CN111521979A - Method, device and related equipment for calibrating installation angle of vehicle radar - Google Patents
Method, device and related equipment for calibrating installation angle of vehicle radarDownload PDFInfo
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- CN111521979A CN111521979ACN201910104767.1ACN201910104767ACN111521979ACN 111521979 ACN111521979 ACN 111521979ACN 201910104767 ACN201910104767 ACN 201910104767ACN 111521979 ACN111521979 ACN 111521979A
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及车载雷达应用领域，尤其涉及一种用于标定车载雷达安装角度方法、装置、 车辆和计算机可读存储介质。The present invention relates to the application field of vehicle-mounted radar, in particular to a method, device, vehicle and computer-readable storage medium for calibrating the installation angle of vehicle-mounted radar.
背景技术Background technique
在汽车高级驾驶辅助系统(Advanced Driver Assistant Systems，英文简称为ADAS) 中，自适应巡航系统(Adaptive Cruise Control，英文简称为ACC)是一项普遍使用的辅助 功能。其具体工作原理是，通过车载雷达实时对前方车辆进行测距，将自身车速与前方车 速进行比对，同时控制本车的油门、制动等动力系统，使本车始终与前车保持恒定的安全 距离。因此车载雷达的作用在ACC功能的实现中至关重要，其雷达标定是雷达对目标方位 进行测量的基础，其标定的精确性直接关系到后续目标方位测量的准确性。In an automotive advanced driver assistance system (Advanced Driver Assistant Systems, referred to as ADAS in English), an adaptive cruise system (Adaptive Cruise Control, referred to as ACC in English) is a commonly used auxiliary function. Its specific working principle is to measure the distance of the vehicle ahead in real time through the on-board radar, compare the speed of its own vehicle with the speed of the vehicle ahead, and control the power system such as the accelerator and braking of the vehicle, so that the vehicle and the vehicle in front are always kept constant. safe distance. Therefore, the role of the vehicle-mounted radar is very important in the realization of the ACC function, and its radar calibration is the basis for the radar to measure the target azimuth, and the accuracy of its calibration is directly related to the accuracy of the subsequent target azimuth measurement.
相关技术中，车载雷达标定装置通常包括目标物、CAN(Controller AreaNetwork，控 制器局域网络)卡、雷达和内设有雷达标定程序的计算机设备。CAN卡的一端通过数据线连 接试验车的车载总线，从而与雷达建立数据交流；CAN卡的另一端则通过数据线连接计算 机设备，一方面计算机设备运行雷达标定程序通过CAN卡向雷达发送校验信息以使雷达能 正常工作，另一方面雷达反馈的目标CAN信息通过CAN卡输送给计算机设备，以供雷达标 定程序解析和计算，完成雷达安装位置和姿态检测，以及进行雷达纵向探测距离和横向探 测辐角等标定工作。In the related art, a vehicle-mounted radar calibration device usually includes a target, a CAN (Controller Area Network) card, a radar, and a computer device with a built-in radar calibration program. One end of the CAN card is connected to the on-board bus of the test vehicle through a data cable, so as to establish data communication with the radar; the other end of the CAN card is connected to the computer equipment through a data cable. On the other hand, the target CAN information fed back by the radar is sent to the computer equipment through the CAN card for analysis and calculation by the radar calibration program to complete the radar installation position and attitude detection, as well as the radar longitudinal detection distance and lateral direction. Detecting arguments such as calibration work.
但是目前存在的问题是：因为车辆安装雷达就相当于在整车制造流程中加了一道工序， 此工序包含雷达安装和安装角度的静态标定，所以必须静态标定之后，确定安装角度正确 才能通过该道工序，而相关技术中这种针对雷达安装角度的静态标定方式，会使得在整车 制造流程的雷达安装工序中增加了安装角度的静态标定流程，从而影响了车辆装配生产效 率，并且在标定过程中，如果当雷达安装角度出现偏差时，则需要重新标定进行校正安装 角度，浪费时间和人力，导致效率低下。However, the current problem is: because the installation of the radar on the vehicle is equivalent to adding a process to the vehicle manufacturing process, this process includes the static calibration of the radar installation and the installation angle, so it must be statically calibrated and the installation angle is correct. In the related art, the static calibration method for the radar installation angle will increase the static calibration process of the installation angle in the radar installation process of the vehicle manufacturing process, thereby affecting the vehicle assembly production efficiency, and in the calibration process During the process, if the radar installation angle deviates, it needs to be re-calibrated to correct the installation angle, which wastes time and manpower, resulting in low efficiency.
发明内容SUMMARY OF THE INVENTION
本发明旨在至少在一定程度上解决相关技术中的技术问题之一。The present invention aims to solve one of the technical problems in the related art at least to a certain extent.
为此，本发明的一个目的在于提出一种用于标定车载雷达安装角度的方法，该方法可 以减少车辆的整车制造流程步骤，可以有效地节省时间和人力，提高车辆装配生产效率。Therefore, an object of the present invention is to propose a method for calibrating the installation angle of the vehicle-mounted radar, which can reduce the steps of the vehicle manufacturing process, effectively save time and manpower, and improve the vehicle assembly production efficiency.
本发明的第二个目的在于提出一种用于标定车载雷达安装角度的装置。The second object of the present invention is to provide a device for calibrating the installation angle of the vehicle-mounted radar.
本发明的第三个目的在于提出一种车辆。A third object of the present invention is to propose a vehicle.
本发明的第四个目的在于提出一种计算机可读存储介质。A fourth object of the present invention is to provide a computer-readable storage medium.
为达到上述目的，本发明第一方面实施例提出的用于标定车载雷达安装角度的方法， 包括：获取所述车载雷达探测到的多个对象的目标信息；所述目标信息包括所述对象与所 述车辆的目标距离、所述对象与所述车辆的目标角度；根据所述目标距离和目标角度，从 所述多个对象中选取至少一组目标对象，其中，所述每组目标对象包含满足预设条件的两 个对象；根据所述至少一组目标对象中每个对象的目标距离和目标角度，计算所述车载雷 达的实际安装角度。In order to achieve the above object, the method for calibrating the installation angle of the vehicle-mounted radar proposed by the embodiment of the first aspect of the present invention includes: acquiring target information of a plurality of objects detected by the vehicle-mounted radar; the target information includes the object and the The target distance of the vehicle, the target angle between the object and the vehicle; according to the target distance and the target angle, at least one group of target objects is selected from the plurality of objects, wherein each group of target objects includes Two objects that meet the preset conditions; according to the target distance and target angle of each object in the at least one group of target objects, the actual installation angle of the vehicle radar is calculated.
根据本发明实施例的用于标定车载雷达安装角度的方法，可获取车载雷达探测到的多 个对象的目标信息，其中，该目标信息包括对象与该车辆的目标距离、对象与该车辆的目 标角度，然后根据目标距离和目标角度，从多个对象中选取至少一组目标对象，其中，每 组目标对象包含满足预设条件的两个对象，之后根据至少一组目标对象中每个对象的目标 距离和目标角度，计算车载雷达的实际安装角度，即通过在车辆进行道路测试时实现对雷 达安装角度的动态标定，这样，该车辆在进行车载雷达装配时，只需将该车载雷达安装到 车辆的相应位置即可，在该装配工序中没有对该雷达的安装角度进行标定，而是在该车辆 的道路测试或道路行驶时进行雷达安装角度的标定，从而可以减少车辆的整车制造流程步 骤，可以有效地节省时间和人力，提高车辆装配生产效率。According to the method for calibrating the installation angle of the vehicle-mounted radar according to the embodiment of the present invention, target information of multiple objects detected by the vehicle-mounted radar can be obtained, wherein the target information includes the target distance between the object and the vehicle, and the target between the object and the vehicle. angle, and then select at least one group of target objects from multiple objects according to the target distance and target angle, wherein each group of target objects contains two objects that meet the preset conditions, and then according to the at least one group of target objects The target distance and target angle are calculated to calculate the actual installation angle of the vehicle radar, that is, the dynamic calibration of the radar installation angle is realized during the road test of the vehicle. The corresponding position of the vehicle is sufficient. In this assembly process, the installation angle of the radar is not calibrated, but the radar installation angle is calibrated during the road test or road driving of the vehicle, thereby reducing the vehicle manufacturing process. The steps can effectively save time and manpower and improve the production efficiency of vehicle assembly.
为达到上述目的，本发明第二方面实施例提出的用于标定车载雷达安装角度的装置， 包括：目标信息获取模块，用于获取所述车载雷达探测到的多个对象的目标信息；所述目 标信息包括所述对象与所述车辆的目标距离、所述对象与所述车辆的目标角度；目标选取 模块，用于根据所述目标距离和目标角度，从所述多个对象中选取至少一组目标对象，其 中，所述每组目标对象包含满足预设条件的两个对象；标定模块，用于根据所述至少一组 目标对象中每个对象的目标距离和目标角度，计算所述车载雷达的实际安装角度。In order to achieve the above purpose, the device for calibrating the installation angle of the vehicle-mounted radar proposed by the embodiment of the second aspect of the present invention includes: a target information acquisition module for acquiring target information of multiple objects detected by the vehicle-mounted radar; the The target information includes the target distance between the object and the vehicle, and the target angle between the object and the vehicle; the target selection module is configured to select at least one object from the plurality of objects according to the target distance and the target angle. A group of target objects, wherein each group of target objects includes two objects that meet preset conditions; a calibration module is used to calculate the vehicle-mounted target according to the target distance and target angle of each object in the at least one group of target objects The actual installation angle of the radar.
根据本发明实施例的用于标定车载雷达安装角度的装置，可获取车载雷达探测到的多 个对象的目标信息，其中，该目标信息包括对象与该车辆的目标距离、对象与该车辆的目 标角度，然后根据目标距离和目标角度，从多个对象中选取至少一组目标对象，其中，每 组目标对象包含满足预设条件的两个对象，之后根据至少一组目标对象中每个对象的目标 距离和目标角度，计算车载雷达的实际安装角度，即通过在车辆进行道路测试时实现对雷 达安装角度的动态标定，这样，该车辆在进行车载雷达装配时，只需将该车载雷达安装到 车辆的相应位置即可，在该装配工序中没有对该雷达的安装角度进行标定，而是在该车辆 的道路测试或道路行驶时进行雷达安装角度的标定，从而可以减少车辆的整车制造流程步 骤，可以有效地节省时间和人力，提高车辆装配生产效率。According to the device for calibrating the installation angle of the vehicle-mounted radar according to the embodiment of the present invention, target information of multiple objects detected by the vehicle-mounted radar can be obtained, wherein the target information includes the target distance between the object and the vehicle, and the target between the object and the vehicle. angle, and then select at least one group of target objects from multiple objects according to the target distance and target angle, wherein each group of target objects contains two objects that meet the preset conditions, and then according to the at least one group of target objects The target distance and target angle are calculated to calculate the actual installation angle of the vehicle radar, that is, the dynamic calibration of the radar installation angle is realized during the road test of the vehicle. The corresponding position of the vehicle is sufficient. In this assembly process, the installation angle of the radar is not calibrated, but the radar installation angle is calibrated during the road test or road driving of the vehicle, thereby reducing the vehicle manufacturing process. The steps can effectively save time and manpower and improve the production efficiency of vehicle assembly.
为达到上述目的，本发明第三方面实施例提出的车辆，包括：存储器、处理器及存储 在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序 时，实现本发明第一方面实施例所述的用于标定车载雷达安装角度的方法。In order to achieve the above object, the vehicle provided by the embodiment of the third aspect of the present invention includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer During the program, the method for calibrating the installation angle of the vehicle-mounted radar according to the embodiment of the first aspect of the present invention is implemented.
为达到上述目的，本发明第四方面实施例提出的计算机可读存储介质，所述计算机程 序被处理器执行时实现本发明第一方面实施例所述的用于标定车载雷达安装角度的方法。In order to achieve the above object, the computer-readable storage medium provided by the embodiment of the fourth aspect of the present invention, when the computer program is executed by the processor, implements the method for calibrating the installation angle of the vehicle-mounted radar according to the embodiment of the first aspect of the present invention.
本发明附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明 显，或通过本发明的实践了解到。Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.
附图说明Description of drawings
本发明上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显 和容易理解，其中：The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:
图1是根据本发明一个实施例的用于标定车载雷达安装角度的方法的流程图。FIG. 1 is a flowchart of a method for calibrating an installation angle of a vehicle-mounted radar according to an embodiment of the present invention.
图2是根据本发明一个具体实施例的用于标定车载雷达安装角度的方法的流程图。FIG. 2 is a flowchart of a method for calibrating an installation angle of a vehicle-mounted radar according to a specific embodiment of the present invention.
图3是本发明的本车与目标车的示意图。FIG. 3 is a schematic diagram of a host vehicle and a target vehicle of the present invention.
图4是本发明的本车、雷达与目标车的示意图。FIG. 4 is a schematic diagram of the host vehicle, the radar and the target vehicle of the present invention.
图5是本发明动态标定的解析示意图。FIG. 5 is an analytical schematic diagram of the dynamic calibration of the present invention.
图6是根据本发明一个实施例的用于标定车载雷达安装角度的装置的结构示意图。FIG. 6 is a schematic structural diagram of an apparatus for calibrating an installation angle of a vehicle-mounted radar according to an embodiment of the present invention.
图7是根据本发明一个实施例的用于标定车载雷达安装角度的装置的结构示意图。FIG. 7 is a schematic structural diagram of an apparatus for calibrating an installation angle of a vehicle-mounted radar according to an embodiment of the present invention.
图8是根据本发明一个实施例的车辆的结构示意图。FIG. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present invention.
具体实施方式Detailed ways
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同 或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描 述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.
下面参考附图描述本发明实施例的用于标定车载雷达安装角度的方法、装置、车辆和 计算机可读存储介质。The method, device, vehicle, and computer-readable storage medium for calibrating the installation angle of the vehicle-mounted radar according to the embodiments of the present invention are described below with reference to the accompanying drawings.
相关技术中，车载雷达标定装置通常包括目标物、CAN卡、雷达和内设有雷达标定程序 的计算机设备。CAN卡的一端通过数据线连接试验车的车载总线，从而与雷达建立数据交 流；CAN卡的另一端则通过数据线连接计算机设备，一方面计算机设备运行雷达标定程序 通过CAN卡向雷达发送校验信息以使雷达能正常工作，另一方面雷达反馈的目标CAN信息 通过CAN卡输送给计算机设备，以供雷达标定程序解析和计算，完成雷达安装位置和姿态 检测，以及进行雷达纵向探测距离和横向探测辐角等标定工作。In the related art, a vehicle-mounted radar calibration device usually includes a target, a CAN card, a radar, and a computer device with a built-in radar calibration program. One end of the CAN card is connected to the on-board bus of the test vehicle through a data cable, so as to establish data communication with the radar; the other end of the CAN card is connected to the computer equipment through a data cable. On the other hand, the target CAN information fed back by the radar is sent to the computer equipment through the CAN card for analysis and calculation by the radar calibration program to complete the radar installation position and attitude detection, as well as the radar longitudinal detection distance and lateral direction. Detecting arguments and other calibration work.
但是目前存在的问题是：因为车辆安装雷达就相当于在整车制造流程中加了一道工序， 此工序包含雷达安装和安装角度的静态标定，所以必须静态标定之后，确定安装角度正确 才能通过该道工序，而相关技术中这种针对雷达安装角度的静态标定方式，会使得在整车 制造流程的雷达安装工序中增加了安装角度的静态标定流程，从而影响了车辆装配生产效 率，并且在标定过程中，如果当雷达安装角度出现偏差时，则需要重新标定进行校正安装 角度，浪费时间和人力，导致效率低下。However, the current problem is: because the installation of the radar on the vehicle is equivalent to adding a process to the vehicle manufacturing process, this process includes the static calibration of the radar installation and the installation angle, so it must be statically calibrated and the installation angle is correct. In the related art, the static calibration method for the radar installation angle will increase the static calibration process of the installation angle in the radar installation process of the vehicle manufacturing process, thereby affecting the vehicle assembly production efficiency, and in the calibration process During the process, if the radar installation angle deviates, it needs to be re-calibrated to correct the installation angle, which wastes time and manpower, resulting in low efficiency.
为了解决上述问题，本发明提出了一种用于标定车载雷达安装角度的方法，包括：获 取所述车载雷达探测到的多个对象的目标信息；所述目标信息包括所述对象与所述车辆的 目标距离、所述对象与所述车辆的目标角度；根据所述目标距离和目标角度，从所述多个 对象中选取至少一组目标对象，其中，所述每组目标对象包含满足预设条件的两个对象； 根据所述至少一组目标对象中每个对象的目标距离和目标角度，计算所述车载雷达的实际 安装角度。In order to solve the above problem, the present invention proposes a method for calibrating the installation angle of a vehicle-mounted radar, including: acquiring target information of multiple objects detected by the vehicle-mounted radar; the target information includes the object and the vehicle according to the target distance and the target angle of the vehicle; select at least one group of target objects from the plurality of objects according to the target distance and target angle, wherein, each group of target objects contains a two objects of the condition; calculating the actual installation angle of the vehicle-mounted radar according to the target distance and target angle of each object in the at least one group of target objects.
图1是根据本发明一个实施例的用于标定车载雷达安装角度的方法的流程图。需要说 明的是，本发明实施例的用于标定车载雷达安装角度的方法可应用于本发明实施例的用于 标定车载雷达安装角度的装置，该装置可被配置于车辆。FIG. 1 is a flowchart of a method for calibrating an installation angle of a vehicle-mounted radar according to an embodiment of the present invention. It should be noted that the method for calibrating the installation angle of the vehicle-mounted radar in the embodiment of the present invention can be applied to the apparatus for calibrating the installation angle of the vehicle-mounted radar in the embodiment of the present invention, and the device can be configured on a vehicle.
还需要说明的是，本发明实施例的用于标定车载雷达安装角度的方法适用于车辆在道 路行驶时的场景，其中，该车辆在进行车载雷达装配时，只需将该车载雷达安装到车辆的 相应位置即可，在该装配工序中没有对该雷达的安装角度进行标定，而是利用本发明实施 例提出的方法在该车辆的道路测试或道路行驶时进行雷达安装角度的标定，从而可以减少 车辆的整车制造流程步骤，提高车辆装配生产效率。It should also be noted that the method for calibrating the installation angle of the vehicle-mounted radar according to the embodiment of the present invention is applicable to the scene when the vehicle is driving on the road, wherein, when the vehicle is assembling the vehicle-mounted radar, it is only necessary to install the vehicle-mounted radar to the vehicle. In the assembly process, the installation angle of the radar is not calibrated, but the method proposed in the embodiment of the present invention is used to calibrate the installation angle of the radar during road testing or road driving of the vehicle. Reduce vehicle manufacturing process steps and improve vehicle assembly production efficiency.
如图1所示，该用于标定车载雷达安装角度的方法可以包括：As shown in Figure 1, the method for calibrating the installation angle of the vehicle radar may include:
S110，获取车载雷达探测到的多个对象的目标信息，该目标信息包括对象与该车辆的 目标距离、对象与该车辆的目标角度。S110: Acquire target information of multiple objects detected by the vehicle-mounted radar, where the target information includes the target distance between the object and the vehicle, and the target angle between the object and the vehicle.
可选地，本发明实施例的多个对象可以是指车辆在道路上行驶的过程中道路上的其他 车、指示牌、树木等参考物。其中，该目标信息可包括但不限于对象与该车辆的目标距离、 对象与该车辆的目标角度。在本发明的实施例中，所述目标距离是指对象与车辆之间的距 离，所述目标角度是指对象与车载雷达的雷达法线之间的夹角。Optionally, the multiple objects in this embodiment of the present invention may refer to other vehicles, signs, trees and other reference objects on the road when the vehicle is traveling on the road. The target information may include, but is not limited to, the target distance between the object and the vehicle, and the target angle between the object and the vehicle. In the embodiment of the present invention, the target distance refers to the distance between the object and the vehicle, and the target angle refers to the included angle between the object and the radar normal of the vehicle-mounted radar.
在本发明的实施例中，当装有雷达车辆生产完后需进行道路测试的过程中，可控制车 辆以一定的速度在道路上直线行驶(其中，行驶道路笔直且该车辆行驶过程中直线行驶) 一段时间，在该期间可获取该车辆上的车载雷达探测到的多个对象的目标信息，其中，该 目标信息包括对象与该车辆的目标距离、对象与该车辆的目标角度。In the embodiment of the present invention, when the vehicle equipped with the radar needs to be tested on the road after being produced, the vehicle can be controlled to drive in a straight line on the road at a certain speed (wherein, the driving road is straight and the vehicle runs in a straight line during the driving process). ) for a period of time, during which target information of multiple objects detected by the vehicle-mounted radar on the vehicle can be obtained, wherein the target information includes the target distance between the object and the vehicle, and the target angle between the object and the vehicle.
S120，根据目标距离和目标角度，从多个对象中选取至少一组目标对象，其中，每组 目标对象包含满足预设条件的两个对象。S120, according to the target distance and the target angle, select at least one group of target objects from a plurality of objects, wherein each group of target objects includes two objects that meet preset conditions.
作为一种示例，所述满足预设条件可包括：所述目标距离的横轴分量相等且所述目标 角度不等。也就是说，在获得车辆雷达探测到多个对象的目标距离和目标角度之后，可从 该多个对象中，选取目标距离的横轴分量dx相等、目标角度不等的目标对象，通过两两结 合组成一组目标对象，从而可以得到至少一组目标对象。As an example, the satisfying the preset condition may include: the horizontal axis components of the target distance are equal and the target angles are unequal. That is to say, after obtaining the target distances and target angles of multiple objects detected by the vehicle radar, the target objects with the same horizontal axis component dx of the target distance and different target angles can be selected from the multiple objects. Combining to form a group of target objects, at least one group of target objects can be obtained.
S130，根据至少一组目标对象中每个对象的目标距离和目标角度，计算车载雷达的实 际安装角度。S130: Calculate the actual installation angle of the vehicle-mounted radar according to the target distance and target angle of each object in the at least one group of target objects.
可选地，根据至少一组目标对象中的一个对象与该车辆的位置关系，建立车辆坐标系， 其中，车辆坐标系的原点为车载雷达在车辆上的安装位置，然后将至少一组目标对象中每 个对象的目标距离和目标角度，映射到车辆坐标系上，并利用余弦定理和几何关系，计算 车载雷达的至少一个安装角度，最后根据车载雷达的至少一个安装角度，获取车载雷达的 实际安装角度。Optionally, a vehicle coordinate system is established according to the positional relationship between an object in the at least one group of target objects and the vehicle, wherein the origin of the vehicle coordinate system is the installation position of the vehicle-mounted radar on the vehicle, and then the at least one group of target objects is set. The target distance and target angle of each object are mapped to the vehicle coordinate system, and at least one installation angle of the vehicle radar is calculated by using the cosine theorem and geometric relationship, and finally the actual vehicle radar is obtained according to at least one installation angle of the vehicle radar. installation angle.
也就是说，可通过每组目标对象中的两个对象的目标距离和目标角度，利用余弦定理 和几何关系，计算出雷达的安装角度，通过至少一组目标对象进行计算即可得到至少一个 安装角度，然后，利用该至少一个安装角度即可确定出该车载雷达的实际安装角度，进而 可以根据该实际安装角度对该车载雷达的安装角度进行标定。That is to say, the installation angle of the radar can be calculated through the target distance and target angle of two objects in each group of target objects, using the cosine theorem and geometric relationship, and at least one installation can be obtained by calculating at least one group of target objects. Then, the actual installation angle of the vehicle radar can be determined by using the at least one installation angle, and then the installation angle of the vehicle radar can be calibrated according to the actual installation angle.
根据本发明实施例的用于标定车载雷达安装角度的方法，可获取车载雷达探测到的多 个对象的目标信息，其中，该目标信息包括目标对象与该车辆的目标距离、目标对象与该 车辆的目标角度，然后根据目标距离和目标角度，从多个对象中选取至少一组目标对象， 其中，每组目标对象包含满足预设条件的两个对象，之后根据至少一组目标对象中每个对 象的目标距离和目标角度，计算车载雷达的实际安装角度。即通过在车辆进行道路测试时 实现对雷达安装角度的动态标定，这样，该车辆在进行车载雷达装配时，只需将该车载雷 达安装到车辆的相应位置即可，在该装配工序中没有对该雷达的安装角度进行标定，而是 在该车辆的道路测试或道路行驶时进行雷达安装角度的标定，从而可以减少车辆的整车制 造流程步骤，可以有效地节省时间和人力，提高车辆装配生产效率。According to the method for calibrating the installation angle of the vehicle-mounted radar according to the embodiment of the present invention, target information of multiple objects detected by the vehicle-mounted radar can be obtained, wherein the target information includes the target distance between the target object and the vehicle, the target object and the vehicle the target angle of the The target distance and target angle of the object are calculated to calculate the actual installation angle of the vehicle radar. That is to say, by realizing the dynamic calibration of the radar installation angle during the road test of the vehicle, in this way, when the vehicle is assembling the on-board radar, it only needs to install the on-board radar to the corresponding position of the vehicle. The installation angle of the radar is calibrated, but the radar installation angle is calibrated during the road test or road driving of the vehicle, which can reduce the steps in the vehicle manufacturing process, effectively save time and manpower, and improve vehicle assembly production. efficiency.
图2是根据本发明一个具体实施例的用于标定车载雷达安装角度的方法的流程图。需 要说明的是，雷达探测到的目标信息存在多个对象的目标信息，为了能够精准地计算出车 载雷达的实际安装角度，需要先计算多组车载雷达的安装角度，进而根据该多组车载雷达 的安装角度确定出一个比较准确的值作为该车载雷达的实际安装角度。具体地，如图2所 示，该用于标定车载雷达安装角度的方法可以包括：FIG. 2 is a flowchart of a method for calibrating an installation angle of a vehicle-mounted radar according to a specific embodiment of the present invention. It should be noted that the target information detected by the radar contains target information of multiple objects. In order to accurately calculate the actual installation angle of the vehicle-mounted radar, it is necessary to first calculate the installation angles of multiple groups of vehicle-mounted radars, and then according to the multiple groups of vehicle-mounted radars. A relatively accurate value is determined as the actual installation angle of the vehicle radar. Specifically, as shown in Figure 2, the method for calibrating the installation angle of the vehicle-mounted radar may include:
S210，获取所述车载雷达探测到的多个对象的目标信息，该目标信息包括对象与该车 辆的目标距离、对象与该车辆的目标角度。S210: Acquire target information of multiple objects detected by the vehicle-mounted radar, where the target information includes the target distance between the object and the vehicle, and the target angle between the object and the vehicle.
S220，根据该目标距离和目标角度，从多个对象中选取多组目标对象。其中，每组目 标对象包含满足预设条件的两个对象。S220, according to the target distance and the target angle, select multiple groups of target objects from the multiple objects. Among them, each group of target objects contains two objects that meet the preset conditions.
作为一种示例，所述满足预设条件可包括：所述目标距离的横轴分量相等且所述目标 角度不等。也就是说，在获得车辆雷达探测到多个对象的目标距离和目标角度之后，可从 该多个对象中，选取目标距离的横轴分量dx相等、目标角度不等的目标对象，通过两两结 合组成一组目标对象，从而可以得到多组目标对象。As an example, the satisfying the preset condition may include: the horizontal axis components of the target distance are equal and the target angles are unequal. That is to say, after obtaining the target distances and target angles of multiple objects detected by the vehicle radar, the target objects with the same horizontal axis component dx of the target distance and different target angles can be selected from the multiple objects. Combining to form a group of target objects, multiple groups of target objects can be obtained.
举例而言，图3是本发明的本车与目标车的示意图，如图3所示，所述本车是指 安装车载雷达的车辆，所述目标车是指通过该车载雷达所探测到的对象。假设在装有 雷达的车辆沿直线L1运动，行驶方向是从1到2。行驶过程中，可探测到多个对象， 在该探测到多个对象中，取出所述目标距离的横轴分量相等且所述目标角度不等的两 个目标点，即A和B，即本车在1位置时，探测到目标车在A位置；本车在2位置时， 探测到目标车在B位置，通过平移2B得到1B'，就可以得到三角形△A1B'。For example, FIG. 3 is a schematic diagram of the own vehicle and the target vehicle of the present invention. As shown in FIG. 3 , the own vehicle refers to a vehicle equipped with an on-board radar, and the target vehicle refers to a vehicle detected by the on-board radar. object. Assume that the vehicle with the radar is moving along the line L1 and the direction of travel is from 1 to 2. During the driving process, multiple objects can be detected. Among the multiple objects detected, two target points with the same horizontal component of the target distance and different target angles, namely A and B, are taken out. When the car is at
S230，根据每组目标对象中的一个对象与车辆的位置关系，建立车辆坐标系，其中， 该车辆坐标系的原点为车载雷达在该车辆上的安装位置。S230: Establish a vehicle coordinate system according to the positional relationship between one object in each group of target objects and the vehicle, wherein the origin of the vehicle coordinate system is the installation position of the vehicle-mounted radar on the vehicle.
举例而言，图4是本发明的本车、雷达与目标车的示意图，如图4所示，假设雷达 安装的位置即安装在本车车尾，后保险杠内侧的左右角落位置O处，其中雷达在本车车身 的安装位置O处，以车身点O作为原点，建立坐标轴XOY。在本发明的实施例中，雷达平 面OX'和法线方向如图4所示，当目标对象在位置A处时，AO的长度即为目标和本车的距 离，OA和雷达法线形成的锐角∠AON即为目标角度。For example, FIG. 4 is a schematic diagram of the vehicle, the radar and the target vehicle of the present invention. As shown in FIG. 4 , it is assumed that the radar is installed at the rear of the vehicle, at the left and right corner positions O inside the rear bumper, The radar is located at the installation position O of the vehicle body, with the body point O as the origin, and the coordinate axis XOY is established. In the embodiment of the present invention, the radar plane OX' and the normal direction are shown in Figure 4. When the target object is at the position A, the length of AO is the distance between the target and the vehicle, and the OA and the radar normal are formed by The acute angle ∠AON is the target angle.
在本发明的一个实施例中，雷达安装的位置也可安装在本车车身的前方位置。In one embodiment of the present invention, the radar installation position may also be installed in the front position of the vehicle body.
S240，将每组目标对象中每个对象的目标距离和目标角度，映射到所述车辆坐标系上， 并利用余弦定理和几何关系，计算该车载雷达的多个安装角度。S240, map the target distance and target angle of each object in each group of target objects to the vehicle coordinate system, and use the cosine theorem and geometric relationship to calculate multiple installation angles of the vehicle radar.
举例而言，以一组目标对象中每个对象的目标距离和目标角度来计算该车载雷达的一 个安装角度为例，可将该组目标对象中的两个对象的目标距离和目标角度，映射到所述车 辆坐标系上，并利用余弦定理和几何关系，计算该车载雷达的一个安装角度。在本发明的 实施例中，图5是本发明动态标定的解析示意图，如图5所示，雷达实际安装角度∠XOX＇， 直线AB和X轴是垂直的，交点为D。雷达法线与直线AB交于点C，通过平移可以得到三角 形△AOB。由此可计算该组车载雷达的一个安装角度，具体步骤如下：For example, taking the target distance and target angle of each object in a group of target objects to calculate an installation angle of the vehicle radar as an example, the target distance and target angle of the two objects in the group of target objects can be mapped to to the vehicle coordinate system, and use the cosine theorem and geometric relationship to calculate an installation angle of the vehicle radar. In the embodiment of the present invention, Fig. 5 is an analytical schematic diagram of the dynamic calibration of the present invention. As shown in Fig. 5, the actual installation angle of the radar is ∠XOX', the straight line AB and the X axis are vertical, and the intersection point is D. The radar normal and the straight line AB intersect at point C, and the triangle △AOB can be obtained by translation. From this, an installation angle of the group of vehicle radars can be calculated. The specific steps are as follows:
S1)目标A和B的目标信息(即目标距离和目标角度)已知，即OA，∠AOC和OB，∠BOC均是已知值。S1) The target information (ie, target distance and target angle) of targets A and B are known, that is, OA, ∠AOC and OB, ∠BOC are all known values.
S2)在△AOB中，∠AOB＝∠AOC－∠BOC，之后通过余弦定理可以解出AB的长度，即
S3)在△AOB中，通过余弦定理，求解出∠ABO。即
S4)雷达实际安装角度是∠XOX＇，根据几何关系可知：∠OCD＝∠XOX＇，在△OBC中，几 何关系可得：∠OCD＝∠OBC+∠BOC。因此该组雷达实际安装角度：∠XOX＇＝∠OBC+∠BOC。S4) The actual installation angle of the radar is ∠XOX', according to the geometric relationship: ∠OCD=∠XOX', in △OBC, the geometric relationship can be obtained: ∠OCD=∠OBC+∠BOC. Therefore, the actual installation angle of this group of radars is: ∠XOX'=∠OBC+∠BOC.
由此可见，根据多组目标对象中每个对象的目标距离和目标角度，采用上述步骤S1-S4 即可计算出所述车载雷达的多个安装角度。It can be seen that, according to the target distance and target angle of each object in the multiple groups of target objects, the above steps S1-S4 can be used to calculate multiple installation angles of the vehicle-mounted radar.
S250，根据车载雷达的多个安装角度，获取所述车辆雷达的实际安装角度。S250: Acquire the actual installation angle of the vehicle radar according to multiple installation angles of the vehicle radar.
可选地，在得到多组雷达的安装角度之后，可从多组雷达的安装角度中去掉多组计算 结果中误差较大的，之后取其余结果的平均值，得到雷达的实际安装角度。作为一种可能 实现的实施例，在得到多组雷达的安装角度之后，从多组雷达的安装角度中去掉多组计算 结果中误差较大的，然后取其余结果的加权平均值，得到雷达的实际安装角度。可以理解， 通过多组雷达的安装角度来确定实际安装角度的方式不限于上述给出的两种示例，还可以 通过其他算法来确定，在此不再赘述。Optionally, after the installation angles of multiple sets of radars are obtained, the ones with larger errors in the calculation results of the multiple sets of radars can be removed from the installation angles of the multiple sets of radars, and then the average value of the remaining results is taken to obtain the actual installation angles of the radars. As a possible implementation example, after obtaining the installation angles of multiple groups of radars, remove the larger error in the calculation results of the multiple groups from the installation angles of the multiple groups of radars, and then take the weighted average of the remaining results to obtain the radar's installation angle. Actual installation angle. It can be understood that the manner of determining the actual installation angle by the installation angles of the multiple sets of radars is not limited to the two examples given above, and may also be determined by other algorithms, which will not be repeated here.
为了提高雷达的可用性，提高雷达测量的精确性，可选地，在本发明的一个实施例中， 在计算得到车载雷达的实际安装角度之后，可确定车载雷达的默认安装角度，并计算车载 雷达的实际安装角度与默认安装角度的差值，并根据差值，对车载雷达的软件程序中的默 认安装角度进行校正。在本发明的实施例中，车载雷达的默认安装角度是该车辆雷达软件 程序设置的默认安装角度。In order to improve the usability of the radar and improve the accuracy of the radar measurement, optionally, in an embodiment of the present invention, after the actual installation angle of the vehicle-mounted radar is calculated, the default installation angle of the vehicle-mounted radar can be determined, and the vehicle-mounted radar can be calculated. The difference between the actual installation angle and the default installation angle, and according to the difference, the default installation angle in the software program of the vehicle radar is corrected. In the embodiment of the present invention, the default installation angle of the vehicle radar is the default installation angle set by the vehicle radar software program.
也就是说，通过计算车载雷达的实际安装角度和车辆雷达的默认安装角度的差值，判 断该差值是否超出预设的允许范围内，若该差值超出允许范围，则将车载雷达的软件程序 中的默认安装角度，替换成实际安装角度；若该差值在允许范围内，则不需要校正。That is to say, by calculating the difference between the actual installation angle of the vehicle radar and the default installation angle of the vehicle radar, it is determined whether the difference exceeds the preset allowable range. The default installation angle in the program is replaced with the actual installation angle; if the difference is within the allowable range, no correction is required.
根据本发明实施例的用于标定车载雷达安装角度的方法，可获取所述车载雷达探测到 的多个对象的目标信息，该目标信息包括对象与该车辆的目标距离、对象与该车辆的目标 角度，然后根据该目标距离和目标角度，从多个对象中选取多组目标对象。其中，每组目 标对象包含满足预设条件的两个对象，之后根据每组目标对象中的一个对象与车辆的位置 关系，建立车辆坐标系，其中，该车辆坐标系的原点为车载雷达在该车辆上的安装位置， 然后将每组目标对象中每个对象的目标距离和目标角度，映射到所述车辆坐标系上，并利 用余弦定理和几何关系，计算该车载雷达的多个安装角度，最后根据车载雷达的多个安装 角度，获取所述车辆雷达的实际安装角度，即可通过计算多组车载雷达的安装角度，进而 根据该多组车载雷达的安装角度确定出一个比较准确的值作为该车载雷达的实际安装角 度，从而能够精准地计算出车载雷达的实际安装角度，提高了雷达测量的精准性。According to the method for calibrating the installation angle of the vehicle-mounted radar according to the embodiment of the present invention, target information of multiple objects detected by the vehicle-mounted radar can be obtained, and the target information includes the target distance between the object and the vehicle, and the target between the object and the vehicle. angle, and then select groups of target objects from multiple objects according to the target distance and target angle. Among them, each group of target objects includes two objects that meet preset conditions, and then a vehicle coordinate system is established according to the positional relationship between one object in each group of target objects and the vehicle, wherein the origin of the vehicle coordinate system is the vehicle radar in the vehicle coordinate system. The installation position on the vehicle, then map the target distance and target angle of each object in each group of target objects to the vehicle coordinate system, and use the cosine theorem and geometric relationship to calculate the multiple installation angles of the vehicle radar, Finally, according to the multiple installation angles of the vehicle radar, the actual installation angle of the vehicle radar can be obtained. By calculating the installation angles of the multiple groups of vehicle radars, a relatively accurate value can be determined according to the installation angles of the multiple groups of vehicle radars. The actual installation angle of the vehicle radar can be accurately calculated, thereby improving the accuracy of the radar measurement.
与上述几种实施例提供的用于标定车载雷达安装角度的方法相对应，本发明的一种实 施例还提供一种用于标定车载雷达安装角度的装置，由于本发明实施例提供的用于标定车 载雷达安装角度的装置与上述几种实施例提供的用于标定车载雷达安装角度的方法相对 应，因此在用于标定车载雷达安装角度的方法的实施方式也适用于本实施例提供的用于标 定车载雷达安装角度的装置，在本实施例中不再详细描述。图6是根据本发明一个实施例 的用于标定车载雷达安装角度的装置的结构示意图。Corresponding to the methods for calibrating the installation angle of the vehicle-mounted radar provided by the above-mentioned embodiments, an embodiment of the present invention further provides a device for calibrating the installation angle of the vehicle-mounted radar. The device for calibrating the installation angle of the vehicle-mounted radar corresponds to the methods for calibrating the installation angle of the vehicle-mounted radar provided in the above-mentioned several embodiments, so the implementation of the method for calibrating the installation angle of the vehicle-mounted radar is also applicable to the application provided in this embodiment. The device for calibrating the installation angle of the vehicle-mounted radar will not be described in detail in this embodiment. Fig. 6 is a schematic structural diagram of an apparatus for calibrating the installation angle of a vehicle-mounted radar according to an embodiment of the present invention.
如图6所示，该用于标定车载雷达安装角度的装置600包括：目标信息获取模块610、 目标选取模块620和标定模块630，其中：As shown in FIG. 6, the
目标信息获取模块610用于获取车载雷达探测到的多个对象的目标信息；目标信息包 括对象与车辆的目标距离、对象与车辆的目标角度。The target
目标选取模块620用于根据目标距离和目标角度，从多个对象中选取至少一组目标对 象，其中，每组目标对象包含满足预设条件的两个对象。作为一种示例，所述满足预设条 件包括：所述目标距离的横轴分量相等且所述目标角度不等。The
标定模块630用于根据至少一组目标对象中每个对象的目标距离和目标角度，计算车 载雷达的实际安装角度。The
根据本发明实施例的用于标定车载雷达安装角度的装置，可获取车载雷达探测到的多 个对象的目标信息，其中，该目标信息包括目标对象与该车辆的目标距离、目标对象与该 车辆的目标角度，然后根据目标距离和目标角度，从多个对象中选取至少一组目标对象， 其中，每组目标对象包含满足预设条件的两个对象，之后根据至少一组目标对象中每个对 象的目标距离和目标角度，计算车载雷达的实际安装角度。即通过在车辆进行道路测试时 实现对雷达安装角度的动态标定，这样，该车辆在进行车载雷达装配时，只需将该车载雷 达安装到车辆的相应位置即可，在该装配工序中没有对该雷达的安装角度进行标定，而是 在该车辆的道路测试或道路行驶时进行雷达安装角度的标定，从而可以减少车辆的整车制 造流程步骤，可以有效地节省时间和人力，提高车辆装配生产效率。According to the device for calibrating the installation angle of the vehicle-mounted radar according to the embodiment of the present invention, target information of multiple objects detected by the vehicle-mounted radar can be obtained, wherein the target information includes the target distance between the target object and the vehicle, the target object and the vehicle the target angle of the The target distance and target angle of the object are calculated to calculate the actual installation angle of the vehicle radar. That is to say, by realizing the dynamic calibration of the radar installation angle during the road test of the vehicle, in this way, when the vehicle is assembling the on-board radar, it only needs to install the on-board radar to the corresponding position of the vehicle. The installation angle of the radar is calibrated, but the radar installation angle is calibrated during the road test or road driving of the vehicle, which can reduce the steps in the vehicle manufacturing process, effectively save time and manpower, and improve vehicle assembly production. efficiency.
在本发明的一个实施例中，标定模块630具体用于：根据至少一组目标对象中的一个 对象与车辆的位置关系，建立车辆坐标系，其中，车辆坐标系的原点为车载雷达在车辆上 的安装位置；将至少一组目标对象中每个对象的目标距离和目标角度，映射到车辆坐标系 上，并利用余弦定理和几何关系，计算车载雷达的至少一个安装角度；根据车载雷达的至 少一个安装角度，获取车辆雷达的实际安装角度。In an embodiment of the present invention, the
在本发明的一个实施例中，如图7所示，用于标定车载雷达安装角度的装置600还包 括：确定模块640和差值计算模块650，其中，确定模块640用于确定车载雷达的默认安装角度；差值计算模块650用于计算车载雷达的实际安装角度与默认安装角度的差值；其中，标定模块630还用于根据差值，对车载雷达的软件程序中的默认安装角度进行校正。In an embodiment of the present invention, as shown in FIG. 7 , the
在本发明的一个实施例中，标定模块630根据差值对车载雷达的软件程序中的默认安 装角度进行校正的具体实现过程可如下：判断所述差值是否超出预设的允许范围内；如果 所述差值超出所述允许范围，则将所述车载雷达的软件程序中的所述默认安装角度，替换 成所述实际安装角度。In an embodiment of the present invention, the specific implementation process for the
为了实现上述实施例，本发明还提出了一种车辆。In order to realize the above embodiments, the present invention also provides a vehicle.
图8是根据本发明一个实施例的车辆的结构示意图。如图8所示，该车辆800可以包括：存储器810、处理器820及存储在存储器810上并可在处理器820上运行的计算机程 序830，处理器820执行计算机程序830时，实现本发明上述任一个实施例所述的用于标 定车载雷达安装角度的方法。FIG. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present invention. As shown in FIG. 8 , the
为了实现上述实施例，本发明还提出了一种计算机程序，所述计算机程序被处理器执行 时实现上述任一个实施例所述的用于标定车载雷达安装角度的方法。In order to realize the above-mentioned embodiments, the present invention also provides a computer program, which, when executed by a processor, implements the method for calibrating the installation angle of a vehicle-mounted radar according to any one of the above-mentioned embodiments.
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、 或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点 包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必 须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结 合和组合。In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个 或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分， 并且本发明的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序， 包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本发明的 实施例所属技术领域的技术人员所理解。Any description of a process or method in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing a specified logical function or step of the process , and the scope of the preferred embodiments of the invention includes alternative implementations in which the functions may be performed out of the order shown or discussed, including performing the functions substantially concurrently or in the reverse order depending upon the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present invention belong.
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实 现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令 执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行 系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设 备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布 线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读 存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式 光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸 或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解 译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机 存储器中。The logic and/or steps represented in flowcharts or otherwise described herein, for example, may be considered an ordered listing of executable instructions for implementing the logical functions, may be embodied in any computer-readable medium, For use with, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch instructions from and execute instructions from an instruction execution system, apparatus, or apparatus) or equipment. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or apparatus. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections with one or more wiring (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (RAM), Read Only Memory (ROM), Erasable Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program may be printed, as the paper or other medium may be optically scanned, for example, followed by editing, interpretation, or other suitable medium as necessary process to obtain the program electronically and then store it in computer memory.
应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实 施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或 固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下 列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路 的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现 场可编程门阵列(FPGA)等。It should be understood that various parts of the present invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可 以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中， 该程序在执行时，包括方法实施例的步骤之一或其组合。Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the program is stored in a computer-readable storage medium. When executed, one or a combination of the steps of the method embodiment is included.
此外，在本发明各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各 个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既 可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以 软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读 取存储介质中。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically alone, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了 本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制， 本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, and the like. Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Embodiments are subject to variations, modifications, substitutions and variations.
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