The invention provides a vehicle-mounted radar detection angle anomaly detection method and device, an automobile and a medium, and the method comprises the steps: obtaining point cloud data collected by a vehicle-mounted radar, and carrying out the preprocessing of the collected point cloud data; determining a radar self-checking angle of the vehicle-mounted radar based on the preprocessed point cloud data, and comparing the radar self-checking angle with a preset abnormal angle threshold and a radar initial adaptation angle in sequence; when the radar self-checking angle is larger than a preset abnormal angle threshold value and the difference value between the radar self-checking angle and the radar initial adaptation angle is larger than a preset angle difference threshold value, it is judged that the detection angle of the vehicle-mounted radar is abnormal, and the vehicle-mounted radar is set to continuously monitor the radar self-checking angle in the current ignition cycle; and the radar initial adaptation angle is not updated to the radar self-inspection angle. According to the invention, frequent misinformation of radar angle out-of-tolerance caused by road bumping and sudden deformation (recoverability) of the bumper can be effectively avoided.
本发明提供一种车载雷达探测角度异常检测方法、装置、汽车及介质,包括,获取车载雷达采集到的点云数据并对采集的点云数据进行预处理;基于预处理后的点云数据确定车载雷达的雷达自检角度,将雷达自检角度依次与预设的异常角度阈值和雷达初始适应角度比较;当雷达自检角度大于预设的异常角度阈值且雷达自检角度与雷达初始适应角度之间的差值大于预设的角度差阈值时,判定车载雷达的探测角度异常,并设置车载雷达在当前点火循环内持续监测雷达自检角度,不将雷达初始适应角度更新为雷达自检角度。本发明有效避免因道路颠簸、保杠突发变形(可恢复)所带来的雷达频繁误报雷达角度超差。
Vehicle-mounted radar detection angle anomaly detection method and device, automobile and medium
一种车载雷达探测角度异常检测方法、装置、汽车及介质
2024-01-23
Patent
Electronic Resource
Chinese
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