CN113702930A - Method, device and equipment for calibrating installation angle of angle radar and storage medium - Google Patents
Method, device and equipment for calibrating installation angle of angle radar and storage medium Download PDFInfo
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Abstract
The application discloses a method, a device, equipment and a storage medium for calibrating an installation angle of an angle radar, wherein the method comprises the following steps: acquiring a current installation angle of a target angle radar on a target vehicle relative to a central axis of the target vehicle and running state information of the target vehicle; when the running state information meets a preset calibration condition, controlling the target angle radar to acquire a plurality of reference position information groups on a target reference object on a road target side where the target vehicle is located; and performing self-calibration processing of the current installation angle based on the plurality of reference position information groups to obtain a target installation angle of the target angle radar. By the aid of the scheme, convenience and universality of self calibration of the installation angle of the angle radar can be improved under the condition that calibration equipment is not used after the angle radar is installed, and accordingly accuracy of radar positioning is guaranteed.
Description
Technical Field
The application relates to the technical field of vehicle radars, in particular to a method, a device, equipment and a storage medium for calibrating an installation angle of an angle radar.
Background
With the wide application of automatic driving, the performance requirement of the diagonal radar sensor is further improved, the angular radar is required to realize the accurate positioning of the obstacles in the detection area of the angular radar, the installation angles of a plurality of angular radars accord with the design indexes after the whole vehicle is installed and fixed, and the track information of the obstacles output by the angular radar is also accurate.
However, accurate positioning of the angle radar depends on the precise mounting angle. On the one hand, when the whole radar vehicle is installed, the installation angle is calibrated, expensive calibration equipment needs to be adopted, the required calibration time is longer, and the offline speed of the whole vehicle is further influenced. On the other hand, after the vehicle runs on a road, the actual installation angle of the angle radar is deviated due to long-time vehicle shaking, vibration and the like, the track information of the output obstacle is also deviated, and inaccurate positioning information can cause false triggering or even failure of related functions of automatic driving, so that safety accidents are caused. Therefore, there is a need to provide a more efficient method of angular radar mounting angle calibration.
Disclosure of Invention
The application provides an angle radar installation angle calibration method, device, equipment and storage medium, can promote angle radar installation angle self-calibration's convenience and universality under the condition of calibration equipment need not using after the angle radar installation to guarantee the accurate nature of radar location, this application technical scheme is as follows:
in one aspect, there is provided an angle radar installation angle calibration method, the method including:
acquiring a current installation angle of a target angle radar on a target vehicle relative to a central axis of the target vehicle and running state information of the target vehicle;
when the running state information meets a preset calibration condition, controlling the target angle radar to acquire a plurality of reference position information groups on a target reference object on a road target side where the target vehicle is located;
and performing self-calibration processing of the current installation angle based on the plurality of reference position information groups to obtain a target installation angle of the target angle radar.
In another aspect, there is provided an angle radar mounting angle calibration apparatus, the apparatus including:
the system comprises a running state information acquisition module, a central processing module and a data processing module, wherein the running state information acquisition module is used for acquiring the current installation angle of a target angle radar on a target vehicle relative to the central axis of the target vehicle and the running state information of the target vehicle;
the reference position information group acquisition module is used for controlling the target angle radar to acquire a plurality of reference position information groups on a target reference object at the side of a road target where the target vehicle is located when the running state information meets a preset calibration condition;
and the self-calibration processing module is used for carrying out self-calibration processing on the current installation angle based on the plurality of reference position information groups to obtain the target installation angle of the target angle radar.
In another aspect, an angle radar installation angle calibration apparatus is provided, the apparatus includes a processor and a memory, the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the angle radar installation angle calibration method as described above.
In another aspect, a computer-readable storage medium is provided, in which at least one instruction or at least one program is stored, the at least one instruction or the at least one program being loaded and executed by a processor to implement the angular radar installation angle calibration method as described above.
The angle radar installation angle calibration method, device, equipment and storage medium provided by the application have the following technical effects:
by the technical scheme provided by the application, the current installation angle of the target angle radar on the target vehicle relative to the central axis of the target vehicle and the running state information of the target vehicle are obtained; when the running state information meets the preset calibration condition, controlling a target angle radar to collect a plurality of reference position information groups on a target reference object on a road target side where a target vehicle is located; and self-calibration processing of the current installation angle is carried out based on the plurality of reference position information groups to obtain the target installation angle of the target angle radar, and convenience and universality of self-calibration of the installation angle of the angle radar are improved under the condition that calibration equipment is not used after the angle radar is installed, so that the positioning accuracy of the radar is ensured, and the safety of automatic driving of the vehicle is further ensured.
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In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or 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 application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flowchart of a method for calibrating an installation angle of an angle radar according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an angular radar mounting location provided by an embodiment of the present application;
fig. 3 is a schematic flowchart of a process of performing self-calibration processing of the current installation angle based on the multiple reference position information sets to obtain a target installation angle of the target angle radar according to an embodiment of the present application;
fig. 4 is a schematic flowchart of determining a sampling installation angle according to a currently traversed reference position information group according to an embodiment of the present application;
fig. 5 is a schematic flowchart of another process for determining a sampling installation angle according to a currently traversed reference position information group according to an embodiment of the present application;
fig. 6 is a schematic view of an angle radar installation angle calibration apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
An angle radar mounting angle calibration method provided in the embodiment of the present application is described below, and fig. 1 is a schematic flow chart of the angle radar mounting angle calibration method provided in the embodiment of the present application. It is noted that the present specification provides the method steps as described in the examples or flowcharts, but may include more or less steps based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In actual system or product execution, sequential execution or parallel execution (e.g., parallel processor or multi-threaded environment) may be possible according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 1, the method may include:
s101, acquiring the current installation angle of a target angle radar on a target vehicle relative to the central axis of the target vehicle and the running state information of the target vehicle.
In a particular embodiment, the type of angle radar may include, but is not limited to, millimeter wave angle radar, and the like.
In practical applications, as shown in fig. 2, fig. 2 is a schematic diagram of an installation position of an angle radar provided in an embodiment of the present application, and according to the installation position of the angle radar, the angle radar may include: vehicle-mounted left side angle radar and vehicle-mounted right side angle radar, wherein, vehicle-mounted left side angle radar can include: vehicle-mounted left forward angle radar 1 and vehicle-mounted left backward angle radar 2, vehicle-mounted right side angle radar can include: a vehicle-mounted right forward angle radar 3 and a vehicle-mounted right backward angle radar 4.
In the present illustrative embodiment, the target angle radar may be an angle radar of any of the installation locations in fig. 2. Taking a target angle radar as the angle radar 4 as an example, the current installation angle α may be an included angle between a normal of the target angle radar and a central axis of the target vehicle, and in practical applications, the current installation angle of the target angle radar is usually 25 ° to 65 °, and in an alternative embodiment, the current installation angle may be 45 °. Specifically, the driving state information may include, but is not limited to: vehicle speed, acceleration, steering wheel angle, and yaw rate.
And S103, controlling the target angle radar to acquire a plurality of reference position information sets on a target reference object on the road target side where the target vehicle is located when the running state information meets a preset calibration condition.
In an optional embodiment, the controlling the target angle radar to acquire a plurality of reference position information sets on a target reference object on a road target side where the target vehicle is located may include:
and acquiring position information of the target reference point on the target reference object in a plurality of preset acquisition time periods respectively based on the vehicle body coordinate system to obtain a plurality of reference position information groups.
Specifically, the longitudinal axis of the vehicle body coordinate system is a central axis of the target vehicle, the origin point is an intersection point of the left front side of the target vehicle and the longitudinal axis, the positive direction of the longitudinal axis points to the traveling direction of the target vehicle, and the positive direction of the horizontal axis points to the right side of the target vehicle.
Specifically, the preset acquisition time periods can be set based on acquisition requirements of a parameter position information group in practical application, and a road where a target vehicle is located can be a specific test road section, and can also be an expressway or an urban road; the target reference object can be a road target side rail, wherein when the target angle radar is a vehicle-mounted left side angle radar, the target reference object can be a road left side rail, and when the target angle radar is a vehicle-mounted right side angle radar, the target reference object can be a road right side rail; the target reference point may be a random target point on the target side rail determined based on a detection signal from the target angle radar, which may be a millimeter wave.
In an optional embodiment, one reference position information group is acquired in each preset acquisition time period until the number of the reference position information groups meets the preset group number, and the preset group number can be set by combining the space size of a random access memory of a processing chip of the vehicle-mounted terminal of the target vehicle and the accuracy of self-calibration of the installation angle of the angular radar.
In a specific embodiment, the preset calibration condition may be: and in the preset calibration time period, the vehicle speed is greater than the preset vehicle speed threshold value, and the driving direction is parallel to the direction of the target reference object on the target side. It may be determined whether the speed of the target vehicle is greater than a preset speed threshold within a preset calibration time based on the speed and acceleration of the target vehicle, and whether the direction of travel of the target vehicle is parallel to the target side rail direction based on the steering wheel angle and yaw rate of the target vehicle. The preset calibration time and the preset vehicle speed threshold value can be set based on calibration requirements in practical application.
And S105, performing self-calibration processing of the current installation angle based on the plurality of reference position information groups to obtain the target installation angle of the target angle radar.
In a specific embodiment, as shown in fig. 3, the performing a self-calibration process of the current installation angle based on the plurality of reference position information sets to obtain the target installation angle of the target angle radar may include:
s301, the plurality of reference position information sets are traversed.
And S303, determining a sampling installation angle according to the currently traversed reference position information group.
In an alternative embodiment, as shown in fig. 4, the determining the sampling installation angle according to the currently traversed reference position information group may include:
s401, according to any two pieces of reference position information in the currently traversed reference position information group, a characterization function of a reference position straight line is constructed.
Specifically, assume that there are M pieces of reference position information in the current reference position information group Q, and Q { (x)i,yi) (i ═ 1,2, …, M) based on any two of Q reference position information (x)m,ym) And (x)n,yn) Constructing a characterization function of the reference position straight line l: y is kx + b, wherein (x) is defined asm,ym) And (x)n,yn) And substituting y into kx + b to calculate to obtain a slope k and a constant term b.
And S403, judging whether the sampling number of the reference position information with the distance between the straight line of the reference position in the currently traversed reference position information group and the preset distance is larger than the target number corresponding to the currently traversed reference position information group.
Specifically, the reference position information in Q is traversed according to the currently traversed reference position information (x)g,yg) (g and m, n are different) calculating the distance deltag＝kxg+b-ygWhen | deltagWhen | is less than or equal to Delta, the current traversed reference position information (x)g,yg) The corresponding target reference point g is in the vicinity of the reference position straight line l, and the number num of target reference points in the vicinity of the reference position straight line l among the M target reference points corresponding to Q is specified.
In practical applications, the preset distance Delta may be set in combination with the accuracy of self-calibration of the installation angle, and in an alternative embodiment, the preset distance Delta may be 0.1 m. The corresponding target number may be a product of the number M of the reference position information in the currently traversed reference position information group and a preset sampling probability P, and the preset sampling probability P may be set in combination with a random sampling consistency algorithm and an accuracy of the mounting angle self-calibration.
And S405, when the judgment result is yes, obtaining the sampling installation angle based on the slope of the reference position straight line.
Specifically, when the sampling number of the reference position information in the currently traversed reference position information group, the distance between which and the reference position straight line is smaller than the preset distance, is greater than the corresponding target number, that is, num is greater than or equal to mxp, the sampling installation angle is 90 ° -arctan (| k |).
In another alternative embodiment, as shown in fig. 5, the method may further include:
and S407, when the judgment result is no, updating any two pieces of reference position information, repeatedly executing any two pieces of reference position information in the reference position information group traversed currently based on the updated any two pieces of reference position information, and constructing a representation function of a reference position straight line to an iterative process of judging whether the sampling number of the reference position information, of which the distance between the reference position straight line and the reference position information in the reference position information group traversed currently is smaller than a preset distance, is larger than the target number corresponding to the reference position information group traversed currently until the current sampling number is larger than the corresponding target number.
Specifically, when the sampling number of the reference position information in the currently traversed reference position information group, the distance between which and the reference position is less than the preset distance, is less than the corresponding target number, and when num is less than M multiplied by P, reselecting any two reference position information from the currently traversed reference position information group as any two updated reference position information, repeatedly executing an iteration process from the two reference position information in the currently traversed reference position information group to the step of judging whether the sampling number of the reference position information of which the distance between the reference position information group and the reference position straight line is less than the preset distance is greater than the target number corresponding to the currently traversed reference position information group or not according to the two reference position information in the currently traversed reference position information group based on the two updated reference position information until the current sampling number is greater than the corresponding target number.
It can be seen from the above embodiments that, by using a random sampling consistency algorithm, a straight line where a target reference point corresponding to a currently traversed reference position information group is located is determined, and a sampling installation angle is determined based on a slope of the straight line, so that not only can an occupied memory of a random access memory be reduced, but also the operation complexity is effectively reduced.
And S305, when the traversal is finished, filtering the plurality of sampling installation angles obtained in the traversal process to obtain the target installation angle.
Optionally, the filter of the filtering process may be a statistical filter, and the statistical filter may include, but is not limited to, a mean statistical filter, a median statistical filter, and a maximum and minimum statistical filter.
According to the embodiment, under the condition that calibration equipment is not used, the angle radar installation angle self-calibration is carried out through the target reference object on the road target side, and the convenience and universality of the calibration method are improved.
In an optional embodiment, the method may further include:
and when the error between the target installation angle and the current installation angle meets a preset error condition, performing calibration processing on the position information of the target object output by the target angle radar based on the target installation angle.
Specifically, the preset error condition may be that an error between the target installation angle and the current installation angle is smaller than a preset angle error, and the preset angle error may be set in combination with an accuracy of self-calibration of the installation angle in the actual application. The target object may be an obstacle on a road on which the target vehicle is located.
According to the embodiment, the positioning accuracy of the radar is guaranteed by calibrating the position information, and therefore the safety of automatic driving of the vehicle is guaranteed.
In another optional embodiment, the method may further include:
and when the error between the target installation angle and the current installation angle does not meet the preset error condition, controlling an automatic driving system of the target vehicle to start a function safety mechanism.
Specifically, when the error between the target installation angle and the current installation angle does not satisfy the preset error condition, the error of the current installation angle of the target angle radar is considered to be large, and the position information of the target object output by the target angle radar cannot be calibrated based on the target installation angle. Therefore, the target vehicle can be informed of the following warning measures such as outgoing messages and the like: the current installation angle error of the target angle radar is large, and the output position information of the target object is not accurate any more; simultaneously informing the autopilot system: the position information of the target object output by the target angle radar is in an abnormal state, and the automatic driving system is controlled to start a functional safety mechanism.
It can be seen from the above embodiments that the automatic driving system is informed of the abnormal state by means of an outgoing message and other warning measures, so that the automatic driving system starts a functional safety mechanism to ensure the safety of automatic driving of the vehicle.
In practical application, before the target vehicle is powered off, the target installation angle of the target angle radar needs to be stored, and the target angle radar can accurately output the position information of the target object after the target vehicle is powered on next time.
As can be seen from the foregoing description embodiments, with the technical solutions provided by the embodiments of the present description, on one hand, a plurality of reference position information sets on a target reference object on a road target side where a target vehicle is located may be acquired by controlling a target angle radar, and after the target angle radar is installed, without using a calibration device, a line on which a target reference point corresponding to a currently traversed reference position information set is located is determined by using a random sampling consistency algorithm, a sampling installation angle is determined based on a slope of the line, and the sampling installation angle is filtered to obtain a target installation angle, so that not only can an occupied memory of a random access memory be reduced, but also an operation complexity is effectively reduced, and convenience and universality of self-calibration of the target angle radar installation angle are improved; on the other hand, according to the current installation angle error of the target angle radar, the position information of the target object output by the target angle radar based on the target installation angle is selected to be calibrated or an automatic driving system is controlled to start a function safety mechanism, so that the positioning accuracy of the radar is ensured, and the safety of automatic driving of the vehicle is ensured.
An embodiment of the present application provides an angle radar installation angle calibration apparatus, as shown in fig. 6, the apparatus may include:
a driving state information acquiring module 610, configured to acquire a current installation angle of a target angle radar on a target vehicle with respect to a central axis of the target vehicle and driving state information of the target vehicle;
a reference position information group acquisition module 620, configured to control the target angle radar to acquire a plurality of reference position information groups on a target reference object on a road target side where the target vehicle is located when the driving state information satisfies a preset calibration condition;
a self-calibration processing module 630, configured to perform self-calibration processing on the current installation angle based on the multiple reference position information sets, so as to obtain a target installation angle of the target angle radar.
In an alternative embodiment, the reference location information group collecting module 620 may include:
and the preset acquisition time period acquisition unit is used for acquiring the position information of the target reference point on the target reference object in a plurality of preset acquisition time periods respectively based on the vehicle body coordinate system to obtain a plurality of reference position information groups.
In a specific embodiment, the self-calibration processing module 630 may include:
a traversing unit configured to traverse the plurality of reference position information groups;
the sampling installation angle determining unit is used for determining a sampling installation angle according to the currently traversed reference position information group;
and the filtering processing unit is used for filtering the plurality of sampling installation angles obtained in the traversal process to obtain the target installation angle when the traversal is finished.
In an optional embodiment, the sampling installation angle determining unit may include:
the characterization function construction unit is used for constructing a characterization function of a reference position straight line according to any two reference position information in the currently traversed reference position information group;
a judging unit, configured to judge whether a sampling number of reference position information, in the currently traversed reference position information group, whose distance from the reference position straight line is smaller than a preset distance is greater than a target number corresponding to the currently traversed reference position information group;
and a sampling mounting angle calculation unit for obtaining the sampling mounting angle based on the slope of the reference position when the determination is yes.
In another optional embodiment, the sampling installation angle determining unit may further include:
and the iteration unit is used for updating any two pieces of reference position information when the judgment result is no, repeatedly executing any two pieces of reference position information in the reference position information group traversed currently based on the updated any two pieces of reference position information, and constructing a representation function of a reference position straight line to an iteration process of judging whether the sampling number of the reference position information, the distance between which and the reference position straight line in the reference position information group traversed currently is smaller than a preset distance, is larger than the target number corresponding to the reference position information group traversed currently until the current sampling number is larger than the corresponding target number.
In an optional embodiment, the apparatus may further include:
and the position information calibration processing module is used for performing calibration processing on the position information of the target object output by the target angle radar based on the target installation angle when the error between the target installation angle and the current installation angle meets a preset error condition.
In another optional embodiment, the apparatus may further include:
and the functional safety mechanism starting module is used for controlling the automatic driving system of the target vehicle to start a functional safety mechanism when the error between the target installation angle and the current installation angle does not meet a preset error condition.
The embodiment of the application provides an angle radar installation angle calibration device, which comprises a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to realize the angle radar installation angle calibration method provided by the above method embodiment.
The memory may be used to store software programs and modules, and the processor may execute various functional applications and data processing by operating the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs needed by functions and the like; the storage data area may store data created according to the use of the above-described apparatus, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide the processor access to the memory.
The method provided by the embodiment of the application can be executed in a vehicle-mounted terminal or a similar operation device, that is, the computer device can comprise the vehicle-mounted terminal or the similar operation device.
The present application further provides a storage medium, where the storage medium may be disposed in a server to store at least one instruction or at least one program for implementing the method for calibrating the installation angle of the angle radar in one of the method embodiments, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the method for calibrating the installation angle of the angle radar provided in the method embodiment.
Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
As can be seen from the above embodiments of the method, apparatus, device or storage medium for calibrating the installation angle of an angle radar provided in the present application, with the technical solutions provided in the embodiments of the present specification, on one hand, a plurality of reference position information sets on a target reference object on the road target side of the target vehicle can be collected by controlling the target angle radar, after the target angle radar is installed, under the condition of not using calibration equipment, determining a straight line where a target reference point corresponding to a currently traversed reference position information set is located by utilizing a random sampling consistency algorithm, determining a sampling installation angle based on the slope of the straight line, the sampling installation angle is filtered to obtain the target installation angle, so that the occupied memory of the random access memory can be reduced, meanwhile, the operation complexity is effectively reduced, and the convenience and universality of self calibration of the installation angle of the target angle radar are improved; on the other hand, according to the current installation angle error of the target angle radar, the position information of the target object output by the target angle radar based on the target installation angle is selected to be calibrated or an automatic driving system is controlled to start a function safety mechanism, so that the positioning accuracy of the radar is ensured, and the safety of automatic driving of the vehicle is ensured.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus, device and storage medium embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program to instruct relevant hardware to implement the above program, and the above program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (11)
1. A method of calibrating an installation angle of an angle radar, the method comprising:
acquiring a current installation angle of a target angle radar on a target vehicle relative to a central axis of the target vehicle and running state information of the target vehicle;
when the running state information meets a preset calibration condition, controlling the target angle radar to acquire a plurality of reference position information groups on a target reference object on a road target side where the target vehicle is located;
and performing self-calibration processing of the current installation angle based on the plurality of reference position information groups to obtain a target installation angle of the target angle radar.
2. The method of claim 1, wherein said controlling the target angle radar to collect a plurality of sets of reference position information on a target reference object on a target side of a roadway on which the target vehicle is located comprises:
and acquiring the position information of the target reference point on the target reference object in a plurality of preset acquisition time periods respectively based on the vehicle body coordinate system to obtain a plurality of reference position information groups.
3. The method of claim 1, wherein the performing self-calibration processing of the current installation angle based on the plurality of sets of reference position information to obtain the target installation angle of the target angle radar comprises:
traversing the plurality of reference location information sets;
determining a sampling installation angle according to the currently traversed reference position information group;
and when the traversal is finished, filtering the plurality of sampling installation angles obtained in the traversal process to obtain the target installation angle.
4. The method of claim 3, wherein determining the sampling installation angle from the currently traversed set of reference location information comprises:
constructing a characterization function of a reference position straight line according to any two reference position information in the currently traversed reference position information group;
judging whether the sampling number of the reference position information of which the distance between the reference position straight line and the currently traversed reference position information group is smaller than a preset distance is larger than the target number corresponding to the currently traversed reference position information group or not;
and when the reference position straight line is judged to be the reference position straight line, obtaining the sampling installation angle based on the slope of the reference position straight line.
5. The method of claim 4, further comprising:
and if not, updating any two pieces of reference position information, repeatedly executing any two pieces of reference position information in the reference position information group according to the current traversal based on the updated any two pieces of reference position information, and constructing a representation function of a reference position straight line to an iterative process of judging whether the sampling number of the reference position information of which the distance between the reference position straight line and the reference position information in the reference position information group is smaller than a preset distance is larger than the target number corresponding to the reference position information group according to the current traversal until the current sampling number is larger than the corresponding target number.
6. The method according to any one of claims 1 to 5, wherein the running state information includes a vehicle speed and a running direction of the target vehicle, and the running state information satisfying a preset calibration condition includes:
and in a preset calibration time period, the vehicle speed is greater than a preset vehicle speed threshold value, and the running direction is parallel to the direction of the target reference object on the target side.
7. The method of any of claims 1 to 5, further comprising:
and when the error between the target installation angle and the current installation angle meets a preset error condition, based on the target installation angle, calibrating the position information of the target object output by the target angle radar.
8. The method of claim 7, further comprising:
and when the error between the target installation angle and the current installation angle does not meet the preset error condition, controlling an automatic driving system of the target vehicle to start a functional safety mechanism.
9. An angle radar mounting angle calibration apparatus, characterized in that the apparatus comprises:
the system comprises a running state information acquisition module, a central processing module and a data processing module, wherein the running state information acquisition module is used for acquiring the current installation angle of a target angle radar on a target vehicle relative to the central axis of the target vehicle and the running state information of the target vehicle;
the reference position information group acquisition module is used for controlling the target angle radar to acquire a plurality of reference position information groups on a target reference object at the side of a road target where the target vehicle is located when the running state information meets a preset calibration condition;
and the self-calibration processing module is used for carrying out self-calibration processing on the current installation angle based on the plurality of reference position information groups to obtain the target installation angle of the target angle radar.
10. An angle radar installation angle calibration apparatus, characterized in that the apparatus comprises a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the angle radar installation angle calibration method according to any one of claims 1 to 8.
11. A computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the angular radar installation angle calibration method according to any one of claims 1 to 8.
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