CN116626618A - Vehicle-mounted angle millimeter wave radar position calibration device and method - Google Patents
Vehicle-mounted angle millimeter wave radar position calibration device and method Download PDFInfo
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- CN116626618A CN116626618A CN202310208671.6A CN202310208671A CN116626618A CN 116626618 A CN116626618 A CN 116626618A CN 202310208671 A CN202310208671 A CN 202310208671A CN 116626618 A CN116626618 A CN 116626618A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000009434 installation Methods 0.000 claims abstract description 14
- 238000005259 measurement Methods 0.000 claims description 8
- 230000008447 perception Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000011900 installation process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a vehicle-mounted angle millimeter wave radar position calibration device and a method, wherein the device comprises a hub fixing device, a level meter and a laser range finder combination, the hub fixing device is convenient to adjust to a horizontal position through the arrangement of an X-direction level meter and a Y-direction level meter, the installation angle error of the laser range finder combination is reduced, a hub clamp and one side of a vehicle are positioned in the same coordinate system, the laser range finder combination and the angle millimeter wave radar at the front part of the side of the vehicle are convenient to establish a coordinate reference relationship, in addition, an X-direction fixing rod and a hub clamp of the hub fixing device are combined with an up-down moving guide rail and a transverse moving guide rail, the position relationship of the laser range finder combination is convenient to adjust, so that the spatial position information such as the distance of the angle millimeter wave radar is acquired, and the device and the method can be suitable for the calibration requirements of different shapes and different types of angle millimeter radars on intelligent driving heavy truck vehicles.
Description
Technical Field
The invention belongs to the technical field of radar position calibration, and particularly relates to a vehicle-mounted angle millimeter wave radar position calibration device and method.
Background
In the running process of the automatic driving vehicle, the angle millimeter wave radar is used as one of important sensors in the intelligent driving system, and information such as speed, distance and the like of a perceived target object is provided in the running process of the vehicle.
At present, angle millimeter wave radars of intelligent heavy truck vehicles are generally arranged at four front and rear corner positions, and because different angle millimeter wave radars have different installation angle requirements, the existing large millimeter wave radar calibration equipment can only perform relevant calibration of horizontal, pitching and yaw angle positions aiming at the forward millimeter wave radars. In the installation process of the angle millimeter wave radar, the angle millimeter wave radar is influenced by component size chains (radar bodies, mounting brackets, front and rear bumpers and the like and mounting errors), and the perception distance and the perception range of a target object can be greatly different. Taking the effective sensing distance of the angle millimeter wave radar as an example, every 1 degree of deviation of horizontal angle error, the deviation of the sensing center point from the actual target point reaches about 1.75 meters, and the actual sensing area is affected, so that the method is not very friendly to the sensing, planning and control of the intelligent heavy truck. Therefore, the method is particularly important for systematic calibration of the angle millimeter wave radar in the installation, maintenance and replacement processes of the angle millimeter wave radar, and provides powerful guarantee for the driving safety of the intelligent heavy card.
The millimeter wave radar for the intelligent driving heavy truck has the main function of providing the perception of medium and long-distance surrounding environment for the heavy truck during driving, including information such as vehicles, pedestrians, obstacles, equal distance, speed, position and the like in motion.
Currently, 3D millimeter wave radar or 4D millimeter wave radar is commonly installed on heavy truck vehicles with different intelligent driving grades (L2, L3, L4), and the main installation positions are at the middle position and the left and right sides of the front and rear bumpers of the vehicle. The millimeter wave radars positioned on the left side and the right side of the vehicle, namely the angle millimeter wave radars, have certain differences in the horizontal and vertical field of view (FOV) achieved by the angle millimeter wave radars due to the differences of the intelligent heavy truck type and the millimeter wave radar types. Therefore, certain requirements exist for the yaw angle, the horizontal angle and the pitch angle of the installation rear angle millimeter wave radar; if the yaw angle of the angle millimeter wave radar deviates, the corresponding deviation of the FOV in the horizontal direction can be caused, and the detection range can also be changed; if the pitch angle of the angle millimeter wave radar deviates, the FOV in the vertical direction can be influenced, the detection distance of the whole radar can be shortened, and finally the perception capability of the whole intelligent heavy truck vehicle to the surrounding environment can be influenced. Therefore, the method is particularly important for high-precision calibration and high-quality detection of the angular millimeter wave radar position, and can ensure the intelligent driving perception level of the intelligent heavy truck and improve the safety coefficient of the intelligent driving heavy truck in the running process.
Disclosure of Invention
Aiming at the problems, the invention mainly aims to design a vehicle-mounted angle millimeter wave radar position calibration device and a vehicle-mounted angle millimeter wave radar position calibration method, and the novel calibration device is used for calibrating the installation position of the angle millimeter wave radar, so that the problems of calibration of angle millimeter wave radars of different shapes and different types are solved.
The invention adopts the following technical scheme for realizing the purposes:
the vehicle-mounted angle millimeter wave radar position calibration device is used for assisting in measuring distance information of a vehicle-mounted angle millimeter wave radar, and adjusting a yaw angle and a pitch angle of the millimeter wave radar to be measured to a position required by a vehicle according to a measured value;
the hub fixing device is arranged and fixed on a wheel at one side of the vehicle and is adjusted to be in a horizontal state through a level gauge;
the laser range finder combination is arranged at the front end of the hub fixing device and establishes a coordinate reference relation with an angle millimeter wave radar at the front part of the side of the vehicle.
As a further description of the present invention, the hub fixing device includes an X-direction fixing rod, a Y-direction fixing rod, and a hub clamp provided on the X-direction fixing rod;
the hub clamp is fixedly connected with a hub flange of a wheel, and the X-direction fixing rod is vertically connected with the Y-direction fixing rod.
As a further description of the present invention, the level includes an X-direction level and a Y-direction level; the X-direction level gauge is arranged at the joint of the X-direction fixing rod and the Y-direction fixing rod, and the Y-direction level gauge is arranged on the Y-direction fixing rod.
As a further description of the present invention, the front end of the X-direction fixing rod further includes a moving rail, and the laser rangefinder is combined on the moving rail and is adjusted by the moving rail.
As a further description of the present invention, the moving rail includes an up-down moving rail and a lateral moving rail, one end of the lateral moving rail is matched with the X-direction fixing rod through a sliding frame, the other end of the lateral moving rail is connected to the up-down moving rail, and the laser range finder assembly slides up and down along the up-down moving rail.
As a further description of the present invention, the sliding frame is sleeved on the outer circumference of the X-direction fixing rod, a hinge shaft is disposed at the outer side of the sliding frame, and the transverse moving guide rail is matched with the sliding frame through the hinge shaft.
Furthermore, the technical scheme of the invention also comprises a vehicle-mounted angle millimeter wave radar position calibration method, which is based on the vehicle-mounted angle millimeter wave radar position calibration device and specifically comprises the following steps:
step 1: fixing the hub fixing device on the vehicle;
step 2: adjusting the position of the laser range finder combination;
step 3: measuring distance information of the vehicle-mounted angle millimeter wave radar through a laser range finder combination;
step 4: and adjusting the yaw angle and the pitch angle of the vehicle-mounted angle millimeter wave radar to the required positions according to the actual measurement values of the laser range finder combination.
As a further description of the present invention, in step 1, a specific fixing manner of the hub fixing device includes the steps of:
step 1.1: the hub clamp of the hub fixing device is pre-fixed on a hub flange of the wheel;
step 1.2: the hub fixing device is adjusted to the horizontal position through the X-direction level and the Y-direction level, so that the hub clamp and one side of the vehicle are located in the same coordinate system.
As a further description of the present invention, in step 2, the position of the laser rangefinder combination is adjusted to: through the transverse moving guide rail and the up-and-down moving guide rail, the laser range finder combination is adjusted, so that the laser range finder combination is positioned right in front of the vehicle-mounted angle millimeter wave radar.
As a further description of the present invention, in step 3, the laser rangefinder combination measures distance information of the vehicle-mounted angle millimeter wave radar, including the steps of:
step 3.1: according to the installation angle requirement of the angle millimeter wave radar, setting the yaw angle of the laser range finder combination through the angle measuring instrument, so that the laser range finder combination and the angle millimeter wave radar to be measured are positioned at the same installation angle;
step 3.2: and opening an external processor and laser range finder combination, and measuring the distance information of the measured angle millimeter wave radar by the laser light velocity emitted by the laser range finder reaching the surface of the angle millimeter wave radar.
Compared with the prior art, the invention has the technical effects that:
the invention provides a vehicle-mounted angle millimeter wave radar position calibration device and a vehicle-mounted angle millimeter wave radar position calibration method, which mainly aim to detect and adjust the position and the angle of an intelligent driving heavy-duty truck angle millimeter wave radar in the installation process so as to meet the requirements; the device comprises a hub fixing device, a level gauge and a laser range finder combination, and is particularly convenient for adjusting the hub fixing device to the horizontal position through an X-direction level gauge and a Y-direction level gauge, reduces the installation angle error of the laser range finder combination, enables one side of a hub clamp and one side of a vehicle to be in the same coordinate system, is convenient for the laser range finder combination to establish a coordinate reference relationship with an angle millimeter wave radar on the front part of the side of the vehicle, and in addition, is combined with an up-down moving guide rail and a transverse moving guide rail to adjust the position relationship of the laser range finder combination, is convenient for acquiring spatial position information such as the distance of the angle millimeter wave radar, has simple structure and high practical value, and simultaneously, the device and the method can be suitable for the calibration requirements of different shapes and different types of the angle millimeter radars on intelligent driving heavy truck vehicles.
Drawings
FIG. 1 is a schematic diagram of a calibration device according to the present invention;
FIG. 2 is a schematic diagram of a combined and matched structure of an X-direction fixing rod and a laser range finder in the invention;
FIG. 3 is a schematic plan view of a calibration device according to the present invention;
FIG. 4 is a flow chart of the calibration method of the present invention.
In the figure, a hub fixing device, a 11.X direction fixing rod, a 12.Y direction fixing rod, a 13. Hub clamp, a 21.X direction level, a 22.Y direction level, a 3. Laser range finder combination, a 4. Up-down moving guide rail, a 5. Transverse moving guide rail, a 51. Sliding frame and a 52. Hinge shaft.
Description of the embodiments
The invention is described in detail below with reference to the attached drawing figures:
in one embodiment of the invention, a vehicle-mounted angle millimeter wave radar position calibration device is disclosed, and is used for assisting in measuring distance information of a vehicle-mounted angle millimeter wave radar, adjusting a yaw angle and a pitch angle of the angle millimeter wave radar to be measured to a position required by a vehicle according to a measurement value, wherein A in the illustration is the angle millimeter wave radar, and specifically, the calibration device comprises a hub fixing device 1, a level gauge and a laser range finder combination 3; the wheel hub fixing device 1 is arranged and fixed on a wheel hub at one side of a vehicle and is adjusted to be in a horizontal state through a level gauge; the laser range finder combination 3 is arranged at the front end of the hub fixing device 1 and establishes a coordinate reference relation with an angle millimeter wave radar at the front part of the side of the vehicle.
More specifically, in the present embodiment, the hub fixing device 1 is provided to include the X-direction fixing lever 11, the Y-direction fixing lever 12, and the hub clamp 13 provided on the X-direction fixing lever 11; in this embodiment, two hub clamps 13 are provided and are simultaneously fixed to adjacent hub flanges on one side of the vehicle, and the X-direction fixing rod 11 and the Y-direction fixing rod 12 are vertically connected.
It should be noted that, the level gauge includes an X-direction level gauge 21 and a Y-direction level gauge 22; the X-direction level meter 21 is arranged at the joint of the X-direction fixing rod 11 and the Y-direction fixing rod 12, so that the hub clamp 13 can be conveniently finely adjusted, the X-direction level is adjusted, and the X-direction level meter 21 is ensured to be at a horizontal position; the Y-direction level gauge 22 is arranged on the Y-direction fixed rod 12; the Y-direction level 22 of the present embodiment is located at the middle position of the Y-direction fixing rod 12, ensuring that the Y-direction level 22 reaches a horizontal position, and further fixing the hub clamp 13 to the hub flange of the vehicle.
In addition, in this embodiment, the front end of the X-direction fixing rod 11 further includes a moving rail, and the laser range finder assembly 3 is disposed on the moving rail and adjusts the position through the moving rail.
Specifically, the above disclosed moving rail includes an up-down moving rail 4 and a lateral moving rail 5;
one end of the transverse moving guide rail 5 is matched with the X-direction fixing rod 11 through a sliding frame 51, and the sliding frame 51 is sleeved on the periphery of the X-direction fixing rod 11 to realize forward or backward sliding of the transverse moving guide rail 5 on the X-direction fixing rod 11; in addition, a hinge shaft 52 is arranged at the outer side of the sliding frame 51, a rotating hole is formed at the end part of the transverse moving guide rail 5, the hinge shaft 52 rotates in the rotating hole, and the transverse moving guide rail 5 is matched with the sliding frame 51 through the hinge shaft 52, so that the requirement that the angle of the transverse moving guide rail 5 can be adjusted to the angle laser range finder combination 3 is met;
the other end of the transverse moving guide rail 5 is connected with the up-down moving guide rail 4, usually in a fixed connection mode, the laser range finder assembly 3 is sleeved on the periphery of the up-down moving guide rail 4 in a tight fit mode and slides upwards or downwards along the up-down moving guide rail 4, and the height adjustment requirement of the laser range finder assembly 3 is met.
It should be noted that, the up-down moving guide rail 4 further includes a form of movably connecting with the lateral moving guide rail 5, under the form of movably connecting, the up-down moving guide rail 4 realizes the requirement of moving up or down on the lateral moving guide rail 5, and the laser range finder combination 3 may be matched with the up-down moving guide rail 4 in a fixed form or may be matched with the up-down moving guide rail 4 in a vertically slidable form, and the above-mentioned embodiment is just a matching form disclosed in the present embodiment, and it should be noted that, this embodiment includes not only the above-mentioned disclosed several matching modes capable of adjusting the up-down height, the lateral length and the angle of the laser range finder combination 3, but also other matching modes capable of realizing adjustment of the up-down height, the lateral length and the angle of the laser range finder combination 3.
In another embodiment of the present invention, as shown in fig. 4, a vehicle-mounted angle millimeter wave radar position calibration method is disclosed, which is based on the vehicle-mounted angle millimeter wave radar position calibration device, and specifically includes the following steps:
step 1: fixing the hub fixing device on the vehicle;
the specific fixing mode of the hub fixing device comprises the following steps:
step 1.1: the hub clamp of the hub fixing device is pre-fixed on a hub flange of a wheel on the same side of the vehicle;
step 1.2: the hub fixing device is adjusted to the horizontal position through the X-direction level gauge and the Y-direction level gauge, so that the hub clamp and the millimeter wave radar of the side angle of the vehicle are positioned in the same coordinate system.
Step 2: adjusting the position of the laser range finder combination;
the specific adjustment mode is as follows: through the transverse moving guide rail and the up-and-down moving guide rail, the laser range finder combination is adjusted, so that the laser range finder combination is positioned right in front of the vehicle-mounted angle millimeter wave radar.
Step 3: measuring distance information of the vehicle-mounted angle millimeter wave radar through a laser range finder combination;
the specific measurement mode comprises the following steps:
step 3.1: according to the installation angle requirement of the angle millimeter wave radar, setting the yaw angle of the laser range finder combination through the angle measuring instrument, so that the laser range finder combination and the angle millimeter wave radar to be measured are positioned at the same installation angle;
step 3.2: and opening an external processor and laser range finder combination, and measuring the distance information of the measured angle millimeter wave radar by the laser light velocity emitted by the laser range finder reaching the surface of the angle millimeter wave radar.
Step 4: and adjusting the yaw angle and the pitch angle of the vehicle-mounted angle millimeter wave radar to the required positions according to the actual measurement values of the laser range finder combination.
Specifically, in this embodiment, the above-mentioned laser range finder combination opens five laser beams simultaneously, and the surface of being surveyed angle millimeter wave radar is launched, and five laser beams on the different positions of laser range finder combination, with the distance information transmission of being surveyed angle millimeter wave radar to external processor in, the real-time spatial position information such as the distance of showing five laser range finders of external processor.
Meanwhile, the processing unit of the external processor is combined with the information such as the distance from the laser beam to the millimeter wave radar with the measured angle, and the like, calculates and displays the yaw angle and the pitch angle of the millimeter wave radar with the measured angle in real time, confirms whether the technical requirements are met, and adjusts the yaw angle and the pitch angle of the millimeter wave radar to be measured to the required positions according to the actual measurement values so as to meet the requirements.
The invention discloses the calibrating device and the calibrating method, and the advantages compared with the prior art include as follows:
1. according to the invention, the adjustment of the hub fixing device to the horizontal position is facilitated through the X-direction level gauge and the Y-direction level gauge, the installation angle error of the laser range finder combination is reduced, the hub clamp and one side of the vehicle are positioned in the same coordinate system, and the laser range finder combination and the angle millimeter wave radar at the front part of the side of the vehicle are facilitated to establish a coordinate reference relationship;
2. the X-direction fixing rod and the hub clamp are combined with the up-down moving guide rail and the transverse moving guide rail, the position relation of the laser range finder combination is adjusted, spatial position information such as the distance of the angle millimeter wave radar is convenient to obtain, and the calibration requirement of the angle millimeter wave radar with different shapes and different types on an intelligent driving heavy truck is met.
The above embodiments are only for illustrating the technical solution of the present invention, but not for limiting, and other modifications and equivalents thereof by those skilled in the art should be included in the scope of the claims of the present invention without departing from the spirit and scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides a vehicle-mounted angle millimeter wave radar position calibration device for auxiliary measurement vehicle-mounted angle millimeter wave radar's distance information, and according to the measurement value, adjust the yaw angle of angle millimeter wave radar that awaits measuring, pitch angle to the required position of vehicle, its characterized in that: the calibration device comprises a hub fixing device, a level gauge and a laser range finder combination;
the hub fixing device is arranged and fixed on a wheel at one side of the vehicle and is adjusted to be in a horizontal state through a level gauge;
the laser range finder combination is arranged at the front end of the hub fixing device and establishes a coordinate reference relation with an angle millimeter wave radar at the front part of the side of the vehicle.
2. The vehicle-mounted angle millimeter wave radar position calibration device according to claim 1, wherein: the hub fixing device comprises an X-direction fixing rod, a Y-direction fixing rod and a hub clamp arranged on the X-direction fixing rod;
the hub clamp is fixedly connected with a hub flange of a wheel, and the X-direction fixing rod is vertically connected with the Y-direction fixing rod.
3. The vehicle-mounted angle millimeter wave radar position calibration device according to claim 2, wherein: the level gauge comprises an X-direction level gauge and a Y-direction level gauge; the X-direction level gauge is arranged at the joint of the X-direction fixing rod and the Y-direction fixing rod, and the Y-direction level gauge is arranged on the Y-direction fixing rod.
4. The vehicle-mounted angle millimeter wave radar position calibration device according to claim 2, wherein: the front end of the X-direction fixing rod further comprises a movable guide rail, and the laser range finder is arranged on the movable guide rail in a combined mode and is adjusted through the movable guide rail.
5. The vehicle-mounted angle millimeter wave radar position calibration device according to claim 4, wherein: the movable guide rail comprises an up-and-down movable guide rail and a transverse movable guide rail, one end of the transverse movable guide rail is matched with the X-direction fixing rod through a sliding frame, the other end of the transverse movable guide rail is connected with the up-and-down movable guide rail, and the laser range finder assembly slides up and down along the up-and-down movable guide rail.
6. The vehicle-mounted angle millimeter wave radar position calibration device according to claim 5, wherein: the sliding frame is sleeved on the periphery of the X-direction fixing rod, a hinge shaft is arranged on the outer side of the sliding frame, and the transverse moving guide rail is matched with the sliding frame through the hinge shaft.
7. A vehicle-mounted angle millimeter wave radar position calibration method is characterized by comprising the following steps of: the method is based on the vehicle-mounted angle millimeter wave radar position calibration device according to any one of claims 1-6, and specifically comprises the following steps:
step 1: fixing the hub fixing device on the vehicle;
step 2: adjusting the position of the laser range finder combination;
step 3: measuring distance information of the vehicle-mounted angle millimeter wave radar through a laser range finder combination;
step 4: and adjusting the yaw angle and the pitch angle of the vehicle-mounted angle millimeter wave radar to the required positions according to the actual measurement values of the laser range finder combination.
8. The vehicle-mounted angle millimeter wave radar position calibration method according to claim 7, wherein the method comprises the following steps of: in step 1, the specific fixing mode of the hub fixing device comprises the following steps:
step 1.1: the hub clamp of the hub fixing device is pre-fixed on a hub flange of the wheel;
step 1.2: the hub fixing device is adjusted to the horizontal position through the X-direction level and the Y-direction level, so that the hub clamp and one side of the vehicle are located in the same coordinate system.
9. The vehicle-mounted angle millimeter wave radar position calibration method according to claim 7, wherein the method comprises the following steps of: in step 2, the position of the laser range finder combination is adjusted as follows: through the transverse moving guide rail and the up-and-down moving guide rail, the laser range finder combination is adjusted, so that the laser range finder combination is positioned right in front of the vehicle-mounted angle millimeter wave radar.
10. The vehicle-mounted angle millimeter wave radar position calibration method according to claim 7, wherein the method comprises the following steps of: in step 3, the laser range finder combination measures the distance information of the vehicle-mounted angle millimeter wave radar, and the method comprises the following steps:
step 3.1: according to the installation angle requirement of the angle millimeter wave radar, setting the yaw angle of the laser range finder combination through the angle measuring instrument, so that the laser range finder combination and the angle millimeter wave radar to be measured are positioned at the same installation angle;
step 3.2: and opening an external processor and laser range finder combination, and measuring the distance information of the measured angle millimeter wave radar by the laser light velocity emitted by the laser range finder reaching the surface of the angle millimeter wave radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310208671.6A CN116626618A (en) | 2023-03-07 | 2023-03-07 | Vehicle-mounted angle millimeter wave radar position calibration device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310208671.6A CN116626618A (en) | 2023-03-07 | 2023-03-07 | Vehicle-mounted angle millimeter wave radar position calibration device and method |
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| Publication Number | Publication Date |
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| CN116626618A true CN116626618A (en) | 2023-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310208671.6A Pending CN116626618A (en) | 2023-03-07 | 2023-03-07 | Vehicle-mounted angle millimeter wave radar position calibration device and method |
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| Country | Link |
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| CN (1) | CN116626618A (en) |
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2023
- 2023-03-07 CN CN202310208671.6A patent/CN116626618A/en active Pending
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