Vehicle-mounted radar calibration method, equipment and device

Abstract

The present invention provides a vehicle-mounted radar calibration method, equipment and device. The vehicle-mounted radar calibration method includes the following steps: driving at least one probe of the vehicle-mounted radar to transmit a detection signal to an obstacle at a predetermined distance from the probe; receiving an echo signal returned in response to the detection signal through the probe, and obtaining the intensity information of the echo signal; matching the intensity information of the echo signal with a plurality of preset intensity threshold intervals for indicating the detection sensitivity of the probe, and setting the intensity threshold interval matching the intensity information as the working threshold interval of the probe. The method sets the working threshold interval by matching the intensity information of the echo signal obtained by detection with a plurality of preset intensity threshold intervals for indicating the sensitivity of the probe. The working threshold interval reflects the sensitivity of the corresponding probe, so as to determine the sensitivity of the probe, so that the vehicle-mounted radar can accurately process the acquired data and improve driving safety.

Description

Technical Field

[0001] The present invention relates to the field of vehicle-mounted radar production and manufacturing, and in particular to a vehicle-mounted radar calibration method, a vehicle-mounted radar calibration device and a vehicle-mounted radar calibration equipment adapted to the vehicle-mounted radar calibration method. Background Art

[0002] Vehicle-mounted radar is an indispensable component of a car. A car uses the vehicle-mounted radar to detect the driving environment. For example, the reversing radar emits ultrasonic waves through its probe to detect whether there are obstacles in the surrounding environment that may affect the car's driving, so as to notify the driver to avoid them in advance.

[0003] However, in the production and manufacturing of vehicle-mounted radars, the sensitivity of probes for transmitting ultrasonic waves of different models or the same model may often have deviations. Specifically, the signal strength of ultrasonic waves emitted by probes of the same model but different sensitivities is different, which makes the sensitivity set by the vehicle-mounted radar different from the sensitivity of the probe, thus causing problems in the application of the vehicle-mounted radar. For example, the same model of probes transmit ultrasonic waves to a preset distance, but due to the different sensitivities of the probes, the intensity information of the ultrasonic signal and the returned echo signal is different. The vehicle-mounted radar does not receive echo information that does not correspond to its preset intensity information, so that the vehicle-mounted radar cannot play a good warning role.

[0004] However, the sensitivity of the probe is difficult to control during the production process. Therefore, it is necessary to manually test the sensitivity of the probe during the production process and write the actual sensitivity of the probe into the vehicle-mounted radar to avoid errors in the data detected by the vehicle-mounted radar and affect the driving of the car. However, the method of manually testing the sensitivity of the probe is inefficient, prone to errors, and difficult to apply to large-scale production and manufacturing. Summary of the invention

[0005] The primary purpose of the present invention is to solve at least one of the above problems and to provide a vehicle-mounted radar calibration method, a vehicle-mounted radar calibration device and a vehicle-mounted radar calibration apparatus.

[0006] To meet the purpose of the present invention, the present invention adopts the following technical solutions:

[0007] One of the purposes of the present invention is to provide a vehicle-mounted radar calibration method, comprising the following steps:

[0008] driving at least one probe of the vehicle-mounted radar to transmit a detection signal to an obstacle at a predetermined distance from the probe;

[0009] Receiving, by the probe, an echo signal returned in response to the detection signal, and acquiring strength information of the echo signal;

[0010] The intensity information of the echo signal is matched with a plurality of preset intensity threshold intervals for indicating the detection sensitivity of the probe, and the intensity threshold interval matched with the intensity information is set as the working threshold interval of the probe.

[0011] Furthermore, the following post-processing steps are also included:

[0012] driving at least one probe of the vehicle-mounted radar to transmit a detection signal to an obstacle at a predetermined distance from the probe;

[0013] Receiving, by the probe, an echo signal returned in response to the detection signal, and acquiring strength information of the echo signal;

[0014] Detect and determine whether the probe correctly processes the echo signal with corresponding intensity information according to the set working threshold interval and correctly filters the echo signal outside the working threshold interval. When the judgment is not established, reuse this method to expand the width of the working threshold interval of the probe.

[0015] Furthermore, the step of setting the intensity threshold matching the intensity information as the working threshold interval of the probe includes the following parallel steps:

[0016] Compare whether the intensity information in the echo signal exceeds the range of all intensity threshold intervals. If so, set the probe corresponding to the echo signal as a defective product.

[0017] Furthermore, each group of intensity threshold intervals is set based on the range of intensity information of echo signals returned after a plurality of calibrated probes with different detection sensitivities transmit detection signals to obstacles at the predetermined distance.

[0018] Specifically, it also includes a post-step: controlling the vehicle-mounted radar to set the intensity information falling within the working threshold interval as valid intensity information, and setting the intensity information not falling within the working threshold interval as invalid intensity information.

[0019] Preferably, the vehicle-mounted radar includes a plurality of the probes, and the plurality of probes are synchronously or sequentially applied with the method to set the working threshold range.

[0020] One of the purposes of the present invention is to provide a vehicle-mounted radar calibration device, comprising a calibration control component, a support frame for supporting the vehicle-mounted radar, and an obstacle arranged at a predetermined distance from the support frame;

[0021] The calibration control component is used to control at least one probe of the vehicle-mounted radar placed on the support frame to transmit a detection signal to the obstacle;

[0022] After the probe is controlled to send a detection signal, it receives an echo signal returned in response to the detection signal, and sends the acquired intensity information of the echo signal to the calibration control component;

[0023] After receiving the intensity information, the calibration control component matches the intensity information with an intensity threshold interval, and sets the intensity threshold interval corresponding to the intensity information as the working threshold interval of the corresponding probe.

[0024] Furthermore, the vehicle-mounted radar includes multiple probes and a control unit electrically connected to the multiple probes, the multiple probes include a main probe and multiple sub-probes, the multiple sub-probes are arranged on the main probe, and the control unit is arranged in the main probe.

[0025] Specifically, the calibration control component is a test box, and the test box is electrically connected to the vehicle-mounted radar via a CAN bus.

[0026] One of the purposes of the present invention is to provide a vehicle-mounted radar calibration device, comprising:

[0027] A driving unit, driving at least one probe of the vehicle-mounted radar to transmit a detection signal to an obstacle at a predetermined distance from the probe;

[0028] a receiving unit, receiving, through the probe, an echo signal returned in response to the detection signal, and acquiring strength information of the echo signal;

[0029] The matching unit matches the intensity information of the echo signal with a plurality of preset intensity threshold intervals for indicating the detection sensitivity of the probe, and sets the intensity threshold interval matching the intensity information as the working threshold interval of the probe.

[0030] Compared with the prior art, the advantages of the present invention are as follows:

[0031] First, the vehicle-mounted radar calibration method of the present invention matches the intensity information of the echo signal obtained by detection with multiple sets of preset intensity threshold intervals for indicating the sensitivity of the probe, and sets the matched intensity threshold interval as the working threshold interval, which reflects the sensitivity of the corresponding probe, so as to facilitate determining the sensitivity of the probe, so that the vehicle-mounted radar can accurately process the data obtained by detection and improve safety during driving.

[0032] Secondly, the vehicle-mounted radar calibration method of the present invention has simple steps and is easy to operate automatically, avoiding the tedious work and uncertainty of manual operation. This method greatly improves the calibration efficiency of the vehicle-mounted radar probe and greatly improves the production efficiency of the vehicle-mounted radar.

[0033] Additional aspects and advantages of the present invention will be given in part in the following description, which will become obvious from the following description, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0035] Figure 1 It is a structural schematic diagram of the vehicle-mounted radar calibration device of the present invention.

[0036] Figure 2 It is a schematic structural diagram of the vehicle-mounted radar of the present invention.

[0037] Figure 3 It is a schematic diagram of the flow chart of the vehicle-mounted radar calibration method of the present invention.

[0038] Figure 4 The figure is a flow chart of a post-process step of the vehicle-mounted radar calibration method of the present invention.

[0039] Figure 5 It is a structural schematic diagram of the vehicle-mounted radar calibration device of the present invention. DETAILED DESCRIPTION

[0040] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and cannot be interpreted as limiting the present invention.

[0041] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0042] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as herein.

[0043] The present invention provides a vehicle-mounted radar calibration method, which is used to calibrate the sensitivity of a probe of the vehicle-mounted radar. The method associates the sensitivity of the probe with a preset intensity threshold interval, obtains a working threshold interval, and uses the sensitivity corresponding to the working threshold interval as the sensitivity of the probe. This facilitates the vehicle-mounted radar to obtain the sensitivity information of the probe and then accurately process the echo signal obtained by the probe to obtain accurate detection data.

[0044] Suitable for the vehicle-mounted radar calibration method, the present invention also provides a vehicle-mounted radar calibration device, which is used to execute the vehicle-mounted radar calibration method.

[0045] Specifically, combined Figure 1 The vehicle-mounted radar calibration device includes a calibration control component 20, a support frame 30 and an obstacle 40.

[0046] The vehicle-mounted radar 10 is placed on a support frame 30 , and the support frame 30 supports the vehicle-mounted radar 10 , so that the probe 11 to be detected of the vehicle-mounted radar 10 transmits a probe 11 detection signal to the obstacle 40 and receives an echo signal.

[0047] The obstacle 40 is disposed at a predetermined distance from the support frame 30, and is used to block the detection signal emitted by the probe 11 and reflect an echo signal based on the detection signal. In a typical embodiment of the present invention, the obstacle 40 is a column made of plastic material or metal material.

[0048] The calibration control component 20 is electrically connected to the vehicle-mounted radar 10. The calibration control component 20 is used to control the probe 11 of the vehicle-mounted radar 10 to transmit a detection signal and obtain the intensity information of the echo signal received by the probe 11. The calibration control component 20 matches the intensity information of the acquired echo signal with a plurality of preset intensity threshold intervals, so as to match the corresponding intensity threshold interval for the corresponding probe 11 as the working threshold interval, and uses the sensitivity corresponding to the working threshold interval as the sensitivity of the calibrated probe 11, so that the vehicle-mounted radar 10 can obtain accurate detection data based on the sensitivity data of the probe 11. Moreover, when the calibration control component 20 determines that the sensitivity of the probe 11 does not match any set of intensity threshold intervals, the probe 11 is judged to be a defective product. In one embodiment, the calibration control component 20 is a test box or a computer or a combination of a computer and a test box, and the calibration control component 20 is electrically connected to the vehicle-mounted radar 10 via a CAN bus.

[0049] Combination Figure 2 The vehicle-mounted radar 10 includes at least one probe 11 and a control unit 12. The control unit 12 is electrically connected to the probe 11, and the control unit 12 is disposed in the probe 11. In one embodiment, after the control unit 12 obtains the echo signal, it obtains the intensity information in the echo signal, and converts the intensity information into voltage data and sends it to the calibration control component 20.

[0050] In one embodiment, the vehicle-mounted radar 10 includes a plurality of probes 11 , including a main probe 11 and a plurality of sub-probes 11 , the control unit 12 is disposed in the main probe 11 , and the plurality of sub-probes 11 are disposed on the main probe 11 .

[0051] In a typical embodiment of the present invention, the vehicle-mounted radar calibration method is used to calibrate the sensitivity of the vehicle-mounted radar probe, match the probe with multiple sets of intensity threshold intervals, make the probe work within the matched intensity threshold interval, and calibrate the sensitivity of the probe to ensure the accuracy of the vehicle-mounted radar detection data. Figure 3 , the vehicle-mounted radar calibration method comprises the following steps:

[0052] Step S11, driving at least one probe of the vehicle-mounted radar to transmit a detection signal to an obstacle at a predetermined distance from the probe:

[0053] The calibration control component drives a probe of the vehicle-mounted radar to transmit a detection signal. An obstacle at a predetermined distance from the probe blocks the detection signal and reflects an echo signal.

[0054] Step S12, receiving the echo signal returned in response to the detection signal through the probe, and obtaining the intensity information of the echo signal:

[0055] After the probe receives the echo signal returned in response to the detection signal emitted by it, the control unit of the vehicle-mounted radar obtains the strength information of the echo signal and sends the strength information of the echo signal to the calibration control component.

[0056] Step S13, matching the intensity information of the echo signal with a plurality of preset intensity threshold intervals for indicating the detection sensitivity of the probe, and setting the intensity threshold intervals matching the intensity information as the working threshold interval of the probe:

[0057] The calibration control component presets multiple sets of intensity threshold intervals for indicating the detection sensitivity of the probe, and the multiple sets of intensity threshold intervals are obtained by actual measurement of multiple calibrated probes with different sensitivities, so as to serve as a reference for calibrating the probe of the vehicle-mounted radar. Specifically, the method of presetting multiple sets of intensity threshold intervals includes the following specific steps:

[0058] Step S131, each group of intensity threshold intervals is set based on the intensity information range of the echo signal returned by multiple calibrated probes with different sensitivities transmitting detection signals to obstacles at the predetermined distance:

[0059] The calibration control component selects a plurality of probes with different sensitivities from the probes that have completed calibration as standard probes, and the plurality of standard probes have different sensitivities. The calibration control component obtains the strength information of the echo signal returned by the standard probe in response to the detection signal emitted by the standard probe to the obstacle at the predetermined distance for several times, analyzes the strength information, determines the distribution range interval of the strength information of the standard probe, and uses the range interval of the strength information of the standard probe as one of the strength threshold intervals of the calibration control component.

[0060] The corresponding range intervals of multiple standard probes with different sensitivities are used as the intensity threshold range of the calibration control component. That is to say, the multiple groups of intensity threshold intervals are set by the intensity information obtained by standard probes with different sensitivities, and the intensity threshold intervals are associated with the sensitivity of the standard probes.

[0061] Therefore, when the calibration control component is calibrating the probe of the vehicle-mounted radar, by matching the intensity information of the echo signal obtained when calibrating the probe with one of the multiple intensity threshold intervals, the sensitivity of the probe being calibrated can be determined, so that the vehicle-mounted radar can obtain accurate detection information through a probe with known sensitivity.

[0062] In this step S13, the calibration control component completes the setting of multiple intensity threshold intervals before calibrating the probe of the vehicle-mounted radar, so as to facilitate the subsequent calibration of the probe of the vehicle-mounted radar.

[0063] After the calibration control component receives the intensity information of the echo signal of the probe, it matches the intensity information with multiple preset intensity threshold intervals. If the intensity information corresponds to one of the intensity threshold intervals, the corresponding intensity threshold interval is set as the working threshold interval of the corresponding probe, that is, the sensitivity of the corresponding probe is associated with the sensitivity of the standard probe corresponding to the corresponding intensity threshold interval.

[0064] The calibration control component writes the matched intensity threshold interval into the control unit of the vehicle-mounted radar where the probe is located, so that during the use of the vehicle-mounted radar, the control unit of the vehicle-mounted radar can determine whether the received echo signal is returned in response to the detection signal emitted by the probe by comparing the intensity information of the received echo signal with the set intensity threshold interval.

[0065] Specifically, the calibration control component matches the acquired intensity information with multiple intensity threshold intervals in the following process: when the intensity information is within one of the multiple intensity threshold intervals, it is determined that the intensity information matches the intensity threshold interval in which it is located. In other words, the probe corresponding to the intensity information matches the intensity threshold interval in which the intensity information is located, and the sensitivity of the probe is associated with the standard probe corresponding to the intensity threshold interval.

[0066] When the intensity information of the echo signal received by the calibration control component does not match any intensity threshold interval, the probe corresponding to the intensity information is judged to be unqualified. Specifically, in this case, the following steps are included:

[0067] Step S132, comparing whether the intensity information in the echo signal exceeds the range of all intensity threshold intervals, if so, setting the probe corresponding to the echo signal as a defective product:

[0068] The multiple groups of intensity threshold intervals set by the calibration control component correspond to multiple standard probes respectively. The intensity threshold intervals of the multiple standard probes cover the intensity information of the echo signals of most probes. A small number of probes are outside the range of the intensity threshold intervals of the multiple standard probes, and the probes outside the range of the intensity threshold intervals of the multiple standard probes are deemed unqualified. In one embodiment, the multiple groups of intensity threshold intervals are sequentially set according to the size of the intensity information, that is, the multiple intensity threshold intervals together form a continuous and uninterrupted large interval, and the probes corresponding to the intensity information within the large interval are qualified products, and the probes corresponding to the intensity information outside the large interval are unqualified products.

[0069] Specifically, in this step S132, the calibration control component compares the acquired intensity information with each intensity threshold interval. If the intensity information is not within any intensity threshold interval, the probe corresponding to the intensity information is set as a defective product.

[0070] The present invention also includes a post-processing step, specifically, the post-processing step is:

[0071] Step S14, controlling the vehicle-mounted radar to set the intensity information falling within the working threshold interval as valid intensity information, and setting the intensity information not falling within the working threshold interval as invalid intensity information:

[0072] When the calibration control component completes the calibration of the vehicle-mounted radar probe, when the vehicle-mounted radar probe receives the echo signal during use, the control unit of the vehicle-mounted radar obtains the intensity information of the echo signal, and the control unit compares the obtained intensity information with the preset working threshold interval to determine whether the intensity information is within the working threshold interval. If the intensity information is within the working threshold interval, the intensity information is set as valid intensity information; if the intensity information is not within the working threshold interval, the intensity information is set as invalid intensity information. After the control unit obtains the valid intensity information, the control unit can calculate the distance between the probe and the obstacle based on the time difference between the emission of the detection signal and the receipt of the echo information, so as to warn during the driving process of the car, thereby avoiding the probe receiving the echo signal that does not belong to the detection signal emitted by itself and still performing detection calculations, or even warnings.

[0073] In one embodiment of the present invention, the present invention further includes another post-processing step, in which the probe of the vehicle-mounted radar is recalibrated to ensure that the probe operates within its operating threshold range. Figure 4 In this post-step, the steps S11 and S12 are sequentially re-executed. After the steps S11 and S12 are completed, step S15 is executed:

[0074] Step S15, detecting and judging whether the probe correctly processes the echo signal with corresponding intensity information according to the set working threshold interval, and correctly filters the echo signal outside the working threshold. When the judgment is not established, reusing this method to expand the width of the working threshold interval of the probe:

[0075] After the calibration control component completes setting the working threshold range for the probe of the vehicle-mounted radar, the control unit of the vehicle-mounted radar determines whether the acquired intensity information is within its working threshold range. If it is within the working range threshold, the intensity information is set as valid intensity information; if it is not within the working range threshold, it is set as invalid intensity information. The specific judgment method can be combined with step S14.

[0076] In this step S15, the calibration control component detects whether the intensity information obtained by the probe of the vehicle-mounted radar is valid intensity information. If it is valid intensity information, it indicates that the calibration control component has completed the calibration of the probe and ends step S15. If it is invalid intensity information, it indicates that during the first calibration, the range of the probe's working interval threshold setting is too small and insufficient to cover the intensity information obtained by the second calibration. Therefore, the range of the working interval threshold is expanded so that the probe's working interval threshold can cover the valid intensity information obtained at any time.

[0077] Specifically, during the second calibration process, the probe transmits a detection signal to an obstacle at a predetermined distance during the first calibration, so that the intensity information of the detection signal emitted by the same probe and the echo signal returned in response to the detection signal are the same or within a similar range. If the intensity information of the second calibration exceeds the working threshold interval set during the first calibration, it indicates that the working threshold interval set during the first calibration is too narrow and cannot cover the intensity information received by the probe, and the working threshold interval of the probe needs to be expanded.

[0078] After completing the work of expanding the working threshold range, step S11, step S12 and step S15 are executed again in sequence to determine whether the intensity information received by the probe after the working threshold range is expanded is within the working threshold range. If so, stop executing this post-step; if not, expand the working threshold range again, and re-execute step S11, step S12 and step S15 in sequence until the working threshold range of the probe is finally determined.

[0079] In one embodiment, step S16 is also included:

[0080] Step S16, the vehicle-mounted radar includes a plurality of the probes, and the plurality of probes are synchronously or sequentially applied with the method to set the working threshold interval:

[0081] The vehicle-mounted radar includes multiple probes, and the calibration control component can calibrate the multiple probes of the vehicle-mounted radar in sequence to execute the above steps. Alternatively, the calibration control component can calibrate the multiple probes simultaneously to execute the above steps.

[0082] Combination Figure 5 The present invention also provides a vehicle-mounted radar calibration device, comprising:

[0083] A driving unit 100 drives at least one probe of the vehicle-mounted radar to transmit a detection signal to an obstacle at a predetermined distance from the probe;

[0084] The receiving unit 200 receives, through the probe, an echo signal returned in response to the detection signal, and obtains strength information of the echo signal;

[0085] The matching unit 300 matches the intensity information of the echo signal with a plurality of preset intensity threshold intervals for indicating the detection sensitivity of the probe, and sets the intensity threshold interval matching the intensity information as the working threshold interval of the probe.

[0086] In summary, the vehicle-mounted radar calibration method of the present invention matches the probe of the calibrated vehicle-mounted radar by setting multiple groups of intensity threshold intervals representing the sensitivity of the probe. When the probe matches any group of intensity threshold intervals, it indicates that the sensitivity of the probe matches the sensitivity reflected by the corresponding intensity threshold interval, which facilitates the vehicle-mounted radar to process the detected data based on the sensitivity of the probe and improve the accuracy of the detected data.

[0087] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the above features are replaced with the technical features with similar functions invented in the present invention (but not limited to) to form a technical solution.

[0088] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A vehicle-mounted radar calibration method, characterized in that: The steps include: driving at least one probe of the vehicle-mounted radar to transmit a detection signal to an obstacle at a predetermined distance from the probe; Receiving, by the probe, an echo signal returned in response to the detection signal, and acquiring strength information of the echo signal; The intensity information of the echo signal is matched with a plurality of preset intensity threshold intervals for indicating the detection sensitivity of the probe, and the intensity threshold interval matched with the intensity information is set as the working threshold interval of the probe.

2. The vehicle-mounted radar calibration method according to claim 1, characterized in that: Also includes post-steps: driving at least one probe of the vehicle-mounted radar to transmit a detection signal to an obstacle at a predetermined distance from the probe; Receiving, by the probe, an echo signal returned in response to the detection signal, and acquiring strength information of the echo signal; Detect and determine whether the probe correctly processes the echo signal with corresponding intensity information according to the set working threshold interval and correctly filters the echo signal outside the working threshold interval. When the judgment is not established, reuse this method to expand the width of the working threshold interval of the probe.

3. The vehicle-mounted radar calibration method according to claim 1, characterized in that: The step of setting the intensity threshold matching the intensity information as the working threshold interval of the probe includes the following parallel steps: Compare whether the intensity information in the echo signal exceeds the range of all intensity threshold intervals. If so, set the probe corresponding to the echo signal as a defective product.

4. The vehicle-mounted radar calibration method according to claim 1, characterized in that: Each group of intensity threshold intervals is set based on the range of intensity information of echo signals returned after a plurality of calibrated probes with different detection sensitivities transmit detection signals to obstacles at the predetermined distance.

5. The vehicle-mounted radar calibration method according to claim 2, characterized in that: The method also includes a post-processing step of controlling the vehicle-mounted radar to set the intensity information falling within the working threshold interval as valid intensity information, and to set the intensity information not falling within the working threshold interval as invalid intensity information.

6. The vehicle-mounted radar calibration method according to claim 1, characterized in that: The vehicle-mounted radar includes a plurality of the probes, and the plurality of probes are synchronously or sequentially applied with the method to set the working threshold range.

7. A vehicle-mounted radar calibration device, characterized in that: It includes a calibration control component, a support frame for supporting a vehicle-mounted radar, and an obstacle arranged at a predetermined distance from the support frame; The calibration control component is used to control at least one probe of the vehicle-mounted radar placed on the support frame to transmit a detection signal to the obstacle; After the probe is controlled to send a detection signal, it receives an echo signal returned in response to the detection signal, and sends the acquired intensity information of the echo signal to the calibration control component; After receiving the intensity information, the calibration control component matches the intensity information with an intensity threshold interval, and sets the intensity threshold interval corresponding to the intensity information as the working threshold interval of the corresponding probe.

8. The vehicle-mounted radar calibration device according to claim 7, characterized in that: The vehicle-mounted radar includes a plurality of probes and a control unit electrically connected to the plurality of probes. The plurality of probes include a main probe and a plurality of sub-probes. The plurality of sub-probes are arranged on the main probe, and the control unit is arranged in the main probe.

9. The vehicle-mounted radar calibration device according to claim 7, characterized in that: The calibration control component is a test box, and the test box is electrically connected to the vehicle-mounted radar via a CAN bus.

10. A vehicle-mounted radar calibration device, characterized in that: include: A driving unit, driving at least one probe of the vehicle-mounted radar to transmit a detection signal to an obstacle at a predetermined distance from the probe; a receiving unit, receiving, through the probe, an echo signal returned in response to the detection signal, and acquiring strength information of the echo signal; The matching unit matches the intensity information of the echo signal with a plurality of preset intensity threshold intervals for indicating the detection sensitivity of the probe, and sets the intensity threshold interval matching the intensity information as the working threshold interval of the probe.

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