CN112596039A - Radar calibration method and system, simulation calibration system and control method thereof - Google Patents
Radar calibration method and system, simulation calibration system and control method thereof Download PDFInfo
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- CN112596039A CN112596039A CN202011644177.7A CN202011644177A CN112596039A CN 112596039 A CN112596039 A CN 112596039A CN 202011644177 A CN202011644177 A CN 202011644177A CN 112596039 A CN112596039 A CN 112596039A
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- 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
- G01S7/4056—Means for monitoring or calibrating by simulation of echoes specially adapted to FMCW
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Abstract
The invention discloses a radar calibration method, a radar calibration system, a simulation calibration system and a control method of the simulation calibration system. The radar calibration method is applied to an upper computer, simulation software is stored in the upper computer, the upper computer is in communication connection with the simulation calibration system, and the radar calibration method comprises the following steps: building a virtual vehicle model, a traffic scene virtual model and a virtual target model in simulation software; transmitting the set relevant parameters of the target of the virtual target model to the simulation device, so that the simulation device simulates the simulation waveform of the virtual target model according to the received detection signal sent by the radar and the set relevant parameters of the target, and transmitting the simulation waveform to the radar; acquiring measurement related parameters of a target of an analog waveform by a radar; and calibrating the radar according to the measurement related parameters of the target and the set related parameters of the target. The radar calibration method can calibrate the radar without a vehicle, improves the calibration efficiency of the radar, and shortens the research and development period of the whole vehicle.
Description
Technical Field
The invention relates to the technical field of radar detection, in particular to a radar calibration method, a radar calibration system, a simulation calibration system and a control method of the simulation calibration system.
Background
The millimeter wave radar has the characteristics of large bandwidth, strong penetration capability, no influence of external weather environment and the like, is often used as an important external environment perception sensor, and is widely applied to the fields of advanced vehicle Assistant Driving (ADAS) and Automatic Driving (AD). In the development process of the ADAS (or AD) system, a series of test verification work needs to be carried out, but the real vehicle test needs a large amount of preparation work, the test efficiency is low, the scene reappearance cannot be guaranteed, the verification period of the whole system is long, the cost is high, and the safety of testers cannot be guaranteed. The hardware-in-the-loop test system developed in a laboratory can make up for the defects, and a V flow development system of an ADAS (or AD) product is perfected. According to a V flow development system of an ADAS (or AD) system, when hardware in-loop test or real vehicle in-loop simulation test of the system is carried out, millimeter wave radar calibration needs to be carried out in advance, so that the system has an activation function condition. The millimeter wave radar calibration method is limited to the development progress of the whole vehicle, the millimeter wave radar calibration before testing is difficult to work, failure faults of the millimeter wave radar are prone to occurring in the testing process, and secondary calibration needs to be carried out. At present, most of the work depends on special parts provided by suppliers or calibrated parts, inconvenience exists in the whole test period, and the development and verification progress of new vehicle types is influenced.
Disclosure of Invention
The invention mainly aims to provide a radar calibration method, a radar calibration system, a simulation calibration system and a control method thereof, and aims to solve the problem that radar calibration needs to be carried out by depending on a whole vehicle in the prior art.
In order to achieve the above object, the present invention provides a radar calibration method, which is applied to an upper computer, wherein hardware-in-the-loop test system software and virtual scene software are stored in the upper computer, the upper computer is in communication connection with a simulation calibration system, and the radar calibration method comprises:
building a virtual vehicle model in hardware-in-loop test system software, and building a traffic scene virtual model and a virtual target model in virtual scene software;
transmitting the set relevant parameters of the target of the virtual target model to the simulation calibration system, so that a simulation device of the simulation calibration system simulates the simulation waveform of the virtual target model according to the received detection signal sent by the radar and the set relevant parameters of the target, and transmits the simulation waveform to the radar of the simulation calibration system;
acquiring measurement related parameters of the radar on a target of the analog waveform;
and calibrating the radar according to the measurement related parameters of the target and the set related parameters of the target.
Optionally, the setting related parameters of the target include a distance parameter, a speed parameter, and an angle parameter.
The present invention also provides an upper computer, which includes: memory, a processor and a radar calibration control program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the radar calibration method as claimed in any one of claims 1 to 2.
The invention also provides a control method of the simulation calibration system, the simulation calibration system comprises a darkroom, a simulation device and a radar, the simulation device comprises a control module, a signal simulation unit and a transceiver module, the darkroom is used for shielding electromagnetic waves of an external environment, the radar and the transceiver module are arranged in the darkroom, the signal simulation unit is used for simulating the waveform of the virtual target model, the transceiver module is used for receiving detection signals sent by the radar and transmitting the simulation waveforms to the radar, the control module is electrically connected with the signal simulation unit and the transceiver module, the control method of the simulation calibration system is applied to the control module, and the control method of the simulation calibration system comprises the following steps:
acquiring a set related parameter of a target sent by an upper computer and a detection signal sent by the radar received by the transceiver module;
and controlling the signal simulation unit to simulate the simulation waveform of the virtual target model according to the set relevant parameters of the target and the detection signal, and controlling the transceiver module to transmit the simulation waveform to the radar.
Optionally, the analog calibration system further includes a first driving device, a driving end of the first driving device is connected to the radar and is configured to drive the radar to rotate, the first driving device is electrically connected to the control module, the transceiver module includes a first transceiver module, and the first transceiver module is fixedly installed in the darkroom;
the set relevant parameters of the target comprise a distance parameter, a speed parameter and an angle parameter;
controlling the signal simulation unit to simulate the simulation waveform of a virtual target model according to the set relevant parameters of the target and the detection signal, and controlling the transceiver module to transmit the simulation waveform to the radar, wherein the step comprises the following steps:
controlling the signal simulation unit to simulate a distance information waveform and a speed information waveform of a first virtual target model according to a set distance parameter, a speed parameter and the detection signal of one target;
controlling the first driving device to rotate according to the set angle parameter of the target to drive the radar to rotate so as to control the signal simulation unit to simulate the angle information waveform of the first virtual target model;
and controlling the first transceiver module to transmit the distance information waveform, the speed information waveform and the angle information waveform of the first virtual target model to the radar.
Optionally, the transceiver module includes a second transceiver module, the second transceiver module is capable of being rotatably disposed on a circumference set by taking the driving end of the first driving device as an axis, the second transceiver module is configured to receive a detection signal sent by the radar and transmit the analog waveform to the radar, and the second transceiver module is electrically connected to the control module;
the set relevant parameters of the target comprise a distance parameter, a speed parameter and an angle parameter;
after the step of controlling the signal simulation unit to simulate the simulation waveform of the virtual target model according to the set relevant parameters of the target and the detection signal, and controlling the transceiver module to transmit the simulation waveform to the radar, the method comprises the following steps:
controlling the signal simulation unit to simulate a distance information waveform and a speed information waveform of a second virtual target model according to the set related parameters of the other target and the detection signal;
controlling the second transceiver module to rotate by taking the driving end of the first driving device as an axis;
controlling the signal simulation unit to simulate the angle information waveform of the second virtual target model;
and controlling the second transceiver module to transmit the distance information waveform, the speed information waveform and the angle information waveform of the second virtual target model to the radar.
The invention also provides a simulation calibration system, which comprises:
the inner wall of the darkroom is also provided with a wave-absorbing material for shielding electromagnetic waves of the external environment, and the radar is arranged in the darkroom;
a simulation apparatus, the simulation apparatus comprising a control module, a signal processing unit and a transceiver module, the control module comprising a memory, a processor and a simulation calibration control program stored in the memory and operable on the processor, the simulation calibration control program being executed by the processor to implement the steps of the control method of the simulation calibration system according to any one of claims 4 to 6, the signal simulation unit being configured to simulate a simulation waveform of a virtual target model according to the setting-related parameters of the target and the probe signal, the transceiver module comprising a first transceiver module and a second transceiver module, the first transceiver module and the second transceiver module being configured to receive the probe waveform emitted by the radar and to emit the simulation waveform to the radar;
a radar for calibration; and the number of the first and second groups,
and the first driving device is electrically connected with the control module so as to drive the radar to rotate by rotating the first driving device.
The invention also provides a radar calibration system which comprises the upper computer in the technical scheme and the simulation calibration system in the technical scheme.
In the technical scheme of the invention, a virtual vehicle model is built through hardware-in-the-loop test system software, communication connection is established between the virtual vehicle model and the radar, so that the calibration work of the radar relative to the virtual vehicle can be realized, a traffic scene virtual model and a virtual target model are built in virtual scene software, relevant parameters of the virtual target model are given, the relevant parameters of the virtual target model are sent to the simulation calibration system, a simulation device in the simulation calibration system simulates a corresponding simulation waveform, the simulation waveform is sent to the radar, the radar is calibrated through the upper computer and the radar in the simulation calibration system, and the radar can be calibrated according to the measurement relevant parameters of the target and the set relevant parameters of the target without setting a real vehicle, the calibration efficiency of the radar is improved, and the research and development period of the whole vehicle is shortened.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a functional block diagram of an embodiment of a radar calibration system of the present invention;
FIG. 2 is a flow chart of a radar calibration method of the present invention;
FIG. 3 is a flowchart of a first embodiment of a control method of the analog calibration system of the present invention;
FIG. 4 is a functional block diagram of a first embodiment of an analog device in the analog calibration system of the present invention;
FIG. 5 is a functional block diagram of a first embodiment of an analog device in the analog calibration system according to the present invention;
FIG. 6 is a flowchart illustrating a control method of a simulation calibration system according to a second embodiment of the present invention.
FIG. 7 is a schematic structural diagram of a second embodiment of a simulation apparatus in the simulation calibration system according to the present invention;
fig. 8 is a schematic structural diagram of a second embodiment of the simulation apparatus in the simulation calibration system according to the present invention. The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 1 | |
2231 | |
| 2 | |
2232 | |
| 21 | Darkroom | 23 | |
| 22 | |
24 | |
| 221 | |
25 | |
| 222 | Signal processing unit | 26 | Connecting |
| 223 | Transceiver module |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The millimeter wave radar has the characteristics of large bandwidth, strong penetration capability, no influence of external weather environment and the like, is often used as an important external environment perception sensor, and is widely applied to the fields of advanced vehicle Assistant Driving (ADAS) and Automatic Driving (AD). In the development process of the ADAS (or AD) system, a series of test verification work needs to be carried out, but the real vehicle test needs a large amount of preparation work, the test efficiency is low, the scene reappearance cannot be guaranteed, the verification period of the whole system is long, the cost is high, and the safety of testers cannot be guaranteed. The hardware-in-the-loop test system developed in a laboratory can make up for the defects, and a V flow development system of an ADAS (or AD) product is perfected. According to a V flow development system of an ADAS (or AD) system, when hardware in-loop test or real vehicle in-loop simulation test of the system is carried out, millimeter wave radar calibration needs to be carried out in advance, so that the system has an activation function condition. The millimeter wave radar calibration method is limited to the development progress of the whole vehicle, the millimeter wave radar calibration before testing is difficult to work, failure faults of the millimeter wave radar are prone to occurring in the testing process, and secondary calibration needs to be carried out. At present, most of the work depends on special parts provided by suppliers or calibrated parts, inconvenience exists in the whole test period, and the development and verification progress of new vehicle types is influenced.
In view of this, the main objective of the present invention is to provide a radar calibration method, a radar calibration system, a simulation calibration system, and a control method thereof, and to solve the problem in the prior art that radar calibration needs to be performed by a whole vehicle, fig. 1 to 8 are embodiments of a radar calibration method, a radar calibration system, a simulation calibration system, and a control method thereof provided by the present invention, and the following description will be made with reference to specific drawings.
The upper computer 1 may include: a processor, such as a Central Processing Unit (CPU), a communication bus, a user interface, a network interface, and a memory. Wherein the communication bus is used for realizing connection communication among the components. The user interface may comprise a Display screen (Display), and the optional user interface may further comprise a standard wired interface, a wireless interface, and the wired interface for the user interface may be a USB interface in the present invention. The network interface may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory may be a Random Access Memory (RAM) Memory or a Non-volatile Memory (NVM), such as a disk Memory. The memory may alternatively be a storage device separate from the aforementioned processor.
In the upper computer 1, a network interface is mainly used for connecting a background server and carrying out data communication with the background server; the user interface is mainly used for connecting user equipment; the radar calibration system calls a control program and software stored in a memory through a processor and executes the radar calibration method.
The invention provides a radar calibration system, please refer to fig. 1, which includes an upper computer 1 in the above technical scheme and a simulation calibration system 2 in the above technical scheme.
The invention also provides a radar calibration method, which is applied to an upper computer 1, wherein hardware-in-the-loop test system software and virtual scene software are stored in the upper computer 1, the upper computer 1 is in communication connection with a simulation calibration system 2, and please refer to fig. 2, the radar calibration method comprises the following steps:
step S1, building a virtual vehicle model in hardware-in-loop test system software, and building a traffic scene virtual model and a virtual target model in virtual scene software;
step S1 specifically includes:
and step S11, establishing a data communication IO interface model by combining the communication signal requirement activated by the radar function through Simulink software.
And step S12, importing a whole vehicle dbc document into hardware-in-loop test system software, connecting the dbc document with a CAN communication board card of the hardware-in-loop test system through the IO interface model, constructing a virtual vehicle model, and realizing that the radar 3 is in a virtual whole vehicle CAN communication environment.
Step S13, according to the calibration scene requirement, establishing a virtual road traffic scene in the virtual scene software, setting the motion state of the virtual vehicle according to the radar calibration requirement, and simultaneously setting a virtual target model in the own lane or the nearby lane according to the set relevant parameters of the target of the virtual target model.
Step S2, transmitting the setting relevant parameters of the target of the virtual target model to the simulation calibration system 2, so that the simulation device 22 of the simulation calibration system 2 simulates the simulation waveform of the virtual target model according to the received detection signal sent by the radar 23 and the setting relevant parameters of the target, and transmits the simulation waveform to the radar 23 of the simulation calibration system 2;
step S3, acquiring relevant parameters of the radar 23 for measuring the target of the analog waveform;
step S4, calibrating the radar 23 according to the measurement related parameters of the target and the setting related parameters of the target.
Specifically, the setting-related parameters of the target include a distance parameter, a speed parameter, and an angle parameter.
In this embodiment, the distance parameter, the speed parameter and the angle parameter are transmitted to the simulation device 22, the simulation device 22 simulates a distance information waveform according to the distance parameter, simulates a speed information waveform according to the speed parameter, and simulates an angle information waveform according to the angle parameter.
It should be noted that, in order to detect a target, the radar first transmits a signal (i.e. the aforementioned detection signal) to the outside, and after the signal reaches a pedestrian or a vehicle, the signal is reflected back to be received by a receiving antenna of the radar, and after signal processing and other processes, the radar detects parameters such as speed, distance, angle and the like of the target based on the reflected signal.
When the radar is mounted on the vehicle during assembly, the radar may be misaligned or misaligned, thereby producing a deviation from a desired position for mounting on the vehicle. The deviations may be rotational deviations or may be deviation deviations, which may be one or more of pitch, yaw, and roll. Such misalignment or misalignment may lead to target positioning errors. For example, for an ideal radar installation, the target is located at a position that is sensed by the system. However, if the radar is misaligned, it may cause the sensing system to detect an obstacle at a position that is not coincident with its actual position.
In the invention, a virtual vehicle model is built through hardware-in-the-loop test system software, communication between the virtual vehicle model and the radar 23 is built, namely, the radar 23 is connected with the virtual vehicle, at the moment, the radar 23 is considered to be installed at the expected position of the virtual vehicle, a traffic scene virtual model and a virtual target model are built in virtual scene software, namely, simulation of a radar calibration scene is realized, related set parameters of the virtual target model are given, the related parameters of the virtual target model are sent to the simulation calibration system 2, a simulation device 22 in the simulation calibration system 2 simulates a corresponding simulation waveform, the simulation waveform is sent to the radar 23, the upper computer 1 receives the simulation waveform through the radar 23 in the simulation calibration system 2, the radar 23 is calibrated according to the measurement related parameters of the target and the setting related parameters of the target, real vehicles and formal road scenes are not needed to be arranged, the occupied space is small, the equipment structure is simple, the radar 23 can be calibrated through the upper computer 1 and the simulation calibration system 2, the calibration efficiency of the radar is improved, the development process of ADAS is shortened, the safety of testers is guaranteed, and the development cycle of the whole vehicle is shortened.
The invention also provides a simulation calibration system, wherein the simulation calibration system 2 comprises a darkroom 21, a simulation device 22, a radar 23 and a first driving device 24, the inner wall of the darkroom 21 is also provided with a wave-absorbing material for shielding electromagnetic waves of the external environment, and the radar 23 is arranged in the darkroom 21; the simulation apparatus 22 includes a control module 221, a signal processing unit 222, and a transceiver module 223, where the control module 221 includes a memory, a processor, and a simulation calibration control program stored in the memory and executable on the processor, the simulation calibration control program is executed by the processor to implement the steps of the control method of the simulation calibration system according to the above technical solution, the signal simulation unit 222 is configured to simulate a simulation waveform of a virtual target model according to the setting-related parameter of the target and the detection signal, the transceiver module 223 includes a first transceiver module 2231 and a second transceiver module 2232, and the first transceiver module 2231 and the second transceiver module 2232 are both configured to receive the detection waveform emitted by the radar 23 and to emit the simulation waveform to the radar 23; the radar 23 is in communication connection with the upper computer 1, and the radar 1 is used for calibration; the first driving device 24 is electrically connected to the control module 221, so that the radar 23 is driven to rotate by rotating the first driving device 24.
In this embodiment, the size of the dark room 21 is 3 × 2 meters, and the attenuation value of the wave-absorbing material to the millimeter wave radar signal is not lower than 50dB, so that the electromagnetic wave in the external environment can be effectively shielded, and no virtual target is generated.
The signal simulation unit 22 is configured to simulate a waveform of characteristic information of a target object, where the waveform corresponding to a set related parameter of a target of the virtual target model may include a distance information waveform, a speed information waveform, and an angle information waveform. Specifically, distance information can be obtained through a principle of delay ranging, speed information can be obtained through Doppler frequency shift speed measurement, and angle information can be obtained through phase angle measurement, it should be noted that, for simulation of a distance information waveform, because waves propagate at the speed of light, in a delay ranging mode, the smaller the simulation delay of the distance needs to be controlled, the better the simulation is, at present, the simulation at a short distance is simulated through a winding delay line; and for long-range analog, by digital modulation. The smaller the distance simulation is, the more scenes can be realized and the closer to the actual scene can be.
It should be noted that, the working frequency of the millimeter wave radar for the vehicle is millimeter waves, which cannot be directly transmitted in a radio frequency line, and a frequency conversion module is required to convert high-frequency band radar waves into medium-frequency band radar waves for transmission, and finally, the high-frequency band radar waves are converted into high-frequency band radar waves and transmitted through a transceiver antenna. Therefore, the first transceiver module 2231 includes a first transceiver antenna and a first frequency conversion module, and the second transceiver module 2232 includes a second transceiver antenna and a second frequency conversion module, where the transceiver antenna may specifically be a transceiver antenna, and may also include a receiving antenna and a transmitting antenna, which is not limited herein; after the receiving and transmitting antenna receives the detection signal sent by the millimeter wave radar for the vehicle, the received detection signal can be converted into the intermediate frequency signal through the frequency conversion module, then the intermediate frequency signal is processed by the signal simulation unit 222 to realize the simulation of distance, speed and angle, then the processed intermediate frequency signal is sent to the frequency conversion module by the signal simulation unit 222, and the intermediate frequency signal is up-converted to the millimeter wave level simulation signal by the frequency conversion module and then is transmitted through the receiving and transmitting antenna.
The invention also provides a control method of the simulation calibration system, the simulation calibration system 2 comprises a darkroom 21, a simulation device 22 and a radar 23, the simulation device 22 comprises a control module 221, a signal simulation unit 222 and a transceiver module 223, the darkroom 21 is used for shielding electromagnetic waves of the external environment, and the radar 23 and the transceiver module 223 are installed in the darkroom 21, the signal simulation unit 222 is used for simulating the waveform of the virtual target model, the transceiver module 223 is used for receiving probe signals from the radar and for transmitting the analog waveform to the radar, the control module 221 is electrically connected with the signal simulation unit 222 and the transceiver module 223, the control method of the simulated calibration system is applied to the control module 221, and referring to fig. 3 to 5, the control method of the simulated calibration system includes:
step S10, acquiring the set relevant parameters of the target sent by the upper computer 1 and the detection signal sent by the radar 23 received by the transceiver module 223;
step S20, according to the set relevant parameters of the target and the detection signal, controlling the signal simulation unit 222 to simulate the simulation waveform of the virtual target model, and controlling the transceiver module 223 to transmit the simulation waveform to the radar 23.
Specifically, according to the principle of radar angle measurement, angle simulation cannot be realized by means of signal processing. Therefore, the radar 23 is required to rotate synchronously with the rotating device through the rotating device, so that the adjustment and determination of the relative angular relationship between the radar 23 and the transceiver module 223 are realized, and the simulation of the angle is realized. Therefore, in this embodiment, a mounting table is installed on the top of the darkroom 21, the mounting table can be adjusted with 6 degrees of freedom, the analog calibration system 2 further includes a first driving device 24, the first driving device 24 is installed on the mounting table, a driving end of the first driving device 24 is connected to the radar 23 for driving the radar 23 to rotate, the first driving device 24 is driven by the mounting table to have 6 degrees of freedom for adjustment, the first driving device 24 is electrically connected to the control module 221, the transceiver module 223 includes a first transceiver module 2231, and the first transceiver module 2231 is fixedly installed on the darkroom 21;
setting related parameters of the target comprise a distance parameter, a speed parameter and an angle parameter;
step S20, according to the set relevant parameters of the target and the detection signal, controlling the signal simulation unit 222 to simulate the simulation waveform of the virtual target model, and controlling the transceiver module 223 to transmit the simulation waveform to the radar 23, specifically including:
step S201, controlling the signal simulation unit 222 to simulate a distance information waveform and a speed information waveform of a first virtual target model according to a set distance parameter, a speed parameter and the detection signal of one target;
step S202, controlling the first driving device 24 to rotate according to the set angle parameter of the target, so as to drive the radar 23 to rotate, so as to control the signal simulation unit 222 to simulate the angle information waveform of the first virtual target model;
wherein, the control module 221 controls the first driving device 24 to rotate by a corresponding angle according to the set angle information parameter of the target, and since the first transceiver module 2231 is fixedly installed in the darkroom 21, at this time, the radar 23 is rotated relative to the first transceiver module 2231, and it is understood that, according to the reference, if the radar 23 is used as a reference object, it can be considered that the first transceiver module 2231 rotates by a certain angle relative to the radar 23, i.e., the simulated angle information waveform of the first virtual target model, so as to save space, reduce the size of the darkroom 21, save cost, meanwhile, in the dark room 21 where the first transceiver module 2231 is fixed, the propagation distance of the signal in the wire harness is shortened.
Step S203, controlling the first transceiver module 2231 to transmit the distance information waveform, the velocity information waveform, and the angle information waveform of the first virtual target model to the radar 23.
Because the mounting table can be adjusted in 6 degrees of freedom, once the radar 23 is determined to have deviation in the mounting position through calibration of the radar 23, the upper computer 1 can provide the mounting angle required to be adjusted according to the determined deviation. For example, if the calibration process determines that the radar 23 is not aligned with the left side, the upper computer 1 gives a translation amount adjusted to the right, and the mounting table is correspondingly adjusted to drive the radar 23 to be finely adjusted, so that the radar 23 is effectively adjusted to correct the determined deviation, and the accuracy of the installation position of the radar 23 is ensured.
Specifically, in this embodiment, the transceiver module 223 includes a second transceiver module 2232, the second transceiver module 2232 can be rotatably disposed on a circumference that is set by taking the driving end of the first driving device 24 as an axis, the second transceiver module 2232 is configured to receive a detection signal sent by the radar 23 and transmit the analog waveform to the radar 23, and the second transceiver module 2232 is electrically connected to the control module 221.
Further, referring to fig. 6 to 8, a specific form that the second transceiver module 2232 can rotate on a circumference set by taking the driving end of the first driving device 24 as an axis is not limited, and an annular gear ring may be disposed on the circumference set by the driving end of the first driving device 24, and the second transceiver module 2232 is provided with a driving motor, a main shaft of the driving motor is fixedly connected with a gear, and the gear is engaged with the gear ring to drive the second transceiver module 2232 to rotate. In this embodiment, the analog calibration system 2 includes a second driving device 25 and a connecting arm 26, the second driving device 25 is installed in the darkroom 21 and is coaxially arranged with the first driving device 24, and a driving end of the second driving device 25 extends upward; one end of the connecting arm 26 is connected to the driving end of the second driving device 25, and the other end is connected to the second transceiver module 2232, so as to drive the second transceiver module 2232 to rotate around the driving end of the first driving device 24 as an axis;
setting related parameters of the target comprise a distance parameter, a speed parameter and an angle parameter;
step S20, after the step of controlling the signal simulation unit 222 to simulate the simulation waveform of the virtual target model according to the setting related parameters of the target and the detection signal, and controlling the transceiver module to transmit the simulation waveform to the radar 23, includes:
step S30, controlling the signal simulation unit 222 to simulate a distance information waveform and a velocity information waveform of a second virtual target model according to the set related parameters of another target and the detection signal;
step S40, controlling the second transceiver module 2232 to rotate around the driving end of the first driving device 24;
step S50, controlling the signal simulation unit 222 to simulate the angle information waveform of the second virtual target model;
step S60, controlling the second transceiver module 2232 to transmit the distance information waveform, the velocity information waveform, and the angle information waveform of the second virtual target model to the radar 23.
The present invention also provides an upper computer 1, wherein the upper computer 1 includes: the system comprises a memory, a processor and a radar calibration control program stored on the memory and capable of running on the processor, wherein the radar calibration control program realizes the steps of any one of the radar calibration methods when being executed by the processor.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A radar calibration method is applied to an upper computer and is characterized in that hardware-in-the-loop test system software and virtual scene software are stored in the upper computer, the upper computer is in communication connection with a simulation calibration system, and the radar calibration method comprises the following steps:
building a virtual vehicle model in hardware-in-loop test system software, and building a traffic scene virtual model and a virtual target model in virtual scene software;
transmitting the set relevant parameters of the target of the virtual target model to the simulation calibration system, so that a simulation device of the simulation calibration system simulates the simulation waveform of the virtual target model according to the received detection signal sent by the radar and the set relevant parameters of the target, and transmits the simulation waveform to the radar of the simulation calibration system;
acquiring measurement related parameters of the radar on a target of the analog waveform;
and calibrating the radar according to the measurement related parameters of the target and the set related parameters of the target.
2. A method for radar calibration as claimed in claim 1, wherein the setting-related parameters of the target include a distance parameter, a speed parameter and an angle parameter.
3. The utility model provides a host computer, its characterized in that, the host computer includes: memory, a processor and a radar calibration control program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the radar calibration method as claimed in any one of claims 1 to 2.
4. A control method of a simulation calibration system is characterized in that the simulation calibration system comprises a darkroom, a simulation device and a radar, the simulation device comprises a control module, a signal simulation unit and a transceiver module, the darkroom is used for shielding electromagnetic waves of an external environment, the radar and the transceiver module are installed in the darkroom, the signal simulation unit is used for simulating waveforms of a virtual target model, the transceiver module is used for receiving detection signals sent by the radar and transmitting the simulation waveforms to the radar, the control module is electrically connected with the signal simulation unit and the transceiver module, the control method of the simulation calibration system is applied to the control module, and the control method of the simulation calibration system comprises the following steps:
acquiring a set related parameter of a target sent by an upper computer and a detection signal sent by the radar received by the transceiver module;
and controlling the signal simulation unit to simulate the simulation waveform of the virtual target model according to the set relevant parameters of the target and the detection signal, and controlling the transceiver module to transmit the simulation waveform to the radar.
5. The method for controlling the analog calibration system of claim 4, further comprising a first driving device, wherein a driving end of the first driving device is connected to the radar for driving the radar to rotate, the first driving device is electrically connected to the control module, the transceiver module comprises a first transceiver module, and the first transceiver module is fixedly installed in the darkroom;
the set relevant parameters of the target comprise a distance parameter, a speed parameter and an angle parameter;
controlling the signal simulation unit to simulate the simulation waveform of a virtual target model according to the set relevant parameters of the target and the detection signal, and controlling the transceiver module to transmit the simulation waveform to the radar, wherein the step comprises the following steps:
controlling the signal simulation unit to simulate a distance information waveform and a speed information waveform of a first virtual target model according to a set distance parameter, a speed parameter and the detection signal of one target;
controlling the first driving device to rotate according to the set angle parameter of the target to drive the radar to rotate so as to control the signal simulation unit to simulate the angle information waveform of the first virtual target model;
and controlling the first transceiver module to transmit the distance information waveform, the speed information waveform and the angle information waveform of the first virtual target model to the radar.
6. The method for controlling the simulation calibration system according to claim 4, wherein the transceiver module comprises a second transceiver module, the second transceiver module is rotatably disposed on a circumference with the driving end of the first driving device as an axis, the second transceiver module is used for receiving a detection signal sent by the radar and transmitting the simulation waveform to the radar, and the second transceiver module is electrically connected to the control module;
the set relevant parameters of the target comprise a distance parameter, a speed parameter and an angle parameter;
after the step of controlling the signal simulation unit to simulate the simulation waveform of the virtual target model according to the set relevant parameters of the target and the detection signal, and controlling the transceiver module to transmit the simulation waveform to the radar, the method comprises the following steps:
controlling the signal simulation unit to simulate a distance information waveform and a speed information waveform of a second virtual target model according to the set related parameters of the other target and the detection signal;
controlling the second transceiver module to rotate by taking the driving end of the first driving device as an axis;
controlling the signal simulation unit to simulate the angle information waveform of the second virtual target model;
and controlling the second transceiver module to transmit the distance information waveform, the speed information waveform and the angle information waveform of the second virtual target model to the radar.
7. A simulated calibration system, said simulated calibration system comprising:
the inner wall of the darkroom is also provided with a wave-absorbing material for shielding electromagnetic waves of the external environment, and the radar is arranged in the darkroom;
a simulation apparatus, the simulation apparatus comprising a control module, a signal processing unit and a transceiver module, the control module comprising a memory, a processor and a simulation calibration control program stored in the memory and operable on the processor, the simulation calibration control program being executed by the processor to implement the steps of the control method of the simulation calibration system according to any one of claims 4 to 6, the signal simulation unit being configured to simulate a simulation waveform of a virtual target model according to the setting-related parameters of the target and the probe signal, the transceiver module comprising a first transceiver module and a second transceiver module, the first transceiver module and the second transceiver module being configured to receive the probe waveform emitted by the radar and to emit the simulation waveform to the radar;
a radar for calibration; and the number of the first and second groups,
and the first driving device is electrically connected with the control module so as to drive the radar to rotate by rotating the first driving device.
8. A radar calibration system, characterized in that the radar calibration system comprises the upper computer of claim 3 and the analog calibration system of claim 7.
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