Vehicle-mounted radar calibration system and vehicle-mounted radar calibration method

Abstract

The present invention relates to the field of vehicle-mounted radar technology, and discloses a vehicle-mounted radar calibration system and a vehicle-mounted radar calibration method. The system includes: first and second wheel clamps, providing first and second marks indicating the center position between the front wheels and between the rear wheels; a first laser emitter, which is in front of the vehicle and emits a first backward laser and a forward laser; when the first backward laser irradiates the first and second marks at the same time, the direction of the forward laser indicates the physical zero-degree direction of the vehicle-mounted radar; an angle reflection device, including a corner reflector and a second laser emitter, which are placed on the optical path of the forward laser, and the second laser emitter emits a second backward laser; when the second backward laser and the first backward laser coincide in the vertical plane, the position of the corner reflector is the 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 using the positions of the four wheels, and the vehicle-mounted radar can be calibrated in combination with the first laser emitter and the angle reflection device.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-mounted radars, and in particular to a vehicle-mounted radar calibration system and a vehicle-mounted radar calibration method. Background Art

[0002] With the widespread popularity of automobiles, the issue of safe driving has attracted more and more attention. With the continuous advancement of automobile technology, more and more intelligent assisted driving technologies are being applied to safe driving. The main sensor of these intelligent assisted driving technologies is the on-board radar. Therefore, it is very important to ensure that the on-board radar can make accurate judgments during the application process. Because the on-board radar is the main sensor of various intelligent assisted driving technologies, if the on-board radar makes an incorrect judgment, the driver will drive incorrectly due to the error of the on-board radar during driving, which can easily cause traffic accidents.

[0003] In particular, the radar has a series of errors from the factory to the actual installation or vehicle manufacturing itself. Taking into account the above error factors, after the radar is installed on the vehicle, it is necessary to find the physical zero-degree direction of the radar and perform offline calibration on the radar.

[0004] Therefore, in order to solve the above problems, automobile operators must calibrate the vehicle radar before the car leaves the factory. At present, most of the vehicle radar calibration technologies use the body oscillator to determine the physical zero degree of the vehicle. However, this method has a large system, requires a fixed site and is costly. Summary of the invention

[0005] Based on this, it is necessary to provide a vehicle-mounted radar calibration system and a vehicle-mounted radar calibration method to address the above technical problems. In this way, the complex operation steps in the traditional calibration method can be reduced, so that the calibration process is simple and reliable. The technical solution is as follows.

[0006] In the first aspect, an embodiment of the present invention provides a vehicle-mounted radar calibration system, the system comprising: a first wheel clamp, the first wheel clamp is used to provide a first mark, the first mark indicates the center position between the two straightened front wheels of the vehicle; a second wheel clamp, the second wheel clamp is used to provide a second mark, the second mark indicates the center position between the two straightened rear wheels of the vehicle; a first laser emitter, the first laser emitter is used to be placed in front of the vehicle and emit a first backward laser and a forward laser in the opposite direction of the first backward laser; when the first backward laser simultaneously irradiates the first mark and the second mark, the direction of the forward laser is used to indicate the physical zero degree direction of the vehicle-mounted radar; an angle reflection device, the angle reflection device comprises a corner reflector and a second laser emitter; the angle reflection device is used to be placed in the optical path of the forward laser to ensure that the forward laser irradiates the central axis of the corner reflector; the second laser emitter is used to emit 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 the target detection position of the vehicle-mounted radar in the physical zero degree direction.

[0007] In some other embodiments, each of the first wheel clamping bar and the second wheel clamping bar includes a transverse bar, two longitudinal bars respectively located at two ends of the transverse bar, and a marker located between the two longitudinal bars.

[0008] In some other embodiments, at least one of the two longitudinal rods is configured to be able to move laterally along the transverse rod and to be fastened to the transverse rod; the marker is configured to be able to move laterally along the transverse rod so as to be able to move to a middle position between the two longitudinal rods, and is configured to be fastened to the transverse rod.

[0009] In some other embodiments, each of the longitudinal rods is mounted on the transverse rod by a screw, and the marker is a screw mounted on the transverse rod.

[0010] In some other embodiments, each of the longitudinal rods is fixedly connected to a bracket, and the bracket is attached to one side of the transverse rod; the transverse movement and fixation of each of the longitudinal rods are achieved by loosely or tightly fitting the screws installed in the sliding groove of the transverse rod with the bracket.

[0011] In some other embodiments, the marker is configured to slide in another slide groove of the transverse rod, and the marker can be fixed on the transverse rod by tightening a nut.

[0012] In some other embodiments, the first mark and the second mark are notches, colors or protrusions.

[0013] In some other embodiments, the first backward laser light emitted by the first laser emitter includes a planar light located in a vertical plane, and the second backward laser light emitted by the second laser emitter includes a planar light located in a vertical plane.

[0014] In a second aspect, an embodiment of the present invention provides a vehicle-mounted radar calibration method, the method comprising: straightening the front and rear wheels of the vehicle; placing a first wheel bar close to the two front wheels so that a first mark on the first wheel bar is located at a center position between the two front wheels; placing a second wheel bar close to the two rear wheels so that a second mark on the second wheel bar is located at a center position between the two rear wheels; placing a first laser emitter at a first distance directly in front of the vehicle, the first laser emitter emitting a first backward laser and a forward laser in the opposite direction of the first backward laser; causing the first backward laser to irradiate the first mark and the second mark at the same time, and the physical zero degree direction of the vehicle-mounted radar is indicated by the direction of the forward laser at this time; placing an angle reflector including a corner reflector and a second laser emitter on the optical path of the forward laser and located at a second distance directly in front of the vehicle; the second laser emitter emitting a second backward laser so that the second backward laser and the first backward laser coincide in a vertical plane, and the target detection position of the vehicle-mounted radar in the physical zero degree direction is indicated by the position of the corner reflector at this time.

[0015] In some other embodiments, the method further includes: installing a radar at a location directly in front of the vehicle body that is irradiated by the laser in a vertical plane; detecting the corner reflector by the radar; and calibrating the radar based on the detection result.

[0016] In some other embodiments, the step of "calibrating the radar according to the detection results" includes: starting calibration software on the electronic device, the calibration software automatically calibrates the radar after the radar detects the corner reflector to complete the calibration.

[0017] In some other embodiments, the step of "placing the first wheel clamp close to the two front wheels so that the first mark on the first wheel clamp is located at the center position between the two front wheels" includes: placing the transverse rod of the first wheel clamp against the two front wheels; placing two longitudinal rods located at both ends of the transverse rod against the outer side or inner side of the two front wheels; fastening the two longitudinal rods to the transverse rod; adjusting the position of the first mark on the first wheel clamp on the transverse rod so that it is located at the center position between the two longitudinal rods.

[0018] In some other embodiments, the step of "placing the first wheel clamp close to the two front wheels so that the first mark on the first wheel clamp is located at the center position between the two front wheels" also includes: fastening the first mark to the transverse rod so that it is fixed at the center position between the two longitudinal rods.

[0019] In some other embodiments, the step of "placing the second wheel clamp close to the two rear wheels so that the second mark on the second wheel clamp is located at the center position between the two rear wheels" includes: placing the transverse rod of the second wheel clamp against the two rear wheels; placing two longitudinal rods located at both ends of the transverse rod against the outer side or inner side of the two rear wheels; fastening the two longitudinal rods to the transverse rod; adjusting the position of the second mark on the second wheel clamp on the transverse rod so that it is located at the center position between the two longitudinal rods.

[0020] In some other embodiments, the step of "placing the second wheel clamp close to the two rear wheels so that the second mark on the second wheel clamp is located at the center position between the two rear wheels" also includes: fastening the second mark to the transverse rod so that it is fixed at the center position between the two longitudinal rods.

[0021] In some other embodiments, 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.

[0022] Compared with the prior art, the beneficial effects of the present invention are: different from the prior art, in the vehicle-mounted radar calibration system in the embodiment of the present invention, through the first wheel clamp and the second wheel clamp, the positions of the four wheels of the vehicle can be cleverly utilized, so that the axle position, that is, the center axis position of the vehicle can be quickly located, reducing the complicated operation steps in the traditional calibration method; and, in combination with the first laser emitter and the angle reflection device, the vehicle-mounted radar can be further calibrated, thereby completing the calibration of the vehicle-mounted radar, making the calibration process simple and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0024] Figure 1 is a schematic diagram of a vehicle-mounted radar calibration system provided by an embodiment of the present invention, wherein a schematic vehicle and a radar are also shown;

[0025] Figure 2 yes Figure 1 A schematic diagram of a first wheel clamp in a vehicle-mounted radar calibration system;

[0026] Figure 3 yes Figure 2 Detailed schematic diagram of the first wheel lever;

[0027] Figure 4 is a flow chart of a vehicle-mounted radar calibration method provided by an embodiment of the present invention;

[0028] Figure 5 It is a schematic diagram of an application scenario of a vehicle-mounted radar calibration system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order from the module division in the device or the flow chart. 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 with basically the same functions and effects.

[0031] See also Figure 1 , which shows a vehicle-mounted radar calibration system 100 provided by one embodiment of the present invention. The vehicle-mounted radar calibration system 100 may include a first wheel bar 10, a second wheel bar 20, a first laser emitter 30 and an angle reflection device 40. The first wheel bar 10 and the second wheel bar 20 are respectively used to be arranged close to the front wheel 201 and the rear wheel 202 of the vehicle 200, so as to find the position of the center axis C of the vehicle in combination with the first laser emitter 30; the angle reflection device 40 is used to combine with the first laser emitter 30 to provide the target detection position of the vehicle-mounted radar 203 in the physical zero degree direction.

[0032] Specifically, combined Figure 1 and Figure 2As shown, the first wheel clamp 10 is used to provide a first mark 11, and the first mark 11 indicates the center position between the two straightened front wheels 201 of the vehicle 200. The first mark 11 can be in the form of, for example, notches, colors, protrusions, etc. Similarly, the second wheel clamp 20 is used to provide a second mark 21, and the second mark 21 indicates the center position between the two straightened rear wheels 202 of the vehicle 200. By straightening the front wheels 201, they are consistent with the longitudinal direction of the vehicle 200, so that the calibration result is accurate.

[0033] The first laser emitter 30 is used to be placed in front of the vehicle 200 and emit a first backward laser 31 and a forward laser 32 in the opposite direction of the first backward laser 31. When the first backward laser 31 irradiates the first mark 11 and the second mark 21 at the same time, the direction of the forward laser 32 is used to indicate the physical zero degree direction of the vehicle-mounted radar 203. Figure 5 As shown, the first backward laser 31 may include a planar light located in a vertical plane, so that it can irradiate the first mark 11 and the second mark 21, and can also irradiate the surface directly in front of the vehicle 200, for example, it can irradiate the position near the license plate in front. By adjusting the orientation of the first laser emitter 30, the first backward laser 31 can irradiate the first mark 11 and the second mark 21 at the same time, which means that the first laser emitter 30 is located at the position of the center axis C of the vehicle; accordingly, the forward laser 32 opposite to the first backward laser 31 is also located at the position of the center axis C of the vehicle. Therefore, the direction of the forward laser 32 is the physical zero-degree direction of the vehicle, and the radar 203 can be installed on the vehicle 200 according to this orientation, so as to determine the physical zero-degree direction of the radar 203. In addition, the first backward laser 31 may also include another planar light perpendicular to the vertical plane, for example, a planar light located in a horizontal plane.

[0034] The corner reflector 40 may include a corner reflector 41 and a second laser emitter 42. The corner reflector 40 is used to be placed on the optical path of the forward laser 32 to ensure that the forward laser 32 is irradiated on the central axis of the corner reflector 41. The second laser emitter 42 is used to emit a second backward laser 43, and the second backward laser 43 may include a planar light in a vertical plane. When the second backward laser 43 and the first backward laser 31 coincide in the 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 to say, by adjusting the direction of the corner reflector 40, the second backward laser 43 and the first backward laser 31 coincide in the vertical plane. At this time, the corner reflector 41 corresponds to the physical zero degree direction of the radar 203. If the radar 203 installed in the aforementioned manner detects the corner reflector 41 at this time and determines that the corner reflector 41 is not in the physical zero degree direction, it indicates that the radar 203 installed in the aforementioned manner still has errors. Then, the radar 203 installed in the aforementioned manner can be calibrated by calibration software to complete the final calibration.

[0035] The radar 203 may be a millimeter wave radar, a laser radar, or a visual sensor. Among them, the millimeter wave radar is preferably used because it can work all-weather, has a simple system, low cost, and its performance is basically not affected by weather.

[0036] In the vehicle-mounted radar calibration system 100 provided in the above embodiment, the positions of the four wheels of the vehicle can be cleverly utilized through the first wheel clamp 10 and the second wheel clamp 20, so that the axle position, that is, the position of the center axis C of the vehicle 200 can be quickly located, reducing the complicated operation steps in the traditional calibration method; moreover, combined with the first laser emitter 30 and the angle reflection device 40, the vehicle-mounted radar can be further calibrated, thereby completing the calibration of the vehicle-mounted radar, making the calibration process simple and reliable.

[0037] In some embodiments, in combination Figure 2 As shown, the first wheel clamp 10 may include a transverse rod A, two longitudinal rods B located at both ends of the transverse rod A, and a marker located between the two longitudinal rods B, which is the aforementioned first marker 11. The transverse rod A may be a rod-shaped structure extending in a straight line, and its length may be equivalent to the distance between the two front wheels 201, or may be set to be longer so as to be able to contact the two front wheels 201 at the same time. The two longitudinal rods B are both arranged perpendicular to the transverse rod A so as to be able to abut against the sides of the two front wheels 201. The second wheel clamp 20 may have the same structure as the first wheel clamp 10, and will not be described in detail here.

[0038] It is easy to understand that by providing two longitudinal bars B, the two longitudinal bars B can be respectively attached to the outer side or the inner side of the two front wheels 201, so that the midpoint position between the two longitudinal bars B corresponds to the midpoint position 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 clamp 20.

[0039] In some further embodiments, in combination Figure 2 As shown, each of the longitudinal bars B is configured to be able to move laterally along the transverse bar A and to be fastened to the transverse bar A; the first mark 11 is configured to be able to move laterally along the transverse bar A so as to be able to move to the middle position of the two longitudinal bars B and to be fastened to the transverse bar A. For example, each of the longitudinal bars B can cooperate with the slide groove in the transverse bar A so as to slide and move; and after moving to a predetermined position, it can be fixed to the transverse bar A by screws. The first mark 11 can be configured similarly. Since the wheel spacing of various vehicles may be different, the present application configures each of the longitudinal bars B to be able to move laterally along the transverse bar A, so as to adapt to various vehicles; and after determining the midpoint position of the wheel, each of the longitudinal bars B can be fixed to the transverse bar A to avoid errors caused by accidentally touching the longitudinal bars B in subsequent operations. Similarly, the first mark 11 is configured to be able to move and fix laterally along the transverse bar A, which can also adapt to various vehicles and avoid errors caused by accidentally touching the first mark 11 in subsequent operations.

[0040] In addition, one of the longitudinal bars B can be directly fastened to the transverse bar A without moving laterally along the transverse bar A, as long as the other longitudinal bar B can move. In the embodiment in which both longitudinal bars B can move laterally along the transverse bar A, it is possible to avoid moving the transverse bar A multiple times, and only the two longitudinal bars B need to be adjusted to achieve the contact with the wheel, which can save the operator's physical strength.

[0041] In some further embodiments, in combination Figure 2 and Figure 3 As shown, each longitudinal bar 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 bar B can be fixed with a bracket 13, and the bracket 13 is attached to one side of the transverse bar A, and then the screw 12 installed in the slide groove of the transverse bar A is loosely matched or tightly matched with the bracket 13, so that the transverse movement and fixation of each longitudinal bar B can be achieved. Similarly, the first marker 11 in the form of a screw can slide in another slide groove of the transverse bar A, and when it moves to a predetermined position, the position is fixed by tightening the nut.

[0042] See also Figure 4 , which shows a vehicle-mounted radar calibration method provided by one embodiment of the present invention. The method mainly includes the following operations.

[0043] Step S1, straighten the front wheels and rear wheels of the vehicle.

[0044] Combination Figure 1 As shown, the front wheels 201 and the rear wheels 202 of the vehicle 200 are straightened so that they are consistent with the longitudinal direction of the vehicle 200 to make the calibration result accurate.

[0045] Step S2: placing the first wheel clamp close to the two front wheels so that the first mark on the first wheel clamp is located at the center between the two front wheels.

[0046] Combination Figure 1 and Figure 5 As shown, the first wheel bar 10 is placed close to the two front wheels 201 so that the first mark 11 on the first wheel bar 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 soft ruler, or a measuring scale can be directly set on the first wheel bar 10 to calculate and determine the center position; in addition, the measurement accuracy of the center position can be accurate to millimeters. Among them, the transverse rod A of the first wheel bar 10 can contact the front part of the two front wheels 201 at the same time, and can also contact the rear part of the two front wheels 201 at the same time; for example, the first wheel bar 10 can be placed on the ground where the vehicle is located, and then the transverse rod A is pushed toward the two front wheels 201, so that the transverse rod A contacts the front part of the two front wheels 201 at the same time, and the two longitudinal rods B can be moved to the side of the two front wheels 201; then, the first mark 11 can be adjusted to the center position between the two longitudinal rods B.

[0047] Step S3: placing the second wheel clamp close to the two rear wheels so that the second mark on the second wheel clamp is located at the center between the two rear wheels.

[0048] Combination Figure 1 and Figure 5As shown, the second wheel bar 20 is placed close to the two rear wheels 202 so that the second mark 21 on the second wheel bar 20 is located at the center position 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 soft ruler, or a measuring scale can be directly set on the second wheel bar 20 to calculate and determine the center position. The transverse rod A of the second wheel bar 20 can contact the front part of the two rear wheels 202 at the same time, or can contact the rear part of the two rear wheels 202 at the same time; for example, the second wheel bar 20 can be placed on the ground where the vehicle is located, and then the transverse rod A can be pushed toward the two rear wheels 202 so that the transverse rod A contacts the rear part of the two rear wheels 202 at the same time, and the two longitudinal rods B can be moved to the side close to the two rear wheels 202; further, the second mark 21 can be adjusted to be located at the center position between the two longitudinal rods B.

[0049] Step S4, placing a first laser emitter at a first distance directly in front of the vehicle, the first laser emitter emits a first backward laser and a forward laser in the opposite direction of the first backward laser; the first backward laser is made to illuminate the first mark and the second mark at the same time, and the physical zero degree direction of the vehicle-mounted radar is indicated by the direction of the forward laser at this time.

[0050] Combination Figure 1 and Figure 5 As shown, the first laser emitter 30 is placed at a first distance in front of the vehicle 200, and the first laser emitter 30 emits a first backward laser 31 and a forward laser 32 in the opposite direction of the first backward laser 31; the first backward laser 31 is made to irradiate the first mark 11 and the second mark 21 at the same time, and the physical zero-degree direction of the vehicle-mounted radar is indicated by the direction of the forward laser 32 at this time. The first backward laser 31 may include a planar light in a vertical plane, so that it can irradiate the first mark 11 and the second mark 21, and can also irradiate the surface in front of the vehicle 200, for example, it can irradiate the position near the license plate in front. By adjusting the orientation of the first laser emitter 30, the first backward laser 31 is made to irradiate the first mark 11 and the second mark 21 at the same time, which means that the first laser emitter 30 is located at the center axis C of the vehicle; accordingly, the forward laser 32 in the opposite direction of the first backward laser 31 is also located at the center axis C of the vehicle. Therefore, the direction of the forward laser 32 is the physical zero degree direction of the vehicle, and the radar 203 can be installed on the vehicle according to this orientation, thereby also determining the physical zero degree direction of the radar 203. The first distance can be the horizontal distance from the front end of the vehicle 200 to the first laser emitter 30.

[0051] Step S5, placing a corner reflector device including a corner reflector and a second laser emitter on the optical path of the forward laser and at a second distance directly in front of the vehicle; the second laser emitter emits a second backward laser, so that the second backward laser and the first backward laser coincide with each other in a vertical plane, and the position of the corner reflector at this time is used to indicate the target detection position of the vehicle-mounted radar in the physical zero degree direction.

[0052] Combination Figure 1 and Figure 5 As shown, the corner reflector 40 is placed on the optical path of the forward laser 32, ensuring that the forward laser 32 emitted by the first backward laser 31 irradiates the central axis of the corner reflector 41 of the corner reflector 40; in addition, the corner reflector 40 is located at a second distance directly in front of the vehicle 200; the second laser emitter 42 emits a second backward laser 43, so that the second backward laser 43 and the first backward laser 31 are in a vertical plane (see Figure 5 The second distance may be the horizontal distance from the front end of the vehicle 200 to the corner reflector 40.

[0053] In the vehicle-mounted radar calibration method provided in the above embodiment, the positions of the four wheels of the vehicle 200 can be cleverly utilized through the first wheel clamp 10 and the second wheel clamp 20, so that the axle position, that is, the position of the center axis C of the vehicle 200 can be quickly located, reducing the complicated operation steps in the traditional calibration method; moreover, combined with the first laser emitter 30 and the angle reflection device 40, the vehicle-mounted radar can be further calibrated, thereby completing the calibration of the vehicle-mounted radar, making the calibration process simple and reliable.

[0054] Continue reading Figure 4 , the method may also include the following operations.

[0055] Step S6, installing a radar at a location directly in front of the vehicle body that is irradiated by the laser in the vertical plane.

[0056] Combination Figure 1 and Figure 5 As shown, a radar 203 is installed at a position irradiated by the laser in a vertical plane just in front of the vehicle body 200. Since the license plate of the vehicle is usually arranged in the center position in front of the vehicle, the installation position of the radar 203 can be located above or below the license plate.

[0057] Step S6: the radar detects the corner reflector.

[0058] Combination Figure 1 and Figure 5 As shown, the radar 203 detects the corner reflector 41. The function of the corner reflector 41 is to reflect the incident detection signal back in the opposite direction with a certain intensity.

[0059] Step S6, calibrating the radar according to the detection result.

[0060] Combination Figure 1 and Figure 5 As shown, the radar 203 is calibrated according to the detection result. When the second backward laser 43 and the first backward laser 31 coincide in the vertical plane, the direction of the corner reflector 41 corresponds to the physical zero-degree direction of the radar 203; and if the radar 203 installed in the above manner detects the corner reflector 41 at this time and determines that the corner reflector 41 is not in the physical zero-degree direction, it indicates that the radar 203 installed in the above manner still has errors; and then, the radar is calibrated according to the detection result.

[0061] In one embodiment, the step of "calibrating the radar according to the detection result" includes: starting calibration software on the electronic device, the calibration software automatically calibrating the radar after the radar detects the corner reflector to complete the calibration.

[0062] The electronic device may be a notebook computer, a mobile phone, a tablet computer, a desktop computer, or other product that allows calibration software.

[0063] In one embodiment, the step of "placing the first wheel clamp close to the two front wheels so that the first mark on the first wheel clamp is located at the center position between the two front wheels" includes: placing the transverse rod of the first wheel clamp against the two front wheels; placing two longitudinal rods located at both ends of the transverse rod against the outer side or inner side of the two front wheels; fastening the two longitudinal rods to the transverse rod; adjusting the position of the first mark on the first wheel clamp on the transverse rod so that it is located at the center position between the two longitudinal rods.

[0064] Combination Figure 1 and Figure 5 As shown, the transverse rod A of the first wheel clamp 10 is placed against the two front wheels 201; the two longitudinal rods B located at both ends of the transverse rod A are placed against the outer side or inner side of the two front wheels 201; the two longitudinal rods B are fastened to the transverse rod A; the position of the first mark 11 on the first wheel clamp 10 on the transverse rod A is adjusted to be located at the center position between the two longitudinal rods B.

[0065] In one embodiment, the step of "placing the first wheel clamp close to the two front wheels so that the first mark on the first wheel clamp is located at the center position between the two front wheels" also includes: fastening the first mark to the transverse rod so that it is fixed at the center position between the two longitudinal rods.

[0066] Combination Figure 1 and Figure 5 As shown, the first mark 11 is fastened to the transverse bar A so as to be fixed at the center position between the two longitudinal bars B. The first mark 11 can be a screw, which can slide in the slide groove of the transverse bar A and can be fixed on the transverse bar A by tightening.

[0067] In one embodiment, the step of "placing the second wheel clamp close to the two rear wheels so that the second mark on the second wheel clamp is located at the center position between the two rear wheels" includes: placing the transverse rod of the second wheel clamp against the two rear wheels; placing two longitudinal rods located at both ends of the transverse rod against the outer side or inner side of the two rear wheels; fastening the two longitudinal rods to the transverse rod; adjusting the position of the second mark on the second wheel clamp on the transverse rod so that it is located at the center position between the two longitudinal rods.

[0068] Combination Figure 1 and Figure 5 As shown, the transverse rod A of the second wheel clamp 20 is placed against the two rear wheels 202; the two longitudinal rods B located at both ends of the transverse rod A are placed against the outer side or inner side of the two rear wheels 202; the two longitudinal rods B are fastened to the transverse rod A; the position of the second mark 21 on the second wheel clamp 20 on the transverse rod A is adjusted so that it is located at the center position between the two longitudinal rods B.

[0069] In one embodiment, the step of "placing the second wheel clamp close to the two rear wheels so that the second mark on the second wheel clamp is located at the center position between the two rear wheels" also includes: fastening the second mark to the transverse rod so that it is fixed at the center position between the two longitudinal rods.

[0070] Combination Figure 1 and Figure 5 As shown, the second mark 21 is fastened to the transverse bar A so as to be fixed at the center position between the two longitudinal bars B. The second mark 21 can be a screw, which can slide in the slide groove of the transverse bar A and can be fixed on the transverse bar A by tightening.

[0071] In one 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.

[0072] In summary, the present invention introduces a system and method for calibrating a forward-facing vehicle-mounted millimeter-wave radar based on the physical zero degree of the four wheels of the vehicle. The system and method of the present invention cleverly utilize the physical zero degree of the four wheels of the vehicle for calibration. Only a laser transmitter, two tire clamps, and a laser transmitter with an angle reflection are needed to find the physical zero degree in front of the vehicle and then calibrate the radar.

[0073] The beneficial effect of the embodiment of the present invention is that, through the first wheel clamp 10 and the second wheel clamp 20, the positions of the four wheels of the vehicle can be cleverly utilized, so that the axle position, that is, the position of the center axis C of the vehicle 200, can be quickly located, reducing the complicated operation steps in the traditional calibration method; and, in combination with the first laser emitter 30 and the angle reflection device 40, the vehicle-mounted radar can be further calibrated, thereby completing the calibration of the vehicle-mounted radar, making the calibration process simple and reliable. In short, the system and method of the present invention are low-cost, simple and practical, and highly reliable.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle-mounted radar calibration system (100), characterized in that: include: A first wheel clamp (10), the first wheel clamp (10) being used to provide a first mark (11), the first mark (11) indicating a center position between two straightened front wheels (201) of the vehicle (200); A second wheel bar (20), the second wheel bar (20) is used to provide a second mark (21), the second mark (21) indicates the center position between two straightened rear wheels (202) of the vehicle (200), the first mark (11) and the second mark (21) being notches, colors or protrusions; a first laser emitter (30), the first laser emitter (30) being placed in front of the vehicle (200) and emitting a first backward laser (31) and a forward laser (32) in the opposite direction of the first backward laser (31); when the first backward laser (31) simultaneously irradiates the first mark (11) and the second mark (21), the direction of the forward laser (32) is used to indicate the physical zero-degree direction of the vehicle-mounted radar; and An angle reflector (40), the angle reflector (40) comprising an angle reflector (41) and a second laser emitter (42); the angle reflector (40) is used to be placed on the optical path of the forward laser (32) to ensure that the forward laser (32) is irradiated on the central axis of the angle reflector (41); the second laser emitter (42) is used to emit a second backward laser (43); when the second backward laser (43) and the first backward laser (31) coincide in a vertical plane, the position of the angle reflector (41) is the target detection position of the vehicle-mounted radar in the physical zero degree direction; Each of the first wheel clamp (10) and the second wheel clamp (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).

2. The vehicle-mounted radar calibration system (100) according to claim 1, characterized in that: At least one of the two longitudinal rods (B) is configured to be able to move laterally along the transverse rod (A) and to be fastened to the transverse rod (A); the marker is configured to be able to move laterally along the transverse rod (A) so as to be able to move to a middle position between the two longitudinal rods (B), and is configured to be fastened to the transverse rod (A).

3. The vehicle-mounted radar calibration system (100) according to claim 2, characterized in that: Each of the longitudinal bars (B) is mounted on the transverse bar (A) by means of screws, and the marker is a screw mounted on the transverse bar (A).

4. A vehicle-mounted radar calibration method, characterized in that: The method comprises: Straighten both the front and rear wheels of the vehicle; Placing the first wheel clamp close to the two front wheels so that the first mark on the first wheel clamp is located at the center between the two front wheels; Place the second wheel clamp close to the two rear wheels so that the second mark on the second wheel clamp is located at the center between the two rear wheels; placing a first laser transmitter at a first distance directly in front of the vehicle, the first laser transmitter emitting a first backward laser and a forward laser in the opposite direction of the first backward laser; making the first backward laser irradiate the first mark and the second mark at the same time, and the physical zero degree direction of the vehicle-mounted radar is indicated by the direction of the forward laser at this time; and A corner reflector device including a corner reflector and a second laser emitter is placed on the optical path of the forward laser and at a second distance directly in front of the vehicle; the second laser emitter emits a second backward laser so that the second backward laser and the first backward laser coincide with each other in a vertical plane, and the position of the corner reflector at this time is used to indicate the target detection position of the vehicle-mounted radar in the physical zero degree direction.

5. The vehicle-mounted radar calibration method according to claim 4, characterized in that: The method further comprises: Install the radar at the position directly in front of the vehicle body that is illuminated by the laser in the vertical plane; detecting the corner reflector by the radar; and The radar is calibrated according to the detection results.

6. The vehicle-mounted radar calibration method according to claim 5, characterized in that: The step of "calibrating the radar according to the detection results" includes: The calibration software is started on the electronic device, and the calibration software automatically calibrates the radar after the radar detects the corner reflector to complete the calibration.

7. The vehicle-mounted radar calibration method according to claim 4, characterized in that: The step of “placing the first wheel clamp close to the two front wheels so that the first mark on the first wheel clamp is located at the center between the two front wheels” includes: placing the transverse bar of the first wheel clamp against the two front wheels; The two longitudinal bars respectively located at the two ends of the transverse bar are placed close to the outer sides or inner sides of the two front wheels; fastening two longitudinal bars to the transverse bar; and The position of the first mark on the first wheel clamping rod on the transverse rod is adjusted so that the first mark is located at the center between the two longitudinal rods.

8. The vehicle-mounted radar calibration method according to claim 7, characterized in that: The step of "placing the first wheel clamp close to the two front wheels so that the first mark on the first wheel clamp is located at a center position between the two front wheels" also includes: The first marker is fastened to the transverse rod so that it is fixed at a central position between the two longitudinal rods.

9. The vehicle-mounted radar calibration method according to claim 4, characterized in that: The step of “placing the second wheel clamp close to the two rear wheels so that the second mark on the second wheel clamp is located at the center between the two rear wheels” includes: placing the transverse bar of the second wheel clamp against the two rear wheels; The two longitudinal bars respectively located at the two ends of the transverse bar are placed close to the outer sides or inner sides of the two rear wheels; fastening two longitudinal bars to the transverse bar; and The position of the second mark on the second wheel clamping rod on the transverse rod is adjusted so that the second mark is located at the center between the two longitudinal rods.

10. The vehicle-mounted radar calibration method according to claim 9, characterized in that: The step of "placing the second wheel clamp close to the two rear wheels so that the second mark on the second wheel clamp is located at the center between the two rear wheels" also includes: The second marker is fastened to the transverse rod so that it is fixed at a central position between the two longitudinal rods.

11. The vehicle-mounted radar calibration method according to any one of claims 4 to 10, characterized in that: 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.

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