CN115128557B - A method and system for determining the installation angle of intersection radar based on error compensation - Google Patents

Abstract

The invention discloses an intersection radar installation angle determining method and system based on error compensation, which relate to the field of intersection intelligent vehicle management and comprise the following steps: the method for determining the radar installation angle based on the multi-dimensional compensation measures is realized by carrying out camera distance error compensation on the camera tracking coordinates of the target corresponding to different time frames and filtering the installation angles obtained according to the radar tracking coordinates and the camera tracking coordinates corresponding to the compensated different time frames, so that the determination accuracy of the installation angle can be improved; meanwhile, the method utilizes the advantage that the track of the tracked target of the camera is stable and normal and is not influenced by deflection of equipment, takes the camera coordinate as a standard quantity as a corrected coordinate, has higher precision and universality, and compensates the camera coordinate by using a least square method, so that the radar installation precision is further improved.

Description

A method and system for determining the installation angle of intersection radar based on error compensation

Technical Field

The present invention relates to the field of intelligent vehicle management at intersections, and in particular to a method and system for determining an installation angle of an intersection radar based on error compensation.

Background Art

As the number of cars in cities continues to increase, road conditions are becoming more complex, especially at various intersections where vehicles, non-motor vehicles, pedestrians, etc. gather together. Therefore, radars are usually combined with cameras to track and detect vehicle targets at multiple intersections. In order to better combine the data of target points collected by the radar with the data of target points collected by the camera, strict requirements are placed on the installation angle of the radar.

At present, when obtaining the radar installation angle, two targets are usually placed on the left and right sides of the car, separated by a certain distance, and the line connecting the two targets is parallel to the longitudinal axis of the car. Then, the distance and angle measured by the radar on one side are output to determine the angle between the longitudinal axis of the car and the normal direction of the radar, and then the actual installation angle of the radar is obtained. However, since the calculation result of the installation angle depends on the line connecting the two targets being parallel to the longitudinal axis of the car, if the line connecting the two targets is not strictly parallel to the longitudinal center axis of the car body, it will lead to errors in the calculation results, resulting in large errors in the obtained radar installation angle.

Summary of the invention

In order to solve the above technical problems, the present invention provides a method and system for determining the installation angle of an intersection radar based on error compensation, which can solve the problem of large errors in the existing radar installation angles.

To achieve the above object, on the one hand, the present invention provides a method for determining the installation angle of a road intersection radar based on error compensation, the method comprising:

Obtain the radar tracking coordinates and camera tracking coordinates corresponding to the target at different time frames;

Screening the camera tracking coordinates corresponding to the target in different time frames to obtain the real camera tracking coordinates;

According to the real camera tracking coordinates and the camera tracking coordinates of the previous preset frame, obtaining the camera tracking coordinates of the corresponding frame after filtering;

According to the filtered real camera tracking coordinates and the filtered camera tracking coordinates of the corresponding frame, obtaining the filtered camera coordinate error corresponding to the target;

Obtaining a camera distance error compensation function corresponding to the target according to the camera tracking coordinates of the corresponding frame after filtering corresponding to the target and the camera coordinate error after filtering corresponding to the target;

According to the camera distance error compensation function corresponding to the target and the camera tracking coordinates corresponding to the target in different time frames, the corrected real camera coordinates corresponding to the target are obtained, and according to the radar tracking coordinates corresponding to the target in different time frames and the corrected real camera coordinates corresponding to the target, the radar installation inclination angle is obtained.

Furthermore, the step of obtaining the filtered camera coordinate error corresponding to the target according to the filtered real camera tracking coordinates and the filtered camera tracking coordinates of the corresponding frame includes:

The difference between the filtered real camera tracking coordinates and the filtered camera tracking coordinates of the corresponding frame is used as the filtered camera coordinate error corresponding to the target.

Furthermore, the step of obtaining a camera distance error compensation function corresponding to the target according to the camera tracking coordinates of the corresponding frame after filtering corresponding to the target and the camera coordinate error after filtering corresponding to the target comprises:

A quadratic function curve fitting is performed on the camera tracking coordinates of the corresponding frame after screening corresponding to the target and the camera coordinate error after screening corresponding to the target to obtain a camera distance error compensation function corresponding to the target.

Furthermore, the step of performing quadratic function curve fitting on the camera tracking coordinates of the corresponding frame after screening corresponding to the target and the camera coordinate error after screening corresponding to the target to obtain the camera distance error compensation function corresponding to the target includes:

Constructing an error compensation quadratic function of the camera coordinate error changing with the camera tracking coordinates of the corresponding frame;

Obtaining a constant value of the error compensation quadratic function according to the camera tracking coordinates of the corresponding frame after filtering corresponding to the target and the camera coordinate error after filtering corresponding to the target;

A camera distance error compensation function corresponding to the target is obtained according to a constant value of the error compensation quadratic function.

Furthermore, the step of obtaining the corrected real camera coordinates corresponding to the target according to the camera distance error compensation function corresponding to the target and the camera tracking coordinates corresponding to the target at different time frames includes:

According to the constant value of the camera distance error compensation quadratic function and the camera tracking coordinates corresponding to the target in different time frames, the corrected real camera coordinates corresponding to the target are obtained.

On the other hand, the present invention provides a system for determining an intersection radar installation angle based on error compensation, the system comprising:

An acquisition unit, used for acquiring radar tracking coordinates and camera tracking coordinates corresponding to the target in different time frames;

A screening unit, used for screening the camera tracking coordinates corresponding to the target in different time frames to obtain real camera tracking coordinates;

The acquisition unit is further used to acquire the camera tracking coordinates of the filtered corresponding frame according to the real camera tracking coordinates and the camera tracking coordinates of the previous preset frame;

The acquisition unit is further used to acquire the filtered camera coordinate error corresponding to the target according to the filtered real camera tracking coordinates and the filtered camera tracking coordinates of the corresponding frame;

The acquisition unit is further used to acquire a camera distance error compensation function corresponding to the target according to the camera tracking coordinates of the corresponding frame after screening corresponding to the target and the camera coordinate error after screening corresponding to the target;

The acquisition unit is further used to acquire the corrected real camera coordinates corresponding to the target according to the camera distance error compensation function corresponding to the target and the camera tracking coordinates corresponding to the target in different time frames, and to acquire the radar installation inclination angle according to the radar tracking coordinates corresponding to the target in different time frames and the corrected real camera coordinates corresponding to the target.

Furthermore, the acquisition unit is specifically configured to use the difference between the filtered real camera tracking coordinates and the filtered camera tracking coordinates of the corresponding frame as the filtered camera coordinate error corresponding to the target.

Furthermore, the acquisition unit is specifically used to perform quadratic function curve fitting on the camera tracking coordinates of the corresponding frame after screening corresponding to the target and the camera coordinate error after screening corresponding to the target, so as to acquire the camera distance error compensation function corresponding to the target.

Furthermore, the acquisition unit is specifically used to construct an error compensation quadratic function in which the camera coordinate error changes with the camera tracking coordinates of the corresponding frame; obtain a constant value of the error compensation quadratic function according to the camera tracking coordinates of the filtered corresponding frame corresponding to the target and the filtered camera coordinate error corresponding to the target; and obtain a camera distance error compensation function corresponding to the target according to the constant value of the error compensation quadratic function.

Furthermore, the acquisition unit is specifically used to acquire the corrected real camera coordinates corresponding to the target according to the constant value of the camera distance error compensation quadratic function and the camera tracking coordinates corresponding to the target in different time frames.

The present invention provides a method and system for determining the installation angle of an intersection radar based on error compensation. The method and system perform camera distance error compensation on camera tracking coordinates corresponding to the target in different time frames, and filter the installation angles obtained according to the compensated radar tracking coordinates and camera tracking coordinates corresponding to the different time frames, thereby realizing a radar installation angle determination method based on multi-dimensional compensation measures, which can improve the accuracy of determining the installation angle. At the same time, the present invention utilizes the advantage that the tracking target trajectory of the camera is stable and normal and is not affected by the deflection of the equipment. The camera coordinates are used as the standard quantity as the corrected coordinates, which have higher accuracy and versatility. At the same time, the camera coordinates are compensated using the least squares method to further improve the radar installation accuracy.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a flow chart of a method for determining an intersection radar installation angle based on error compensation provided by the present invention;

2 is a schematic structural diagram of a system for determining an intersection radar installation angle based on error compensation provided by the present invention;

FIG3 is a schematic diagram of a single intersection coordinate system provided by the present invention.

DETAILED DESCRIPTION

The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments.

As shown in FIG1 , a method for determining an intersection radar installation angle based on error compensation provided by an embodiment of the present invention includes the following steps:

101. Obtain the radar tracking coordinates and camera tracking coordinates corresponding to the target in different time frames.

For example, taking a single intersection as an example, as shown in Figure 3, the origin o of the coordinate system is the position of the radar vision integrated device, x1oy1 is the corrected coordinate system, and the actual scene is in the skewed coordinate system of x1'oy1'. Specifically, there should be fewer road vehicles in the calibration scene; at the same time, an obvious marker should be placed every 3 meters on the roadside until the farthest point of the calibration area; the calibration target is a vehicle that goes straight from near to far. Assuming that it takes N frames for the target to go straight from near to far, the same target can be determined by manually screening the radar target id, position, number and camera target id, position, number, thereby obtaining the radar tracking coordinates r _x , _ry and camera tracking coordinates of the same target. Radar tracking x coordinate: _rx = [ _rx1 , _rx2 , ..., _rxi , ..., _rxN ], i represents the i-th frame, y coordinate: _ry = [ _ry1 , _ry2 , ..., _ryi , ..., _ryN ], camera tracking x coordinate: y coordinate:

102. Screen the camera tracking coordinates corresponding to the target in different time frames to obtain real camera tracking coordinates.

For the embodiment of the present invention, step 102 may be specifically as follows but is not limited thereto, including: firstly, selecting the coordinates within the calibration area; Less than Ymax meters, the farthest distance of the camera calibration point, the number of frames determined by the on-site calibration, assuming that the total number of frames that meet the screening conditions is n0, the corresponding measurement camera x coordinate is obtained and Then observe the actual position of the camera in the first n0 frames of the video, and filter out the moments when the target reaches the markers: if the target reaches the lth marker in a certain frame, the horizontal and vertical coordinates of the target in this frame are C _yl =3l, and C _xl =c _xl remain unchanged. Among them, the vertical coordinate of the target is C′ _y = [C _ym ,..., _Cy l,...,C _yn ], and the horizontal coordinate is C′ _x = [C _xm ,...,C _xl ,...,C _xn ]: Among them, C _xm C _ym is the horizontal and vertical coordinates of the mth frame when the target reaches the first marker; C _xl C _yl is the horizontal and vertical coordinates of the Lth frame when the target reaches the middle marker; C _xn C _yn is the horizontal and vertical coordinates of the nth frame when the target reaches the last marker.

103. Obtain the camera tracking coordinates of the filtered corresponding frame according to the real camera tracking coordinates and the camera tracking coordinates of the previous preset frame.

For the embodiment of the present invention, step 103 may specifically include: the filtered real camera tracking coordinates _C'x , _C'y and the coordinates of the first n0 frames in the calibration area It can be known that the target passes the corresponding frame number of each marker, thereby obtaining the measurement camera tracking coordinates of the corresponding frame c′ _x = [c _xm , ..., c _xl , ..., c _xn ], c′ _y = [c _ym , ..., c _yl , ..., c _yn ].

104. Obtain a filtered camera coordinate error corresponding to the target according to the filtered real camera tracking coordinates and the filtered camera tracking coordinates of the corresponding frame.

For the embodiment of the present invention, step 104 may specifically include: taking the difference between the filtered real camera tracking coordinates and the filtered camera tracking coordinates of the corresponding frame as the filtered camera coordinate error corresponding to the target.

Specifically, for example, the obtained filtered measurement camera tracking coordinates _c'x , _c'y and the filtered real camera tracking coordinates _C'x , _C'y are used to calculate the target filtered camera coordinate errors _Δcx = [ _Δcxm , ..., _Δcxl , ..., _Δcxn ] and _Δcy = [ _Δcym , ..., _Δcyl , ..., _Δcyn ],

105. Obtain a camera distance error compensation function corresponding to the target according to the camera tracking coordinates of the corresponding frame after filtering corresponding to the target and the camera coordinate error after filtering corresponding to the target.

For the embodiment of the present invention, step 105 may specifically include: performing quadratic function curve fitting on the camera tracking coordinates of the corresponding frame after screening corresponding to the target and the camera coordinate error after screening corresponding to the target, and obtaining the camera distance error compensation function corresponding to the target. The step of performing quadratic function curve fitting on the camera tracking coordinates of the corresponding frame after screening corresponding to the target and the camera coordinate error after screening corresponding to the target, and obtaining the camera distance error compensation function corresponding to the target includes: constructing an error compensation quadratic function in which the camera coordinate error changes with the camera tracking coordinates of the corresponding frame; obtaining a constant value of the error compensation quadratic function according to the camera tracking coordinates of the corresponding frame after screening corresponding to the target and the camera coordinate error after screening corresponding to the target; and obtaining the camera distance error compensation function corresponding to the target according to the constant value of the error compensation quadratic function.

Specifically, for example, the coordinates _c'x , _c'y and the camera coordinate errors _Δc'x , _Δc'y of a specific frame are tracked by a screened measurement camera, and the specific frame number is set to n _s , and the least square method is used to compensate the distance. First, the variation functions f _x and f _y of Δc'x, Δc'y with the measured values _c'x , _c'y are calculated, where f _x is the variation function of _the camera x coordinate error with the measured x coordinate, and f _y is the variation function of _the camera y coordinate error with the measured y coordinate, and both are fitted with a quadratic function curve. Assume f = a ₀ + a ₁ *x + a ₂ *x ² . When calculating f _x , take the absolute value of Δc′ _x to obtain Δc′ _{x_abs} = [|Δc _xm |, ..., |Δc _xl |, ..., |Δc _xn |]. Substitute Δc′ _{x_abs} as f and c′ _x = [c _xm , ..., c _xl , ..., c _xn ] as x. The left-hand equation can be written as:

Then calculate the determinant of the matrix:

The expression of the function f can be obtained by assigning _a0 , _a1 , and _a2 to _ax0 , _ax1 , and _ax2 : _fx = _ax0 + _ax1 *x+ _ax2 * ^x2 . When calculating f _y , take the absolute value of Δc′ _y to obtain Δc′ _{y_abs} = [|Δ _cym |, ..., |Δc _yl |, ..., |Δc _yn |], substitute Δc′ _{y_abs} as f, substitute c′ _y = [c _ym , ..., c _yl , ..., c _yn ] as x, the formula is the same, calculate the corresponding a ₀ , a ₁ , a ₂ , and get the expression of the f _y function. Assign a ₀ , a ₁ , a ₂ to a _y0 , a _y1 , a _y2 : f _y = a _y0 +a _y1 *x+a _y2 *x ² .

106. Obtain the corrected real camera coordinates corresponding to the target according to the camera distance error compensation function corresponding to the target and the camera tracking coordinates corresponding to the target at different time frames, and obtain the radar installation inclination angle according to the radar tracking coordinates corresponding to the target at different time frames and the corrected real camera coordinates corresponding to the target.

For the embodiment of the present invention, step 106 may specifically include: acquiring the corrected real camera coordinates corresponding to the target according to the constant value of the camera distance error compensation quadratic function and the camera tracking coordinates corresponding to the target in different time frames.

Specifically, for example, the error functions f _x , f _y and the measurement camera tracking coordinates Calculate the corrected real camera coordinates _Cx = [ _Cx1 , _Cx2 , ..., _Cxi , ..., _CxN ] and _Cy = [ _Cy1 , _Cy2 , ..., _Cyi , ..., _CyN ], Then the radar tracks the coordinates r _x , _ry , which are the measured values in the inclined coordinates, and calibrates the camera coordinates C _x , _Cy , which are the values in the calibrated coordinates, and calculates the inclination angle θ of the installed radar: Let the inclination angle vector be θ'=[θ ₁ ,θ ₂ , ...,θ _i ,θ _N ], where θ _i is the calculated inclination angle of the i-th frame: Then perform mean filtering on the tilt angle vector to obtain the final tilt angle.

An embodiment of the present invention provides a method for determining the installation angle of an intersection radar based on error compensation. The method performs camera distance error compensation on the camera tracking coordinates corresponding to the target in different time frames, and filters the installation angles obtained according to the compensated radar tracking coordinates and camera tracking coordinates corresponding to the different time frames, thereby realizing a method for determining the radar installation angle based on multi-dimensional compensation measures, which can improve the accuracy of determining the installation angle. At the same time, the present invention utilizes the advantage that the tracking target trajectory of the camera is stable and normal and is not affected by the deflection of the equipment, and uses the camera coordinates as the standard quantity as the corrected coordinates, which has higher accuracy and versatility. At the same time, the camera coordinates are compensated using the least squares method to further improve the radar installation accuracy.

To implement the method provided by the embodiment of the present invention, the embodiment of the present invention provides a system for determining the installation angle of a road intersection radar based on error compensation, as shown in FIG2 , the system includes: an acquisition unit 21, a screening unit 22;

The acquisition unit 21 is used to acquire the radar tracking coordinates and the camera tracking coordinates corresponding to the target in different time frames.

The screening unit 22 is used to screen the camera tracking coordinates corresponding to the target in different time frames to obtain real camera tracking coordinates.

The acquisition unit 21 is further configured to acquire the camera tracking coordinates of the filtered corresponding frame according to the real camera tracking coordinates and the camera tracking coordinates of the previous preset frame.

The acquisition unit 21 is further used to acquire the filtered camera coordinate error corresponding to the target according to the filtered real camera tracking coordinates and the filtered camera tracking coordinates of the corresponding frame.

The acquisition unit 21 is further used to acquire a camera distance error compensation function corresponding to the target according to the camera tracking coordinates of the corresponding frame after screening corresponding to the target and the camera coordinate error after screening corresponding to the target.

The acquisition unit 21 is further used to acquire the corrected real camera coordinates corresponding to the target according to the camera distance error compensation function corresponding to the target and the camera tracking coordinates corresponding to the target at different time frames, and to acquire the radar installation inclination angle according to the radar tracking coordinates corresponding to the target at different time frames and the corrected real camera coordinates corresponding to the target.

Furthermore, the acquisition unit 21 is specifically configured to use the difference between the filtered real camera tracking coordinates and the filtered camera tracking coordinates of the corresponding frame as the filtered camera coordinate error corresponding to the target.

Furthermore, the acquisition unit 21 is further specifically used to perform quadratic function curve fitting on the camera tracking coordinates of the corresponding frame after screening corresponding to the target and the camera coordinate error after screening corresponding to the target, so as to acquire the camera distance error compensation function corresponding to the target.

Furthermore, the acquisition unit 21 is specifically used to construct an error compensation quadratic function in which the camera coordinate error changes with the camera tracking coordinates of the corresponding frame; obtain a constant value of the error compensation quadratic function according to the camera tracking coordinates of the filtered corresponding frame corresponding to the target and the filtered camera coordinate error corresponding to the target; and obtain a camera distance error compensation function corresponding to the target according to the constant value of the error compensation quadratic function.

Furthermore, the acquisition unit 21 is further specifically configured to acquire the corrected real camera coordinates corresponding to the target according to the constant value of the camera distance error compensation quadratic function and the camera tracking coordinates corresponding to the target in different time frames.

An embodiment of the present invention provides a system for determining the installation angle of an intersection radar based on error compensation. The system performs camera distance error compensation on the camera tracking coordinates corresponding to the target in different time frames, and filters the installation angles obtained according to the compensated radar tracking coordinates and camera tracking coordinates corresponding to the different time frames, thereby realizing a radar installation angle determination method based on multi-dimensional compensation measures, which can improve the accuracy of determining the installation angle. At the same time, the present invention utilizes the advantage that the camera's tracking target trajectory is stable and normal and is not affected by the deflection of the equipment, and uses the camera coordinates as the standard quantity as the corrected coordinates, which has higher accuracy and versatility. At the same time, the camera coordinates are compensated using the least squares method to further improve the radar installation accuracy.

It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure. The attached method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

The disclosed embodiments are described above to enable any person skilled in the art to implement or use the present invention. Various modifications of these embodiments are obvious to those skilled in the art, and the general principles defined herein may also be applied to other embodiments without departing from the spirit and scope of the present disclosure. Therefore, the present disclosure is not limited to the embodiments given herein, but is consistent with the broadest scope of the principles and novel features disclosed in this application.

The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it should be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", just as "including," is explained as a transitional word in the claims. In addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

Those skilled in the art may also understand that the various illustrative logical blocks, units, and steps listed in the embodiments of the present invention may be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly demonstrate the interchangeability of hardware and software, the various illustrative components, units, and steps described above have generally described their functions. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the described functions for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present invention.

The various illustrative logic blocks or units described in the embodiments of the present invention can be implemented or operated by a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field programmable gate array or other programmable logic system, a discrete gate or transistor logic, a discrete hardware component, or any combination of the above. The general-purpose processor can be a microprocessor, and optionally, the general-purpose processor can also be any conventional processor, controller, microcontroller or state machine. The processor can also be implemented by a combination of computing systems, such as a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a digital signal processor core, or any other similar configuration.

The steps of the method or algorithm described in the embodiments of the present invention can be directly embedded in hardware, a software module executed by a processor, or a combination of the two. The software module can be stored in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM or other storage media of any form in the art. Exemplarily, the storage medium can be connected to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and the storage medium can be arranged in an ASIC, and the ASIC can be arranged in a user terminal. Optionally, the processor and the storage medium can also be arranged in different components in the user terminal.

In one or more exemplary designs, the above functions described in the embodiments of the present invention can be implemented in hardware, software, firmware or any combination of the three. If implemented in software, these functions can be stored on a computer-readable medium, or transmitted in the form of one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media that facilitate the transfer of computer programs from one place to another. The storage medium can be any available medium that can be accessed by any general or special computer. For example, such computer-readable media can include but are not limited to RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage systems, or any other medium that can be used to carry or store program codes in the form of instructions or data structures and other forms that can be read by general or special computers, or general or special processors. In addition, any connection can be appropriately defined as a computer-readable medium, for example, if the software is transmitted from a website site, server or other remote resource through a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL) or wirelessly, such as infrared, wireless and microwave, it is also included in the defined computer-readable medium. The disk and disc include compact disk, laser disk, optical disk, DVD, floppy disk and Blu-ray disk. Disks usually reproduce data magnetically, while discs usually reproduce data optically with lasers. Combinations of the above may also be included in computer readable media.

The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims (10)

1. An intersection radar installation angle determining method based on error compensation, which is characterized by comprising the following steps:

acquiring radar tracking coordinates and camera tracking coordinates respectively corresponding to the target in different time frames;

screening camera tracking coordinates of the target corresponding to different time frames respectively to obtain real camera tracking coordinates;

acquiring the camera tracking coordinates of the corresponding frames after screening according to the real camera tracking coordinates and the camera tracking coordinates of the front preset frames;

acquiring a screened camera coordinate error corresponding to the target according to the screened real camera tracking coordinate and the screened camera tracking coordinate of the corresponding frame;

acquiring a camera distance error compensation function corresponding to the target according to the camera tracking coordinates of the screened corresponding frame corresponding to the target and the screened camera coordinate error corresponding to the target;

According to the camera distance error compensation function corresponding to the target and the camera tracking coordinates corresponding to the target in different time frames, the corrected real camera coordinates corresponding to the target are obtained, and according to the radar tracking coordinates corresponding to the target in different time frames and the corrected real camera coordinates corresponding to the target, the radar installation tilt angle is obtained.

2. The method for determining an intersection radar installation angle based on error compensation according to claim 1, wherein the step of obtaining the filtered camera coordinate error corresponding to the target according to the filtered real camera tracking coordinate and the filtered camera tracking coordinate of the corresponding frame comprises:

And taking the difference value of the screened real camera tracking coordinates and the screened camera tracking coordinates of the corresponding frame as the screened camera coordinate error corresponding to the target.

3. The method for determining an installation angle of an intersection radar based on error compensation according to claim 1, wherein the step of obtaining the camera distance error compensation function corresponding to the target according to the camera tracking coordinates of the filtered corresponding frame corresponding to the target and the filtered camera coordinate error corresponding to the target comprises:

And performing quadratic function curve fitting on the camera tracking coordinates of the screened corresponding frames corresponding to the targets and the screened camera coordinate errors corresponding to the targets to obtain a camera distance error compensation function corresponding to the targets.

4. The method for determining an installation angle of an intersection radar based on error compensation according to claim 3, wherein the step of performing quadratic function curve fitting on the camera tracking coordinates of the filtered corresponding frame corresponding to the target and the filtered camera coordinate errors corresponding to the target, and obtaining the camera distance error compensation function corresponding to the target comprises:

constructing an error compensation quadratic function of the camera coordinate error along with the change of the camera tracking coordinates of the corresponding frame;

obtaining a constant value of the error compensation quadratic function according to the camera tracking coordinates of the screened corresponding frames corresponding to the target and the screened camera coordinate errors corresponding to the target;

and obtaining a camera distance error compensation function corresponding to the target according to the constant value of the error compensation quadratic function.

5. The method for determining an intersection radar installation angle based on error compensation according to claim 4, wherein the step of obtaining corrected real camera coordinates corresponding to the target according to the camera distance error compensation function corresponding to the target and the camera tracking coordinates corresponding to the target at different time frames respectively comprises:

and obtaining corrected real camera coordinates corresponding to the target according to the constant value of the camera distance error compensation quadratic function and the camera tracking coordinates respectively corresponding to the target in different time frames.

6. An error compensation-based intersection radar installation angle determination system, the system comprising:

The acquisition unit is used for acquiring radar tracking coordinates and camera tracking coordinates respectively corresponding to the targets in different time frames;

The screening unit is used for screening the camera tracking coordinates of the target corresponding to different time frames respectively to obtain real camera tracking coordinates;

the acquisition unit is further used for acquiring the camera tracking coordinates of the corresponding frames after screening according to the real camera tracking coordinates and the camera tracking coordinates of the front preset frames;

the acquisition unit is further used for acquiring the screened camera coordinate error corresponding to the target according to the screened real camera tracking coordinate and the screened camera tracking coordinate of the corresponding frame;

The acquisition unit is further used for acquiring a camera distance error compensation function corresponding to the target according to the camera tracking coordinates of the screened corresponding frame corresponding to the target and the screened camera coordinate error corresponding to the target;

The acquisition unit is further configured to acquire corrected real camera coordinates corresponding to the target according to the camera distance error compensation function corresponding to the target and camera tracking coordinates corresponding to the target in different time frames, and acquire a radar installation tilt angle according to the radar tracking coordinates corresponding to the target in different time frames and the corrected real camera coordinates corresponding to the target.

7. The intersection radar installation angle determining system based on the error compensation according to claim 6, wherein,

The acquiring unit is specifically configured to use a difference value between the filtered real camera tracking coordinate and the filtered camera tracking coordinate of the corresponding frame as the filtered camera coordinate error corresponding to the target.

8. The intersection radar installation angle determining system based on the error compensation according to claim 6, wherein,

The obtaining unit is specifically further configured to perform quadratic function curve fitting on the camera tracking coordinates of the filtered corresponding frame corresponding to the target and the filtered camera coordinate errors corresponding to the target, so as to obtain a camera distance error compensation function corresponding to the target.

9. The intersection radar installation angle determining system based on the error compensation according to claim 7, wherein,

The acquisition unit is specifically configured to construct an error compensation quadratic function of a camera coordinate error along with a camera tracking coordinate change of the corresponding frame; obtaining a constant value of the error compensation quadratic function according to the camera tracking coordinates of the screened corresponding frames corresponding to the target and the screened camera coordinate errors corresponding to the target; and obtaining a camera distance error compensation function corresponding to the target according to the constant value of the error compensation quadratic function.

10. The intersection radar installation angle determining system based on the error compensation according to claim 9, wherein,

The obtaining unit is specifically further configured to obtain corrected real camera coordinates corresponding to the target according to the constant value of the camera distance error compensation quadratic function and the camera tracking coordinates corresponding to the target in different time frames.