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WO2021056405A1 - Procédé et appareil d'étalonnage d'angle de montage de tangage d'un radar à ondes millimétriques, ainsi que système de commande de véhicule et véhicule - Google Patents

Procédé et appareil d'étalonnage d'angle de montage de tangage d'un radar à ondes millimétriques, ainsi que système de commande de véhicule et véhicule Download PDF

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Publication number
WO2021056405A1
WO2021056405A1 PCT/CN2019/108488 CN2019108488W WO2021056405A1 WO 2021056405 A1 WO2021056405 A1 WO 2021056405A1 CN 2019108488 W CN2019108488 W CN 2019108488W WO 2021056405 A1 WO2021056405 A1 WO 2021056405A1
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WO
WIPO (PCT)
Prior art keywords
wave radar
millimeter wave
pitch
specific target
pitch angle
Prior art date
Application number
PCT/CN2019/108488
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English (en)
Chinese (zh)
Inventor
李怡强
卜运成
陆新飞
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980033200.8A priority Critical patent/CN112166336A/zh
Priority to PCT/CN2019/108488 priority patent/WO2021056405A1/fr
Publication of WO2021056405A1 publication Critical patent/WO2021056405A1/fr

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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

Definitions

  • This application relates to the field of radar, and in particular to a calibration method, device, vehicle control system and vehicle for the pitch installation angle of millimeter wave radar.
  • millimeter wave radar is widely used due to its advantages such as all-weather, all-weather, long range, and high accuracy of speed measurement. Used in ADAS and AD. But sometimes the millimeter-wave radar may have an installation error in the pitch direction, causing the installed pitch angle to be inconsistent with the initial setting pitch angle.
  • the pitch angle here refers to the angle between the radar beam and the horizontal direction, which will seriously affect the radar's detection of the target.
  • the accuracy of the pitch angle measurement affects the detection rate of the target, resulting in false alarms and missed detections of the ADAS system and AD system based on millimeter wave radar, which brings safety hazards.
  • the present application provides a method, device, vehicle control system and vehicle for calibrating the pitch installation angle of millimeter wave radar.
  • a method for calibrating the pitch installation angle of millimeter wave radar includes the following steps:
  • the millimeter wave radar is corrected according to the pitch installation error value.
  • the method before the acquiring the total number of specific targets detected by the millimeter wave radar within a specified time, the method further includes:
  • the specific target satisfies any one or more of the following conditions:
  • the speed of the specific target relative to the ground is greater than a predetermined speed
  • the detection duration of the millimeter wave radar for the specific target is greater than a predetermined duration
  • the distance between the specific target and the millimeter wave radar is within a preset distance range.
  • the specific target is a vehicle
  • the predetermined speed is set based on the minimum travel speed of the vehicle
  • the preset distance is set based on the safe vehicle distance and millimeter wave radar range.
  • the specified time is a number of detection periods of the millimeter wave radar.
  • the determining the pitch installation error value of the millimeter wave radar according to the total number of the specific targets and the pitch angle of the detection of the specific targets includes:
  • the pitch installation error value of the millimeter wave radar is determined according to the average pitch angle.
  • the determining the pitch installation error value of the millimeter wave radar according to the average pitch angle includes:
  • the initial value of the pitch angle for detecting the specific target is determined, and the pitch installation error value is determined according to the average value of the pitch angle and the initial value of the pitch angle.
  • the pitch installation error value is the difference between the mean value of the pitch angle and the initial value of the pitch angle.
  • the method further includes:
  • the total number of the specific target and the average value of the pitch angle are reset to zero.
  • the millimeter wave radar corresponds to a target detection threshold; the target detection threshold is used to detect the specific target;
  • the correcting the millimeter wave radar according to the pitch installation error value includes:
  • the target detection threshold of the millimeter wave radar is adjusted according to the pitch installation error value.
  • the adjusting the target detection threshold of the radar according to the pitch installation error value includes:
  • a new target detection threshold is determined according to the current target detection threshold and the threshold adjustment ratio value.
  • the new target detection threshold is a product of the current target detection threshold and the threshold adjustment ratio value.
  • a calibration device for the pitch installation angle of a millimeter wave radar comprising:
  • a memory for storing processor executable instructions
  • the processor is configured to:
  • the millimeter wave radar is corrected according to the pitch installation error value.
  • the processor is further configured to:
  • the specific target satisfies any one or more of the following conditions:
  • the speed of the specific target relative to the ground is greater than a predetermined speed
  • the detection duration of the millimeter wave radar for the specific target is greater than a predetermined duration
  • the distance between the specific target and the millimeter wave radar is within a preset distance range.
  • the specific target is a vehicle
  • the predetermined speed is set based on the minimum travel speed of the vehicle
  • the preset distance is set based on the safe vehicle distance and millimeter wave radar range.
  • the specified time is a number of detection periods of the millimeter wave radar.
  • the processor is configured to:
  • the pitch installation error value of the millimeter wave radar is determined according to the average pitch angle.
  • the processor is configured to:
  • the initial value of the pitch angle for detecting the specific target is determined, and the pitch installation error value is determined according to the average value of the pitch angle and the initial value of the pitch angle.
  • the pitch installation error value is the difference between the mean value of the pitch angle and the initial value of the pitch angle.
  • the processor is further configured to:
  • the pitch installation error value of the millimeter wave radar is determined according to the pitch angle average value, the total number of the specific target objects and the pitch angle average value are reset to zero.
  • the millimeter wave radar corresponds to a target detection threshold; the target detection threshold is used to detect the specific target;
  • the processor is configured to:
  • the target detection threshold of the millimeter wave radar is adjusted according to the pitch installation error value.
  • the processor is configured to:
  • a new target detection threshold is determined according to the current target detection threshold and the threshold adjustment ratio value.
  • the new target detection threshold is a product of the current target detection threshold and the threshold adjustment ratio value.
  • a vehicle control system including millimeter wave radar and millimeter wave radar pitch installation angle calibration device;
  • the millimeter wave radar is used to detect a specific target
  • the calibration device for the horizontal installation error of the millimeter wave radar includes:
  • a memory for storing processor executable instructions
  • the processor is configured to:
  • the millimeter wave radar is corrected according to the pitch installation error value.
  • the processor is further configured to:
  • the specific target satisfies any one or more of the following conditions:
  • the speed of the specific target relative to the ground is greater than a predetermined speed
  • the detection duration of the millimeter wave radar for the specific target is greater than a predetermined duration
  • the distance between the specific target and the millimeter wave radar is within a preset distance range.
  • the specific target is a vehicle
  • the predetermined speed is set based on the minimum travel speed of the vehicle
  • the preset distance is set based on the safe vehicle distance and millimeter wave radar range.
  • the specified time is a number of detection periods of the millimeter wave radar.
  • the processor is configured to:
  • the pitch installation error value of the millimeter wave radar is determined according to the average pitch angle.
  • the processor is configured to:
  • the initial value of the pitch angle for detecting the specific target is determined, and the pitch installation error value is determined according to the average value of the pitch angle and the initial value of the pitch angle.
  • the pitch installation error value is the difference between the mean value of the pitch angle and the initial value of the pitch angle.
  • the processor is further configured to:
  • the pitch installation error value of the millimeter wave radar is determined according to the pitch angle average value, the total number of the specific target objects and the pitch angle average value are reset to zero.
  • the millimeter wave radar corresponds to a target detection threshold; the target detection threshold is used to detect the specific target;
  • the processor is configured to:
  • the target detection threshold of the millimeter wave radar is adjusted according to the pitch installation error value.
  • the processor is configured to:
  • a new target detection threshold is determined according to the current target detection threshold and the threshold adjustment ratio value.
  • the new target detection threshold is a product of the current target detection threshold and the threshold adjustment ratio value.
  • the vehicle control system is an advanced driving assistance system or an automatic driving system.
  • the present application also provides a vehicle equipped with a vehicle control system, and the vehicle control system includes the system described in any one of the embodiments.
  • the embodiment of the present application obtains the total number of specific targets detected by the millimeter wave radar within a specified time and detects the pitch angle of the specific target, and then detects the specific target according to the total number of the specific target
  • the pitch angle of the millimeter wave radar determines the pitch installation error value of the millimeter wave radar, so as to realize the calibration of the pitch installation angle of the millimeter wave radar according to the pitch installation error value, thereby improving the accuracy of the millimeter wave radar in detecting the target object and improving the
  • the detection rate of the millimeter wave radar on the target object is described, and the occurrence of false alarms and missed detections is reduced.
  • Figure 1 is a schematic diagram of the pitch installation error of a millimeter wave radar.
  • Fig. 2 is a flowchart of a method for calibrating the pitch installation angle of a millimeter wave radar according to an exemplary embodiment of the application.
  • FIG. 3 is a flowchart of determining the pitch installation error value of the millimeter wave radar according to the total number of specific targets and the pitch angle of the specific targets in the embodiment shown in FIG. 2.
  • Fig. 4 is a flow chart of correcting the millimeter wave radar according to the pitch installation error value in the embodiment shown in Fig. 2.
  • Figure 5 is a schematic diagram of a drop in target detection energy caused by a millimeter-wave radar pitch installation error.
  • Fig. 6 is a flowchart of a method for calibrating the pitch installation angle of a millimeter wave radar according to an exemplary embodiment of the application.
  • Fig. 7 is a structural block diagram of a device for calibrating the pitch installation angle of millimeter wave radar according to an exemplary embodiment of the application.
  • Fig. 8 is a structural block diagram of a vehicle control device shown in an exemplary embodiment of the application.
  • first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.
  • first information may also be referred to as second information, and similarly, the second information may also be referred to as first information.
  • word “if” as used herein can be interpreted as "when” or “when” or "in response to determination”.
  • Vehicle control systems usually include radar. Radar can be installed in front or behind the vehicle, usually including the front Parking radar and front and rear parking radars, front parking radar is used to detect the distance of obstacles in front of the car when the car is parked or driving at a slow speed. It is provided for the driver to park, follow the car when driving at a slow speed or congestion, and merge. Convenient, and help it reduce or eliminate collisions and scratches caused by poor vision when moving forward.
  • the front and rear parking radar is developed on the basis of the reversing radar, which integrates the functions of the reversing radar and the front parking radar.
  • the combination of radar and some software programs can be used as a part of the vehicle control system.
  • the software records and processes the data detected by the radar, but the radar may be installed with errors, especially the horizontal installation angle may be different from the preset angle. Similarly, the detected data is incorrect.
  • the radar installed on the vertical horizontal plane may be installed at an angle greater than 90 degrees to the horizontal plane, which causes the pitch installation error of the radar, and the emitted energy beam is in line with the horizontal plane.
  • the included angle is the pitch installation error value, which affects the radar's detection rate of the target.
  • FIG. 2 is a flowchart of a method for calibrating the pitch installation angle of a millimeter wave radar according to an exemplary embodiment of the present application.
  • the method can be applied to a vehicle equipped with a millimeter wave radar, as shown in FIG.
  • the method includes the following steps:
  • step S11 the total number of specific targets detected by the millimeter wave radar within a specified time is acquired; wherein the total number of specific targets is greater than the specified number.
  • step S12 the pitch angle of detecting a specific target within a specified time is determined.
  • step S13 the pitch installation error value of the millimeter wave radar is determined according to the total number of specific targets and the pitch angle of the detected specific targets.
  • step S14 the millimeter wave radar is corrected according to the pitch installation error value.
  • the millimeter-wave radar detects targets within its detection range within a specified time, and the vehicle records the targets detected by the millimeter-wave radar and meets specified conditions as specific targets Next, and in order to ensure the accuracy of the correction result, the vehicle is preset with a specified number, and the specified number represents the minimum threshold that the number of detected specific targets should reach.
  • the vehicle statistics records the specific target The total quantity, and the total quantity of the specific target is compared with the specified quantity. If the total quantity of the specific target is greater than the specified quantity, the subsequent steps will be performed. It is understood that the implementation of this application For example, there is no restriction on the specific value of the specified number, and specific settings can be made according to actual application scenarios. For example, the specified number can be set by those skilled in the art based on experience.
  • the specified condition that the specific target needs to meet can be one of the listed below, or it can be a combination of any of the listed below.
  • the embodiments of this application do not impose any restriction on this, and use this
  • the planner can make a variety of choices according to the needs of the actual scene:
  • the specified condition may be that the speed of the specific target relative to the ground needs to be greater than a predetermined speed.
  • the millimeter-wave radar can detect the speed of the target. Based on the detection of the millimeter-wave radar, the vehicle records the target whose speed relative to the ground is greater than a predetermined speed. By judging the speed of the target, it can be clearly not a specific target. Exclude objects from other objects to avoid interference caused by unrelated objects detected by millimeter-wave radar. For example, objects such as walking people and bicycles can be excluded.
  • the specified condition may be that the detection duration of the millimeter wave radar for the specific target is greater than the predetermined duration.
  • the millimeter-wave radar detects the target within its detection range.
  • the vehicle will record it as a specific target; that is, for For the specific target tracked by the millimeter wave radar, the time period for the specific target to be tracked and detected by the millimeter wave radar needs to be longer than the predetermined time period.
  • the specified condition may be that the distance between the specific target and the millimeter wave radar is within a preset distance range.
  • the vehicle records it as a specific target. By judging the distance of the target, it can be ensured that the detected target is suitable for subsequent calculations, and avoiding too far objects to cause greater errors due to low detection energy.
  • the predetermined speed, the predetermined duration, and the predetermined distance range in this embodiment can all be set by those skilled in the art based on experience, and the embodiment of this application does not limit this; as an example, a specific target object It can be a vehicle.
  • the predetermined speed can be set based on the vehicle’s minimum speed to ensure that the tracked target is the vehicle; and the preset distance can be set based on the safe distance between the vehicle and the range of the millimeter wave radar to ensure that the millimeter wave radar can The presence of the vehicle is detected while being at a safe distance from the vehicle.
  • the vehicle while determining the specific target, the vehicle also determines the pitch angle of the specific target based on the detection of the specific target based on the millimeter wave radar, so as to be based on the specific target. The total number of and detecting the pitch angle of the specific target is performed in the subsequent steps.
  • the specified time may be several detection periods of millimeter-wave radar.
  • the millimeter-wave radar detects a target within its detection range, and the vehicle will be in the The target that meets the specified conditions detected in the detection period is recorded as a specific target, and the vehicle determines the pitch angle of detecting the specific target based on the detection of the specific target by the millimeter wave radar; at the same time, After each detection period is over, the vehicle counts the total number of specific targets in all detection periods, and compares the total number of specific targets with the specified number.
  • the specified condition can be one or a combination of any of the conditions listed above, as
  • the specified condition may be that the speed of the specific target relative to the ground is greater than 30km/h, the detection period during which the specific target is detected is greater than 30 cycles, and the distance between the vehicle and the specific target is within Between 30m-80m.
  • step S13 after determining the total number of the specific targets and detecting the pitch angle of the specific target, the vehicle may determine the millimeter wave radar based on the total number of specific targets and the pitch angle of detecting the specific target The pitch installation error value.
  • the mean value of the pitch angles of the specific targets detected within a specified time can be calculated, and the specific target can be detected by detecting the specific target.
  • the mean value of the pitch angle of the object and the initial value of the pitch angle of the detected target are calculated to calculate the pitch installation error value of the millimeter wave radar; wherein the initial value of the pitch angle of the detected specific target means that in the case of no pitch angle error, The theoretical value of the pitch angle of the specific target is detected.
  • a specific implementation method of step S13 includes the following steps:
  • step S131 the average value of the pitch angle of the specific target within a specified time is determined according to the total number of the specific target and the pitch angle of the detected specific target.
  • the mean value of the pitch angle of the specific target is the ratio of the sum of the pitch angles of all detected specific targets within the specified time to the total number of specific targets within the specified time.
  • the mean value of the pitch angle of a specific target within a specified time may be calculated by the following method:
  • the specified time is several detection cycles of the millimeter-wave radar
  • the number of specific targets detected by the millimeter-wave radar in the current cycle (denoted as N cur ), and all detections in the current cycle are counted.
  • the pitch angle of the specific target calculate the average pitch angle of the specific target detected in the current cycle (denoted as ⁇ cur ), the average pitch angle is the sum of the pitch angles of all specific targets detected in the current cycle and the detection in the current cycle The ratio of the number of specific targets reached;
  • Mean angle value (denoted as ⁇ k-1 ), the mean value of the pitch angle is the ratio of the sum of the pitch angles of the specific target object accumulated in the previous cycle to the total number of specific target objects accumulated in the previous cycle;
  • N k is the sum of N k-1 and N cur , that is, the total number of specific targets detected by the millimeter wave radar in the current cycle.
  • the radar When N k is less than the specified number, the radar continues to detect and record the specific target in the next detection period until N k is greater than the specified number.
  • step S132 the pitch installation error value of the millimeter wave radar is determined according to the average pitch angle.
  • the initial value of the pitch angle is the initial value of the pitch angle of the specific target when the millimeter-wave radar is initially installed.
  • Theoretical value that is, the elevation angle of a specific target when the millimeter-wave radar is correctly installed, is usually set manually before the millimeter-wave radar is installed.
  • the elevation angle of the millimeter-wave radar can be calculated from the initial value of the elevation angle and the average value of the elevation angle. Installation error value.
  • the pitch installation error value of the millimeter wave radar is the difference between the mean value of the pitch angle and the initial value of the pitch angle.
  • the pitch installation error value is equal to the detected average pitch angle.
  • the initial value of the pitch angle may not be 0, which is not limited in the present invention.
  • the vehicle may reset the total number of specific targets within a specified time and the mean value of the pitch angle of the specific targets detected within the specified time to 0, so that the pairing can be completed this time.
  • the data of all specific targets collected in this calibration is cleared to prevent the data of the specific targets from interfering with the data of the specific targets to be collected in the next calibration.
  • step S14 the vehicle corrects the millimeter wave radar according to the pitch installation error value.
  • the millimeter-wave radar corresponds to a target detection threshold
  • the target detection threshold is a set energy value, which is used to compare the beam energy reflected by the millimeter-wave radar to a specific target. According to the comparison result, the detection of specific targets is realized.
  • the principle is that the millimeter wave radar transmits beam energy to the specific target, and the beam energy is reflected after irradiating the specific target. The millimeter wave radar receives the reflected beam energy and detects it with the target. The threshold value is compared to realize the detection of specific targets.
  • the millimeter-wave radar has a pitch installation error, the reflected beam energy actually received by the millimeter-wave radar and the reflected beam energy received by the theory will be different, and the current target detection The threshold is used to compare the reflected beam energy received by the millimeter wave radar theory. Due to the installation error of the millimeter wave radar, the current target detection threshold is no longer applicable. Therefore, the current target detection threshold needs to be adjusted. Therefore, the millimeter wave radar To calibrate the pitch installation error, the target detection threshold of the millimeter wave radar must be adjusted first, and the embodiment of the present application may adjust the target detection threshold of the millimeter wave radar according to the pitch installation error value.
  • a specific implementation method of step S14 includes the following steps:
  • step S141 the threshold adjustment ratio value is determined according to the pitch installation error value and the antenna pitch emission energy map of the millimeter wave radar.
  • the beam energy emitted by the millimeter wave radar corresponding to the pitch installation error value of the millimeter wave radar can be determined, by When there is a pitch installation error, the beam energy emitted by the millimeter-wave radar is compared with the beam energy emitted by the millimeter-wave radar when installed correctly to obtain an adjustment ratio of the target detection threshold, and the adjustment of the target detection threshold can be realized by the adjustment ratio.
  • step S142 a new target detection threshold is determined according to the current target detection threshold and the threshold adjustment ratio value.
  • the new target detection threshold is the product of the current target detection threshold and the threshold adjustment ratio value.
  • the vehicle and the target are not on the same level.
  • the target has already gone uphill, but the vehicle has not yet When going uphill, there will be an included angle (ie slope) between the plane of the vehicle and the plane of the target, which is less than 90 degrees.
  • the pitch angle of the detected target is based on the pitch angle of the original millimeter wave radar installation. With the addition of this angle of less than 90 degrees, it is obvious that the presence of slope will affect the pitch angle correction result of the millimeter wave radar. Therefore, before the millimeter wave radar detects the target, it needs to determine whether the vehicle and the target are equipped with the millimeter wave radar. Whether the objects are on the same plane.
  • the embodiment of the present application does not limit the specified threshold, and can be specifically set according to actual conditions.
  • a millimeter-wave radar installed on a vehicle to detect the target vehicle As shown in Figure 5, when it is correctly installed, the millimeter-wave radar is installed in a vertical horizontal plane, and the angle between the emitted energy beam and the horizontal plane should be 0, and the launch The strongest part of the energy beam illuminates the vehicle ahead, and the reflected beam energy is also the strongest; when there is an error in its installation, the angle between the emitted energy beam and the horizontal plane is no longer 0, and the emitted energy beam is weaker Part of the vehicle irradiates the front, and the reflected beam energy is relatively weak. At this time, it is difficult to detect the vehicle by comparing the original target detection threshold with the reflected wave speed energy. Therefore, the pitch installation error of the millimeter wave radar is required. Perform calibration.
  • Figure 6 is a flow chart of calibrating the millimeter wave radar with pitch installation error in Figure 5, as shown in the figure, including the following steps:
  • step S61 it is determined that the vehicle on which the millimeter-wave radar is installed is on the same plane as the target vehicle.
  • step S62 the total number of target vehicles detected by the millimeter wave radar in several detection cycles is obtained; wherein, the total number of target vehicles is greater than a specified number.
  • step S63 it is determined to detect the pitch angle of the target vehicle in several cycles.
  • step S64 the average value of the pitch angle of the detected target vehicle in several cycles is determined according to the total number of target vehicles and the pitch angle of the detected target vehicle.
  • step S65 the pitch installation error value of the millimeter wave radar is determined according to the mean value of the pitch angle and the initial value of the pitch angle.
  • step S66 the threshold adjustment ratio value is determined according to the pitch installation error value and the antenna pitch emission energy map of the millimeter wave radar.
  • step S67 a new target detection threshold is determined according to the current target detection threshold and the threshold adjustment ratio value.
  • the vehicle equipped with the millimeter wave radar determines that it is on the same plane as the target vehicle, the vehicle obtains the total number of target vehicles detected by the millimeter wave radar in several cycles and the detected targets in several cycles
  • the pitch angle of the vehicle is calculated according to the method of step S131 to calculate the mean value of the pitch angle of the detected target vehicle in several cycles. Since the millimeter wave radar is correctly installed in the vertical horizontal plane, the initial value of the pitch angle of the detected target vehicle is 0. The difference between the angular mean value and the initial value of the pitch angle is the pitch installation error value of the millimeter wave radar.
  • This application also provides a device for calibrating the pitch installation angle of millimeter-wave radar.
  • the device is equipped with a software program.
  • the software program can only realize the function of calibrating the pitch installation angle of millimeter-wave radar, or it can also realize the calibration of millimeter-wave radar pitch.
  • the installation angle function also realizes other control functions.
  • the device includes:
  • a memory 11 for storing processor executable instructions
  • processor 10 is configured to:
  • the pitch installation error value of the millimeter wave radar is determined according to the total number of the specific targets and the pitch angle of the detected specific targets.
  • the millimeter wave radar is corrected according to the pitch installation error value.
  • the processor 10 is further configured to:
  • the specific target satisfies any one or more of the following conditions:
  • the speed of the specific target relative to the ground is greater than a predetermined speed.
  • the detection duration of the millimeter wave radar for the specific target is greater than a predetermined duration.
  • the distance between the specific target and the millimeter wave radar is within a preset distance range.
  • the specific target is a vehicle.
  • the predetermined speed is set based on the minimum travel speed of the vehicle.
  • the preset distance is set based on the safe vehicle distance and millimeter wave radar range.
  • the specified time is a number of detection periods of the millimeter wave radar.
  • the processor 10 is configured to:
  • the mean value of the pitch angle of the specific target object detected within the specified time is determined according to the total number of the specific target object and the pitch angle of the specific target object detected.
  • the pitch installation error value of the millimeter wave radar is determined according to the average pitch angle.
  • the processor 10 is configured to:
  • the initial value of the pitch angle for detecting the specific target is determined, and the pitch installation error value is determined according to the average value of the pitch angle and the initial value of the pitch angle.
  • the pitch installation error value is the difference between the mean value of the pitch angle and the initial value of the pitch angle.
  • the processor 10 is further configured to:
  • the pitch installation error value of the millimeter wave radar is determined according to the pitch angle average value, the total number of the specific target objects and the pitch angle average value are reset to zero.
  • the millimeter wave radar corresponds to a target detection threshold; the target detection threshold is used to detect the specific target.
  • the processor 10 is configured to:
  • the target detection threshold of the millimeter wave radar is adjusted according to the pitch installation error value.
  • the processor 10 is configured to:
  • the threshold adjustment ratio value is determined according to the pitch installation error value and the antenna pitch emission energy map of the millimeter wave radar.
  • a new target detection threshold is determined according to the current target detection threshold and the threshold adjustment ratio value.
  • the new target detection threshold is a product of the current target detection threshold and the threshold adjustment ratio value.
  • the present application also provides a vehicle control system 20.
  • the system includes a millimeter-wave radar 21 and a millimeter-wave radar pitch installation angle calibration device 22.
  • the system can be distributed on the vehicle and attached to
  • the vehicle-mounted system is integrated with the vehicle-mounted system, which not only realizes the installation and calibration of the millimeter wave radar, but also realizes other control functions of the vehicle; it can also be a relatively independent single system from the vehicle, which only realizes the radar
  • the calibration function can be connected to the vehicle-mounted system and can also be used outside the vehicle-mounted system.
  • the millimeter wave radar 21 is used to detect a specific target.
  • the calibration device 22 of millimeter wave radar horizontal installation error includes:
  • a memory 24 for storing processor-executable instructions
  • the processor 23 is configured to:
  • the pitch installation error value of the millimeter wave radar is determined according to the total number of the specific targets and the pitch angle of the detected specific targets.
  • the millimeter wave radar is corrected according to the pitch installation error value.
  • the processor 23 is further configured to:
  • the specific target satisfies any one or more of the following conditions:
  • the speed of the specific target relative to the ground is greater than a predetermined speed.
  • the detection duration of the millimeter wave radar for the specific target is greater than a predetermined duration.
  • the distance between the specific target and the millimeter wave radar is within a preset distance range.
  • the specific target is a vehicle.
  • the predetermined speed is set based on the minimum travel speed of the vehicle.
  • the preset distance is set based on the safe vehicle distance and millimeter wave radar range.
  • the specified time is a number of detection periods of the millimeter wave radar.
  • the processor 23 is configured to:
  • the mean value of the pitch angle of the specific target object detected within the specified time is determined according to the total number of the specific target object and the pitch angle of the specific target object detected.
  • the pitch installation error value of the millimeter wave radar is determined according to the average pitch angle.
  • the processor 23 is configured to:
  • the initial value of the pitch angle for detecting the specific target is determined, and the pitch installation error value is determined according to the average value of the pitch angle and the initial value of the pitch angle.
  • the pitch installation error value is the difference between the mean value of the pitch angle and the initial value of the pitch angle.
  • the processor 23 is further configured to:
  • the pitch installation error value of the millimeter wave radar is determined according to the pitch angle average value, the total number of the specific target objects and the pitch angle average value are reset to zero.
  • the millimeter wave radar corresponds to a target detection threshold; the target detection threshold is used to detect the specific target.
  • the processor 23 is configured to:
  • the target detection threshold of the millimeter wave radar is adjusted according to the pitch installation error value.
  • the processor 23 is configured to:
  • the threshold adjustment ratio value is determined according to the pitch installation error value and the antenna pitch emission energy map of the millimeter wave radar.
  • a new target detection threshold is determined according to the current target detection threshold and the threshold adjustment ratio value.
  • the new target detection threshold is a product of the current target detection threshold and the threshold adjustment ratio value.
  • the present application also provides a vehicle equipped with a vehicle control system, and the vehicle control system includes the system described in any one of the embodiments.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un procédé d'étalonnage d'un angle de montage de tangage d'un radar à ondes millimétriques (21), le procédé comprenant l'acquisition du nombre total d'objets cibles spécifiques détectés par le radar à ondes millimétriques (21) dans un temps désigné, le nombre total d'objets cibles spécifiques étant supérieur à un nombre désigné (S11) ; la détermination d'angles de tangage des objets cibles spécifiques détectés dans le temps désigné (S12) ; la détermination d'une valeur d'erreur de montage de tangage du radar à ondes millimétriques (21) en fonction du nombre total d'objets cibles spécifiques et des angles de tangage des objets cibles spécifiques (S13) ; et la correction du radar à ondes millimétriques en fonction de la valeur d'erreur de montage de tangage (S14). Une valeur d'erreur de montage de tangage d'un radar à ondes millimétriques est calculée et le radar à ondes millimétriques est corrigé en fonction de la valeur d'erreur de montage de tangage.
PCT/CN2019/108488 2019-09-27 2019-09-27 Procédé et appareil d'étalonnage d'angle de montage de tangage d'un radar à ondes millimétriques, ainsi que système de commande de véhicule et véhicule WO2021056405A1 (fr)

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CN201980033200.8A CN112166336A (zh) 2019-09-27 2019-09-27 毫米波雷达俯仰安装角度的校准方法、装置、车辆控制系统及车辆
PCT/CN2019/108488 WO2021056405A1 (fr) 2019-09-27 2019-09-27 Procédé et appareil d'étalonnage d'angle de montage de tangage d'un radar à ondes millimétriques, ainsi que système de commande de véhicule et véhicule

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CN113625239A (zh) * 2021-08-11 2021-11-09 南京隼眼电子科技有限公司 车载毫米波雷达俯仰角误差校准方法、装置及电子设备
CN113671453A (zh) * 2021-08-11 2021-11-19 南京隼眼电子科技有限公司 车载毫米波雷达俯仰角误差校准方法、装置、存储介质及电子设备
CN113625238B (zh) * 2021-08-11 2024-10-11 南京隼眼电子科技有限公司 车载毫米波雷达俯仰角误差校准方法、装置、存储介质及电子设备
CN115932755A (zh) * 2021-08-24 2023-04-07 浙江宇视科技有限公司 交通雷达俯仰角安装误差校准方法、装置及存储介质
CN113777602A (zh) * 2021-09-18 2021-12-10 重庆华渝电气集团有限公司 一种反无人机防御系统及防御方法
CN113866742B (zh) * 2021-12-03 2022-02-22 南京楚航科技有限公司 一种4d毫米波雷达点云处理和目标分类的方法
CN115267783A (zh) * 2022-06-23 2022-11-01 深圳承泰科技有限公司 一种车载雷达高度目标分类方法、装置、设备及存储介质

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