Radar calibration device and operating method for calibrating a radar system

Abstract

A radar calibration device is provided for calibrating the radar system mounted on a vehicle. [Solution] The radar system comprises a radar module and a radar control unit configured to receive a first signal output by a vehicle. The radar calibration device includes a memory for storing setting software. The radar calibration device also includes a signal calibration unit that provides information. Furthermore, the radar calibration device includes a processor connected to the memory, the signal calibration unit, and the radar control unit, and configured to execute the setting software. The processor calibrates the first signal to a second signal based on the above information.

Description

Technical Field

[0001] The present disclosure relates to the technology of a radar calibration device, and particularly to an operation method of a radar calibration device. Description of Related Technology

[0002] Chinese Patent Publication No. CN113196362B discloses that a detection device detects an object in a dead angle in the surrounding environment of a moving body. The detection device includes a distance measurement unit, a detection unit, and a control unit. The distance measurement unit acquires distance information indicating the distance from the moving body to the surrounding environment. The detection unit detects an object in the dead angle. The control unit controls the operation of the detection unit. The control unit detects a dead angle in the surrounding environment based on the distance information acquired by the distance measurement unit. The control unit controls the accuracy of the detection unit detecting an object in the dead angle according to the distance from the detected dead angle.

[0003] Currently, intelligent safety systems installed in vehicles cover all four sides of the vehicle, for example, 360 degrees, mainly including forward collision avoidance, left and right blind spots, and rear detection. When these safety systems and radar systems are installed as aftermarket products, the installation accuracy and signal error vary depending on the vehicle model and installation position, which may affect radar detection and may cause inaccurate object detection, premature warning transmission / delay in warning transmission, or failure to transmit a warning. Therefore, there is a need for radar calibration technology that can calibrate and set the installed radar system.

Summary of the Invention

[0004] This disclosure relates to a radar calibration device capable of calibrating signals from a vehicle equipped with a radar system (e.g., calibrating speed information) in accordance with information provided by a signal calibration unit, and also capable of providing corresponding instructions in accordance with the vehicle's operating signals. The calibrated speed information is used to precisely set the detection areas of multiple radar modules of the radar system to precisely correspond to warning areas on each side or at each position of the vehicle.

[0005] According to a first aspect of this disclosure, a radar calibration device is provided for calibrating a radar system mounted on a vehicle. The radar system comprises a radar module and a radar control unit configured to receive a first signal output by the vehicle. The radar calibration device includes a memory configured to store configuration software. The radar calibration device also includes a signal calibration unit configured to provide information. Furthermore, the radar calibration device includes a processor connected to the memory, the signal calibration unit, and the radar control unit, configured to execute the configuration software, receive information, and calibrate the first signal to a second signal based on that information.

[0006] A second aspect of this disclosure provides an operating method for calibrating a radar system mounted on a vehicle. The operating method includes configuring the radar control unit of the radar system according to multiple locations where multiple radar modules of the radar system are mounted on the vehicle, and integrating multiple warning areas within multiple detection areas of the multiple radar modules into a combined warning area. The operating method also includes configuring the notification unit of the radar system via the vehicle's connection port in response to multiple operation signals of the vehicle. Furthermore, the operating method includes, while the vehicle is running, the radar control unit receiving calculated vehicle speed information via the vehicle's connection port, and using the measured speed information provided by the speed measurement module, the radar control unit performing speed compensation calibration on the received calculated speed information according to the measured speed information, and obtaining calibrated speed information.

[0007] Other aspects of the present invention described above will be better understood by considering the following detailed description of preferred embodiments (but not limited to them). The following description will be made with reference to the accompanying drawings. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a functional block diagram showing an example of a radar calibration device for calibrating a vehicle-mounted radar system according to one or more embodiments of the present disclosure.

[0009] [Figure 2A] Figures 2A-2E show the setting of the detection range of a radar module according to the mounting position on a vehicle, according to one or more embodiments of the present disclosure. [Figure 2B] Figures 2A-2E show the setting of the detection range of a radar module according to the mounting position on a vehicle, according to one or more embodiments of the present disclosure. [Figure 2C]Figures 2A-2E show the setting of the detection range of a radar module according to the mounting position on a vehicle, according to one or more embodiments of the present disclosure. [Figure 2D] Figures 2A-2E show the setting of the detection range of a radar module according to the mounting position on a vehicle, according to one or more embodiments of the present disclosure. [Figure 2E] Figures 2A-2E show the setting of the detection range of a radar module according to the mounting position on a vehicle, according to one or more embodiments of the present disclosure.

[0010] [Figure 3] Figure 3 is a flowchart illustrating an example of an operating procedure for calibrating a vehicle-mounted radar system according to one or more embodiments of the present disclosure.

[0011] Similar reference numerals and names in different drawings refer to the same elements. Also, note that the various exemplary implementations shown in the drawings are for illustrative purposes only and are not necessarily drawn to exact scale. [Modes for carrying out the invention]

[0012] Figure 1 is a functional block diagram showing an example of a radar calibration device 100 for calibrating a radar system 200 mounted on a vehicle 300, according to one or more embodiments of the present disclosure. The vehicle 300 may include a vehicle control unit 320 and a connection port 330. The vehicle control unit 320 may be configured to output or receive a number of signals for controlling the vehicle 300. For example, the vehicle control unit 320 may output calculated speed information (e.g., based on wheel diameter and rotational speed), headlight signals, turn signal signals, or gear position signals for vehicle operation. The vehicle control unit 320 may provide these signals via the connection port 330 to other devices mounted on the vehicle, such as the radar system 200, to operate in accordance with these signals.

[0013] The radar system 200 may comprise a radar control unit 210, a notification unit 220, and a plurality of radar modules (e.g., radar modules 230a to 230n). The radar control unit 210 may be an electronic control unit (ECU) connected to the notification unit 220 and radar modules 230a to 230n. The radar modules 230a to 230n can be mounted on different sides of the vehicle 300, such as the front side, left side, right side, and / or rear side. Radar modules mounted on multiple sides of the vehicle 300 may transmit multiple radar beams in different directions of the vehicle 300 via multiple transmitting antennas (TX), forming radar detection areas on each side of the vehicle 300. This allows the detected radar signal to be transmitted to the radar control unit 210 when an object is present within the radar detection area, and the notification unit 220 to provide the driver of the vehicle 300 with audible or luminous notifications, thereby enhancing driving safety. In some implementations, the radar control unit 210 may be connected to the vehicle control unit 320 of the vehicle 300 to receive signals provided by the vehicle control unit 320 and set a warning area within the radar detection area based on these signals. This ensures that the notification unit 220 provides a warning or object-related information only when an object is detected within the warning area. In some implementations, when an object is detected within the warning area, the radar control unit 210 may classify the object according to pre-set conditions. For example, it may distinguish whether the object is a vehicle, a person, or another object by analyzing the energy and position of the reflected radar beam. Since the speed at which the vehicle 300 travels varies, it will be understood that the radar detection range or warning range settings of the radar module need to be adjusted according to the different speeds in order to meet actual usage needs. Similarly, when the vehicle 300 performs different operations such as using the headlights, turn signals, or shifting gears, the radar detection range or warning area of ​​the radar module of the radar system 200 and the notification unit 220 may also be adjusted accordingly, or appropriate warning information may be provided.The technology provided in this disclosure further includes a radar calibration device 100 so that the radar control unit 210 can operate the radar module more accurately in response to signals provided by the vehicle control unit 320.

[0014] The radar calibration device 100 is configured to calibrate the radar system 200 mounted on the vehicle 300 and comprises a signal calibration unit 130, a processor 110, and a memory 120. The processor 110 is connected to the memory 120, the signal calibration unit 130, and the radar control unit 210 of the radar system 200. The memory 120 of the radar calibration device 100 may store setting software, and the processor 110 may execute the setting software in the memory 120 to configure the radar control unit 210 of the radar system 200. The signal calibration unit 130 of the radar calibration device 100 is configured to provide information such as actual measurement information and transmit that information to the processor 110. Based on the information provided by the signal calibration unit 130, the processor 110 may calibrate other information detected by the radar system 200 or the vehicle 300.

[0015] In some implementations, the signal calibration unit 130 may include a speed measurement module such as a GPS module, and acquire measured speed information measured by the GPS module, and transmit that measured speed information to the processor 110. In this case, the processor 110 may calibrate the calculated speed information calculated by the vehicle control unit 320 according to the measured speed information measured by the signal calibration unit 130, and acquire the calibrated speed information after calibration. Here, the calibration method includes the processor 110 calculating a speed deviation correction value and storing it in the radar control unit 210, and the radar control unit 210 acquiring the speed information calculated from the vehicle control unit 320 and then calculating calibrated speed information using this speed deviation correction value. The calibrated speed information may be provided to the radar control unit 210 of the radar system 200 in order to perform appropriate settings such as adjusting the detection area and warning area of ​​each radar module accordingly. In some implementations for setting calibrated speed information, when the vehicle 300 is traveling at a speed exceeding 30 km / h, the measured speed information measured by the signal calibration unit 130 (or a speed measurement module such as GPS) is compared with the calculated speed information calculated by the vehicle control unit 320. The difference between the measured speed information and the calculated speed information is stored in the radar control unit 210. The radar control unit 210 then calculates the calibrated speed information based on that difference and the calculated speed information.

[0016] In some implementations, the radar control unit 210 can adjust the radar detection area or warning area and / or associated warning information of the radar module of the radar system 200 based on the vehicle's angular velocity information. Here, the vehicle's angular velocity information includes the vehicle's steering angular velocity. In some implementations, the radar control unit 210 includes a heading detector such as a gyroscope for acquiring the calculated angular velocity information of the vehicle. The signal calibration unit 130 includes an angle measurement module such as a GPS, which measures the vehicle's heading angle information acquired by the GPS and transmits it to the processor 110. The processor 110 can convert the vehicle's heading angle information measured by the signal calibration unit 130 into vehicle angle change information, calibrate the calculated angular velocity information calculated by the radar control unit 210, and acquire calibrated angular velocity information. The radar control unit 210 adjusts the radar detection area or warning area and / or associated warning information of the radar module of the radar system 200 according to the calibrated angular velocity information.

[0017] In some implementations, the signal calibration unit 130 may use the vehicle operation signals received by the radar system 200 from the vehicle control unit 320 to configure the radar control unit 210 of the radar system 200 in accordance with the vehicle operation signals. This allows the radar control unit 210 to control the radar module and / or notification unit 220 in response to the vehicle operation signals, and to adjust the radar detection area or warning area and / or related warning information. The configuration of the radar system mounted on the vehicle will be described in detail below with reference to Figure 2A-2E.

[0018] Figures 2A to 2E show the setting of the detection range of a radar module according to its mounting position in a vehicle 300, according to one or more embodiments of the present disclosure. As described above, the radar module of the radar system 200 is mounted in different locations (or on different sides) of the vehicle 300, so the detection area of ​​the radar beam is affected. Therefore, after the radar module of the radar system 200 is mounted in the vehicle 300, the radar system 200 must be calibrated or configured by the radar calibration device 100. For example, the processor 110 of the radar calibration device 100 executes configuration software in the memory 120 and calibrates and configures the radar module and notification unit 220 via the radar control unit 210 of the radar system 200 connected to the radar calibration device 100.

[0019] Referring to Figure 2A, radar modules 230a and 230b are mounted on the left side 310a and right side 310b of the vehicle 300, respectively. To calibrate the detection area of ​​radar modules 230a and 230b, the processor 110 of the radar calibration device 100 runs setting software. To calibrate and set the detection range of radar modules 230a and 230b, the vehicle length VL of the vehicle 300 and the distances RL1 and RL2 between the center points of the radar module 230a mounted on the left side 310a and the radar module 230b mounted on the right side 310b, respectively, and the front side 310c of the vehicle 300 can be input via the setting software.

[0020] Referring to Figures 2B and 2C, based on the calibration and settings described above, the radar module 230b mounted on the right side 310b of the vehicle 300 can form a right rear detection area 231RR and a right front detection area 231RF, respectively, on the right rear and right front of the vehicle 300. Furthermore, a right rear warning area 241RR and a right front warning area 241RF can be set within the right rear detection area 231RR and the right front detection area 231RF, respectively. As shown in Figure 2B, the right rear warning area 241RR and the right front warning area 241RF can be integrated into the right warning area 241R. Similarly, as shown in Figure 2C, the radar module 230a mounted on the left side 310a of the vehicle 300 is also calibrated and set based on the settings described above, and a left rear warning area 241LR and a left front warning area 241LF are set on the left side 310a of the vehicle 300, which are integrated into the left warning area 241L. On the other hand, the radar module 230c mounted on the front side 310c of the vehicle 300 can set a forward warning area 241F. The left warning area 241L, the right warning area 241R, and the forward warning area 241F mentioned above can be considered as the overall warning area 241 of the radar system 200 mounted on the vehicle 300. As described above, based on the setting of the overall warning area 241, the notification unit 220 of the radar system 200 will provide a warning or object-related information only when an object is detected within the overall warning area 241.

[0021] Referring to FIGS. 2D and 2E, in some implementations, the type of vehicle in which the radar system 200 is installed can be selected by the configuration software executed by the processor 110 of the radar calibration apparatus 100. Examples of vehicle types include vehicle 300a (a single vehicle or a truck) or vehicle 300b (a towing unit) in FIG. 2D. For example, in FIG. 2E, since vehicle 300b (towing unit) includes a tractor 340 and a semi-trailer 350, when vehicle 300b (towing unit) turns right, the semi-trailer 350 may enter the right warning area 241R of the right radar module 230b mounted on the tractor 340, triggering an unintended warning. Therefore, by setting the vehicle model (or type), the detection distance and turning detection mode of each radar module of the radar system 200 can be adjusted, and by comparing the surrounding objects with the current position or speed of the vehicle, it is possible to avoid a situation where the vehicle detects its own vehicle body (or semi-trailer) and issues a warning.

[0022] For different vehicle models (or types) or different vehicle operation signals, the detection area or notification unit of the radar system 200 may have different settings. Therefore, in some implementations, the configuration software executed by the processor 110 of the radar calibration apparatus 100 can detect and learn, for example, the gear shift signal or direction indicator signal of the vehicle 300 via the connection port 330 connected to the radar system 200 and the vehicle 300. The user can operate the corresponding signal to learn and set the frequency and level of the signal from the vehicle when the signal is output at different high or low levels and corresponding frequencies. Thereby, when the vehicle 300 performs different operations such as switching on the headlights, direction indicator or gear, the radar detection area or warning area of the radar module of the radar system 200 and the notification unit 220 can adjust or provide appropriate warning information.

[0023] FIG. 3 is a flowchart showing an example of an operation procedure for calibrating a radar system mounted on a vehicle according to one or more embodiments of the present disclosure. For example, the radar system may include a notification unit, a radar control unit, and a plurality of radar modules, and each radar module has a detection area and a warning area within the detection area. In step S310, the radar control unit is set according to the plurality of positions of the plurality of radar modules mounted on the vehicle, and the plurality of warning areas are integrated into a comprehensive warning area. In step S320, the notification unit is set via the connection port of the vehicle according to a plurality of operation signals of the vehicle. In step S330, when the vehicle is running, the radar control unit of the radar system executes speed compensation calibration according to the received calculated speed information and the measured speed information, and obtains calibrated speed information.

[0024] In a specific configuration, the mounting position of each radar module of the radar system is determined according to the length of the vehicle, the type of the vehicle, and the distance between the center of each radar module and the front side surface of the vehicle.

[0025] In a specific configuration, the left warning area and the right warning area among the plurality of warning areas are set corresponding to the length of the vehicle, the type of the vehicle, the turning angle of the vehicle, the calibrated speed information of the vehicle, and the body position of the vehicle.

[0026] In a specific configuration, the plurality of operation signals of the vehicle include a headlight signal, a direction indicator signal, and a gear shift signal. The notification unit of the radar system is set to notify according to at least one of the headlight signal, the direction indicator signal, or the gear shift signal.

[0027] In a specific configuration, when the calculated speed information of the vehicle exceeds 30 km / h, the radar control unit of the radar system executes speed compensation calibration based on the measured speed information received by the speed measurement module, and obtains calibrated speed information.

[0028] The technology provided in this disclosure enables the integration of warning areas by positioning the radar, learning and setting vehicle signals from vehicle operation signals, and eliminating speed delays and calculation errors within the radar detection area by correcting and calibrating the difference between measured and calculated speed information. Therefore, the technology provided in this disclosure can track detected objects by correctly setting the warning area, analyze estimated speed and position values, and provide accurate warnings to the driver when an object is within the warning area. Thus, the calibration and setting technology provided in this disclosure can effectively provide accurate signals (or warnings) to prevent collisions, regardless of whether the vehicle equipped with the radar system (a standalone vehicle, truck, or towing unit) is driving straight, turning, or changing lanes.

[0029] While many specific details are described herein, these should not be interpreted as limiting the scope of the claimed invention or the claimable matters, but rather as descriptions of features specific to particular embodiments. Certain features described herein in the context of separate embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented separately in multiple embodiments or in any suitable subcombination. Furthermore, even if features are described above as acting in a particular combination and initially claimed as such, in some cases one or more features of the claimed combination may be excluded from the combination, and the claimed combination may be led to a subcombination or a variation of a subcombination. Similarly, while actions are shown in a particular order in the drawings, this should not be understood as requiring that such actions be performed in a specific illustrated order or sequence, or that all illustrated actions be performed, in order to obtain the desired result.

[0030] Only a few examples and implementations have been disclosed. Based on the disclosed information, you may modify, alter, or improve the examples, implementations, and other implementations described.

Claims

1. A radar calibration device for calibrating a radar system mounted on a vehicle, The radar system comprises a radar module and a radar control unit configured to receive a first signal output by the vehicle. The radar calibration device is Memory configured to store configuration software, A signal calibration unit configured to provide information, The system comprises a processor connected to the memory, the signal calibration unit, and the radar control unit, configured to execute the setting software, receive the information, and calibrate the first signal to a second signal based on the information, The vehicle includes a vehicle control unit configured to output the first signal, and a radar calibration device.

2. The radar calibration apparatus according to claim 1, wherein the signal calibration unit comprises a speed measurement module and an angle measurement module.

3. The radar calibration device according to claim 1, wherein the first signal includes calculated speed information.

4. The aforementioned information includes measured speed information, The radar calibration device according to claim 3, wherein the second signal is calibrated speed information.

5. The radar calibration device according to claim 1, wherein the radar control unit outputs vehicle angular velocity information.

6. By calculating the aforementioned information, vehicle heading angle information is obtained. The radar calibration device according to claim 5, wherein the vehicle angular velocity information is calibrated according to the vehicle heading angle information.

7. A method for calibrating a radar system mounted on a vehicle, The radar system comprises a notification unit, a radar control unit, and a plurality of radar modules. In an operating method in which each of the plurality of radar modules has a detection area and a warning area within the detection area, The radar control unit is configured according to the multiple positions of the multiple radar modules mounted on the vehicle, and the multiple warning areas are integrated into a single warning area. The notification unit is configured via the vehicle's connection port in response to multiple operation signals of the vehicle. The vehicle receives calculated speed information via the vehicle's connection port while the vehicle is in motion, and receives measured speed information provided by the speed measurement module. An operating method comprising performing speed compensation calibration on the calculated speed information using the measured speed information, and obtaining calibrated speed information.

8. The operating method according to claim 7, wherein the mounting position of each of the plurality of radar modules of the radar system is determined according to the length of the vehicle, the type of the vehicle, and the distance between the center of each of the plurality of radar modules and the front side of the vehicle.

9. The operating method according to claim 8, wherein the left warning area and the right warning area among the plurality of warning areas are set in accordance with the length of the vehicle, the type of the vehicle, the turning angle of the vehicle, the calibrated speed information of the vehicle, and the body position of the vehicle.

10. The aforementioned vehicle's multiple operation signals include a headlight signal, a turn signal signal, and a gear shift signal. The operating method according to claim 7, wherein the notification unit of the radar system is configured to notify in accordance with at least one of the headlight signal, the turn signal, or the gear shift signal.

11. The operating method according to claim 7, wherein while the speed measurement module performs the speed compensation calibration based on the measured speed information received, the calibrated speed information is acquired when the calculated speed information of the vehicle exceeds 30 km / h.

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