CN112834995B - Vehicle millimeter wave radar angle calibration method and system and electronic equipment - Google Patents
Vehicle millimeter wave radar angle calibration method and system and electronic equipment Download PDFInfo
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Abstract
The invention provides a vehicle millimeter wave radar angle calibration method, a system and electronic equipment, wherein the method comprises the following steps: step S1, controlling an irradiation target to swing in a vehicle-mounted millimeter wave radar view range, and acquiring millimeter wave radar angle measurement data when the irradiation target swings in a preset millimeter wave radar view range; step S2, acquiring a plurality of distance angle change curves from projection points of an irradiation target under a calibration platform coordinate system to the center of a millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system; step S3, fitting the distance angle change curve and the actually measured distance angle change curve, obtaining a distance angle change curve corresponding to the optimal solution, and obtaining a corresponding optimal preset deviation value; and S4, acquiring a millimeter wave radar angle calibration value of the irradiation target under the millimeter wave radar reference coordinate system based on the optimal preset deviation value. The invention improves the calibration efficiency and accuracy of the vehicle millimeter wave radar angle.
Description
Technical Field
The invention belongs to the technical field of automatic driving, in particular relates to the technical field of vehicle-mounted millimeter wave radar, and particularly relates to a vehicle-mounted millimeter wave radar angle calibration method, a vehicle-mounted millimeter wave radar angle calibration system and electronic equipment.
Background
Millimeter wave radar sensors are mainly used in automotive autopilot solutions. The vehicle millimeter wave radar is widely used due to the characteristics of small volume, high precision, strong penetrating power and the like. At present, the vehicle-mounted millimeter wave radar is mainly arranged on the inner side of a bumper, and because bumpers of different forms and materials have different influences on angle measurement precision, the rotatable truth-value platform is required to be used for calibrating and correcting the angle of the millimeter wave radar in the mass production stage. In order to ensure the calibration accuracy, the rotation axis of the truth platform needs to be ensured to be positioned in the millimeter wave radar antenna plane and pass through the center of the millimeter wave radar antenna. Because the millimeter wave radar is arranged on the inner side of the automobile bumper, the visible range of the millimeter wave radar is shielded, and in order to achieve the aim, the following measures are mainly adopted at present: firstly, aligning a rotation axis by partially destroying a bumper structure and combining geometric optics; and secondly, a specific calibration workshop is built, and a high-precision positioning device is utilized to realize precise rotation axis alignment. The method is firstly capable of damaging the appearance design of the vehicle type, secondly high in economical cost of site construction and time cost of device positioning, and not suitable for rapid mass production.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention aims to provide a vehicle-mounted millimeter wave radar angle calibration method, system and electronic device, which are used for solving the technical problems of long time consumption and inconvenient calibration of millimeter wave radar angle calibration in the prior art.
To achieve the above and other related objects, an embodiment of the present invention provides a vehicle millimeter wave radar angle calibration method, including: step S1, when a calibration platform, an on-vehicle millimeter wave radar and an irradiation target are in a preset configuration state, controlling the irradiation target to swing in the visual range of the on-vehicle millimeter wave radar, and acquiring millimeter wave radar angle measurement data when the irradiation target swings in the visual range of the preset millimeter wave radar; step S2, acquiring a plurality of distance angle change curves from projection points of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system; step S3, fitting the distance angle change curve and the actually measured distance angle change curve based on a method for solving an optimal solution, obtaining a distance angle change curve corresponding to the optimal solution, and obtaining a corresponding optimal preset deviation value based on the distance angle change curve corresponding to the optimal solution; s4, acquiring a millimeter wave radar angle calibration value of the irradiation target under a millimeter wave radar reference coordinate system based on the optimal preset deviation value; and S5, acquiring millimeter wave radar angle measurement data corresponding to the millimeter wave radar angle calibration value based on the millimeter wave radar angle calibration value, and transmitting the acquired millimeter wave radar angle measurement data to the vehicle-mounted millimeter wave radar so as to enable the vehicle-mounted millimeter wave radar to perform corresponding angle measurement.
In an embodiment of the present application, in step S1, the predetermined configuration state is: the rotation center of the calibration platform is arranged right below the vehicle-mounted built-in millimeter wave radar to be calibrated, the irradiation target is fixed at the tail end of the rotary lever arm of the calibration platform, and the height of the irradiation target is the same as that of the vehicle-mounted millimeter wave radar.
In an embodiment of the present application, in step S2, the implementation manner of obtaining the plurality of distance angle change curves from the projection point of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna based on the plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system includes: s21, respectively constructing a millimeter wave radar reference coordinate system formed by taking the center of a millimeter wave radar antenna as a reference and a calibration platform coordinate system formed by taking the rotation center of a calibration platform as a reference; step S22, acquiring a projection point coordinate of the irradiation target under the calibration platform coordinate system based on a distance from the irradiation target to an origin of the calibration platform coordinate system, and acquiring a projection point coordinate of the irradiation target under the millimeter wave radar reference coordinate system based on a projection point coordinate of the irradiation target under the calibration platform coordinate system, a preset deviation value between the millimeter wave radar reference coordinate system and the calibration platform coordinate system; step S23, acquiring a distance angle change curve from the irradiation target to the origin of the millimeter wave radar reference coordinate system based on the projection point coordinates of the irradiation target in the millimeter wave radar reference coordinate system; and step S24, adjusting preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system in the step S22, and repeatedly executing the steps S22 to S23 to obtain a plurality of distance angle change curves corresponding to different preset deviation values.
In an embodiment of the present application, in step S3, the method for solving the optimal solution includes a least square method, various traversal searching methods, and a maximum likelihood method.
In an embodiment of the present application, in step S4, the method for obtaining the millimeter wave radar angle calibration value of the irradiation target in the millimeter wave radar reference coordinate system based on the optimal preset deviation value includes:wherein tan alpha is a millimeter wave radar angle calibration value of the irradiation target under a millimeter wave radar reference coordinate system, d is a distance from the irradiation target to an origin of a calibration platform coordinate system, θ is an angle value of the irradiation target under the calibration platform coordinate system, and Δx and Δy are respectively corresponding to deviation values of an x direction and a y direction in the optimal preset deviation values.
In an embodiment of the present application, the vehicle millimeter wave radar angle calibration method further includes: and S6, acquiring the coordinate position of the center of the millimeter wave radar antenna under the vehicle body coordinate system based on the millimeter wave radar angle calibration value and the coordinate position of the calibration platform coordinate system under the vehicle body coordinate system.
The embodiment of the invention also provides a vehicle millimeter wave radar angle calibration system, which comprises: the data acquisition module is used for controlling the irradiation target to swing in the visual range of the vehicle-mounted millimeter wave radar when the calibration platform, the vehicle-mounted millimeter wave radar and the irradiation target are in a preset configuration state, and acquiring millimeter wave radar angle measurement data when the irradiation target swings in the visual range of the preset millimeter wave radar; the change curve acquisition module is used for acquiring a plurality of distance angle change curves from the projection point of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system; the optimal deviation determining module is used for fitting the distance angle change curve and the actually measured distance angle change curve based on a method for solving an optimal solution, obtaining a distance angle change curve corresponding to the optimal solution, and obtaining a corresponding optimal preset deviation value based on the distance angle change curve corresponding to the optimal solution; the angle calibration value acquisition module is used for acquiring a millimeter wave radar angle calibration value of the irradiation target under a millimeter wave radar reference coordinate system based on the optimal preset deviation value; the compensation module is used for acquiring millimeter wave radar angle measurement data corresponding to the millimeter wave radar angle calibration value based on the millimeter wave radar angle calibration value, and sending the acquired millimeter wave radar angle measurement data to the vehicle-mounted millimeter wave radar so as to enable the vehicle-mounted millimeter wave radar to perform corresponding angle measurement.
In an embodiment of the present application, the change curve obtaining module includes: the coordinate system construction unit is used for respectively constructing a millimeter wave radar reference coordinate system formed by taking the center of the millimeter wave radar antenna as a reference and a calibration platform coordinate system formed by taking the rotation center of the calibration platform as a reference; the deviation value configuration unit is used for determining and adjusting different preset deviation values; the coordinate acquisition unit is used for acquiring the projection point coordinate of the irradiation target under the calibration platform coordinate system based on the distance from the irradiation target to the origin of the calibration platform coordinate system, and acquiring the projection point coordinate of the irradiation target under the millimeter wave radar reference coordinate system based on the projection point coordinate of the irradiation target under the calibration platform coordinate system, the preset deviation value between the millimeter wave radar reference coordinate system and the calibration platform coordinate system; the change curve acquisition unit is used for acquiring a plurality of distance angle change curves from the irradiation target to the origin of the millimeter wave radar reference coordinate system based on different preset deviation values and the projection point coordinates of the irradiation target under the millimeter wave radar reference coordinate system.
In an embodiment of the present application, the means for obtaining, by the angle calibration value obtaining module, a millimeter wave radar angle calibration value of the irradiation target in the millimeter wave radar reference coordinate system based on the optimal preset deviation value includes: Wherein tan alpha is a millimeter wave radar angle calibration value of the irradiation target in a millimeter wave radar reference coordinate system, d is a distance from the irradiation target to an origin of a calibration platform coordinate system, θ is an angle value of the irradiation target in the calibration platform coordinate system, and Δx and Δy are respectively corresponding to the optimal preset deviation valuesDeviation values in x-direction and y-direction of (c).
In an embodiment of the present application, the vehicle millimeter wave radar angle calibration system further includes: and the millimeter wave radar position acquisition module is used for acquiring the coordinate position of the center of the millimeter wave radar antenna under the vehicle body coordinate system in the coordinate positions of the millimeter wave radar angle calibration value and the calibration platform coordinate system under the vehicle body coordinate system.
The embodiment of the invention also provides electronic equipment, which comprises a processor and a memory, wherein the memory stores program instructions; and the processor runs program instructions to realize the vehicle millimeter wave radar angle calibration method.
As described above, the vehicle millimeter wave radar angle calibration method, system and electronic equipment of the invention have the following beneficial effects:
according to the invention, in the angle calibration process of the vehicle-mounted millimeter wave radar, the vehicle type design is not required to be damaged, and a calibration workshop with a high-precision positioning function is not required to be set up, so that the calibration error caused by the rotation axis of the calibration platform and the center offset of the millimeter wave radar antenna can be compensated, the high-precision angle calibration and the installation position calibration are realized, the flow is simple, and the calibration efficiency and the accuracy of the vehicle-mounted millimeter wave radar angle are effectively improved.
Drawings
Fig. 1 is a schematic diagram of an overall flow chart of an angle calibration method of a vehicle millimeter wave radar according to the present invention.
Fig. 2 is a schematic flow chart of obtaining a distance angle change curve in the vehicle millimeter wave radar angle calibration method of the present invention.
Fig. 3 is a schematic diagram showing a positional relationship when the normal direction of the millimeter wave radar deviates from the zero degree direction of the calibration platform in the vehicle millimeter wave radar angle calibration method of the present invention.
Fig. 4 shows a fitting curve and an actual measurement curve of the actual distance of the irradiation target corresponding to the optimal preset deviation value along with the change of the angle in the vehicle millimeter wave radar angle calibration method of the invention.
Fig. 5 is a schematic diagram of a preferred flow of the vehicle millimeter wave radar angle calibration method according to the present invention.
Fig. 6 is a schematic diagram of acquiring the center of a millimeter wave radar antenna in the vehicle body coordinate system in the vehicle millimeter wave radar angle calibration method according to the present invention.
Fig. 7 is a schematic structural diagram of the vehicle millimeter wave radar angle calibration system according to the present invention.
Fig. 8 is a schematic structural diagram of a change curve acquisition module in the vehicle millimeter wave radar angle calibration system according to the present invention.
Fig. 9 is a schematic diagram showing a preferred principle structure of the vehicle millimeter wave radar angle calibration system of the present invention.
Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Description of element reference numerals
100. Vehicle millimeter wave radar angle calibration system
110. Data acquisition module
120. Change curve acquisition module
121. Coordinate system construction unit
122. Deviation value configuration unit
123. Coordinate acquisition unit
124. Change curve acquisition unit
130. Optimal deviation determination module
140. Angle calibration value acquisition module
150. Compensation module
160. Millimeter wave radar position acquisition module
10. Electronic equipment
101. Processor and method for controlling the same
102. Memory device
S1 to S6 steps
S21 to S24 steps
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
The embodiment aims to provide a vehicle millimeter wave radar angle calibration method, a vehicle millimeter wave radar angle calibration system and electronic equipment, which are used for solving the technical problems of long time consumption and inconvenient calibration of the millimeter wave radar angle calibration in the prior art.
According to the vehicle-mounted millimeter wave radar angle calibration method, system and electronic equipment, the rotation axis of the calibration platform and the center position offset of the millimeter wave radar antenna can be calculated and automatically compensated, so that the technical problems that high-precision positioning equipment needs to be built for calibration at present, the cost is high, the time consumption is long, and the accuracy and the efficiency of millimeter wave radar calibration are greatly improved.
The principle and implementation of the vehicle millimeter wave radar angle calibration method, system and electronic device of the embodiment will be described in detail below, so that those skilled in the art can understand the vehicle millimeter wave radar angle calibration method, system and electronic device of the invention without creative labor.
Example 1
Fig. 1 is a schematic diagram of an overall flow chart of an angle calibration method of a vehicle millimeter wave radar according to the present invention.
As shown in fig. 1, the present embodiment provides a vehicle-mounted millimeter wave radar angle calibration method, which includes the following steps:
Step S1, when a calibration platform, an on-vehicle millimeter wave radar and an irradiation target are in a preset configuration state, controlling the irradiation target to swing in the visual range of the on-vehicle millimeter wave radar, and acquiring millimeter wave radar angle measurement data when the irradiation target swings in the visual range of the preset millimeter wave radar;
step S2, acquiring a plurality of distance angle change curves from projection points of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system;
step S3, fitting the distance angle change curve and the actually measured distance angle change curve based on a method for solving an optimal solution, obtaining a distance angle change curve corresponding to the optimal solution, and obtaining a corresponding optimal preset deviation value based on the distance angle change curve corresponding to the optimal solution;
s4, acquiring a millimeter wave radar angle calibration value of the irradiation target under a millimeter wave radar reference coordinate system based on the optimal preset deviation value;
and S5, acquiring millimeter wave radar angle measurement data corresponding to the millimeter wave radar angle calibration value based on the millimeter wave radar angle calibration value, and transmitting the acquired millimeter wave radar angle measurement data to the vehicle-mounted millimeter wave radar so as to enable the vehicle-mounted millimeter wave radar to perform corresponding angle measurement.
The following describes steps S1 to S5 of the vehicle millimeter wave radar angle calibration method in this embodiment in detail.
Step S1, when a calibration platform, an on-vehicle millimeter wave radar and an irradiation target are in a preset configuration state, controlling the irradiation target to swing in the visual range of the on-vehicle millimeter wave radar, and acquiring millimeter wave radar angle measurement data when the irradiation target swings in the visual range of the preset millimeter wave radar.
In this embodiment, the irradiation target is, but not limited to, a reflector, preferably a pyramid reflector. In this embodiment, the irradiation target is a pyramid reflector, for example.
In this embodiment, in step S1, the predetermined configuration state is: the rotation center of the calibration platform is arranged right below the vehicle-mounted built-in millimeter wave radar to be calibrated (can have slight deviation), the tail end of the rotation lever arm of the calibration platform is used for fixing the irradiation target, and the height of the irradiation target is the same as that of the vehicle-mounted millimeter wave radar.
Namely, the preparation operation is needed before the angle calibration of the built-in millimeter wave radar is carried out in the embodiment: the rotation center of the calibration platform is arranged below the vehicle-mounted millimeter wave radar to be calibrated, the pyramid reflector is fixed at the tail end of the rotary lever arm, and the pyramid reflector is adjusted to be at the same height as the millimeter wave radar to be calibrated. The vehicle millimeter wave radar angle calibration method omits the step of accurately aligning the rotation axis with the center of the built-in millimeter wave radar antenna during platform construction.
And then operating the calibration platform to drive the pyramid reflector to swing in the field of view (FoV) of the millimeter wave radar, and acquiring data of the pyramid reflector acquired by the millimeter wave radar.
And S2, acquiring a plurality of distance angle change curves from the projection point of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system.
Fig. 2 is a schematic flow chart of obtaining a distance angle change curve in the vehicle millimeter wave radar angle calibration method of the present invention. As shown in fig. 2, in step S2, the implementation manner of obtaining the plurality of distance angle change curves from the projection point of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna based on the plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system includes the following steps S21 to S24.
And S21, respectively constructing a millimeter wave radar reference coordinate system formed by taking the center of the millimeter wave radar antenna as a reference and a calibration platform coordinate system formed by taking the rotation center of the calibration platform as a reference.
And respectively establishing a plane rectangular coordinate system by calibrating the rotation center of the platform and the center of the millimeter wave radar antenna. Fig. 3 is a schematic diagram showing a positional relationship when the normal direction of the millimeter wave radar deviates from the zero degree direction of the calibration platform in the vehicle-mounted millimeter wave radar angle calibration method according to the present embodiment . As shown in fig. 3, in this embodiment, the manner of constructing the calibration platform coordinate system formed with reference to the rotation center of the calibration platform is as follows: to calibrate the rotation center O of the platform P Establishing a plane rectangular coordinate system parallel to the ground for an origin, X P The axis is parallel to the normal direction of the millimeter wave radar, Y P The axis is parallel to the millimeter wave radar antenna surface, and accords with the right-handed rule. The construction mode of the calibration platform coordinate system is not unique, and is not limited to a rectangular coordinate system or a polar coordinate system. The calibration platform rotating mechanism can be, but is not limited to, a rigid rotating lever arm, a non-rigid connection multi-degree-of-freedom rotating platform and the like according to different application environments.
As shown in fig. 3, in the present embodiment, a millimeter wave radar reference coordinate system formed with the center of the millimeter wave radar antenna as a reference is constructed as follows: with millimeter wave radar antenna centre O R Establishing a plane rectangular coordinate system parallel to the ground for an origin, X R The axis is the normal direction of the millimeter wave radar, Y R Is positioned in the millimeter wave radar antenna plane and accords with the rule of the right hand system. The construction mode of the millimeter wave radar reference coordinate system is not unique, and is not limited to a rectangular coordinate system or a polar coordinate system.
Step S22, obtaining the projection point coordinates of the irradiation target under the calibration platform coordinate system based on the distance from the irradiation target to the origin of the calibration platform coordinate system, and obtaining the projection point coordinates of the irradiation target under the millimeter wave radar reference coordinate system based on the projection point coordinates of the irradiation target under the calibration platform coordinate system, the preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system.
Projection point of position k of pyramid reflector under calibration platform coordinate system on xy plane to coordinate origin O P The distance of (2) is equal to the known rotating lever arm length d, and the coordinates are (dsin theta, dcos theta). Assume that the millimeter wave radar reference coordinate system and the calibration platform coordinate system respectively have a length delta in the x and y directions x And delta y The projection point coordinate of the position k of the pyramid reflector on the xy plane under the millimeter wave radar reference coordinate system is (dcos theta + delta) x ,d sinθ+Δ y )。
Step S23, acquiring a distance angle change curve from the irradiation target to the origin of the millimeter wave radar reference coordinate system based on the projection point coordinates of the irradiation target in the millimeter wave radar reference coordinate system.
The projection point coordinate of the position k of the pyramid reflector on the xy plane under the millimeter wave radar reference coordinate system is (dcos theta+delta) x ,d sinθ+Δ y ) The projection point reaches the origin O of the millimeter wave radar coordinate system R The distance of (3) is%And obtaining a theoretical curve of the angle change of the distance from the projection point of the pyramid reflector on the ground to the center of the millimeter wave radar antenna, namely a distance angle change curve from the irradiation target to the origin of the millimeter wave radar reference coordinate system.
And step S24, adjusting preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system in the step S22, and repeatedly executing the steps S22 to S23 to obtain a plurality of distance angle change curves corresponding to different preset deviation values.
And step S3, fitting the distance angle change curve and the actually measured distance angle change curve based on a method for solving the optimal solution, obtaining a distance angle change curve corresponding to the optimal solution, and obtaining a corresponding optimal preset deviation value based on the distance angle change curve corresponding to the optimal solution.
Processing techniques employed for the measured distance angle change curve include, but are not limited to, two-dimensional FFT techniques, multiple-input multiple-output (MIMO) channel phase computation, and the like. (the two-dimensional FFT technique is a technique for extracting the frequency and the phase of a signal by performing fast fourier transform on the time signal, and the MIMO technique is a technique for increasing the aperture of an antenna by means of a plurality of transceiving channels, which is commonly used in the field of millimeter wave radar). The process of obtaining the actually measured distance angle change curve is not particularly limited in this embodiment.
In this embodiment, in step S3, the method for solving the optimal solution includes, but is not limited to, least square method, various traversal search methods, and maximum likelihood method. The least square method is a mathematical tool widely applied to the fields of data processing such as error estimation, uncertainty, system identification, prediction, forecasting and the like, the traversal search method is a method for searching for an optimal solution meeting a specific condition by trying all possible values of an unknown quantity, and the maximum likelihood method is a method for calculating an estimated quantity by using a probability model. The above method for solving the optimal solution is well known to those skilled in the art, and the present embodiment will not be described in detail.
In this embodiment, the angular curve of the distance from the projection point of the pyramid reflector on the ground to the center of the millimeter wave radar antenna and the offset delta from the origin of the two coordinate systems are known x And delta y Is a geometric relationship of (a). Fitting the theoretical curve and the actually measured curve by utilizing a method for solving the optimal solution, thereby obtaining the delta which meets the condition best x And delta y . Fig. 4 shows a fitting curve and an actual measurement curve of the actual distance of the irradiation target corresponding to the optimal preset deviation value along with the angle change in the vehicle-mounted millimeter wave radar angle calibration method, and the comparison of a theoretical curve and an actual measurement curve meeting the optimal solution can be seen from fig. 4.
And S4, acquiring a millimeter wave radar angle calibration value of the irradiation target under a millimeter wave radar reference coordinate system based on the optimal preset deviation value.
Specifically, in this embodiment, in step S4, the method for obtaining the millimeter wave radar angle calibration value of the irradiation target in the millimeter wave radar reference coordinate system based on the optimal preset deviation value includes:
wherein tan alpha is a millimeter wave radar angle calibration value of the irradiation target under a millimeter wave radar reference coordinate system, d is a distance from the irradiation target to an origin of a calibration platform coordinate system, θ is an angle value of the irradiation target under the calibration platform coordinate system, and Δx and Δy are respectively corresponding to deviation values of an x direction and a y direction in the optimal preset deviation values.
Based on the optimal preset deviation value obtained in the step S3: offset value delta x And delta y And compensating and correcting the angle difference of the pyramid reflector under the two coordinate systems caused by the offset between the origins of the two coordinate systems. As shown in fig. 3, the correction may calculate, according to each angle value θ of the pyramid reflector under the calibration platform coordinate system, an angle value α of the pyramid reflector under the millimeter wave radar coordinate system, where the angle value α is used as an angle true value for angle calibration and corresponds to the millimeter wave radar angle measurement data acquired in step S1 one by one.
And S5, acquiring millimeter wave radar angle measurement data corresponding to the millimeter wave radar angle calibration value based on the millimeter wave radar angle calibration value, and transmitting the acquired millimeter wave radar angle measurement data to the vehicle-mounted millimeter wave radar so as to enable the vehicle-mounted millimeter wave radar to perform corresponding angle measurement.
The millimeter wave radar angle calibration value of the irradiation target under the millimeter wave radar reference coordinate system is obtained through the step S4, the millimeter wave radar angle calibration value corresponds to the millimeter wave radar angle measurement data obtained in the step S1 one by one, the millimeter wave radar angle measurement data of the pyramid reflector target under each angle true value in the millimeter wave radar visual field (FoV) range is obtained, and the millimeter wave radar angle measurement data is recorded in the millimeter wave radar sensor and used for accurate angle measurement during digital signal processing. Methods employed for angle measurement include, but are not limited to, FFT (Fast Fourier Transform), DBF (Digital BeamForming), DML (Deterministic Maximum Likelihood), etc. established in the millimeter wave radar field.
In addition, in this embodiment, as shown in fig. 5, the method for calibrating the angle of the vehicle millimeter wave radar further includes: and S6, acquiring the coordinate position of the center of the millimeter wave radar antenna under the vehicle body coordinate system based on the millimeter wave radar angle calibration value and the coordinate position of the calibration platform coordinate system under the vehicle body coordinate system.
Fig. 6 is a schematic diagram of acquiring the center of a millimeter wave radar antenna in the vehicle body coordinate system in the vehicle millimeter wave radar angle calibration method according to the present invention. As shown in fig. 6, the center O of the rear axle of the vehicle body v Establishing a parallel ground for the originX in the rectangular plane coordinate system v The positive axis direction points to the headstock, Y v The axis is the rear axis direction, which accords with the right hand rule. The offset delta between the center of the millimeter wave radar antenna and the rotation axis of the calibration platform is obtained according to the steps x And delta y And the known position (x 1 ,y 1 ) The accurate position (x) of the millimeter wave radar antenna center under the vehicle body coordinate system can be calculated 1 +Δ x ,y 1 +Δ y )。
That is, in this embodiment, according to the offset between the center of the millimeter wave radar antenna and the rotation axis of the calibration platform and the position of the calibration platform under the rectangular coordinate system of the vehicle body plane, which are obtained in step S4, the accurate position of the center of the millimeter wave radar antenna under the vehicle body coordinate system can be calculated. Therefore, the method of the embodiment can combine the angle calibration and the mounting position calibration of the vehicle-mounted millimeter wave radar sensor with shorter time cost, and improves the calibration efficiency.
In order to enable those skilled in the art to further understand the implementation process of the vehicle millimeter wave radar angle calibration method of the present embodiment, the implementation process of the vehicle millimeter wave radar angle calibration method of the present embodiment is further described below.
The rotation center of the calibration platform is arranged below the vehicle-mounted millimeter wave radar to be calibrated, the pyramid reflector is fixed at the tail end of the rotary lever arm, and the pyramid reflector is adjusted to be at the same height as the millimeter wave radar to be calibrated.
And then operating the calibration platform to drive the pyramid reflector to swing in the field of view (FoV) of the millimeter wave radar, and acquiring data of the pyramid reflector acquired by the millimeter wave radar.
And respectively establishing a plane rectangular coordinate system by calibrating the rotation center of the platform and the center of the millimeter wave radar antenna. Based on a millimeter wave radar coordinate system, a plurality of distance angle change curves from the projection point of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna are obtained, the distance angle change curves and the offset between the origins of the two coordinate systems can be theoretically expressed by using a geometric relation, and the offset value can be obtained by solving an optimal solution, so that an optimal preset offset value is obtained. And acquiring a millimeter wave radar angle calibration value of the irradiation target under a millimeter wave radar reference coordinate system based on the optimal preset deviation value, namely compensating and correcting the angle difference of the pyramid reflector under the two coordinate systems caused by offset between the origins of the two coordinate systems according to the geometric relationship. The correction can calculate the angle value of the pyramid reflector under the millimeter wave radar coordinate system according to the angle value of the pyramid reflector under the calibration platform coordinate system, and the angle value is used as an angle true value of angle calibration. The correction method of the embodiment avoids the need in the prior art to spatially correct the rotational axis position when an offset exists in the rotational axis.
Therefore, the vehicle millimeter wave radar angle calibration method can optimize the angle calibration process of the vehicle millimeter wave radar, does not need to destroy the design of a vehicle type, does not need to build a calibration workshop with a high-precision positioning function, can compensate the calibration error caused by the rotation axis of the calibration platform and the center offset of the millimeter wave radar antenna, further realizes high-precision angle calibration and installation position calibration, has simple flow, and effectively improves the calibration efficiency of the millimeter wave radar in the mass production stage.
Example 2
Fig. 7 is a schematic structural diagram of the vehicle millimeter wave radar angle calibration system 100 according to the present embodiment. As shown in fig. 7, the present embodiment provides a vehicle-mounted millimeter wave radar angle calibration system 100, the vehicle-mounted millimeter wave radar angle calibration system 100 includes: the system comprises a data acquisition module 110, a change curve acquisition module 120, an optimal deviation determination module 130, an angle calibration value acquisition module 140 and a compensation module 150.
In this embodiment, the data acquisition module 110 is configured to control the irradiation target to swing within the visual range of the vehicle millimeter wave radar when the calibration platform, the vehicle millimeter wave radar and the irradiation target are in a preset configuration state, and acquire millimeter wave radar angle measurement data when the irradiation target swings within the visual range of the preset millimeter wave radar.
In this embodiment, the irradiation target is, but not limited to, a reflector, preferably a pyramid reflector. In this embodiment, the irradiation target is a pyramid reflector, for example.
In this embodiment, the preset configuration state is: the rotation center of the calibration platform is arranged right below the vehicle-mounted built-in millimeter wave radar to be calibrated, the irradiation target is fixed at the tail end of the rotary lever arm of the calibration platform, and the height of the irradiation target is the same as that of the vehicle-mounted millimeter wave radar.
In this embodiment, the change curve obtaining module 120 is configured to obtain a plurality of distance angle change curves from the projection point of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system.
Fig. 8 is a schematic structural diagram of a change curve obtaining module 120 in the vehicle millimeter wave radar angle calibration system 100 according to the present invention. As shown in fig. 8, the change curve acquisition module 120 includes a coordinate system construction unit 121, a deviation value configuration unit 122, a coordinate acquisition unit 123, and a change curve acquisition unit 124.
In this embodiment, the coordinate system constructing unit 121 is configured to construct a millimeter wave radar reference coordinate system formed by taking the center of the millimeter wave radar antenna as a reference and a calibration platform coordinate system formed by taking the rotation center of the calibration platform as a reference, respectively.
And respectively establishing a plane rectangular coordinate system by calibrating the rotation center of the platform and the center of the millimeter wave radar antenna. Fig. 3 is a schematic diagram showing a positional relationship when the normal direction of the millimeter wave radar deviates from the zero degree direction of the calibration platform in the vehicle-mounted millimeter wave radar angle calibration system 100 according to the present embodiment. As shown in fig. 3, in this embodiment, the manner of constructing the calibration platform coordinate system formed with reference to the rotation center of the calibration platform is as follows: to calibrate the rotation center O of the platform P Establishing a plane rectangular coordinate system parallel to the ground for an origin, X P The axis is parallel to the normal direction of the millimeter wave radar, Y P The axis is parallel to the millimeter wave radar antenna surface, and accords with the rule of right hand system. The construction mode of the calibration platform coordinate system is not unique, and is not limited to a rectangular coordinate system or a polar coordinate system. The calibration platform rotating mechanism can be, but is not limited to, a rigid rotating lever arm, a non-rigid connection multi-degree-of-freedom rotating platform and the like according to different application environments.
As shown in fig. 3, in the present embodiment, a millimeter wave radar reference coordinate system formed with the center of the millimeter wave radar antenna as a reference is constructed as follows: with millimeter wave radar antenna centre O R Establishing a plane rectangular coordinate system parallel to the ground for an origin, X R The axis is the normal direction of the millimeter wave radar, Y R Is positioned in the millimeter wave radar antenna plane and accords with the rule of the right hand system. The construction mode of the millimeter wave radar reference coordinate system is not unique, and is not limited to a rectangular coordinate system or a polar coordinate system.
In this embodiment, the deviation value configuration unit 122 is configured to determine and adjust different preset deviation values.
In this embodiment, the coordinate acquiring unit 123 is configured to acquire the coordinates of the projection point of the irradiation target under the calibration platform coordinate system based on the distance from the irradiation target to the origin of the calibration platform coordinate system, and acquire the coordinates of the projection point of the irradiation target under the millimeter wave radar reference coordinate system based on the coordinates of the projection point of the irradiation target under the calibration platform coordinate system, the preset deviation value between the millimeter wave radar reference coordinate system and the calibration platform coordinate system.
Projection point of position k of pyramid reflector under calibration platform coordinate system on xy plane to coordinate origin O P The distance of (2) is equal to the known rotating lever arm length d, and the coordinates are (dsin theta, dcos theta). Assume that the millimeter wave radar reference coordinate system and the calibration platform coordinate system respectively have a length delta in the x and y directions x And delta y The projection point coordinate of the position k of the pyramid reflector on the xy plane under the millimeter wave radar reference coordinate system is (dcos theta + delta) x ,d sinθ+Δ y )。
In this embodiment, the change curve obtaining unit 124 is configured to obtain a plurality of distance angle change curves from the irradiation target to the origin of the millimeter wave radar reference coordinate system based on different preset deviation values and coordinates of projection points of the irradiation target in the millimeter wave radar reference coordinate system.
The projection point coordinate of the position k of the pyramid reflector on the xy plane under the millimeter wave radar reference coordinate system is (dcos theta+delta) x ,d sinθ+Δ y ) The projection point reaches the origin O of the millimeter wave radar coordinate system R The distance of (3) is%And obtaining a theoretical curve of the angle change of the distance from the projection point of the pyramid reflector on the ground to the center of the millimeter wave radar antenna, namely a distance angle change curve from the irradiation target to the origin of the millimeter wave radar reference coordinate system.
In this embodiment, the optimal deviation determining module 130 is configured to fit the distance angle change curve and the actually measured distance angle change curve based on a method for solving an optimal solution, obtain a distance angle change curve corresponding to the optimal solution, and obtain a corresponding optimal preset deviation value based on the distance angle change curve corresponding to the optimal solution.
In this embodiment, the method for solving the optimal solution includes, but is not limited to, least square method, various traversal search methods, and maximum likelihood method.
In this embodiment, a curve of the distance from the projection point of the pyramid reflector on the ground to the center of the millimeter wave radar antenna with respect to the angle and the geometric relationship thereof with the two coordinate system origin offsets Δ_x and Δ_y are known. And then fitting a theoretical curve and an actual measurement curve by utilizing a method for solving an optimal solution, thereby obtaining delta_x and delta_y which are most in line with the conditions. Fig. 4 shows a fitted curve and an actual measured curve of the actual distance of the irradiation target corresponding to the optimal preset deviation value in the vehicle-mounted millimeter wave radar angle calibration system 100 according to the present invention, and the comparison between the theoretical curve and the actual measured curve satisfying the optimal solution can be seen from fig. 4.
In this embodiment, the angle calibration value obtaining module 140 is configured to obtain a millimeter wave radar angle calibration value of the irradiation target in a millimeter wave radar reference coordinate system based on the optimal preset deviation value.
Specifically, in this embodiment, the manner in which the angle calibration value obtaining module 140 obtains the millimeter wave radar angle calibration value of the irradiation target in the millimeter wave radar reference coordinate system based on the optimal preset deviation value includes:
Wherein tan alpha is a millimeter wave radar angle calibration value of the irradiation target under a millimeter wave radar reference coordinate system, d is a distance from the irradiation target to an origin of a calibration platform coordinate system, θ is an angle value of the irradiation target under the calibration platform coordinate system, and Δx and Δy are respectively corresponding to deviation values of an x direction and a y direction in the optimal preset deviation values.
In this embodiment, the compensation module 150 is configured to obtain millimeter wave radar angle measurement data corresponding to the millimeter wave radar angle calibration value based on the millimeter wave radar angle calibration value, and send the obtained millimeter wave radar angle measurement data to the vehicle-mounted millimeter wave radar for the vehicle-mounted millimeter wave radar to perform corresponding angle measurement.
In this embodiment, as shown in fig. 9, the vehicle millimeter wave radar angle calibration system 100 further includes: millimeter wave radar location acquisition module 160. The millimeter wave radar position acquisition module 160 is configured to acquire a coordinate position of the center of the millimeter wave radar antenna in the vehicle body coordinate system from the millimeter wave radar angle calibration value and the coordinate position of the calibration platform coordinate system in the vehicle body coordinate system.
As shown in fig. 6, the center O of the rear axle of the vehicle body v Establishing a plane rectangular coordinate system parallel to the ground for an origin, X v The positive axis direction points to the headstock, Y v The axis is the rear axis direction, which accords with the right hand rule. The offset delta between the center of the millimeter wave radar antenna and the rotation axis of the calibration platform is obtained according to the steps x And delta y And the known position (x 1 ,y 1 ) Can be used forThe accurate position (x) of the millimeter wave radar antenna center under the vehicle body coordinate system is obtained through calculation 1 +Δ x ,y 1 +Δ y )。
That is, in this embodiment, the accurate position of the center of the millimeter wave radar antenna in the vehicle body coordinate system can be calculated according to the obtained offset between the center of the millimeter wave radar antenna and the rotation axis of the calibration platform and the position of the calibration platform in the vehicle body plane rectangular coordinate system. Therefore, the system of the embodiment can combine the angle calibration and the mounting position calibration of the vehicle-mounted millimeter wave radar sensor with shorter time cost, and the calibration efficiency is improved.
The specific technical features of the implementation of the vehicle-mounted millimeter wave radar angle calibration system 100 in this embodiment are substantially the same as the vehicle-mounted millimeter wave radar angle calibration method in the foregoing embodiment 1, and the general technical content between embodiments is not repeated.
It should be noted that, it should be understood that the division of the modules of the above device is merely a division of a logic function, and may be fully or partially integrated into a physical entity or may be physically separated. And these modules may all be implemented in software in the form of calls by the processing element; or can be realized in hardware; the method can also be realized in a form of calling software by a processing element, and the method can be realized in a form of hardware by a part of modules. For example, a certain module may be a processing element which is set up separately, may be implemented in a certain chip of an electronic terminal, or may be stored in a memory of the terminal in a form of a program code, and the function of the tracking calculation module may be called and executed by a certain processing element of the terminal. The implementation of the other modules is similar. In addition, all or part of the modules can be integrated together or can be independently implemented. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in a software form.
For example, the modules above may be one or more integrated circuits configured to implement the methods above, such as: one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more microprocessors (digital singnal processor, abbreviated as DSP), or one or more field programmable gate arrays (Field Programmable Gate Array, abbreviated as FPGA), or the like. For another example, when a module above is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program code. For another example, the modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Example 3
As shown in fig. 10, the present embodiment provides an electronic device 10, where the electronic device 10 includes a processor 101 and a memory 102.
The memory 102 is connected to the processor 101 through a system bus and performs communication with each other, the memory 102 is used for storing a computer program, the processor 101 is coupled to the memory 1002, and the processor 101 is used for running the computer program, so that the electronic device 10 performs the vehicle millimeter wave radar angle calibration method described in embodiment 1. Embodiment 1 has already described the vehicle millimeter wave radar angle calibration method in detail, and will not be described here again.
In an exemplary embodiment, the electronic device 10 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, cameras, or other electronic components for performing the above-described vehicle millimeter wave radar angle calibration method.
The memory 102 may include a random access memory (Random Access Memory, simply referred to as RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
The processor 101 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by computer program related hardware. The aforementioned computer program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
In summary, in the angle calibration process of the vehicle-mounted millimeter wave radar, the vehicle type design is not required to be damaged, and a calibration workshop with a high-precision positioning function is not required to be built, so that the calibration error caused by the rotation axis of the calibration platform and the center offset of the millimeter wave radar antenna can be compensated, the high-precision angle calibration and the installation position calibration are further realized, the flow is simple, and the calibration efficiency and the accuracy of the vehicle-mounted millimeter wave radar angle are effectively improved. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (10)
1. A vehicle millimeter wave radar angle calibration method is characterized in that: comprising the following steps:
step S1, when a calibration platform, an on-vehicle millimeter wave radar and an irradiation target are in a preset configuration state, controlling the irradiation target to swing in the visual range of the on-vehicle millimeter wave radar, and acquiring millimeter wave radar angle measurement data when the irradiation target swings in the visual range of the preset millimeter wave radar; the preset configuration state is as follows: the rotating center of the calibration platform is arranged right below the vehicle-mounted millimeter wave radar to be calibrated, the tail end of the rotating lever arm of the calibration platform is used for fixing the irradiation target, and the height of the irradiation target is the same as that of the vehicle-mounted millimeter wave radar;
step S2, acquiring a plurality of distance angle change curves from projection points of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system;
step S3, fitting the distance angle change curve and the actually measured distance angle change curve based on a method for solving an optimal solution, obtaining a distance angle change curve corresponding to the optimal solution, and obtaining a corresponding optimal preset deviation value based on the distance angle change curve corresponding to the optimal solution;
S4, acquiring a millimeter wave radar angle calibration value of the irradiation target under a millimeter wave radar reference coordinate system based on the optimal preset deviation value;
and S5, acquiring millimeter wave radar angle measurement data corresponding to the millimeter wave radar angle calibration value based on the millimeter wave radar angle calibration value, and transmitting the acquired millimeter wave radar angle measurement data to the vehicle-mounted millimeter wave radar so as to enable the vehicle-mounted millimeter wave radar to perform corresponding angle measurement.
2. The vehicle millimeter wave radar angle calibration method according to claim 1, wherein the method comprises the following steps: in step S2, the implementation manner of obtaining the plurality of distance angle change curves from the projection point of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna based on the plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system includes:
s21, respectively constructing a millimeter wave radar reference coordinate system formed by taking the center of a millimeter wave radar antenna as a reference and a calibration platform coordinate system formed by taking the rotation center of a calibration platform as a reference;
step S22, acquiring a projection point coordinate of the irradiation target under the calibration platform coordinate system based on a distance from the irradiation target to an origin of the calibration platform coordinate system, and acquiring a projection point coordinate of the irradiation target under the millimeter wave radar reference coordinate system based on a projection point coordinate of the irradiation target under the calibration platform coordinate system, a preset deviation value between the millimeter wave radar reference coordinate system and the calibration platform coordinate system;
Step S23, acquiring a distance angle change curve from the irradiation target to the origin of the millimeter wave radar reference coordinate system based on the projection point coordinates of the irradiation target in the millimeter wave radar reference coordinate system;
and step S24, adjusting preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system in the step S22, and repeatedly executing the steps S22 to S23 to obtain a plurality of distance angle change curves corresponding to different preset deviation values.
3. The vehicle millimeter wave radar angle calibration method according to claim 1, wherein the method comprises the following steps: in step S3, the method for solving the optimal solution includes a least square method, various traversal search methods, and a maximum likelihood method.
4. The vehicle millimeter wave radar angle calibration method according to claim 1, wherein the method comprises the following steps: in step S4, the method for obtaining the millimeter wave radar angle calibration value of the irradiation target in the millimeter wave radar reference coordinate system based on the optimal preset deviation value includes:
wherein tan alpha is a millimeter wave radar angle calibration value of the irradiation target under a millimeter wave radar reference coordinate system, d is a distance from the irradiation target to an origin of a calibration platform coordinate system, θ is an angle value of the irradiation target under the calibration platform coordinate system, and Δx and Δy are respectively corresponding to deviation values of an x direction and a y direction in the optimal preset deviation values.
5. The vehicle millimeter wave radar angle calibration method according to claim 1, wherein the method comprises the following steps: the vehicle millimeter wave radar angle calibration method further comprises the following steps:
and S6, acquiring the coordinate position of the center of the millimeter wave radar antenna under the vehicle body coordinate system based on the millimeter wave radar angle calibration value and the coordinate position of the calibration platform coordinate system under the vehicle body coordinate system.
6. A vehicle millimeter wave radar angle calibration system is characterized in that: comprising the following steps:
the data acquisition module is used for controlling the irradiation target to swing in the visual range of the vehicle-mounted millimeter wave radar when the calibration platform, the vehicle-mounted millimeter wave radar and the irradiation target are in a preset configuration state, and acquiring millimeter wave radar angle measurement data when the irradiation target swings in the visual range of the preset millimeter wave radar; the preset configuration state is as follows: the rotating center of the calibration platform is arranged right below the vehicle-mounted millimeter wave radar to be calibrated, the tail end of the rotating lever arm of the calibration platform is used for fixing the irradiation target, and the height of the irradiation target is the same as that of the vehicle-mounted millimeter wave radar;
the change curve acquisition module is used for acquiring a plurality of distance angle change curves from the projection point of the irradiation target under the calibration platform coordinate system to the center of the millimeter wave radar antenna based on a plurality of preset deviation values between the millimeter wave radar reference coordinate system and the calibration platform coordinate system;
The optimal deviation determining module is used for fitting the distance angle change curve and the actually measured distance angle change curve based on a method for solving an optimal solution, obtaining a distance angle change curve corresponding to the optimal solution, and obtaining a corresponding optimal preset deviation value based on the distance angle change curve corresponding to the optimal solution;
the angle calibration value acquisition module is used for acquiring a millimeter wave radar angle calibration value of the irradiation target under a millimeter wave radar reference coordinate system based on the optimal preset deviation value;
the compensation module is used for acquiring millimeter wave radar angle measurement data corresponding to the millimeter wave radar angle calibration value based on the millimeter wave radar angle calibration value, and sending the acquired millimeter wave radar angle measurement data to the vehicle-mounted millimeter wave radar so as to enable the vehicle-mounted millimeter wave radar to perform corresponding angle measurement.
7. The vehicle millimeter wave radar angle calibration system according to claim 6, wherein: the change curve acquisition module comprises:
the coordinate system construction unit is used for respectively constructing a millimeter wave radar reference coordinate system formed by taking the center of the millimeter wave radar antenna as a reference and a calibration platform coordinate system formed by taking the rotation center of the calibration platform as a reference;
The deviation value configuration unit is used for determining and adjusting different preset deviation values;
the coordinate acquisition unit is used for acquiring the projection point coordinate of the irradiation target under the calibration platform coordinate system based on the distance from the irradiation target to the origin of the calibration platform coordinate system, and acquiring the projection point coordinate of the irradiation target under the millimeter wave radar reference coordinate system based on the projection point coordinate of the irradiation target under the calibration platform coordinate system, the preset deviation value between the millimeter wave radar reference coordinate system and the calibration platform coordinate system;
the change curve acquisition unit is used for acquiring a plurality of distance angle change curves from the irradiation target to the origin of the millimeter wave radar reference coordinate system based on different preset deviation values and the projection point coordinates of the irradiation target under the millimeter wave radar reference coordinate system.
8. The vehicle millimeter wave radar angle calibration system according to claim 6, wherein: the method for acquiring the millimeter wave radar angle calibration value of the irradiation target under the millimeter wave radar reference coordinate system by the angle calibration value acquisition module based on the optimal preset deviation value comprises the following steps:
wherein tan alpha is a millimeter wave radar angle calibration value of the irradiation target under a millimeter wave radar reference coordinate system, d is a distance from the irradiation target to an origin of a calibration platform coordinate system, θ is an angle value of the irradiation target under the calibration platform coordinate system, and Δx and Δy are respectively corresponding to deviation values of an x direction and a y direction in the optimal preset deviation values.
9. The vehicle millimeter wave radar angle calibration system according to claim 6 or 8, wherein: the vehicle millimeter wave radar angle calibration system further comprises:
and the millimeter wave radar position acquisition module is used for acquiring the coordinate position of the center of the millimeter wave radar antenna under the vehicle body coordinate system in the coordinate positions of the millimeter wave radar angle calibration value and the calibration platform coordinate system under the vehicle body coordinate system.
10. An electronic device, characterized in that: the system comprises a processor and a memory, wherein the memory stores program instructions; the processor runs program instructions to realize the vehicle-mounted millimeter wave radar angle calibration method according to any one of claims 1 to 5.
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| CN114325619A (en) * | 2021-12-31 | 2022-04-12 | 西安雷通科技有限责任公司 | Error calibration method, system, medium and electronic device for angle measurement system |
| CN115032598A (en) * | 2022-02-28 | 2022-09-09 | 广州文远知行科技有限公司 | Radar calibration method, system and storage medium |
| CN115236613B (en) * | 2022-06-22 | 2024-07-23 | 海信集团控股股份有限公司 | Electronic equipment and indoor radar calibration method |
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