1. An angular radar mounting deviation compensation method, characterized by comprising:

after monitoring an automatic angle radar calibration request, judging whether the current vehicle speed is in a preset vehicle speed interval in real time;

if yes, judging whether the yaw angle of the vehicle is in a preset yaw angle area or not;

if yes, judging whether the distance of the static target object detected by the angle radar in the driving process is within a preset distance range;

if yes, judging whether the number of the static target objects in a preset distance interval reaches a preset number or not;

if so, performing linear track fitting by taking the static target objects as track points to obtain a reference running track based on the static target objects;

acquiring an actual track of the vehicle after monitoring an automatic calibration request of the angle radar;

obtaining a deviation angle of an angle radar based on the reference running track and the actual track of the vehicle;

judging whether the deviation angle is in a preset allowable deviation interval or not;

if not, judging whether the deviation angle is within a preset deviation threshold interval or not;

if yes, automatic correction is carried out when the detection angle value and the detection distance value of the angle radar are calculated.

2. The angular radar mounting deviation compensation method according to claim 1, wherein the automatically correcting in calculating the detection angle value and the detection distance value of the angular radar includes:

storing the deviation angle obtained during the calibration, and performing first counting on the stored deviation angle;

when the first count reaches a preset first quantity value, calculating the deviation mean value of all the stored deviation angles;

and automatically correcting the detection angle value and the detection distance value of the angle radar based on the deviation mean value.

3. The angular radar mounting deviation compensation method of claim 1, further comprising:

if the deviation angle obtained in the calibration exceeds a preset deviation threshold interval, performing second counting;

and outputting prompting information that the angle radar needs to be physically corrected when the second count reaches a preset second numerical value.

4. The angular radar mounting deviation compensation method of claim 1, further comprising:

if the distance of the static target object detected by the angle radar exceeds the preset distance interval in the driving process, the static target object exceeding the preset distance interval does not participate in subsequent quantity judgment and linear track fitting processing.

5. The method for compensating for installation deviation of a corner radar according to any one of claims 1 to 4, further comprising terminating the installation deviation compensation of the corner radar when any one of the following conditions is satisfied:

the current vehicle speed exceeds a preset vehicle speed interval, the yaw angle of the vehicle exceeds a preset yaw angle interval, and the deviation angle is within a preset allowable deviation interval.

Background

An existing angle radar system (the angle radar is a millimeter wave radar which is arranged at four corners of a vehicle and is mainly used for detecting target objects such as vehicles in view blind areas in front of and behind the vehicle) detects the view blind areas of outer rearview mirrors at two sides of the vehicle through millimeter wave radars arranged at two sides of the rear of the vehicle so as to identify moving targets such as vehicles in the blind areas; and detecting blind areas caused by the shielding of the visual field of an A column and the like when the vehicle turns by the millimeter wave radars arranged on two sides in front of the vehicle, and then alarming or assisting vehicle control to avoid risks according to the existence and the level of the risks.

In an actual scene, the angle radar is usually installed on a metal plate of an automobile body or on the inner side of a front bumper and a rear bumper of the automobile, and due to the influence of an installation process, the installation angle of the angle radar is changed, the installation angle and the design state are different, and then the detected angle and distance are deviated, so that the angle radar needs to be calibrated.

The existing angle radar installation deviation compensation method mainly comprises the steps of conveying a vehicle to a formulated maintenance place, and carrying out calibration work on an angle radar through professional equipment, so that manpower and material resources are wasted.

Disclosure of Invention

In view of the above, the present invention aims to provide a method for compensating installation deviation of an angle radar, so as to solve the problem that the existing angle radar needs to be calibrated by a special site, special equipment and a professional.

The technical scheme adopted by the invention is as follows:

an angular radar mounting deviation compensation method, comprising:

after monitoring an automatic angle radar calibration request, judging whether the current vehicle speed is in a preset vehicle speed interval in real time;

if yes, judging whether the yaw angle of the vehicle is in a preset yaw angle area or not;

if yes, judging whether the distance of the static target object detected by the angle radar in the driving process is within a preset distance range;

if yes, judging whether the number of the static target objects in a preset distance interval reaches a preset number or not;

if so, performing linear track fitting by taking the static target objects as track points to obtain a reference running track based on the static target objects;

acquiring an actual track of the vehicle after monitoring an automatic calibration request of the angle radar;

obtaining a deviation angle of an angle radar based on the reference running track and the actual track of the vehicle;

judging whether the deviation angle is in a preset allowable deviation interval or not;

if not, judging whether the deviation angle is within a preset deviation threshold interval or not;

if yes, automatic correction is carried out when the detection angle value and the detection distance value of the angle radar are calculated.

In at least one possible implementation manner, the automatically correcting when the detection angle value and the detection distance value of the angle radar are calculated includes:

storing the deviation angle obtained during the calibration, and performing first counting on the stored deviation angle;

when the first count reaches a preset first quantity value, calculating the deviation mean value of all the stored deviation angles;

and automatically correcting the detection angle value and the detection distance value of the angle radar based on the deviation mean value.

In at least one possible implementation manner, the method further includes:

if the deviation angle obtained in the calibration exceeds a preset deviation threshold interval, performing second counting;

and outputting prompting information that the angle radar needs to be physically corrected when the second count reaches a preset second numerical value.

In at least one possible implementation manner, the method further includes:

if the distance of the static target object detected by the angle radar exceeds the preset distance interval in the driving process, the static target object exceeding the preset distance interval does not participate in subsequent quantity judgment and linear track fitting processing.

In at least one possible implementation manner, the method further includes terminating the installation deviation compensation of the angle radar when any one of the following conditions is satisfied:

the current vehicle speed exceeds a preset vehicle speed interval, the yaw angle of the vehicle exceeds a preset yaw angle interval, and the deviation angle is within a preset allowable deviation interval.

The invention has the conception that whether the vehicle meets the set conditions or not is sequentially judged when the vehicle normally runs, the conditions comprise vehicle speed, straight line running, continuous detection of effective static targets, the number of the effective targets detected by a radar and the like, once the conditions are met, linear track fitting can be carried out by utilizing a plurality of static targets, an included angle can be formed by comparing the linear track fitting with the actual running track of the vehicle, the included angle is a deviation angle of an angle radar installation angle, and finally, the deviation angle can be calibrated to carry out deviation correction of a detection value. The invention can realize the inspection and correction of the angle radar installation angle under specific conditions in the whole life cycle of the product, thereby saving a large amount of manpower and material resources.

Drawings

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:

fig. 1 is a flowchart of an angular radar installation deviation compensation method according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.

The invention provides an embodiment of an angular radar installation deviation compensation method, and specifically, as shown in fig. 1, the method may include the following steps:

step S1, after monitoring the automatic calibration request of the angle radar, judging whether the current vehicle speed is in a preset vehicle speed interval in real time;

if yes, executing step S2, and judging whether the yaw angle of the vehicle is in a preset yaw angle area;

if yes, executing step S3, and judging whether the distance of the static target object detected by the angle radar in the driving process is within a preset distance interval;

if yes, executing step S4, and determining whether the number of the static target objects in a preset distance interval reaches a preset number;

if yes, executing step S5, and performing linear track fitting by taking the static target objects as track points to obtain a reference driving track based on the static target objects;

step S6, acquiring the actual track of the vehicle after the angle radar automatic calibration request is monitored;

step S7, obtaining a deviation angle of an angle radar based on the reference running track and the actual track of the vehicle;

step S8, judging whether the deviation angle is in a preset allowable deviation interval;

if not, executing step S9, and determining whether the deviation angle is within a preset deviation threshold interval;

if yes, step S10 is executed to perform automatic correction when calculating the detection angle value and the detection distance value of the angle radar.

Further, the following specific implementation modes can be adopted for deviation correction:

storing the deviation angle obtained during the calibration, and performing first counting on the stored deviation angle;

when the first count reaches a preset first quantity value, calculating the deviation mean value of all the stored deviation angles;

and automatically correcting the detection angle value and the detection distance value of the angle radar based on the deviation mean value.

That is, errors or mistakes possibly caused by a small amount of calibration measurement are avoided, and after a certain amount of deviation angles meeting the automatic adjustment requirement are accumulated, the average value is used as the target deviation to carry out actual deviation correction.

Further, the method may further include:

if the deviation angle obtained in the calibration exceeds a preset deviation threshold interval, performing second counting;

and outputting prompting information that the angle radar needs to be physically corrected when the second count reaches a preset second numerical value.

That is, the same statistics is performed for the serious installation angle deviation condition, and the user can be prompted to perform physical adjustment after a certain amount of deviation is reached.

Further, the method may further include:

if the distance of the static target object detected by the angle radar exceeds the preset distance interval in the driving process, the static target object exceeding the preset distance interval does not participate in subsequent quantity judgment and linear track fitting processing.

That is, the invalid static target object is not required to be subjected to subsequent reference track fitting, so that the accuracy of the fitted reference track is prevented from being reduced.

Further, the method may further include terminating the installation deviation compensation of the angle radar when any one of the following conditions is satisfied:

the current vehicle speed exceeds a preset vehicle speed interval, the yaw angle of the vehicle exceeds a preset yaw angle interval, and the deviation angle is within a preset allowable deviation interval.

That is, in the calibration process, if a certain condition is not satisfied, the angle detection and the correction do not need to be continued downwards, but the current correction process can be exited.

In summary, the concept of the present invention is to sequentially determine whether a vehicle meets predetermined conditions, including vehicle speed, straight-line driving, continuous detection of effective static targets, and detection of the number of effective targets by a radar, when the vehicle normally runs, linear trajectory fitting can be performed by using a plurality of static targets, and an included angle can be formed by comparing the linear trajectory fitting with an actual running trajectory of the vehicle, where the included angle is a deviation angle of an installation angle of an angle radar, and finally, deviation correction of a detected value can be performed by calibrating the deviation angle. The invention can realize the inspection and correction of the angle radar installation angle under specific conditions in the whole life cycle of the product, thereby saving a large amount of manpower and material resources.

In the embodiments of the present invention, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and may mean that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.

The structure, features and effects of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the above embodiments are merely preferred embodiments of the present invention, and it should be understood that technical features related to the above embodiments and preferred modes thereof can be reasonably combined and configured into various equivalent schemes by those skilled in the art without departing from and changing the design idea and technical effects of the present invention; therefore, the invention is not limited to the embodiments shown in the drawings, and all the modifications and equivalent embodiments that can be made according to the idea of the invention are within the scope of the invention as long as they are not beyond the spirit of the description and the drawings.