Radar calibration method and apparatus, electronic device, and storage medium

Abstract

This invention provides a radar calibration method, apparatus, electronic device, and storage medium. The method includes: determining multiple first track information, where the first track information is the motion trajectory formed by the horizontal and vertical axis positions of the same reference detection object detected and tracked by a target radar at consecutive different times; determining at least one second track information from the multiple first track information based on the motion angle of the reference detection object at different times in each first track information; and performing angle compensation calibration on the target radar based on the at least one second track information. This application achieves efficient and accurate correction of radar angle measurement errors and improves the accuracy and reliability of radar detection by using the second track information formed by the detected reference detection object moving along a straight or approximately straight trajectory to perform angle compensation calibration on the target radar.

Description

Technical Field

[0001] This invention relates to the field of radar detection technology, and in particular to a radar calibration method, apparatus, electronic device, and storage medium. Background Technology

[0002] In radar applications, due to the precision requirements of radar hardware and antenna manufacturing, as well as deviations during radar installation at the site survey, angular measurement errors are an unavoidable problem. This causes vehicles to appear at a certain angle during radar detection, resulting in their trajectories appearing tilted on the screen. Correcting this angle usually requires manual calibration. However, this manual calibration not only increases configuration time and manpower waste, but also, if the angle calibration is inaccurate or has deviations, it can create difficulties for subsequent lane configuration, ultimately leading to inaccurate radar detection of vehicle targets. Summary of the Invention

[0003] This invention provides a radar calibration method, apparatus, electronic device, and storage medium to achieve efficient and accurate correction of radar angle measurement errors, thereby improving the accuracy and reliability of radar detection.

[0004] In a first aspect, embodiments of the present invention provide a radar calibration method, the method comprising:

[0005] Multiple first track information are determined. The first track information is the motion trajectory formed by the horizontal and vertical axis positions of the same reference detection object detected and tracked by the target radar at different times in succession.

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

[0007] The target radar is calibrated by angle compensation based on the at least one second track information.

[0008] Secondly, embodiments of the present invention also provide a radar calibration device, the device comprising:

[0009] The first information determination module is used to determine multiple first track information, wherein the first track information is the motion trajectory formed by the horizontal and vertical axis positions of the same reference detection object detected and tracked by the target radar at different times in succession.

[0010] The second information determination module is used to 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 of the first track information. The motion angle of the reference detection object at different times is determined based on the horizontal and vertical axis positions of the reference detection object at different times. The reference detection object indicated in the second track information moves along a straight motion trajectory or an approximately straight 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] Thirdly, this invention also provides an electronic device, the 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, which enables the at least one processor to perform the radar calibration method described in any of the above embodiments.

[0016] Fourthly, this invention also provides a computer-readable medium storing computer instructions that cause a processor to execute the radar calibration method described in any of the above embodiments.

[0017] In this embodiment of the invention, multiple first track information are determined. The first track information is the motion trajectory formed by the horizontal and vertical axis positions of the same reference detection object detected and tracked by the target radar at different consecutive times. Then, based on the motion angle of the reference detection object at different times in each first track information, at least one second track information is determined from the multiple first track information. The reference detection object indicated in the second track information moves along a straight motion trajectory or an approximately straight motion trajectory. Furthermore, the target radar is calibrated by angle compensation based on at least one second track information. That is, this application achieves efficient and accurate correction of the radar's angle measurement error by calibrating the target radar by a straight motion trajectory or an approximately straight motion trajectory, thereby improving the accuracy and reliability of radar detection.

[0018] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

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

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

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

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

[0023] Figure 3b This is a schematic diagram of the oncoming lane to which this embodiment of the invention applies;

[0024] Figure 3c This is a road vehicle energy distribution map applicable to the embodiments of the present invention;

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

[0026] Figure 3e This is a schematic diagram of the MAD method for energy and motion angle distribution applicable to embodiments of the present invention;

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

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

[0029] Figure 6 This is a schematic diagram of the structure of an electronic device that implements the radar calibration method of this invention. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] Figure 1 This is a schematic diagram of a radar calibration method provided in an embodiment of the present invention. The embodiment of the present invention is applicable to the calibration of the angle of traffic radar. The method can be executed by a radar calibration device, which can be implemented in the form of software and / or hardware and integrated on any electronic device with network communication function, such as a mobile terminal, PC or server.

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

[0034] S110. Determine multiple first track information. The first track information is the motion trajectory formed by the horizontal and vertical axis positions of the same reference detection object detected and tracked by the target radar at different times.

[0035] Due to the inability to guarantee consistency in antenna and hardware manufacturing processes, different radars have different angle measurement and phase errors. Furthermore, it is impossible to guarantee that the radars are perfectly upright and perfectly level during installation. Therefore, it is necessary to calibrate the radar angles to lay a good foundation for subsequent lane configuration and traffic flow statistics.

[0036] The reference detection object can be a vehicle traveling in the lane.

[0037] Specifically, the radar is installed in a forward-facing manner, that is, facing the lane. After the radar is powered on, it can detect and track the same reference target at different times. Based on the obtained horizontal and vertical axis positions, multiple first track information is formed, so that the compensation angle that can be used to calibrate the radar angle of the target can be obtained later.

[0038] S120. Based on the motion angle of the reference detection object at different times in each first track information, determine at least one second track information from multiple first track information.

[0039] The motion angle of the reference detection object at different times is 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 or approximately straight trajectory.

[0040] Specifically, in order to improve the efficiency of angle compensation, it is necessary to calculate the motion angle of the reference detection object at different times in each first track information. Then, based on the deviation of the motion angle, it is determined whether the motion trajectory indicated by the first track information is a straight line or approximately a straight line, thereby obtaining the second track information. The straight trajectory is then used for angle compensation to ensure the accuracy of angle compensation.

[0041] Optionally, based on the motion angle of the reference detected object at different times in each first track information, at least one second track information is determined from multiple first track information, including 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 times based on the motion angle of the reference detection object in the first track information at different times.

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

[0044] θ i =arctan(x / y);

[0045] Where x and y are the horizontal and vertical coordinates of the reference detection object at different times in the first track information;

[0046] A preset angle interval θ0 is set, which is the change in trajectory angle between two consecutive moments based on the actual straight-line vehicle movement. Further, based on the motion angle of the reference detection object at different moments in the first trajectory information and the preset angle interval, the change in motion angle Δθ of the reference detection object across different time intervals is determined. i The formula is as follows:

[0047] Δθ i =abs(θ) i -θ0).

[0048] Step A2: Based on the change in motion angle of the reference detection object at different time intervals, determine the reference cumulative result corresponding to each first track information. The reference cumulative result is a statistical count of the number of motion angle changes greater than the preset angle change amount among the motion angle changes at different time intervals.

[0049] Specifically, changes in motion angles greater than a preset change may be considered sudden angle jumps. However, for straight trajectories, angle jumps will not occur. To avoid errors in data statistics, a cumulative record is set to determine the number of angle jumps, thereby ensuring accurate judgment of straight trajectories.

[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 will move along a straight motion trajectory or an approximately straight trajectory.

[0051] Specifically, the reference cumulative result is obtained and compared with the preset count value. If the count value of the reference cumulative 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. In this case, the probability that the reference detection object in the first track information is not moving along a straight or approximately straight trajectory is greater, and the first track information is removed.

[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 is maintaining a straight-line state, then it is determined that the first track information indicates that the reference detection object is moving along a straight-line trajectory or an approximately 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 can 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 change in the motion angle of the reference detection object at different times is determined based on the motion angle of the reference detection object in the first track information at different times. Furthermore, the change in motion angle is compared with a preset change in angle to determine the number of motion angle changes greater than the preset change in angle, which is recorded as a reference cumulative result. Then, based on the reference cumulative result corresponding to each first track information, at least one second track information is determined from multiple first track information. This avoids the situation where judgment errors occur due to data errors, which is caused by determining the result based on only one comparison result. It also accurately preserves the trajectory information of linear motion, thereby improving the accuracy of 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 acquiring the second track information, the target compensation angle adopted by the target radar can be determined directly from the motion angle of the reference detection object corresponding to the second track information, and then angle compensation calibration can be performed based on the target compensation angle. Alternatively, the second track information can be further filtered to select the trajectory information that travels more along a straight line as the high-quality trajectory information, so that the target compensation angle adopted by the target radar can be determined from the motion angle of the reference detection object corresponding to the high-quality trajectory information, and then angle compensation calibration can be performed based on the target compensation angle.

[0057] Optionally, the target radar is calibrated with angle compensation based on at least one second track information, including steps B1-B2:

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

[0059] Among them, the target trajectory information can be high-quality trajectory information that has been calibrated for radar angle compensation.

[0060] Specifically, such as Figure 2 As shown, traffic flow varies in different scenarios and at different times. To adapt to data in different scenarios, the number of second track information can be counted to determine the amount of traffic. If the traffic flow is high, a dense scenario scheme can be used to select high-quality tracks. If the traffic flow is low, a sparse scenario scheme can be used to select high-quality tracks to filter out accurate target track information. Then, the target radar can be calibrated by angle compensation based on the target track information.

[0061] The dense scene scheme primarily filters inferior tracks based on the energy and motion angle distributions formed by the energy and motion angles of each reference detection object. Then, it combines prior information about the radar installation lane and the relative positional relationships between track samples to filter high-quality tracks at the radar installation lane location, thus obtaining the optimal track. The sparse scene scheme primarily uses the angular variance statistics of track information for initial screening of candidate tracks. Then, based on the standard deviation of the X estimate of the compensated posterior result, it uses the least squares criterion to lock in the optimal track.

[0062] Step B2: 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 using the target compensation angle of the target radar.

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

[0064] Optionally, the target compensation angle used by the target radar is determined based on the motion angle of the reference detected object in the target track information, including steps C1-C4:

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

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

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

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

[0069] Step C3: After the first angle compensation adjustment, traverse the candidate angle range according to the preset angle compensation step to determine different second candidate compensation angles.

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

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

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

[0073] Specifically, based on each second candidate compensation angle, the motion angle of the reference detection object indicated by the target trajectory information is adjusted by angle compensation, and the sum of the standard deviations of the horizontal axis position of the reference detection object indicated by the target trajectory information after angle compensation adjustment is calculated using the least squares criterion; based on the sum of the standard deviations of the horizontal axis position of the reference detection object indicated by the target trajectory information after 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 taken as the target compensation angle.

[0074] In this embodiment, the 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. The target radar is then further adjusted by first angle compensation using the first candidate compensation angle. To ensure the accuracy of the target compensation angle, after the first angle compensation adjustment, different second candidate compensation angles are determined by traversing the candidate angle range according to a preset angle compensation step. This yields the angle that needs to be finely adjusted for the radar angle, thus ensuring 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. This enables the radar angle measurement error to be accurately corrected using the target compensation angle.

[0075] In this embodiment of the invention, multiple first track information are determined. The first track information is the motion trajectory formed by the horizontal and vertical axis positions of the same reference detection object detected and tracked by the target radar at different consecutive times. Then, based on the motion angle of the reference detection object at different times in each first track information, at least one second track information is determined from the multiple first track information. The reference detection object indicated in the second track information moves along a straight motion trajectory or an approximately straight motion trajectory. Furthermore, the target radar is calibrated by angle compensation based on at least one second track information. That is, this application achieves efficient and accurate correction of the radar's angle measurement error by calibrating the target radar by a straight motion trajectory or an approximately straight motion trajectory, thereby improving the accuracy and reliability of radar detection.

[0076] Figure 3a This is a flowchart illustrating 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 embodiments, and further optimizes the process of angle compensation calibration of the target radar based on at least one second track information in the above embodiments when there is a lot of traffic. This embodiment can be combined with various optional solutions in one or more of the above embodiments.

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

[0078] The above embodiments have described this process in detail, and will not be described in detail here.

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

[0080] This embodiment describes in detail how to perform angle compensation calibration of a target radar based on at least one second track information in situations with heavy traffic. Specifically, it involves determining the target track information through a dense scene scheme, then determining the target compensation angle for the target radar based on the motion angle of the reference detection object in the target track information, and finally performing angle compensation calibration on the target radar using the target compensation angle.

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

[0082] In practical applications, non-motorized vehicles change direction more frequently, resulting in poorer tracking quality and negatively impacting angle compensation. Therefore, secondary track information corresponding to motorized vehicles should be removed as much as possible. In urban roads, non-motorized vehicles exhibit the following two characteristics: 1) Compared to motorized vehicles, non-motorized vehicles have smaller reflective areas and weaker echo energy; 2) Non-motorized vehicles are generally located on either side of the motorized vehicle lane. For oncoming traffic lanes, the relative positional relationship between the motorized vehicle lane and the non-motorized vehicle lane is as follows: Figure 3b As shown.

[0083] According to radar equations, the strength of a target's echo signal is directly proportional to its radar cross-section. Therefore, for road vehicles, the smaller the target's radar cross-section, the weaker the radar echo signal. Figure 3c The data shows the relative radar echo energy distribution of different types of vehicles, with non-motorized vehicles in the lowest energy range. Figure 3b It shows the relative positions of the non-motorized vehicle lane and the motorized vehicle lane under the oncoming traffic lane. Figure 3b The radar is oriented along the three lanes of the motor vehicle lanes. From the radar's perspective, it is directly facing these three lanes, with the non-motorized vehicle lanes on the left and the motorized vehicle lanes on the right. Therefore, at the same detection distance, the angle measurement value of a non-motorized vehicle target is smaller than that of a motorized vehicle target. Figure 3b For the five targets, the distribution of radar angle measurements and the corresponding angle ranges for the motor vehicle lane and non-motor vehicle lane are as follows: Figure 3d As shown.

[0084] The absolute median method (MAD method) is a commonly used outlier detection method in statistics. This application uses the absolute median method to determine the reference distribution information corresponding to at least one second track information. It is assumed that for N reference detection objects, the energy P = {p1, p2, ..., p...}N} and motion angle θ={θ1,θ2,...,θ N The medians of} are P M θ M The absolute deviations of the median are P MAD θ MAD Then the reference energy range can be expressed as: (P M -3P MAD The range of reference angles (θ, +∞) can be expressed as: M -3θ MAD (+∞), such as Figure 3e In the figure, the target energy 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 for 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 its adjacent second track information. Add the motion angle differences to obtain a total motion angle difference value. Sort all the total motion angle difference 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 total energy difference 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 based on the reference distribution information, wherein the energy and motion angle of the reference detection object indicated in the third track information are within the reference energy distribution range and reference angle distribution range corresponding to the reference distribution information.

[0087] Specifically, the second track information, in which the energy and motion angle of the reference detected object are within the reference energy distribution range and reference angle distribution range corresponding to the reference distribution information, is taken as the third track information. The second track information can be filtered using the following formula: if it meets the formula, it is considered to be a motor vehicle and the second track information is retained; if it does not meet the formula, it is considered to be the 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 the target trajectory information based on at least one third trajectory information.

[0091] Specifically, target track information can be filtered based on the third track information and the location information of the lane where the radar is installed, that is, the third track information that is as close as possible to the lane where the radar is installed can be selected as the target track information.

[0092] Optionally, the target track information is determined based on at least one third track information, including steps D1-D3:

[0093] Step D1: Determine the sorting result of each third track information based on the average motion angle of the reference detection object indicated by each third track information.

[0094] Step D2: Based on the sorting results of each third track information, determine at least one fourth track information from at least one third track information, wherein the reference detection objects indicated by each 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 third track information is determined; based on the relative position between the target lane and each third track information and the sorting result of each third track information, at least one fourth track information is determined from at least one 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, based on the relative position between the target lane and each of the third track information and the sorting result of the third track information, at least one fourth track information is determined from at least one third track information, including steps E1-E3:

[0097] Step E1: Determine the reference track selection interval range based on the sorting results of each third track information. The reference track selection interval range is used to indicate the maximum and minimum motion angles corresponding to the reference detection objects in each third track information.

[0098] Step E2: Determine the target lane buffer factor corresponding to the target lane. The target lane buffer factor is used to amplify the range of motion angles corresponding to the third track information belonging to the target lane.

[0099] Specifically, considering that radar angle measurement has errors in reality, and that vehicles may not strictly follow the lane lines and drive in the exact center of the lane, a target lane buffer factor is set to amplify the range of motion angles corresponding to the third track information belonging to the target lane, so as to facilitate the selection of high-quality tracks.

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

[0101] Specifically, refer to the range of the flight path selection interval [θ] Min θ Max Based on the target lane buffer factor σ s The final track selection range [θ] is obtained by enlarging the reference track selection range. Min_l θ Max_l The amplification process can be represented 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 At that time, the extracted third track information was determined to be a high-quality track with the radar facing the lane, and was used as the fourth track information.

[0105] In this embodiment, after determining the reference track selection range based on the sorting results of each third track information, a target lane buffer factor is used to enlarge the reference track selection range. This avoids errors in track selection caused by radar angle measurement errors and / or vehicles not traveling in a straight line along the lane line, ensuring data integrity. Furthermore, based on the target lane buffer factor, the relative position between the target lane and each third track information, and the reference track selection range, at least one fourth track information is determined from at least one third track information, thereby ensuring accurate determination of the target track information.

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

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

[0108] S250: Determine the target compensation angle adopted 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.

[0109] In this embodiment of the invention, multiple first track information is determined, and based on the motion angle of the reference detection object 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 indicates that the traffic flow in the current scenario is relatively large, and target track information can be further determined. Specifically, reference distribution information corresponding to at least one second track information is determined, and at least one third track information is determined from at least one second track information based on the reference distribution information. The energy and motion angle of the reference detection object indicated in the third track information are within the reference energy distribution range and reference angle distribution range corresponding to the reference distribution information, ensuring that the track information is closer to the lane where the radar is installed. Then, the target track information is determined based on at least one third track information, realizing the accurate determination of the target track information. Finally, the target radar is calibrated by angle compensation based on the target track information, realizing efficient and accurate correction of the radar's angle measurement error, and improving the accuracy and reliability of radar detection.

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

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

[0112] The above embodiments have described this process in detail, 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, then determine the reference statistic corresponding to each second track information. The reference statistic is the variance statistical result of the motion angle of the reference detection object indicated by the second track information.

[0114] This embodiment describes in detail how to perform angle compensation calibration of a target radar based on at least one second track information when traffic flow is low. Specifically, the target track information is determined through a sparse scene scheme, and then the target compensation angle adopted 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 calibrated by performing angle compensation calibration using the target radar's target compensation angle.

[0115] Specifically, refer to statistic D i The calculation method can be adopted using the following formula:

[0116]

[0117]

[0118] Where n is the number of consecutive frames for the i-th second track information. It represents the average angle over a consecutive number of frames of the i-th second track information.

[0119] S330. Based on the reference statistics corresponding to each second track information, determine at least one fifth track information from at least one second track information. 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 or approximately straight trajectory.

[0120] The reference statistic reflects the degree of jitter of the reference detection object, indicating its stable navigation state. The more stable the reference detection object's straight-line travel, the smaller the reference statistic. Therefore, in this case, the present invention sets a certain threshold D. T Select the high-quality flight path I that travels in a straight line: I = find(D i <D T If the second track information meets the criteria of high-quality track I, then it is used as the fifth track information.

[0121] S340. Determine the target trajectory information based on at least one fifth trajectory information.

[0122] Specifically, for each of 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 negative of the mean motion angle can be used as the reference compensation angle. Further, the motion angle of the reference detection object indicated by each fifth-track information is adjusted based on the reference compensation angle, and the standard deviation Δx of the horizontal axis position of the reference detection object indicated by each angle-compensated fifth-track information is calculated using the least squares criterion. i The sum Δx can be expressed by the following formula:

[0123]

[0124] Δx=sum(Δx i ), i∈I;

[0125] Then, based on the sum of the standard deviations of the horizontal axis positions of the reference detection objects indicated by each fifth track information, a 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 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 using the target compensation angle of the target radar.

[0127] In this embodiment of the invention, multiple first track information is determined, and based on the motion angle of the reference detection object 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 flow 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, the reference statistics corresponding to each second track information are determined. Since 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 or approximately straight trajectory, at least one fifth track information is further determined from at least one second track information based on the reference statistics corresponding to each second track information. This achieves accurate determination of track information. Then, the target track information is determined based on at least one fifth track information, ensuring the accuracy of the finally selected track information. Finally, the target radar is calibrated by angle compensation based on the target track information, which achieves efficient and accurate correction of the radar's angle measurement error and improves the accuracy and reliability of radar detection.

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

[0129] like Figure 5 As shown, the radar calibration device of this embodiment may include:

[0130] The first information determination module 410 is used to determine multiple first track information, wherein the first track information is the motion trajectory formed by the horizontal and vertical axis positions of the same reference detection object detected and tracked by the target radar at different times in succession.

[0131] The second information determination module 420 is used to 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 of the first track information. The motion angle of the reference detection object at different times is determined based on the horizontal and vertical axis positions of the reference detection object at different times. The reference detection object indicated in the second track information moves along a straight motion trajectory or an approximately straight trajectory.

[0132] The calibration module 430 is used 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] The motion angle change determination unit is used to determine the motion angle change of the reference detection object in different time intervals for each first track information, based on the motion angle of the reference detection object in the first track information at different times.

[0135] The reference cumulative result determination unit is used to determine the reference cumulative result corresponding to each first track information based on the change in motion angle of the reference detection object at different time intervals. The reference cumulative result is a statistical analysis of the number of motion angle changes greater than a preset angle change in the change in motion angle at different time intervals.

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

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

[0138] The first judgment unit is used to determine that if the count value of the reference cumulative result corresponding to the first track information is greater than the preset count value, the possibility that the reference detection object in the first track information has not moved along a straight or approximately straight trajectory is greater, and to remove 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 a preset count value, the probability that the reference detection object in the first track information is moving along a straight motion trajectory or an approximately straight trajectory is greater, and the first track information is retained as the second track information.

[0140] Optional calibration module, including:

[0141] A trajectory information determination unit is used to determine target trajectory information from the at least one second trajectory information;

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

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

[0144] The third judgment unit is used to determine the reference distribution information corresponding to the at least one second track information if the number of tracks of the at least one second track information is greater than a preset number. 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 the at least one second track information. The energy of the reference detection object is characterized by the intensity of the radar echo returned when the target radar detects the reference detection object.

[0145] The third trajectory information determination unit is used to determine at least one third trajectory information from the at least one second trajectory information according to the reference distribution information, wherein the energy and motion angle of the reference detection object indicated in the third trajectory information are within the reference energy distribution range and reference angle distribution range corresponding to the reference distribution information;

[0146] The first target trajectory information determination unit is used to determine the target trajectory information based on the at least one third trajectory information.

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

[0148] Optionally, the first target trajectory information determination unit is used for:

[0149] Based on the average motion angle of the reference detection object indicated by each of the third track information, the sorting result of each of the third track information is determined;

[0150] Based on the sorting results of each of the third track information, at least one fourth track information is determined from the at least one third track information, wherein the reference detection objects indicated by each of the fourth track information are located in the same lane;

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

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

[0153] Based on the relative position between the target lane and each of the third track information and the sorting result of each of the third track information, at least one fourth track information is determined from the at least one third track information, wherein 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 unit is also used for:

[0155] The reference track filtering interval is determined based on the sorting results of each of the third track information. The reference track filtering interval is used to indicate the maximum and minimum motion angles corresponding to the reference detection objects in each of the third track information.

[0156] Determine the target lane buffer factor corresponding to the target lane. The target lane buffer factor is used to amplify the range of motion angles corresponding to the third track information belonging to the target lane.

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

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

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

[0160] The fifth trajectory information determination unit is used to determine at least one fifth trajectory information from the at least one second trajectory information based on the reference statistics corresponding to each second trajectory information. The reference statistics are used to measure the stable state of the reference detection object indicated by the second trajectory information moving along a straight motion trajectory or an approximately straight trajectory.

[0161] The second target trajectory information determination unit is used to determine target trajectory information based on the at least one fifth trajectory information.

[0162] Optionally, the second target trajectory information determination unit is used for:

[0163] For each of the at least one fifth track information, a reference compensation angle is determined based on the average motion angle of the reference detection object indicated by each fifth track information;

[0164] Based on the reference compensation angle, the motion angle of each reference detection object indicated by the fifth track information is adjusted by angle compensation, and the sum of the standard deviations of the horizontal axis position of each reference detection object indicated by the fifth track information after angle compensation adjustment is calculated by using the least squares criterion.

[0165] The sixth track information is determined from the at least one fifth track information based on the sum of the 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 the target track information.

[0167] Optionally, a compensation angle determination unit is used for:

[0168] The first candidate compensation angle for the target radar is determined based on the average motion angle of the reference detected object in the target track information.

[0169] The first angle compensation adjustment of the target radar is performed by using the first candidate compensation angle of the target radar.

[0170] After the first angle compensation adjustment, different second candidate compensation angles are determined by traversing the candidate angle range according to the preset angle compensation step.

[0171] The 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, used for:

[0173] Based on each second candidate compensation angle, the motion angle of the reference detection object indicated by the target trajectory information is adjusted by angle compensation, and the sum of the standard deviations of the horizontal axis position of the reference detection object indicated by the target trajectory information after angle compensation adjustment is calculated by using the least squares criterion.

[0174] Based on the sum of the standard deviations of the horizontal axis position of the reference detection object indicated by the target trajectory information after angle compensation adjustment corresponding to each second candidate compensation angle, a third candidate compensation angle is determined from each second candidate compensation angle.

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

[0176] The radar calibration device provided in this embodiment of the invention can execute the radar calibration method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for 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 division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the protection scope 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 of embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, 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 merely illustrative and are not intended to limit the implementation of the 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 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

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

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

[0182] In some embodiments, the radar calibration method may be implemented as a computer program tangibly contained 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 mounted 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 perform the radar calibration method by any other suitable means (e.g., by means of firmware).

[0183] Various embodiments of the systems and techniques described above 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), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0184] Computer programs used to implement 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 executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

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

[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 provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, 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 sound input, voice input, or tactile input).

[0187] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0188] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0189] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0190] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A radar calibration method, characterized by, The method includes: Multiple first track information are determined. The first track information is the motion trajectory formed by the horizontal and vertical axis positions of the same reference detection object detected and tracked by the target radar at different times in succession. Based on the motion angle of the reference detection object at different times in each of the first track information, at least one second track information is determined from the plurality of first track information. The motion angle of the reference detection object at different times is determined based on the horizontal and vertical axis positions of the reference detection object at different times. The reference detection object indicated in the second track information moves along a straight motion trajectory or an approximately straight trajectory. The target radar is calibrated by angle compensation based on at least one second track information. The step of determining at least one second trajectory based on the motion angle of the detected object at different times in each of the first trajectory information includes: For each piece of the first track information, the change in the motion angle of the reference detection object at different times is determined based on the motion angle of the reference detection object in the first track information at different times. Based on the change in motion angle of the reference detection object at different time intervals, a reference cumulative result is determined for each first track information. The reference cumulative result is a statistical analysis of the number of motion angle changes greater than a preset angle change in the motion angle changes at different time intervals. At least one second track information is determined from the plurality of 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 approximately straight trajectory.

2. The method of claim 1, wherein, Based on the at least one second track information, the target radar is calibrated with angle compensation, including: Determine the target trajectory information from the at least one second trajectory 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 by angle compensation using the target radar's target compensation angle.

3. The method according to claim 2, characterized in that, Determining the 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, then the reference distribution information corresponding to the at least one second track information is determined. 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 the at least one second track information. The energy of the reference detection object is characterized by the intensity of the radar echo returned when the target radar detects the reference detection object. At least one third track information is determined from the at least one second track information based on the reference distribution information, wherein the energy and motion angle of the reference detection object indicated in the third track information are within the reference energy distribution range and reference angle distribution range corresponding to the reference distribution information; The target trajectory information is determined based on the at least one third trajectory information.

4. The method of claim 3, wherein, The reference energy range and reference angle range corresponding to the reference distribution information are ranges formed by the median absolute deviation of the energy distribution and the median absolute deviation of the motion angle distribution in the reference distribution information.

5. The method of claim 2, wherein, The target compensation angle used by the target radar is determined based on the motion angle of the reference detected object in the target track information, including: The first candidate compensation angle for the target radar is determined based on the average motion angle of the reference detected object in the target track information. The first angle compensation adjustment of the target radar is performed by using the first candidate compensation angle of the target radar. After the first angle compensation adjustment, different second candidate compensation angles are determined by traversing the candidate angle range according to the preset angle compensation step. The 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.

6. The method of claim 5, wherein, The 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, including: Based on each second candidate compensation angle, the motion angle of the reference detection object indicated by the target trajectory information is adjusted by angle compensation, and the sum of the standard deviations of the horizontal axis position of the reference detection object indicated by the target trajectory information after angle compensation adjustment is calculated by using the least squares criterion. Based on the sum of the standard deviations of the horizontal axis position of the reference detection object indicated by the target trajectory information after angle compensation adjustment corresponding to each second candidate compensation angle, a third candidate compensation angle is determined from each second candidate compensation angle. Based on the first candidate compensation angle and the third candidate compensation angle, the target compensation angle adopted by the target radar is determined.

7. A radar calibration device, characterized in that The device includes: The first information determination module is used to determine multiple first track information, wherein the first track information is the motion trajectory formed by the horizontal and vertical axis positions of the same reference detection object detected and tracked by the target radar at different times in succession. The second information determination module is used to 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 of the first track information. The motion angle of the reference detection object at different times is determined based on the horizontal and vertical axis positions of the reference detection object at different times. The reference detection object indicated in the second track information moves along a straight motion trajectory or an approximately straight trajectory. The calibration module is used to perform angle compensation calibration on the target radar based on the at least one second track information; The second information determination module includes: The motion angle change determination unit is used to determine the motion angle change of the reference detection object in different time intervals for each first track information, based on the motion angle of the reference detection object in the first track information at different times. The reference cumulative result determination unit is used to determine the reference cumulative result corresponding to each first track information based on the change in motion angle of the reference detection object at different time intervals. The reference cumulative result is a statistical analysis of the number of motion angle changes greater than a preset angle change in the change in motion angle at different time intervals. The second trajectory information determination unit is used to determine at least one second trajectory information from the plurality of first trajectory information based on the reference cumulative result corresponding to each first trajectory information. The smaller the count value of the reference cumulative result corresponding to each first trajectory information, the greater the possibility that the reference detection object indicated by the first trajectory information will move along a straight motion trajectory or an approximately straight trajectory.

8. An electronic device, comprising: The electronic device includes: One or more processors; 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 as described in any one of claims 1-6.

9. A storage medium containing computer-executable instructions, wherein: The computer-executable instructions, when executed by a computer processor, are used to perform the radar calibration method as described in any one of claims 1-6.

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