TWM614686U - Radar device with automatic calibration - Google Patents

Abstract

A radar device with automatic calibration is detachably assembled on a vehicle. The radar device with automatic calibration includes a radar, an information filtering module, an information storage unit and a computing module. The radar has initial angle information. After the radar continuously emits the transmitted signal, it receives the corresponding reflected signal and obtains multiple environmental information. The information filtering module is electrically connected to the radar, and the information filtering module receives environmental information and filters the environmental information to obtain multiple filtered environmental information. The information storage unit is electrically connected to the information filtering module, and the information storage unit receives and stores filtered environmental information. The calculation module is electrically connected to the information storage unit and the radar. The calculation module receives the filtered environment information and obtains the angle error value through calculation. The calculation module adjusts the initial angle information of the radar according to the angle error value during the calibration period.

Description

Radar device with automatic calibration

This creation is about a radar device, especially a radar device with automatic correction.

Radar is usually installed on a vehicle to sense objects around the vehicle to warn the driver or provide assistance to the driver, and can be used to provide real-time vehicle motion data to the automatic driving system, thereby improving the safety of the vehicle.

However, the premise is that the radar must be installed in the correct position of the vehicle, but in fact, the radar needs to continuously improve the observation accuracy due to the needs of automatic driving, or the radar installed on the vehicle is subject to road bumps or collisions, which will cause the radar to sense the direction of deviation. Shift, resulting in an error in the angle of the object detected by the radar, but giving the driver a false warning or giving the driver false assistance. In addition, when the radar detection angle is abnormal, it is necessary to return to the car repair shop, and the technician will carry out the radar angle correction, but the repair shop lacks sophisticated equipment. The aftermarket and special vehicles are also troubled by calibration and installation accuracy.

In view of the above, in one embodiment, a radar device with automatic calibration is provided, and is detachably assembled in a vehicle. The radar device with automatic calibration includes a radar, an information filtering module, an information storage unit, and a computing module. The radar has initial angle information. After the radar continuously emits the transmitted signal, it receives the corresponding reflected signal and obtains multiple environmental information. The information filtering module is electrically connected to the radar, and the information filtering module receives the environmental information and filters the environmental information to obtain multiple filtered environmental information. The information storage unit is electrically connected to the information filtering module, and the information storage unit receives and stores the filtered environmental information. The calculation module is electrically connected to the information storage unit and the radar. The calculation module receives the filtered environmental information and obtains the error value through calculation. During the correction period, the calculation module compensates and adjusts the deviation of the initial angle information of the radar according to the angle error value. .

In summary, the radar device with automatic calibration of this creative embodiment can receive and store multiple filtered environmental information filtered by the information filtering module according to the information storage unit when an error occurs in the angle of the radar detected object. After receiving the filtered environment information through the calculation module, the angle error value is obtained through calculation, and then the initial angle information of the radar is adjusted according to the angle error value to achieve the correct initial angle of the radar to be self-calibrated. As a result, due to the automatic compensation system with automatic correction function, it can reduce the requirements for the accuracy of the installation of the radar device, and can also simultaneously improve the accuracy of the radar used to detect the object angle, and keep the radar device continuously at the best work state. In addition, the driver can automatically calibrate without going back to the car repair shop, thereby improving the convenience of subsequent maintenance and the safety of driving. Furthermore, due to the simple structure, the production speed can be increased and the cost of production equipment can be reduced.

Fig. 1 is a schematic diagram of the first embodiment of creating a radar device with automatic calibration at the first time. As shown in Figure 1, the radar device 1 with automatic calibration can be detachably assembled on the front side of the vehicle 20 through assembly methods such as locking or snapping. Here, although the radar device 1 is assembled on the front side of the vehicle 20, it is shown here. , But it can also be installed on the back or side of the vehicle 20, and this creation is not limited to this. In this embodiment, the vehicle 20 is a four-wheel passenger vehicle, which may be a general car, a recreational vehicle, a medium-sized bus, a tourist car, or a sports car, etc. In some embodiments, the vehicle 20 may also be a tracked vehicle. The tracked vehicle is, for example, a tank vehicle, a half-tracked vehicle, or a snowmobile.

As shown in Figure 1, in this embodiment, the road 30 includes a same lane 31, an opposite lane 32, and a separation island 46. The separation island 46 is located between the same lane 31 and the opposite lane 32. The road 30 has Stationary traffic signs 41, electronic toll collection 42, traffic signs 44 and street lights 45, a land bridge 43 is located in front of the road 30, a vehicle 20 and a vehicle 21 are located on the same lane 31, and a vehicle 22 is located on the opposite lane 32.

Please refer to FIG. 1 again. The longitudinal direction is the direction in which the vehicle 20 runs straight on the road 30 in the real world, that is, the longitudinal direction is the body axis of the vehicle 20. The lateral direction is the direction in which the vehicle 20 deviates from the opposite lane 32 to the same lane 31 in the real world. The longitudinal speed is the speed at which the vehicle 20 runs straight on the road 30 in the real world, and the lateral speed is the speed at which the vehicle 20 deviates from the opposite lane 32 to the same lane 31 in the real world. Therefore, in the real world, when the vehicle 20 _{travels straight in the same lane 31 at the speed V 1 for the} first time, the vehicle 20 only has a longitudinal speed, that is, a speed V ₁ , and does not have a lateral speed. In this embodiment, since the installation angle of the radar 10 is correct and not offset, the axial direction of the radar 10 is the axial direction of the vehicle body of the vehicle 20.

As shown in Figure 1, in this embodiment, at the first time, the traffic sign 41, the electronic toll collection 42, the land bridge 43, the traffic sign 44, and the street lamp 45 are respectively located in front of the vehicle 20, and the separation island 46 is located in the vehicle 20. the left side of the vehicle 22 until the vehicle speed Fangju 20 of 22 vehicle speed V _D2 and V ₁ of the vehicle 20 is reversed, the vehicle 21 until the vehicle speed 21 of the vehicle 20 Fangju velocity V _D1 and V ₁ is a vehicle of 20 In the same direction.

Figure 2 is a system architecture diagram of the first embodiment of a radar device with automatic calibration created. As shown in FIG. 2, in this embodiment, the radar device 1 with automatic calibration includes a radar 10, an information filtering module 11, an information storage unit 12 and a computing module 13.

As shown in FIGS. 1 to 2, in this embodiment, the radar 10 of the radar device 1 with automatic correction may be a frequency modulated continuous wave radar (FMCW radar, Frequency Modulated Continuous Waveform Radar). The radar 10 has initial angle information. The initial angle information can define the azimuth of the reference point judged by the radar 10 (here the reference point is an object other than the vehicle 20). For example, the initial angle information can include the radar azimuth or the radar speed. , Where the radar azimuth is the azimuth angle of the reference point relative to the radar 10 after the radar 10 detects the reference point, and the radar speed is the speed of the reference point relative to the radar 10 after the radar 10 detects the reference point.

As shown in FIGS. 1 to 2, in this embodiment, at the first time, the radar 10 arranged on the front side of the vehicle 20 continuously transmits the transmission signal P, and transmits the continuously transmitted transmission signals P to The first-time environmental reference point. The first-time environmental reference point includes multiple static environmental reference points and multiple dynamic environmental reference points. The multiple static environmental reference points may include traffic signs 41, electronic toll collection 42, land bridge 43, and traffic numbers. For the log 44 and the street lamp 45, the multiple dynamic environment reference points may include a _{vehicle 22 with a speed V D2} and a vehicle 21 with a speed V _D1. In some embodiments, the multiple static environmental reference points may also include other static objects containing metal components, and the multiple dynamic environmental reference points may also include other dynamic objects containing metal components, but are not limited to metal components.

Continuing, as shown in Figs. 1 to 2, the radar 10 installed on the front side of the vehicle 20 receives the corresponding reflected signal R and obtains the first time environmental information. The first-time environmental information may include multiple static environmental reference point information and multiple dynamic environmental reference point information. Multiple static environmental reference point information can include V _R1 , V _R2 , V _R3 , V _R4 , V _R5 , θ _R1 , θ _R2 , θ _R3 , θ _R4 , θ _R5 , where V _R1 and θ _R1 are radar 10 The value of the radar speed of the traffic sign 41 and the value of the radar azimuth angle _{detected at the first time. V R2} and θ _R2 are respectively the value of the radar speed of the electronic toll 42 detected by the radar 10 at the first time And the value of the radar azimuth angle, V _R3 and θ _R3 are the radar speed value of the land bridge 43 detected by the radar 10 at the first time and the value of the radar azimuth angle, and V _R4 and θ _R4 are respectively the radar 10 in the first time. The value of the radar speed of the traffic sign 44 and the value of the radar azimuth angle detected at a time. V _R5 and θ _R5 are respectively the value of the radar speed of the street light 45 and the radar detected by the radar 10 at the first time. The value of the azimuth angle. Here, the value of the radar speed is the value of the speed of the reference point relative to the radar 10 after the radar 10 detects the reference point. The value of the radar azimuth angle is the value of the azimuth angle of the reference point relative to the radar 10 after the radar 10 detects the reference point. The multiple dynamic environmental reference point information may include V _R7 , V _R8 , θ _R7 and θ _R8 , where V _R7 and θ _R7 are respectively the value of the radar speed and the radar azimuth of the vehicle 21 detected by the radar 10 at the first time The value of the angle, V _R8 and θ _R8 are respectively the value of the radar speed of the vehicle 22 and the value of the radar azimuth angle detected by the radar 10 at the first time.

As shown in FIGS. 1 to 2, in this embodiment, at the first time, the information filtering module 11 is electrically connected to the radar 10, the information filtering module 11 receives the first time environmental information, and the information filtering module 11 The first-time filtered environmental information is obtained after the above-mentioned first-time environmental information is filtered by calculation. The first-time filtered environmental information is the multiple static environmental reference point information of the first-time environmental information, that is to say, the information filtering module 11 filters multiple dynamic environmental reference point information in the first-time environmental information to Keep multiple static environmental reference point information for the first time environmental information.

As shown in FIGS. 1 to 2, the vehicle 20 is traveling on the road 30, and the static environment reference points detected by the radar 10 of the vehicle 20 are usually more than the dynamic environment reference points. For example, in this embodiment, the surrounding area of the vehicle 20 The only dynamic environmental reference points for vehicles 21 and 22, while the static environmental reference points include traffic signs 41, electronic toll collection 42, land bridge 43, traffic signs 44, and street lights 45. Therefore, the calculation filtering method of the information filtering module 11 can be to first obtain the mode from the radar speed value of each reference point detected by the radar 10, and use the mode as the basis for judging the static environment reference point. . Among them, the allowable error of the mode can be, for example, 5%. For example, taking the radar device 1 located on the front side of the vehicle 20 as an example, at the first time, suppose that V _R1 , V _R2 , V _R3 and V _R4 are all 100 km/hr, V _R5 is 97 km/hr, V _R7 is 10 km/hr and V _R8 is 200 km/hr, then 100 km/hr is taken as the mode. Since 97 km/hr is within the allowable error of 5%, it is judged that traffic signs 41, electronic toll collection 42, land bridges 43. Traffic signs 44 and street lights 45 are static environmental reference points.

As shown in FIGS. 1 to 2, in this embodiment, the information storage unit 12 of the radar device 1 located in front of the vehicle 20 is electrically connected to the information filtering module 11, and the information storage unit 12 receives and stores the first time filtered Environmental information.

As shown in FIGS. 1 to 2, the computing module 13 is electrically connected to the information storage unit 12 and the radar 10. The computing module 13 can receive the first time filtered environmental information and obtain the first time vehicle speed information through calculations. Among them, the calculation method can use the least squares approach to calculate the instantaneous vehicle speed information and the navigation direction of the vehicle 20 with the multiple radar velocities and the multiple radar azimuth angles. The first time vehicle speed information may include the first time vehicle longitudinal speed and the first time vehicle lateral speed, where the first time vehicle longitudinal speed and the first time vehicle lateral speed are respectively the radar located in front of the vehicle 20 at the first time The longitudinal speed and lateral speed of the vehicle 20 calculated by the computing module 13 of the device 1. The calculation module 13 obtains the vehicle deflection angle at the first time according to the longitudinal speed of the vehicle at the first time and the lateral speed of the vehicle at the first time. The navigation direction of the vehicle 20 can be calculated based on the vehicle deflection angle at the first time. For example, in this embodiment, the vehicle 20 _{is traveling straight in the direction of the road 30 at a speed V 1} and the installation angle of the radar 10 does not deviate. Therefore, the value of the longitudinal speed of the vehicle at the first time is the value of the speed V ₁ , and The value of the lateral speed of the vehicle at the first time is zero and the value of the vehicle yaw angle at the first time is zero. As a result, the radar device 1 with automatic calibration of the present creative embodiment can receive and store the instantaneous filtered environmental information filtered by the information filtering module 11 according to the information storage unit 12, and then receive the instantaneous filtering through the computing module 13 The post-environment information is also calculated to obtain instantaneous vehicle speed information to determine the speed of the vehicle 20 and the navigation direction of the vehicle 20.

Fig. 3 is a schematic diagram of the application of the second embodiment of the radar device with automatic calibration at the first time. 3, the difference between this embodiment and the first embodiment is that the installation angle of the radar 10 of this embodiment has an offset error, so the axial direction of the radar 10 is different from the body axial direction of the vehicle 20, and the difference between the radar 10 A vehicle deflection angle is formed between the axial direction and the axial direction of the vehicle body of the vehicle 20. Since the radar 10 has an angular offset when it is installed, it affects the accuracy of the radar azimuth and radar speed of the reference point detected by the radar 10, and also affects the accuracy of the speed and heading of the vehicle 20 judged by the radar device 1 sex. That is to say, although the first time environmental reference points detected in this embodiment and the first embodiment are the same, due to the offset error of the installation angle of the radar 10 in this embodiment, the radar device 1 in this embodiment is The obtained first-time environment information and the first-time filtered environment information are different from the first-time environment information and the first-time filtered environment information of the first embodiment, and thus affect the operation of the subsequent operation module 13. The following describes how to use the radar device 1 with automatic calibration of this embodiment to perform calibration.

Fig. 4 is a schematic diagram of the application of the second embodiment of the radar device with automatic calibration at the second time. The second time in FIG. 4 is a certain time when the vehicle 20 in FIG. 3 continues to drive straight on the road 30 after the first time. In this example, for the convenience of explanation, two different time points with large differences are provided as examples for illustration, but in fact, it is possible to obtain the required information at multiple different time points within one second for analysis and judgment. 4, at a second time, the vehicle 20 at a speed V ₂ to the straight traveling in the same lane 31, at this time, the vehicle 21 and the vehicle 22 is still located before the vehicle 20 side, but compared to the first time of the vehicle 22 Closer to the vehicle 20, the speed V _D2 ′ of the _{vehicle 22 is opposite to the speed V 2} of the vehicle 20, and the speed V _D1 ′ of the vehicle 21 and the speed V ₂ of the vehicle 20 are in the same direction.

As shown in FIGS. 2 and 4, in this embodiment, the calibration period is a period of time during which the radar device 1 performs calibration operations. The calibration period includes a first time and a second time. At the second time, the radar 10 transmits Signal P to a second time environmental reference point, the second time environmental reference point includes multiple static environmental reference points and multiple dynamic environmental reference points, multiple static environmental reference points may include static electronic toll 42, land bridge 43, traffic number For the log 44, the street lamp 45 and the separation island 46, a plurality of dynamic environmental reference points may include a _{vehicle 21 having a speed V D1} ′ and a vehicle 22 having a speed V _{D2 ′.}

In addition, as shown in FIGS. 2 and 4, the radar 10 installed on the front side of the vehicle 20 receives the corresponding reflected signal R and obtains the second time environmental information. The second-time environmental information may include multiple static environmental reference point information and multiple dynamic environmental reference point information. Multiple static environmental reference point information can include V _R2 ', V _R3 ', V _R4 ', V _R5 ', V _R6 ', θ _R2 ', θ _R3 ', θ _R4 ', θ _R5 ', θ _R6 ', where V _R2 'and θ _R2 ' are respectively the radar speed value and the radar azimuth value of the electronic toll 42 detected by the radar 10 at the second time. V _R3 'and θ _R3 ' are respectively the radar 10 at the second time The value of the radar speed and the radar azimuth angle of the detected land bridge 43. V _R4 'and θ _R4 ' are respectively the value of the radar speed and the radar speed of the traffic sign 44 detected by the radar 10 at the second time The value of the azimuth angle, V _R5 'and θ _R5 ' are respectively the value of the radar speed and the radar azimuth angle of the street light 45 detected by the radar 10 at the second time, and V _R6 'and θ _R6 ' are the radar 10 respectively The value of the radar speed and the value of the radar azimuth angle of the separated island 46 detected at the second time. The multiple dynamic environment reference point information may include V _R7 ', V _R8 ', θ _R7 'and θ _R8 ', where V _R7 ' and θ _R7 'are the radars of the vehicle 21 detected by the radar 10 at the second time. The value of the speed and the value of the radar azimuth, V _R8 'and θ _R8 ' are respectively the value of the radar speed and the value of the radar azimuth of the vehicle 22 detected by the radar 10 at the second time.

As shown in FIGS. 2 to 4, in this embodiment, the information filtering module 11 receives the aforementioned multiple environmental information. Specifically, at the first time, the information filtering module 11 receives the aforementioned first-time environmental information, at the second time, the information filtering module 11 receives the aforementioned second-time environmental information, and the information filtering module 11 compares the aforementioned first The time environment information and the above-mentioned second time environment information are calculated and filtered to obtain the first time filtered environment information and the second time filtered environment information. The first-time filtered environmental information is a plurality of static environmental reference point information of the above-mentioned first-time environmental information, and the second-time filtered environmental information is a plurality of static environmental reference point information of the above-mentioned second-time environmental information. That is to say, the information filtering module 11 respectively filters out multiple dynamic environmental reference point information in the first-time environmental information and multiple dynamic environmental reference point information in the second-time environmental information, so as to retain some of the first-time environmental information. Multiple static environment reference point information and multiple static environment reference point information of the second time environment information.

As shown in FIGS. 2 to 4, the information storage unit 12 receives and stores a plurality of filtered environmental information. Specifically, in this embodiment, the plurality of filtered environmental information includes the first time filtering of the above-mentioned embodiment. Post-environmental information and second-time filtered post-environmental information.

As shown in FIGS. 2 to 4, in this embodiment, the calculation module 13 can receive the first time filtered environment information and the second time filtered environment information and perform calculations respectively. The calculation method may be, for example, the least square Method (least squares approach), by which the vehicle speed information at the first time and the vehicle speed information at the second time can be obtained respectively. The first time vehicle speed information may include the first time vehicle longitudinal speed V _1y and the first time vehicle lateral speed V _1x . The second time vehicle speed information may include the second time vehicle longitudinal speed V _2y and the second time vehicle lateral speed V _2x . Among them, the first time vehicle longitudinal speed V _1y and the first time vehicle lateral speed V _1x are respectively the longitudinal speed and lateral speed of the vehicle 20 calculated by the computing module 13 at the first time, and the second time vehicle longitudinal speed V _2y and the second time vehicle lateral speed V _2x are respectively the longitudinal speed and the lateral speed of the vehicle 20 calculated by the computing module 13 at the second time.

In conclusion, in this embodiment, as shown in FIGS. 3 to 4, since the radar device 1 has not been calibrated, the first time vehicle longitudinal speed V _1y and the first time vehicle lateral speed V _{1x are} not respectively directed to the vehicle in the real world. The longitudinal speed V ₁ of 20 and the lateral speed of the vehicle 20. The second time vehicle longitudinal speed V _2y and the second time vehicle lateral speed V _{2x do} not respectively point to the longitudinal speed V ₂ of the vehicle 20 and the lateral speed _{of the vehicle 20 in the real world, and the vehicle longitudinal speed V 1y} and the second time The longitudinal vehicle speed V _{2y of the} time and the speeds V ₁ and V _{2 of the} vehicle 20 respectively form the vehicle deflection angle ϕ1 at the first time and the vehicle deflection angle ϕ2 at the second time. Therefore, in this embodiment, the radar device 1 will misjudge the vehicle 20 is a movement behavior with offset or turning.

In conclusion, in this embodiment, the computing module 13 further determines the vehicle longitudinal speed V _1y at the first time and the vehicle lateral speed V _{1x at the} first time, and the vehicle longitudinal speed V _2y at the second time and the vehicle lateral speed V _{2x at the second time.} To obtain the vehicle deflection angle ϕ1 at the first time and the vehicle deflection angle ϕ2 at the second time respectively, and compare the vehicle deflection angle ϕ1 at the first time with the vehicle deflection angle ϕ2 at the second time. Since in this embodiment, the vehicle 20 is driving straight on a long straight road 30, the comparison result of the vehicle deflection angle ϕ1 at the first time and the vehicle deflection angle ϕ2 at the second time should be the same or similar. The module 13 can take the value of the vehicle deflection angle ϕ1 at the first time, the value of the vehicle deflection angle ϕ2 at the second time, or the average value of the vehicle deflection angle ϕ1 at the first time and the vehicle deflection angle ϕ2 at the second time to obtain a value. For the angle error value, the calculation module 13 adjusts the initial angle information of the radar 10 according to the angle error value.

FIG. 5 is a schematic diagram of the application of the second embodiment of the radar device with automatic calibration from the first time to the Nth time. Among them, the relative relationship between the vehicle 20 and the traffic sign 44 at the first time t1 in FIG. 5 and the relative relationship between the vehicle 20 and the traffic sign 44 at the second time t2 are shown in FIGS. 3 and 4, respectively. The relative position relationship of 44, here is only the traffic sign 44 as the static environment reference point as an example, but the selection of the static environment reference point is not limited to this. As shown in FIG. 5, in this embodiment, the vehicle 20 moves along the vehicle body axis C in the real world, and the radar axis A (ie the radar axis) of the radar 10 is not parallel to the vehicle body axis C , Thus forming the angle error value ψ.

In conclusion, as shown in FIG. 5, in this embodiment, the calibration period includes the first time t1 to the Nth time tn. The radar device 1 continually extracting the reference point of the same static environment information, for example, at a first time t1, the vehicle speed V ₁ at 20 straightly moved axially C 44 emitted radar signals and the vehicle body 10 pairs of traffic signals, Therefore, the filtered environment information at the first time includes V _R4 . At the second time t2, the vehicle 20 _{moves straight toward the vehicle body axis C at a speed V 2} and the radar 10 transmits a signal to the traffic sign 44, so the second time filter after the environmental information comprises a V _R4 ', at the N-th time TN, the vehicle speed V _n 20 is straightly moved axially C 44 emitted radar signals and the vehicle body 10 pairs of traffic signs, so after filtration N environment information comprises time V _{R4 ”} , where V _{R4 ”} is the value of the radar speed of the traffic sign 44 detected by the radar 10 at the Nth time tn. Through the above-mentioned filtered environment information at different time points, the computing module 13 can calculate the moving distance of the vehicle 20 between each time point and the moving distance of the vehicle 20 in the radar horizontal axis direction between each time point by speed conversion. (For example, between the first time t1 and the second time t2, the moving distance of the vehicle 20 in the radar horizontal axis direction is the distance ΔX1-distance ΔX2. Between the first time t1 and the Nth time tn, in the radar horizontal axis direction The moving distance of the vehicle 20 is a distance ΔX1-distance ΔXn). Therefore, the radar device 1 of this embodiment can also use a plurality of filtered environment information obtained at multiple time points such as the first time t1, the second time t2, ..., and the Nth time tn, and apply the filtered environment Curve fitting of the information can obtain the navigation path of the vehicle 20 to obtain the angle error value ψ, and then the radar 10 can be self-calibrated to the correct initial angle.

In summary, the radar device 1 with automatic correction of this creative embodiment, when the radar 10 detects the angle of an object, can receive and store multiple filtered results filtered by the information filtering module 11 according to the information storage unit 12 The environmental information is then received through the calculation module 13 to obtain the above-mentioned filtered environmental information and the angle error value is obtained through calculation, and then the initial angle information of the radar 10 is adjusted according to the angle error value, so as to correct the radar 10 to the correct initial angle. . As a result, due to the automatic compensation system with automatic correction function, the requirements for the installation accuracy of the radar device 1 can be reduced, and the accuracy of the angle used by the radar 10 for detecting objects can also be improved simultaneously, and the radar device 1 can continue to be kept at the highest level. Good working condition. In addition, the driver can automatically calibrate without going back to the car repair shop, thereby improving the convenience of subsequent maintenance and the safety of driving. Furthermore, due to the simple structure and the ability of automatic correction and compensation, the production speed can be increased and the cost of production equipment can be reduced.

In addition, in this embodiment, the calibration period is to manually determine whether the vehicle 20 is driving straight on the road 30. Therefore, the radar device 1 with automatic calibration of this creative embodiment can be used to manually drive the vehicle 20 and It is determined that the vehicle 20 is driving straight on the road 30, so that the radar 10 assembled in the vehicle 20 obtains the first-time environmental information and the second-time environmental information, and the first-time environmental information and the second-time environmental information pass through the information filtering module 11 Filtered into the first time filtered environment information and the second time filtered environment information respectively, and then the first time filtered environment information and the second time filtered environment information are calculated by the calculation module 13 to obtain the angle error value, therefore, The radar device 1 with automatic correction of the present creative embodiment can self-correct the angle of the object detected by the radar 10 only by driving the driver straight on a straight road.

As shown in FIG. 2, in this embodiment, the radar device 1 with automatic calibration further includes a communication device 14. The communication device 14 is coupled to the computing module 13 and an external device 15. The external device 15 can be a smart phone or a trip computer. If the external device 15 is a smart phone, the communication device 14 can couple the computing module 13 and the external device 15 through Bluetooth transmission. If the external device 15 is a trip computer, the communication device 14 can be controlled by The transmission method of the Controller Area Network (CAN) is coupled to the computing module 13 and the external device 15. In some embodiments, a gyroscope can also be built in or externally connected to the radar 10.

As shown in Figure 2, the external device 15 includes vehicle information. For example, if the external device 15 is a smart phone, since the smart phone has a gyroscope sensor, the smart phone itself can be measured through the gyroscope sensor. The deflection angle. In this embodiment, the smart phone is placed on the vehicle 20, so the deflection angle of the vehicle 20 can also be measured. Therefore, in this embodiment, the vehicle information of the external device 15 includes the vehicle measured by the smart phone Deflection angle of 20. For another example, if the external device 15 is a trip computer, since the trip computer can continuously obtain the steering wheel angle information of the vehicle 20, in this embodiment, the vehicle information of the external device 15 may also include the steering wheel angle information of the vehicle 20 .

As shown in FIGS. 2 to 4, in this embodiment, the multiple filtered environment information includes instantaneous filtered environment information. Get the filtered environmental information. For example, at the first time, the information filtering module 11 obtains the first time filtered environment information after calculation and filtering. Therefore, the instantaneous filtered environment information at this time is the first time filtered environment information. Similarly, in the second time, the instantaneously filtered environmental information is the second-time filtered environmental information.

As shown in Figures 2 to 4, in this embodiment, the computing module 13 can obtain the instantaneous vehicle deflection angle based on the instantaneous filtered environmental information. For example, at the first time, the instantaneous vehicle deflection angle is Is the vehicle deflection angle ϕ1 at the first time, which can also be referred to as the vehicle heading angle at the first time. At the second time, the instantaneous vehicle deflection angle is the vehicle deflection angle ϕ2 at the second time, which can also be referred to as the second time The heading angle of the vehicle.

In conclusion, in some embodiments, the vehicle deflection angle is an important basis for automatic driving assistance (ADAS) in judging the trajectory of the vehicle. Generally speaking, the vehicle deflection angle is determined by the driving angle of the vehicle 20. The computer obtains, for example, the above-mentioned steering wheel angle information. Therefore, the vehicle deflection angle ϕ1 at the first time and the vehicle deflection angle ϕ2 at the second time in this embodiment can provide additional vehicle deflection angle information for the automatic driving assistance to verify the correctness of the vehicle deflection angle, and enable the automatic driving assistance The safety of the car can be improved, and different driving strategies and adjustments of the warning zone can be adopted.

As shown in FIGS. 2 to 4, in this embodiment, the communication device 14 receives the vehicle information from the external device 15 and transmits it to the calculation module 13. The calculation module 13 further calculates the angle based on the instantaneous filtered environmental information and the vehicle information. difference. For example, if the external device 15 is a smart phone, the vehicle information is used as a reference, and the deflection angle of the vehicle 20 measured by the smart phone of the vehicle information is subtracted from the instantaneous vehicle deflection angle to obtain the angle error value . For another example, if the external device 15 is a trip computer, it also uses the vehicle information as a basis to convert the steering wheel angle information of the vehicle 20 in the vehicle information into the deflection angle of the vehicle 20 and subtract the instantaneous vehicle deflection angle to Obtain the angle error value. Thereby, the radar device 1 with automatic calibration of this creative embodiment can be coupled to the communication device 14 through the external device 15 (for example, in the case of a smart phone, as shown in FIG. 2), or the external device 15 can be coupled to the communication device 14 In the computing module 13 (for example, when it is a trip computer, not shown in the figure), based on the vehicle information of the external device 15 as a reference, the angle of the object detected by the radar 10 is compensated to accelerate the data convergence, and then accelerate the radar device 1 The reaction time, in addition, also improves the accuracy of the radar device 1.

Please refer to FIG. 2 again. Since the external device 15 includes vehicle information, the computing module 13 can indirectly know whether the vehicle 20 is in an offset or turning state through the vehicle information. If the vehicle 20 is in an offset or turning state, it will stop temporarily. Correction work. When it is known from the vehicle information that the vehicle 20 is driving straight, the calculation module 13 continues to perform the calibration work. That is to say, in this embodiment, the aforementioned calibration period is determined by the calculation module 13 according to the vehicle information.

In conclusion, by this, the vehicle information through the external device 15 helps the radar device 1 to switch between the mode of detecting the trajectory of the vehicle 20 (as in the first embodiment of the above creation) and the radar correction mode (as in the second embodiment of the above creation), To achieve rapid convergence of information, let Radar 10 enter work quickly. Therefore, the radar device 1 of this creative embodiment can automatically switch between the trajectory detection mode of the vehicle 20 and the radar correction mode, so that the radar 10 of the vehicle 20 can maintain the best working condition while also providing the most accurate vehicle dynamics. News.

Figure 6 is a schematic diagram of the installation of a third embodiment of a radar device with automatic calibration. As shown in Figure 6, the vehicle 20a is a commercial vehicle. The commercial vehicle can be a truck, a connected car, a tourist bus or a bus. The bumper, rear rear bumper and each side, due to the large size of commercial vehicles, also have the problem of inner wheel difference. Therefore, the front, rear and side of the vehicle 20a are respectively equipped with radar devices with automatic correction. 1. It can be calibrated at any time, and dangerous objects can be correctly detected in the calibrated warning zone, thereby improving driving safety.

Fig. 7 is a schematic diagram of the installation of a fourth embodiment of a radar device with automatic calibration. As shown in Fig. 7, the vehicle 20b is a two-wheeled passenger vehicle, which can be a motorcycle, a scooter, an electric motorcycle, an electric bicycle, etc. In this embodiment, the radar device 1 with automatic correction is detachable The ground is installed on the rear side of the vehicle 20b. Since two-wheeled passenger vehicles are more prone to collisions in use, for example, the driver may be stolen because the radar is exposed outside the vehicle, and there is a need for disassembly; and when looking for a parking space, they will often It is inevitable for the moving vehicle 20b to collide with other vehicles during the moving process. Therefore, by detachably installing the radar device 1 with automatic correction on the rear side of the vehicle 20b, the driver can use the vehicle 20b. The radar device 1 with automatic correction is removed and kept properly to prevent the radar device 1 with automatic correction from being damaged. After the garment is set to the proper position, the detection error caused by the installation error can be avoided through the above-mentioned automatic calibration.

1: Radar device 10: Radar 11: Information filtering module 12: Information storage unit 13: Operation module 14: Communication device 15: External device 20, 20a, 20b, 21, 22: Vehicle 30: Road 31: Same lane 32: Opposite lanes 41, 44: Traffic signs 42: Electronic toll collection 43: Land bridge 45: Street lights 46: Separated island A: Radar axis C: Car body axis t1: First time t2: Second time tn: Nth Time V ₁ , V ₂ , V _D1 , V _D2 , V _D1 ', V _D2 ', V _n : Speed V _1y : Vehicle longitudinal velocity at the _{first time V 1x} : Vehicle lateral velocity at the first time V _2y : Vehicle at the second time Longitudinal speed V _2x : Lateral speed of the vehicle at the second time ϕ1: Vehicle deflection angle at the first time ϕ2: Vehicle deflection angle at the second time ψ: Angle error value P: Transmitted signal R: Reflected signal ΔX1, ΔX2, ΔXn: distance

[Figure 1] is a schematic diagram of the application of the first embodiment of the radar device with automatic calibration in the first time. [Figure 2] is the system architecture diagram of the first embodiment of the radar device with automatic calibration. [Figure 3] is a schematic diagram of the application of the second embodiment of the radar device with automatic calibration in the first time. [Figure 4] is a schematic diagram of the application of the second embodiment of the radar device with automatic calibration in the second time. [Figure 5] is a schematic diagram of the application of the second embodiment of the radar device with automatic calibration from the first time to the Nth time. [Figure 6] is a schematic diagram of the installation of the third embodiment of the radar device with automatic calibration of the present invention. [Figure 7] is a schematic diagram of the installation of the fourth embodiment of the radar device with automatic calibration of the present invention.

1: radar device

10: radar

11: Information filtering module

12: Information storage unit

13: Computing module

14: Communication device

15: External device

P: transmit signal

R: Reflected signal

Claims (11)

A radar device with automatic correction is detachably assembled in a vehicle. The radar device with automatic correction includes: A radar with initial angle information. After the radar continuously emits a transmission signal, it receives a corresponding reflection signal and obtains a plurality of environmental information; An information filtering module electrically connected to the radar, the information filtering module receives the environmental information and filters the environmental information to obtain a plurality of filtered environmental information; An information storage unit electrically connected to the information filtering module, the information storage unit receiving and storing the filtered environmental information; and An arithmetic module is electrically connected to the information storage unit and the radar. The arithmetic module receives the filtered environmental information and obtains an angular error value through calculations. The arithmetic module is based on the angular error during a calibration period. Value to adjust the initial angle information of the radar. The radar device with automatic calibration according to claim 1, wherein the filtered environment information includes at least a first time filtered environment information and a second time filtered environment information, the first time filtered environment information and The second time filtered environmental information is calculated by the calculation module to obtain a first time vehicle speed information and a second time vehicle speed information, and the calculation module is further based on the first time vehicle speed information and the second time vehicle speed information. Time vehicle speed information is calculated to obtain the angle error value. The radar device with automatic calibration as described in claim 2, further comprising a communication device coupled to the computing module and an external device, the external device including a vehicle information, wherein the calibration period is determined by the computing module The group decides based on the vehicle information. The radar device with automatic calibration according to claim 2, wherein the first time filtered environment information and the second time filtered environment information respectively include a plurality of static environment reference point information. The radar device with automatic calibration as described in claim 1, further comprising a communication device. The filtered environment information includes an instantaneous filtered environment information. The communication device is coupled to the arithmetic module and an external device. The device includes a vehicle information, the communication device receives the vehicle information and transmits it to the calculation module, and the calculation module further calculates the angle error value according to the instant filtered environment information and the vehicle information. The radar device with automatic calibration according to claim 5, wherein the calibration period is determined by the calculation module according to the vehicle information. The radar device with automatic calibration according to claim 5, wherein the instantaneously filtered environmental information includes a plurality of static environmental reference point information. The radar device with automatic calibration according to claim 3 or 5, wherein the external device is a gyroscope, a smart phone or a computer in a row of vehicles. The radar device with automatic correction according to claim 1, wherein the radar device with automatic correction is arranged on the front side of the vehicle. The radar device with automatic correction according to claim 1, wherein the radar device with automatic correction is arranged on the rear side of the vehicle. The radar device with automatic calibration as described in claim 1, wherein the radar device with automatic calibration is arranged on the side of the vehicle.

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