The invention relates to a calibration method, and a pitch angle installation deviation calibration process of the calibration method comprises the following steps: an acquisition step: acquiring radial speed parameter values and pitch angle parameter values of a plurality of static detection points, and solving a ratio of the radial speed parameter values to a speed parameter value of a vehicle; a fitting step in which a plurality of stationary coordinate points are generated in a two-dimensional coordinate system, values of the stationary coordinate points on a first coordinate axis of the two-dimensional coordinate system are the pitch angle parameter values detected by the radar and values of the stationary coordinate points on a second coordinate axis of the two-dimensional coordinate system are the ratios, and curve fitting is carried out on the plurality of stationary coordinate points to obtain a curve fitting result; and solving an extreme value of the fitted curve on the second coordinate axis and a first coordinate value corresponding to the extreme value on the first coordinate axis, and solving the pitch angle installation deviation of the radar based on the first coordinate value. The application also relates to a corresponding controller, a radar system, a vehicle and a computer program product. The method has the advantage that the radar installation deviation can be simply and quickly calibrated.
本申请涉及一种校准方法,其俯仰角安装偏差校准流程包括:获取步骤,其中,获取多个静止探测点的径向速度参数值和俯仰角参数值,并且求取径向速度参数值与车辆的速度参数值的比值;拟合步骤,其中,在二维坐标系中生成多个静止坐标点,其在二维坐标系的第一坐标轴上的值为由所述雷达探测到的所述俯仰角参数值并且在第二坐标轴上的值为所述比值,对所述多个静止坐标点进行曲线拟合,求取所拟合的曲线在第二坐标轴上的极值以及与所述极值对应的在第一坐标轴上的第一坐标值,基于所述第一坐标值求取所述雷达的俯仰角安装偏差。本申请还涉及相应的控制器、雷达系统、车辆和计算机程序产品。本申请的优点在于:能简单快速地进行雷达安装偏差的校准。
Calibration method, controller, radar system, vehicle and computer program product
校准方法、控制器、雷达系统、车辆和计算机程序产品
2023-11-24
Patent
Elektronische Ressource
Chinesisch
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