阅读说明：本技术 雷达安装参数校准方法及装置 (Radar installation parameter calibration method and device ) 是由 江应怀 刘格奇 方朝阳 高援朝 秦屹 于 2019-10-12 设计创作，主要内容包括：本发明适用于车载雷达技术领域,提供了一种雷达安装参数校准方法及装置,该方法包括：获取预设的距离序列、方位角序列及俯仰角序列；获取雷达与保险杠蒙皮之间的距离为距离序列中的任一距离、雷达的方位角为方位角序列中的任一方位角且雷达的俯仰角为俯仰角序列中的任一俯仰角时的目标角度及信噪比；获取无保险杠蒙皮时,雷达的方位角为方位角序列中的任一方位角且雷达的俯仰角为俯仰角序列中的任一俯仰角时的标准角度；根据获取的各个目标角度、各个信噪比及各个标准角度确定雷达的目标安装参数。采用上述方法对雷达的安装参数进行校正,可以降低保险杠蒙皮对雷达探测角度准确度的影响,避免汽车防撞系统漏报或误报。(The invention is suitable for the technical field of vehicle-mounted radars, and provides a method and a device for calibrating radar installation parameters, wherein the method comprises the following steps: acquiring a preset distance sequence, an azimuth angle sequence and a pitch angle sequence; acquiring a target angle and a signal-to-noise ratio when the distance between a radar and a bumper skin is any distance in a distance sequence, the azimuth angle of the radar is any azimuth angle in an azimuth angle sequence, and the pitch angle of the radar is any pitch angle in a pitch angle sequence; when the bumper skin is not available, the azimuth angle of the radar is any azimuth angle in the azimuth angle sequence, and the pitch angle of the radar is a standard angle of any pitch angle in the pitch angle sequence; and determining target installation parameters of the radar according to the acquired target angles, the acquired signal-to-noise ratios and the acquired standard angles. By adopting the method to correct the installation parameters of the radar, the influence of the bumper skin on the accuracy of the detection angle of the radar can be reduced, and the missing report or the misinformation of an automobile anti-collision system can be avoided.)

1. A radar installation parameter calibration method is characterized by comprising the following steps:

acquiring a preset distance sequence, a preset azimuth angle sequence and a preset pitch angle sequence;

acquiring a target angle and a signal-to-noise ratio when the distance between a radar and a bumper skin is a first distance, the azimuth angle of the radar is a first azimuth angle, and the pitch angle of the radar is a first pitch angle; the first distance is any one distance in the distance sequence, the first azimuth angle is any one azimuth angle in the azimuth angle sequence, and the first pitch angle is any one pitch angle in the pitch angle sequence;

when the bumper skin is not provided, the azimuth angle of the radar is the first azimuth angle, and the pitch angle of the radar is the standard angle of the first pitch angle;

and determining target installation parameters of the radar according to the acquired target angles, the acquired signal-to-noise ratios and the acquired standard angles.

2. The method for calibrating installation parameters of a radar according to claim 1, wherein the determining the installation parameters of the radar according to the acquired target angles, the acquired signal-to-noise ratios and the acquired standard angles comprises:

determining an intermediate parameter matrix of the radar according to the acquired target angles, the acquired signal-to-noise ratios and the acquired standard angles;

and determining the minimum value in the intermediate parameter matrix, wherein the distance between the radar and the bumper skin, the azimuth angle of the radar and the pitch angle of the radar corresponding to the minimum value are the target installation parameters.

3. The radar installation parameter calibration method according to claim 2, wherein the intermediate parameter matrix γ is:

wherein, γ_ijkThe distance between the radar and the bumper skin is the kth distance in the distance sequence, the azimuth angle of the radar is the ith azimuth angle in the azimuth angle sequence, and the pitch angle of the radar is the middle parameter when the jth pitch angle in the pitch angle sequence; i is 1,2, … m, m is the number of azimuth angles in the azimuth sequence; j is 1,2, … n, n is the number of pitch angles in the pitch angle sequence; k is 1,2, … l, l is the number of distances in the distance sequence; a. the_ijkThe distance between the radar and the bumper skin is the kth distance in the distance sequence, the azimuth angle of the radar is the ith azimuth angle in the azimuth angle sequence, the pitch angle of the radar is a target angle corresponding to the jth pitch angle in the pitch angle sequence, and the SNR is defined as the SNR_ijkThe distance between the radar and the bumper skin is the kth distance in the distance sequence, the azimuth angle of the radar is the ith azimuth angle in the azimuth angle sequence, and the pitch angle of the radar is the signal-to-noise ratio corresponding to the jth pitch angle in the pitch angle sequence, A_ij0The azimuth angle of the radar is the standard angle corresponding to the ith azimuth angle in the azimuth angle sequence and the pitch angle of the radar is the jth pitch angle in the pitch angle sequence.

4. The radar installation parameter calibration method according to any one of claims 1 to 3,

the distance sequence is as follows: h is₁,h₂,…,h_k,…h_l；h_k∈[h₀-H,h₀+H]；

The azimuth sequence is: alpha is alpha₁,α₂,…,α_i,…,α_m；α_i∈[α₀-θ,α₀+θ]；

The pitch angle sequence is as follows: beta is a₁,β₂,…,β_j,…,β_n；β_j∈[β₀-ω,β₀+ω]；

Wherein h is_kThe number of the k-th distances in the distance sequence is k, wherein k is 1,2, … l, and l is the number of the distances in the distance sequence; h is₀Setting the initial installation distance between the radar and the bumper skin, and setting H as a distance adjustment threshold value; alpha is alpha_iThe number of azimuth angles in the azimuth angle sequence is i ═ 1,2, … m, and m is the number of azimuth angles in the azimuth angle sequence; alpha is alpha₀Setting an initial installation azimuth angle of the radar, and setting theta as an azimuth angle adjustment threshold; beta is a_jJ is the jth pitch angle in the pitch angle sequence, j is 1,2, … n, and n is the number of pitch angles in the pitch angle sequence; beta is a₀And omega is a pitch angle adjusting threshold value for the initial installation pitch angle of the radar.

5. The radar installation parameter calibration method according to claim 4, wherein the distance adjustment threshold H, the azimuth angle adjustment threshold θ and the pitch angle adjustment threshold ω satisfy the following condition:

H＝λ

θ＝5°

ω＝3°

wherein λ is the operating wavelength of the radar.

6. The radar installation parameter calibration method of claim 4, wherein a kth distance h in the distance sequence_kThe ith azimuth angle alpha in the azimuth angle sequence_iAnd the jth pitch angle beta in the pitch angle sequence_jThe following constraints are satisfied:

h_k-h_k-1＝λ/4

α_i-α_i-1＝0.5°

β_j-β_j-1＝0.5°

wherein i is 2,3, … m, j is 2,3, … n, k is 2,3, … l, and λ is the operating wavelength of the radar.

7. A radar installation parameter calibration system, comprising:

the first acquisition module is used for acquiring a preset distance sequence, a preset azimuth angle sequence and a preset pitch angle sequence;

the second acquisition module is used for acquiring a target angle and a signal-to-noise ratio when the distance between the radar and the bumper skin is a first distance, the azimuth angle of the radar is a first azimuth angle, and the pitch angle of the radar is a first pitch angle; the first distance is any one distance in the distance sequence, the first azimuth angle is any one azimuth angle in the azimuth angle sequence, and the first pitch angle is any one pitch angle in the pitch angle sequence;

the third acquisition module is used for acquiring a standard angle when the azimuth angle of the radar is the first azimuth angle and the pitch angle of the radar is the first pitch angle when no bumper skin exists;

and the parameter determining module is used for determining target installation parameters of the radar according to the acquired target angles, the acquired signal-to-noise ratios and the acquired standard angles.

8. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the radar installation parameter calibration method according to any one of claims 1 to 6.

9. A radar installation parameter calibration device, comprising: a bumper skin, a target simulator, a bracket for adjusting a distance between a radar and the bumper skin, a turntable for adjusting an azimuth angle and a pitch angle of the radar, and the terminal device of claim 8;

the radar is arranged on the rotary table, and the bumper skin is arranged on the bracket;

and the terminal equipment is respectively in communication connection with the radar and the target simulator.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the radar installation parameter calibration method according to any one of claims 1 to 6.

Technical Field

The invention belongs to the technical field of vehicle-mounted radars, and particularly relates to a radar installation parameter calibration method and device.

Background

With the vigorous development of the automobile industry, various large automobile enterprises are engaged in the research and development of automobile anti-collision systems, aiming at reducing traffic accidents, improving road traffic safety, enhancing road traffic capacity and the like.

Disclosure of Invention

In view of this, the embodiment of the invention provides a method and a device for calibrating radar installation parameters, so as to solve the problem that in the prior art, the error of a radar on a detection angle of a target, which is caused by a bumper skin, causes the false alarm or the missing report of an automobile anti-collision system.

A first aspect of an embodiment of the present invention provides a radar installation parameter calibration method, including:

acquiring a preset distance sequence, a preset azimuth angle sequence and a preset pitch angle sequence;

acquiring a target angle and a signal-to-noise ratio when the distance between a radar and a bumper skin is a first distance, the azimuth angle of the radar is a first azimuth angle, and the pitch angle of the radar is a first pitch angle; the first distance is any one distance in the distance sequence, the first azimuth angle is any one azimuth angle in the azimuth angle sequence, and the first pitch angle is any one pitch angle in the pitch angle sequence;

acquiring a standard angle when the azimuth angle of the radar is a first azimuth angle and the pitch angle of the radar is a first pitch angle when no bumper skin is arranged;

and determining target installation parameters of the radar according to the acquired target angles, the acquired signal-to-noise ratios and the acquired standard angles.

A second aspect of an embodiment of the present invention provides a radar installation parameter calibration system, including:

the first acquisition module is used for acquiring a preset distance sequence, a preset azimuth angle sequence and a preset pitch angle sequence;

the second acquisition module is used for acquiring a target angle and a signal-to-noise ratio when the distance between the radar and the bumper skin is a first distance, the azimuth angle of the radar is a first azimuth angle, and the pitch angle of the radar is a first pitch angle; the first distance is any one distance in the distance sequence, the first azimuth angle is any one azimuth angle in the azimuth angle sequence, and the first pitch angle is any one pitch angle in the pitch angle sequence;

the third acquisition module is used for acquiring a standard angle when the azimuth angle of the radar is the first azimuth angle and the pitch angle of the radar is the first pitch angle when no bumper skin exists;

and the parameter determining module is used for determining target installation parameters of the radar according to the acquired target angles, the acquired signal-to-noise ratios and the acquired standard angles.

A third aspect of an embodiment of the present invention provides a terminal device, including: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor when executing the computer program implementing the steps of the radar installation parameter calibration method as provided by the first aspect of the embodiments of the present invention.

A fourth aspect of the embodiments of the present invention provides a radar installation parameter calibration apparatus, including: the system comprises a bumper skin, a target simulator, a bracket for adjusting the distance between a radar and the bumper skin, a rotary table for adjusting the azimuth angle and the pitch angle of the radar and the terminal equipment provided by the third aspect of the embodiment of the invention;

the radar is arranged on the rotary table, and the bumper skin is arranged on the bracket;

and the terminal equipment is respectively in communication connection with the radar and the target simulator.

A fifth aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the radar installation parameter calibration method provided in the first aspect of the embodiments of the present invention.

Compared with the prior art, the embodiment of the invention has the following beneficial effects: the method comprises the steps of obtaining a preset distance sequence, a preset azimuth angle sequence and a preset pitch angle sequence; acquiring a target angle and a signal-to-noise ratio when the distance between a radar and a bumper skin is a first distance, the azimuth angle of the radar is a first azimuth angle, and the pitch angle of the radar is a first pitch angle; the first distance is any one distance in the distance sequence, the first azimuth angle is any one azimuth angle in the azimuth angle sequence, and the first pitch angle is any one pitch angle in the pitch angle sequence; acquiring a standard angle when the azimuth angle of the radar is a first azimuth angle and the pitch angle of the radar is a first pitch angle when no bumper skin is arranged; and determining target installation parameters of the radar according to each target angle and each signal-to-noise ratio acquired when the bumper skin exists and each standard angle acquired when the bumper skin does not exist. By adopting the method to calibrate the installation parameters of the radar and installing the radar according to the calibrated installation parameters, the error of the radar to the detection angle of the target caused by the bumper skin can be effectively reduced, and the missing report or the misinformation of the automobile anti-collision system can be avoided.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic flow chart illustrating an implementation process of a radar installation parameter calibration method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a radar installation parameter calibration device according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a radar installation parameter calibration system provided by an embodiment of the present invention;

fig. 4 is a schematic diagram of a terminal device according to an embodiment of the present invention.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

In order to explain the technical means of the present invention, the following description will be given by way of specific examples.

Fig. 1 is a schematic flow chart of an implementation of a radar installation parameter calibration method according to an embodiment of the present invention, which is described in detail below.

Step S101: and acquiring a preset distance sequence, a preset azimuth angle sequence and a preset pitch angle sequence.

The radar is mounted on the body according to certain mounting parameters, which may include, for example, the distance between the radar and the bumper skin, the azimuth angle and the pitch angle of the radar.

Firstly, a distance sequence of a distance between a preset radar and a bumper skin, an azimuth angle sequence of the radar and a pitch angle sequence of the radar are obtained.

In the practical application process, according to the model of the radar and the model of the installation vehicle, the radar is provided with initial installation parameters, including the initial installation distance h between the radar and the bumper skin₀Initial installation azimuth angle alpha of radar₀And initial installation pitch angle beta of radar₀。

In some embodiments, the distance sequence is: h is₁,h₂,…,h_k,…h_l；h_k∈[h₀-H,h₀+H]；

The azimuth sequence is: alpha is alpha₁,α₂,…,α_i,…,α_m；α_i∈[α₀-θ,α₀+θ]；

The pitch angle sequence is: beta is a₁,β₂,…,β_j,…,β_n；β_j∈[β₀-ω,β₀+ω]；

Wherein h is_kThe kth distance in the distance sequence is represented by k, wherein k is 1,2, … l, and l is the number of distances in the distance sequence; h is₀Setting the initial installation distance between the radar and the bumper skin, and setting H as a distance adjustment threshold value; alpha is alpha_iThe number of azimuth angles in the azimuth angle sequence is i, wherein i is 1,2, … m, and m is the number of azimuth angles in the azimuth angle sequence; alpha is alpha₀Setting an initial installation azimuth angle of the radar, and setting theta as an azimuth angle adjustment threshold; beta is a_jJ is the jth pitch angle in the pitch angle sequence, j is 1,2, … n, and n is the number of pitch angles in the pitch angle sequence; beta is a₀And omega is a pitch angle adjusting threshold value for the initial installation pitch angle of the radar.

The distance between the radar and the bumper skin, the azimuth angle of the radar and the pitch angle of the radar can only be adjusted within a limited range under the limitation of a processing process and an installation process, and therefore the values in the distance sequence, the azimuth angle sequence and the pitch angle sequence are set within the limited range.

In some embodiments, the distance adjustment threshold H, the azimuth angle adjustment threshold θ, and the pitch angle adjustment threshold ω satisfy the following condition:

H＝λ

θ＝5°

ω＝3°

wherein, the lambda is the working wavelength of the radar,

f is the center frequency of the radar and c is the speed of light.

In some embodiments, the kth distance h in the sequence of distances_kThe ith azimuth angle alpha in the azimuth sequence_iAnd the jth pitch angle beta in the pitch sequence_jThe following constraints are satisfied:

h_k-h_k-1＝λ/4

α_i-α_i-1＝0.5°

β_j-β_j-1＝0.5°

wherein, i is 2,3, … m, j is 2,3, … n, k is 2,3, … l, λ is the operating wavelength of the radar. For example, when the center frequency f of the radar is 76GHz, the wavelength λ is 0.395 mm.

In some embodiments, h_k-h_k-1、α_i-α_i-1And beta_j-β_j-1And selecting a minimum value within the precision controllable range, wherein the smaller the stepping between the values in the sequence is, the more accurate the calibration of the radar installation parameters is.

According to the above, for example, the distance sequence may be

h₀-λ，h₀-3λ/4，h₀-λ/2，h₀-λ/4，h₀，h₀+λ/4，h₀+λ/2，h₀+3λ/4，h₀+λ

The sequence of azimuth angles may be:

α₀-5°，α₀-4.5°，α₀-4°，α₀-3.5°，α₀-3°，α₀-2.5°，α₀-2°，α₀-1.5°，α₀-1°，

α₀-0.5°，α₀，α₀+0.5°，α₀+1°，α₀+1.5°，α₀+2°，α₀+2.5°，α₀+3°，

α₀+3.5°，α₀+4°，α₀+4.5°，α₀+5°

the pitch sequence may be:

β₀-3°，β₀-2.5°，β₀-2°，β₀-1.5°，β₀-1°，β₀-0.5°，β₀，β₀+0.5°，β₀+1°，

β₀+1.5°，β₀+2°，β₀+2.5°，β₀+3°

step S102: acquiring a target angle and a signal-to-noise ratio when the distance between a radar and a bumper skin is a first distance, the azimuth angle of the radar is a first azimuth angle, and the pitch angle of the radar is a first pitch angle; the first distance is any one distance in the distance sequence, the first azimuth angle is any one azimuth angle in the azimuth angle sequence, and the first pitch angle is any one pitch angle in the pitch angle sequence.

Fig. 2 shows a radar installation parameter calibration apparatus provided in an embodiment of the present invention, including: a bumper skin 21, a target simulator 22, a bracket 23 for adjusting a distance between a radar 26 and the bumper skin 21, a turn table 24 for adjusting an azimuth angle and a pitch angle of the radar 26, and a terminal device 400. The radar 26 is arranged on the turntable 24, the bumper skin 21 is arranged on the bracket 23, and the terminal device 400 is in communication connection with the radar 26 and the target simulator 22, respectively. The specific functions of the terminal device 400 can be referred to in the related description of the corresponding embodiment in fig. 3.

The radar 26 is mounted on the turntable 24, and the pitch angle and azimuth angle of the radar 26 can be adjusted by the turntable 24. Wherein the turntable 24 may be a two-axis turntable, one axis for adjusting the azimuth angle of the radar and the other axis for adjusting the pitch angle of the radar. The bumper skin 21 is mounted on a bracket 23, and the distance between the radar 26 and the bumper skin 21 can be adjusted by the bracket 23. The bumper skin 21 is a square cut block, the local cut block is taken down from the bumper skin, the material, the shape and the paint spraying of the local cut block are the same as those of the bumper skin, the size of the cut block can be set according to actual test requirements, and the square switch is arranged perpendicular to the ground. The distance between the radar 26 and the bumper skin 21 refers to the perpendicular distance between the radar 26 and the bumper skin 21. The bumper skin 21 is positioned between the radar 26 and the target simulator 22, and simulates the real position relationship between the radar 26 and the bumper and the target in the actual installation environment.

The radar 26 transmits a detection signal, which is refracted and attenuated by the bumper skin 21 and then received by the target simulator 22. The target simulator 22 is configured to simulate a moving target signal, process the received signal, transmit a signal reflected by a moving target in a simulation practical application process through a transmission port, where the signal is received by the radar 26 after being refracted and attenuated by the bumper skin 21, and the radar 26 may process the signal according to a difference between the transmitted signal and the received signal by using the prior art to obtain parameter information of the target, and send the parameter information of the target to the terminal device 400. The terminal device 400 is used to perform the steps of the radar installation parameter calibration method as in fig. 1.

In some embodiments, the bumper skin 21 is replaced according to different installation vehicle types of the radar 26, and the bumper skin 21 with the same material and shape as those of the corresponding vehicle type is selected, so that the method is suitable for calibrating the installation parameters of the radars of various vehicle types.

Corresponding to the distance sequence, the azimuth sequence, and the pitch sequence in the above-described embodiment, various combinations of the distance between the radar 26 and the bumper skin 21, the azimuth of the radar 26, and the pitch of the radar 26 can be obtained. The distance between the radar 26 and the bumper skin 21, the azimuth angle of the radar 26 and the pitch angle of the radar 26 are adjusted through the rotary table 24 and the support 23, testing is performed corresponding to the various combinations, and the target angle and the signal-to-noise ratio in the various combinations are obtained. For example, the combination of azimuth and pitch angles for the radar 26 is as follows:

respectively testing the target angle and the signal-to-noise ratio under the combination of the azimuth angle and the pitch angle of the radar 26 corresponding to each distance in the distance sequence to obtain l × m × n target angles A_ijkAnd l × m × n SNR_ijk. The target angle and the signal-to-noise ratio can be obtained through the radar 26, and the target angle is the angle of a target obtained through testing by the radar 26 when the influence of the bumper skin 21 exists.

Step S103: when the bumper-free skin 21 is obtained, the azimuth angle of the radar 26 is the first azimuth angle and the pitch angle of the radar 26 is the standard angle of the first pitch angle.

And removing the bumper skin 21, eliminating the influence of the bumper skin 21 on the test result of the radar 26, and respectively testing the standard angles of the combination of the azimuth angle and the pitch angle of the radar 26. Wherein the standard angle is the angle of the target obtained by the radar 26 test when the bumper skin 21 is not influenced.

Step S104: and determining target installation parameters of the radar 26 according to the acquired target angles, the acquired signal-to-noise ratios and the acquired standard angles.

And determining target installation parameters of the radar 26 according to each target angle and each signal-to-noise ratio obtained by the test in the step S102 and each standard angle obtained by the test in the step S103.

In some embodiments, step S104 may include:

determining an intermediate parameter matrix of the radar 26 according to the acquired target angles, the acquired signal-to-noise ratios and the acquired standard angles;

and determining the minimum value in the intermediate parameter matrix, wherein the distance between the radar 26 and the bumper skin 21 corresponding to the minimum value, the azimuth angle of the radar 26 and the pitch angle of the radar 26 are target installation parameters.

In some embodiments, the intermediate parameter matrix γ is:

wherein, γ_ijkThe intermediate parameter is the distance between the radar 26 and the bumper skin 21 is the kth distance in the distance sequence, the azimuth angle of the radar 26 is the ith azimuth angle in the azimuth angle sequence, and the pitch angle of the radar 26 is the jth pitch angle in the pitch angle sequence; i is 1,2, … m, and m is the number of azimuth angles in the azimuth sequence; j is 1,2, … n, n is the number of pitch angles in the pitch angle sequence; k is 1,2, … l, l is the number of distances in the distance sequence; a. the_ijkThe distance between the radar 26 and the bumper skin 21 is the kth distance in the distance sequence, the azimuth angle of the radar 26 is the ith azimuth angle in the azimuth angle sequence, and the pitch angle of the radar 26 is the target angle corresponding to the jth pitch angle in the pitch angle sequence, SNR_ijkThe distance between the radar 26 and the bumper skin 21 is the kth distance in the distance sequence, the azimuth angle of the radar 26Is the i-th azimuth angle in the sequence of azimuth angles and the pitch angle of the radar 26 is the signal-to-noise ratio, a, corresponding to the j-th pitch angle in the sequence of pitch angles_ij0The azimuth angle of the radar 26 is the standard angle corresponding to the ith azimuth angle in the azimuth angle sequence and the pitch angle of the radar 26 is the jth pitch angle in the pitch angle sequence.

According to the method for calibrating the installation parameters of the radar 26, the distance between the different radars 26 and the bumper skin 21 when the bumper skin 21 is arranged, the target angle and the signal-to-noise ratio when the azimuth angle and the pitch angle are combined are respectively tested through presetting a distance sequence, an azimuth angle sequence and a pitch angle sequence, then the bumper skin 21 is removed to test the standard angle under different combinations of the azimuth angle and the pitch angle, then the optimal installation parameters of the radar 26 are determined according to the target angles, the signal-to-noise ratios and the standard angles, the error of the detection angle of the radar 26 to the target, caused by the bumper skin 21, can be effectively reduced by installing the radar 26 according to the optimal installation parameters, and the omission or the misinformation of an automobile anti-.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

Fig. 3 shows an exemplary diagram of a radar installation parameter calibration system provided by an embodiment of the present invention, which corresponds to the radar installation parameter calibration method of the above embodiment. As shown in fig. 3, the system may include:

the first obtaining module 301 is configured to obtain a preset distance sequence, a preset azimuth sequence, and a preset pitch sequence.

A second obtaining module 302, configured to obtain a target angle and a signal-to-noise ratio when a distance between the radar 26 and the bumper skin 21 is a first distance, an azimuth angle of the radar 26 is a first azimuth angle, and a pitch angle of the radar 26 is a first pitch angle; the first distance is any one distance in the distance sequence, the first azimuth angle is any one azimuth angle in the azimuth angle sequence, and the first pitch angle is any one pitch angle in the pitch angle sequence.

The third obtaining module 303 is configured to obtain a standard angle when the azimuth angle of the radar 26 is the first azimuth angle and the pitch angle of the radar 26 is the first pitch angle when there is no bumper skin 21.

And the parameter determining module 304 is configured to determine target installation parameters of the radar 26 according to the acquired target angles, the acquired signal-to-noise ratios, and the acquired standard angles.

In some embodiments, the parameter determination module 304 may include:

an intermediate parameter determining unit, configured to determine an intermediate parameter matrix of the radar 26 according to the acquired target angles, the acquired signal-to-noise ratios, and the acquired standard angles;

and the target installation parameter determining unit is used for determining the minimum value in the intermediate parameter matrix, and the distance between the radar 26 and the bumper skin 21 corresponding to the minimum value, the azimuth angle of the radar 26 and the pitch angle of the radar 26 are the target installation parameters.

In some embodiments, the intermediate parameter matrix γ is:

wherein, γ_ijkThe intermediate parameter is the distance between the radar 26 and the bumper skin 21 is the kth distance in the distance sequence, the azimuth angle of the radar 26 is the ith azimuth angle in the azimuth angle sequence, and the pitch angle of the radar 26 is the jth pitch angle in the pitch angle sequence; i is 1,2, … m, and m is the number of azimuth angles in the azimuth sequence; j is 1,2, … n, n is the number of pitch angles in the pitch angle sequence; k is 1,2, … l, l is the number of distances in the distance sequence; a. the_ijkThe distance between the radar 26 and the bumper skin 21 is the kth distance in the distance sequence, the azimuth angle of the radar 26 is the ith azimuth angle in the azimuth angle sequence, and the pitch angle of the radar 26 is the target angle corresponding to the jth pitch angle in the pitch angle sequence, SNR_ijkFor radar 26 and bumper coversThe distance between the skins 21 is the kth distance in the distance sequence, the azimuth angle of the radar 26 is the ith azimuth angle in the azimuth angle sequence, and the pitch angle of the radar 26 is the signal-to-noise ratio corresponding to the jth pitch angle in the pitch angle sequence, A_ij0The azimuth angle of the radar 26 is the standard angle corresponding to the ith azimuth angle in the azimuth angle sequence and the pitch angle of the radar 26 is the jth pitch angle in the pitch angle sequence.

In some embodiments, the distance sequence is: h is₁,h₂,…,h_k,…h_l；h_k∈[h₀-H,h₀+H]；

The azimuth sequence is: alpha is alpha₁,α₂,…,α_i,…,α_m；α_i∈[α₀-θ,α₀+θ]；

The pitch angle sequence is: beta is a₁,β₂,…,β_j,…,β_n；β_j∈[β₀-ω,β₀+ω]；

Wherein h is_kThe kth distance in the distance sequence is represented by k, wherein k is 1,2, … l, and l is the number of distances in the distance sequence; h is₀Is the initial installation distance between the radar 26 and the bumper skin 21, and H is the distance adjustment threshold; alpha is alpha_iThe number of azimuth angles in the azimuth angle sequence is i, wherein i is 1,2, … m, and m is the number of azimuth angles in the azimuth angle sequence; alpha is alpha₀Is the initial installation azimuth of the radar 26, θ is the azimuth adjustment threshold; beta is a_jJ is the jth pitch angle in the pitch angle sequence, j is 1,2, … n, and n is the number of pitch angles in the pitch angle sequence; beta is a₀For the initial installation pitch angle of the radar 26, ω is the pitch angle adjustment threshold.

In some embodiments, the distance adjustment threshold H, the azimuth angle adjustment threshold θ, and the pitch angle adjustment threshold ω satisfy the following condition:

H＝λ

θ＝5°

ω＝3°

where λ is the operating wavelength of the radar 26.

In some embodiments, the kth distance h in the sequence of distances_kIn a sequence of azimuth anglesThe ith azimuth angle alpha_iAnd the jth pitch angle beta in the pitch sequence_jThe following constraints are satisfied:

h_k-h_k-1＝λ/4

α_i-α_i-1＝0.5°

β_j-β_j-1＝0.5°

where i is 2,3, … m, j is 2,3, … n, k is 2,3, … l, and λ is the operating wavelength of the radar 26.

Fig. 4 is a schematic diagram of a terminal device 400 according to an embodiment of the present invention. As shown in fig. 4, the terminal device 400 of this embodiment includes: a processor 401, a memory 402, and a computer program 403, such as a radar installation parameter calibration program, stored in the memory 402 and executable on the processor 401. The steps in the above-described embodiment of the radar installation parameter calibration method, such as steps S101 to S104 shown in fig. 1, are implemented when the processor 401 executes the computer program 403, and the functions of the modules in the above-described embodiments of the systems, such as the functions of the modules 301 to 304 shown in fig. 3, are implemented when the processor 401 executes the computer program 403.

Illustratively, the computer program 403 may be divided into one or more program modules, which are stored in the memory 402 and executed by the processor 401 to implement the present invention. One or more program modules may be a series of computer program instruction segments capable of performing specific functions that describe the execution of the computer program 403 in the radar installation parameter calibration system or terminal device 400. For example, the computer program 403 may be divided into a first obtaining module 301, a second obtaining module 302, a third obtaining module 303, and a parameter determining module 304, and specific functions of the modules are shown in fig. 3, which is not described herein again.

The terminal device 400 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 401, a memory 402. Those skilled in the art will appreciate that fig. 4 is merely an example of a terminal device 400 and does not constitute a limitation of terminal device 400 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the terminal device may also include input output devices, network access devices, buses, etc.

The Processor 401 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 402 may be an internal storage unit of the terminal device 400, such as a hard disk or a memory of the terminal device 400. The memory 402 may also be an external storage device of the terminal device 400, such as a plug-in hard disk provided on the terminal device 400, a Smart Media Card (SMC), a Secure Digital (SD) Card, a flash Card (FlashCard), and the like. Further, the memory 402 may also include both an internal storage unit of the terminal device 400 and an external storage device. The memory 402 is used for storing computer programs and other programs and data required by the terminal device 400. The memory 402 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided in the present invention, it should be understood that the disclosed system/terminal device and method can be implemented in other ways. For example, the above-described system/terminal device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, systems or units, and may be in an electrical, mechanical or other form.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method according to the embodiments of the present invention may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.