A multi-sensor fusion calibration system

Abstract

In the multi-sensor fusion calibration system provided by the present invention, the alignment device, the camera calibration device, the FRS radar calibration device, the AVM calibration device and the laser calibration device are all connected to the control device; the alignment device aligns and calibrates the body of the calibrated vehicle according to the calibration instruction to obtain the alignment calibration result; the camera calibration device calibrates the camera of the calibrated vehicle according to the calibration instruction to obtain the camera calibration result; the FRS radar calibration device calibrates the radar of the calibrated vehicle according to the calibration instruction to obtain the radar calibration result; the AVM calibration device calibrates the AVM module of the calibrated vehicle according to the calibration instruction to obtain the AVM calibration result; the laser calibration device calibrates the driving axis of the calibrated vehicle according to the calibration instruction to obtain the driving axis calibration result; the control device generates a calibration report according to the alignment calibration result, the camera calibration result, the radar calibration result, the AVM calibration result and the driving axis calibration result to obtain an accurate fusion calibration result.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicle calibration, and in particular to a multi-sensor fusion calibration system. Background Art

[0002] The existing vehicle calibration system generally classifies and calibrates the vehicle driving parameters. In addition, during the calibration process, the calibration system needs to be set in different driving scenarios according to different vehicle driving scenarios, which greatly increases the calibration cost. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-sensor fusion calibration system, so that unmanned vehicles can be fused and calibrated in a single field, thereby reducing the calibration cost.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] A multi-sensor fusion calibration system, comprising: a straightening device, a camera calibration device, an FRS radar calibration device, an AVM calibration device, a laser calibration device and a control device;

[0006] The straightening device, the camera calibration device, the FRS radar calibration device, the AVM calibration device and the laser calibration device are all connected to the control device; the control device is used to generate a calibration instruction; the straightening device is used to straighten and calibrate the body of the calibrated vehicle according to the calibration instruction to obtain a straightening calibration result; the camera calibration device is used to calibrate the camera of the calibrated vehicle according to the calibration instruction to obtain a camera calibration result; the FRS radar calibration device is used to calibrate the radar of the calibrated vehicle according to the calibration instruction to obtain a radar calibration result; the AVM calibration device is used to calibrate the AVM module of the calibrated vehicle according to the calibration instruction to obtain an AVM calibration result; the laser calibration device is used to calibrate the driving axis of the calibrated vehicle according to the calibration instruction to obtain a driving axis calibration result; the control device is also used to generate a calibration report according to the straightening calibration result, the camera calibration result, the radar calibration result, the AVM calibration result and the driving axis calibration result.

[0007] Preferably, the straightening device comprises: a front straightening mechanism, a front roller mechanism, a rear straightening mechanism and a rear roller mechanism;

[0008] The front straightening mechanism, the front roller mechanism, the rear straightening mechanism and the rear roller mechanism are all connected to the control device; the front straightening mechanism is used to center the front wheel; the front roller mechanism is used to position and move the front wheel; the rear straightening mechanism is used to center the rear wheel; and the rear roller mechanism is used to position and move the front wheel.

[0009] Preferably, it further comprises: a first suspension and a second suspension;

[0010] The FRS radar calibration devices are all installed on the first suspension; the laser calibration device is installed on the second suspension.

[0011] Preferably, the FRS radar calibration device comprises: a radar transmitter-receiver and a corner reflector;

[0012] The radar transmitter-receiver is connected to the control device; the radar transmitter-receiver is used to transmit and receive radar signals; the corner reflector is installed on the first suspension; the corner emitter is used to reflect the radar signal transmitted by the radar transmitter-receiver.

[0013] Preferably, the first suspension is provided with an adjustment mechanism;

[0014] The corner reflector is mounted on the adjustment mechanism; the adjustment mechanism is connected to the control device; the adjustment mechanism adjusts the angle and displacement according to the control instruction generated by the control device.

[0015] Preferably, the camera calibration device comprises: an FCS target, an LED light and a calibration plate;

[0016] The FCS target is installed on the first suspension; the calibration plate is circumferentially distributed along the straightening device; the FCS target is connected to the control device; the FCS target is used to receive the light signal emitted by the calibration plate.

[0017] Preferably, the calibration plate is a grid structure including three colors: black, white and gray.

[0018] Preferably, the laser marking device comprises: a laser target measuring instrument and a laser target;

[0019] The laser target instrument is connected to the control device; the laser target instrument is used to transmit and receive laser signals; the laser target is arranged on the second suspension; the laser target is used to reflect the laser signal.

[0020] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0021] In the multi-sensor fusion calibration system provided by the present invention, the alignment device, the camera calibration device, the FRS radar calibration device, the AVM calibration device and the laser calibration device are all connected to the control device; the alignment device aligns and calibrates the body of the calibrated vehicle according to the calibration instruction to obtain the alignment calibration result; the camera calibration device calibrates the camera of the calibrated vehicle according to the calibration instruction to obtain the camera calibration result; the FRS radar calibration device calibrates the radar of the calibrated vehicle according to the calibration instruction to obtain the radar calibration result; the AVM calibration device calibrates the AVM module of the calibrated vehicle according to the calibration instruction to obtain the AVM calibration result; the laser calibration device calibrates the driving axis of the calibrated vehicle according to the calibration instruction to obtain the driving axis calibration result; the control device generates a calibration report according to the alignment calibration result, the camera calibration result, the radar calibration result, the AVM calibration result and the driving axis calibration result to obtain an accurate fusion calibration result. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0023] Figure 1 A schematic diagram of the planar structure of the multi-sensor fusion calibration system provided by the present invention;

[0024] Figure 2 A schematic diagram of the three-dimensional structure of the multi-sensor fusion calibration system provided by the present invention;

[0025] Figure 3 A diagram showing the installation method of the FRS radar calibration device provided by an embodiment of the present invention;

[0026] Figure 4 A schematic diagram of the placement of absorbing materials provided in an embodiment of the present invention;

[0027] Figure 5 This is an overall installation diagram of the multi-sensor fusion calibration system provided in an embodiment of the present invention.

[0028] Description of Figure Numbers:

[0029] 1-first suspension, 2-FCS target, 3-laser calibration device, 4-second suspension, 5-straightening device, 6-AVM calibration device, 7-laser target, 8-control device, 9-FRS radar calibration device. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The purpose of the present invention is to provide a multi-sensor fusion calibration system, so that unmanned vehicles can be fused and calibrated in a single field, thereby reducing the calibration cost.

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] The multi-sensor fusion calibration system provided by the present invention comprises: a straightening device 5, a camera calibration device, an FRS radar calibration device 9, an AVM calibration device 6, a laser calibration device 3 and a control device 8.

[0034] The straightening device 5, the camera calibration device, the FRS radar calibration device 9, the AVM calibration device 6 and the laser calibration device 3 are all connected to the control device 8. The control device 8 is used to generate calibration instructions. The straightening device 5 is used to straighten and calibrate the body of the calibrated vehicle according to the calibration instructions to obtain a straightening calibration result. The camera calibration device is used to calibrate the camera of the calibrated vehicle according to the calibration instructions to obtain a camera calibration result. The FRS radar calibration device 9 is used to calibrate the radar of the calibrated vehicle according to the calibration instructions to obtain a radar calibration result. The AVM calibration device 6 is used to calibrate the AVM module of the calibrated vehicle according to the calibration instructions to obtain an AVM calibration result. The laser calibration device 3 is used to calibrate the driving axis of the calibrated vehicle according to the calibration instructions to obtain a driving axis calibration result. The control device 8 is also used to generate a calibration report based on the straightening calibration result, the camera calibration result, the radar calibration result, the AVM calibration result and the driving axis calibration result.

[0035] The surround view image system (AVM) captures the surrounding scenery of the vehicle and synthesizes the surrounding scenery into a 360° panoramic image through the controller. The display effect is similar to the image taken from above the vehicle. The surround view image system not only provides panoramic images, but also displays dynamic auxiliary lines and parking assistance functions. Therefore, the accuracy of panoramic image stitching will directly affect the user experience. The whole vehicle offline calibration of the panoramic surround view image system is to calibrate according to the actual vehicle to ensure the effect of the panoramic image.

[0036] In order to further improve the accuracy of the body centering calibration, so as to calibrate the vehicle driving assistance system, such as Figure 1 and 2As shown, the straightening device 5 used in the present invention includes: a front straightening mechanism, a front roller mechanism, a rear straightening mechanism and a rear roller mechanism.

[0037] The front straightening mechanism, the front roller mechanism, the rear straightening mechanism and the rear roller mechanism are all connected to the control device 8. The front straightening mechanism is used to center the front wheel. The front roller mechanism is used to position and move the front wheel. The rear straightening mechanism is used to center the rear wheel. The rear roller mechanism is used to position and move the front wheel.

[0038] In this embodiment, the installation distance between the above-mentioned mechanisms of the alignment device 5 can be set according to the size of the actual vehicle to be tested. For example, the length of the actual vehicle to be tested is not more than 6000mm, the width is not more than 2200mm, and the wheelbase is not more than 3600mm. Under this test condition, the reference position can be: vehicle centerline position + front wheel centerline. The axle load preset in the control device 8 is 3t, the alignment accuracy is ±10mm (vehicle longitudinal centerline error), and the alignment speed is ≤5s.

[0039] In this embodiment, the positioning and movement of the wheel is mainly achieved through electrical control, such as using a cylinder, a motor, etc. to achieve rolling.

[0040] In order to further improve the overall calibration effect, Figure 1 and 2 As shown, the multi-sensor fusion calibration system provided by the present invention further includes: a first suspension 1 and a second suspension 4.

[0041] The FRS radar calibration devices 9 are all installed on the first suspension 1 . The laser calibration device 3 is installed on the second suspension 4 .

[0042] Furthermore, as another embodiment of the present invention, the FRS radar calibration device 9 provided above includes: a radar transmitter-receiver and a corner reflector.

[0043] The radar transmitter-receiver is connected to the control device 8. The radar transmitter-receiver is used to transmit and receive radar signals. The corner reflector is installed on the first suspension 1. The corner reflector is used to reflect the radar signal transmitted by the radar transmitter-receiver. The radar transmitter-receiver is preferably a handheld diagnostic instrument.

[0044] In this embodiment, the purpose of the passive calibration of the FRS radar is to determine the deviation between the calibration mirror axis and the driving axis by optical measurement, and then read the deviation angle between the calibration mirror and the radar axis, and adjust the calibration bolts in the horizontal and vertical directions to make the radar axis coincide with the driving axis or be within an allowable range. The precise deviation angle (horizontal and vertical directions) between the calibration mirror axis and the radar axis has been written into the radar sensor and can be read through the diagnostic command.

[0045] In the actual calibration process, the passive calibration of the FRS radar provided by the present invention can be completed using a platform including a vehicle to be calibrated, a calibration device (optical measuring instrument) and a calibration computer. The installation method of the FRS radar calibration device 9 is as follows: Figure 3 shown.

[0046] Furthermore, the product specifications of the corner reflector used in this embodiment are: parameter-76.5G, RCS-10dbsm. Material-steel. Surface flatness-0.03mm. The corner reflector is installed on the outside of the first suspension 1, and its angle can be adjusted by means of a thread and a thickness adjustment sheet. In order to achieve real-time adjustment of the corner reflector, the present invention is provided with an adjustment mechanism on the first suspension 1.

[0047] The corner reflector is mounted on the adjustment mechanism. The adjustment mechanism is connected to the control device 8. The adjustment mechanism adjusts the angle and displacement according to the control instructions generated by the control device 8. The adjustment structure is placed at the bottom of the first suspension 1 and is affixed with absorbing materials to prevent other signal reflections, such as Figure 4 shown.

[0048] The FRS radar calibration system includes a Y-axis moving device, which uses a Mitsubishi PLC system to complete the movement. Since the lens can turn the original light into parallel lines, the Z-axis height has no effect on the accuracy calibration, so there is no need to adjust the Z-axis height. The system only needs to adjust the Y-axis to facilitate the entry and exit of the vehicle. In order to meet the requirements of calibration accuracy, the original accuracy is adjusted by leveling bolts. The overall installation diagram is shown in the figure below. Figure 5 shown.

[0049] Furthermore, the present invention uses a camera calibration device to achieve optical measurement of the vehicle. The camera calibration device includes: an FCS target 2, an LED light and a calibration plate.

[0050] The FCS target 2 is mounted on the first suspension 1. The calibration plates are arranged circumferentially along the straightening device 5. The FCS target 2 is connected to the control device 8. The FCS target 2 is used to receive the light signal emitted by the calibration plate.

[0051] The center of the camera calibration device is consistent with the center of the radar calibration device. Considering that the vehicle drives out from the front after completing the calibration, the camera calibration device can be retracted for effective avoidance.

[0052] The errors of optical calibration include: measurement error and manual adjustment error (mechanical accuracy or mechanical and software quantization accuracy).

[0053] Manual adjustment error means that the light spot needs to be adjusted to the accuracy range of the "defined point" in the end, and the calibration can be considered successful within this accuracy range.

[0054] Radar installation error (±3°) refers to the deviation between the normal line of the plane formed by the installation reference point of the radar on the bracket and the vehicle's driving axis before the radar is calibrated. The installation error range depends on the measurement range of the equipment supplier's measuring equipment, and it is recommended not to exceed ±3°.

[0055] Please note the deviation between the normal of the laser measurement system and the vehicle's driving axis (determined by the toe of the non-steering wheels and has nothing to do with the steering wheels). The deviation between the driving axis and the normal of the laser measurement system (equipment axis) can be measured, and this value must be guaranteed to be within the range of ±0.15° before the radar calibration. It should be noted that if the vehicle changes the driving axis when adjusting its own parameters (such as adjusting the toe), it is necessary to re-drum and re-measure the deviation value before the calibration begins to ensure that the deviation between the driving axis and the equipment axis is within the range of ±0.15°.

[0056] During the calibration process, when the radar connector is installed downward and the axis of the calibration mirror is located counterclockwise to the radar axis, the horizontal deviation angle is positive. When the radar connector is installed downward and the axis of the calibration mirror is lower than the radar axis, the vertical deviation angle is positive.

[0057] The coordinate system of the passive calibration equipment light collection device is designed based on the coordinate system. Special attention should be paid to the relationship between the sign of the angle in the coordinate system and the actual calibration mirror deviation direction. Based on the above definition, the laser of the passive calibration equipment is reflected by the mirror and projected onto the light collection box.

[0058] The calibration plate is a grid structure with three colors: black, white and gray. The calibration plate is a calibration solution designed for active safety camera production line calibration. As a target-based solution, during the calibration process, the vehicle to be calibrated needs to be fixed at a specific station at the end of the production line, and the camera is allowed to shoot a calibration plate placed vertically in front of the station. There are multiple geometric elements on the calibration plate, which are in sharp contrast with the rest of the calibration plate. The calibration plate is installed at a reference position in front of the vehicle, and the camera will obtain an image from this calibration plate. The position of the geometric elements in the image can then be determined by image analysis. In production line mode, the vehicle is fixed in front of a stationary target (calibration plate) based on a standard size calibration plate. The TAC calibration plate consists of two patterns. Each pattern consists of two rows of alternating black and white squares, each row contains 3 squares, and each square has a side length of S. There can be a certain amount of blank space around the calibration plate pattern. As shown in the figure. The software can determine the actual direction angle of the camera through the determined image coordinates and the known reference position of the calibration plate, and will store this information in the control unit. Additionally, the actual height of the camera can be determined.

[0059] In this embodiment, the surface of the calibration plate should be matte material with poor specular reflection ability. The surface of the calibration plate should be flat and easy to clean. The calibration plate should be able to be stored and used for a long time, wear-resistant, not easy to deform and discolor, and have a certain corrosion resistance.

[0060] The calibration process requires the use of a vehicle-mounted camera to shoot the calibration plate (target) installed vertically in front of the vehicle. The calibration plate consists of two 2X3cm black and white grid patterns, each grid is square, and there are gray edges around the pattern. The left and right patterns are horizontal, and the directions are opposite up and down (or rotated 180°). For specific parameter values, please refer to the calibration plate size and installation parameters. The calibration plate can be a whole plate. The color of the calibration plate: white color number N9.5, black color number N1.5, edge gray color number N5.5. The calibration plate should conform to the complete calibration pattern, and a white edge of more than 50mm can be left around the pattern to improve the detection accuracy. Flatness of the calibration plate: flatness error ≤3mm.

[0061] The calibration plate should be installed in front of the vehicle, the two patterns should be at the same height and level, and the plate surface should be perpendicular to the ground. For specific installation position parameter values, please refer to the calibration plate size and installation parameters.

[0062] The present invention uses a YZ two-axis mechanical system to complete target fixation. After the test workstation obtains the wheel eyebrow data through the detection line, it adjusts the Z-axis height to be consistent with the vehicle body height. The Y-axis is the first positioning data. After the Y-axis and the camera center axis are positioned, no adjustment is made. If a system error occurs, positioning is performed again. The rotation axis data along the X-axis can be adjusted by installing screws.

[0063] This section proposes solutions for the detection and calibration process after the rear lidar system is installed and offline, as well as the required environment, tools, equipment, process, and software requirements. Paint the floor. It is recommended to paint it yellow and distinguish the work area from the pedestrian area. The calibration area needs to be separated into a dihedron with a calibration plate (as shown in the figure), and the QR code is pasted on the installation plate with matte material.

[0064] Furthermore, the basic settings for implementing laser calibration include:

[0065] Power supply: The distribution box is 220V.

[0066] Light source: LED light source, can be effectively used for calibration lighting of this workstation.

[0067] Automobile attitude control device 8: This device is required to be able to control the attitude of the automobile and is used to determine whether the normal direction of the laser calibration plate is on the same horizontal plane as the automobile. The material required to be this device is steel or other materials that are not easily deformed.

[0068] Bracket: used to fix the calibration plate. The bracket is made of standard aluminum profile.

[0069] When the car and the calibration plate are controlled to the specified position, the radar can be calibrated. Based on this, the laser calibration device 3 includes: a laser target 7 instrument and a laser target 7.

[0070] The laser target 7 is connected to the control device 8. The laser target 7 is used to transmit and receive laser signals. The laser target 7 is arranged on the second suspension 4. The laser target 7 is used to reflect laser signals.

[0071] The distance from the surface of the laser target 7 to the parking space must at least ensure that the distance between the rear of the vehicle and the laser target 7 is 2m±0.15m (TBD). The vertical height of the calibration plate must be the same height as the laser radar. The Z-axis parameters are adjusted to make the calibration target and the vehicle Z-axis direction consistent. The movement of the calibration target in the X and Z directions can be controlled as long as the vehicle can pass. The accuracy in the X and Z directions can be controlled within ±1cm. The rear laser mechanical calibration includes an XZ-axis adjustment system. After obtaining the wheel arch height data through the electrical inspection server, the left and right rear targets are automatically adjusted to the specified position. The calibration program is started to complete the calibration of the rear laser radar. Target materials are installed on the sides and rear to complete the calibration of the side laser sensor.

[0072] In the actual calibration process, mechanical adjustment is required when the value read by the control device 8 is greater than ±3 degrees of the original setting value. Software calibration is performed when the value read is between ±3 and ±1 degrees of the original setting value. No calibration is required when the value read is less than ±1 degree of the original setting value.

[0073] Furthermore, in the actual application of the present invention, the site setting parameters of the multi-sensor fusion calibration system can be set according to the actual needs of the customer, for example:

[0074] Calibration site size: 5600mm*9000mm (adjusted according to the camera requirements of R&D products). Taking the chessboard solution as an example, the length, width and error requirements of the overall calibration site must be ±15mm. All black squares are made according to the size on the pattern, and the error is guaranteed to be within ±2mm. The ground of the calibration site is required to be flat, and the flatness error in the calibration site is kept within 2mm. The flatness error is required to be within the maximum error of any two-meter length of ±5mm. Ensure that the four wheels of the vehicle are in a horizontal plane. Note: ±5mm: The trigonometric function algorithm is approximately equal to 0.2°. The panoramic parking assist system calibration site is drawn with black and white epoxy resin floor paint, which involves wear resistance and matte performance. During the paint laying process, the ground should not have obvious reflections after the paint is laid under lighting conditions. It is recommended to mix the chemical matting agent (meteorological silica) in proportion when spraying the paint to avoid ground reflections. Use a steel plate with a thickness of more than 8mm.

[0075] The target patterns are:

[0076] Calibration identification block shape characteristics: During site construction, the calibration block must be square, with four right angles and four straight sides. Calibration identification block material: RAL color number RAL9017 traffic black, non-reflective matte paint. Calibration identification block installation accuracy requirements The deviation between the actual installation position of the calibration identification block and the target position in the X / Y / Z axis direction should be less than 1mm. Calibration identification block size: 1200mm*1200mm(±5mm)(dimensional error ≤1mm).

[0077] The shape of each target is a checkerboard, for example:

[0078] During site construction, it is necessary to ensure that the calibration block is a black and white chessboard, with four right angles and four straight edges. The material of the chessboard calibration identification block: white is RAL9016 traffic white, black is RAL9017 traffic black, non-reflective matte paint. The chessboard installation accuracy requires that the deviation between the actual installation position of the chessboard and the target position in the X / Y / Z axis direction should be less than 3mm.

[0079] Lighting requirements are:

[0080] Diffuse light, no reflection on the ground, vertical lighting with LED tubes. Light source lighting (LED tube specifications: 1.2 meters long, 6500K color temperature, power above 16W, vertical lighting with LED tubes.

[0081] Light source height: about 3m to 4m. Avoid 50HZ flicker of ordinary fluorescent and daylight tubes. Ambient light brightness value is between 300lux and 700lux.

[0082] The lighting LED tube is installed 3-4 meters above the calibration site. To prevent sunlight from entering the calibration site through doors and windows, the doors and windows around the site are required to be covered with thick white cloth or sunshades (to ensure stable ambient light).

[0083] The calibration pattern is:

[0084] Before drawing the calibration pattern, the ground should be slightly roughened to enhance the adhesion of the paint and make it wear-resistant. The calibration pattern is required to be wear-resistant and maintain its color for a long time. If any problem occurs during the warranty period, the supplier should replace it free of charge.

[0085] The calibration pattern uses all-matte black and white paint, and the black and white blocks are required to be sprayed on a steel plate with a thickness of not less than 8mm for overall assembly.

[0086] The white color is RAL9016 traffic white paint, and its corresponding RGB value is

[0087] 255, 255, 255, (e.g. Tamiya matte white). Black uses RAL9017 Traffic Black, and its corresponding black RGB value is 7, 7, 7, (e.g. Tamiya matte black). (Input before design)

[0088] Use spray paint to paint evenly. Cover the white painted area when spraying black paint. Cover the black painted area when spraying white paint. The black and white should be clearly separated and not mixed.

[0089] The material of the black and white blocks of the calibration plate is highly stable, has little deformation due to temperature, is wear-resistant, and resistant to general bumps. The surface roughness is 0.2<Rα value<0.4, ensuring that the testing of 50,000 vehicles will not cause wear to the black and white blocks of the calibration plate.

[0090] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0091] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A multi-sensor fusion calibration system, characterized in that: include: Straightening device, camera calibration device, FRS radar calibration device, AVM calibration device, laser calibration device and control device; The straightening device, the camera calibration device, the FRS radar calibration device, the AVM calibration device and the laser calibration device are all connected to the control device; the control device is used to generate a calibration instruction; the straightening device is used to straighten and calibrate the body of the calibrated vehicle according to the calibration instruction to obtain a straightening calibration result; the camera calibration device is used to calibrate the camera of the calibrated vehicle according to the calibration instruction to obtain a camera calibration result; the FRS radar calibration device is used to calibrate the radar of the calibrated vehicle according to the calibration instruction to obtain a radar calibration result; the AVM calibration device is used to calibrate the AVM module of the calibrated vehicle according to the calibration instruction to obtain an AVM calibration result; the laser calibration device is used to calibrate the driving axis of the calibrated vehicle according to the calibration instruction to obtain a driving axis calibration result; the control device is also used to generate a calibration report according to the straightening calibration result, the camera calibration result, the radar calibration result, the AVM calibration result and the driving axis calibration result; The multi-sensor fusion calibration system further includes: a first suspension and a second suspension; The FRS radar calibration devices are all installed on the first suspension; the laser calibration device is installed on the second suspension; The FRS radar calibration device comprises: a radar transmitter and receiver and a corner reflector; The radar transmitter-receiver is connected to the control device; the radar transmitter-receiver is used to transmit and receive radar signals; the corner reflector is installed on the first suspension; the corner reflector is used to reflect the radar signal transmitted by the radar transmitter-receiver; the angle of the corner reflector is adjusted by means of a thread and a thickness adjustment sheet; The laser marking device comprises: a laser target measuring instrument and a laser target; The laser target instrument is connected to the control device; the laser target instrument is used to transmit and receive laser signals; the laser target is arranged on the second suspension; the laser target is used to reflect the laser signal; The passive calibration process of the FRS radar calibration device determines the deviation between the calibration mirror axis and the driving axis through optical measurement, then reads the deviation angle between the calibration mirror and the radar axis, and adjusts the calibration bolts in the horizontal and vertical directions to make the radar axis coincide with the driving axis or be within an allowable range; the deviation angle between the calibration mirror axis and the radar axis has been written into the radar sensor and read through the diagnostic command.

2. The multi-sensor fusion calibration system according to claim 1, characterized in that: The straightening device comprises: a front straightening mechanism, a front roller mechanism, a rear straightening mechanism and a rear roller mechanism; The front straightening mechanism, the front roller mechanism, the rear straightening mechanism and the rear roller mechanism are all connected to the control device; the front straightening mechanism is used to center the front wheel; the front roller mechanism is used to position and move the front wheel; the rear straightening mechanism is used to center the rear wheel; and the rear roller mechanism is used to position and move the front wheel.

3. The multi-sensor fusion calibration system according to claim 1, characterized in that: The first suspension is provided with an adjustment mechanism; The corner reflector is mounted on the adjustment mechanism; the adjustment mechanism is connected to the control device; the adjustment mechanism adjusts the angle and displacement according to the control instruction generated by the control device.

4. The multi-sensor fusion calibration system according to claim 2, characterized in that: The camera calibration device comprises: an FCS target, an LED light and a calibration plate; The FCS target is installed on the first suspension; the calibration plate is circumferentially distributed along the straightening device; the FCS target is connected to the control device; the FCS target is used to receive the light signal emitted by the calibration plate.

5. The multi-sensor fusion calibration system according to claim 4, characterized in that: The calibration plate is a grid structure including three colors: black, white and gray.

Images