determination unit includes:

[0144] a third judgment unit, configured to determine, if the number of tracks of the at least one second track information is greater than a preset number, reference distribution information corresponding to the at least one second track information, the reference distribution information including an energy distribution and a motion angle distribution formed based on the energy and motion angle of each reference detection object indicated by the at least one second track information, the energy of the reference detection object being characterized by the intensity of a radar echo returned when the target radar detects the reference detection object;

[0145] a third track information determining unit, configured to determine at least one third track information from the at least one second track information according to the reference distribution information, wherein the energy and the motion angle of the reference detection object indicated in the third track information are within a reference energy distribution range and a reference angle distribution range corresponding to the reference distribution information;

[0146] The first target track information determining unit is configured to determine target track information based on the at least one third track information.

[0147] Optionally, the reference energy interval range and the reference angle interval range corresponding to the reference distribution information are interval ranges formed based on the median absolute deviation corresponding to the energy distribution and the median absolute deviation of the motion angle distribution in the reference distribution information.

[0148] Optionally, the first target track information determining unit is configured to:

[0149] determining a sorting result of each piece of the third track information according to an average of the motion angles of the reference detection object indicated by each piece of the third track information;

[0150] determining at least one fourth track information from the at least one third track information according to the sorting results of the respective third track information, wherein the reference detection objects indicated by the respective fourth track information are located in the same lane;

[0151] The at least one fourth track information is determined as target track information.

[0152] Optionally, the first target track information determination unit includes a fourth track information determination unit, configured to determine a relative position between the target lane where the target radar is installed and each of the third track information;

[0153] At least one fourth track information is determined from the at least one third track information based on the relative position between the target lane and each piece of the third track information and the sorting results of each piece of the third track information, and the reference detection object indicated by the fourth track information is located in the target lane where the target radar is installed.

[0154] Optionally, the four track information determination units are further configured to:

[0155] Determine a reference track screening interval range based on the sorting results of each of the third track information, wherein the reference track screening interval range is used to indicate the maximum movement angle and the minimum movement angle corresponding to the reference detection object in each of the third track information;

[0156] Determining a target lane buffer factor corresponding to the target lane, wherein the target lane buffer factor is used to amplify a motion angle interval range corresponding to the third track information belonging to the target lane;

[0157] At least one fourth track information is determined from the at least one third track information based on the target lane buffer factor, a relative position between the target lane and each of the third track information, and a reference track screening interval range.

[0158] Optionally, the track information determination unit includes:

[0159] a fourth judgment unit, configured to determine, if the number of tracks of the at least one second track information is not greater than a preset number, a reference statistic corresponding to each piece of the second track information, the reference statistic being a statistical result of a motion angle variance of a reference detection object indicated by the second track information;

[0160] a fifth track information determining unit, configured to determine at least one fifth track information from the at least one second track information based on a reference statistic corresponding to each piece of the second track information, the reference statistic being used to measure a stable state of a reference detection object indicated by the second track information moving along a straight motion trajectory or an approximately straight motion trajectory;

[0161] The second target track information determining unit is configured to determine target track information based on the at least one fifth track information.

[0162] Optionally, the second target track information determining unit is configured to:

[0163] For each piece of fifth track information among the at least one fifth track information, determining a reference compensation angle based on an average of motion angles of the reference detection object indicated by each piece of the fifth track information;

[0164] performing angle compensation adjustment on the motion angle of the reference detection object indicated by each of the fifth track information based on the reference compensation angle, and calculating the sum of the standard deviations of the horizontal axis positions of the reference detection objects indicated by each of the fifth track information after the angle compensation adjustment using a least squares criterion;

[0165] determining sixth track information from the at least one fifth track information according to the sum of standard deviations of the horizontal axis positions of the reference detection objects indicated by each of the fifth track information;

[0166] The sixth track information is determined as target track information.

[0167] Optionally, a compensation angle determination unit is configured to:

[0168] determining a first candidate compensation angle used by the target radar based on a mean motion angle of a reference detection object in the target track information;

[0169] Performing first angle compensation debugging on the target radar using a first candidate compensation angle of the target radar;

[0170] After the first angle compensation is debugged, different second candidate compensation angles are determined by traversing the candidate angle interval according to a preset angle compensation step;

[0171] A target compensation angle adopted by the target radar is determined based on the first candidate compensation angle and each of the second candidate compensation angles.

[0172] Optionally, the compensation angle determination unit includes a target compensation angle determination unit, configured to:

[0173] performing angle compensation adjustment on the motion angle of the reference detection object indicated by the target track information based on each second candidate compensation angle, and calculating the sum of standard deviations of the horizontal axis positions of the reference detection object indicated by the target track information after the angle compensation adjustment using a least squares criterion;

[0174] determining a third candidate compensation angle from the second candidate compensation angles based on a sum of standard deviations of the horizontal axis position of the reference detection object indicated by the target track information after the angle compensation corresponding to each second candidate compensation angle is adjusted;

[0175] A target compensation angle adopted by the target radar is determined based on the first candidate compensation angle and the third candidate compensation angle.

[0176] The radar calibration device provided in the embodiment of the present invention can execute the radar calibration method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the radar calibration method.

[0177] It is worth noting that the various units and modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the embodiments of the present invention.

[0178] Figure 6 A schematic diagram of an electronic device that can be used to implement the radar calibration method according to an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are provided for example purposes only and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0179] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0180] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0181] The processor 11 may be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the radar calibration method.

[0182] In some embodiments, the radar calibration method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the radar calibration method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to execute the radar calibration method in any other suitable manner (e.g., via firmware).

[0183] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system comprising at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0184] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0185] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0186] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0187] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0188] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0189] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0190] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A radar calibration method, characterized in that: The method comprises: Determining a plurality of first track information, where the first track information is a motion track formed by detecting and tracking the horizontal and vertical axis positions of the same reference detection object by the target radar at different consecutive times; determining at least one second track information from the plurality of first track information based on motion angles of a reference detection object at different times in each of the first track information, wherein the motion angles of the reference detection object at different times are determined based on the horizontal and vertical axis positions of the reference detection object at different times, and the reference detection object indicated in the second track information moves along a straight motion trajectory or an approximately straight motion trajectory; Angle compensation calibration is performed on the target radar based on the at least one second track information.

2. The method according to claim 1, characterized in that Determining at least one second track information from the plurality of first track information based on the motion angle of the reference detection object at different times in each of the first track information includes: For each piece of the first track information, determining a change in the motion angle of the reference detection object at different time intervals according to the motion angle of the reference detection object at different moments in the first track information; Determine, based on the motion angle changes of the reference detection object at different time intervals, a reference cumulative result corresponding to each first track information, wherein the reference cumulative result is a statistical count of the number of motion angle changes greater than a preset angle change value among the motion angle changes at different time intervals; At least one second track information is determined from the multiple first track information based on the reference cumulative result corresponding to each first track information. The smaller the count value of the reference cumulative result corresponding to each first track information, the greater the possibility that the reference detection object indicated by the first track information moves along a straight motion trajectory or an approximate straight motion trajectory.

3. The method according to claim 1, characterized in that Performing angle compensation calibration on the target radar based on the at least one second track information includes: determining target track information from the at least one second track information; The target compensation angle used by the target radar is determined based on the motion angle of the reference detection object in the target track information, and the target radar is calibrated for angle compensation using the target compensation angle of the target radar.

4. The method according to claim 3, characterized in that Determining target track information from the at least one second track information includes: If the number of tracks of the at least one second track information is greater than a preset number, determining reference distribution information corresponding to the at least one second track information, the reference distribution information including an energy distribution and a motion angle distribution formed based on the energy and motion angle of each reference detection object indicated by the at least one second track information, where the energy of the reference detection object is characterized by the intensity of a radar echo returned when the target radar detects the reference detection object; determining at least one third track information from the at least one second track information according to the reference distribution information, wherein the energy and the motion angle of the reference detection object indicated in the third track information are within a reference energy distribution range and a reference angle distribution range corresponding to the reference distribution information; Target track information is determined based on the at least one third track information.

5. The method according to claim 4, characterized in that The reference energy interval range and the reference angle interval range corresponding to the reference distribution information are interval ranges formed based on the median absolute deviation corresponding to the energy distribution and the median absolute deviation of the motion angle distribution in the reference distribution information.

6. The method according to claim 3, characterized in that The target compensation angle used by the target radar is determined based on the motion angle of the reference detection object in the target track information, including: determining a first candidate compensation angle used by the target radar based on a mean motion angle of a reference detection object in the target track information; Performing first angle compensation debugging on the target radar using a first candidate compensation angle of the target radar; After the first angle compensation is debugged, different second candidate compensation angles are determined by traversing the candidate angle interval according to a preset angle compensation step; A target compensation angle adopted by the target radar is determined based on the first candidate compensation angle and each of the second candidate compensation angles.

7. The method according to claim 6, characterized in that Determining a target compensation angle used by a target radar based on the first candidate compensation angle and each of the second candidate compensation angles includes: performing angle compensation adjustment on the motion angle of the reference detection object indicated by the target track information based on each second candidate compensation angle, and calculating the sum of standard deviations of the horizontal axis positions of the reference detection object indicated by the target track information after the angle compensation adjustment using a least squares criterion; determining a third candidate compensation angle from the second candidate compensation angles based on a sum of standard deviations of the horizontal axis position of the reference detection object indicated by the target track information after the angle compensation corresponding to each second candidate compensation angle is adjusted; A target compensation angle adopted by the target radar is determined based on the first candidate compensation angle and the third candidate compensation angle.

8. A radar calibration device, characterized in that: The device comprises: A first information determination module is configured to determine a plurality of first track information, wherein the first track information is a motion track formed by detecting and tracking the horizontal and vertical axis positions of the same reference detection object at different consecutive moments by a target radar; a second information determining module, configured to determine at least one second track information from the plurality of first track information based on motion angles of reference detection objects at different moments in each of the first track information, wherein the motion angles of the reference detection objects at different moments are determined based on the horizontal and vertical axis positions of the reference detection objects at different moments, and the reference detection objects indicated in the second track information move along a straight motion trajectory or a substantially straight motion trajectory; A calibration module is used to perform angle compensation calibration on the target radar based on the at least one second track information.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the radar calibration method according to any one of claims 1 to 7.

10. A storage medium containing computer-executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, the computer executable instructions are used to perform the radar calibration method according to any one of claims 1 to 7.

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