CN214669564U - Vehicle-mounted radar calibration system - Google Patents

Abstract

The utility model relates to a vehicle radar technical field discloses a vehicle radar calibration system. The system comprises: first and second wheel levers providing first and second marks indicating a center position between the front wheels and between the rear wheels; a first laser transmitter that is in front of the vehicle and transmits first backward laser light and forward laser light; when the first backward laser irradiates the first mark and the second mark simultaneously, the direction of the forward laser represents the physical zero-degree direction of the vehicle-mounted radar; the angle reflecting device comprises an angle reflector and a second laser transmitter, is placed on the light path of the forward laser, and transmits a second backward laser; when the second backward laser and the first backward laser coincide in a vertical plane, the position of the corner reflector is a target detection position in the physical zero-degree direction of the vehicle-mounted radar. In this way, the position of the axle can be quickly located by utilizing the positions of the four wheels, and the vehicle-mounted radar can be calibrated by combining the first laser transmitter and the angle reflecting device.

Description

Vehicle-mounted radar calibration system

Technical Field

The utility model relates to an on-vehicle radar technical field especially relates to an on-vehicle radar calibration system.

Background

With the great popularization of automobiles, the safety driving problem of automobiles is more and more concerned by people, and under the continuous progress of automobile technology, more and more automobile intelligent auxiliary driving technologies are applied to the safety driving of automobiles. The main sensor of the automobile intelligent assistant driving technology is the vehicle-mounted radar, so that how to ensure that the vehicle-mounted radar can be accurately judged in the application process is crucial, because the vehicle-mounted radar is used as the main sensor of various automobile intelligent assistant driving technologies, if the vehicle-mounted radar is judged incorrectly, a driver of an automobile can cause wrong driving due to the error of the vehicle-mounted radar in the driving process, and thus traffic accidents are easily caused.

In particular, the radar has a series of errors such as process errors from factory shipment to actual installation, or vehicle manufacturing itself. After the radar is installed on a vehicle, the physical zero-degree direction of the radar needs to be found, and offline calibration is carried out on the radar.

Therefore, in order to solve the above problem, the vehicle operator must calibrate the vehicle-mounted radar before the vehicle leaves the factory. Currently, most on-board radar calibration techniques determine the physical zero degree of the vehicle through a body oscillator. However, the system of this method is bulky, the site needs to be fixed, and the cost is high.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a vehicle-mounted radar calibration system for solving the above technical problems, and in this way, the calibration process is simple, convenient and reliable to operate, and the technical scheme is as follows.

On the one hand, the embodiment of the utility model provides an on-vehicle radar calibration system, the system includes: a first wheel jamming bar for providing a first indicia indicating a center position between two straightened front wheels of a vehicle; a second wheel grab bar for providing a second mark indicating a center position between two straightened rear wheels of the vehicle; a first laser transmitter for placing directly in front of a vehicle and transmitting a first backward laser and a forward laser in a reverse direction to the first backward laser; when the first backward laser irradiates the first mark and the second mark simultaneously, the direction of the forward laser is used for representing the physical zero-degree direction of the vehicle-mounted radar; a corner cube comprising a corner reflector and a second laser emitter; the angle reflecting device is used for being placed on an optical path of the forward laser and ensuring that the forward laser irradiates on a central axis of the corner reflector; the second laser transmitter is used for transmitting second backward laser; when the second backward laser and the first backward laser are superposed on a vertical plane, the position of the corner reflector is the target detection position of the vehicle-mounted radar in the physical zero-degree direction.

In some other embodiments, each of the first and second wheel jamming bars includes a transverse bar, two longitudinal bars at either end of the transverse bar, respectively, and a marker intermediate the two longitudinal bars.

In other embodiments, at least one of the two longitudinal bars is arranged to be laterally movable along the transverse bar and fastenable to the transverse bar; the marker is arranged to be laterally movable along the transverse bar so as to be movable to a position intermediate the two longitudinal bars and is arranged to be securable to the transverse bar.

In other embodiments, each of the longitudinal bars is mounted to the transverse bar by a screw, and the marker is a screw mounted to the transverse bar.

In other embodiments, each of the longitudinal bars is fixedly connected with a bracket, and the bracket is attached to one side of the transverse bar; and the transverse movement and fixation of each longitudinal rod are realized by loose fit or tight fit of a screw arranged in a sliding groove of each transverse rod and the bracket.

In other embodiments, the marker is arranged to slide in another runner of the transverse bar and can be fixed to the transverse bar by tightening a nut.

In some other embodiments, the first indicia and the second indicia are indentations, colors, or protrusions.

In some other embodiments, the first backward laser light emitted by the first laser emitter includes a planar ray lying in a vertical plane, and the second backward laser light emitted by the second laser emitter includes a planar ray lying in a vertical plane.

Compared with the prior art, the beneficial effects of the utility model are that: different from the situation of the prior art, in the vehicle-mounted radar calibration system in the embodiment of the present invention, the positions of four wheels of the vehicle can be skillfully utilized through the first wheel clamping rod and the second wheel clamping rod, so that the axle position, that is, the central axis position of the vehicle can be quickly positioned, and the complicated operation steps in the conventional calibration method are reduced; in addition, the vehicle-mounted radar can be further calibrated by combining the first laser transmitter and the angle reaction device, so that the calibration of the vehicle-mounted radar is completed, and the calibration process is simple, convenient and reliable to operate.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a schematic diagram of a vehicle radar calibration system according to an embodiment of the present invention, in which an exemplary vehicle and radar are also shown;

FIG. 2 is a schematic view of a first wheel jamming lever in the vehicle radar calibration system of FIG. 1;

FIG. 3 is a detailed schematic view of the first wheel jamming lever of FIG. 2;

fig. 4 is a flowchart of a calibration method for a vehicle-mounted radar according to an embodiment of the present invention;

fig. 5 is an application scenario schematic diagram of the vehicle-mounted radar calibration system according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that, if there is no conflict, various features in the embodiments of the present invention may be combined with each other, and all of them are within the scope of the present invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. Furthermore, the words "first", "second", "third", etc. used in the present invention do not limit the data and execution order, but only distinguish the same items or similar items having substantially the same function and action.

Referring to fig. 1, a vehicle radar calibration system 100 according to an embodiment of the present invention is shown. The onboard radar calibration system 100 may include a first wheel truck 10, a second wheel truck 20, a first laser transmitter 30, and an angle reaction device 40. The first wheel truck 10 and the second wheel truck 20 are respectively used for being arranged against a front wheel 201 and a rear wheel 202 of the vehicle 200 so as to find out the position of a central axis C of the vehicle by combining the first laser emitter 30; the angular reaction device 40 is used in combination with the first laser transmitter 30 to provide a target detection position in the direction of physical zero degrees of the onboard radar 203.

Specifically, referring to fig. 1 and 2, the first wheel truck 10 is used to provide a first mark 11, and the first mark 11 indicates a center position between two straightened front wheels 201 of the vehicle 200. The first indicia 11 may be in the form of, for example, indentations, colors, protrusions, and the like. Similarly, the second wheel truck 20 is used to provide a second marking 21, the second marking 21 indicating a center position between two straightened rear wheels 202 of the vehicle 200. By straightening the front wheel 201 so that it coincides with the longitudinal direction of the vehicle 200, the calibration results are accurate.

The first laser transmitter 30 is for placing right in front of the vehicle 200 and transmits a first backward laser 31 and a forward laser 32 opposite to the first backward laser 31. When the first backward laser light 31 is irradiated to the first mark 11 and the second mark 21 at the same time, the direction of the forward laser light 32 is used to represent the physical zero degree direction of the vehicle-mounted radar 203. As shown in fig. 5, the first backward laser beam 31 may include a planar beam in a vertical plane so that it may be irradiated to both the first mark 11 and the second mark 21 and a surface directly in front of the vehicle 200, for example, a position near a front license plate. By adjusting the orientation of the first laser emitter 30, the first backward laser 31 is irradiated to the first mark 11 and the second mark 21 at the same time, which means that the first laser emitter 30 is located on the central axis C of the vehicle; accordingly, the forward laser light 32, which is opposite to the first backward laser light 31, is also located at the position of the central axis C of the vehicle. Thus, the direction of the forward laser light 32 is the physical zero direction of the vehicle, and the radar 203 can be mounted on the vehicle 200 in this orientation, thereby also determining the physical zero direction of the radar 203. In addition, the first backward laser light 31 may further include another planar light perpendicular to the vertical plane, for example, a planar light located in a horizontal plane.

The corner cube 40 may include a corner reflector 41 and a second laser emitter 42. The angle reaction device 40 is used for being placed on the optical path of the forward laser 32, and ensures that the forward laser 32 irradiates on the central axis of the corner reflector 41. The second laser emitter 42 is configured to emit second backward laser light 43, and the second backward laser light 43 may include a planar light ray in a vertical plane. When the second backward laser 43 and the first backward laser 31 are coincident in a vertical plane, the position of the corner reflector 41 is the target detection position of the vehicle-mounted radar in the physical zero-degree direction. That is, by adjusting the orientation of the angle reflection device 40, the second backward laser 43 and the first backward laser 31 are coincident in the vertical plane, and the angle reflector 41 at this time means the physical zero-degree direction of the corresponding radar 203; if the radar 203 installed in the manner described above detects the corner reflector 41 at that time, and then determines that the corner reflector 41 is not in the physical zero-degree direction, it indicates that the radar 203 installed in the manner described above still has an error; further, the radar 203 installed in the foregoing manner may be calibrated by calibration software to complete the final calibration.

The radar 203 may be a millimeter wave radar, a laser radar, a vision sensor. Among them, the millimeter wave radar is preferably used because it can realize all-weather operation, its system is simplified, cost is low, and performance is not affected by weather basically.

In the vehicle-mounted radar calibration system 100 provided in the above embodiment, the positions of four wheels of the vehicle can be skillfully utilized through the first wheel catch lever 10 and the second wheel catch lever 20, so that the axle position, that is, the position of the central axis C of the vehicle 200, can be quickly located, and complicated operation steps in the conventional calibration method are reduced; moreover, the first laser transmitter 30 and the angle reaction device 40 are combined, so that the vehicle-mounted radar can be further calibrated, the calibration of the vehicle-mounted radar is completed, and the calibration process is simple, convenient and reliable to operate.

In some embodiments, as shown in fig. 2, the first wheel truck bar 10 may include a transverse bar a, two longitudinal bars B respectively located at two ends of the transverse bar a, and a marker located in the middle of the two longitudinal bars B, which is the first marker 11. The transverse bar a may be a straight extending bar-like structure, the length of which may be comparable to the distance between the two front wheels 201, or may be arranged to be longer in order to be able to contact both front wheels 201 simultaneously. Both longitudinal bars B are arranged perpendicularly to the transverse bars a so as to be able to abut against the sides of the two front wheels 201. The second wheel truck 20 may have the same structure as the first wheel truck 10, and will not be described in detail.

It will be readily understood that by providing two longitudinal bars B, which can be brought to abut against the outer or inner side of the two front wheels 201, respectively, the position of the middle point between the two longitudinal bars B corresponds to the position of the middle point between the two front wheels 201. Similarly, the midpoint position between the two rear wheels 202 can be determined by the midpoint position between the two longitudinal bars B of the second wheel jamming bar 20.

In further embodiments, as shown in connection with fig. 2, each of said longitudinal bars B is arranged to be able to move transversely along said transverse bar a and to be able to be fastened to said transverse bar a; the first marking 11 is arranged to be movable transversely along the transverse bar a so as to be movable to an intermediate position between the two longitudinal bars B and is arranged to be fastened to the transverse bar a. For example, each of said longitudinal bars B can cooperate with a sliding slot in said transverse bar a, so as to move slidingly; and can be fixed to the transverse bar a by means of screws after having been moved to a predetermined position. The first indicia 11 may be similarly arranged. Since the wheel spacing of various vehicles can be different, the longitudinal rods B are arranged to be capable of moving transversely along the transverse rods A, so that various vehicles can be adapted; and after the position of the middle point of the wheel is determined, each longitudinal rod B can be fixed on the transverse rod A, so that errors caused by mistakenly touching the longitudinal rod B in subsequent operations are avoided. Similarly, the first mark 11 is arranged to be able to move and fix laterally along the transverse rod a, which can also accommodate various vehicles and avoid errors caused by mistakenly touching the first mark 11 in subsequent operations.

In addition, one of the longitudinal bars B can be fastened directly to the transverse bar a without being moved transversely along the transverse bar a, as long as the other longitudinal bar B can be moved. In the embodiment that two longitudinal rods B can move transversely along the transverse rod a, the transverse rod a can be prevented from being moved for multiple times, and only two longitudinal rods B are adjusted to achieve the attachment of the wheels, so that the physical strength of an operator can be saved.

In further embodiments, as shown in connection with fig. 2 and 3, each of the longitudinal bars B is mounted on the transverse bar a by a screw 12, and the marker (e.g., the first marker 11) is a screw mounted on the transverse bar a. For example, each longitudinal rod B may be fixed with a bracket 13, the bracket 13 is attached to one side of the transverse rod a, and the transverse movement and fixation of each longitudinal rod B can be realized by loose or tight fit of the screw 12 installed in the sliding slot of the transverse rod a and the bracket 13. Similarly, the first marking 11, in the form of a screw, is slidable in another runner of the transverse bar a and, when moved to a predetermined position, is fixed in position by tightening the nut.

Please refer to fig. 4, which illustrates a calibration method for a vehicle radar according to an embodiment of the present invention. The method may generally include the following operations.

Step S1, straightens both the front and rear wheels of the vehicle.

As shown in connection with fig. 1, the calibration result is accurate by straightening both the front wheels 201 and the rear wheels 202 of the vehicle 200 so that they coincide with the longitudinal direction of the vehicle 200.

In step S2, the first wheel grab bar is placed near the two front wheels such that the first mark on the first wheel grab bar is centered between the two front wheels.

As shown in fig. 1 and 5, the first wheel chucking lever 10 is placed near the two front wheels 201 such that the first mark 11 on the first wheel chucking lever 10 is located at the center position between the two front wheels 201. The center position between the two front wheels 201 can be determined by measuring with a tape measure or a tape measure, or directly arranging a measuring scale on the first wheel clamping rod 10 so as to calculate and judge the center position; in addition, the measurement accuracy of this center position can be accurate to millimeters. The transverse rod a of the first wheel clamping rod 10 can simultaneously contact the front parts of the two front wheels 201 and can also simultaneously contact the rear parts of the two front wheels 201; for example, the first wheel truck bar 10 may be placed on the ground on which the vehicle is placed, and then the lateral bar a may be pushed toward the two front wheels 201 so that the lateral bar a simultaneously contacts the front portions of the two front wheels 201, and the two longitudinal bars B may be moved to abut against the sides of the two front wheels 201; further, the adjustable first marker 11 is located at a central position between the two longitudinal bars B.

At step S3, the second wheel truck is placed adjacent to the two rear wheels such that the second mark on the second wheel truck is centered between the two rear wheels.

As shown in fig. 1 and 5, the second wheel truck 20 is placed adjacent to the two rear wheels 202 such that the second mark 21 on the second wheel truck 20 is centered between the two rear wheels 202. The center position between the two rear wheels 202 can be determined by measuring with a tape measure or a tape measure, for example, or a measurement scale can be provided directly on the second wheel truck 20 to calculate and determine the center position. Wherein, the transverse rod a of the second wheel truck 20 can contact the front parts of the two rear wheels 202 at the same time, and can also contact the rear parts of the two rear wheels 202 at the same time; for example, the second wheel truck 20 may be placed on the ground on which the vehicle is located, then the transverse bar a is pushed towards the two rear wheels 202, so that the transverse bar a simultaneously contacts the rear portions of the two rear wheels 202, and the two longitudinal bars B may be moved to abut against the sides of the two rear wheels 202; further, the adjustable second marker 21 is located at a central position between the two longitudinal bars B.

Step S4, placing a first laser emitter at a first distance directly in front of a vehicle, the first laser emitter emitting a first backward laser and a forward laser in a reverse direction to the first backward laser; the first backward laser is simultaneously irradiated to the first mark and the second mark, and a physical zero degree direction of the vehicle-mounted radar is represented by a direction of the forward laser at this time.

As shown in fig. 1 and 5, a first laser transmitter 30 is placed at a first distance directly in front of the vehicle 200, and the first laser transmitter 30 transmits a first backward laser 31 and a forward laser 32 opposite to the first backward laser 31; the first backward laser light 31 is simultaneously irradiated to the first mark 11 and the second mark 21, and the physical zero degree direction of the vehicle-mounted radar is represented by the direction of the forward laser light 32 at this time. The first backward laser light 31 may include a planar light in a vertical plane so that it may be irradiated to both the first mark 11 and the second mark 21, and to a surface directly in front of the vehicle 200, for example, to a position near a front license plate. By adjusting the orientation of the first laser emitter 30, the first backward laser 31 is irradiated to the first mark 11 and the second mark 21 at the same time, which means that the first laser emitter 30 is located on the central axis C of the vehicle; accordingly, the forward laser light 32, which is opposite to the first backward laser light 31, is also located at the position of the central axis C of the vehicle. Thus, the direction of the forward laser light 32 is the physical zero direction of the vehicle, and the radar 203 can be mounted on the vehicle in this orientation, thereby also determining the physical zero direction of the radar 203. The first distance may be a horizontal distance from the foremost end of the vehicle 200 to the first laser transmitter 30.

A step S5 of placing a corner cube including a corner reflector and a second laser emitter on an optical path of the forward laser light and at a second distance directly in front of the vehicle; the second laser transmitter emits second backward laser light, the second backward laser light and the first backward laser light are made to coincide in a vertical plane, and a target detection position of the vehicle-mounted radar in a physical zero-degree direction is represented by a position of the corner reflector at the time.

As shown in fig. 1 and 5, the corner cube 40 is disposed on the optical path of the forward laser light 32, so as to ensure that the forward laser light 32 emitted from the first backward laser light 31 is irradiated on the central axis of the corner reflector 41 of the corner cube 40; in addition, the corner reaction device 40 is located a second distance directly in front of the vehicle 200; the second laser transmitter 42 emits the second backward laser light 43 so that the second backward laser light 43 and the first backward laser light 31 coincide in a vertical plane (see a plane where laser light indicated by a dotted line in fig. 5 is located), and the target detection position of the in-vehicle radar in the physical zero degree direction is indicated by the position of the corner reflector 41 at this time. The second distance may be a horizontal distance from the foremost end of the vehicle 200 to the corner reaction device 40.

In the calibration method for the vehicle-mounted radar provided by the embodiment, the positions of four wheels of the vehicle 200 can be skillfully utilized through the first wheel clamping rod 10 and the second wheel clamping rod 20, so that the axle position, namely the position of the central axis C of the vehicle 200, can be quickly positioned, and the complicated operation steps in the traditional calibration method are reduced; moreover, the first laser transmitter 30 and the angle reaction device 40 are combined, so that the vehicle-mounted radar can be further calibrated, the calibration of the vehicle-mounted radar is completed, and the calibration process is simple, convenient and reliable to operate.

With continued reference to fig. 4, the method may further include the following operations.

In step S6, a radar is attached to a portion directly in front of the vehicle body, which is irradiated with laser light in a vertical plane.

As shown in fig. 1 and 5, a radar 203 is attached to a portion directly in front of the vehicle body of the vehicle 200, which is irradiated with laser light in a vertical plane. Since the license plate of the vehicle is usually disposed at the center of the front of the vehicle, the mounting position of the radar 203 may be located above or below the license plate.

Step S6, detecting the corner reflector by the radar.

As shown in fig. 1 and 5, the radar 203 detects the corner reflector 41. The effect of the corner reflector 41 is to reflect the incident probe signal back with a certain intensity in the opposite direction to the original one.

And step S6, calibrating the radar according to the detection result.

As shown in fig. 1 and 5, the radar 203 is calibrated according to the detection result. Since the second backward laser light 43 and the first backward laser light 31 coincide in a vertical plane, the orientation of the corner reflector 41 means the physical zero degree direction of the corresponding radar 203; if the radar 203 installed in the manner described above detects the corner reflector 41 at that time, and then determines that the corner reflector 41 is not in the physical zero-degree direction, it indicates that the radar 203 installed in the manner described above still has an error; and calibrating the radar according to the detection result.

In one embodiment, the step of "calibrating the radar according to the detection result" includes: and starting calibration software on the electronic equipment, wherein the calibration software automatically calibrates the radar after the radar detects the corner reflector to finish calibration.

The electronic device can be a notebook computer, a mobile phone, a tablet computer, a desktop computer and other products which can allow the software to be calibrated.

In one embodiment, the step of "placing the first wheel grab bar adjacent to the two front wheels so that the first mark on the first wheel grab bar is centered between the two front wheels" comprises: placing the transverse bar of the first wheel clamping bar against two front wheels; placing the two longitudinal rods respectively positioned at the two ends of the transverse rod against the outer sides or the inner sides of the two front wheels; fastening two longitudinal bars on the transverse bar; the position of the first mark on the first wheel truck bar on the transverse bar is adjusted to be centered between the two longitudinal bars.

Referring to fig. 1 and 5, the transverse bar a of the first wheel truck bar 10 is placed against two front wheels 201; two longitudinal bars B respectively positioned at both ends of the transverse bar a are placed against the outer or inner sides of the two front wheels 201; fastening two longitudinal bars B on the transverse bar a; the position of the first mark 11 on the first wheel catch lever 10 on the transverse bar a is adjusted to be centered between the two longitudinal bars B.

In one embodiment, the step of "placing the first wheel grab bar adjacent to the two front wheels such that the first marker on the first wheel grab bar is centered between the two front wheels" further comprises: the first marker is fastened to the transverse bar so that it is fixed in a central position between the two longitudinal bars.

As shown in connection with fig. 1 and 5, the first marking 11 is fastened to the transverse bar a so as to be fixed in a central position between the two longitudinal bars B. Said first marking 11 can be a screw that can slide in a sliding slot of the transverse bar a and can be fixed to the transverse bar a by screwing.

In one embodiment, the step of "placing the second wheel truck proximate to the two rear wheels such that the second indicia on the second wheel truck is centered between the two rear wheels" comprises: placing the transverse bar of the second wheel clamping bar against the two rear wheels; placing the two longitudinal rods respectively positioned at the two ends of the transverse rod against the outer sides or the inner sides of the two rear wheels; fastening two longitudinal bars on the transverse bar; the position of the second mark on the second wheel truck on the transverse bar is adjusted to be centered between the two longitudinal bars.

As shown in connection with fig. 1 and 5, the transverse bar a of the second wheel truck 20 is placed against the two rear wheels 202; placing two longitudinal bars B, which are respectively located at both ends of the transverse bar a, against the outer or inner sides of the two rear wheels 202; fastening two longitudinal bars B on the transverse bar a; the position of the second mark 21 on the second wheel bar 20 on the transverse bar a is adjusted to be centered between the two longitudinal bars B.

In one embodiment, the step of "placing the second wheel truck proximate to the two rear wheels such that the second indicia on the second wheel truck is centered between the two rear wheels" further comprises: the second marker is fastened to the transverse bar so that it is fixed in a central position between the two longitudinal bars.

As shown in connection with fig. 1 and 5, the second marking 21 is fastened to the transverse bar a so as to be fixed in a central position between the two longitudinal bars B. Said second marking 21 can be a screw which can slide in a sliding slot of the transverse bar a and can be fixed to the transverse bar a by screwing.

In an embodiment, the first distance is in the range of 1 to 2 meters; and, the second distance is in the range of 2.5 to 3.5 meters. For example, the first distance may be 1 meter, 1.2 meters, 1.5 meters, 1.8 meters, 2 meters, etc., and the second distance may be 2.5 meters, 3 meters, 3.2 meters, 3.5 meters, etc.

To sum up, the utility model provides a system and method based on car four-wheel physics zero degree is carried out calibration to on-vehicle millimeter wave radar before, the utility model discloses a system and method have utilized car four-wheel physics zero degree to calibrate ingeniously, only need a laser emitter, two tire kellies and the anti-laser emitter of a band angle, just can find out the physics zero degree in car the place ahead, then calibrate the radar.

The embodiment of the utility model has the advantages that the positions of four wheels of the vehicle can be skillfully utilized through the first wheel clamping rod 10 and the second wheel clamping rod 20, so that the axle position, namely the position of the central axis C of the vehicle 200, can be quickly positioned, and the complicated operation steps in the traditional calibration method are reduced; moreover, the first laser transmitter 30 and the angle reaction device 40 are combined, so that the vehicle-mounted radar can be further calibrated, the calibration of the vehicle-mounted radar is completed, and the calibration process is simple, convenient and reliable to operate. In summary, the system and method of the present invention are low cost, simple, practical, and highly reliable.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments can be combined, steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims (8)

1. An on-board radar calibration system (100), comprising:

a first wheel jamming lever (10), the first wheel jamming lever (10) being configured to provide a first marking (11), the first marking (11) indicating a center position between two straightened front wheels (201) of a vehicle (200);

a second wheel jamming lever (20), the second wheel jamming lever (20) being configured to provide a second marking (21), the second marking (21) indicating a center position between two straightened rear wheels (202) of the vehicle (200);

a first laser emitter (30), the first laser emitter (30) for placing directly in front of a vehicle (200) and emitting a first backward laser light (31) and a forward laser light (32) opposite to the first backward laser light (31); when the first backward laser (31) irradiates the first mark (11) and the second mark (21) simultaneously, the direction of the forward laser (32) is used for representing the physical zero degree direction of the vehicle-mounted radar; and

a corner cube (40), the corner cube (40) comprising a corner reflector (41) and a second laser emitter (42); the angle reflection device (40) is used for being placed on the optical path of the forward laser (32) and ensuring that the forward laser (32) irradiates on the central axis of the corner reflector (41); the second laser emitter (42) is used for emitting second backward laser light (43); when the second backward laser (43) and the first backward laser (31) are coincident in a vertical plane, the position of the corner reflector (41) is the target detection position of the vehicle-mounted radar in the physical zero-degree direction.

2. The vehicle radar calibration system (100) of claim 1,

each of the first wheel jamming rod (10) and the second wheel jamming rod (20) comprises a transverse rod (A), two longitudinal rods (B) respectively located at two ends of the transverse rod (A), and a marker located between the two longitudinal rods (B).

3. The vehicle radar calibration system (100) according to claim 2,

at least one of the two longitudinal bars (B) is arranged so as to be able to move transversely along the transverse bar (A) and is able to be fastened to the transverse bar (A); the marker is arranged to be laterally movable along the transverse bar (A) so as to be movable to an intermediate position of the two longitudinal bars (B) and is arranged to be fastenable to the transverse bar (A).

4. The vehicle radar calibration system (100) according to claim 3,

each longitudinal rod (B) is mounted on the transverse rod (A) by means of a screw, and the markers are screws mounted on the transverse rods (A).

5. The vehicle radar calibration system (100) according to claim 4, wherein each longitudinal bar (B) is fixedly connected with a bracket (13), and the bracket (13) is attached to one side of the transverse bar (A); and screws (12) arranged in the sliding grooves of the transverse rods (A) are in loose fit or tight fit with the brackets (13), so that the transverse movement and fixation of the longitudinal rods (B) are realized.

6. An on-board radar calibration system (100) according to claim 4, wherein said marker is arranged to slide inside another runner of said transverse bar (A) and can be fixed on said transverse bar (A) by tightening a nut.

7. The vehicle radar calibration system (100) according to claim 1, wherein the first (11) and second (21) markers are indentations, colors or protrusions.

8. The vehicle radar calibration system (100) according to any one of claims 1-7, wherein the first backward laser light (31) emitted by the first laser emitter (30) comprises a planar light ray in a vertical plane, and the second backward laser light (43) emitted by the second laser emitter (42) comprises a planar light ray in a vertical plane.

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