CN110907905A - Calibration device and method for installation position of millimeter wave radar - Google Patents
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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
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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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
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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Abstract
The invention discloses a calibration device and a calibration method for a millimeter wave radar installation position, which comprise a millimeter wave radar arranged on a vehicle, a corner reflector capable of reflecting millimeter waves, a processor and a calibration site marked with a distance mark, wherein the millimeter wave radar is positioned in the calibration site, and the corner reflector is placed in the calibration site through a support and positioned in the detection range of the millimeter wave radar. The calibration parameters of the installation position of the millimeter wave radar are solved for the target function through an LM optimization algorithm based on a g2o graph optimization library by utilizing the recorded real position of the corner reflector and the position of the corner reflector detected by the corresponding millimeter wave radar. The calibration method is convenient, rapid and easy to operate, has relatively good calibration effect, and has high use value in error correction of the installation position of the millimeter wave radar of the unmanned automobile.
Description
Technical Field
The invention relates to the field of computer vision, in particular to a calibration device and method for a millimeter wave radar installation position.
Background
With the rapid development of sensor technology and artificial intelligence, the unmanned automobile technology has also been rapidly developed. The unmanned automobile mainly comprises key technologies such as environment perception, intelligent decision making, control and the like, wherein the environment perception technology is the basic technology of the unmanned automobile. At present, the sensors commonly used in environmental perception include various sensors such as a camera, a millimeter wave radar, a laser radar and the like. Among them, millimeter wave radar is a more widely used depth sensor in unmanned vehicles.
The millimeter wave radar has high requirement on the accuracy of the installation position, and if the deviation of the installation position of the millimeter wave radar is large, the error of the target position detected by the millimeter wave radar is large; in addition, the millimeter wave radars produced by current millimeter wave radar manufacturers at home and abroad have certain angle deviation, and the deviation is difficult to completely eliminate at present. These deficiencies have a significant impact on the perception of the environment in driverless automotive technology.
CN109239685A discloses a calibration device and a calibration method for a vehicle-mounted millimeter wave radar mounting position, which can calibrate the millimeter wave radar mounting position, but the calibration method is relatively complicated, and after calibration, the mounting position of the millimeter wave radar needs to be adjusted according to the deviation of the millimeter wave radar mounting posture obtained by calculation, which is troublesome to operate.
Disclosure of Invention
The invention aims to provide a calibration device and a calibration method for a millimeter wave radar mounting position, so that calibration is more convenient and quicker, and operation is simple.
The calibration device for the installation position of the millimeter wave radar comprises a millimeter wave radar arranged on a vehicle, a corner reflector capable of reflecting millimeter waves, a processor and a calibration field marked with a distance mark, wherein the millimeter wave radar is positioned in the calibration field, the corner reflector is placed in the calibration field through a support and positioned in the detection range of the millimeter wave radar, and the real position data of the corner reflector and the position data of the corner reflector detected by the millimeter wave radar are led into the processor to be processed to obtain the calibration parameters of the installation position of the millimeter wave radar.
Preferably, the millimeter wave radar is installed in the center of a front bumper of the vehicle.
Preferably, the calibration site is a rectangular grid site of 10m × 30m, and the size of each grid is 1m × 1 m. The actual position of the corner reflector (including lateral and longitudinal distances) can be recorded based on the distance markers marked in the calibration field.
The invention relates to a calibration method of a millimeter wave radar installation position, which adopts the calibration device and comprises the following steps:
changing the position of a corner reflector in a calibration field k times, and recording k real positions of the corner reflector and k positions of the corner reflector detected by a millimeter wave radar, wherein the k real positions and the k positions are respectively represented as follows:
wherein q isjRepresenting the jth true position, p, of the corner reflectorjJ-th position, j-1, 2, 3.. times, k, of a corner reflector for millimeter-wave radar detection;
step two, corresponding the k real positions of the corner reflector obtained by recording to the k positions of the corner reflector detected by the millimeter wave radar one by one, leading the k real positions into a processor, and substituting the n real positions of the corner reflector and the n positions of the corner reflector detected by the corresponding millimeter wave radar into an objective function by utilizing an LM optimization algorithm based on a g2o graph optimization library:
in the method, a rotation matrix R and a translation vector T are obtained through solving; wherein q isiRepresenting the ith real position, Rp, of the corner reflectori+ T represents a measurement position obtained by calibrating (i.e., coordinate transforming) the ith position of the corner reflector detected by the millimeter wave radar, epsilon represents the square sum of the error between the real position of the corner reflector and the measurement position, and epsilon has the constraint condition: epsilon is less than or equal to 1 x 10-6；
Calibrating the residual k-n positions of the corner reflector detected by the millimeter wave radar by using the rotation matrix R and the translation vector T obtained by solving to obtain k-n calibrated measurement positions; the calibration of the millimeter wave radar mounting position is essentially the transformation between a millimeter wave radar coordinate system and a millimeter wave radar mounting position coordinate system;
respectively subtracting the transverse distances of the residual k-n real positions of the corner reflector from the transverse distances of the residual k-n positions of the corner reflector detected by the millimeter wave radar to obtain k-n transverse errors before calibration, and calculating the mean value mu of the k-n transverse errors before calibrationy0Sum variance σy0 2(ii) a Respectively subtracting the longitudinal distance of the residual k-n real positions of the corner reflector from the longitudinal distance of the residual k-n positions of the corner reflector detected by the millimeter wave radar to obtain k-n longitudinal errors before calibration, and calculating the mean value mu of the k-n longitudinal errors before calibrationx0Sum variance σx0 2(ii) a Respectively subtracting the transverse distances of the residual k-n real positions of the corner reflector from the transverse distances of the corresponding calibrated k-n measuring positions to obtain calibrated k-n transverse errors, and calculating the mean value mu of the calibrated k-n transverse errorsy1Sum variance σy1 2(ii) a Respectively subtracting the longitudinal distance of the residual k-n real positions of the corner reflector from the longitudinal distance of the corresponding calibrated k-n measuring positions to obtain calibrated k-n longitudinal errors, and calculating the mean value mu of the calibrated k-n longitudinal errorsx1Sum variance σx1 2；
Step five, if muy0-μy1≥μthryAnd sigmay0 2-σy1 2≥σthry 2While mux0-μx1≥μthrxAnd sigmax0 2-σx1 2≥σthrx 2If the calibration result of the installation position of the millimeter wave radar is not verified, the rotation matrix R and the translation vector T which are obtained by solving meet the calibration requirement (namely the calibration result of the installation position of the millimeter wave radar passes the verification), otherwise, the rotation matrix R and the translation vector T which are obtained by solving do not meet the calibration requirement (namely the calibration result of the installation position of the millimeter wave radar does not pass the verification); wherein, muthryIndicating a set transverse mean threshold, σthry 2Represents a set lateral variance threshold, μthrxIndicating a set longitudinal mean threshold, σthrx 2Indicating a set longitudinal variance threshold.
And if the solved rotation matrix R and translation vector T do not meet the calibration requirement, repeatedly executing the steps from the first step to the fifth step until the solved rotation matrix R and translation vector T meet the calibration requirement.
According to the method, the recorded real position of the corner reflector and the position of the corner reflector detected by the millimeter wave radar are utilized, the calibration parameters (namely the rotation matrix R and the translation vector T) of the installation position of the millimeter wave radar are solved for the target function through an LM optimization algorithm based on a g2o graphic optimization library, and the rotation matrix R and the translation vector T are directly integrated into software of a millimeter wave radar detection system of a vehicle as the calibration parameters during subsequent application, so that accurate detection of the millimeter wave radar can be realized. The calibration method is convenient and quick to calibrate, easy to operate and relatively good in calibration effect, and has high use value in error correction of the installation position of the millimeter wave radar of the unmanned automobile.
Drawings
Fig. 1 is a schematic diagram of a calibration apparatus (processor not shown) of a millimeter wave radar mounting position in the present embodiment.
Fig. 2 is a schematic view of a corner reflector used in the present embodiment.
Fig. 3 is a flowchart of calibration of the installation position of the millimeter wave radar in the present embodiment.
Fig. 4 is a table showing the real position data of the corner reflector arbitrarily extracted in the present embodiment and the corner reflector position data detected by the millimeter wave radar.
FIG. 5 is a comparison graph of the error before and after calibration in this example.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The calibration device for the installation position of the millimeter wave radar shown in fig. 1 and fig. 2 comprises a millimeter wave radar 1, a corner reflector 2 capable of reflecting millimeter waves, a processor and a calibration field marked with distance marks, wherein the calibration field is a rectangular grid field with the length of 10m by 30m, and the size of each grid is 1m by 1 m. According to the difference of functional requirements, the installation position of millimeter wave radar 1 is also different, and millimeter wave radar 1 installs in the front bumper center of vehicle in this embodiment, and millimeter wave radar 1 is located the initial point of demarcation place, and corner reflector 2 places in the demarcation place and is located millimeter wave radar 1's detection range through support 3, based on the distance sign of mark in the demarcation place alright record corner reflector's true position (including transverse distance, longitudinal distance). And during calibration, importing the real position data of the corner reflector 2 and the position data of the corner reflector detected by the millimeter wave radar 1 into a processor for processing to obtain calibration parameters of the installation position of the millimeter wave radar.
The calibration method for the installation position of the millimeter wave radar shown in fig. 3 specifically includes, by using the above calibration apparatus:
step one, acquiring the real position data of a corner reflector 2 and the corner reflector position data detected by a millimeter wave radar 1:
the position of the corner reflector 2 in the calibration field is changed k times, k real positions (including transverse distance and longitudinal distance) of the corner reflector 2 can be recorded and obtained based on the distance mark marked in the calibration field, and the k positions (including transverse distance and longitudinal distance) of the corner reflector 2 detected by the corresponding millimeter wave radar 1 can be recorded and obtained by reading data detected by the millimeter wave radar, and the k positions are respectively expressed as:
wherein q isjDenotes the j-th actual position, p, of the corner reflector 2jJ represents the j-th position of the corresponding corner reflector 2 detected by the millimeter-wave radar, j being 1, 2, 3.., k; partial position data see fig. 4.
Step two, solving the calibration parameters of the installation position of the millimeter wave radar, namely solving a rotation matrix R and a translation vector T:
and (2) enabling the recorded k real positions of the corner reflector to correspond to the k positions of the corner reflector detected by the millimeter wave radar one by one, guiding the k real positions into a processor, and utilizing an LM optimization algorithm (which is a well-known technology) based on a g2o graphic optimization library to bring the n real positions of the corner reflector and the n positions of the corner reflector detected by the corresponding millimeter wave radar into an objective function:
in the method, a rotation matrix R and a translation vector T are obtained through solving; wherein q isiRepresenting the ith real position, Rp, of the corner reflectori+ T represents a measurement position obtained by calibrating (i.e., coordinate transforming) the ith position of the corner reflector detected by the millimeter wave radar, epsilon represents the square sum of the error between the real position of the corner reflector and the measurement position, and epsilon has the constraint condition: epsilon is less than or equal to 1 x 10-6. The calibration of the installation position of the millimeter wave radar is essentially the transformation between the coordinate system of the millimeter wave radar and the central coordinate system of the front bumper.
Thirdly, the rotation matrix R and the translation vector T obtained by solving are utilized to carry out detection on the residual k-n positions (namely p) of the corner reflector detected by the millimeter wave radarn+1To pk) Calibrating to obtain k-n calibrated measurement positions (namely Rp)n+1+ T to Rpk+ T) corresponding to the addition of pn+1To pkTransformed to a measurement position Rpn+1+ T to Rpk+T。
Calculating the mean value and the variance of the transverse errors before and after calibration and the mean value and the variance of the longitudinal errors before and after calibration:
respectively putting the remaining k-n real positions (i.e. q) of the corner reflector 2n+1To qk) And the remaining k-n positions (i.e., p) of the corner reflector detected by the corresponding millimeter wave radar 1n+1To pk) Subtracting the transverse distances to obtain k-n transverse errors before calibration, and calculating the mean value mu of the k-n transverse errors before calibrationy0Sum variance σy0 2(ii) a Respectively putting the remaining k-n real positions (i.e. q) of the corner reflectorn+1To qk) And the remaining k-n positions (i.e., p) of the corner reflector detected by the corresponding millimeter wave radarn+1To pk) In the longitudinal direction ofDistance subtraction is carried out to obtain k-n longitudinal errors before calibration, and the mean value mu of the k-n longitudinal errors before calibration is calculatedx0Sum variance σx0 2(ii) a Respectively putting the remaining k-n real positions (i.e. q) of the corner reflectorn+1To qk) And the corresponding calibrated k-n measurement positions (i.e., Rp)n+1+ T to Rpk+ T) to obtain calibrated k-n transverse errors, and calculating the mean value mu of the calibrated k-n transverse errorsy1Sum variance σy1 2(ii) a Respectively putting the remaining k-n real positions (i.e. q) of the corner reflectorn+1To qk) And the corresponding calibrated k-n measurement positions (i.e., Rp)n+1+ T to Rpk+ T) longitudinal distance subtraction to obtain calibrated k-n longitudinal errors, and calculating the mean value mu of the calibrated k-n longitudinal errorsx1Sum variance σx1 2。
Step five, verifying the calibration result:
if μy0-μy1≥μthryAnd sigmay0 2-σy1 2≥σthry 2While mux0-μx1≥μthrxAnd sigmax0 2-σx1 2≥σthrx 2(namely, if the mean value and the variance of the transverse errors before and after calibration meet the requirements and the mean value and the variance of the longitudinal errors before and after calibration meet the requirements), the rotation matrix R and the translation vector T obtained by the solution meet the calibration requirements (namely, the calibration result of the installation position of the millimeter wave radar passes the verification), otherwise, the rotation matrix R and the translation vector T obtained by the solution do not meet the calibration requirements (namely, the calibration result of the installation position of the millimeter wave radar does not pass the verification). Wherein, muthryIndicating a set transverse mean threshold, σthry 2Represents a set lateral variance threshold, μthrxIndicating a set longitudinal mean threshold, σthrx 2Indicating a set longitudinal variance threshold.
And if the solved rotation matrix R and translation vector T do not meet the calibration requirement, repeatedly executing the steps from the first step to the fifth step until the solved rotation matrix R and translation vector T meet the calibration requirement.
In the embodiment, an error contrast map is drawn by using k-n transverse errors before calibration and k-n transverse errors after calibration; an error comparison graph is drawn by using the k-n longitudinal errors before calibration and the k-n longitudinal errors after calibration to obtain a graph shown in fig. 5, as can be seen from fig. 5, the installation position of the millimeter wave radar has certain deviation, and after calibration, the error (namely, the transverse error) of the transverse distance detected by the millimeter wave radar is obviously reduced.
In addition, if the rotation matrix R and the translation vector T obtained by the solution do not meet the calibration requirement, the position deviation values of k real positions of the corner reflector recorded in the step one and k positions of the corner reflector detected by the millimeter wave radar may be calculated first, if R position deviation values are greater than a set deviation threshold value, the R real positions of the corner reflector corresponding to the R position deviation values and the R positions of the corner reflector detected by the millimeter wave radar are deleted, then the remaining k-R real positions of the corner reflector and the k-R positions of the corner reflector detected by the millimeter wave radar are led into the processor, and then the subsequent steps are continuously executed until the rotation matrix R and the translation vector T obtained by the solution meet the calibration requirement.
Claims (5)
1. The utility model provides a calibration device of millimeter wave radar mounted position, includes millimeter wave radar (1) of installing on the vehicle, can reflect millimeter wave corner reflector (2), its characterized in that: the millimeter wave radar device is characterized by further comprising a processor and a calibration site marked with distance marks, the millimeter wave radar (1) is located in the calibration site, the corner reflector (2) is placed in the calibration site through the support (3) and located in the detection range of the millimeter wave radar (1), the real position data of the corner reflector (2) and the corner reflector position data detected by the millimeter wave radar (1) are led into the processor to be processed, and calibration parameters of the installation position of the millimeter wave radar are obtained.
2. The apparatus for calibrating a mounting position of a millimeter wave radar according to claim 1, wherein: the millimeter wave radar (1) is installed in the center of a front bumper of a vehicle.
3. The calibration apparatus for a millimeter wave radar mounting position according to claim 1 or 2, characterized in that: the calibration field is a rectangular grid field of 10m × 30m, and the size of each grid is 1m × 1 m.
4. A calibration method of a millimeter wave radar mounting position, using the calibration apparatus according to any one of claims 1 to 3, characterized by comprising:
changing the position of the corner reflector (2) in a calibration field k times, and recording k real positions of the corner reflector and k positions of the corner reflector detected by the millimeter wave radar, wherein the k real positions and the k positions are respectively represented as follows:
wherein q isjRepresenting the jth true position, p, of the corner reflectorjJ-th position, j-1, 2, 3.. times, k, of a corner reflector for millimeter-wave radar detection;
step two, corresponding the k real positions of the corner reflector obtained by recording to the k positions of the corner reflector detected by the millimeter wave radar one by one, leading the k real positions into a processor, and substituting the n real positions of the corner reflector and the n positions of the corner reflector detected by the corresponding millimeter wave radar into an objective function by utilizing an LM optimization algorithm based on a g2o graph optimization library:
in the method, a rotation matrix R and a translation vector T are obtained through solving; wherein q isiRepresenting the ith real position, Rp, of the corner reflectori+ T represents a measurement position obtained by calibrating the ith position of the corner reflector detected by the millimeter wave radar, epsilon represents the square sum of the error between the real position of the corner reflector and the measurement position, and epsilon represents a constraint conditionComprises the following steps: epsilon is less than or equal to 1 x 10-6；
Calibrating the residual k-n positions of the corner reflector detected by the millimeter wave radar by using the rotation matrix R and the translation vector T obtained by solving to obtain k-n calibrated measurement positions;
respectively subtracting the transverse distances of the residual k-n real positions of the corner reflector from the transverse distances of the residual k-n positions of the corner reflector detected by the millimeter wave radar to obtain k-n transverse errors before calibration, and calculating the mean value mu of the k-n transverse errors before calibrationy0Sum variance σy0 2(ii) a Respectively subtracting the longitudinal distance of the residual k-n real positions of the corner reflector from the longitudinal distance of the residual k-n positions of the corner reflector detected by the millimeter wave radar to obtain k-n longitudinal errors before calibration, and calculating the mean value mu of the k-n longitudinal errors before calibrationx0Sum variance σx0 2(ii) a Respectively subtracting the transverse distances of the residual k-n real positions of the corner reflector from the transverse distances of the corresponding calibrated k-n measuring positions to obtain calibrated k-n transverse errors, and calculating the mean value mu of the calibrated k-n transverse errorsy1Sum variance σy1 2(ii) a Respectively subtracting the longitudinal distance of the residual k-n real positions of the corner reflector from the longitudinal distance of the corresponding calibrated k-n measuring positions to obtain calibrated k-n longitudinal errors, and calculating the mean value mu of the calibrated k-n longitudinal errorsx1Sum variance σx1 2；
Step five, if muy0-μy1≥μthryAnd sigmay0 2-σy1 2≥σthry 2While mux0-μx1≥μthrxAnd sigmax0 2-σx1 2≥σthrx 2If not, the rotation matrix R and the translation vector T obtained by solving do not meet the calibration requirement; wherein, muthryIndicating a set transverse mean threshold, σthry 2Represents a set lateral variance threshold, μthrxIndicating a set longitudinal mean threshold, σthrx 2Indicating a set longitudinal variance threshold.
5. The method for calibrating the installation position of a millimeter wave radar according to claim 4, characterized in that: and if the solved rotation matrix R and translation vector T do not meet the calibration requirement, repeatedly executing the steps from the first step to the fifth step until the solved rotation matrix R and translation vector T meet the calibration requirement.
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