CN117826093A - Calibration system and calibration method for vehicle-mounted 4D millimeter wave radar - Google Patents
Calibration system and calibration method for vehicle-mounted 4D millimeter wave radar Download PDFInfo
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- CN117826093A CN117826093A CN202311867270.8A CN202311867270A CN117826093A CN 117826093 A CN117826093 A CN 117826093A CN 202311867270 A CN202311867270 A CN 202311867270A CN 117826093 A CN117826093 A CN 117826093A
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- 238000012360 testing method Methods 0.000 claims abstract description 4
- 238000013507 mapping Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 6
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- 230000008569 process Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The application relates to a calibration system of a vehicle-mounted 4D millimeter wave radar, and relates to the technical field of 4D millimeter wave radars. The system comprises a range finder, a vehicle body positioning module, a target module, a signal processing module, a truth value module and a control module; the target module comprises a target and a target moving device, and the target is connected with the target moving device; the truth module corresponds to the test range of the radar to be calibrated, and the truth module and the radar to be calibrated are positioned on the surface of the target vehicle; the control module is in communication connection with the range finder, the signal processing module and the truth value module; the range finder is used for measuring the position of the target, and the position of the range finder corresponds to the position of the radar to be marked. Through range finding module, automobile body positioning module, target module and truth value module, in the in-process to waiting to demarcate the radar to demarcate, from the demarcation basis and the reference that the multidimension provided. Under the condition, the device has the advantages of simple structure and convenient installation, and realizes the calibration of the 4D millimeter wave radar conveniently and rapidly.
Description
Technical Field
The application relates to the technical field of 4D millimeter wave radars, in particular to a calibration system and a calibration method of a vehicle-mounted 4D millimeter wave radar.
Background
Automobile radar sensors have been studied beginning in the 60 s of the 20 th century, and in the last two decades, automobile radar has been the main driving force for millimeter wave technology innovation. In order to meet the requirements of full target, full working condition and all-weather coverage of a perception module of an advanced automatic driving system, the 4D millimeter wave radar with high resolution is generated. Because certain installation errors can occur in the installation process of the 4D millimeter wave radar, the difference exists between the position information of the radar detection obstacle and the actual value, and the realization of each function of an automatic driving system is seriously influenced, how to eliminate or reduce the installation errors of the millimeter wave radar through calibration has great significance for the batch loading of the 4D millimeter wave radar.
In the related art, the calibration of the front 4D millimeter wave radar of the automobile is still mainly performed manually. Firstly, finding out the central points of the front and rear of the vehicle to determine the central line of the vehicle, then guiding a kite line along the central line, finally prolonging the kite line by a certain distance, and placing a corner reflector so that the corner reflector is opposite to the radar center.
However, the method in the related art at least needs two people to cooperate, which is time-consuming and labor-consuming, in addition, the manually determined center line of the vehicle body, the placement position of the corner reflector, the rotation angle and the like cannot ensure the precision, and each step can influence the calibration effect and the product consistency, thereby influencing the perception effect of the 4D millimeter wave radar.
Disclosure of Invention
The application relates to a calibration system and a calibration method of a vehicle-mounted 4D millimeter wave radar, which can provide a convenient and quick calibration method of the 4D millimeter wave radar, and the technical scheme is as follows:
on one hand, the invention provides a calibration system of a vehicle-mounted 4D millimeter wave radar, which is characterized by comprising a range finder, a vehicle body positioning module, a target module, a signal processing module, a truth value module and a control module;
the calibration system of the vehicle-mounted 4D millimeter wave radar is used for calibrating the radar to be calibrated;
the vehicle body positioning module comprises at least one level gauge and at least one limiter, wherein the level gauge is used for determining the vehicle body position of the target vehicle, and the limiter is used for fixing the vehicle body of the target vehicle;
the target module comprises a target and a target moving device, the target is connected with the target moving device, the target moving device is used for moving the target, and the target is used for being detected by the radar to be calibrated and the truth module;
the signal processing module is used for being connected with the radar to be calibrated and processing the radar data to be calibrated generated by the radar to be calibrated;
the truth module corresponds to the test range of the radar to be calibrated, and the truth module and the radar to be calibrated are positioned on the surface of the target vehicle;
the control module is in communication connection with the range finder, the signal processing module and the truth value module;
the range finder is used for measuring the position of the target, and the position of the range finder corresponds to the position of the radar to be marked.
In an alternative embodiment, the target moving device comprises a sliding rail and a lifting bracket;
the sliding rail is connected with the lifting bracket;
the lifting bracket is connected with the target;
the sliding rail is used for realizing the movement of the target in the horizontal direction; the lifting support is used for achieving movement of the target in the vertical direction.
In an alternative embodiment, the truth system is implemented as a lidar.
In an alternative embodiment, the signal processing module includes a signal transceiver component and a signal processing component;
the signal processing component is used for receiving signals sent by the radar to be calibrated;
the signal processing component is used for processing signals sent by the radar to be calibrated and forwarding the signals to the control module.
In an alternative embodiment, the target is implemented as a corner reflector.
On the other hand, the invention provides a calibration method of the vehicle-mounted 4D millimeter wave radar, which is characterized in that the method is applied to the calibration system of any vehicle-mounted 4D millimeter wave radar, and the method comprises the following steps:
determining the position of a target vehicle through a vehicle body positioning module, and positioning the target vehicle;
the radar to be calibrated is installed at a first preset position of a target vehicle;
installing the truth system at a second preset position of the target vehicle;
the distance meter and the target module are controlled to measure the height of the radar to be calibrated through the control module, and the target position is set corresponding to the height of the radar to be calibrated;
receiving truth system data sent by a truth system and 4D millimeter wave radar data sent by a radar to be calibrated through a control module;
and carrying out data calibration on the radar to be calibrated based on the 4D millimeter wave radar data and the true value system data.
In an alternative embodiment, the second preset position is located below the first preset position.
In an alternative embodiment, the target module comprises a target moving device comprising a slide rail and a lifting bracket;
through control module, control distancer and target module treat the height of demarcating the radar and measure, include:
the control module drives the sliding rail and the lifting support to enable the target to move to the position equal to the height of the radar to be calibrated;
the height of the target is obtained by a range finder.
In an alternative embodiment, the truth system is implemented as a lidar;
the 4D millimeter wave radar data is realized as millimeter wave Lei Dadian cloud data;
the truth system data is implemented as laser radar point cloud data.
In an alternative embodiment, the data calibration of the radar to be calibrated based on the 4D millimeter wave radar data and the true value system data includes:
and carrying out data calibration on the radar to be calibrated based on the mapping relation of the millimeter wave Lei Dadian cloud data and the laser radar point cloud data.
The beneficial effects that this application provided technical scheme brought include at least:
through the combination of the ranging module, the vehicle body positioning module, the target module and the true value module, the radar to be calibrated is calibrated by the calibration basis and the reference provided by the multiple dimensions. Under the condition, the device has the advantages of simple structure and convenient installation, and realizes the calibration of the 4D millimeter wave radar conveniently and rapidly.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic structural diagram of a calibration system of a vehicle-mounted 4D millimeter wave radar according to an exemplary embodiment of the present application.
Fig. 2 is a schematic structural diagram of another calibration system of the vehicle-mounted 4D millimeter wave radar according to an exemplary embodiment of the present application.
FIG. 3 illustrates a system real-time environment schematic diagram according to an exemplary embodiment of the present application.
Fig. 4 is a flow chart illustrating a calibration method of the vehicle-mounted 4D millimeter wave radar according to an exemplary embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Fig. 1 shows a schematic structural diagram of a calibration system of a vehicle-mounted 4D millimeter wave radar according to an exemplary embodiment of the present application, and fig. 2 shows a schematic structural diagram of a calibration system of another vehicle-mounted 4D millimeter wave radar according to an exemplary embodiment of the present application. FIG. 3 illustrates a system real-time environment schematic diagram according to an exemplary embodiment of the present application. Referring to fig. 1 to 3, the system includes a range finder 1, a body positioning module 2, a target module 3, a signal processing module 4, a truth module 5 and a control module 6; the calibration system of the vehicle-mounted 4D millimeter wave radar is used for calibrating the radar 7 to be calibrated; the body positioning module 2 comprises at least one level 21 and at least one stop 22, the level 21 being used for determining the body position of the target vehicle 8, the stop 22 being used for fixing the body of the target vehicle 8; the target module 3 comprises a target 31 and a target moving device 32, the target 31 is connected with the target moving device 32, the target moving device 32 is used for moving the target 31, and the target 31 is used for being detected by the radar 7 to be calibrated and the truth module 5; the signal processing module 4 is used for being connected with the radar to be calibrated 7 and processing radar data to be calibrated generated by the radar to be calibrated 7; the truth module 5 corresponds to the test range of the radar 7 to be calibrated, and the truth module 5 and the radar 7 to be calibrated are positioned on the surface of the target vehicle 8; the control module 6 is in communication connection with the range finder 1, the signal processing module 4 and the truth value module 5; the distance meter 1 is used for measuring the position of the target 2, and the position of the distance meter corresponds to the position of the radar to be marked.
In an alternative embodiment, the target moving device 32 includes a slide rail 321 and a lifting bracket 322; the slide rail 321 is connected with the lifting bracket 322; the lifting bracket is connected with the target; the sliding rail is used for realizing the movement of the target in the horizontal direction; the lifting support is used for achieving movement of the target in the vertical direction.
In an alternative embodiment, the truth system is implemented as a lidar.
In an alternative embodiment, the signal processing module 4 includes a signal transceiver component 41 and a signal processing component 42; the signal processing component 42 is used for receiving signals sent by the radar 7 to be calibrated; the signal processing component 42 is configured to process a signal sent by the radar 7 to be calibrated, and forward the signal to the control module 6.
In an alternative embodiment, the target is implemented as a corner reflector.
With reference to the structures shown in fig. 1 and fig. 2, fig. 4 shows a schematic flow chart of a method for calibrating a vehicle-mounted 4D millimeter wave radar according to an exemplary embodiment of the present application, where the method is applied to the calibration system of the 4D millimeter wave radar shown in any embodiment, and the method includes:
step 401, determining a position of a target vehicle for the target vehicle through a vehicle body positioning module, and positioning the target vehicle.
Optionally, after the target vehicle is fixed, a body center line of the target vehicle is perpendicular to the guide rail in the moving module.
In the embodiment of the application, the target vehicle performs position determination through the vehicle body positioning module.
Step 402, installing the radar to be calibrated at a first preset position of the target vehicle.
At step 403, the truth system is installed in a second preset location of the target vehicle.
In one example, the first preset position is abutted against the second preset position, optionally the second preset position is located below the first preset position. Optionally, the radar to be calibrated and the truth system are both fixed at the head position of the target vehicle.
Step 404, controlling the range finder and the target module to measure the height of the radar to be calibrated through the control module, and setting the target position corresponding to the height of the radar to be calibrated.
In the embodiment of the application, the control module takes the central position of the radar to be calibrated as the origin,
in an alternative embodiment, the corresponding target module comprises a target moving device, the target moving device comprises a sliding rail and a lifting support, the sliding rail and the lifting support are driven by the control module to enable the target to move to a position equal to the radar to be calibrated, and the height of the target is obtained through the range finder.
And step 405, receiving, by the control module, true value system data sent by the true value system and 4D millimeter wave radar data sent by the radar to be calibrated.
In one example, the control module is implemented as a computer device, and then the process of acquiring true value system data and 4D millimeter wave radar data is completed through the switch, in one example, the network wires of the 4D millimeter wave radar and the laser radar are inserted into two LAN ports of the switch, another network wire is used to connect the host network port with the LAN port of the switch, after the hardware connection is completed, the host IP and the two radar IPs are configured into the same network segment, and the IP addresses of the two radars are pinned from the host, so as to check whether the data can be normally transmitted; and then transmitting radar signals, and acquiring point cloud coordinates of two radars corresponding to the corner reflectors.
And step 406, performing data calibration on the radar to be calibrated based on the 4D millimeter wave radar data and the true value system data.
In the embodiment of the application, the 4D millimeter wave radar data is realized as millimeter wave Lei Dadian cloud data, and the truth value system data is realized as laser radar point cloud data. In this case, the calibration process is to calibrate the data of the radar to be calibrated based on the mapping relation of millimeter wave Lei Dadian cloud data and laser radar point cloud data.
Optionally, after calibration is completed, the radar to be calibrated can be directly replaced, so that the repeated use of the system without initializing or replacing the installation environment is realized.
In summary, the system and the method provided in the embodiments of the present application provide calibration basis and reference from multiple dimensions in the process of calibrating the radar to be calibrated through the combination of the ranging module, the vehicle body positioning module, the target module and the truth module. Under the condition, the device has the advantages of simple structure and convenient installation, and realizes the calibration of the 4D millimeter wave radar conveniently and rapidly.
According to the system and the method provided by the embodiment of the application, the position of the target is moved through the sliding rail, so that the alignment precision between the target and the radar to be calibrated is higher, and the calibration precision is improved.
The system and the method provided by the embodiment of the application are added with a truth system, and a unified calibration standard is provided.
The system and the method provided by the embodiment of the application can realize the calibration of a plurality of radars without moving targets for many times, and improve the working efficiency.
The foregoing description of the preferred embodiments is merely exemplary in nature and is not intended to limit the invention, but is intended to cover various modifications, substitutions, improvements, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. The calibrating system of the vehicle-mounted 4D millimeter wave radar is characterized by comprising a range finder, a vehicle body positioning module, a target module, a signal processing module, a truth value module and a control module;
the calibration system of the vehicle-mounted 4D millimeter wave radar is used for calibrating the radar to be calibrated;
the vehicle body positioning module comprises at least one level gauge and at least one limiter, wherein the level gauge is used for determining the vehicle body position of a target vehicle, and the limiter is used for fixing the vehicle body of the target vehicle;
the target module comprises a target and a target moving device, the target is connected with the target moving device, the target moving device is used for moving the target, and the target is used for being detected by the radar to be calibrated and the truth module;
the signal processing module is used for being connected with the radar to be calibrated and processing radar data to be calibrated generated by the radar to be calibrated;
the truth value module corresponds to the test range of the radar to be calibrated, and the truth value module and the radar to be calibrated are positioned on the surface of the target vehicle;
the control module is in communication connection with the range finder, the signal processing module and the truth value module;
the range finder is used for measuring the position of the target, and the position of the range finder corresponds to the position of the radar to be marked.
2. The system of claim 1, wherein the target movement device comprises a slide rail and a lifting bracket;
the sliding rail is connected with the lifting bracket;
the lifting bracket is connected with the target;
the sliding rail is used for realizing the movement of the target in the horizontal direction; the lifting support is used for achieving movement of the target in the vertical direction.
3. The calibration system of the vehicle-mounted 4D millimeter wave radar according to claim 1, wherein the truth system is implemented as a lidar.
4. The calibration system of the vehicle-mounted 4D millimeter wave radar according to claim 1, wherein the signal processing module comprises a signal receiving and transmitting assembly and a signal processing assembly;
the signal processing component is used for receiving signals sent by the radar to be calibrated;
the signal processing component is used for processing the signal sent by the radar to be calibrated and forwarding the signal to the control module.
5. The calibration system of the vehicle-mounted 4D millimeter wave radar according to claim 1, wherein the target is implemented as a corner reflector.
6. A method for calibrating a vehicle-mounted 4D millimeter wave radar, wherein the method is applied to the calibration system of the vehicle-mounted 4D millimeter wave radar according to any one of claims 1 to 5, and the method comprises the following steps:
determining the position of a target vehicle through a vehicle body positioning module, and positioning the target vehicle;
installing a radar to be calibrated at a first preset position of the target vehicle;
installing a truth system at a second preset position of the target vehicle;
the distance meter and the target module are controlled to measure the height of the radar to be calibrated through the control module, and the target position is set corresponding to the height of the radar to be calibrated;
receiving truth system data sent by the truth system and 4D millimeter wave radar data sent by the radar to be calibrated through the control module;
and carrying out data calibration on the radar to be calibrated based on the 4D millimeter wave radar data and the truth value system data.
7. The method for calibrating a vehicle-mounted 4D millimeter wave radar according to claim 5, wherein the second preset position is located below the first preset position.
8. The method for calibrating a vehicle-mounted 4D millimeter wave radar according to claim 5, wherein the target module comprises a target moving device, and the target moving device comprises a sliding rail and a lifting bracket;
the control module is used for controlling the distance meter and the target module to measure the height of the radar to be calibrated, and the control module comprises:
the sliding rail and the lifting support are driven by the control module to enable the target to move to the position equal to the height of the radar to be calibrated;
the height of the target is obtained by a range finder.
9. The method for calibrating a vehicle-mounted 4D millimeter wave radar according to claim 5, wherein the truth system is implemented as a laser radar;
the 4D millimeter wave radar data is realized as millimeter wave Lei Dadian cloud data;
the truth system data is implemented as laser radar point cloud data.
10. The method for calibrating the vehicle-mounted 4D millimeter wave radar according to claim 9, wherein the performing data calibration on the radar to be calibrated based on the 4D millimeter wave radar data and the truth system data comprises:
and carrying out data calibration on the radar to be calibrated based on the millimeter wave Lei Dadian cloud data and the mapping relation of the laser radar point cloud data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311867270.8A CN117826093A (en) | 2023-12-29 | 2023-12-29 | Calibration system and calibration method for vehicle-mounted 4D millimeter wave radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311867270.8A CN117826093A (en) | 2023-12-29 | 2023-12-29 | Calibration system and calibration method for vehicle-mounted 4D millimeter wave radar |
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| CN117826093A true CN117826093A (en) | 2024-04-05 |
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| CN202311867270.8A Pending CN117826093A (en) | 2023-12-29 | 2023-12-29 | Calibration system and calibration method for vehicle-mounted 4D millimeter wave radar |
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| CN (1) | CN117826093A (en) |
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- 2023-12-29 CN CN202311867270.8A patent/CN117826093A/en active Pending
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