Vehicle-mounted radar calibration device and method

Abstract

The application relates to the field of automobile maintenance and equipment calibration, and discloses a vehicle-mounted radar calibration device and method. The vehicle-mounted radar calibration device comprises a fixing device, an adjusting mechanism and a calibration device. The fixing device is used for being installed on a hub of an automobile. The adjusting mechanism comprises a leveling piece, the leveling piece is connected with the fixing device, and the two ends of the leveling piece are respectively used for abutting against the hub, so that the length direction of the leveling piece is parallel to the central axis plane of the automobile. The calibration device is installed on the leveling piece, the calibration direction of the calibration device is parallel to the length direction of the leveling piece, and the calibration device is used for calibrating the vehicle-mounted radar. Through the above arrangement, the calibration device can accurately calibrate the vehicle-mounted radar. In the calibration process, the vehicle-mounted radar calibration device is convenient and fast to operate, has a simple structure, and is convenient to carry.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobile maintenance and equipment calibration, in particular to a vehicle-mounted radar calibration device and method. BACKGROUND

[0002] The blind area monitoring system is a key function in the driving assistance system, which is used for sensing the obstacles in the blind area of the automobile. Since the installation angle of the blind area vehicle-mounted radar has a significant influence on its detection accuracy, the blind area vehicle-mounted radar needs to be calibrated to ensure that the installation angle of the blind area vehicle-mounted radar meets the requirements.

[0003] The existing vehicle-mounted radar calibration device is cumbersome to operate in the calibration process, and it is difficult to ensure the accuracy of the calibration. SUMMARY

[0004] Embodiments of the present application aim to provide a vehicle-mounted radar calibration device and method to solve the technical problems of cumbersome operation and difficulty in ensuring the accuracy of vehicle-mounted radar calibration in the prior art.

[0005] Embodiments of the present application solve the technical problems thereof by adopting the following technical solutions:

[0006] In one aspect, a vehicle-mounted radar calibration device is provided, comprising:

[0007] A fixing device for mounting on a hub of an automobile;

[0008] An adjusting mechanism, the adjusting mechanism comprising a leveling piece, the leveling piece being connected with the fixing device, two ends of the leveling piece being used for abutting against the hub respectively, so that the length direction of the leveling piece is parallel to the central axial plane of the automobile;

[0009] A calibration device, the calibration device being mounted on the leveling piece, the calibration direction of the calibration device being parallel to the length direction of the leveling piece, the calibration device being used for calibrating a vehicle-mounted radar.

[0010] In some embodiments, the adjusting mechanism further comprises a driving assembly, the driving assembly being connected with the fixing device, the leveling piece being connected with the driving assembly, the driving assembly being used for driving the leveling piece to move towards or away from the hub, so that the two ends of the leveling piece abut against or are separated from the hub.

[0011] In some embodiments, the driving assembly comprises a sliding rail, a sliding block and a first locking piece, the sliding rail being connected with the fixing device, the sliding block being connected with the sliding rail, the leveling piece being connected with the sliding block, the sliding block being used for sliding along the sliding rail to drive the leveling piece to move towards or away from the hub, the first locking piece being used for locking the sliding block to the sliding rail.

[0012] In some embodiments, the adjusting mechanism further comprises a rotating assembly, the rotating assembly rotatably connecting the driving assembly and the leveling member.

[0013] In some embodiments, the rotating assembly comprises a fixed seat, a rotating seat and a second locking member, the fixed seat being connected with the driving assembly, the rotating seat being installed on the fixed seat, the leveling member being installed on the rotating seat, the rotating seat being rotatable relative to the fixed seat, and the second locking member being used for locking the rotating seat to the fixed seat.

[0014] In some embodiments, the leveling member is provided with a calibration structure, the calibration structure being used for calibrating a calibration direction of the calibration device, so that the calibration direction of the calibration device is parallel to the length direction of the leveling member.

[0015] In some embodiments, the leveling member comprises a mounting surface, the mounting surface being perpendicular to a plane in which an end side wall of the hub is located.

[0016] The calibration device is a laser emitter, the laser emitter being used for emitting a laser plane, the laser plane being parallel to the length direction of the leveling member, and the laser plane being perpendicular to the mounting surface.

[0017] In some embodiments, one end of the calibration device is connected to the leveling member, the other end of the calibration device extends in a direction away from the leveling member, and the length direction of the calibration device is parallel to the length direction of the leveling member.

[0018] In some embodiments, the vehicle-mounted radar calibration device further comprises:

[0019] A plurality of reflecting members, the plurality of reflecting members and the vehicle-mounted radar being located in the calibration direction of the calibration device, the reflecting members being used for reflecting radar waves emitted by the vehicle-mounted radar.

[0020] In some embodiments, the fixing device comprises a clamping assembly and a mounting seat, the mounting seat being connected with the clamping assembly, the clamping assembly being used for clamping the hub, and the adjusting mechanism being connected with the mounting seat.

[0021] In some embodiments, the vehicle-mounted radar calibration device further comprises:

[0022] A mounting table, the mounting table being connected with the fixing device, the mounting table being provided with a plurality of groups of mounting holes, each group of the mounting holes comprising a plurality of the mounting holes, and the adjusting mechanism being selectively installed in one group of the mounting holes.

[0023] In another aspect, a calibration method of a vehicle-mounted radar is also provided, comprising:

[0024] The application provides a vehicle-mounted radar calibration device and a reflector.

[0025] The fixing device is installed on a hub of the vehicle;

[0026] The adjusting mechanism is adjusted so that the two ends of the leveling piece abut against the end side walls of the hub respectively, so that the calibration direction of the calibration device is parallel to the central axial plane of the vehicle;

[0027] The adjusting mechanism is adjusted so that the leveling piece is separated from the hub while the calibration direction of the calibration device is kept parallel to the central axial plane of the vehicle, so that the calibration direction of the calibration device passes through the vehicle-mounted radar;

[0028] A plurality of reflectors are placed in the calibration direction of the calibration device;

[0029] The vehicle-mounted radar is turned on, so that the vehicle-mounted radar emits radar waves towards the reflectors;

[0030] The reflection angle of the radar waves reflected by the reflectors is detected;

[0031] According to the reflection angle, the installation angle of the vehicle-mounted radar is adjusted until the reflection angle is 0°.

[0032] In some embodiments, the adjusting mechanism further comprises a driving assembly and a rotating assembly, the driving assembly is connected with the fixing device, and the rotating assembly is rotationally connected with the driving assembly and the leveling piece;

[0033] The adjusting of the adjusting mechanism so that the two ends of the leveling piece abut against the end side walls of the hub respectively comprises:

[0034] The driving assembly is adjusted to drive one end of the leveling piece to abut against the end side wall of the hub;

[0035] The driving assembly is continuously adjusted so that the leveling piece is rotated through the rotating assembly, so that the two ends of the leveling piece abut against the hub.

[0036] Compared with the prior art, the vehicle-mounted radar calibration device further comprises a leveling piece and a calibration device, the calibration device is installed on the leveling piece, a calibration direction of the calibration device is parallel to a length direction of the leveling piece, and two ends of the leveling piece are respectively used for abutting against wheel hubs of the vehicle, so that the length direction of the leveling piece is parallel to a center axial plane of the vehicle, and the calibration direction of the calibration device is parallel to the center axial plane of the vehicle. The leveling piece is oriented based on the wheel hubs of the vehicle, the calibration direction of the calibration device is ensured to be parallel to the center axial plane of the vehicle, and the vehicle-mounted radar is indirectly installed and calibrated with the center axial plane of the vehicle as a reference plane, so that the accuracy of calibration of the calibration device on the vehicle-mounted radar is ensured.

[0037] The vehicle-mounted radar calibration device is convenient and fast to operate in the calibration process, and has a simple structure and is convenient to carry. BRIEF DESCRIPTION OF DRAWINGS

[0038] One or more embodiments are illustrated by way of example in the figures that are part of this disclosure and which are illustrative, but not restrictive, of the embodiments, wherein elements having the same reference number designates like elements throughout the various figures, and wherein the figures are not necessarily drawn to scale. Like numbers refer to like elements throughout.

[0039] Figure 1 The vehicle-mounted radar calibration device provided by one of the embodiments of the present application;

[0040] Figure 2 The vehicle-mounted radar calibration device shown in Figure 1 The vehicle-mounted radar calibration device is installed on the wheel hub of the vehicle.

[0041] Figure 3 The vehicle-mounted radar calibration device shown in Figure 1 The structural exploded view of the vehicle-mounted radar calibration device.

[0042] Figure 4 The structural exploded view of the vehicle-mounted radar calibration device shown in Figure 3 The structural exploded view of the vehicle-mounted radar calibration device shown in

[0043] Figure 5 The structural exploded view of the vehicle-mounted radar calibration device shown in Figure 3 The structural exploded view of the vehicle-mounted radar calibration device shown in

[0044] Figure 6 The structural exploded view of the vehicle-mounted radar calibration device shown in Figure 4 The structural exploded view of the vehicle-mounted radar calibration device shown in

[0045] Figure 7 The structural exploded view of the vehicle-mounted radar calibration device shown in Figure 4 The structural exploded view of the vehicle-mounted radar calibration device shown in

[0046] Figure 8 The structural exploded view of the vehicle-mounted radar calibration device shown in Figure 3 The structural exploded view of the vehicle-mounted radar calibration device shown in

[0047] Figure 9 is a schematic diagram of a vehicle-mounted radar calibration device calibrating a vehicle-mounted radar according to an embodiment of the present application;

[0048] Figure 10 is a flowchart of a calibration method of a vehicle-mounted radar according to another embodiment of the present application;

[0049] Figure 11 is Figure 10 is a specific flowchart of one step in the calibration method of the vehicle-mounted radar shown in DETAILED DESCRIPTION

[0050] In order to facilitate the understanding of the present application, the present application will be described in more detail below in conjunction with the drawings and specific embodiments. It should be noted that when an element is described as being "connected" to another element, it can be directly on the other element or one or more intervening elements can be present therebetween. The terms "upper", "lower", "left", "right", "top", "bottom", "top", "bottom", and the like used in the present specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0051] Unless otherwise defined, all technical and scientific terms used in the present specification have the same meaning as commonly understood by a person skilled in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments and are not intended to limit the present application.

[0052] Please refer to Figure 1 , Figure 1 is a vehicle-mounted radar calibration device 100 according to one embodiment of the present application, which is used to calibrate a vehicle-mounted radar on a vehicle, so that the vehicle-mounted radar and the vehicle body remain parallel, avoiding the radar waves emitted by the vehicle-mounted radar from misidentifying the vehicle body as a dangerous target, thereby ensuring the accuracy of the detection and early warning of the blind area by the vehicle-mounted radar.

[0053] Please refer to Figure 2 and Figure 3 , Figure 2 is Figure 1 is a schematic diagram of the vehicle-mounted radar calibration device 100 and the hub 200 of the vehicle shown in Figure 3 is Figure 1As shown in the structural exploded view of the vehicle-mounted radar calibration device 100, the vehicle-mounted radar calibration device 100 comprises a fixing device 10, an adjusting mechanism 20 and a calibration device 30. The fixing device 10 is used for mounting on a wheel hub 200 of a vehicle. The adjusting mechanism 20 comprises a leveling piece 21 connected with the fixing device 10, two ends of the leveling piece 21 are respectively used for abutting against the wheel hub 200, so that the length direction of the leveling piece 21 is parallel to the central axis plane of the vehicle. The calibration device 30 is mounted on the leveling piece 21, the calibration direction of the calibration device 30 is parallel to the length direction of the leveling piece 21, and the calibration device 30 is used for calibrating a vehicle-mounted radar.

[0054] The calibration device 30 is used for extending a calibration plane or a calibration line towards the vehicle-mounted radar, the calibration plane can be a laser plane emitted by a laser emitter, or a surface plane of a ruler, etc., and the calibration line can be a laser beam emitted by the laser emitter, or a taut string, etc. The calibration direction is the extension direction of the calibration plane or the calibration line extended by the calibration device 30.

[0055] As shown in the structural exploded view of the vehicle-mounted radar calibration device 100, the vehicle-mounted radar calibration device 100 comprises a fixing device 10, an adjusting mechanism 20 and a calibration device 30. The fixing device 10 is used for mounting on a wheel hub 200 of a vehicle. The adjusting mechanism 20 comprises a leveling piece 21 connected with the fixing device 10, two ends of the leveling piece 21 are respectively used for abutting against the wheel hub 200, so that the length direction of the leveling piece 21 is parallel to the central axis plane of the vehicle. The calibration device 30 is mounted on the leveling piece 21, the calibration direction of the calibration device 30 is parallel to the length direction of the leveling piece 21, and the calibration device 30 is used for calibrating a vehicle-mounted radar. Figure 2 As shown in the structural exploded view of the vehicle-mounted radar calibration device 100, the vehicle-mounted radar calibration device 100 comprises a fixing device 10, an adjusting mechanism 20 and a calibration device 30. The fixing device 10 is used for mounting on a wheel hub 200 of a vehicle. The adjusting mechanism 20 comprises a leveling piece 21 connected with the fixing device 10, two ends of the leveling piece 21 are respectively used for abutting against the wheel hub 200, so that the length direction of the leveling piece 21 is parallel to the central axis plane of the vehicle. The calibration device 30 is mounted on the leveling piece 21, the calibration direction of the calibration device 30 is parallel to the length direction of the leveling piece 21, and the calibration device 30 is used for calibrating a vehicle-mounted radar.

[0056] In the specific use process of the vehicle-mounted radar calibration device 100, the fixing device 10 is installed on the wheel hub 200, and then the two ends of the leveling piece 21 abut against the wheel hub 200, so that the calibration direction of the calibration device 30 is parallel to the central axis plane of the vehicle, thereby the vehicle-mounted radar can be accurately calibrated. The vehicle-mounted radar calibration device is convenient and fast to operate, simple in structure, and convenient to carry.

[0057] For the fixing device 10, the fixing device 10 is used to be installed on the wheel hub 200, so that the position of the vehicle-mounted radar calibration device 100 is fixed relative to the vehicle, thereby the vehicle-mounted radar calibration device 100 is convenient to calibrate the vehicle-mounted radar, and displacement of the vehicle-mounted radar calibration device 100 relative to the vehicle during calibration is avoided, and the accuracy of calibration is affected.

[0058] As shown in Figure 3 The fixing device 10 is a wheel hub clamp, and the fixing device 10 comprises a clamping assembly 11 and a mounting seat 12. The mounting seat 12 is connected with the clamping assembly 11, the clamping assembly 11 is used to be clamped on the wheel hub 200, so that the vehicle-mounted radar calibration device 100 is installed on the wheel hub 200, and the adjusting mechanism 20 is connected with the mounting seat 12.

[0059] The clamping assembly 11 comprises a first clamping piece 111, a second clamping piece 112, a connecting rod 113, and an adjusting screw 114. The first clamping piece 111 and the second clamping piece 112 are respectively slidably connected with the connecting rod 113, the adjusting screw 114 is threadedly connected with the first clamping piece 111 and the second clamping piece 112, the mounting seat 12 is installed on the connecting rod 113, and the adjusting screw 114 is used to move the first clamping piece 111 and the second clamping piece 112 towards or away from each other. Through the above setting, the distance between the first clamping piece 111 and the second clamping piece 112 can be adjusted as needed, so that the fixing device 10 can be installed on wheel hubs 200 of different sizes, and the adaptability of the fixing device 10 is improved, and it is convenient to disassemble and assemble.

[0060] Specifically, the number of the connecting rods 113 is two, and the two connecting rods 113 are arranged side by side in parallel. The first clamping piece 111 and the second clamping piece 112 are sleeved on the outer side walls of the two connecting rods 113, and the first clamping piece 111 and the second clamping piece 112 can move towards or away from each other along the length direction of the connecting rod 113. The adjusting screw 114 is sequentially threaded through the first clamping piece 111 and the second clamping piece 112 and is respectively threadedly connected with the first clamping piece 111 and the second clamping piece 112. By rotating the adjusting screw 114, the first clamping piece 111 and the second clamping piece 112 can be moved towards or away from each other along the length direction of the connecting rod 113. When the first clamping piece 111 and the second clamping piece 112 move towards each other, the first clamping piece 111 and the second clamping piece 112 can be clamped and fixed to the wheel hub 200. When the first clamping piece 111 and the second clamping piece 112 move away from each other, the first clamping piece 111 and the second clamping piece 112 can be released from the wheel hub 200 and detached from the wheel hub 200. The mounting seat 12 is sleeved on the outer side walls of the two connecting rods 113 and is fixed to the two connecting rods 113, and the mounting seat 12 is located between the first clamping piece 111 and the second clamping piece 112.

[0061] In some embodiments, the mounting seat 12 is in sliding connection with the connecting rod 113, and the mounting seat 12 can slide relative to the connecting rod 113 to adjust the height thereof relative to the ground, so as to correspondingly adjust the calibration height of the calibration device 30. A locking structure for locking the mounting seat 12 to the connecting rod 113 can be further arranged between the mounting seat 12 and the connecting rod 113, so as to allow the mounting seat 12 to be locked to the connecting rod 113 after the height is adjusted. For example, the locking structure includes a bolt, a first nut and a second nut. The bolt is provided with a first threaded portion and a second threaded portion in the length direction thereof, the rotation directions of the first threaded portion and the second threaded portion are opposite, the first nut and the second nut are threadedly connected with the first threaded portion and the second threaded portion respectively, the mounting seat 12 is provided with a locking hole, the bolt is threaded into the locking hole, and the first nut and the second nut are accommodated in the locking hole and located on the two sides of the connecting rod 113 respectively. By rotating the bolt, the first nut and the second nut can be moved towards or away from each other to clamp or release the connecting rod 113.

[0062] In some embodiments, the fixing device 10 can also be other structures for mounting the wheel hub 200 of the automobile. For example, the fixing device 10 is a spring clamp device, and the two ends of the spring clamp device have elastic potential energy tending to move towards each other. The two ends of the spring clamp device are respectively used for elastically clamping the wheel hub 200.

[0063] For the above-mentioned adjusting mechanism 20, the adjusting mechanism 20 comprises a leveling piece 21. The leveling piece 21 comprises a mounting portion 211 and an extension portion 212. The mounting portion 211 is in the shape of a rectangular plate, and the extension portion 212 is in the shape of a long rod. One end of the extension portion 212 is fixedly connected to one end of the mounting portion 211, and the other end of the extension portion 212 extends away from the mounting portion 211 in a direction parallel to the mounting portion 211. The other end of the mounting portion 211 and the other end of the extension portion 212 are respectively used for abutting against the end side wall 210 of the wheel hub 200.

[0064] In some embodiments, the structural shape of the leveling piece 21 can be set according to actual needs. For example, the leveling piece 21 can be in the shape of a long rod or in the shape of a rectangular plate as a whole.

[0065] The mounting portion 211 comprises a mounting surface 2111. The mounting surface 2111 is located on the side of the mounting portion 211 away from the ground. The mounting surface 2111 is perpendicular to the plane on which the end side wall 210 of the wheel hub 200 is located. The mounting surface 2111 is used for mounting the calibration device 30.

[0066] The leveling piece 21 is provided with a calibration structure 213. The calibration structure 213 is used for calibrating the calibration direction of the calibration device 30, so that the calibration direction of the calibration device 30 is parallel to the length direction of the leveling piece 21.

[0067] In the present embodiment, the calibration structure 213 is an elongated notch. The notch is located on the mounting surface 2111. The length direction of the notch is parallel to the length direction of the leveling piece 21.

[0068] In some embodiments, the calibration structure 213 can also be other structures that can be used to calibrate the calibration direction of the calibration device 30, and is not limited to the above-mentioned notch. For example, the calibration structure 213 can be a reticle.

[0069] The adjusting mechanism 20 further comprises a driving assembly 22. The driving assembly 22 is connected to the fixing device 10. The leveling piece 21 is connected to the driving assembly 22. The driving assembly 22 is used for driving the leveling piece 21 to move towards or away from the end side wall 210 of the wheel hub 200, so that the two ends of the leveling piece 21 abut against or are separated from the end side wall 210.

[0070] In the specific use process, the leveling piece 21 can be first driven by the driving assembly 22 to move towards the end side wall 210, so that the two ends of the leveling piece 21 abut against the end side wall 210. In the case where the length direction of the leveling piece 21 is parallel to the center axis of the automobile, that is, in the case where the calibration direction of the calibration device 30 is parallel to the center axis of the automobile, the leveling piece 21 is then driven by the driving assembly 22 to move away from the end side wall 210, so that the two ends of the leveling piece 21 are separated from the end side wall 210. Thus, the calibration direction of the calibration device 30 passes through the vehicle-mounted radar, that is, the calibration plane or calibration line extended by the calibration device 30 passes through the vehicle-mounted radar.

[0071] Referring to Figure 4 , Figure 4 is Figure 3 is a structural perspective view of the driving assembly 22, the driving assembly 22 is a displacement slide platform structure, the driving assembly 22 comprises a slide rail 221, a slide block 222 and a first locking member 223. The slide rail 221 is connected with the fixing device 10, the slide block 222 is connected with the slide rail 221, the leveling member 21 is connected with the slide block 222, the slide block 222 is used for sliding along the slide rail 221 to drive the leveling member 21 to move towards or away from the hub 200, and the first locking member 223 is used for locking the slide block 222 to the slide rail 221, so that the slide block 222 can be fixed relative to the slide rail 221, the slide block 222 is prevented from sliding relative to the slide rail 221 to cause the displacement of the calibration device 30 in the calibration process, and the accuracy of the calibration is avoided from being affected.

[0072] Referring to Figures 5 to 7 , Figure 5 is Figure 4 is another angle view of the slide block 222 of the driving assembly 22, Figure 6 is Figure 4 is a sectional view of the driving assembly 22 along the A-A direction, Figure 7 is Figure 4 is a sectional view of the driving assembly 22 along the B-B direction, specifically, the slide rail 221 is provided with a protrusion 2211, the protrusion 2211 is in a trapezoidal structure, the slide block 222 is provided with a sliding groove 2221, the sliding groove 2221 penetrates through the slide block 222, the sliding groove 2221 is in a dovetail groove structure, the protrusion 2211 and the sliding groove 2221 are matched, the sliding groove 2221 is slidingly connected with the protrusion 2211, and the protrusion 2211 is accommodated in the sliding groove 2221, and the sliding groove 2221 can slide along the protrusion 2211 reciprocally.

[0073] The sliding block 222 is further provided with a locking groove 2222 penetrating the sliding block 222 and located at one side of the sliding groove 2221. The sliding groove 2221 comprises a first abutting side wall 2201 and a second abutting side wall 2202 opposite to each other and located at two sides of the protrusion 2211 respectively. The locking groove 2222 comprises a third abutting side wall 2203 facing away from the protrusion 2211. The sliding block 222 is further provided with a threaded hole 2223 communicating with the locking groove 2222, one end of a first locking member 223 extends into the threaded hole 2223 and the locking groove 2222 in sequence and is opposite to the third abutting side wall 2203, and the first locking member 223 is threadedly connected with the threaded hole 2223. The first locking member 223 can move towards or away from the third abutting side wall 2203 by rotating the first locking member 223. When one end of the first locking member 223 moves towards the second abutting side wall 2202 and abuts against the third abutting side wall 2203, the third abutting side wall 2203 drives the first abutting side wall 2201 to abut against the protrusion 2211, so that the first abutting side wall 2201 and the second abutting side wall 2202 tightly hold two sides of the protrusion 2211 to prevent the sliding block 222 from sliding relative to the sliding rail 221, thereby realizing locking the sliding block 222 on the sliding rail 221. When one end of the first locking member 223 moves away from the third abutting side wall 2203, the driving force of the first abutting side wall 2201 and the second abutting side wall 2202 abutting against the protrusion 2211 disappears, and the sliding block 222 can slide relative to the sliding rail 221.

[0074] The sliding rail 221 is further provided with a first toothed portion 2212 arranged along the length direction of the protrusion 2211. The sliding block 222 is further provided with a recess 2224 penetrating the sliding block 222, the recess 2224 is arranged on the bottom wall of the sliding groove 2221 and communicates with the sliding groove 2221, the length direction of the recess 2224 is parallel to the length direction of the sliding groove 2221, and the first toothed portion 2212 is accommodated in the recess 2224. The driving assembly 22 further comprises a driving rod 224, one end of the driving rod 224 is provided with a second toothed portion 2241, the sliding block 222 is further provided with a connecting hole 2225 communicating with the recess 2224, one end of the driving rod 224 extends into the connecting hole 2225 and the recess 2224 in sequence, and the second toothed portion 2241 is in meshing connection with the first toothed portion 2212. The second toothed portion 2241 reciprocates along the first toothed portion 2212 by rotating the driving rod 224, so that the driving rod 224 drives the sliding block 222 to reciprocate along the sliding rail 221.

[0075] In some embodiments, the driving assembly 22 can also be other structures that can be used to move the leveling member 21 towards or away from the end side wall 210 of the wheel hub 200, and is not limited to the displacement slide mentioned above. For example, the driving assembly 22 can also be a telescopic rod, one end of the telescopic rod is connected with the fixing device 10, and the other end of the telescopic rod is connected with the leveling member 21. When the fixing device 10 is installed on the wheel hub 200, the two ends of the leveling member 21 directly abut against the end side wall 210, and at the same time, the leveling member 21 compresses the telescopic rod, so that the length direction of the leveling member 21 is parallel to the central axial plane of the vehicle. In addition, the telescopic rod can also be provided with a self-locking structure to allow it to be self-locked after being further compressed to drive the leveling member 21 to move away from the end side wall 210 by a distance, preventing displacement of the calibration device 30 during calibration.

[0076] Please refer to Figure 8 , Figure 8 is Figure 3 the structure perspective view of the rotating assembly 23 shown in FIG. 3, the adjusting mechanism 20 further comprises a rotating assembly 23, the rotating assembly 23 rotatably connects the driving assembly 22 and the leveling member 21, so that the leveling member 21 can rotate relative to the driving assembly 22. By rotatably connecting the driving assembly 22 and the leveling member 21 through the rotating assembly 23, when the driving assembly 22 drives the leveling member 21 to move towards the end side wall 210, the leveling member 21 can adaptively rotate around the rotation axis, so that the two ends of the leveling member 21 abut against the end side wall 210, thereby ensuring that the length direction of the leveling member 21 is parallel to the central axial plane of the vehicle. Specifically, when the leveling member 21 moves towards the end side wall 210 at a certain inclination angle relative to the central axial plane of the vehicle, the one end of the leveling member 21 abutting against the end side wall 210 is subjected to a reaction force of the end side wall 210, which makes the leveling member 21 rotate around the rotation axis until the other end of the leveling member 21 also abuts against the end side wall 210.

[0077] The rotating assembly 23 is a rotating sliding table structure, and the rotating assembly 23 comprises a fixed seat 231, a rotating seat 232 and a second locking piece 233. The fixed seat 231 is connected with the driving assembly 22, the rotating seat 232 is installed on the rotating seat 232, the leveling piece 21 is installed on the rotating seat 232, the rotating seat 232 can rotate relative to the fixed seat 231, the rotating shaft is the central axis of the rotating seat 232, and the second locking piece 233 is used for locking the rotating seat 232 to the fixed seat 231. After the two ends of the leveling piece 21 are abutted against the end side wall 210 of the hub 200 by the driving of the driving assembly 22, the rotating seat 232 can be locked to the fixed seat 231 by the second locking piece 233, so as to prevent the leveling piece 21 from rotating relative to the end side wall 210, thereby making the calibration direction of the calibration device 30 keep parallel to the central axis plane of the automobile. Then, the leveling piece 21 can be driven to move away from the end side wall 210 by the driving assembly 22, so that the two ends of the leveling piece 21 are separated from the end side wall 210, thereby making the calibration direction of the calibration device 30 pass through the vehicle-mounted radar, that is, making the calibration plane or calibration line extended by the calibration device 30 pass through the vehicle-mounted radar.

[0078] Specifically, the second locking piece 233 is rotated in a first direction, the rotating seat 232 can rotate relative to the fixed seat 231 under the action of an external force, that is, the rotating seat 232 can rotate under the driving of the leveling piece 21; the second locking piece 233 is rotated in a second direction, the rotating seat 232 is prevented from rotating relative to the fixed seat 231 under the action of an external force, so that the length direction of the leveling piece 21 keeps in the same direction. The first direction and the second direction are opposite directions.

[0079] As shown in Figure 3 The rotating assembly 23 further comprises an adapter plate 24, and the adapter plate 24 is used for connecting the driving assembly 22 and the rotating assembly 23. Specifically, the adapter plate 24 is fixedly installed on the sliding block 222, and the fixed seat 231 is fixedly installed on the adapter plate 24.

[0080] Please combine Figure 2 In the embodiment, the calibration device 30 is a laser emitter, and the laser emitter 30 is installed on the mounting surface 2111 of the leveling piece 21. The laser emitter is used for emitting a laser plane 301, the laser plane 301 is parallel to the length direction of the leveling piece 21, and the laser plane 301 is perpendicular to the mounting surface 2111. Since the mounting surface 2111 is perpendicular to the plane where the end side wall 210 of the hub 200 is located, when the two ends of the leveling piece 21 are respectively abutted against the end side wall 210 of the hub 200, the laser plane 301 is parallel to the central axis plane of the automobile, thereby allowing the calibration device 30 to emit the laser plane 301 towards the vehicle-mounted radar in a direction parallel to the central axis plane of the automobile.

[0081] In the installation and calibration process of the laser emitter, the laser emitter is first turned on to make the laser emitter emit the laser plane 301, and the projection of the laser plane 301 on the installation surface 2111 is overlapped with the notch. Since the length direction of the notch is parallel to the length direction of the leveling piece 21, the laser plane 301 is parallel to the length direction of the leveling piece 21. Finally, the laser emitter is fixed on the installation surface 2111, so that after the two ends of the leveling piece 21 abut against the end side wall 210 of the wheel hub 200 respectively, the laser plane 301 of the laser emitter is parallel to the central axis plane of the automobile.

[0082] In some embodiments, the laser emitter can also be used to emit a laser beam parallel to the length direction of the leveling piece 21, which is parallel to the central axis plane of the automobile after the two ends of the leveling piece 21 abut against the end side wall 210 of the wheel hub 200 respectively.

[0083] In some embodiments, the calibration device 30 can be a long straight structure, one end of the calibration device 30 is connected to the leveling piece 21, the other end of the calibration device 30 extends away from the leveling piece 21, and the length direction of the calibration device 30 is parallel to the length direction of the leveling piece 21. The calibration device 30 can be a ruler, a tight string, etc. Specifically, when the calibration device 30 is a ruler, one end of the ruler is connected to the leveling piece 21, the other end of the ruler extends towards the vehicle-mounted radar along a direction parallel to the length direction of the leveling piece 21, and the ruler is perpendicular to the installation surface 2111. When the two ends of the leveling piece 21 abut against the end side wall 210 of the wheel hub 200 respectively, the ruler is parallel to the central axis plane of the automobile; when the calibration device 30 is a tight string, one end of the string is connected to the leveling piece 21, the other end of the string extends towards the vehicle-mounted radar along a direction parallel to the length direction of the leveling piece 21, and when the two ends of the leveling piece 21 abut against the end side wall 210 of the wheel hub 200 respectively, the string is parallel to the central axis plane of the automobile.

[0084] As shown in Figure 3 The vehicle-mounted radar calibration equipment 100 further includes a mounting table 40, the mounting table 40 is substantially in the shape of an L-shaped plate, the mounting table 40 is used to connect the fixing device 10 and the adjusting mechanism 20, and the adjusting mechanism 20 and the calibration device 30 are both borne on the mounting table 40.

[0085] In some embodiments, the structure and shape of the mounting table 40 can be set according to actual needs, and are not limited to the above-mentioned L-shaped plate, such as a rectangular plate, etc.

[0086] The mounting table 40 is provided with a plurality of groups of mounting holes 401, each group of mounting holes 401 includes a plurality of mounting holes 401, and the adjusting mechanism 20 is selectively mounted on one of the groups of mounting holes 401, so that the adjusting mechanism 20 can adjust its mounting position on the mounting table 40 as needed, thereby adjusting the calibration position of the calibration device 30 to correspond to the calibration positions of different vehicle-mounted radars, and the adaptability of the vehicle-mounted radar calibration equipment 100 is improved.

[0087] Please refer to Figure 9 , Figure 9 Fig. 1 is a schematic diagram of a vehicle-mounted radar calibration device 100 calibrating a vehicle-mounted radar 300 according to an embodiment of the present application. The vehicle-mounted radar calibration device 100 further comprises a plurality of corner reflectors 50, which are located in the calibration direction of the calibration device 30 together with the vehicle-mounted radar 300. The corner reflectors 50 are used to reflect radar waves emitted by the vehicle-mounted radar. The installation angle of the vehicle-mounted radar 300 can be adjusted according to the reflection angle of the radar waves on the corner reflectors 50, so that the reflection angle is 0°, and the calibration of the vehicle-mounted radar 300 is completed. The corner reflectors 50 can be angle reflectors.

[0088] The working principle of the vehicle-mounted radar calibration device 100 according to the embodiment will be described below.

[0089] The vehicle-mounted radar calibration device 100 is installed on the hub 200 of the vehicle through the fixing device 10. The laser emitter is turned on, and the laser emitter emits a laser plane 301. The leveling piece 21 is driven by the driving assembly 22 to move towards the end side wall 210 of the hub 200. In this process, the leveling piece 21 can rotate relative to the hub 200 through the rotating assembly 23. When the two ends of the leveling piece 21 abut against the end side wall 210, the length direction of the leveling piece 21 is parallel to the plane where the end side wall 210 is located, so that the laser plane 301 emitted by the laser emitter is parallel to the central axis plane of the vehicle. The rotating seat 232 is locked to the fixing seat 231 through the second locking piece 233, so as to ensure that the laser plane 301 of the laser emitter is parallel to the central axis plane of the vehicle. The leveling piece 21 is driven by the driving assembly 22 to move away from the end side wall 210 of the hub 200. When the vehicle-mounted radar 300 is located on the laser plane 301 emitted by the laser emitter, the sliding block 222 is locked to the sliding rail 221 through the first locking piece 223, so as to prevent the laser emitter from moving during the calibration process. Then, a plurality of corner reflectors 50 are placed on the laser plane 301. The installation angle of the vehicle-mounted radar 300 is calibrated by detecting the reflection angle of the radar waves emitted by the vehicle-mounted radar 300 on the corner reflectors 50.

[0090] Please refer to Figure 10 , another embodiment of the present application provides a calibration method for a vehicle-mounted radar. The method is implemented by using the vehicle-mounted radar calibration device 100 provided in the above embodiment. The method comprises the following steps:

[0091] 400: providing a vehicle-mounted radar calibration device and corner reflectors;

[0092] 401: installing a fixing device on the hub of a vehicle;

[0093] ​​​​​​​​​​​​​​​​402: adjust the adjusting mechanism so that the two ends of the leveling piece abut against the end side walls of the wheel hub of the automobile, so that the calibration direction of the calibration device is parallel to the median plane of the automobile;

[0094] 403: while keeping the calibration direction of the calibration device parallel to the median plane of the automobile, adjust the adjusting mechanism so that the leveling piece is separated from the wheel hub, so that the calibration direction of the calibration device passes through the vehicle-mounted radar;

[0095] 404: place several reflecting pieces in the calibration direction of the calibration device;

[0096] 405: turn on the vehicle-mounted radar, so that the vehicle-mounted radar emits radar waves towards the reflecting pieces;

[0097] 406: detect the reflection angle of the radar waves reflected by the reflecting pieces;

[0098] 407: adjust the installation angle of the vehicle-mounted radar according to the reflection angle, until the reflection angle is 0°.

[0099] The fixing device 10 is installed on the wheel hub 200 of the automobile, so that the position of the vehicle-mounted radar calibration device 100 relative to the automobile is fixed. The adjusting mechanism 20 is adjusted so that the two ends of the leveling piece 21 abut against the end side walls 210 of the wheel hub 200 of the automobile, so that the length direction of the leveling piece 21 is parallel to the plane where the end side walls 210 are located, and then the calibration direction of the calibration device 30 is parallel to the median plane of the automobile, that is, the calibration plane or calibration line extended by the calibration device 30 is parallel to the median plane of the automobile. While keeping the calibration direction of the calibration device 30 parallel to the median plane of the automobile, the adjusting mechanism 20 is adjusted so that the leveling piece 21 is separated from the wheel hub 200, so that the calibration direction of the calibration device 30 passes through the vehicle-mounted radar 300, that is, the calibration plane or calibration line extended by the calibration device 30 passes through the vehicle-mounted radar 300. Several reflecting pieces 50 are placed in the calibration direction of the calibration device 30, that is, several reflecting pieces 50 are placed on the calibration plane or calibration line extended by the calibration device 30. The vehicle-mounted radar 300 is turned on, so that the vehicle-mounted radar 300 emits radar waves towards the reflecting pieces 50, and the reflecting pieces 50 reflect the radar waves. The reflection angle of the radar waves reflected by the reflecting pieces 50 is detected, and the vehicle-mounted radar is adjusted according to the reflection angle, until the reflection angle is 0°.

[0100] In the embodiment, the vehicle-mounted radar 300 is used to emit a two-dimensional radar wave, the two-dimensional radar wave includes two boundaries extending from the emission end of the vehicle-mounted radar 300, and the included angle between the two boundaries is the detection range of the vehicle-mounted radar 300. The vehicle-mounted radar 300 emits the radar wave towards the reflecting member 50, specifically, one boundary of the two-dimensional radar wave emitted by the vehicle-mounted radar 300 passes through the reflecting member 50, the reflecting member 50 reflects the one boundary, the reflection angle of the one boundary reflected by the reflecting member 50 is detected, and the vehicle-mounted radar is adjusted according to the reflection angle until the reflection angle is 0°.

[0101] In the embodiment, the leveling member 21 is oriented based on the hub 200 of the automobile, so that the calibration direction of the calibration device 30 is parallel to the central axial surface of the automobile, thereby indirectly installing and calibrating the vehicle-mounted radar based on the central axial surface of the automobile, and ensuring the accuracy of the calibration of the calibration device 30 on the vehicle-mounted radar. The reflecting member 50 located in the calibration direction of the calibration device 30 reflects the radar wave emitted by the vehicle-mounted radar, and the installation angle of the vehicle-mounted radar is adjusted according to the reflection angle of the reflecting member 50 on the radar wave, so that the vehicle-mounted radar and the automobile body are kept parallel, the radar wave emitted by the vehicle-mounted radar is prevented from misidentifying the automobile body as a dangerous target, and the accuracy of the detection and early warning of the blind area by the vehicle-mounted radar is ensured.

[0102] In some embodiments, the calibration device 30 is a laser emitter, the laser emitter is used to emit a laser plane, the vehicle-mounted radar 300 is used to emit a three-dimensional radar wave, the vehicle-mounted radar 300 is located on the laser plane, and the plurality of reflecting members 50 can be placed around the vehicle-mounted radar 300, and the plurality of reflecting members 50 are all located on the laser plane, and the calibration principle is the same as that of the two-dimensional radar wave.

[0103] In some embodiments, the adjusting mechanism 20 further includes a driving assembly 22 and a rotating assembly 23, the driving assembly 22 is connected with the fixing device 10, and the rotating assembly 23 is rotationally connected with the driving assembly 22 and the leveling member 21. Please refer to Figure 11 , the step 402 includes:

[0104] The driving assembly is adjusted to drive one end of the leveling member to abut against the end side wall of the hub;

[0105] The driving assembly is continuously adjusted to drive the leveling member to rotate through the rotating assembly, so that both ends of the leveling member abut against the hub.

[0106] Generally, before the leveling piece 21 abuts against the end side wall 210 of the wheel hub 200, the leveling piece 21 is relatively inclined to the center axis plane of the automobile. During the process of adjusting the driving assembly 22 to drive the leveling piece 21 to move towards the end side wall 210, one end of the leveling piece 21 first abuts against the end side wall 210. Then, the driving assembly 22 continues to drive the leveling piece 21 to move towards the end side wall 210. As a result, the one end of the leveling piece 21 is subjected to the reaction force of the end side wall 210, which drives the leveling piece 21 to rotate through the rotating assembly 23 so that the other end of the leveling piece 21 also abuts against the end side wall 210. Thus, both ends of the leveling piece 21 abut against the end side wall 210, and the length direction of the leveling piece 21 is parallel to the center axis plane of the automobile, i.e., the calibration direction of the calibration device 30 is parallel to the center axis plane of the automobile.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit it. Under the idea of the present application, the technical features in the above embodiments or different embodiments can be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above. For the sake of simplicity, they are not provided in details. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent ones. The modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle-mounted radar calibration device, characterized by comprising: include: A mounting device for installation on the wheel hub of a car; An adjustment mechanism, comprising a leveling component connected to the fixing device, wherein both ends of the leveling component are respectively used to abut against the wheel hub, so that the length direction of the leveling component is parallel to the center plane of the vehicle; A calibration device is installed on the leveling component, and the calibration direction of the calibration device is parallel to the length direction of the leveling component. The calibration device is used to calibrate the vehicle-mounted radar. The adjustment mechanism further includes a drive assembly connected to the fixing device, and the leveling component connected to the drive assembly. The drive assembly is used to drive the leveling component to move toward or away from the wheel hub, so that the two ends of the leveling component abut against or disengage from the wheel hub. The leveling component is provided with a calibration structure, which is used to calibrate the calibration direction of the calibration device so that the calibration direction of the calibration device is parallel to the length direction of the leveling component.

2. The on-vehicle radar calibration apparatus according to claim 1, characterized by The drive assembly includes a slide rail, a slider, and a first locking member. The slide rail is connected to the fixing device, the slider is connected to the slide rail, and the leveling member is connected to the slider. The slider is used to slide along the slide rail to drive the leveling member to move toward or away from the hub. The first locking member is used to lock the slider to the slide rail.

3. The on-board radar calibration apparatus according to claim 1, characterized by The adjustment mechanism further includes a rotating component, which is rotatably connected to the drive component and the leveling component.

4. The on-board radar calibration apparatus according to claim 3, characterized by The rotating assembly includes a fixed base, a rotating base, and a second locking member. The fixed base is connected to the driving assembly, the rotating base is mounted on the fixed base, the leveling member is mounted on the rotating base, the rotating base is rotatable relative to the fixed base, and the second locking member is used to lock the rotating base to the fixed base.

5. The on-board radar calibration apparatus according to claim 1, characterized by The leveling component includes a mounting surface, which is perpendicular to the plane containing the end sidewall of the hub; The calibration device is a laser emitter, which emits a laser surface that is parallel to the length direction of the leveling component and perpendicular to the mounting surface.

6. The on-board radar calibration apparatus according to claim 1, characterized by One end of the calibration device is connected to the leveling component, and the other end of the calibration device extends in a direction away from the leveling component, with the length direction of the calibration device being parallel to the length direction of the leveling component.

7. The on-board radar calibration apparatus according to claim 1, characterized by Also includes: A plurality of reflectors are provided, and the plurality of reflectors and the vehicle-mounted radar are all located in the calibration direction of the calibration device. The reflectors are used to reflect radar waves emitted by the vehicle-mounted radar.

8. The on-board radar calibration apparatus according to claim 1, characterized by The fixing device includes a clamping assembly and a mounting base. The mounting base is connected to the clamping assembly, which is used to clamp the wheel hub. The adjusting mechanism is connected to the mounting base.

9. The on-board radar calibration apparatus according to claim 1, characterized by, Also includes: The mounting platform is connected to the fixing device. The mounting platform is provided with multiple sets of mounting holes, each set of mounting holes including several mounting holes. The adjustment mechanism can be selectively installed in one set of mounting holes.

10. A method of calibrating a vehicle-mounted radar, characterized by, include: Provide the vehicle-mounted radar calibration device and reflector as described in claim 1; The fixing device is installed on the wheel hub of the vehicle; Adjusting the adjusting mechanism, so that two ends of the leveling piece abut against end side walls of the wheel hub respectively, so that the calibration direction of the calibration device is parallel to the median plane of the automobile; Adjusting the adjusting mechanism, so that the leveling piece is separated from the wheel hub, so that the calibration direction of the calibration device passes through the vehicle-mounted radar, while keeping the calibration direction of the calibration device parallel to the median plane of the automobile; Placing a plurality of the reflecting pieces in the calibration direction of the calibration device; Turning on the vehicle-mounted radar, so that the vehicle-mounted radar emits radar waves towards the reflecting pieces; Detecting reflection angles of the radar waves reflected by the reflecting pieces; Adjusting the installation angle of the vehicle-mounted radar according to the reflection angles, until the reflection angles are 0°.

11. The calibration method of claim 10, wherein, The adjusting mechanism further comprises a driving assembly and a rotating assembly, the driving assembly is connected with the fixing device, and the rotating assembly is rotationally connected with the driving assembly and the leveling piece; The adjusting the adjusting mechanism, so that two ends of the leveling piece abut against end side walls of the wheel hub respectively, comprises: Adjusting the driving assembly, so that one end of the leveling piece abuts against the end side wall of the wheel hub; Continuing to adjust the driving assembly, so that the leveling piece rotates through the rotating assembly, so that both ends of the leveling piece abut against the wheel hub.

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