CN114690132A - Vehicle-mounted radar calibration method and device, storage medium and vehicle - Google Patents
Vehicle-mounted radar calibration method and device, storage medium and vehicle Download PDFInfo
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- CN114690132A CN114690132A CN202011633516.1A CN202011633516A CN114690132A CN 114690132 A CN114690132 A CN 114690132A CN 202011633516 A CN202011633516 A CN 202011633516A CN 114690132 A CN114690132 A CN 114690132A
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Abstract
The disclosure relates to a calibration method and device of a vehicle-mounted radar, a storage medium and a vehicle, wherein the method applied to a controller comprises the following steps: determining whether the vehicle-mounted radar needs to be automatically calibrated or not; under the condition that the vehicle-mounted radar needs to be automatically calibrated, whether the vehicle meets radar calibration conditions is determined; and under the condition that the vehicle meets the radar calibration condition, sending an automatic calibration instruction to the vehicle-mounted radar so that the vehicle-mounted radar determines the roll angle, the course angle and the pitch angle of the vehicle-mounted radar after the vehicle-mounted radar is calibrated according to the triaxial acceleration of the acceleration sensor currently acquired by the acceleration sensor in the vehicle-mounted radar, and the roll angle difference, the course angle difference and the pitch angle difference between the vehicle-mounted radar and the acceleration sensor which are stored in advance, so as to finish the automatic calibration of the vehicle-mounted radar. By the scheme, the deviation of the radar calculation result is avoided, the accuracy of the detection result of the vehicle-mounted radar is ensured, and an accurate judgment basis is provided for a driving assistance system, so that the safe operation of a vehicle is ensured.
Description
Technical Field
The disclosure relates to the technical field of vehicles, in particular to a calibration method and device of a vehicle-mounted radar, a storage medium and a vehicle.
Background
The vehicle radar is a very important vehicle electronic component in an ADAS (Advanced Driving Assistance System), and the vehicle radar can be used for detecting the distance, relative position and relative speed between the vehicle and other vehicles or obstacles around, so as to realize safe Driving of the vehicle according to the detection result and avoid collision accidents to the maximum extent. For example, in the implementation of the vehicle Forward Collision Warning function, a radar arranged in front of a vehicle can provide a FCW (Forward Collision Warning system) with a real-time distance between the vehicle and a preceding vehicle, and an intelligent camera of the Forward Collision Warning system determines whether a Collision Warning condition is met, so that the accuracy of a detection result of a vehicle-mounted radar is crucial to vehicle safety.
Disclosure of Invention
The invention aims to provide a calibration method and device of a vehicle-mounted radar, a storage medium and a vehicle, which can improve the accuracy of a detection result of the vehicle-mounted radar and ensure the safe operation of the vehicle.
In order to achieve the above object, in a first aspect, the present disclosure provides a calibration method for a vehicle-mounted radar, applied to a controller, including: determining whether the vehicle-mounted radar needs to be automatically calibrated or not; under the condition that the vehicle-mounted radar is determined to need to be automatically calibrated, determining whether a vehicle meets radar calibration conditions, wherein the radar calibration conditions comprise that the vehicle is in a parking state and the vehicle is located on a horizontal road surface; and under the condition that the vehicle meets the radar calibration condition, sending an automatic calibration instruction to the vehicle-mounted radar so that the vehicle-mounted radar determines the roll angle, the course angle and the pitch angle of the vehicle-mounted radar after the vehicle-mounted radar is calibrated at this time according to the triaxial acceleration of the acceleration sensor currently acquired by the acceleration sensor in the vehicle-mounted radar, and the roll angle difference, the course angle difference and the pitch angle difference between the vehicle-mounted radar and the acceleration sensor which are stored in advance, so as to finish the automatic calibration of the vehicle-mounted radar.
Optionally, determining whether the vehicle-mounted radar needs to be automatically calibrated is carried out in at least one of the following ways: under the condition that information representing that an engine hood of the vehicle is closed after being opened is acquired, determining that the vehicle-mounted radar needs to be automatically calibrated; determining that the vehicle-mounted radar needs to be automatically calibrated under the condition that the obtained vehicle running state information represents that the vehicle bumping degree is greater than a preset threshold value; determining that the vehicle-mounted radar needs to be automatically calibrated under the condition that radar offset information sent by the vehicle-mounted radar is acquired, wherein the vehicle-mounted radar is used for determining a roll angle, a course angle and a pitch angle of the acceleration sensor in real time according to triaxial acceleration of the acceleration sensor acquired by the acceleration sensor in real time, and sending the radar offset information to the controller under the condition of at least one of the following conditions: the absolute value of the difference between the current roll angle of the acceleration sensor and the last calibrated roll angle of the acceleration sensor is greater than a preset roll angle threshold value, the absolute value of the difference between the current course angle of the acceleration sensor and the last calibrated course angle of the acceleration sensor is greater than a preset course angle threshold value, and the absolute value of the difference between the current pitch angle of the acceleration sensor and the last calibrated pitch angle of the acceleration sensor is greater than a preset pitch angle threshold value.
Optionally, the roll angle, the course angle and the pitch angle of the vehicle-mounted radar after this calibration are determined by the vehicle-mounted radar through the following formulas:
wherein, Radar _ alpha represents the roll angle of the vehicle-mounted Radar after the calibration at this time, Radar _ uBeta represents the course angle of the vehicle-mounted Radar after the calibration, Radar _ gamma represents the pitch angle of the vehicle-mounted Radar after the calibration, AXRepresents the acceleration in the X-axis direction of the current three-axis acceleration of the acceleration sensor, AYRepresents the acceleration in the Y-axis direction of the current three-axis acceleration of the acceleration sensor, AZIndicating the acceleration in the direction of the Z axis, alpha, of the acceleration sensor's current triaxial accelerationδRepresenting the difference of roll angle, betaδIndicating the difference in course angle, gammaδRepresenting the pitch angle difference.
In a second aspect, the present disclosure provides a calibration method for a vehicle-mounted radar, which is applied to the vehicle-mounted radar, and includes: receiving an automatic calibration instruction sent by a controller, wherein the controller sends the automatic calibration instruction to the vehicle-mounted radar when determining that the vehicle-mounted radar needs to perform automatic calibration and a vehicle meets radar calibration conditions, and the radar calibration conditions comprise that the vehicle is in a parking state and the vehicle is located on a horizontal road surface; and determining the roll angle, the course angle and the pitch angle of the vehicle-mounted radar after the calibration according to the triaxial acceleration of the acceleration sensor currently acquired by the acceleration sensor in the vehicle-mounted radar, and the roll angle difference, the course angle difference and the pitch angle difference between the vehicle-mounted radar and the acceleration sensor which are stored in advance, so as to finish the automatic calibration of the vehicle-mounted radar.
Optionally, the determining, according to the triaxial acceleration of the acceleration sensor currently acquired by the acceleration sensor in the vehicle-mounted radar, and a roll angle difference, a heading angle difference, and a pitch angle difference between the vehicle-mounted radar and the acceleration sensor, which are stored in advance, a roll angle, a heading angle, and a pitch angle after the vehicle-mounted radar is calibrated includes: determining the roll angle, the course angle and the pitch angle of the vehicle-mounted radar after the calibration at this time through the following formulas:
wherein, Radar _ alpha represents the roll angle of the vehicle-mounted Radar after the calibration at this time, Radar _ beta represents the course angle of the vehicle-mounted Radar after the calibration at this time, Radar _ gamma represents the pitch angle of the vehicle-mounted Radar after the calibration at this time, AXRepresents the acceleration in the X-axis direction among the three-axis accelerations of the acceleration sensor, AYRepresenting the acceleration in the Y-axis direction of the three-axis acceleration of the acceleration sensor, AZRepresenting the acceleration in the direction of the Z-axis among the three-axis accelerations of the acceleration sensor, alphaδRepresenting the difference of roll angle, betaδIndicating the difference in course angle, gammaδRepresenting the pitch angle difference.
Optionally, before receiving the automatic calibration instruction sent by the controller, the method further includes: determining a roll angle, a course angle and a pitch angle of the acceleration sensor in real time according to the triaxial acceleration of the acceleration sensor acquired by the acceleration sensor in real time; sending radar offset information to the controller, the radar offset information being used by the controller to determine that the onboard radar needs to be automatically calibrated, in the event of at least one of: the absolute value of the difference between the real-time roll angle of the acceleration sensor and the last calibrated roll angle of the acceleration sensor is greater than a preset roll angle threshold value, the absolute value of the difference between the real-time course angle of the acceleration sensor and the last calibrated course angle of the acceleration sensor is greater than a preset course angle threshold value, and the absolute value of the difference between the real-time pitch angle of the acceleration sensor and the last calibrated pitch angle of the acceleration sensor is greater than a preset pitch angle threshold value.
In a third aspect, the present disclosure provides a calibration apparatus for a vehicle-mounted radar, applied to a controller, including: the first determination module is used for determining whether the vehicle-mounted radar needs to be automatically calibrated or not; the second determination module is used for determining whether the vehicle meets radar calibration conditions or not under the condition that the first determination module determines that the vehicle-mounted radar needs to be automatically calibrated, wherein the radar calibration conditions comprise that the vehicle is in a parking state and the vehicle is located on a horizontal road surface; and the calibration instruction sending module is used for sending an automatic calibration instruction to the vehicle-mounted radar under the condition that the vehicle meets the radar calibration condition, so that the vehicle-mounted radar determines a roll angle, a course angle and a pitch angle of the vehicle-mounted radar after the vehicle-mounted radar is calibrated at this time according to the triaxial acceleration of the acceleration sensor currently acquired by the acceleration sensor in the vehicle-mounted radar, and a roll angle difference value, a course angle difference value and a pitch angle difference value which are stored in advance between the vehicle-mounted radar and the acceleration sensor, and the automatic calibration of the vehicle-mounted radar is completed.
Optionally, the first determination module determines whether the vehicle-mounted radar needs to be automatically calibrated by adopting at least one of the following sub-modules: the first determining submodule is used for determining that the vehicle-mounted radar needs to be automatically calibrated under the condition that information representing that an engine cover of the vehicle is closed after being opened is acquired; the second determining submodule is used for determining that the vehicle-mounted radar needs to be automatically calibrated under the condition that the obtained vehicle running state information represents that the bumping degree of the vehicle is greater than a preset threshold value; the third determining submodule is used for determining that the vehicle-mounted radar needs to be automatically calibrated under the condition that radar offset information sent by the vehicle-mounted radar is obtained, wherein the vehicle-mounted radar is used for determining a roll angle, a course angle and a pitch angle of the acceleration sensor in real time according to the three-axis acceleration of the acceleration sensor acquired by the acceleration sensor in real time, and sending the radar offset information to the controller under the condition of at least one of the following conditions: the absolute value of the difference between the current roll angle of the acceleration sensor and the last calibrated roll angle of the acceleration sensor is greater than a preset roll angle threshold value, the absolute value of the difference between the current course angle of the acceleration sensor and the last calibrated course angle of the acceleration sensor is greater than a preset course angle threshold value, and the absolute value of the difference between the current pitch angle of the acceleration sensor and the last calibrated pitch angle of the acceleration sensor is greater than a preset pitch angle threshold value.
In a fourth aspect, the present disclosure provides a calibration apparatus for a vehicle-mounted radar, which is applied to the vehicle-mounted radar, and includes: the system comprises a receiving module, a calibration module and a calibration module, wherein the receiving module is used for receiving an automatic calibration instruction sent by a controller, the controller sends the automatic calibration instruction to the vehicle-mounted radar under the condition that the vehicle is determined to need to be automatically calibrated and meets a radar calibration condition, and the radar calibration condition comprises that the vehicle is in a parking state and is positioned on a horizontal road surface; and the third determining module is used for determining the roll angle, the course angle and the pitch angle of the vehicle-mounted radar after the calibration according to the triaxial acceleration of the acceleration sensor currently acquired by the acceleration sensor in the vehicle-mounted radar, and the roll angle difference, the course angle difference and the pitch angle difference between the vehicle-mounted radar and the acceleration sensor, which are stored in advance, so as to finish the automatic calibration of the vehicle-mounted radar.
Optionally, the third determining module is configured to determine the roll angle, the heading angle, and the pitch angle of the vehicle-mounted radar after the calibration by using the following formulas:
wherein, Radar _ alpha represents the roll angle of the vehicle-mounted Radar after the calibration at this time, Radar _ beta represents the course angle of the vehicle-mounted Radar after the calibration at this time, Radar _ gamma represents the pitch angle of the vehicle-mounted Radar after the calibration at this time, AXMeans plusAcceleration in the X-axis direction among the three-axis accelerations of the velocity sensor, AYRepresenting the acceleration in the Y-axis direction of the three-axis acceleration of the acceleration sensor, AZRepresenting the acceleration in the direction of the Z-axis among the three-axis accelerations of the acceleration sensor, alphaδRepresenting the difference of roll angle, betaδIndicating the difference in course angle, gammaδRepresenting the pitch angle difference.
Optionally, the apparatus further comprises: a fourth determining module, configured to determine a roll angle, a course angle, and a pitch angle of the acceleration sensor in real time according to a triaxial acceleration of the acceleration sensor, which is acquired by the acceleration sensor in real time, before the receiving module 501 receives an automatic calibration instruction sent by the controller; an offset information sending module, configured to send radar offset information to the controller when at least one of the following conditions is met, where the radar offset information is used for the controller to determine that the vehicle-mounted radar needs to be automatically calibrated: the absolute value of the difference between the real-time roll angle of the acceleration sensor and the last calibrated roll angle of the acceleration sensor is greater than a preset roll angle threshold value, the absolute value of the difference between the real-time course angle of the acceleration sensor and the last calibrated course angle of the acceleration sensor is greater than a preset course angle threshold value, and the absolute value of the difference between the real-time pitch angle of the acceleration sensor and the last calibrated pitch angle of the acceleration sensor is greater than a preset pitch angle threshold value.
In a fifth aspect, the present disclosure provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method provided by the first aspect of the present disclosure.
In a sixth aspect, the present disclosure provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method provided by the second aspect of the present disclosure.
In a seventh aspect, the present disclosure provides a vehicle comprising a controller for performing the steps of the method provided by the first aspect of the present disclosure, and an onboard radar for performing the steps of the method provided by the second aspect of the present disclosure.
Through the technical scheme, whether the vehicle-mounted radar needs to be automatically calibrated or not is determined, whether the vehicle meets the radar calibration condition or not is determined under the condition that the vehicle needs to be automatically calibrated, and the vehicle sends an automatic calibration instruction to the vehicle-mounted radar under the condition that the vehicle meets the radar calibration condition so that the vehicle-mounted radar can be automatically calibrated, and the accuracy of a calibration result can be improved. The vehicle-mounted radar can determine the roll angle, the course angle and the pitch angle of the vehicle-mounted radar after the calibration according to the triaxial acceleration of the acceleration sensor currently acquired by the acceleration sensor, and the roll angle difference, the course angle difference and the pitch angle difference between the vehicle-mounted radar and the acceleration sensor, which are stored in advance, so that the calibration process is completed. Therefore, the vehicle-mounted radar can be calibrated, the phenomenon that the radar calculation result generates deviation is avoided, the distance between the vehicle and other vehicles or obstacles detected by the vehicle-mounted radar is more accurate, the accuracy of the detection result of the vehicle-mounted radar is improved, accurate judgment basis is provided for a driving auxiliary system, and the safe operation of the vehicle is ensured.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a flow chart illustrating a calibration method for a vehicle-mounted radar according to an exemplary embodiment.
FIG. 2 is a diagram illustrating one coordinate axis according to an exemplary embodiment.
Fig. 3 is a flow chart illustrating a calibration method for a vehicle radar according to an exemplary embodiment.
Fig. 4 is a block diagram illustrating a calibration apparatus for a vehicle-mounted radar according to an exemplary embodiment.
Fig. 5 is a block diagram illustrating a calibration apparatus for a vehicle-mounted radar according to an exemplary embodiment.
Detailed Description
Generally, after a vehicle is off-line and before the vehicle leaves a factory, a vehicle-mounted radar is calibrated, a roll angle, a course angle and a pitch angle of the calibrated vehicle-mounted radar are stored in the vehicle-mounted radar, and when the vehicle-mounted radar detects the distance, the relative position and the relative speed between the vehicle and other vehicles or obstacles, the calibrated angle is used as an offset compensation quantity, so that the measurement calculation error caused by the deviation of the actual installation position of the vehicle-mounted radar can be eliminated, and accurate distance information is obtained and sent to an ADAS system for function decision.
However, when the vehicle is in a running process, severe vibration and the like occur, the position of the vehicle-mounted radar may deviate, and each angle of the vehicle-mounted radar also changes, which is different from each angle obtained by calibrating the radar for the first time when the vehicle is off-line and leaves a factory. In this way, when the vehicle-mounted radar detects the distance between the vehicle and other vehicles or obstacles, if the calibration result at the time of factory shipment is still used, the calculation result is subjected to error, so that the misjudgment of the relative distance between the vehicle and the surrounding vehicles is caused, the accuracy of the ADAS system function is influenced, and the driving safety hazard exists.
In view of this, the present disclosure provides a calibration method and apparatus for a vehicle-mounted radar, a storage medium, and a vehicle, so as to improve accuracy of a detection result of the vehicle-mounted radar and ensure safe operation of the vehicle.
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart illustrating a calibration method for a vehicle-mounted radar, which may be applied to a controller in a vehicle, according to an exemplary embodiment, and may include S101 to S103, as illustrated in fig. 1.
In S101, it is determined whether the in-vehicle radar needs to be automatically calibrated.
The vehicle-mounted radar may be, for example, a millimeter-wave radar, a laser radar, an ultrasonic radar, or the like. The vehicle-mounted radar may be a radar installed at an arbitrary position of the vehicle, for example, a radar right behind the vehicle, a radar right ahead of the vehicle, a radar left behind the vehicle, a radar right behind the vehicle, and the like.
In an alternative embodiment, the controller may obtain the driving state information of the vehicle in real time, and if the vehicle vibrates or jolts violently during driving, for example, the vehicle drives on a pothole road surface for a long time, the position of the vehicle-mounted radar is likely to shift, and it may be determined that the vehicle-mounted radar needs to be calibrated automatically.
In S102, in a case where it is determined that the in-vehicle radar needs to be automatically calibrated, it is determined whether the vehicle satisfies a radar calibration condition.
For example, the controller may control a display device in the vehicle to display a prompt message for prompting the user that the vehicle-mounted radar needs to perform automatic calibration and prompting the user that the vehicle-mounted radar needs to perform automatic calibration, where the prompt message prompts the user that the vehicle-mounted radar needs to be in a parking state and the vehicle needs to be on a horizontal road surface. Since the vehicle inevitably vibrates or jolts with a small amplitude during traveling, automatic calibration of the radar is required in a stopped state, and if the vehicle is located on a slope road, there is a deviation in the calibrated angle. Therefore, the prompting information can prompt the user of the conditions required by the radar for automatic calibration.
After the user stops the vehicle on a horizontal road, an instruction for recalibrating the radar may be input through the display device, for example, clicking an automatic calibration button. After acquiring the instruction input by the user, the controller may first determine whether the vehicle currently satisfies a radar calibration condition, where the radar calibration condition includes that the vehicle is in a parking state and the vehicle is located on a horizontal road surface. For example, the vehicle may determine whether the vehicle is in a stopped state by a current vehicle speed, and determine whether the vehicle is stopped on a horizontal road surface by a sensor installed in the vehicle.
In S103, when the vehicle meets the radar calibration condition, an automatic calibration instruction is sent to the vehicle-mounted radar, so that the vehicle-mounted radar determines a roll angle, a course angle and a pitch angle after the vehicle-mounted radar is calibrated according to a triaxial acceleration of an acceleration sensor currently acquired by the acceleration sensor in the vehicle-mounted radar, and a roll angle difference, a course angle difference and a pitch angle difference between the vehicle-mounted radar and the acceleration sensor, which are stored in advance, to complete the automatic calibration of the vehicle-mounted radar.
The controller can send an automatic calibration instruction to the vehicle-mounted radar under the condition that the vehicle meets the radar calibration condition, and the vehicle-mounted radar can receive the automatic calibration instruction sent by the controller and perform automatic calibration.
The vehicle-mounted radar is generally provided with an acceleration Sensor (G-Sensor), the acceleration Sensor can acquire self three-axis acceleration in real time, the three-axis acceleration comprises acceleration of the acceleration Sensor on an X axis, acceleration of the acceleration Sensor on a Y axis and acceleration of the acceleration Sensor on a Z axis, and the X axis, the Y axis and the Z axis can be preset. FIG. 2 is a schematic diagram illustrating coordinate axes, such as the X-axis in a forward direction, the Z-axis in a lateral direction, and the Y-axis in an upward direction, perpendicular to a plane formed by the X-axis and the Z-axis, in accordance with an exemplary embodiment. It should be noted that the coordinate axes shown in fig. 2 are only examples and do not limit the embodiments of the present disclosure, and the directions of the X axis, the Y axis, and the Z axis are not particularly limited by the present disclosure. The roll angle may refer to an angle with the X axis, the heading angle may refer to an angle with the Y axis, and the pitch angle may refer to an angle with the Z axis.
Before a vehicle leaves a factory, both a vehicle-mounted Radar and an acceleration sensor need to be calibrated for the first time, for example, a roll angle of the vehicle-mounted Radar, which is obtained by calibrating the vehicle-mounted Radar for the first time, namely an included angle between the vehicle-mounted Radar and an X axis is Radar1_ alpha, a course angle of the vehicle-mounted Radar, which is an included angle between the vehicle-mounted Radar and a Y axis is Radar1_ beta, and a pitch angle of the vehicle-mounted Radar, which is an included angle between the vehicle-mounted Radar and a Z axis is Radar1_ gamma. The result of this first calibration of the vehicle Radar can be recorded as [ Radar1_ α, Radar1_ β, Radar1_ γ ].
The roll angle of the acceleration sensor, namely the included angle between the acceleration sensor and the X axis, obtained by calibrating the acceleration sensor for the first time is G1_ alpha, the heading angle of the acceleration sensor, namely the included angle between the acceleration sensor and the Y axis, is G1_ beta, and the pitch angle of the acceleration sensor, namely the included angle between the acceleration sensor and the Z axis, is G1_ gamma. The first calibration result of the acceleration sensor can be recorded as [ G1_ α, G1_ β, G1_ γ ].
The roll angle difference between the vehicle-mounted radar and the acceleration sensor is alphaδRadar1_ α -G1_ α, heading angle difference βδRadar1_ β -G1_ β, pitch angle difference γδRadar1_ γ -G1_ γ. The roll angle difference value, the course angle difference value and the pitch angle difference value can reflect the relative position between the vehicle-mounted radar and the acceleration sensor, and the relative positions of the roll angle difference value, the course angle difference value and the pitch angle difference value are fixed during installation, so that the three angle difference values are not changed and can be stored in the vehicle-mounted radar in advance before the vehicle leaves a factory, and the vehicle-mounted radar can automatically calibrate according to the angle difference value stored in advance and the current triaxial acceleration of the acceleration sensor.
Through the technical scheme, whether the vehicle-mounted radar needs to be automatically calibrated or not is determined, whether the vehicle meets the radar calibration condition or not is determined under the condition that the vehicle needs to be automatically calibrated, and the vehicle sends an automatic calibration instruction to the vehicle-mounted radar under the condition that the vehicle meets the radar calibration condition so that the vehicle-mounted radar can be automatically calibrated, and the accuracy of a calibration result can be improved. The vehicle-mounted radar can determine the roll angle, the course angle and the pitch angle of the vehicle-mounted radar after the calibration according to the triaxial acceleration of the acceleration sensor currently acquired by the acceleration sensor, and the roll angle difference, the course angle difference and the pitch angle difference between the vehicle-mounted radar and the acceleration sensor, which are stored in advance, so that the calibration process is completed. Therefore, the vehicle-mounted radar can be calibrated, the phenomenon that the radar calculation result generates deviation is avoided, the distance between the vehicle and other vehicles or obstacles detected by the vehicle-mounted radar is more accurate, the accuracy of the detection result of the vehicle-mounted radar is improved, an accurate judgment basis is provided for a driving assistance system, and the safe operation of the vehicle is ensured.
In the present disclosure, the controller may determine whether the vehicle-mounted radar needs to be automatically calibrated using at least one of the following embodiments.
In one embodiment, the vehicle-mounted radar is determined to need to be automatically calibrated when information indicating that a hood of the vehicle is closed after being opened is acquired.
In this embodiment, the onboard radar may be a forward radar provided on a hood of the vehicle. If the user performs an operation of opening and then closing the hood, the position of the vehicle-mounted radar provided on the hood is likely to be shifted in accordance with the opening and closing operation of the hood, and thus it can be determined that the vehicle-mounted radar needs to be automatically calibrated.
In another embodiment, the vehicle-mounted radar is determined to need to be automatically calibrated under the condition that the obtained vehicle running state information represents that the vehicle bumping degree is greater than a preset threshold value.
The controller can acquire the running state information of the vehicle in real time, such as the running speed of the vehicle, whether the road surface is flat or not, and if the vehicle is severely bumpy or vibrated, such as the vehicle passes through a pothole road surface, and the bumpy degree is large, the position of the vehicle-mounted radar can be shifted along with the bumping of the vehicle, so that the condition that the vehicle-mounted radar needs to be calibrated automatically can be determined. The bumping degree can be determined according to the shaking degree of the vehicle, and the preset threshold value can be preset.
In another embodiment, when the radar offset information sent by the vehicle-mounted radar is acquired, it is determined that the vehicle-mounted radar needs to be automatically calibrated.
The vehicle-mounted radar is used for determining a roll angle, a course angle and a pitch angle of the acceleration sensor in real time according to the triaxial acceleration of the acceleration sensor acquired by the acceleration sensor in real time, and sending radar offset information to the controller under the condition of at least one of the following conditions: the absolute value of the difference between the current roll angle of the acceleration sensor and the roll angle of the acceleration sensor calibrated last time is greater than the preset roll angle threshold, the absolute value of the difference between the current course angle of the acceleration sensor and the course angle of the acceleration sensor calibrated last time is greater than the preset course angle threshold, and the absolute value of the difference between the current pitch angle of the acceleration sensor and the pitch angle of the acceleration sensor calibrated last time is greater than the preset pitch angle threshold.
The acceleration sensor can acquire self triaxial acceleration in real time, the vehicle-mounted radar can determine the real-time roll angle, course angle and pitch angle of the acceleration sensor according to the triaxial acceleration, and if at least one of the three conditions exists, the position of the acceleration sensor can be represented to be deviated, so that the deviation of the position of the vehicle-mounted radar is also represented. The vehicle-mounted radar can send radar offset information to the controller, and the controller can determine that the vehicle-mounted radar needs to be automatically calibrated. The preset roll angle threshold, the preset course angle threshold and the preset pitch angle threshold can be preset, and can be the same or different.
Through the scheme, the controller can accurately judge whether the vehicle-mounted radar needs to be automatically calibrated, determine whether the vehicle meets the radar calibration condition under the condition that the vehicle-mounted radar needs to be calibrated, and send an automatic calibration instruction to the vehicle-mounted radar under the condition that the vehicle meets the radar calibration condition, so that the radar can timely perform automatic calibration operation, the reliability of a radar detection result is guaranteed, and the safe operation of the vehicle is guaranteed.
In the disclosure, the vehicle-mounted radar can automatically complete the calibration process, and exemplarily, the vehicle-mounted radar can determine the roll angle, the course angle and the pitch angle after the calibration through the following formulas:
wherein, Radar _ alpha represents the roll angle of the vehicle-mounted Radar after the calibration at this time, Radar _ beta represents the course angle of the vehicle-mounted Radar after the calibration at this time, Radar _ gamma represents the pitch angle of the vehicle-mounted Radar after the calibration at this time, AXRepresents the acceleration in the X-axis direction of the current three-axis acceleration of the acceleration sensor, AYRepresents the acceleration in the Y-axis direction of the current three-axis acceleration of the acceleration sensor, AZIndicating the acceleration in the direction of the Z axis, alpha, of the acceleration sensor's current triaxial accelerationδRepresenting the difference of roll angle, betaδIndicating the difference in course angle, gammaδRepresenting the pitch angle difference.
Wherein the content of the first and second substances,
the roll angle of the acceleration sensor after the calibration at this time is shown,
showing the course angle of the acceleration sensor after the current calibration,
and indicating the pitch angle of the acceleration sensor after the calibration.
Therefore, after the vehicle-mounted radar finishes automatic calibration, the calibration result of the vehicle-mounted radar corresponds to the current actual position of the vehicle-mounted radar, and when the distance between the vehicle and other vehicles or obstacles is detected, the detection result can be more accurate, so that the safety of the vehicle is improved.
The present disclosure also provides a calibration method for a vehicle-mounted radar, and fig. 3 is a flowchart illustrating a calibration method for a vehicle-mounted radar, which may be applied to a vehicle-mounted radar, according to an exemplary embodiment, and as shown in fig. 3, the method may include S301 and S302.
In S301, an automatic calibration command transmitted by the controller is received. The controller sends the automatic calibration instruction to the vehicle-mounted radar when determining that the vehicle-mounted radar needs to be automatically calibrated and the vehicle meets radar calibration conditions, wherein the radar calibration conditions comprise that the vehicle is in a parking state and the vehicle is located on a horizontal road surface.
In S302, a roll angle, a course angle, and a pitch angle of the vehicle-mounted radar after this calibration are determined according to a triaxial acceleration of an acceleration sensor currently acquired by the acceleration sensor in the vehicle-mounted radar, and a roll angle difference, a course angle difference, and a pitch angle difference between the vehicle-mounted radar and the acceleration sensor, which are stored in advance, to complete the automatic calibration of the vehicle-mounted radar.
Optionally, in S302, determining a roll angle, a heading angle, and a pitch angle after calibration of the vehicle-mounted radar according to a triaxial acceleration of the acceleration sensor currently acquired by the acceleration sensor in the vehicle-mounted radar, and a roll angle difference, a heading angle difference, and a pitch angle difference between the vehicle-mounted radar and the acceleration sensor, which are stored in advance, includes:
determining the roll angle, the course angle and the pitch angle of the vehicle-mounted radar after the calibration by the following formulas:
wherein, Radar _ alpha represents the roll angle of the vehicle-mounted Radar after the calibration at this time, Radar _ beta represents the course angle of the vehicle-mounted Radar after the calibration at this time, Radar _ gamma represents the pitch angle of the vehicle-mounted Radar after the calibration at this time, AXRepresenting the acceleration in the X-axis direction of the three-axis acceleration of the acceleration sensor, AYRepresenting the acceleration in the Y-axis direction of the three-axis acceleration of the acceleration sensor, AZRepresenting the acceleration in the direction of the Z-axis among the three-axis accelerations of the acceleration sensor, alphaδRepresenting the roll angle difference, betaδIndicating the difference in course angle, gammaδRepresenting the pitch angle difference.
Optionally, before receiving an automatic calibration instruction sent by the controller in S301, the method further includes:
determining a roll angle, a course angle and a pitch angle of the acceleration sensor in real time according to the triaxial acceleration of the acceleration sensor acquired by the acceleration sensor in real time;
sending radar offset information to the controller, the radar offset information being used by the controller to determine that the onboard radar needs to be automatically calibrated, in the event of at least one of: the absolute value of the difference between the real-time roll angle of the acceleration sensor and the last calibrated roll angle of the acceleration sensor is greater than a preset roll angle threshold value, the absolute value of the difference between the real-time course angle of the acceleration sensor and the last calibrated course angle of the acceleration sensor is greater than a preset course angle threshold value, and the absolute value of the difference between the real-time pitch angle of the acceleration sensor and the last calibrated pitch angle of the acceleration sensor is greater than a preset pitch angle threshold value.
With regard to the method applied to the vehicle-mounted radar in the above-described embodiment, the specific manner in which the respective steps perform the operation has been described in detail in the embodiment related to the method applied to the controller, and will not be described in detail herein.
Based on the same inventive concept, the present disclosure also provides a calibration apparatus for a vehicle-mounted radar, and fig. 4 is a block diagram of a calibration apparatus for a vehicle-mounted radar shown according to an exemplary embodiment, as shown in fig. 4, the apparatus 400 may be applied to a controller, and includes:
the first determining module 401 is configured to determine whether the vehicle-mounted radar needs to be automatically calibrated;
a second determining module 402, configured to determine whether a vehicle meets a radar calibration condition when the first determining module 401 determines that the vehicle-mounted radar needs to be automatically calibrated, where the radar calibration condition includes that the vehicle is in a parking state and the vehicle is located on a horizontal road surface;
a calibration instruction sending module 403, configured to send an automatic calibration instruction to the vehicle-mounted radar when the vehicle meets the radar calibration condition, so that the vehicle-mounted radar determines a roll angle, a course angle, and a pitch angle of the vehicle-mounted radar after this calibration according to a triaxial acceleration of the acceleration sensor currently acquired by the acceleration sensor in the vehicle-mounted radar, and a roll angle difference, a course angle difference, and a pitch angle difference between the vehicle-mounted radar and the acceleration sensor, which are stored in advance, to complete automatic calibration of the vehicle-mounted radar.
Optionally, the first determining module 401 determines whether the vehicle-mounted radar needs to be automatically calibrated by using at least one of the following sub-modules: the first determining submodule is used for determining that the vehicle-mounted radar needs to be automatically calibrated under the condition that information representing that an engine cover of the vehicle is closed after being opened is acquired; the second determining submodule is used for determining that the vehicle-mounted radar needs to be automatically calibrated under the condition that the obtained vehicle running state information represents that the bumping degree of the vehicle is greater than a preset threshold value; the third determining submodule is used for determining that the vehicle-mounted radar needs to be automatically calibrated under the condition that radar offset information sent by the vehicle-mounted radar is obtained, wherein the vehicle-mounted radar is used for determining a roll angle, a course angle and a pitch angle of the acceleration sensor in real time according to the three-axis acceleration of the acceleration sensor acquired by the acceleration sensor in real time, and sending the radar offset information to the controller under the condition of at least one of the following conditions: the absolute value of the difference between the current roll angle of the acceleration sensor and the last calibrated roll angle of the acceleration sensor is greater than a preset roll angle threshold value, the absolute value of the difference between the current course angle of the acceleration sensor and the last calibrated course angle of the acceleration sensor is greater than a preset course angle threshold value, and the absolute value of the difference between the current pitch angle of the acceleration sensor and the last calibrated pitch angle of the acceleration sensor is greater than a preset pitch angle threshold value.
Fig. 5 is a block diagram illustrating a calibration apparatus for a vehicle-mounted radar, according to an exemplary embodiment, and as shown in fig. 5, the apparatus 500 may be applied to a vehicle-mounted radar, and includes:
a receiving module 501, configured to receive an automatic calibration instruction sent by a controller, where the controller sends the automatic calibration instruction to a vehicle-mounted radar when it is determined that the vehicle-mounted radar needs to perform automatic calibration and the vehicle meets radar calibration conditions, where the radar calibration conditions include that the vehicle is in a parking state and the vehicle is located on a horizontal road surface;
a third determining module 502, configured to determine a roll angle, a course angle, and a pitch angle of the vehicle-mounted radar after this calibration according to a triaxial acceleration of the acceleration sensor currently acquired by the acceleration sensor in the vehicle-mounted radar, and a roll angle difference, a course angle difference, and a pitch angle difference between the vehicle-mounted radar and the acceleration sensor, which are stored in advance, so as to complete automatic calibration of the vehicle-mounted radar.
Optionally, the third determining module 502 is configured to determine the roll angle, the heading angle, and the pitch angle of the vehicle-mounted radar after the calibration by the following formulas:
wherein, Radar _ alpha represents the roll angle of the vehicle-mounted Radar after the calibration at this time, Radar _ beta represents the course angle of the vehicle-mounted Radar after the calibration at this time, Radar _ gamma represents the pitch angle of the vehicle-mounted Radar after the calibration at this time, AXRepresents the acceleration in the X-axis direction among the three-axis accelerations of the acceleration sensor, AYRepresenting the acceleration in the Y-axis direction of the three-axis acceleration of the acceleration sensor, AZRepresenting the acceleration in the direction of the Z-axis among the three-axis accelerations of the acceleration sensor, alphaδRepresenting the difference of roll angle, betaδIndicating the angular difference of courseValue, gammaδRepresenting the pitch angle difference.
Optionally, the apparatus 500 further comprises: a fourth determining module, configured to determine a roll angle, a course angle, and a pitch angle of the acceleration sensor in real time according to a triaxial acceleration of the acceleration sensor, which is acquired by the acceleration sensor in real time, before the receiving module 501 receives an automatic calibration instruction sent by the controller; an offset information sending module, configured to send radar offset information to the controller when at least one of the following conditions is met, where the radar offset information is used for the controller to determine that the vehicle-mounted radar needs to be automatically calibrated: the absolute value of the difference between the real-time roll angle of the acceleration sensor and the last calibrated roll angle of the acceleration sensor is greater than a preset roll angle threshold value, the absolute value of the difference between the real-time course angle of the acceleration sensor and the last calibrated course angle of the acceleration sensor is greater than a preset course angle threshold value, and the absolute value of the difference between the real-time pitch angle of the acceleration sensor and the last calibrated pitch angle of the acceleration sensor is greater than a preset pitch angle threshold value.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The present disclosure provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above-described calibration method for an in-vehicle radar applied to a controller.
The present disclosure provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, realizes the above-mentioned steps of the calibration method for a vehicle-mounted radar applied to the vehicle-mounted radar.
The present disclosure provides a vehicle, including a controller and a vehicle-mounted radar, wherein the controller is configured to execute the steps of the calibration method applied to the vehicle-mounted radar of the controller, and the vehicle-mounted radar is configured to execute the steps of the calibration method applied to the vehicle-mounted radar of the vehicle-mounted radar.
The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details in the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A calibration method of a vehicle-mounted radar is characterized by being applied to a controller and comprising the following steps:
determining whether the vehicle-mounted radar needs to be automatically calibrated or not;
under the condition that the vehicle-mounted radar is determined to need to be automatically calibrated, determining whether a vehicle meets radar calibration conditions, wherein the radar calibration conditions comprise that the vehicle is in a parking state and the vehicle is located on a horizontal road surface;
and under the condition that the vehicle meets the radar calibration condition, sending an automatic calibration instruction to the vehicle-mounted radar so that the vehicle-mounted radar determines the roll angle, the course angle and the pitch angle of the vehicle-mounted radar after the vehicle-mounted radar is calibrated at this time according to the triaxial acceleration of the acceleration sensor currently acquired by the acceleration sensor in the vehicle-mounted radar, and the roll angle difference, the course angle difference and the pitch angle difference between the vehicle-mounted radar and the acceleration sensor which are stored in advance, so as to finish the automatic calibration of the vehicle-mounted radar.
2. The method of claim 1, wherein determining whether the onboard radar requires automatic calibration is performed in at least one of:
under the condition that information representing that an engine cover of the vehicle is closed after being opened is acquired, determining that the vehicle-mounted radar needs to be automatically calibrated;
determining that the vehicle-mounted radar needs to be automatically calibrated under the condition that the obtained vehicle running state information represents that the vehicle bumping degree is greater than a preset threshold value;
determining that the vehicle-mounted radar needs to be automatically calibrated under the condition that radar offset information sent by the vehicle-mounted radar is acquired, wherein the vehicle-mounted radar is used for determining a roll angle, a course angle and a pitch angle of the acceleration sensor in real time according to triaxial acceleration of the acceleration sensor acquired by the acceleration sensor in real time, and sending the radar offset information to the controller under the condition of at least one of the following conditions: the absolute value of the difference between the current roll angle of the acceleration sensor and the last calibrated roll angle of the acceleration sensor is greater than a preset roll angle threshold value, the absolute value of the difference between the current course angle of the acceleration sensor and the last calibrated course angle of the acceleration sensor is greater than a preset course angle threshold value, and the absolute value of the difference between the current pitch angle of the acceleration sensor and the last calibrated pitch angle of the acceleration sensor is greater than a preset pitch angle threshold value.
3. The method according to claim 1, wherein the roll angle, the course angle and the pitch angle of the vehicle-mounted radar after the calibration are determined by the following formulas:
wherein, Radar _ alpha represents the roll angle of the vehicle-mounted Radar after the calibration at this time, Radar _ beta represents the course angle of the vehicle-mounted Radar after the calibration at this time, Radar _ gamma represents the pitch angle of the vehicle-mounted Radar after the calibration at this time, AXRepresents the acceleration in the X-axis direction of the current three-axis acceleration of the acceleration sensor, AYRepresents the acceleration in the Y-axis direction of the current three-axis acceleration of the acceleration sensor, AZIndicating the acceleration in the direction of the Z axis, alpha, of the acceleration sensor's current triaxial accelerationδRepresenting the difference of roll angle, betaδIndicating the difference in course angle, gammaδRepresenting the pitch angle difference.
4. A calibration method of a vehicle-mounted radar is characterized by being applied to the vehicle-mounted radar and comprising the following steps:
receiving an automatic calibration instruction sent by a controller, wherein the controller sends the automatic calibration instruction to the vehicle-mounted radar when determining that the vehicle-mounted radar needs to perform automatic calibration and a vehicle meets radar calibration conditions, and the radar calibration conditions comprise that the vehicle is in a parking state and the vehicle is located on a horizontal road surface;
and determining the roll angle, the course angle and the pitch angle of the vehicle-mounted radar after the calibration according to the triaxial acceleration of the acceleration sensor currently acquired by the acceleration sensor in the vehicle-mounted radar, and the roll angle difference, the course angle difference and the pitch angle difference between the vehicle-mounted radar and the acceleration sensor which are stored in advance, so as to finish the automatic calibration of the vehicle-mounted radar.
5. The method according to claim 4, wherein the determining of the roll angle, the heading angle and the pitch angle after calibration of the vehicle-mounted radar according to the triaxial acceleration of the acceleration sensor currently acquired by the acceleration sensor in the vehicle-mounted radar and the roll angle difference, the heading angle difference and the pitch angle difference between the vehicle-mounted radar and the acceleration sensor, which are stored in advance, comprises:
determining the roll angle, the course angle and the pitch angle of the vehicle-mounted radar after the calibration at this time through the following formulas:
wherein, Radar _ alpha represents the roll angle of the vehicle-mounted Radar after the calibration at this time, Radar _ beta represents the course angle of the vehicle-mounted Radar after the calibration at this time, Radar _ gamma represents the pitch angle of the vehicle-mounted Radar after the calibration at this time, AXRepresenting the acceleration in the X-axis direction of the three-axis acceleration of the acceleration sensor, AYRepresenting the acceleration in the Y-axis direction of the three-axis acceleration of the acceleration sensor, AZIndicating the acceleration in the direction of the Z-axis among the three-axis accelerations of the acceleration sensor, alphaδRepresenting the difference of roll angle, betaδIndicating the difference in course angle, gammaδRepresenting the pitch angle difference.
6. The method of claim 4, wherein prior to receiving an auto-calibration command sent by the controller, the method further comprises:
determining a roll angle, a course angle and a pitch angle of the acceleration sensor in real time according to the triaxial acceleration of the acceleration sensor acquired by the acceleration sensor in real time;
sending radar offset information to the controller, the radar offset information being used by the controller to determine that the onboard radar needs to be automatically calibrated, in the event of at least one of: the absolute value of the difference between the real-time roll angle of the acceleration sensor and the last calibrated roll angle of the acceleration sensor is greater than a preset roll angle threshold value, the absolute value of the difference between the real-time course angle of the acceleration sensor and the last calibrated course angle of the acceleration sensor is greater than a preset course angle threshold value, and the absolute value of the difference between the real-time pitch angle of the acceleration sensor and the last calibrated pitch angle of the acceleration sensor is greater than a preset pitch angle threshold value.
7. The utility model provides a calibration device of on-vehicle radar which characterized in that is applied to the controller, includes:
the first determination module is used for determining whether the vehicle-mounted radar needs to be automatically calibrated or not;
the second determination module is used for determining whether the vehicle meets radar calibration conditions or not under the condition that the first determination module determines that the vehicle-mounted radar needs to be automatically calibrated, wherein the radar calibration conditions comprise that the vehicle is in a parking state and the vehicle is located on a horizontal road surface;
and the calibration instruction sending module is used for sending an automatic calibration instruction to the vehicle-mounted radar under the condition that the vehicle meets the radar calibration condition, so that the vehicle-mounted radar determines a roll angle, a course angle and a pitch angle of the vehicle-mounted radar after the vehicle-mounted radar is calibrated at this time according to the triaxial acceleration of the acceleration sensor currently acquired by the acceleration sensor in the vehicle-mounted radar, and a roll angle difference value, a course angle difference value and a pitch angle difference value which are stored in advance between the vehicle-mounted radar and the acceleration sensor, and the automatic calibration of the vehicle-mounted radar is completed.
8. The utility model provides a calibration device of on-vehicle radar which characterized in that is applied to on-vehicle radar, includes:
the system comprises a receiving module, a calibration module and a calibration module, wherein the receiving module is used for receiving an automatic calibration instruction sent by a controller, the controller sends the automatic calibration instruction to the vehicle-mounted radar under the condition that the vehicle is determined to need to be automatically calibrated and meets a radar calibration condition, and the radar calibration condition comprises that the vehicle is in a parking state and is positioned on a horizontal road surface;
and the third determining module is used for determining the roll angle, the course angle and the pitch angle of the vehicle-mounted radar after the calibration according to the triaxial acceleration of the acceleration sensor currently acquired by the acceleration sensor in the vehicle-mounted radar, and the roll angle difference, the course angle difference and the pitch angle difference between the vehicle-mounted radar and the acceleration sensor, which are stored in advance, so as to finish the automatic calibration of the vehicle-mounted radar.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any of claims 1 to 3 or which, when being executed by a processor, carries out the steps of the method of any of claims 4 to 6.
10. A vehicle, characterized in that the vehicle comprises a controller for performing the steps of the method of any of claims 1-3, and an onboard radar for performing the steps of the method of any of claims 4-6.
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| CN202011633516.1A CN114690132A (en) | 2020-12-31 | 2020-12-31 | Vehicle-mounted radar calibration method and device, storage medium and vehicle |
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| CN202011633516.1A CN114690132A (en) | 2020-12-31 | 2020-12-31 | Vehicle-mounted radar calibration method and device, storage medium and vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116022159A (en) * | 2023-03-31 | 2023-04-28 | 禾多科技（北京）有限公司 | Vehicle movement control method, apparatus, electronic device, and computer-readable medium |
| CN116381633A (en) * | 2023-06-05 | 2023-07-04 | 南京隼眼电子科技有限公司 | Self-calibration method and device for radar roll angle and storage medium |
-
2020
- 2020-12-31 CN CN202011633516.1A patent/CN114690132A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116022159A (en) * | 2023-03-31 | 2023-04-28 | 禾多科技（北京）有限公司 | Vehicle movement control method, apparatus, electronic device, and computer-readable medium |
| CN116381633A (en) * | 2023-06-05 | 2023-07-04 | 南京隼眼电子科技有限公司 | Self-calibration method and device for radar roll angle and storage medium |
| CN116381633B (en) * | 2023-06-05 | 2023-08-15 | 南京隼眼电子科技有限公司 | Self-calibration method and device for radar roll angle and storage medium |
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