A device and method for detecting and calibrating the state of a vehicle forward-looking anti-collision radar

Abstract

The present invention discloses a device for detecting and calibrating the state of a forward-looking anti-collision radar of a vehicle, comprising a motion mechanism, a camera and image processing unit, a radar signal collector, an information detection device, and a display and control unit. The camera and image processing unit comprises a camera, an image acquisition module, and an image extraction module of a forward-looking anti-collision radar of a vehicle under test. The camera and the radar signal collector are both installed on the motion mechanism. The present invention also discloses a method for detecting and calibrating the state of a forward-looking anti-collision radar of a vehicle under test. The present invention realizes that the center of the camera's field of view is aligned with the center of the forward-looking anti-collision radar antenna of the vehicle under test by moving the camera in both horizontal and vertical directions. The radar signal collector collects the forward-looking anti-collision radar signal of the vehicle under test and analyzes its intensity, thereby reducing the safety risk caused by the installation deviation of the forward-looking anti-collision radar of the vehicle under test, solving the error caused by the manual installation of the radar sensor, and improving the measurement accuracy of the forward-looking anti-collision radar of the vehicle under test.

Description

Technical Field

[0001] The invention belongs to the technical field of vehicle obstacle avoidance, and in particular relates to a device and method for detecting and calibrating the state of a forward-looking anti-collision radar of an automobile. Background Art

[0002] In recent years, smart anti-collision vehicles and their autonomous driving technologies have attracted widespread attention from academia, industry, and governments, and are gradually moving toward the application stage. At present, automotive forward anti-collision millimeter-wave radar has been widely used as one of the main sensors for assisting autonomous driving and autonomous driving. However, the millimeter-wave radar sensors on cars are currently mainly installed and debugged manually. Due to the narrow beam width of millimeter-wave radars (typically 1-2 degrees), if the errors generated during the assembly process and the changes in the installation position caused by the long-term vibration of the car cause the forward beam to point incorrectly. This will cause the range of the radar beam to deviate from the predetermined lane information when the radar is working, and the detected target data in front of the car may have a large error, which may cause the judgment of the driver and the data processor to deviate, thereby causing a major safety hazard. Summary of the invention

[0003] The purpose of the present invention is to provide a device and method for detecting and calibrating the state of a forward-looking anti-collision radar for an automobile, so as to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a vehicle forward-looking anti-collision radar status detection and installation calibration device, the main structural points of which are: including a motion mechanism, a camera and image processing unit, a radar signal collector, an information detection device and a display and control unit, the camera and image processing unit includes a camera, an image acquisition module and a forward-looking anti-collision radar image extraction module of the vehicle under test, and the camera and the radar signal collector are both installed on the motion mechanism.

[0005] Preferably, the motion mechanism includes a horizontal track, a horizontal slider, a horizontal actuator motor, a vertical track, a vertical slider, a vertical actuator motor and a dual-axis motor controller. A horizontal slider is provided in the horizontal track, and a horizontal actuator motor for driving the horizontal slider to move left and right along the horizontal track is installed on one side of the horizontal track. A vertical track is provided above the horizontal slider, wherein a vertical slider is provided in the vertical track, and a vertical actuator motor for driving the vertical slider to move up and down along the vertical track is installed at the top of the vertical track. The dual-axis motor controller is respectively connected to the horizontal actuator motor and the vertical actuator motor.

[0006] Preferably, a plurality of footings are installed below the horizontal track.

[0007] Preferably, the camera and the radar signal collector are both installed on the center line of the vertical slider and are symmetrical to each other, and the distance between the center of the camera and the center of the radar signal collector is l.

[0008] Preferably, the display and control unit are connected to the dual-axis motor controller, the radar signal collector and the information detection device respectively.

[0009] Preferably, the information detection device includes an antenna, a signal detector, an amplifier, a filter, an A / D converter, a data manager, a signal processing computer and a display, wherein the antenna, signal detector, amplifier, filter, A / D converter and data manager are integrated in a radar signal collector, and the data in the data manager is transmitted to a display and control unit constructed by a signal processing computer and a display via a wired cable or a wireless module.

[0010] As a preferred method, the state detection and installation calibration method of the forward-looking anti-collision radar of the tested vehicle is:

[0011] S1: Determine the positional relationship between the vehicle under test and the forward collision avoidance radar status detection and installation calibration device of the vehicle under test:

[0012] At the test site, the horizontal track of the vehicle's forward collision avoidance radar status detection and installation calibration device is placed flat on the ground. The horizontal track must be perpendicular to the longitudinal axis of the vehicle under test. To this end, the stop sign line of the vehicle under test is drawn on the ground in front of the horizontal track. The stop sign line of the vehicle under test includes a vertical stop sign line and a horizontal stop sign line. The wheels of the vehicle under test must coincide with the vertical stop sign line.

[0013] S2: Alignment of the center of the camera field of view with the center of the forward collision avoidance radar antenna of the vehicle under test:

[0014] When the vehicle under test stops on the stop sign line of the vehicle under test as required, the camera images the front-view anti-collision radar antenna module of the vehicle under test. When the front-view anti-collision radar of the vehicle under test is hidden inside the front face of the vehicle under test, the installation position of the front-view anti-collision radar of the vehicle under test can be manually framed with a colored pen in advance in front of the corresponding front of the vehicle under test; the camera and the radar signal collector are installed on the vertical slider, and the camera images the front-view anti-collision radar of the vehicle under test. When the front-view anti-collision radar of the vehicle under test is not in the center of the camera's field of view, the signal processing computer image processing program calculates the offset of the front-view anti-collision radar of the vehicle under test from the center of the field of view, and converts it into the displacement moved on the horizontal track and the vertical track, controls the position of the horizontal slider on the horizontal track through the horizontal execution motor, and controls the position of the vertical slider on the vertical track through the vertical execution motor, so that the front-view anti-collision radar of the vehicle under test is in the center of the camera's field of view, and then moves upward by a distance l, so that the antenna center of the radar signal collector is aligned with the center of the front-view anti-collision radar antenna of the vehicle under test;

[0015] S3: Measurement of installation error of the forward collision avoidance radar of the tested vehicle:

[0016] When the center of the radar signal collector antenna is aligned with the center of the forward-looking anti-collision radar antenna of the vehicle under test, the radar signal collector receives the transmission signal of the forward-looking anti-collision radar of the vehicle under test, and moves symmetrically left and right along the center point in the horizontal direction. Synchronously, the radar signal collector can obtain the intensity change of the forward-looking anti-collision radar signal of the vehicle under test and display it on the display. The peak value of the signal detection is located on the left and right center lines; after the horizontal measurement is completed, the radar signal collector is returned to the center position, and the radar signal collector is moved symmetrically up and down in the vertical direction to obtain the intensity change of the forward-looking anti-collision radar signal of the vehicle under test, and display it on the display. The peak value of the signal detection is located on the upper and lower center lines, and the curve of the intensity of the forward-looking anti-collision radar signal of the vehicle under test received by the radar signal collector changes with the horizontal axis displacement and the curve of the intensity of the forward-looking anti-collision radar signal of the vehicle under test received by the radar signal collector changes with the vertical axis displacement both conform to the normal distribution;

[0017] When the installation of the forward-looking anti-collision radar of the vehicle under test deviates, when the horizontal position and / or vertical position is offset, the peak value of the signal detection is offset relative to the center. Assuming that the offset is A, the offset angle is θ, and the distance between the forward-looking anti-collision radar of the vehicle under test and the state detection and installation calibration device of the forward-looking anti-collision radar of the vehicle under test is R, it can be calculated:

[0018]

[0019] S4: Calibration of the installation position of the forward collision avoidance radar of the tested vehicle:

[0020] According to the measurement of the installation error of the forward-looking anti-collision radar of the tested vehicle in step S3, the offset angles of the forward-looking anti-collision radar of the tested vehicle in the horizontal and vertical directions can be calculated, and the installation position of the forward-looking anti-collision radar of the tested vehicle can be readjusted according to the offset angle, so as to guide the installation calibration of the forward-looking anti-collision radar of the tested vehicle through the measurement of the installation error. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the motion mechanism of the present invention;

[0022] Figure 2 It is a connection block diagram of the information detection device and the display and control unit of the present invention;

[0023] Figure 3 It is a schematic diagram of the positional relationship between the vehicle under test and the forward-looking anti-collision radar state detection and installation calibration device of the vehicle under test according to the present invention;

[0024] Figure 4 It is a schematic diagram of the alignment adjustment of the center of the camera field of view of the present invention and the center of the forward-looking anti-collision radar of the vehicle under test;

[0025] Figure 5 It is a schematic diagram of the change of the horizontal track movement detection signal strength of the forward-looking anti-collision radar of the tested vehicle installed normally in the present invention;

[0026] Figure 6 It is a schematic diagram of the change of the vertical track movement detection signal strength of the forward-looking anti-collision radar of the tested vehicle installed normally in the present invention;

[0027] Figure 7 This is a schematic diagram of the forward-looking anti-collision radar of the tested vehicle without deviation in the horizontal direction of the present invention;

[0028] Figure 8 This is a schematic diagram of the deviation of the forward-looking anti-collision radar of the tested vehicle in the horizontal direction of the present invention;

[0029] Fig. 9 This is a schematic diagram of the forward-looking anti-collision radar of the tested vehicle without deviation in the vertical direction of the present invention;

[0030] Fig.10 This is a schematic diagram of the deviation of the forward-looking anti-collision radar of the tested vehicle in the vertical direction of the present invention;

[0031] Fig.11 It is a schematic diagram showing the variation of the measured signal strength with the horizontal position when the horizontal installation deviation of the forward-looking anti-collision radar of the tested vehicle occurs in the present invention;

[0032] Fig.12 It is a schematic diagram showing the variation of the measured signal strength with the vertical position when the forward-looking anti-collision radar of the tested vehicle is installed vertically with deviation;

[0033] Fig.13 is a processing flow chart of the camera and image processing unit of the present invention;

[0034] Fig.14 It is a schematic diagram of the installation structure of the camera and the radar signal collector of the present invention;

[0035] In the figure: 1-radar signal collector, 2-display and control unit, 3-camera, 4-image acquisition module, 5-test vehicle forward anti-collision radar image extraction module, 6-horizontal track, 7-horizontal slider, 8-horizontal execution motor, 9-vertical track, 10-vertical slider, 11-vertical execution motor, 12-dual-axis motor controller, 13-foot, 14-antenna, 15-signal detector, 16-amplifier, 17-filter, 18-A / D converter, 19-data manager, 20-signal processing computer, 21-display, 22-upper and lower center lines, 23-test vehicle, 24-test vehicle forward anti-collision radar, 25-vertical stop sign line, 26-horizontal stop sign line, 27-test vehicle forward anti-collision radar state detection and installation calibration device, 28-left and right center lines. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0041] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0042] like Figure 1 As shown, the present invention provides a technical solution, a vehicle forward anti-collision radar state detection and installation calibration device, including a motion mechanism, a camera and image processing unit, a radar signal collector 1, an information detection device and a display and control unit 2, the camera and image processing unit includes a camera 3, an image acquisition module 4 and a forward anti-collision radar image extraction module 5 of the vehicle under test, and the camera 3 and the radar signal collector 1 are both installed on the motion mechanism.

[0043] Among them, in this embodiment, if Figure 1 As shown, the motion mechanism includes a horizontal track 6, a horizontal slider 7, a horizontal execution motor 8, a vertical track 9, a vertical slider 10, a vertical execution motor 11 and a dual-axis motor controller 12. The horizontal track 6 is provided with a horizontal slider 7, and a horizontal execution motor 8 for driving the horizontal slider 7 to move left and right along the horizontal track 6 is installed on one side of the horizontal track 6. A vertical track 9 is provided above the horizontal slider 7, wherein a vertical slider 10 is provided in the vertical track 9, and a vertical execution motor 11 for driving the vertical slider 10 to move up and down along the vertical track 9 is installed on the top of the vertical track 9. The dual-axis motor controller 12 is respectively connected to the horizontal execution motor 8 and the vertical execution motor 11.

[0044] Among them, in this embodiment, if Figure 1 As shown, a plurality of feet 13 are installed below the horizontal track 6 .

[0045] Among them, in this embodiment, if Fig.14As shown, the camera 3 and the radar signal collector 1 are both installed on the center line of the vertical slider 10 and are symmetrical, and the distance between the center of the camera 3 and the center of the radar signal collector 1 is l.

[0046] In this embodiment, the display and control unit 2 is connected to the dual-axis motor controller 12, the radar signal collector 3 and the information detection device respectively.

[0047] Among them, in this embodiment, if Figure 2 As shown, the information detection device includes an antenna 14, a signal detector 15, an amplifier 16, a filter 17, an A / D converter 18, a data manager 19, a signal processing computer 20 and a display 21, wherein the antenna 14, the signal detector 15, the amplifier 16, the filter 17, the A / D converter 18 and the data manager 19 are integrated in the radar signal collector 1, and the data in the data manager 19 is transmitted to the display and control unit 2 constructed by the signal processing computer 20 and the display 21 via a wired cable or a wireless module.

[0048] Among them, in this embodiment, the state detection and installation calibration method of the forward-looking anti-collision radar 24 of the tested vehicle is:

[0049] S1: Determine the positional relationship between the vehicle under test 23 and the forward-looking anti-collision radar state detection and installation calibration device 27 of the vehicle under test:

[0050] like Figure 3 As shown, at the test site, the horizontal track 6 of the state detection and installation calibration device 27 of the forward collision avoidance radar of the tested vehicle is placed flat on the ground, and the horizontal track 6 must be perpendicular to the longitudinal axis of the tested vehicle 23. For this purpose, the stop mark line of the tested vehicle is drawn on the ground in front of the horizontal track 6. The stop mark line of the tested vehicle includes a vertical stop mark line 25 and a horizontal stop mark line 26. The wheels of the tested vehicle 23 must coincide with the vertical stop mark line 25.

[0051] The position control of the camera 3 and the radar signal collector 1 is realized by using a double-axis slide rail having a horizontal track 6 and a vertical track 9. The vertical track 9 is mounted on a horizontal slider 7 on the horizontal track 6, and the camera 3 and the radar signal collector 1 are mounted on a vertical slider 10 on the vertical track 9, so that the horizontal position of the camera 3 and the radar signal collector 1 can be adjusted by the horizontal actuator motor 8, and the vertical actuator motor can adjust the vertical position of the camera 3 and the radar signal collector 1, thereby realizing two-dimensional control of the camera 3 and the radar signal collector 1.

[0052] S2: Alignment of the camera field of view center with the center of the front-view anti-collision radar 24 antenna of the vehicle under test:

[0053] When the vehicle 23 under test stops at the parking sign line of the vehicle under test as required, the camera 3 images the antenna module of the forward-looking anti-collision radar 24 of the vehicle under test. When the forward-looking anti-collision radar 24 of the vehicle under test is hidden inside the front face of the vehicle under test 23, the installation position of the forward-looking anti-collision radar 24 of the vehicle under test can be manually marked in advance with a colored pen in front of the corresponding front face of the vehicle under test 23;

[0054] The video and image processing unit includes a camera 3, an image acquisition module 4 and a forward-looking anti-collision radar image extraction module 5 for the vehicle under test. Fig.13 As shown, the main processing flow is as follows: the camera 3 is connected to the signal processing computer 20 through a video cable, the image acquisition module 4 is installed in the signal processing computer 20, and the front view image of the vehicle under test is captured. The image acquired by the camera 3 is transmitted to the signal processing computer 20 through the image acquisition module 4, and the front view anti-collision radar image extraction module 5 of the vehicle under test running on the signal processing computer 20 extracts the image of the front view anti-collision radar 24 of the vehicle under test, and the signal processing computer 20 calculates the offset distance, which is used for the dual-axis motor controller to adjust the horizontal actuator motor 8 and the vertical actuator motor 11.

[0055] The working principle of the method for adjusting the center of the antenna of the forward-looking anti-collision radar 24 of the tested vehicle is as follows: the camera 3 and the radar signal collector 1 are installed on the vertical slider 10, and the camera 3 images the forward-looking anti-collision radar 24 of the tested vehicle. When the forward-looking anti-collision radar 24 of the tested vehicle is not in the center of the camera's field of view, such as Figure 4 As shown in (1), the image processing program of the signal processing computer 20 calculates the offset of the center of the field of view of the forward collision avoidance radar 24 of the tested vehicle and converts it into the displacement on the horizontal track 6 and the vertical track 9. The horizontal actuator motor 8 controls the position of the horizontal slider 7 on the horizontal track 6, and the vertical actuator motor 11 controls the position of the vertical slider 10 on the vertical track 9, so that the vertical slider 10 is moved by Figure 4 (1) The position is adjusted to Figure 4 (2) so that the forward collision avoidance radar 24 of the vehicle under test is in the center of the camera field of view, such as Fig.14 As shown, the radar signal collector 1 is moved upward by a distance of l, the purpose of which is to align the antenna center of the radar signal collector 1 with the center of the antenna of the forward-looking anti-collision radar 24 of the vehicle under test.

[0056] S3: Measurement of installation error of the forward collision avoidance radar 24 of the tested vehicle:

[0057] When the center of the antenna of the radar signal collector 1 is aligned with the center of the antenna of the forward-looking anti-collision radar 24 of the vehicle under test, the radar signal collector 1 receives the transmission signal of the forward-looking anti-collision radar 24 of the vehicle under test, and moves symmetrically in the horizontal direction along the center point. Synchronously, the radar signal collector 1 can obtain the intensity change of the signal of the forward-looking anti-collision radar 24 of the vehicle under test and display it on the display 21. When the forward-looking anti-collision radar 24 of the vehicle under test is installed correctly, the curve of the signal intensity of the forward-looking anti-collision radar 24 of the vehicle under test received by the radar signal collector 1 and the horizontal axis displacement is as follows: Figure 5 As shown, the peak value of the signal detection is located at the left and right center lines 28; after the horizontal measurement is completed, the radar signal collector 1 is returned to the center position, and the radar signal collector 1 is symmetrically moved up and down in the vertical direction to obtain the intensity change of the signal of the forward-looking anti-collision radar 24 of the measured vehicle, and displayed on the display 21. When the forward-looking anti-collision radar 24 of the measured vehicle is installed correctly, the curve of the intensity of the signal of the forward-looking anti-collision radar 24 of the measured vehicle received by the radar signal collector 1 as the vertical axis displacement changes is as shown in Figure 6 As shown, the peak value of the signal detection is located at the upper and lower center lines 22, and the curve of the signal strength of the forward-looking anti-collision radar 24 of the tested vehicle received by the radar signal collector 1 and the curve of the signal strength of the forward-looking anti-collision radar 24 of the tested vehicle received by the radar signal collector 1 and the curve of the signal strength of the forward-looking anti-collision radar 24 of the tested vehicle received by the radar signal collector 1 and the curve of the signal strength of the vertical axis displacement are both in accordance with the normal distribution;

[0058] There is a deviation when installing the forward collision avoidance radar 24 of the tested vehicle:

[0059] like Figure 7-8 As shown, when the horizontal installation of the forward-looking anti-collision radar 24 of the tested vehicle deviates, the signal strength of the forward-looking anti-collision radar 24 of the tested vehicle changes with the horizontal position as shown in FIG. Fig.11 As shown, when the horizontal position is offset, the peak value of the signal detection is offset relative to the center. Assuming that the offset is A, the offset angle is θ, and the distance between the forward-looking anti-collision radar 24 of the tested vehicle and the forward-looking anti-collision radar state detection and installation calibration device 27 of the tested vehicle is R, it can be calculated:

[0060]

[0061] like Figure 9-10 As shown, when the forward-looking anti-collision radar 24 of the tested vehicle is installed with deviation in the vertical direction, the intensity of the signal of the forward-looking anti-collision radar 24 of the tested vehicle changes with the vertical position as shown in FIG. Fig.12 As shown, when the vertical position is offset, the peak value of the signal detection is offset relative to the center. Assuming that the offset is A, the offset angle is θ, and the distance between the forward-looking anti-collision radar 24 of the tested vehicle and the forward-looking anti-collision radar state detection and installation calibration device 27 of the tested vehicle is R, it can be calculated:

[0062]

[0063] Similarly, when deviations occur in both the horizontal and vertical directions, the strength of the signal of the forward-looking anti-collision radar 24 of the tested vehicle measured by the radar signal collector 1 will change with the position in both directions, and the change pattern also follows the above-mentioned pattern. At this time, the horizontal direction can be adjusted first and then the vertical direction according to actual needs, or the vertical direction can be adjusted first and then the horizontal direction.

[0064] S4: Calibration of the installation position of the forward collision avoidance radar 24 of the tested vehicle:

[0065] According to the measurement of the installation error of the forward-looking collision avoidance radar 24 of the tested vehicle in step S3, the offset angles of the forward-looking collision avoidance radar 24 of the tested vehicle in the horizontal and vertical directions can be calculated, and the installation position of the forward-looking collision avoidance radar 24 of the tested vehicle can be readjusted according to the offset angle, so as to guide the installation calibration of the forward-looking collision avoidance radar 24 of the tested vehicle through the measurement of the installation error.

[0066] According to steps S1, S2, S3, and S4, it is also possible to detect and calibrate whether the installation state of the tested vehicle forward-looking anti-collision radar 24 of the vehicle that has been running for a period of time has changed.

[0067] The present invention moves the camera 3 in the horizontal and vertical directions so that the center of the camera's field of view is aligned with the center of the antenna of the forward-looking anti-collision radar 24 of the measured vehicle. The radar signal collector 1 placed in the center of the camera's field of view collects the signal of the forward-looking anti-collision radar 24 of the measured vehicle and analyzes its intensity, thereby reducing the safety risk caused by the installation deviation of the forward-looking anti-collision radar 24 of the measured vehicle, solving the error caused by the manual installation of the radar sensor, and improving the measurement accuracy of the forward-looking anti-collision radar 24 of the measured vehicle.

[0068] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0069] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A method for detecting and calibrating the state of a forward-looking anti-collision radar for an automobile, characterized in that: The state detection and installation calibration method of the front-view anti-collision radar of the tested vehicle is as follows: S1: Determine the positional relationship between the vehicle under test and the forward collision avoidance radar status detection and installation calibration device of the vehicle under test: At the test site, the horizontal track of the vehicle's forward collision avoidance radar status detection and installation calibration device is placed flat on the ground. The horizontal track must be perpendicular to the longitudinal axis of the vehicle under test. To this end, the stop sign line of the vehicle under test is drawn on the ground in front of the horizontal track. The stop sign line of the vehicle under test includes a vertical stop sign line and a horizontal stop sign line. The wheels of the vehicle under test must coincide with the vertical stop sign line. S2: Alignment of the center of the camera field of view with the center of the forward collision avoidance radar antenna of the vehicle under test: When the vehicle under test stops on the stop sign line of the vehicle under test as required, the camera images the front-view anti-collision radar antenna module of the vehicle under test. When the front-view anti-collision radar of the vehicle under test is hidden inside the front face of the vehicle under test, the installation position of the front-view anti-collision radar of the vehicle under test can be manually framed with a colored pen in advance in front of the corresponding front of the vehicle under test; the camera and the radar signal collector are installed on the vertical slider, and the camera images the front-view anti-collision radar of the vehicle under test. When the front-view anti-collision radar of the vehicle under test is not in the center of the camera's field of view, the signal processing computer image processing program calculates the offset of the front-view anti-collision radar of the vehicle under test from the center of the field of view, and converts it into the displacement moved on the horizontal track and the vertical track, controls the position of the horizontal slider on the horizontal track through the horizontal execution motor, and controls the position of the vertical slider on the vertical track through the vertical execution motor, so that the front-view anti-collision radar of the vehicle under test is in the center of the camera's field of view, and then moves upward by a distance l, so that the antenna center of the radar signal collector is aligned with the center of the front-view anti-collision radar antenna of the vehicle under test; S3: Measurement of installation error of the forward collision avoidance radar of the tested vehicle: When the center of the radar signal collector antenna is aligned with the center of the forward-looking anti-collision radar antenna of the vehicle under test, the radar signal collector receives the transmission signal of the forward-looking anti-collision radar of the vehicle under test, and moves symmetrically left and right along the center point in the horizontal direction. Synchronously, the radar signal collector can obtain the intensity change of the forward-looking anti-collision radar signal of the vehicle under test and display it on the display. The peak value of the signal detection is located on the left and right center lines; after the horizontal measurement is completed, the radar signal collector is returned to the center position, and the radar signal collector is moved symmetrically up and down in the vertical direction to obtain the intensity change of the forward-looking anti-collision radar signal of the vehicle under test, and display it on the display. The peak value of the signal detection is located on the upper and lower center lines, and the curve of the intensity of the forward-looking anti-collision radar signal of the vehicle under test received by the radar signal collector changes with the horizontal axis displacement and the curve of the intensity of the forward-looking anti-collision radar signal of the vehicle under test received by the radar signal collector changes with the vertical axis displacement both conform to the normal distribution; When the installation of the forward-looking anti-collision radar of the vehicle under test deviates, when the horizontal position and / or vertical position is offset, the peak value of the signal detection is offset relative to the center. Assuming that the offset is A, the offset angle is θ, and the distance between the forward-looking anti-collision radar of the vehicle under test and the state detection and installation calibration device of the forward-looking anti-collision radar of the vehicle under test is R, it can be calculated: S4: Calibration of the installation position of the forward collision avoidance radar of the tested vehicle: According to the measurement of the installation error of the forward-looking anti-collision radar of the tested vehicle in step S3, the offset angles of the forward-looking anti-collision radar of the tested vehicle in the horizontal and vertical directions can be calculated, and the installation position of the forward-looking anti-collision radar of the tested vehicle can be readjusted according to the offset angle, so as to guide the installation calibration of the forward-looking anti-collision radar of the tested vehicle through the measurement of the installation error.

2. A method for detecting and calibrating the state of a forward-looking anti-collision radar for an automobile according to claim 1, characterized in that: It includes a motion mechanism, a camera and image processing unit, a radar signal collector, an information detection device and a display and control unit. The camera and image processing unit includes a camera, an image acquisition module and a forward-looking anti-collision radar image extraction module of the tested vehicle. The camera and the radar signal collector are both installed on the motion mechanism. The motion mechanism includes a horizontal track, a horizontal slider, a horizontal actuator motor, a vertical track, a vertical slider, a vertical actuator motor and a dual-axis motor controller. A horizontal slider is arranged in the horizontal track, and a horizontal actuator motor for driving the horizontal slider to move left and right along the horizontal track is installed on one side of the horizontal track. A vertical track is arranged above the horizontal slider, wherein a vertical slider is arranged in the vertical track, and a vertical actuator motor for driving the vertical slider to move up and down along the vertical track is installed at the top of the vertical track. The dual-axis motor controller is respectively connected to the horizontal actuator motor and the vertical actuator motor.

3. A method for detecting and calibrating the state of a forward-looking anti-collision radar for an automobile according to claim 2, characterized in that: A plurality of footings are installed below the horizontal track.

4. The method for detecting and calibrating the state of a forward-looking anti-collision radar for an automobile according to claim 2, characterized in that: The camera and the radar signal collector are both installed on the center line of the vertical slider and are symmetrical, and the distance between the center of the camera and the center of the radar signal collector is l.

5. The method for detecting and calibrating the state of a forward-looking anti-collision radar for an automobile according to claim 2, characterized in that: The display and control unit are respectively connected with the dual-axis motor controller, the radar signal collector and the information detection equipment.

6. The method for detecting and calibrating the state of a forward-looking anti-collision radar for an automobile according to claim 2, characterized in that: The information detection device includes an antenna, a signal detector, an amplifier, a filter, an A / D converter, a data manager, a signal processing computer and a display, wherein the antenna, signal detector, amplifier, filter, A / D converter and data manager are integrated in a radar signal collector, and the data in the data manager is transmitted to a display and control unit constructed by a signal processing computer and a display via a wired cable or a wireless module.

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