CN109507652A - A kind of trailer-mounted radar scaling method, device, mobile unit and storage medium - Google Patents

A kind of trailer-mounted radar scaling method, device, mobile unit and storage medium Download PDF

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Publication number
CN109507652A
CN109507652A CN201811438955.XA CN201811438955A CN109507652A CN 109507652 A CN109507652 A CN 109507652A CN 201811438955 A CN201811438955 A CN 201811438955A CN 109507652 A CN109507652 A CN 109507652A
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distance
trailer
mounted radar
coordinate
vehicle
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CN201811438955.XA
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CN109507652B (en
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韩佐悦
王子涵
叶凌峡
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Uisee Shanghai Automotive Technologies Ltd
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Uisee Shanghai Automotive Technologies Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The present embodiments relate to a kind of trailer-mounted radar scaling method, device, mobile unit and storage medium, method includes: to obtain multiple first distances, multiple second distances, multiple thirds distance and trailer-mounted radar data；Based on multiple first distances, multiple second distances, multiple thirds distance and trailer-mounted radar data, the installation site and detecting error of trailer-mounted radar are determined；First distance is the distance between the preset measurement point of vehicle periphery and wheel center of vehicle；Second distance is the distance between preset reflective marker on measurement point and vehicle；Third distance is the distance between the preset Obstacle Position of vehicle periphery and reflective marker；Trailer-mounted radar data are the data of the barrier that Obstacle Position is arranged in of trailer-mounted radar acquisition.The embodiment of the present invention uses reflective marker, corner reflector, tripod and laser range finder, and the calibration of trailer-mounted radar can be realized.Without large-scale caliberating device, it is not take up biggish site area, is suitable for small lot application scenarios.

Description

A kind of trailer-mounted radar scaling method, device, mobile unit and storage medium
Technical field
The present embodiments relate to trailer-mounted radar calibration technique fields, and in particular to a kind of trailer-mounted radar scaling method, dress It sets, mobile unit and storage medium.
Background technique
With the fast development of Vehicular automatic driving technology, the perception of vehicle-surroundings environment is required higher and higher.Currently Vehicular automatic driving system master detecting sensor to be used includes: camera and radar.Radar include: again millimetre-wave radar, Ultrasonic radar and laser radar etc..Different detecting sensors has the characteristics that different and different sensing ranges, such as Millimetre-wave radar range accuracy with higher and angle measurement accuracy, higher detection range and environmental suitability, are widely used in It is middle accurately to be detected apart from barrier and positioning.
In actual use, the precision that Vehicular automatic driving system obtains detection of obstacles and environmental information in addition to It is related with the measurement accuracy of radar itself, it is also related with the installation accuracy of radar and stated accuracy.It, can be in scale of mass production By careful design bracket and installation site, controlling the methods of tooling technique ensures the installation accuracy of radar, can also be by big The caliberating device of type carries out the Radar Calibration after entrucking.
As it can be seen that the prior art has the following technical problems trailer-mounted radar calibration by large-scale caliberating device: large-scale Caliberating device arrangement is complicated, needs biggish site area, only when high-volume is demarcated with relatively high efficiency.For system The small lots application scenarios such as exploitation, test, trial assembly, the installation accuracy of millimetre-wave radar is relatively low, or even lacks radar installation The accurate data of position needs to carry out radar installation site extrinsic calibration, but large-scale for the configuration of small lot application scenarios The calibration place higher cost of caliberating device and large area.
Summary of the invention
Of the existing technology in order to solve the problems, such as, at least one embodiment of the present invention provides a kind of trailer-mounted radar mark Determine method, apparatus, mobile unit and storage medium.
In a first aspect, the embodiment of the present invention proposes a kind of trailer-mounted radar scaling method, which comprises
Obtain multiple first distances, multiple second distances, multiple thirds distance and trailer-mounted radar data；
Based on the multiple first distance, the multiple second distance, the multiple third distance and the vehicle-mounted thunder Up to data, determine trailer-mounted radar installation site and the trailer-mounted radar the installation site detecting error；
Wherein, the first distance is the distance between the preset measurement point of vehicle periphery and wheel center of vehicle；Institute Stating second distance is the distance between preset reflective marker on the measurement point and vehicle；The third distance is vehicle periphery The distance between preset Obstacle Position and the reflective marker；The trailer-mounted radar data are the setting of trailer-mounted radar acquisition In the data of the barrier of the Obstacle Position.
Based in a first aspect, in first aspect one embodiment, it is described based on the multiple first distance, it is described more A second distance, the multiple third distance and the trailer-mounted radar data, determine the installation site and vehicle of trailer-mounted radar Radar is carried in the detecting error of installation site, comprising:
Based on the multiple first distance, the multiple second distance and the multiple third distance, each institute is determined State coordinate of the third apart from corresponding Obstacle Position；
Coordinate and the trailer-mounted radar data based on the Obstacle Position, determine the installation site of trailer-mounted radar with And the trailer-mounted radar is in the detecting error of the installation site.
It is described based on the multiple the in second embodiment of first aspect based on first aspect one embodiment One distance, the multiple second distance and the multiple third distance, determine each third apart from corresponding barrier The coordinate of position, comprising:
Based on the multiple first distance, the coordinate of the corresponding measurement point of each first distance is determined；
Coordinate and the multiple second distance based on the measurement point determine that each second distance is corresponding anti- The coordinate of signal；
Coordinate and the multiple third distance based on the reflective marker, determine each third apart from corresponding The coordinate of Obstacle Position.
It is described to be based on the barrier in first aspect third embodiment based on second embodiment of first aspect The coordinate of position and the trailer-mounted radar data, the installation site for determining the trailer-mounted radar and the trailer-mounted radar are in institute State the detecting error of installation site, comprising:
Coordinate and the trailer-mounted radar data based on the Obstacle Position determine the barrier of the trailer-mounted radar perception Hinder the coordinate and perceptual error of object；
The coordinate of coordinate, the barrier based on the Obstacle Position and the perceptual error, determine the vehicle Carry radar installation site and the trailer-mounted radar the installation site detecting error.
Based on second embodiment of first aspect, in the 4th embodiment of first aspect, the first distance includes: vehicle Around the rear-wheel center of the distance between front-wheel center of preset measurement point and vehicle and the measurement point and vehicle it Between distance；
Correspondingly, it is based on the multiple first distance, determines the coordinate of the corresponding measurement point of each first distance, is wrapped It includes:
The distance between front-wheel center based on the preset measurement point of vehicle periphery and vehicle, the measurement point and vehicle The distance between rear-wheel center and the distance between the front-wheel center of vehicle and rear-wheel center, determine the seat of the measurement point Mark.
It is described to be based on the measurement point in the 5th embodiment of first aspect based on second embodiment of first aspect Coordinate and the multiple second distance, determine the coordinate of the corresponding reflective marker of each second distance, comprising:
The second distance between reflective marker and three measurement points is obtained, and obtains the coordinate of three measurement points；
Based on the second distance between the reflective marker and three measurement points, and it is based on three measurement points Coordinate, determine the coordinate of the reflective marker.
It is described to be based on the reflecting sign in the 6th embodiment of first aspect based on second embodiment of first aspect The coordinate of note and the multiple third distance determine coordinate of each third apart from corresponding Obstacle Position, comprising:
The third distance between Obstacle Position and three reflective markers is obtained, and obtains three reflective markers Coordinate；
It is anti-based on the third distance between the Obstacle Position and three reflective markers, and based on described three The coordinate of signal determines the coordinate of the Obstacle Position.
It is described to be based on the barrier in the 7th embodiment of first aspect based on first aspect third embodiment The coordinate of position and the trailer-mounted radar data determine that the coordinate of the barrier of the trailer-mounted radar perception and perception miss Difference, comprising:
The coordinate of the initial makeup location of coordinate and the trailer-mounted radar based on the Obstacle Position, determine described in Polar coordinates estimated value of the Obstacle Position in the trailer-mounted radar coordinate system；
Range is screened based on the polar coordinates estimated value and preset polar coordinates, is screened from the trailer-mounted radar data Source is in the valid data in polar coordinates screening range；
Based on the valid data, the coordinate and perceptual error of the barrier of the trailer-mounted radar perception are determined.
It is described to be based on the barrier in the 8th embodiment of first aspect based on the 7th embodiment of first aspect The coordinate of position, the coordinate of the barrier and the perceptual error determine installation site and the institute of the trailer-mounted radar Trailer-mounted radar is stated in the detecting error of the installation site, comprising:
The coordinate of coordinate and the barrier based on the Obstacle Position determines the trailer-mounted radar described first The detecting error of beginning installation site；
Based on the detecting error and the perceptual error, determine the trailer-mounted radar in the initial makeup location Error total cost；
Determine the trailer-mounted radar in the error total cost of different initial makeup locations；
It determines that the corresponding initial makeup location of minimal error total cost is the installation site of the trailer-mounted radar, and determines The corresponding detecting error of minimal error total cost is detecting error of the trailer-mounted radar in the installation site.
Second aspect, the embodiment of the present invention also propose a kind of trailer-mounted radar caliberating device, and described device includes:
Acquiring unit, for obtaining multiple first distances, multiple second distances, multiple thirds distance and trailer-mounted radar number According to；
Determination unit, for based on the multiple first distance, the multiple second distance, the multiple third distance with And the trailer-mounted radar data, determine trailer-mounted radar installation site and the trailer-mounted radar the installation site detection Error；
Wherein, the first distance is the distance between the preset measurement point of vehicle periphery and wheel center of vehicle；Institute Stating second distance is the distance between preset reflective marker on the measurement point and vehicle；The third distance is vehicle periphery The distance between preset Obstacle Position and the reflective marker；The trailer-mounted radar data are the setting of trailer-mounted radar acquisition In the data of the barrier of the Obstacle Position.
Based on second aspect, in second aspect one embodiment, the determination unit, comprising:
First determines subelement, for based on the multiple first distance, the multiple second distance and the multiple Third distance determines coordinate of each third apart from corresponding Obstacle Position；
Second determine subelement, for based on the Obstacle Position coordinate and the trailer-mounted radar data, determine The detecting error of the installation site of trailer-mounted radar and the trailer-mounted radar in the installation site.
Based on second aspect one embodiment, in second embodiment of second aspect, described first determines subelement, Include:
First subelement determines the corresponding measurement point of each first distance for being based on the multiple first distance Coordinate；
Second subelement determines each described for coordinate and the multiple second distance based on the measurement point The coordinate of the corresponding reflective marker of second distance；
Third subelement, for based on the reflective marker coordinate and the multiple third distance, determine each institute State coordinate of the third apart from corresponding Obstacle Position.
Based on second embodiment of second aspect, in second aspect third embodiment, described second determines subelement, Include:
4th subelement, for based on the Obstacle Position coordinate and the trailer-mounted radar data, determine described in The coordinate and perceptual error of the barrier of trailer-mounted radar perception；
5th subelement, coordinate and the perception for coordinate, the barrier based on the Obstacle Position Error, determine the trailer-mounted radar installation site and the trailer-mounted radar the installation site detecting error.
Based on second embodiment of second aspect, in the 4th embodiment of second aspect, the first distance includes: vehicle Around the rear-wheel center of the distance between front-wheel center of preset measurement point and vehicle and the measurement point and vehicle it Between distance；
Correspondingly, first subelement, for the front-wheel center based on the preset measurement point of vehicle periphery and vehicle it Between distance, the measurement point and vehicle the distance between rear-wheel center and the front-wheel center and rear-wheel center of vehicle between Distance, determine the coordinate of the measurement point.
Based on second embodiment of second aspect, in the 5th embodiment of second aspect, second subelement is used In:
The second distance between reflective marker and three measurement points is obtained, and obtains the coordinate of three measurement points；
Based on the second distance between the reflective marker and three measurement points, and it is based on three measurement points Coordinate, determine the coordinate of the reflective marker.
Based on second embodiment of second aspect, in the 6th embodiment of second aspect, the third subelement is used In:
The third distance between Obstacle Position and three reflective markers is obtained, and obtains three reflective markers Coordinate；
It is anti-based on the third distance between the Obstacle Position and three reflective markers, and based on described three The coordinate of signal determines the coordinate of the Obstacle Position.
Based on second aspect third embodiment, in the 7th embodiment of second aspect, the 4th subelement is used In:
The coordinate of the initial makeup location of coordinate and the trailer-mounted radar based on the Obstacle Position, determine described in Polar coordinates estimated value of the Obstacle Position in the trailer-mounted radar coordinate system；
Range is screened based on the polar coordinates estimated value and preset polar coordinates, is screened from the trailer-mounted radar data Source is in the valid data in polar coordinates screening range；
Based on the valid data, the coordinate and perceptual error of the barrier of the trailer-mounted radar perception are determined.
Based on the 7th embodiment of second aspect, in the 8th embodiment of second aspect, the 5th subelement is used In:
The coordinate of coordinate and the barrier based on the Obstacle Position determines the trailer-mounted radar described first The detecting error of beginning installation site；
Based on the detecting error and the perceptual error, determine the trailer-mounted radar in the initial makeup location Error total cost；
Determine the trailer-mounted radar in the error total cost of different initial makeup locations；
It determines that the corresponding initial makeup location of minimal error total cost is the installation site of the trailer-mounted radar, and determines The corresponding detecting error of minimal error total cost is detecting error of the trailer-mounted radar in the installation site.
The third aspect, the embodiment of the present invention also propose a kind of mobile unit, comprising:
Processor, memory, network interface and user interface；
The processor, memory, network interface and user interface are coupled by bus system；
The processor is used to execute side as described in relation to the first aspect by the program or instruction of calling the memory to store The step of method.
Fourth aspect, the embodiment of the present invention also propose a kind of non-transient computer readable storage medium, the non-transient meter Calculation machine readable storage medium storing program for executing stores computer instruction, and the computer instruction makes the computer execute side as described in relation to the first aspect The step of method.
As it can be seen that at least one embodiment of the embodiment of the present invention, it is only necessary to use several reflective markers, a corner reflection Device, a tripod, a laser range finder and a set of system for obtaining trailer-mounted radar data, can be realized the mark of trailer-mounted radar It is fixed.Without large-scale caliberating device, it is not take up biggish site area, at low cost, using flexible is more suitable for inexpensive small quantities of Measure application scenarios.
In addition, measurement process and vehicle-mounted thunder at least one embodiment of the embodiment of the present invention, before trailer-mounted radar calibration It is up to standard it is fixed during calculating process, can carry out in strange land by stages and in groups.Measurement point in preparation before trailer-mounted radar calibration Selection and Obstacle Position selection can also by stages and in groups strange land carry out.Therefore, fixed calibration place is not depended on, is mentioned Height calibration efficiency and environmental suitability.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be in embodiment or description of the prior art Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the invention Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings Obtain other attached drawings.
Fig. 1 is laser ranging system structural schematic diagram provided in an embodiment of the present invention；
Fig. 2 is reflective marker paste position schematic diagram provided in an embodiment of the present invention；
Fig. 3 a is a kind of main view of reflective marker provided in an embodiment of the present invention；
Fig. 3 b is the corresponding top view of main view shown in Fig. 3 a；
Fig. 3 c is the corresponding perspective view of main view shown in Fig. 3 a；
Fig. 4 is the schematic diagram that vehicle periphery provided in an embodiment of the present invention selects measurement point；
Fig. 5 is the schematic diagram that vehicle periphery provided in an embodiment of the present invention selects Obstacle Position；
Fig. 6 is corner reflector structural schematic diagram provided in an embodiment of the present invention；
Fig. 7 is a kind of structural schematic diagram of mobile unit provided in an embodiment of the present invention；
Fig. 8 is the system construction drawing provided in an embodiment of the present invention for obtaining trailer-mounted radar data；
Fig. 9 is a kind of trailer-mounted radar scaling method flow chart provided in an embodiment of the present invention；
Figure 10 is a kind of trailer-mounted radar perceptual error schematic diagram provided in an embodiment of the present invention；
Figure 11 is a kind of trailer-mounted radar caliberating device block diagram provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it Between there are any actual relationship or orders.
Before carrying out trailer-mounted radar calibration, need to be prepared work, preparation includes three parts.
First part is first distance measurement, and first distance is the wheel center of vehicle periphery preset measurement point and vehicle The distance between.
Second part is second distance measurement, and second distance is preset anti-on the preset measurement point of vehicle periphery and vehicle The distance between signal.
Part III is third range measurement, and third distance is to preset on the preset Obstacle Position of vehicle periphery and vehicle The distance between reflective marker.
Since three above part all refers to measure, preparation is it can be appreciated that measurement process, and vehicle-mounted thunder It can be regarded as calculating process up to scaling method.
Three above part is described in detail below.
In first part, measurement point is selected in vehicle periphery, and place laser ranging in the measurement point position of selection Device realizes that the corresponding first distance of the measurement point measures by laser ranging system.
In first part, measurement point can choose it is multiple, after measurement point completes first distance measurement, by Laser Measuring Another measurement point position is placed on away from device and carries out first distance measurement, until all measurement points complete first distance Measurement.
In first part, the structure of laser ranging system as shown in Figure 1, laser ranging system include laser range finder 1 with And tripod 2.Laser range finder 1 should have the range of 30m or more and 5mm resolution ratio below, and have the function of pour angle compensation. 1 lower central position of laser range finder has tapped blind hole.Tripod 2 may be selected photography and often use model.2 upper end of tripod With fastening screw 3.Fastening screw 3 and the tapped blind hole of laser range finder 1 are fastenedly connected.Have on tripod 2 adjustable The lever 4 that laser range finder 1 is directed toward.Tripod 2 height-adjustable and it may insure the firm of 1 position of laser range finder.
In second part, multiple reflective markers are pasted on vehicle.The paste position of multiple reflective markers should meet as follows Condition: measurement point is arranged in the surrounding any position of vehicle, and laser ranging system can be in measurement point laser irradiation at least three Reflective marker.
In second part, pasted by taking 10 reflective markers as an example in the present embodiment, it in practical applications can also root According to vehicle size and shape, more reflective markers are set.Fig. 2 is 10 reflective marker paste position schematic diagrames, 10 reflective markers 6 are pasted onto the vehicle body surrounding of vehicle 5, and being divided 10 reflective markers 6 according to position is tri- groups of a, b and c.There are four reflective altogether for a group Label 6 is separately mounted to the center of four wheels of vehicle 5.There are four reflective markers 6 altogether for b group, are separately mounted to vehicle 5 four angular positions.There are two reflective markers 6 altogether for c group, are separately mounted in the front and rear surfaces of vehicle 5.
In second part, the structure of reflective marker 6 is as shown in Fig. 3 a to Fig. 3 c, and reflective marker 6 is by core 7, reflectorized material 8 It is formed with double-sided adhesive 9.Core 7 is semi-cylindrical structure, is obtained by the nonmetallic materials casting or 3D printing of low-k, half Body diameter is not more than 2 centimetres, and length is not more than 3 centimetres.Reflectorized material 8 is the film non-metallic material for being internally embedded glass fibre Material.At 8 surface of reflectorized material, reflectorized material 8 can produce bright hot spot and entering the laser irradiation that laser range finder 1 issues It penetrates on direction and generates stronger reflected light.Reflectorized material 8 is pasted on the cylindrical surface of core 7.Core 7 is opposite with cylindrical surface to put down Double-sided adhesive 9 is pasted on face.Double-sided adhesive 9 be it is two-sided all have it is stronger viscosity and itself have certain plastic deformation ability it is certain The nonmetallic materials of thickness.The viscosity and plastic deformation ability of double-sided adhesive 9 can guarantee core 7 being securely pasted on vehicle body appearance Face is simultaneously bonded autobody surface.
Based on reflective marker 6 described in second part, in first part, in the principle of vehicle periphery selection measurement point Are as follows: as shown in figure 4, laser ranging system 10 should be able to be irradiated to the two of 5 side of vehicle after being placed on the measurement point of selection simultaneously A a group reflective marker.The angle of the different measurement point relative vehicles 5 of selection should have larger difference and be evenly distributed as much as possible.
In first part, in measurement point d, the direction of laser range finder 1 is controlled by adjusting lever 4 and is pasted onto 5 front-wheel of vehicle A group reflective marker.When the hot spot that the laser that laser range finder 1 issues generates is located at center and the Laser Measuring of reflective marker When tester at amount device 10 is observed that compared with strong reflection, the distance l of the display of recording laser rangefinder 11.Repeat with The distance between a group reflective marker of upper operation, record measurement point d and 5 rear-wheel of vehicle l2.First distance measurement includes measurement l1 With l2。
In second part, and l is recorded in first part1With l2Mode it is similar, record measurement point d to b organize reflective marker or The distance l of c group reflective marker3.Second distance is l3。
In second part, after any reflective marker 6 has the second distance of at least three measurement points, second part knot Beam.
In Part III, in the principle of vehicle periphery selection Obstacle Position are as follows: the Obstacle Position of selection should be vehicle-mounted Within the scope of the detection angle and detection range of radar.The different Obstacle Positions of selection are answered relative to the angle or distance of vehicle 5 There is larger difference and is evenly distributed as much as possible.
In Part III, as shown in figure 5, laser measuring device for measuring 10 is placed in the Obstacle Position of selection, by adjusting holding Handle 4 controls laser range finder 1 and is respectively directed to be pasted onto three be closer the reflective marker 6 on vehicle 5.Work as laser range finder The hot spot that 1 laser issued generates is located at the center of reflective marker and the tester at laser measuring device for measuring 10 can see When observing compared with strong reflection, the distance l of the display of recording laser rangefinder 16、l7And l8。
In Part III, as shown in figure 5, in recording distance l6、l7And l8Afterwards, laser ranging is replaced using corner reflector 11 Instrument 1.
It in Part III, is described as follows: being protected using detailed process combination Fig. 1 that corner reflector 11 replaces laser range finder 1 It is constant to hold 2 position of tripod, rotational fastener screw 3 unloads laser range finder 1, replaces corner reflector 11 and screws fastening screw 3, so that corner reflector 11 is tightened together with tripod 2.After tester leaves 11 position 5m of corner reflector or more, pass through The reflection signal of trailer-mounted radar acquisition corner reflector 11.
In Part III, the structure of corner reflector 11 as shown in fig. 6, corner reflector 11 had by three pieces it is certain thickness straight Angle triangle aluminum alloy plate materials are vertically spliced two-by-two.Every piece of aluminum alloy plate materials cut away an acute angle to be aligned adjacent sheet metal Thickness edge, the end face for not cutting acute angle are bonded with the plane of adjacent sheet metal, are fixed by bolt or gluing.One in three blocks of plates The center of plate is machined with a threaded hole 12, for connecting the fastening screw 3 on tripod 2.
First part and second part can indoors or outdoor progress, it is only necessary to keep 5 in the direction of vehicle 5 to measurement point The clearing of rice to 10 meters.Part III need in outdoor progress, the direction of vehicle 5 to barrier keep 20 meters or more and 30 ° or more of clearing.
First part, second part, Part III and trailer-mounted radar scaling method can carry out in strange land by stages and in groups.The The selection of Obstacle Position can also carry out in strange land by stages and in groups in the selection of measurement point and Part III in a part.
Fig. 7 is a kind of structural schematic diagram of mobile unit provided in an embodiment of the present invention.
Mobile unit shown in Fig. 7 includes: at least one processor 101, at least one processor 102, at least one net Network interface 104 and other user interfaces 103.Various components in mobile unit are coupled by bus system 105.It can Understand, bus system 105 is for realizing the connection communication between these components.Bus system 105 except include data/address bus in addition to, It further include power bus, control bus and status signal bus in addition.But for the sake of clear explanation, by various buses in Fig. 7 All it is designated as bus system 105.
Wherein, user interface 103 may include display, keyboard or pointing device (for example, mouse, trace ball (trackball) or touch-sensitive plate etc..
It is appreciated that the memory 102 in the present embodiment can be volatile memory or nonvolatile memory, or can Including both volatile and non-volatile memories.Wherein, nonvolatile memory can be read-only memory (Read- OnlyMemory, ROM), programmable read only memory (ProgrammableROM, PROM), Erasable Programmable Read Only Memory EPROM (ErasablePROM, EPROM), electrically erasable programmable read-only memory (ElectricallyEPROM, EEPROM) dodge It deposits.Volatile memory can be random access memory (RandomAccessMemory, RAM), and it is slow to be used as external high speed It deposits.By exemplary but be not restricted explanation, the RAM of many forms is available, such as static random access memory (StaticRAM, SRAM), dynamic random access memory (DynamicRAM, DRAM), Synchronous Dynamic Random Access Memory (SynchronousDRAM, SDRAM), double data speed synchronous dynamic RAM (DoubleDataRate SDRAM, DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced SDRAM, ESDRAM), synchronized links Dynamic random access memory (SynchlinkDRAM, SLDRAM) and direct rambus random access memory (DirectRambusRAM, DRRAM).Memory 102 described herein is intended to include but is not limited to these to be suitble to any other The memory of type.
In some embodiments, memory 102 stores following element, and unit or data structure can be performed, or Their subset of person or their superset: operating system 1021 and application program 1022.
Wherein, operating system 1021 include various system programs, such as ccf layer, core library layer, driving layer etc., are used for Realize various basic businesses and the hardware based task of processing.Application program 1022 includes various application programs, such as media Player (MediaPlayer), browser (Browser) etc., for realizing various applied business.Realize embodiment of the present invention side The program of method may be embodied in application program 1022.
In embodiments of the present invention, program or instruction that processor 101 is stored by calling memory 102, specifically, can To be the program or instruction stored in application program 1022, processor 101 is for executing each trailer-mounted radar scaling method embodiment Provided method and step, for example,
Obtain multiple first distances, multiple second distances, multiple thirds distance and trailer-mounted radar data；Based on multiple first Distance, multiple second distances, multiple thirds distance and trailer-mounted radar data, determine the installation site and trailer-mounted radar of trailer-mounted radar In the detecting error of installation site；Wherein, first distance is between the preset measurement point of vehicle periphery and the wheel center of vehicle Distance；Second distance is the distance between preset reflective marker on measurement point and vehicle；Third distance is that vehicle periphery is pre- If Obstacle Position and the distance between reflective marker；Trailer-mounted radar data are the setting of trailer-mounted radar acquisition in obstacle level The data for the barrier set.
The method that the embodiments of the present invention disclose can be applied in processor 101, or be realized by processor 101. Processor 101 may be a kind of IC chip, the processing capacity with signal.During realization, the above method it is each Step can be completed by the integrated logic circuit of the hardware in processor 101 or the instruction of software form.Above-mentioned processing Device 101 can be general processor, digital signal processor (DigitalSignalProcessor, DSP), specific integrated circuit (ApplicationSpecific IntegratedCircuit, ASIC), ready-made programmable gate array (FieldProgrammableGateArray, FPGA) either other programmable logic device, discrete gate or transistor logic Device, discrete hardware components.It may be implemented or execute disclosed each method, step and the logical box in the embodiment of the present invention Figure.General processor can be microprocessor or the processor is also possible to any conventional processor etc..In conjunction with the present invention The step of method disclosed in embodiment, can be embodied directly in hardware decoding processor and execute completion, or use decoding processor In hardware and software unit combination execute completion.Software unit can be located at random access memory, and flash memory, read-only memory can In the storage medium of this fields such as program read-only memory or electrically erasable programmable memory, register maturation.The storage Medium is located at memory 102, and processor 101 reads the information in memory 102, and the step of the above method is completed in conjunction with its hardware Suddenly.
It is understood that embodiments described herein can with hardware, software, firmware, middleware, microcode or its Combination is to realize.For hardware realization, processing unit be may be implemented in one or more specific integrated circuits (ASIC), number letter Number processor (DSP), digital signal processing appts (DSPDevice, DSPD), programmable logic device (PLD), field-programmable Gate array (FPGA), general processor, controller, microcontroller, microprocessor, for executing the other of herein described function In electronic unit or combinations thereof.
For software implementations, the techniques described herein can be realized by executing the unit of function described herein.Software generation Code is storable in memory and is executed by processor.Memory can in the processor or portion realizes outside the processor.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed The scope of the present invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description, The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In embodiment provided herein, it should be understood that unless existing clear between the step of embodiment of the method Sequencing, otherwise execution sequence can arbitrarily adjust.Disclosed device and method, may be implemented in other ways. For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only a kind of logic Function division, there may be another division manner in actual implementation, such as multiple units or components can combine or can collect At another system is arrived, or some features can be ignored or not executed.Another point, shown or discussed mutual coupling It closes or direct-coupling or communication connection can be through some interfaces, the indirect coupling or communication connection of device or unit can be with It is electrically mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme 's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the embodiment of the present invention is substantially The part of the part that contributes to existing technology or the technical solution can embody in the form of software products in other words Come, which is stored in a storage medium, including some instructions are used so that a computer equipment (can To be personal computer, server or the network equipment etc.) execute all or part of each embodiment the method for the present invention Step.And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, ROM, RAM, magnetic or disk etc. are various can store program The medium of code.
Fig. 8 is the system construction drawing provided in an embodiment of the present invention for obtaining trailer-mounted radar data.
In Fig. 8, mobile unit 81, industrial personal computer 82, the vehicle bus 83 of the system of trailer-mounted radar data as shown in Figure 7 are obtained And trailer-mounted radar 84 is constituted.Mobile unit 81 is connected with industrial personal computer 82 by Ethernet and can mutually pass data.Industrial personal computer 32 Tool there are two CAN receiving module and a CAN sending module, two CAN receiving modules respectively with the vehicle bus 83 of vehicle 5 with And the trailer-mounted radar 84 of required calibration is connected by CAN bus.CAN sending module is connected with trailer-mounted radar 84 by CAN bus.
In the present embodiment, trailer-mounted radar 84 is millimetre-wave radar.When obtaining trailer-mounted radar data, industrial personal computer 82 receives vehicle The car status information that bus 83 is transmitted, is uploaded to mobile unit 81 by Ethernet.Mobile unit 81 calculates vehicle-mounted thunder The checking signal checked needed for working normally up to 84, is transferred to industrial personal computer 82 by Ethernet.Industrial personal computer 82 leads to checking signal It crosses CAN sending module and is transferred to trailer-mounted radar 84.Industrial personal computer 82 receives the obstacle that trailer-mounted radar 84 acquires by CAN receiving module Object data, distance, angle, reflected intensity and relative velocity including each barrier, and be uploaded to by Ethernet vehicle-mounted Equipment 81.
In the present embodiment, for the millimetre-wave radar of no stationary object filter function, mobile unit 81 is based on receiving The car status information that vehicle bus 83 transmits calculates the checking signal checked needed for millimetre-wave radar works normally.It is quiet for having The only millimetre-wave radar of object filter function is then based on a given speed by mobile unit 81 and calculates checking signal.
Fig. 9 is a kind of trailer-mounted radar scaling method flow chart provided in an embodiment of the present invention.The executing subject of this method is Mobile unit.
As shown in figure 9, trailer-mounted radar scaling method disclosed in the present embodiment may include following steps 901 and 902:
901, multiple first distances, multiple second distances, multiple thirds distance and trailer-mounted radar data are obtained.
902, based on multiple first distances, multiple second distances, multiple thirds distance and trailer-mounted radar data, vehicle is determined Carry radar installation site and trailer-mounted radar installation site detecting error.
Wherein, first distance is the distance between the preset measurement point of vehicle periphery and wheel center of vehicle；Second away from From for the distance between preset reflective marker on measurement point and vehicle；Third distance is the preset Obstacle Position of vehicle periphery The distance between reflective marker；Trailer-mounted radar data are the number of the barrier that Obstacle Position is arranged in of trailer-mounted radar acquisition According to.
In the present embodiment, the mode for obtaining multiple first distances, multiple second distances and multiple third distances can be It is manually entered.The mode for obtaining trailer-mounted radar data can be obtained by the system shown in Fig. 8 for obtaining trailer-mounted radar data It takes, trailer-mounted radar data can also be obtained using other modes.
In the present embodiment, the preset measurement point of vehicle periphery be it is multiple, on vehicle preset reflective marker be multiple, vehicle The preset Obstacle Position of surrounding is multiple.The corresponding first distance of each measurement point and a second distance.Each obstacle Object location corresponds to a third distance.The paste position of the selection of measurement point, the selection of Obstacle Position and reflective marker Selection, which can refer to, to be described above, and details are not described herein.
In the present embodiment, the barrier that Obstacle Position is arranged in is corner reflector 11.The setting of trailer-mounted radar acquisition exists The data of the barrier of Obstacle Position are the data that trailer-mounted radar is obtained based on the reflection signal of reflector 11.The number of barrier According to distance, angle, reflected intensity and relative velocity including each barrier.
In the present embodiment, the installation site and trailer-mounted radar that trailer-mounted radar calibration determines trailer-mounted radar are in installation site Detecting error.Trailer-mounted radar is millimetre-wave radar.
As it can be seen that trailer-mounted radar scaling method disclosed in the present embodiment, it is only necessary to use several reflective markers, a corner reflection Device, a tripod, a laser range finder and a set of system for obtaining trailer-mounted radar data, can be realized the mark of trailer-mounted radar It is fixed.Without large-scale caliberating device, it is not take up biggish site area, at low cost, using flexible is more suitable for inexpensive small quantities of Measure application scenarios.
In addition, trailer-mounted radar scaling method disclosed in the present embodiment, measurement process before trailer-mounted radar calibration (including first The measurement of distance, the measurement of second distance and the measurement of third distance) with trailer-mounted radar calibration process in calculating process, can With the progress of strange land by stages and in groups.The selection of measurement point and the selection of Obstacle Position in preparation before trailer-mounted radar calibration It can also carry out in strange land by stages and in groups.Therefore, fixed calibration place is not depended on, calibration efficiency and environmental suitability are improved.
In some embodiments, multiple first distances, multiple second distances, multiple thirds step 902 shown in Fig. 9: are based on Distance and trailer-mounted radar data, determine trailer-mounted radar installation site and trailer-mounted radar installation site detecting error, It may include following steps A and B.
A, it is based on multiple first distances, multiple second distances and multiple third distances, determines that each third distance is corresponding Obstacle Position coordinate.
B, the coordinate based on Obstacle Position and trailer-mounted radar data determine the installation site of trailer-mounted radar and vehicle-mounted Detecting error of the radar in installation site.
In the present embodiment, since Obstacle Position has multiple, the corresponding third distance of each Obstacle Position, therefore, Based on multiple first distances, multiple second distances and multiple third distances, it may be determined that the coordinate of each Obstacle Position.
In the present embodiment, since trailer-mounted radar data are the barriers that Obstacle Position is arranged in of trailer-mounted radar acquisition Data, therefore, trailer-mounted radar data can be regarded as measurement data.Since the coordinate of each Obstacle Position is to be obtained by calculation Data, therefore, the coordinate of each Obstacle Position can be regarded as gross data.So the seat based on each Obstacle Position Be marked with and trailer-mounted radar data, it may be determined that the installation site of trailer-mounted radar and trailer-mounted radar installation site detecting error, Complete trailer-mounted radar calibration.
In some embodiments, step A: it is based on multiple first distances, multiple second distances and multiple third distances, really Fixed coordinate of each third apart from corresponding Obstacle Position, it may include following steps A1 to A3:
A1, multiple first distances are based on, determine the coordinate of the corresponding measurement point of each first distance.
A2, the coordinate based on measurement point and multiple second distances determine the corresponding reflective marker of each second distance Coordinate.
A3, the coordinate based on reflective marker and multiple third distances determine each third apart from corresponding obstacle level The coordinate set.
In the present embodiment, since measurement point has multiple, the corresponding first distance of each measurement point, therefore, based on multiple First distance, it may be determined that the coordinate of each measurement point.
In the present embodiment, and due to the corresponding second distance of each measurement point, and each second distance corresponding one anti- Signal, therefore, coordinate and multiple second distances based on each measurement point, it may be determined that the coordinate of each reflective marker.
In the present embodiment, since Obstacle Position has multiple, the corresponding third distance of each Obstacle Position, and it is each The corresponding reflective marker of third distance, therefore, coordinate and multiple third distances based on each reflective marker, it may be determined that every The coordinate of a Obstacle Position.
In some embodiments, step B: coordinate and trailer-mounted radar data based on Obstacle Position determine vehicle-mounted thunder The detecting error of the installation site that reaches and trailer-mounted radar in installation site, it may include following steps B1 and B2:
B1, the coordinate based on Obstacle Position and trailer-mounted radar data determine the seat of the barrier of trailer-mounted radar perception It is marked with and perceptual error.
B2, the coordinate based on Obstacle Position, the coordinate of barrier and perceptual error, determine the installation position of trailer-mounted radar Set and trailer-mounted radar installation site detecting error.
In the present embodiment, the coordinate of each barrier of trailer-mounted radar perception can determine based on trailer-mounted radar data.Due to Barrier (i.e. corner reflector 11) is placed on preset Obstacle Position, vehicle-mounted if perceptual error is not present in trailer-mounted radar The coordinate of each barrier of radar perception should be identical as the coordinate of each Obstacle Position, therefore, is based on each barrier The coordinate of each barrier of coordinate and the trailer-mounted radar perception of position, it may be determined that each barrier of trailer-mounted radar perception Perceptual error.
In the present embodiment, coordinate based on each Obstacle Position, trailer-mounted radar perception each barrier coordinate with And the perceptual error of each barrier of trailer-mounted radar perception, it may be determined that the installation site and trailer-mounted radar of trailer-mounted radar are being pacified The detecting error of holding position.
In some embodiments, first distance includes: between the preset measurement point of vehicle periphery and the front-wheel center of vehicle Distance and the distance between measurement point and the rear-wheel center of vehicle.As shown in figure 4, first distance includes l1With l2。
In the present embodiment, step A1: multiple first distances are based on, determine the seat of the corresponding measurement point of each first distance Mark, comprising:
The distance between front-wheel center based on the preset measurement point of vehicle periphery and vehicle, measurement point and vehicle rear-wheel The distance between center and the distance between the front-wheel center of vehicle and rear-wheel center, determine the coordinate of measurement point.
In the present embodiment, the distance between front-wheel center and rear-wheel center of vehicle can be predefined.
In Fig. 4, the distance between front-wheel center of measurement point and vehicle l1, between measurement point and the rear-wheel center of vehicle Distance l2And the distance between the front-wheel center of vehicle and rear-wheel center composition measurement triangle.
In Fig. 4, the distance between rear-wheel center of measurement point and vehicle l2And the front-wheel center of vehicle and rear-wheel center The distance between angle β, pass through following formula determine:
Wherein, L be vehicle front-wheel center and the distance between rear-wheel center namely vehicle axletree away from.
In Fig. 4, the coordinate (x of measurement pointd,yd) determined by following formula:
Wherein, tr is the Wheel centre distance of vehicle, and above formula is coordinate calculating formula of the measurement point in vehicle left side, and following formula is measurement Coordinate calculating formula of the point in vehicle right side.
In the present embodiment, the distance between front-wheel center based on each measurement point and vehicle, each measurement point and vehicle The distance between rear-wheel center and vehicle front-wheel center and the distance between rear-wheel center, determine the seat of each measurement point Mark.
In some embodiments, step A2: coordinate and multiple second distances based on measurement point, determine each second away from Coordinate from corresponding reflective marker, it may include following steps A21 and A22:
Second distance between A21, acquisition reflective marker and three measurement points, and obtain the coordinate of three measurement points.
A22, based on the second distance between reflective marker and three measurement points, and the coordinate based on three measurement points, Determine the coordinate of reflective marker.
In the present embodiment, for any reflective marker, the second distance between the reflective marker and three measurement points is obtained, And obtain the coordinate of three measurement points.
In the present embodiment, the second distance between reflective marker and three measurement points is, for example, l3、l4And l5.Three measurements The coordinate of point is, for example, (xd1,yd1)、(xd2,yd2) and (xd3,yd3)。
In the present embodiment, using measurement point as the center of circle, second distance is radius, forms three measurement equation of a circles:
In the present embodiment, three measurement equation of a circles are based on, the intersecting point coordinate of any two measurement circle are obtained, according to reflecting sign It screens to obtain three measurement coordinate (x of reflective marker in note region1,y1)、(x2,y2) and (x3,y3)。
In the present embodiment, due to second between the calculation error of coordinates and reflective marker of measurement point and three measurement points Three measurement coordinates of the measurement error of distance, reflective marker are not completely equivalent.By three measurement coordinate points groups of reflective marker At reflective marker triangle, reflective marker Atria edge lengths are respectively a, b, c, use following equations triangle inscribe Actual coordinate (x of the circle central coordinate of circle as reflective markerc,yc):
It in the present embodiment, repeats above operation, it may be determined that the actual coordinate of each reflective marker.
In some embodiments, step A3: coordinate and multiple third distances based on reflective marker determine each third Coordinate apart from corresponding Obstacle Position, it may include following steps A31 and A32:
Third distance between A31, acquisition Obstacle Position and three reflective markers, and obtain three reflective markers Coordinate.
A32, based on the third distance between Obstacle Position and three reflective markers, and based on three reflective markers Coordinate determines the coordinate of Obstacle Position.
In the present embodiment, for any Obstacle Position, between the Obstacle Position and three reflective markers is obtained The coordinate of three distances and three reflective markers.
In the present embodiment, as shown in figure 5, the third distance between Obstacle Position and three reflective markers is l6、l7With l8.The coordinate of three reflective markers is, for example, (xc1,yc1)、(xc2,yc2) and (xc3,yc3)。
In the present embodiment, using reflective marker as the center of circle, third distance is radius, forms three measurement equation of a circles:
In the present embodiment, three measurement equation of a circles are based on, the intersecting point coordinate of any two measurement circle are obtained, according to barrier It screens to obtain three measurement coordinate (x of Obstacle Position in position regiono1,yo1)、(xo2,yo2) and (xo3,yo3)。
In the present embodiment, due between the calculation error of coordinates and Obstacle Position of reflective marker and three reflective markers Third distance measurement error, three measurement coordinates of Obstacle Position are not completely equivalent.By three surveys of Obstacle Position It measures coordinate points and forms Obstacle Position triangle, Obstacle Position Atria edge lengths are respectively a, b, c, use following formula Solve actual coordinate (x of the triangle incenter coordinate as Obstacle Positiono,yo):
It in the present embodiment, repeats above operation, it may be determined that the actual coordinate of each Obstacle Position.
In some embodiments, step B1: coordinate and trailer-mounted radar data based on Obstacle Position determine vehicle-mounted thunder Up to the coordinate and perceptual error of the barrier of perception, it may include following steps B11 to B13:
The coordinate of the initial makeup location of B11, the coordinate based on Obstacle Position and trailer-mounted radar determines obstacle level Set the polar coordinates estimated value in trailer-mounted radar coordinate system.
B12, range is screened based on polar coordinates estimated value and preset polar coordinates, screens source from trailer-mounted radar data Valid data in polar coordinates screening range.
B13, valid data are based on, determine the coordinate and perceptual error of the barrier of trailer-mounted radar perception.
In the present embodiment, trailer-mounted radar is millimetre-wave radar.The coordinate of Obstacle Position is (xo,yo).Millimetre-wave radar The coordinate of initial makeup location is denoted as (xr0,yr0,θr0).Obstacle Position is calculate by the following formula in millimetre-wave radar coordinate system Polar coordinates estimated value be (ro,θo):
In the present embodiment, range (Δ r is screened based on preset polar coordinateso,Δθo), filter out pole in trailer-mounted radar data Coordinate is in (ro±Δro,θo±Δθo) data point in range.
In the present embodiment, preset polar coordinates screening range can be configured based on Obstacle Position ambient enviroment.Each The corresponding polar coordinates of Obstacle Position screen range (Δ ro,Δθo) may be the same or different.
In the present embodiment, it can be configured lowest signal reflected intensity based on Obstacle Position ambient enviroment, by polar coordinates In (ro±Δro,θo±Δθo) reflected intensity is removed lower than the data point of lowest signal reflected intensity in data point in range, The data point left is located at the significant figure strong point of the barrier of the Obstacle Position as detection.
In the present embodiment, by the polar coordinates at significant figure strong point using the inverse of the corresponding relative velocity in significant figure strong point as power It is weighted and averaged again, obtains the coordinate for being located at the barrier of the Obstacle PositionNamely the barrier of trailer-mounted radar perception Hinder the coordinate of object.
In the present embodiment, the range distribution that record is located at the corresponding each significant figure strong point of barrier of the Obstacle Position is missed DifferenceWith angular distribution errorSuch as Figure 11.
In the present embodiment, perceptual error includes: range distribution errorWith angular distribution error
In the present embodiment, aforesaid operations are repeated, it may be determined that the coordinate of each barrier of trailer-mounted radar perception and perception The perceptual error of each barrier.
In the present embodiment, the initial makeup location of replaceable trailer-mounted radar repeats aforesaid operations, it may be determined that trailer-mounted radar exists The coordinate of each barrier of different initial makeup location perception and the perceptual error of each barrier of perception.
In some embodiments, step B2: the coordinate and perceptual error of coordinate, barrier based on Obstacle Position, Determine trailer-mounted radar installation site and trailer-mounted radar installation site detecting error, it may include following steps B21 is extremely B24:
The coordinate of B21, the coordinate based on Obstacle Position and barrier determine trailer-mounted radar in initial makeup location Detecting error；
B22, it is based on detecting error and perceptual error, determines trailer-mounted radar in the error total cost of initial makeup location；
B23, determine trailer-mounted radar in the error total cost of different initial makeup locations；
B24, it determines that the corresponding initial makeup location of minimal error total cost is the installation site of trailer-mounted radar, and determines The corresponding detecting error of minimal error total cost is detecting error of the trailer-mounted radar in installation site.
In the present embodiment, the coordinate of the initial makeup location of trailer-mounted radar is denoted as (xr0,yr0,θr0), trailer-mounted radar is initial The detecting error of installation site is calculate by the following formula:
Wherein, (ro(i),θoIt (i)) is polar coordinates estimated value of i-th of Obstacle Position in trailer-mounted radar coordinate system, i For positive integer.(xo(i),yo(i)) actual coordinate of i-th of Obstacle Position.For being located at for trailer-mounted radar perception The coordinate of the barrier of i-th of Obstacle Position.(ero(i),eθo(i)) for trailer-mounted radar initial makeup location to be located at i-th The detecting error of the barrier of a Obstacle Position.
In the present embodiment, based on the range distribution error for the barrier for being located at each Obstacle Position, weighting coefficient k is calculatedr:
Wherein, n is the number of barrier,To be missed positioned at the range distribution of the barrier of i-th of Obstacle Position Difference.
In the present embodiment, based on the angular distribution error for the barrier for being located at each Obstacle Position, weighting coefficient k is calculateda:
Wherein, n is the number of barrier,To be missed positioned at the angular distribution of the barrier of i-th of Obstacle Position Difference.
In the present embodiment, the detecting error based on barrier calculates nonlinear weight parameter kpr(i)、kpa(i):
Wherein, (ero(i),eθo(i)) for trailer-mounted radar initial makeup location to be located at i-th of Obstacle Position barrier Hinder the detecting error of object.
In the present embodiment, normalization coefficient is chosenTrailer-mounted radar is calculated in error total generation of initial makeup location Valence:
In the present embodiment, determine that trailer-mounted radar in the error total cost of different initial makeup locations, and determines using above formula The corresponding initial makeup location of minimal error total cost is the installation site of trailer-mounted radar, and determines minimal error total cost pair The detecting error answered is detecting error of the trailer-mounted radar in installation site.
In the present embodiment, after determining minimal error total cost, the corresponding detection of minimal error total cost should be judged Whether error meets preset stated accuracy, if satisfied, then terminating demarcation flow, if not satisfied, reselecting initial installation position It sets.
As shown in figure 11, the present embodiment discloses a kind of trailer-mounted radar caliberating device, it may include with lower unit: acquiring unit 1101 and determination unit 1102, it is described as follows:
Acquiring unit 1101, for obtaining multiple first distances, multiple second distances, multiple thirds distance and vehicle-mounted thunder Up to data；
Determination unit 1102, for based on multiple first distances, multiple second distances, multiple thirds distance and vehicle-mounted thunder Up to data, determine trailer-mounted radar installation site and trailer-mounted radar installation site detecting error；
Wherein, first distance is the distance between the preset measurement point of vehicle periphery and wheel center of vehicle；Second away from From for the distance between preset reflective marker on measurement point and vehicle；Third distance is the preset Obstacle Position of vehicle periphery The distance between reflective marker；Trailer-mounted radar data are the number of the barrier that Obstacle Position is arranged in of trailer-mounted radar acquisition According to.
In some embodiments, determination unit 1102, comprising:
First determines subelement, for being based on multiple first distances, multiple second distances and multiple third distances, determines Coordinate of each third apart from corresponding Obstacle Position；
Second determines that subelement determines trailer-mounted radar for coordinate and trailer-mounted radar data based on Obstacle Position Installation site and trailer-mounted radar installation site detecting error.
In some embodiments, first subelement is determined, comprising:
First subelement determines the coordinate of the corresponding measurement point of each first distance for being based on multiple first distances；
Second subelement determines that each second distance is corresponding for coordinate and multiple second distances based on measurement point Reflective marker coordinate；
Third subelement, for based on reflective marker coordinate and multiple third distances, determine each third apart from right The coordinate for the Obstacle Position answered.
In some embodiments, second subelement is determined, comprising:
4th subelement determines that trailer-mounted radar perceives for coordinate and trailer-mounted radar data based on Obstacle Position Barrier coordinate and perceptual error；
5th subelement determines vehicle-mounted for the coordinate and perceptual error of coordinate, barrier based on Obstacle Position The detecting error of the installation site of radar and trailer-mounted radar in installation site.
In some embodiments, first distance includes: between the preset measurement point of vehicle periphery and the front-wheel center of vehicle Distance and the distance between measurement point and the rear-wheel center of vehicle；
Correspondingly, the first subelement, for based between the preset measurement point of vehicle periphery and the front-wheel center of vehicle The distance between the front-wheel center and rear-wheel center of the distance between rear-wheel center of distance, measurement point and vehicle and vehicle, Determine the coordinate of measurement point.
In some embodiments, the second subelement is used for:
The second distance between reflective marker and three measurement points is obtained, and obtains the coordinate of three measurement points；
Based on the second distance between reflective marker and three measurement points, and the coordinate based on three measurement points, determine The coordinate of reflective marker.
In some embodiments, third subelement is used for:
The third distance between Obstacle Position and three reflective markers is obtained, and obtains the seat of three reflective markers Mark；
Based on the third distance between Obstacle Position and three reflective markers, and the seat based on three reflective markers Mark, determines the coordinate of Obstacle Position.
In some embodiments, the 4th subelement is used for:
The coordinate of the initial makeup location of coordinate and trailer-mounted radar based on Obstacle Position, determines that Obstacle Position exists Polar coordinates estimated value in trailer-mounted radar coordinate system；
Range is screened based on polar coordinates estimated value and preset polar coordinates, is filtered out from trailer-mounted radar data in pole Coordinate screens the valid data in range；
Based on valid data, the coordinate and perceptual error of the barrier of trailer-mounted radar perception are determined.
In some embodiments, the 5th subelement is used for:
The coordinate of coordinate and barrier based on Obstacle Position determines trailer-mounted radar in the detection of initial makeup location Error；
Based on detecting error and perceptual error, determine trailer-mounted radar in the error total cost of initial makeup location；
Determine trailer-mounted radar in the error total cost of different initial makeup locations；
It determines that the corresponding initial makeup location of minimal error total cost is the installation site of trailer-mounted radar, and determines minimum The corresponding detecting error of error total cost is detecting error of the trailer-mounted radar in installation site.
Trailer-mounted radar caliberating device disclosed in above embodiments can be realized vehicle-mounted thunder disclosed in the above each method embodiment Up to the process of scaling method, to avoid repeating, details are not described herein.
The embodiment of the present invention also proposes a kind of non-transient computer readable storage medium, and the non-transient computer is readable to deposit Storage media stores computer instruction, and the computer instruction makes the computer execute the step of method provided by each method embodiment Suddenly, for example,
Obtain multiple first distances, multiple second distances, multiple thirds distance and trailer-mounted radar data；
Based on the multiple first distance, the multiple second distance, the multiple third distance and the vehicle-mounted thunder Up to data, determine trailer-mounted radar installation site and the trailer-mounted radar the installation site detecting error；
Wherein, the first distance is the distance between the preset measurement point of vehicle periphery and wheel center of vehicle；Institute Stating second distance is the distance between preset reflective marker on the measurement point and vehicle；The third distance is vehicle periphery The distance between preset Obstacle Position and the reflective marker；The trailer-mounted radar data are the setting of trailer-mounted radar acquisition In the data of the barrier of the Obstacle Position.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do There is also other identical elements in the process, method of element, article or device.
It will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments is wrapped Certain features for including rather than other feature, but the combination of the feature of different embodiments mean in the scope of the present invention it It is interior and form different embodiments.
Although the embodiments of the invention are described in conjunction with the attached drawings, but those skilled in the art can not depart from this hair Various modifications and variations are made in the case where bright spirit and scope, such modifications and variations are each fallen within by appended claims Within limited range.

Claims (10)

1. a kind of trailer-mounted radar scaling method, which is characterized in that the described method includes:
Obtain multiple first distances, multiple second distances, multiple thirds distance and trailer-mounted radar data；
Based on the multiple first distance, the multiple second distance, the multiple third distance and the trailer-mounted radar number According to, determine trailer-mounted radar installation site and the trailer-mounted radar the installation site detecting error；
Wherein, the first distance is the distance between the preset measurement point of vehicle periphery and wheel center of vehicle；Described Two distances are the distance between preset reflective marker on the measurement point and vehicle；The third distance is default for vehicle periphery Obstacle Position and the distance between the reflective marker；The setting that the trailer-mounted radar data acquire for trailer-mounted radar is in institute State the data of the barrier of Obstacle Position.
2. the method according to claim 1, wherein it is described based on the multiple first distance, the multiple the Two distance, the multiple third distance and the trailer-mounted radar data, determine trailer-mounted radar installation site and the vehicle Radar is carried in the detecting error of the installation site, comprising:
Based on the multiple first distance, the multiple second distance and the multiple third distance, each described is determined Three coordinates apart from corresponding Obstacle Position；
Coordinate and the trailer-mounted radar data based on the Obstacle Position, determine installation site and the institute of trailer-mounted radar Trailer-mounted radar is stated in the detecting error of the installation site.
3. according to the method described in claim 2, it is characterized in that, it is described based on the multiple first distance, the multiple the Two distances and the multiple third distance, determine coordinate of each third apart from corresponding Obstacle Position, comprising:
Based on the multiple first distance, the coordinate of the corresponding measurement point of each first distance is determined；
Coordinate and the multiple second distance based on the measurement point determine the corresponding reflecting sign of each second distance The coordinate of note；
Coordinate and the multiple third distance based on the reflective marker, determine each third apart from corresponding obstacle The coordinate of object location.
4. according to the method described in claim 3, it is characterized in that, the coordinate based on the Obstacle Position and described Trailer-mounted radar data determine that the installation site of the trailer-mounted radar and the trailer-mounted radar are missed in the detection of the installation site Difference, comprising:
Coordinate and the trailer-mounted radar data based on the Obstacle Position determine the barrier of the trailer-mounted radar perception Coordinate and perceptual error；
The coordinate of coordinate, the barrier based on the Obstacle Position and the perceptual error, determine the vehicle-mounted thunder The detecting error of the installation site that reaches and the trailer-mounted radar in the installation site.
5. according to the method described in claim 3, it is characterized in that, the first distance includes: the preset measurement of vehicle periphery The distance between point and the front-wheel center of vehicle and the distance between the measurement point and the rear-wheel center of vehicle；
Correspondingly, it is based on the multiple first distance, determines the coordinate of the corresponding measurement point of each first distance, comprising:
The distance between front-wheel center based on the preset measurement point of vehicle periphery and vehicle, the measurement point and vehicle rear-wheel The distance between center and the distance between the front-wheel center of vehicle and rear-wheel center, determine the coordinate of the measurement point.
6. according to the method described in claim 3, it is characterized in that, the coordinate based on the measurement point and the multiple Second distance determines the coordinate of the corresponding reflective marker of each second distance, comprising:
The second distance between reflective marker and three measurement points is obtained, and obtains the coordinate of three measurement points；
Based on the second distance between the reflective marker and three measurement points, and the seat based on three measurement points Mark, determines the coordinate of the reflective marker.
7. according to the method described in claim 3, it is characterized in that, the coordinate based on the reflective marker and described more A third distance determines coordinate of each third apart from corresponding Obstacle Position, comprising:
The third distance between Obstacle Position and three reflective markers is obtained, and obtains the seat of three reflective markers Mark；
Based on the third distance between the Obstacle Position and three reflective markers, and it is based on three reflecting signs The coordinate of note determines the coordinate of the Obstacle Position.
8. a kind of trailer-mounted radar caliberating device, which is characterized in that described device includes:
Acquiring unit, for obtaining multiple first distances, multiple second distances, multiple thirds distance and trailer-mounted radar data；
Determination unit, for based on the multiple first distance, the multiple second distance, the multiple third distance and institute Trailer-mounted radar data are stated, determine that the installation site of trailer-mounted radar and the trailer-mounted radar are missed in the detection of the installation site Difference；
Wherein, the first distance is the distance between the preset measurement point of vehicle periphery and wheel center of vehicle；Described Two distances are the distance between preset reflective marker on the measurement point and vehicle；The third distance is default for vehicle periphery Obstacle Position and the distance between the reflective marker；The setting that the trailer-mounted radar data acquire for trailer-mounted radar is in institute State the data of the barrier of Obstacle Position.
9. a kind of mobile unit characterized by comprising
Processor, memory, network interface and user interface；
The processor, memory, network interface and user interface are coupled by bus system；
The processor is used to execute such as any one of claim 1 to 7 by the program or instruction of calling the memory to store The step of the method.
10. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited Computer instruction is stored up, the computer instruction makes the computer execute the step such as any one of claim 1 to 7 the method Suddenly.
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