基于曲线拟合的毫米波雷达安装角度校准方法  

Mount Angle Calibration Method of Millimeter Wave Radar Based on Curve Fitting

作　　者：黄晓红 崔胜港 琚泽东 黄天宇 HUANG Xiao-hong;CUI Sheng-gang;JU Ze-dong;HUANG Tian-yu(College of Artificial Intelligence,North China University of Science and Technology,Tangshan 063210,China;College of Electrical Engineering,North China University of Science and Technology,Tangshan 063210,China)

机构地区：[1]华北理工大学人工智能学院,唐山063210 [2]华北理工大学电气工程学院,唐山063210

出　　处：《微波学报》2022年第6期31-36,共6页Journal of Microwaves

基　　金：河北省高等学校重点技术研究项目(ZD2020152);河北省高校基本科研业务费项目(JQN2019006)。

摘　　要：毫米波雷达的安装角度校准是雷达正常使用并与摄像头进行数据融合的重要前提,雷达安装角度偏转过大会导致雷达数据与摄像头数据融合失败,影响高级驾驶辅助系统(Advanced Driving Assistance System,ADAS)的正常使用。文中提出一种基于曲线拟合的毫米波雷达安装角度校准方法,当车辆在道路上行驶时辅以车辆输入的车速和偏航角信息,通过2000个静止点进行曲线拟合得到雷达需要补偿的角度。相较于选择有护栏的道路进行绕行和在标定场地部署角反射器进行安装角度校准的方法,这种方法适用的场景种类更多并且校准时间从15分钟以上缩短为5分钟以下。经过实验验证,在花费更短时间完成校准后,校准精度与其它自校准方法相同为±5°。The mount angle calibration of millimeter wave radar is an important prerequisite for the normal use of radar and data fusion with the camera.If the radar mount angle deflection is too big,radar data and camera data fusion will fail,affecting the normal use of ADAS(Advanced Driver Assistance System).In this paper,a calibration method of millimeter wave radar mount angle based on curve fitting is proposed.When the vehicle is driving on the road,the vehicle speed and yaw angle information are supplemented by the vehicle input,and the angle to be compensated by the radar is obtained through curve fitting of 2000 stationary points.Compared with the method of choosing the road with guardrail for detour and deploying corner reflector in the calibration site for mount angle calibration,this method applies to more scenarios and reduces the calibration time from more than 15 minutes to less than 5 minutes.After experimental verification,the calibration accuracy can still reach±5°,which is the same as other self-calibration methods after taking less time to complete the calibration.

关 键 词：毫米波雷达 高级辅助驾驶 安装角度校准 曲线拟合 

分 类 号：TN958[电子电信—信号与信息处理]