CN109932693B - Vehicle-mounted radar calibration device, system and method - Google Patents
Vehicle-mounted radar calibration device, system and method Download PDFInfo
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- CN109932693B CN109932693B CN201811459734.0A CN201811459734A CN109932693B CN 109932693 B CN109932693 B CN 109932693B CN 201811459734 A CN201811459734 A CN 201811459734A CN 109932693 B CN109932693 B CN 109932693B
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Abstract
The invention relates to a vehicle-mounted radar calibration device, a system and a method. The device is characterized in that the device comprises a vehicle-mounted radar calibration device, a first fixing piece and a second fixing piece are symmetrically arranged at positions which are parallel to and level with two sides of a radar to be calibrated respectively, a calibration object is arranged on a third fixing piece, the first fixing piece and the second fixing piece are connected with the third fixing piece through a rope with equal length respectively, so that an isosceles triangle connecting structure is formed, the radar to be calibrated is positioned on the central line of the isosceles triangle perpendicular to the bottom edge of the isosceles triangle, and a calibration angle and a horizontal deviation are calculated through the calibration device respectively, so that the calibration of radar coordinates is realized. The vehicle-mounted radar calibration device, system and method are simple, novel and smart and accurate in design, the positions of the radar and the calibration object can be accurately obtained through the method, the calibration precision is improved, the calibration method is simple, and the calibration speed can be effectively improved.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted electronics, in particular to a vehicle-mounted radar calibration device, a system and a method.
Background
The vehicle radar is used as a safe and reliable sensor, and plays an important role in sensing the external environment, acquiring obstacle information and the like. Although the vehicle radar has been corrected before loading, there is a certain gap between the obstacle position data acquired from the radar and the actual position of the obstacle due to the influence of factors such as loading position, mounting accuracy, etc., so that, in radar correction, radar calibration is an important step of adjusting radar parameters, and the deviation between measured values and actual values can be corrected by using the radar calibration.
In the existing radar calibration technology, a special clamp is used for determining the relative position of a radar and a calibration object in the calibration process, the clamp or a measuring device is required to be reinstalled each time the position of the calibration object is changed, and the calibration process is complicated; when the calibration parameters are calculated, the radar angle is corrected firstly, and then the transverse detection distance and the longitudinal detection distance of the radar are corrected, so that a certain error accumulation is caused in the process.
Disclosure of Invention
The invention aims to provide a vehicle-mounted radar calibration device, a system and a method.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a vehicle-mounted radar calibration device, its includes base and perpendicular setting are in guide rail on the base, the guide rail is close to its top position department nestification has a cavity and is the slip table of column, be provided with a calibration thing on one lateral wall of slip table, the calibration thing with be connected with a third mounting between the slip table, connect first rope and the second rope that are provided with the same specification on the third mounting, first rope and second rope one end symmetry respectively are connected in the left and right sides of calibration thing, the other end of first rope and second rope corresponds respectively and connects first mounting and the second mounting of the same structure.
In a preferred embodiment, the calibration object is a horn-shaped cavity structure with an opening at one end, and a coating with good reflection performance on radar waves is arranged in the cavity; the other end of the calibration object, which is not open, is fixed at the center position of the outer side wall of the third fixing piece, and one ends of the first rope and the second rope are respectively and symmetrically connected to two sides of a vertical center line where the calibration object is located.
In a preferred embodiment, the first rope and the second rope are inelastic ropes, and the ropes are provided with scales.
In a preferred embodiment, the first fixing piece comprises a positioning seat, a first bolt is vertically arranged on the positioning seat, and a first gasket and a nut are coaxially arranged on the outer wall of the first bolt in sequence from bottom to top; the end part of the first rope or the second rope can be wound on the outer wall of the first bolt between the first gasket and the positioning seat, the nut is rotated to move towards the positioning seat, and the first gasket presses the winding end of the first rope to enable the winding end of the first rope to be clamped between the positioning seat and the first gasket and form positioning.
In a preferred embodiment, the third fixing member is a column with a square section, one side wall of the third fixing member is fixedly connected with the sliding table, an installation position is formed in the center of the other side wall opposite to the side wall, the non-opening end of the calibration object is fixedly connected with the installation position, and the opening end of the calibration object faces the radar to be calibrated; and two symmetrical side walls of the installation position are respectively provided with an earring structure for connecting the first rope and the second rope.
In a preferred embodiment, the earring structure comprises a concave bracket, the open end of the bracket is fixedly connected with the third fixing piece, and an earring groove extending longitudinally is formed on the side wall opposite to the open end; a second gasket arranged in the horizontal direction is arranged in the bracket; the second bolt penetrates into the bracket through the outer wall of the bracket and is connected with the second gasket in a threaded penetrating way, and the second gasket can reciprocate in the bracket along the direction of the ear ring groove by rotating the second bolt; the end part of the first rope or the second rope can be wound on the outer wall of the second bolt between the second gasket and the side wall of the bracket through the earring groove, the second bolt is rotated, and the second gasket moves along the direction of the second bolt so as to clamp the winding end of the first rope or the second rope between the side wall of the bracket and the second gasket and form positioning.
In a preferred embodiment, the sliding table is further provided with an installation pre-tightening bolt for limiting the sliding table to move along the direction of the guide rail, and the installation pre-tightening bolt sequentially penetrates through the sliding table and the guide rail so as to fix the sliding table and the guide rail with each other.
The invention also provides a vehicle-mounted radar calibration system, which comprises the vehicle-mounted radar calibration device, a radar to be calibrated, a communication module and a calibration module;
the calibration module, the communication module and the radar to be calibrated are sequentially connected;
the vehicle-mounted radar calibration device is used for fixing a calibration object and obtaining the actual coordinates of the calibration object;
the radar to be calibrated is used for acquiring the position coordinates of the calibration object;
the communication module is used for sending the position coordinates of the calibration object acquired by the radar to be calibrated to the calibration module and sending the calibration parameters calculated by the calibration module to the radar;
the calibration module is used for calculating calibration parameters according to the actual coordinates of the calibration objects and the position coordinates of the calibration objects.
The invention also provides a calibration method of the vehicle-mounted radar calibration device, which comprises the vehicle-mounted radar calibration system and comprises the following steps:
step S1, parking a vehicle in a horizontal calibration site, installing a radar to be calibrated at the middle point of the front end of a vehicle body and the vehicle width direction, and adjusting the height of the radar to be calibrated to a preset installation position;
s2, respectively installing a first fixing piece and a second fixing piece of the vehicle-mounted radar calibration device at the front end of the vehicle body, and enabling the installation positions of the first fixing piece and the second fixing piece to be arranged at positions which are level with a radar to be calibrated and symmetrical with respect to the central axis of the vehicle body;
step S3, one ends of the first rope and the second rope are respectively connected with the first fixing piece and the second fixing piece, the other ends of the first rope and the second rope are connected with the third fixing piece, the first rope and the second rope are in a tensioning state, and scales of the positions where the first rope and the second rope are connected with the third fixing piece are identical;
s4, respectively adjusting the first rope and the second rope and enabling the first rope and the second rope to be parallel to the ground, so that the height of a calibration object on the vehicle-mounted radar calibration device is adjusted to be the same as that of a radar to be calibrated;
s5, taking the intersection point of the connecting line of the central points A1 and A2 where the first fixing piece and the second fixing piece are respectively positioned and the vehicle central axis as an origin, taking the connecting line of the A1 and the A2 as an x axis, taking the direction of the A1 pointing to the A2 as a positive direction, taking the vehicle central axis as a y axis, taking the direction of the radar pointing to the calibration object 80 to be calibrated as a positive direction, and establishing a rectangular coordinate system;
and S6, calculating the correction coordinates of the radar to be calibrated according to the rotation angle theta of the radar to be calibrated on the horizontal plane and the deviations delta x and delta y of the radar to be calibrated on the horizontal plane.
In a preferred embodiment, said step SO6 further comprises the steps of:
step S61, obtaining length values from the first rope and the second rope according to a first formulaCalculating the actual coordinates (x n ,y n ) Wherein L is n For reading the length of the rope for the nth time (the lengths of the two ropes are kept the same), s is A 1 A 2 The distance n represents the measurement times and is a positive integer greater than or equal to 3;
step S62, reading the position coordinates (x 'of the calibration object from the radar to be calibrated' n ,y′ n ) N is the number of readings, first reading n=1;
step S63, according to the second formulaCalculating calibration parameters θ, Δx, and Δy, where (x' n ,y′ n ) For the position coordinates of the calibration object read for the nth time of the radar R to be calibrated, (x) n ,y n ) The actual coordinates of the calibration object in the nth measurement are obtained;
step S64, substituting the calibration parameters θ, Δx, and Δy obtained in step S64 into the third formulaCalibration correction is performed, wherein (x 0 ,y 0 ) Correcting a front coordinate (x) for the radar R to be calibrated r ,y r ) Correcting the coordinates of the radar R to be calibrated;
and step S65, calibration is completed.
The vehicle-mounted radar calibration device, system and method have the beneficial effects that: the method comprises the steps that a first fixing piece and a second fixing piece of a vehicle-mounted radar calibration device are symmetrically arranged on two sides of a radar to be calibrated and keep the radar to be calibrated at the same level, a calibration object is arranged on a third fixing piece, the first fixing piece and the second fixing piece are connected with the third fixing piece through a rope with equal length, so that an isosceles triangle connecting structure is formed, the radar to be calibrated is located on the central line of the isosceles triangle perpendicular to the bottom edge of the isosceles triangle, and a calibration angle and a horizontal deviation are calculated through the calibration device, so that the calibration of radar coordinates is achieved. The vehicle-mounted radar calibration device, system and method are simple in device and ingenious in design, the positions of the radar and the calibration object can be accurately obtained through the method, the calibration precision is improved, the calibration method is simple, and the calibration speed can be effectively improved.
Drawings
Fig. 1 is a schematic perspective view of a vehicle radar calibration device according to an embodiment.
Fig. 2 is a front view of the first or second fixing member of fig. 1.
Fig. 3 is a schematic perspective view of the earring structure of fig. 1.
Fig. 4 is a schematic view illustrating the installation of the rope and the first fixing member or the second fixing member according to an embodiment.
FIG. 5 is a system block diagram of an in-vehicle radar calibration system in one embodiment.
Fig. 6 is a calibration schematic diagram of a vehicle radar calibration method in an embodiment.
FIG. 7 is a top plan view of an exemplary method for calibrating a radar in a vehicle.
Fig. 8 is a coordinate reference diagram of the top plan view of fig. 7.
Detailed Description
The vehicle radar calibration device and the method according to the present invention will be described in further detail with reference to the specific embodiments and the accompanying drawings.
Referring to fig. 1, a vehicle radar calibration device includes a base 50 and a guide rail 60 vertically disposed on the base 50, wherein a hollow and columnar sliding table 70 is nested in the guide rail 60 near the top end thereof.
Preferably, a calibration object 80 is arranged on one side wall of the sliding table 70, a third fixing piece 30 is connected between the calibration object 80 and the sliding table 70, a first rope 41 and a second rope 42 with the same specification are connected on the third fixing piece 30, one ends of the first rope 41 and the second rope 42 are respectively and symmetrically connected on the left side and the right side of the calibration object 80, and the other ends of the first rope 41 and the second rope 42 are respectively and correspondingly connected with the first fixing piece 10 and the second fixing piece 20 with the same structure.
The calibration object 80 is a horn-shaped cavity structure with one end open, and a coating with good reflection performance on radar waves is arranged in the cavity; the other end of the calibration object 80, which is not open, is fixed at the center of the outer sidewall of the third fixing member 30, and one ends of the first rope 41 and the second rope 42 are symmetrically connected to both sides of the vertical center line where the calibration object 80 is located, respectively.
The first rope 41 and the second rope 42 are inelastic ropes, and the ropes are provided with graduations.
Referring to fig. 2, since the first fixing member 10 and the second fixing member 20 have the same structure, the structure of the first fixing member 10 will be described. The first fixing member 10 includes a positioning seat 11, a first bolt 14 is vertically disposed on the positioning seat 11, and a first washer 12 and a nut 13 are coaxially disposed on an outer wall of the first bolt 14 sequentially from bottom to top.
Referring to fig. 4, the end of the first rope 41 or the second rope 42 may be wound on the outer wall of the first bolt 14 between the first spacer 12 and the positioning seat 11, and the nut 13 is turned to move toward the positioning seat 11, and the first spacer 12 presses the winding end of the first rope 41 to be clamped between the positioning seat 11 and the first spacer 12 and form positioning.
The third fixing member 30 is a column with a square section, one side wall of the third fixing member is fixedly connected with the sliding table 70, an installation position 31 is formed in the center of the other side wall opposite to the side wall, the non-opening end of the calibration object 80 is fixedly connected with the installation position 31, and the opening end of the calibration object 80 faces the radar to be calibrated.
Two symmetrical side walls of the mounting position 31 are respectively provided with an earring structure 90 for connecting the first rope 41 and the second rope 42.
Referring to fig. 3, the earring structure 90 includes a concave bracket 91, an open end of the bracket 91 is fixedly connected to the third fixing member 30, and a sidewall opposite to the open end is formed with an earring groove 94 extending longitudinally; a second gasket 92 arranged in the horizontal direction is arranged in the bracket 91; the outer portion of the bracket 91 is connected with a second bolt 93 perpendicular to the second spacer 92, the second bolt 93 penetrates into the bracket 91 through the outer wall of the bracket 91 and is connected with the second spacer 92 in a threaded penetrating manner, and the second spacer 92 can reciprocate in the bracket 91 along the direction of the earring groove 94 by rotating the second bolt 93.
The end of the first rope 41 or the second rope 42 may be wound on the outer wall of the second bolt 93 between the second spacer 92 and the sidewall of the bracket 91 via the ear groove 94, and the second bolt 93 is rotated to move the second spacer 92 in the direction of the second bolt 93 to clamp the wound end of the first rope 41 or the second rope 42 between the sidewall of the bracket 91 and the second spacer 92 and to form a position.
The sliding table 70 is further provided with an installation pre-tightening bolt 71 for limiting the movement of the sliding table along the direction of the guide rail 60, and the installation pre-tightening bolt 71 sequentially penetrates through the sliding table 70 and the guide rail 60 so as to fix the sliding table 70 and the guide rail 60 to each other.
The third fixing member 30, the base 50, the guide rail 60 and the slide table 70 are non-reflective to radar waves.
When the vehicle-mounted radar calibration device is actually installed, a vehicle is firstly required to be parked in a horizontal calibration site, the radar R to be calibrated is installed at the front end of the vehicle body and the midpoint in the vehicle width direction, the height of the radar R to be calibrated is adjusted to a preset installation position, and then the method specifically comprises the following steps:
the first step is to install the first fixing member 10 and the second fixing member 20 at the front end of the vehicle body respectively through auxiliary devices, and make the installation positions of the first fixing member 10 and the second fixing member 20 keep level with the radar to be calibrated and symmetrical about the central axis of the vehicle body.
In the second step, one ends of the first rope 41 and the second rope 42 are respectively connected with the first fixing member 10 and the second fixing member 20 and are pressed and fixed, specifically, the ropes are wound around the first bolt 14 positioned between the positioning seat 11 and the first gasket 12, the nuts 13 above the first gasket 12 are screwed to proper positions so that the ends of the ropes are fixed, and finally, zero graduation marks of the two ropes are aligned with the centers of the corresponding fixing members.
And thirdly, respectively connecting the other ends of the first rope 41 and the second rope 42 with the third fixing piece 30 and compacting and fixing, specifically, respectively passing the other ends of the two ropes through earring grooves 94 on two sides of the third fixing piece 30 and then bypassing the second bolt 93, rotating the second bolt 93 to enable the second gasket 92 to move along the direction of the second bolt 93 so as to clamp the winding end of the first rope 41 or the second rope 42 between the side wall of the bracket 91 and the second gasket 92 and form compacting and positioning, finally enabling the ropes to be in a tensioning state, and enabling scales of the first rope 41 and the second rope 42 at the third fixing piece 30 to be equal.
Finally, the heights of the calibration object 80 and the radar are adjusted to be the same, and specifically, the first rope 41 and the second rope 42 can be adjusted to be parallel to the ground.
As shown in fig. 5, the embodiment of the invention further provides a vehicle-mounted radar calibration system, which comprises the vehicle-mounted radar calibration device, a radar to be calibrated, a communication module and a calibration module;
the calibration module, the communication module and the radar to be calibrated are sequentially connected;
the vehicle-mounted radar calibration device is used for fixing a calibration object and obtaining the actual coordinates of the calibration object;
the radar to be calibrated is used for acquiring the position coordinates of the calibration object;
the communication module is used for sending the position coordinates of the calibration object acquired by the radar to be calibrated to the calibration module and sending the calibration parameters calculated by the calibration module to the radar;
the calibration module is used for calculating calibration parameters according to the actual coordinates of the calibration objects and the position coordinates of the calibration objects.
The embodiment of the invention also provides a calibration method of the vehicle-mounted radar calibration device, which comprises the vehicle-mounted radar calibration system and comprises the following steps:
in step S1, please refer to fig. 6, the vehicle is parked in a horizontal calibration site, the radar to be calibrated is installed at the front end of the vehicle body and at the midpoint in the vehicle width direction, and the height of the radar to be calibrated is adjusted to a predetermined installation position.
In step S2, the first fixing member 10 and the second fixing member 20 of the vehicle radar calibration device are respectively installed at the front end of the vehicle body, and the installation positions A1 and A2 of the first fixing member 10 and the second fixing member 20 are respectively set at positions which are flush with the radar to be calibrated and symmetrical about the central axis of the vehicle body.
Step S3, connecting one ends of the first rope 41 (L1) and the second rope 42 (L2) to the first fixing member 10 and the second fixing member 20, respectively, connecting the other ends of the first rope 41 (L1) and the second rope 42 (L2) to the third fixing member 30, and simultaneously putting the first rope 41 (L1) and the second rope 42 (L2) in a tensioned state, and the scales of the first rope 41 (L1) and the second rope 42 (L2) at the positions connected to the third fixing member 30 are the same.
And S4, respectively adjusting the first rope 41 (L1) and the second rope 42 (L2) to be parallel to the ground so as to adjust the height of the calibration object on the vehicle-mounted radar calibration device to be the same as that of the radar to be calibrated.
In step S5, please refer to fig. 7 to 8, the intersection point of the line of the central points A1 and A2 of the first fixing member 10 and the second fixing member 20 and the central axis of the vehicle is used as the origin, the line of the line A1 and A2 is used as the x axis, the direction A1 points to the direction A2 is positive, the central axis of the vehicle is used as the y axis, and the direction of the radar to be calibrated points to the calibration object 80 is positive, so as to establish a rectangular coordinate system.
And S6, calculating the correction coordinates of the radar to be calibrated according to the rotation angle theta of the radar to be calibrated on the horizontal plane and the deviations delta x and delta y of the radar to be calibrated on the horizontal plane.
Further, the step SO6 further comprises the following steps:
step S61, obtaining the length values from the first rope 41 and the second rope 42 according to the formula first formulaCalculating the actual coordinates (x) of the calibration object (80) n ,y n ) Wherein L is n For reading the length of the rope for the nth time (the lengths of the two ropes are kept the same), s is A 1 A 2 The distance n represents the number of measurements and is a positive integer of 3 or more.
In this embodiment, taking n=3 as an example, step S61 includes the steps of:
a. taking L1=D, calculating according to a formula (1) to obtain (x 1 ,y 1 )；
b. Changing the rope length l2=d+1 meter, calculated according to equation (1) to obtain (x 2 ,y 2 )；
c. Changing the rope length l3=d-1 meter, calculated according to equation (1) to obtain (x 3 ,y 3 )。
Wherein D is a certain value (generally 10-15 m) in the radar detection range.
Step S62, reading the position coordinates (x 'of the calibration object 80 from the radar to be calibrated' n ,y′ n ) N is the number of reads, the first time n=1.
For example, when n=3:
when the rope length is L1, the position coordinates of the calibration object 80 read from the radar R to be calibrated are (x' 1 ,y′ 1 ) The rope length is L2, and the position coordinates of the calibration object 80 read from the radar R to be calibrated are (x' 2 ,y′ 2 ) The method comprises the steps of carrying out a first treatment on the surface of the The length of the rope is L3, and the position coordinates of the calibration object 80 read from the radar R to be calibrated are (x' 3 ,y′ 3 )。
Step S63, according to the second formulaCalculating calibration parameters θ, Δx, and Δy, where (x' n ,y′ n ) For the position coordinates of the calibration object 80 read for the nth time of the radar R to be calibrated, (x) n ,y n ) The actual coordinates of the calibration object 80 at the nth measurement.
The specific method comprises the following steps: will (x) n ,y n ) And corresponding (x' n ,y′ n ) Substituting the second formula to obtain an overdetermined equation, and obtaining calibration parameters theta, deltax and deltay by solving the overdetermined equation. The method for solving the overdetermined equation (e.g., numerical solution) is known in the art and will not be described in detail herein.
Step S64, substituting the calibration parameters θ, Δx, and Δy obtained in step S63 into the third formulaCalibration correction is performed, wherein (x 0 ,y 0 ) R repair for radar to be calibratedPositive front coordinates, (x) r ,y r ) And correcting the coordinates for the radar R to be calibrated.
And step S65, calibration is completed.
In summary, the first fixing piece and the second fixing piece of the vehicle-mounted radar calibration device are symmetrically arranged at the positions which are parallel to and level with two sides of a radar to be calibrated respectively, the calibration object is arranged on the third fixing piece, the first fixing piece and the second fixing piece are connected with the third fixing piece respectively through a rope with equal length, so that an isosceles triangle connecting structure is formed, the radar to be calibrated is positioned on the central line of the isosceles triangle which is perpendicular to the bottom edge of the isosceles triangle, and the calibration angle and the horizontal deviation are calculated through the calibration device respectively, so that the calibration of radar coordinates is realized. The vehicle-mounted radar calibration device, system and method are simple in device and ingenious in design, the positions of the radar and the calibration object can be accurately obtained through the method, the calibration precision is improved, the calibration method is simple, and the calibration speed can be effectively improved.
While the invention has been described in conjunction with the specific embodiments above, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art in light of the foregoing description. Accordingly, all such alternatives, modifications, and variations are included within the spirit and scope of the following claims.
Claims (9)
1. The vehicle-mounted radar calibration device comprises a base and a guide rail vertically arranged on the base, wherein a hollow sliding table which is a columnar body is nested at the position, close to the top end, of the guide rail;
the first rope and the second rope are inelastic ropes, and scales are arranged on rope bodies of the first rope and the second rope.
2. The vehicle-mounted radar calibration device according to claim 1, wherein the calibration object is a horn-shaped cavity structure with one end open, and a coating with good reflection performance on radar waves is arranged in the cavity; the other end of the calibration object, which is not open, is fixed at the center position of the outer side wall of the third fixing piece, and one ends of the first rope and the second rope are respectively and symmetrically connected to two sides of a vertical center line where the calibration object is located.
3. The vehicle-mounted radar calibration device according to claim 2, wherein the first fixing piece comprises a positioning seat, a first bolt is vertically arranged on the positioning seat, and a first gasket and a nut are coaxially arranged on the outer wall of the first bolt in sequence from bottom to top; the end part of the first rope or the second rope can be wound on the outer wall of the first bolt between the first gasket and the positioning seat, the nut is rotated to move towards the positioning seat, and the first gasket presses the winding end of the first rope to enable the winding end of the first rope to be clamped between the positioning seat and the first gasket and form positioning.
4. The vehicle-mounted radar calibration device according to claim 2, wherein the third fixing member is a column with a square cross section, one side wall of the third fixing member is fixedly connected with the sliding table, an installation position is formed in the center of the other side wall opposite to the side wall, the non-opening end of the calibration object is fixedly connected with the installation position, and the opening end of the calibration object faces the radar to be calibrated; and two symmetrical side walls of the installation position are respectively provided with an earring structure for connecting the first rope and the second rope.
5. The vehicle radar calibration apparatus according to claim 4, wherein the ear ring structure includes a concave bracket, an open end of the bracket is fixedly connected to the third fixing member, and an ear ring groove extending longitudinally is formed in a side wall opposite to the open end; a second gasket arranged in the horizontal direction is arranged in the bracket; the second bolt penetrates into the bracket through the outer wall of the bracket and is connected with the second gasket in a threaded penetrating way, and the second gasket can reciprocate in the bracket along the direction of the ear ring groove by rotating the second bolt; the end part of the first rope or the second rope can be wound on the outer wall of the second bolt between the second gasket and the side wall of the bracket through the earring groove, the second bolt is rotated, and the second gasket moves along the direction of the second bolt so as to clamp the winding end of the first rope or the second rope between the side wall of the bracket and the second gasket and form positioning.
6. The vehicle-mounted radar calibration device according to claim 4, wherein the sliding table is further provided with an installation pre-tightening bolt for limiting movement of the sliding table along the guide rail direction, and the installation pre-tightening bolt sequentially penetrates through the sliding table and the guide rail so as to fix the sliding table and the guide rail to each other.
7. A vehicle-mounted radar calibration system, which is characterized by comprising the vehicle-mounted radar calibration device according to any one of claims 1 to 6, and further comprising a radar to be calibrated, a communication module and a calibration module;
the calibration module, the communication module and the radar to be calibrated are sequentially connected;
the vehicle-mounted radar calibration device is used for fixing a calibration object and obtaining the actual coordinates of the calibration object;
the radar to be calibrated is used for acquiring the position coordinates of the calibration object;
the communication module is used for sending the position coordinates of the calibration object acquired by the radar to be calibrated to the calibration module and sending the calibration parameters calculated by the calibration module to the radar;
the calibration module is used for calculating calibration parameters according to the actual coordinates of the calibration objects and the position coordinates of the calibration objects.
8. The calibration method of the vehicle-mounted radar calibration device comprises a vehicle-mounted radar calibration system and is characterized by comprising the following steps of:
step S1, parking a vehicle in a horizontal calibration site, installing a radar to be calibrated at the middle point of the front end of a vehicle body and the vehicle width direction, and adjusting the height of the radar to be calibrated to a preset installation position;
s2, respectively installing a first fixing piece and a second fixing piece of the vehicle-mounted radar calibration device at the front end of the vehicle body, and enabling the installation positions of the first fixing piece and the second fixing piece to be arranged at positions which are level with a radar to be calibrated and symmetrical with respect to the central axis of the vehicle body;
step S3, one ends of the first rope and the second rope are respectively connected with the first fixing piece and the second fixing piece, the other ends of the first rope and the second rope are connected with the third fixing piece, the first rope and the second rope are in a tensioning state, and scales of the positions where the first rope and the second rope are connected with the third fixing piece are identical;
s4, respectively adjusting the first rope and the second rope and enabling the first rope and the second rope to be parallel to the ground, so that the height of a calibration object on the vehicle-mounted radar calibration device is adjusted to be the same as that of a radar to be calibrated;
s5, taking the intersection point of the connecting line of the central points A1 and A2 where the first fixing piece and the second fixing piece are respectively positioned and the vehicle central axis as an origin, taking the connecting line of the A1 and the A2 as an x axis, taking the direction of the A1 pointing to the A2 as a positive direction, taking the vehicle central axis as a y axis, taking the direction of the radar pointing to the calibration object to be calibrated as a positive direction, and establishing a rectangular coordinate system;
step S6, according to the rotation angle theta of the radar to be calibrated in the horizontal plane and the deviation of the radar to be calibrated in the horizontal planeAndand calculating the correction coordinates of the radar to be calibrated.
9. The method for calibrating an on-vehicle radar according to claim 8, wherein said step S6 further comprises the steps of:
step S61, obtaining length values from the first rope and the second rope according to a first formulaCalculating the actual coordinates of the calibration object (+.>) Wherein->For reading the length of the rope for the nth time, the lengths of the two ropes are kept the same, s is +.>The distance n represents the measurement times and is a positive integer greater than or equal to 3;
step S62, reading the position coordinates of the calibration object from the radar to be calibrated) N is the number of readings, first reading n=1;
step S63, according to the second formulaCalculating calibration parameters theta and->And->Wherein (/ ->) For radar to be calibrated->Position coordinates of the next read calibration object, (-)>) Is->The actual coordinates of the calibration object during secondary measurement;
step S64, the calibration parameter theta obtained in the step S64,And->Substituting into the third formulaPerforming calibration correction, wherein->Correcting a front coordinate for the radar R to be calibrated, < >>Correcting the coordinates of the radar R to be calibrated;
and step S65, calibration is completed.
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| CN201811459734.0A CN109932693B (en) | 2018-11-30 | 2018-11-30 | Vehicle-mounted radar calibration device, system and method |
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| CN112180333A (en) * | 2019-07-05 | 2021-01-05 | 深圳市道通科技股份有限公司 | Calibration equipment |
| CN112580391A (en) * | 2019-09-27 | 2021-03-30 | 北汽福田汽车股份有限公司 | Image processing method and device, storage medium and electronic equipment |
| CN111562554B (en) * | 2020-05-26 | 2022-08-12 | 中国重汽集团济南动力有限公司 | Intelligent truck radar static calibration instrument and calibration method |
| US12092770B2 (en) | 2021-02-12 | 2024-09-17 | Honda Motor Co., Ltd. | System and apparatus for determining a vehicle centerline |
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