The invention discloses a method for calibrating a radar based on a high-precision map, and the method comprises the following steps: obtaining a first historical track of a clustering detection target, and forming a topological map according to the first historical track of the clustering detection target, the clustering detection target being a target in a radar detection range; an actual road in a topological map is compared with an actual road in a high-precision map, a first included angle between the topological map and the actual road is obtained, and the actual road refers to the road corresponding to the first historical track; acquiring a second included angle between the actual road and a preset direction; obtaining a third included angle between a historical track of the detection target and a preset direction according to the first included angle and the second included angle; and performing angle calibration on the radar by using the third included angle.
本申请公开的一种基于高精地图标定雷达的方法,方法包括以下步骤:获取聚类检测目标的第一历史轨迹,根据聚类检测目标的第一历史轨迹形成拓扑地图,所述聚类检测目标是指雷达检测范围内的目标;将拓扑地图与高精度地图中的实际道路作对比,获得所述拓扑地图与所述实际道路的第一夹角,所述实际道路是指与所述第一历史轨迹对应的道路;获取所述实际道路与预设方向的第二夹角;根据所述第一夹角与所述第二夹角获得检测目标的历史轨迹与预设方向的第三夹角;利用第三夹角对雷达进行角度标定。
Method, device and equipment for calibrating radar based on high-precision map and medium
一种基于高精地图标定雷达的方法、装置、设备及介质
2022-06-10
Patent
Elektronische Ressource
Chinesisch
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