CN116819467A - Calibrating method of road side millimeter wave radar and calibrating vehicle - Google Patents
Calibrating method of road side millimeter wave radar and calibrating vehicle Download PDFInfo
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Abstract
The invention relates to a calibrating method of a road side millimeter wave radar and a calibrating vehicle, and belongs to the technical field of radars. The method comprises the steps of obtaining data of a target object in a radar coordinate system and position information of a calibration vehicle in a geodetic coordinate system, obtaining a video image by a road side equipment camera, wherein the video image comprises the calibration vehicle, determining the number of the calibration vehicle on the millimeter wave radar side according to the corresponding relation between the position information of the calibration vehicle in the video and the position information of a millimeter wave radar target visual interface, extracting the calibration vehicle information, then performing close time synchronization with the data of the calibration vehicle acquired by combined navigation, performing interpolation processing on the radar data at the moment corresponding to the combined navigation acquisition data, and calibrating the millimeter wave radar according to the corresponding relation between the position information of the calibration vehicle in the radar coordinate system and the position information in the geodetic coordinate system. The invention does not need to seal a road in the calibration process, solves the problem of complex radar calibration operation in the prior art, and improves the efficiency and the safety of the calibration work.
Description
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a calibrating method of a road side millimeter wave radar and a calibrating vehicle.
Background
In recent years, the technology of cooperative sensing of the vehicle and the road is an important component of an intelligent traffic system, and can realize intelligent means such as detection, control, analysis, decision, scheduling and dredging, provide accurate road condition information for traffic participants and traffic managers, and reduce traffic accidents. The millimeter wave radar is one of the most important sensors of the road side sensing system, can provide parameters such as distance, speed, angle and the like of a moving target, and provides great convenience for solving various problems in aspects such as intelligent traffic safety management, traffic parameter detection and the like.
The traditional millimeter wave radar calibration method needs to seal the road during calibration, and staff needs to collect calibration data on urban highways or intersections, so that the calibration process is time-consuming and labor-consuming, and has certain dangers.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a calibrating method of a road side millimeter wave radar and a calibrating vehicle, and accurate longitude and latitude information of a traffic participant is obtained through calculation by using the obtained radar and integrated navigation co-sight vehicle position information, so that more accurate road traffic conditions are provided for traffic managers, and the efficiency and safety of the calibrating work are improved.
The aim of the invention can be achieved by the following technical scheme:
the invention provides a calibrating method of a road side millimeter wave radar and a calibrating vehicle, which comprises the following steps:
step 1: acquiring radar data of a target object detected by a millimeter wave radar in a radar coordinate system; the radar data are data acquired by millimeter wave radar of the target object in the road section driving process;
step 2: acquiring data of a target object detected by combined navigation in a geodetic coordinate system; the target object is a calibration vehicle, and the data are data acquired by the target object through integrated navigation in the driving process of the measured lane;
step 3: when receiving the position information of a target object under a geodetic coordinate system, the integrated navigation acquires a video image acquired by a road side camera, wherein the video image comprises the target object, and acquires a target object IDx of the target object on a millimeter wave radar side according to the corresponding relation between the position information of the target object in a video and the position information of a radar target visual interface;
step 4: screening radar data of the target object corresponding to all radar data acquired by the millimeter wave radar in the step 1 according to the target object IDx in the step 3;
step 5: performing near time synchronization processing on radar data of the target object acquired by the millimeter wave radar and data of the target object acquired by the integrated navigation;
step 6: performing data interpolation on the data of the target object after the approach time synchronization in the step 5;
step 7: randomly selecting a plurality of training points from the data of the target object after interpolation and the corresponding integrated navigation acquired target object data under a radar coordinate system, carrying out coordinate conversion, and calculating a coordinate conversion matrix;
step 8: calculating average difference values of all the data interpolation target object data coordinate systems after conversion and the integrated navigation acquired target object data, judging the average error values and preset error values, and if the average error values are not larger than the preset error, calibrating the millimeter wave radar to be qualified; otherwise, returning to the step 1, and carrying out recalibration.
Further, in the step 1, the number of lanes detected by the millimeter wave radar is N, after the calibration vehicle runs on the first lane to record data, the vehicle turns around and returns, and runs on the second lane to record data until the calibration vehicle finishes running on the nth lane, and the running speed of the calibration vehicle is smaller than a speed threshold.
Further, in the step 2, the data rate of the output position information of the integrated navigation is greater than a preset data rate, and the millimeter wave radar output data rate is the preset data rate.
Further, in the step 5, the near-time synchronization process specifically includes: and acquiring data of the target object in the ground coordinate system at the latest moment corresponding to the target object data at the current moment of the millimeter wave radar.
Further, in the step 6, the specific process of data interpolation is as follows: and acquiring radar data of the target object corresponding to the data of the target object at the current moment in the millimeter wave radar according to the data of the object in the geodetic coordinate system at the latest previous moment and the latest later moment.
Further, the step 7 specifically includes the following steps:
s71, respectively selecting a plurality of data under the geodetic coordinate system and corresponding radar data from radar data corresponding to target object data under the geodetic coordinate system of each lane and the current moment;
s72, defining longitude and latitude of the calibration vehicle under a geodetic coordinate system as (lat) 1 ，lon 1 )，…，(lat n ，lon n ) Arranged as a matrix W, corresponding radar coordinatesThe position under the line is (u) 1 ，v 1 )，…，(u n ，v n ) Where u represents the abscissa of the vehicle in the radar coordinate system, v represents the ordinate of the vehicle in the radar coordinate system, and is arranged as a matrix a, and the coordinate system conversion matrix is T, then there are:
s73, a calculation formula of the coordinate system conversion parameter matrix T is as follows:
T＝(A′*A) -1 *A′*W。
the invention also provides a calibration vehicle of the road side millimeter wave radar, wherein the calibration vehicle is provided with a corner reflector and an integrated navigation, the corner reflector faces to the installation position of the millimeter wave radar, and the installation position of the corner reflector is close to the installation position of the integrated navigation;
the integrated navigation is used for acquiring the position information of the calibration vehicle under the geodetic coordinate system.
The beneficial effects of the invention are as follows:
according to the calibration method of the road side millimeter wave radar and the calibration vehicle, which are provided by the invention, the accuracy of GPS data is utilized to obtain the position information of the radar and the co-vision vehicle of the integrated navigation, and a plurality of training points are randomly selected and calculated to obtain a conversion matrix of the radar coordinate system and the geodetic coordinate system through approaching time synchronization, data interpolation and coordinate system conversion, so that the accurate longitude and latitude information of traffic participants is obtained, and more accurate road traffic conditions are provided for traffic managers; the method does not need to seal a path in the calibration process, and improves the efficiency and safety of calibration work.
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The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
Fig. 1 is a schematic diagram of a calibrating method and a calibrating vehicle flow of a road side millimeter wave radar according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a calibration method of a road side millimeter wave radar according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a calibration vehicle according to an embodiment of the present invention;
description of main reference numerals:
in the figure: 1. millimeter wave radar; 2. a camera; 3. calibrating a vehicle; 4. a third lane; 5. a fourth lane; 6. a fifth lane; 7. a corner reflector; 8. an integrated navigation antenna; 9. and combining the navigation host.
Detailed Description
In order to further describe the technical means and effects adopted by the invention for achieving the preset aim, the following detailed description is given below of the specific implementation, structure, characteristics and effects according to the invention with reference to the attached drawings and the preferred embodiment.
Referring to fig. 1, the present embodiment provides a calibration method for a roadside millimeter wave radar, which includes the following steps:
step 1, acquiring radar data of a target object in a radar coordinate system, wherein the radar data are detected by a roadside millimeter wave radar 1; the target object is a calibration vehicle 3, and the radar data is data acquired by the millimeter wave radar 1 during the running process of the target object on a test road section.
During the running of the calibration vehicle 3, the millimeter wave radar 1 detects and outputs information such as IDs, two-dimensional coordinate positions, vehicle speeds, and vehicle heading of all moving vehicles on the road. Assuming that the number of lanes detected by the millimeter wave radar 1 is N, firstly calibrating the running speed of the vehicle 3 to be less than a speed threshold value, setting the speed threshold value to be 30km/h after the vehicle 3 runs on a first lane to record data, turning around and returning to run on a second lane to record data, and until the calibration vehicle 3 runs on an N-th lane.
Step 2, acquiring data of a target object detected by integrated navigation in a geodetic coordinate system; the target object is a calibration vehicle 3, and the data are data acquired by the target object through combined navigation in the driving process of the measured lane.
It should be noted that, the data rate of the output position information of the integrated navigation is greater than the preset data rate, the output data rate of the millimeter wave radar 1 is the preset data rate, and the preset data rate is set to 125Hz. The integrated navigation integrates a Global Navigation Satellite System (GNSS) and an Inertial Navigation System (INS), can provide centimeter-level positioning accuracy under the environment with good satellite condition, still maintain reliable and stable positioning performance in a period of time under the condition that satellite signals are lost or interfered, and output the information of the position, the heading, the speed and the like of the calibrated vehicle 3 with GPS time at a certain frequency.
In this embodiment, referring to fig. 2, a schematic view of a calibration method scene is shown, the total number of lanes detected by the millimeter wave radar 1 and the camera 2 is defined to be three, namely, a third lane 4, a fourth lane 5 and a fifth lane 6, firstly, after the calibration vehicle 3 runs on the third lane 4 and records data on the millimeter wave radar 1 side and the combined navigation side, the calibration vehicle turns around and returns, after the calibration vehicle runs on the fourth lane 5 and records data on the fifth lane 6 after the calibration vehicle turns around and returns, the running speed of the calibration vehicle 3 is less than a speed threshold value, and the speed threshold value is set to be 30km/h.
And 3, acquiring a video image acquired by the road side camera 2 while receiving the position information of the target object under the geodetic coordinate system by the integrated navigation, wherein the video image comprises the target object, and acquiring a target object IDx of the target object on the millimeter wave radar 1 side according to the corresponding relation between the position information of the target object in the video and the position information of a radar target visual interface.
It should be noted that, millimeter wave radar 1 and camera 2 access the local area network through the switch, and are time-shared by the NTP network. Specifically, the millimeter wave radar 1 allocates a number ID to the detected moving object, the numbers allocated by the millimeter wave radar 1 are different when the calibration vehicle 3 runs in different lanes, and the code IDx of the object on the millimeter wave radar 1 side in different lanes is obtained according to the position information of the calibration vehicle 3 in the video and the position corresponding relation of the radar object visual interface.
And 4, screening radar data of the target object corresponding to all radar data acquired by the millimeter wave radar 1 in the step 1 according to the target object IDx in the step 3.
Step 5, performing close time synchronization processing on the radar data of the target object acquired by the millimeter wave radar 1 and the data of the target object acquired by the integrated navigation;
specifically, because the millimeter wave radar 1 and the integrated navigation data acquisition have different frequencies, the output data rate of the millimeter wave radar 1 is 20Hz, and in order to perform time approximate synchronization on the two data, the output rate of the integrated navigation data is required to be as high as possible, and in this embodiment, the data rate of the integrated navigation is 125Hz, and the data of the target object in the geodetic coordinate system at the latest moment corresponding to the moment when the millimeter wave radar 1 acquires the target object data is acquired.
Step 6, carrying out data interpolation on the data of the target object after the approach time synchronization in the step 5;
specifically, radar data of the target object corresponding to data in the geodetic coordinate system at the current time is acquired from data in the geodetic coordinate system of the target object at the latest preceding time and the latest following time corresponding to the target object data time acquired by the millimeter wave radar 1. For example, the apparent calibration vehicle 3 is speed invariant for a short period of time, and the trajectory of the calibration vehicle 3 may be resampled in the radar coordinate system using a linear interpolation method.
Step 7, randomly selecting a plurality of training points from the data of the target object after interpolation and the corresponding integrated navigation acquired target object data under the radar coordinate system, performing coordinate conversion, and calculating a coordinate conversion matrix; specifically, the method comprises the following steps:
s71, respectively selecting a plurality of data under the geodetic coordinate system and corresponding radar data from the radar data of the target object corresponding to the data under the geodetic coordinate system at the current moment in each lane;
s72, defining longitude and latitude of the calibration vehicle 3 under the geodetic coordinate system as (lat) 1 ，lon 1 )，…，(lat n ，lon n ) Arranged as a matrix W, and the corresponding positions under the radar coordinate system are (u) 1 ，v 1 )，…，(u n ，v n ) Where u represents the abscissa of the vehicle in the radar coordinate system, v represents the ordinate of the vehicle in the radar coordinate system, and is arranged as a matrix a, and the coordinate system conversion matrix is T, then there are:
the latitude and longitude data format is (23.326807373055, 113.545784232222), where 23.326807373055 is latitude and 113.545784232222 is longitude.
S73, a calculation formula of the coordinate system conversion parameter matrix T is as follows:
T＝(A′*A) -1 *A′*W。
step 8, calculating the average difference value of all the radar data interpolated target object data coordinate systems and the target object data acquired by the integrated navigation after conversion, judging the average error value and the preset error value, and if the average error value is not larger than the preset error, calibrating the millimeter wave radar 1 as qualified; otherwise, returning to the step 1, and recalibrating the millimeter wave radar 1.
The present embodiment further provides a calibration vehicle for a roadside millimeter wave radar, the calibration vehicle 3 is provided with a corner reflector 7 and integrated navigation, as shown in fig. 3, the corner reflector 7 faces the installation position of the millimeter wave radar 1, the corner reflector 7 has extremely strong reflection echo characteristics, the millimeter wave radar 1 can detect extremely strong echo targets, the installation positions of the corner reflector 7 and the integrated navigation antenna 8 are as close as possible, so that the millimeter wave radar 1 detects the installation position of the vehicle coordinates as close to the integrated navigation antenna 8 as possible, the integrated navigation is used for acquiring the position information of the calibration vehicle 3 under the geodetic coordinate system, and the integrated navigation host 9 is installed in a vehicle trunk.
According to the calibrating method of the road side millimeter wave radar and the calibrating vehicle, GPS data accuracy is utilized to obtain the position information of the millimeter wave radar 1 and the co-sight vehicle of the combined navigation, a plurality of training points are randomly selected and calculated to obtain a conversion matrix of a radar coordinate system and a geodetic coordinate system through approaching time synchronization, data interpolation and coordinate system conversion, so that accurate longitude and latitude information of traffic participants is obtained, and more accurate road traffic conditions are provided for traffic managers; the method does not need to seal a path in the calibration process, and improves the efficiency and safety of calibration work.
The present invention is not limited to the above embodiments, but is capable of modification and variation in detail, and other modifications and variations can be made by those skilled in the art without departing from the scope of the present invention.
Claims (7)
1. A calibrating method of a road side millimeter wave radar and a calibrating vehicle are characterized in that: the method comprises the following steps:
step 1: acquiring radar data of a target object detected by a millimeter wave radar in a radar coordinate system; the radar data are data acquired by millimeter wave radar of the target object in the road section driving process;
step 2: acquiring data of a target object detected by combined navigation in a geodetic coordinate system; the target object is a calibration vehicle, and the data are data acquired by the target object through integrated navigation in the driving process of the measured lane;
step 3: when receiving the position information of a target object under a geodetic coordinate system, the integrated navigation acquires a video image acquired by a road side camera, wherein the video image comprises the target object, and acquires a target object IDx of the target object on a millimeter wave radar side according to the corresponding relation between the position information of the target object in a video and the position information of a radar target visual interface;
step 4: screening radar data of the target object corresponding to all radar data acquired by the millimeter wave radar in the step 1 according to the target object IDx in the step 3;
step 5: performing near time synchronization processing on radar data of the target object acquired by the millimeter wave radar and data of the target object acquired by the integrated navigation;
step 6: performing data interpolation on the data of the target object after the approach time synchronization in the step 5;
step 7: randomly selecting a plurality of training points from the data of the target object after interpolation and the corresponding integrated navigation acquired target object data under a radar coordinate system, carrying out coordinate conversion, and calculating a coordinate conversion matrix;
step 8: calculating average difference values of all the data interpolation target object data coordinate systems after conversion and the integrated navigation acquired target object data, judging the average error values and preset error values, and if the average error values are not larger than the preset error, calibrating the millimeter wave radar to be qualified; otherwise, returning to the step 1, and carrying out recalibration.
2. The calibration method and the calibration vehicle of the roadside millimeter wave radar according to claim 1, wherein: in the step 1, the number of lanes detected by the millimeter wave radar is N, the vehicle is firstly calibrated to run on a first lane to record data, then turns around and returns, and the vehicle is driven on a second lane to record data until the calibrated vehicle finishes running on an N-th lane, and the running speed of the calibrated vehicle is smaller than a speed threshold value.
3. The calibration method and the calibration vehicle of the roadside millimeter wave radar according to claim 1, wherein: in the step 2, the data rate of the output position information of the integrated navigation is larger than a preset data rate, and the millimeter wave radar output data rate is the preset data rate.
4. The calibration method and the calibration vehicle of the roadside millimeter wave radar according to claim 1, wherein: in the step 5, the near time synchronization process specifically includes: and acquiring data of the target object in the ground coordinate system at the latest moment corresponding to the target object data at the current moment of the millimeter wave radar.
5. The calibration method and the calibration vehicle of the roadside millimeter wave radar according to claim 1, wherein: in the step 6, the specific process of data interpolation is as follows: and acquiring radar data of the target object corresponding to the data of the target object at the current moment in the millimeter wave radar according to the data of the object in the geodetic coordinate system at the latest previous moment and the latest later moment.
6. The calibration method and the calibration vehicle of the roadside millimeter wave radar according to claim 1, wherein: the step 7 specifically comprises the following steps:
s71, respectively selecting a plurality of data under the geodetic coordinate system and corresponding radar data from radar data corresponding to target object data under the geodetic coordinate system of each lane and the current moment;
s72, defining longitude and latitude of the calibration vehicle under a geodetic coordinate system as (lat) 1 ，lon 1 )，…，(lat n ，lon n ) Arranged as a matrix W, and the corresponding positions under the radar coordinate system are (u) 1 ，v 1 )，…，(u n ，v n ) Where u represents the abscissa of the vehicle in the radar coordinate system, v represents the ordinate of the vehicle in the radar coordinate system, and is arranged as a matrix a, and the coordinate system conversion matrix is T, then there are:
s73, a calculation formula of the coordinate system conversion parameter matrix T is as follows:
T＝(A*A)l*A'*W。
7. a calibrating vehicle of a road side millimeter wave radar is characterized in that: the calibration vehicle is provided with a corner reflector and integrated navigation, the corner reflector faces to the installation position of the millimeter wave radar, and the installation position of the corner reflector is close to the installation position of the integrated navigation;
the integrated navigation is used for acquiring the position information of the calibration vehicle under the geodetic coordinate system.
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| CN119044913A (en) * | 2024-10-30 | 2024-11-29 | 河北省科学院应用数学研究所 | Dynamic calibration method and device for roadside millimeter wave radar, equipment and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN119044913A (en) * | 2024-10-30 | 2024-11-29 | 河北省科学院应用数学研究所 | Dynamic calibration method and device for roadside millimeter wave radar, equipment and medium |
| CN119044913B (en) * | 2024-10-30 | 2025-04-22 | 河北省科学院应用数学研究所 | Dynamic calibration method, device, equipment and medium for roadside millimeter wave radar |
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