Vehicle-mounted ultrasonic radar calibration method and calibration system

Abstract

The embodiment of the application provides a kind of vehicle-mounted ultrasonic radar calibration method and system, the method comprises: vehicle-mounted ultrasonic radar power-on;Adjust the amplification multiple of the amplification circuit of vehicle-mounted ultrasonic radar to determine the calibration amplification multiple of vehicle-mounted ultrasonic radar;Adjust the sensor threshold of vehicle-mounted ultrasonic radar and record intermediate calibration data group;Adjust the sensor threshold of vehicle-mounted ultrasonic radar again and record near-point calibration data group;Based on the linear variation law of the sensor threshold and the detection distance of vehicle-mounted ultrasonic radar, according to intermediate calibration data group and near-point calibration data group, the linear relationship of the sensor threshold and the detection distance of vehicle-mounted ultrasonic radar is constructed, that is, the calibration of vehicle-mounted ultrasonic radar is completed.The calibration efficiency of this embodiment is high, and the accuracy is also higher.

Description

Technical Field

[0001] This invention relates to the field of ultrasonic radar technology, and in particular to a calibration method and system for vehicle-mounted ultrasonic radar. Background Technology

[0002] Currently, motor vehicles are typically equipped with ultrasonic radar to detect obstacles around the vehicle. However, when users install ultrasonic radar on their vehicles, they often find that the detection parameters configured at the factory, such as the amplification factor of the ultrasonic radar's amplification circuit and the correspondence between sensor threshold and detection distance, do not match the actual detection parameters required by the vehicle. Therefore, after the ultrasonic radar is installed on the vehicle, it is necessary to calibrate it.

[0003] Existing vehicle-mounted ultrasonic radar calibration methods mainly rely on manual calibration. After installing a calibration rod in the calibration site, the ultrasonic radar to be calibrated is used for detection. Then, the position of the calibration rod is moved, and the ultrasonic radar is used for detection again. This process is repeated in a loop until the calibration parameters that match the ultrasonic radar and the vehicle are finally determined.

[0004] However, the above calibration method is obviously cumbersome to operate, requiring frequent adjustment of the calibration rod position, resulting in low calibration efficiency; moreover, it is difficult to guarantee the accuracy of calibration during manual calibration, and the calibration precision is relatively low. Summary of the Invention

[0005] The technical problem to be solved by the embodiments of the present invention is to provide a vehicle-mounted ultrasonic radar calibration method that has high calibration efficiency and higher accuracy.

[0006] To address the aforementioned technical problems, the present invention first provides the following technical solution: a vehicle-mounted ultrasonic radar for calibrating a site, comprising:

[0007] A parking area for motor vehicles equipped with vehicle-mounted ultrasonic radar; and

[0008] A far-point calibration pole, an intermediate calibration pole, and a near-point calibration pole are set sequentially from far to near relative to the motor vehicle parking area;

[0009] The distances between the far-point calibration rod and the near-point calibration rod and the vehicle parking area correspond to the farthest detection distance and the closest detection distance of the vehicle-mounted ultrasonic radar, respectively.

[0010] Furthermore, the calibration site is symmetrically equipped with the far-point calibration pole, the intermediate calibration pole, and the near-point calibration pole on both sides at the corresponding distance positions in the motor vehicle parking area.

[0011] On the other hand, in order to solve the above-mentioned further technical problems, the embodiments of the present invention provide the following technical solution: a vehicle-mounted ultrasonic radar calibration method based on the above-mentioned vehicle-mounted ultrasonic radar calibration site, comprising the following steps:

[0012] Power on the vehicle-mounted ultrasonic radar of motor vehicles parked in the designated parking area of ​​the calibration site;

[0013] Adjust the amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar until the far-point calibration rod is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar, and at the same time, the actual ratio of the current actual signal strength of the vehicle-mounted ultrasonic radar to the actual ratio of the maximum signal strength of the ultrasonic radar is within a predetermined ratio range. Read the current actual amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar and determine the actual amplification factor as the calibration amplification factor of the vehicle-mounted ultrasonic radar.

[0014] Adjust the sensor threshold of the vehicle-mounted ultrasonic radar until the intermediate calibration rod is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar, read the current first sensor threshold of the vehicle-mounted ultrasonic radar, and record the first sensor threshold and the distance between the intermediate calibration rod and the vehicle parking area as an intermediate calibration data set.

[0015] Readjust the sensor threshold of the vehicle-mounted ultrasonic radar until the proximity calibration rod is at the critical position of the maximum detection range of the vehicle-mounted ultrasonic radar. Read the current second sensor threshold of the vehicle-mounted ultrasonic radar. Record the second sensor threshold and the distance between the proximity calibration rod and the vehicle parking area as a proximity calibration data set; and

[0016] Based on the linear variation law of the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar, the calibration of the vehicle-mounted ultrasonic radar is completed by constructing a linear relationship between the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar according to the intermediate calibration data set and the near-point calibration data set.

[0017] Furthermore, the radar controller connected to the vehicle-mounted ultrasonic radar performs the following steps: adjusting and reading the amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar and adjusting and reading the sensor threshold of the vehicle-mounted ultrasonic radar.

[0018] Furthermore, starting from the first sensor threshold, the sensor threshold of the vehicle-mounted ultrasonic radar is gradually decreased until the proximity calibration rod is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar.

[0019] Furthermore, the method also includes:

[0020] A table showing the correspondence between the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar is obtained by calculating the linear relationship between the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar.

[0021] Furthermore, to address the aforementioned technical problems, this invention provides the following technical solution: a vehicle-mounted ultrasonic radar calibration system based on the above-mentioned vehicle-mounted ultrasonic radar calibration site, comprising:

[0022] The power-on module is used to power on the onboard ultrasonic radar of motor vehicles parked in the designated parking area of ​​the calibration site.

[0023] The amplification factor adjustment module is used to adjust the amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar until the far-point calibration rod is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar, while the actual ratio of the current actual signal strength of the vehicle-mounted ultrasonic radar to the maximum signal strength of the ultrasonic radar is within a predetermined ratio range. The module reads the current actual amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar and determines the actual amplification factor as the calibration amplification factor of the vehicle-mounted ultrasonic radar.

[0024] The first threshold adjustment module is used to adjust the sensor threshold of the vehicle-mounted ultrasonic radar until the intermediate calibration rod is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar, read the current first sensor threshold of the vehicle-mounted ultrasonic radar, and record the first sensor threshold and the distance between the intermediate calibration rod and the vehicle parking area as an intermediate calibration data set.

[0025] The second threshold adjustment module is used to readjust the sensor threshold of the vehicle-mounted ultrasonic radar until the near-point calibration rod is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar, read the current second sensor threshold of the vehicle-mounted ultrasonic radar, and record the second sensor threshold and the distance between the near-point calibration rod and the vehicle parking area as a near-point calibration data set; and

[0026] The relationship determination module is used to construct a linear relationship between the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar based on the linear variation law of the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar, and to complete the calibration of the vehicle-mounted ultrasonic radar by using the intermediate calibration data set and the near-point calibration data set.

[0027] Furthermore, the amplification factor adjustment module, the first threshold adjustment module, and the second threshold adjustment module implement the following steps through the radar controller connected to the vehicle-mounted ultrasonic radar: adjusting and reading the amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar and adjusting and reading the sensor threshold of the vehicle-mounted ultrasonic radar.

[0028] Furthermore, the second threshold adjustment module gradually decreases the sensor threshold of the vehicle-mounted ultrasonic radar starting from the first sensor threshold until the proximity calibration rod is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar.

[0029] Furthermore, the system also includes:

[0030] The relationship table calculation module is used to calculate the correspondence table between the sensor threshold and the detection distance of the vehicle-mounted ultrasonic radar based on the linear relationship between the sensor threshold and the detection distance of the vehicle-mounted ultrasonic radar.

[0031] After adopting the above technical solution, the embodiments of the present invention have at least the following beneficial effects: The embodiments of the present invention use a calibration site in which a far-point calibration pole, an intermediate calibration pole, and a near-point calibration pole are sequentially set from far to near relative to the vehicle parking area to calibrate the vehicle-mounted ultrasonic radar. After the vehicle-mounted ultrasonic radar is powered on, the amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar is adjusted until the far-point calibration pole is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar. At the same time, the actual ratio of the current actual signal strength of the vehicle-mounted ultrasonic radar to the actual maximum signal strength of the ultrasonic radar is within a predetermined ratio range, thus determining the matching distance with the vehicle. The calibration amplification factor is adjusted to ensure that the actual signal strength of the vehicle-mounted ultrasonic radar meets the predetermined standard. Then, the sensor threshold of the vehicle-mounted ultrasonic radar is adjusted sequentially so that the intermediate calibration rod and the near-point calibration rod are successively at the critical positions of the maximum detection range of the vehicle-mounted ultrasonic radar. This allows the intermediate calibration data set and the near-point calibration data set that correlate the sensor threshold and the detection range to be determined. Finally, based on the linear variation law of the sensor threshold and the detection range of the vehicle-mounted ultrasonic radar, the linear relationship between the sensor threshold and the detection range can be determined. This eliminates the need for repeated adjustments to the position of the calibration rod, resulting in relatively high calibration efficiency and higher calibration accuracy. Attached Figure Description

[0032] Figure 1 This is a top view schematic diagram of an optional embodiment of the vehicle-mounted ultrasonic radar for calibrating a test site according to the present invention.

[0033] Figure 2 This is a flowchart illustrating the steps of an optional embodiment of the vehicle-mounted ultrasonic radar calibration method of the present invention.

[0034] Figure 3 This is a functional block diagram of an optional embodiment of the vehicle-mounted ultrasonic radar calibration system of the present invention.

[0035] Figure 4 This is a functional block diagram of another optional embodiment of the vehicle-mounted ultrasonic radar calibration system of the present invention. Detailed Implementation

[0036] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the following illustrative embodiments and descriptions are only used to explain the present invention and are not intended to limit the present invention. Moreover, the embodiments and features in the embodiments of the present application can be combined with each other unless otherwise specified.

[0037] like Figure 1 As shown, an optional embodiment of the present invention provides a vehicle-mounted ultrasonic radar calibration site 1, comprising:

[0038] Parking area 10 for parking motor vehicles B equipped with vehicle-mounted ultrasonic radar A; and

[0039] A far-point calibration pole 12, an intermediate calibration pole 14, and a near-point calibration pole 16 are arranged in sequence from far to near relative to the motor vehicle parking area 10;

[0040] The distances between the far-point calibration rod 12 and the near-point calibration rod 16 and the vehicle parking area 10 correspond to the farthest detection distance and the closest detection distance of the vehicle-mounted ultrasonic radar A, respectively.

[0041] In this embodiment of the invention, the vehicle-mounted ultrasonic radar A is calibrated in a calibration site 1, in which a far-point calibration rod 12, an intermediate calibration rod 14, and a near-point calibration rod 16 are set sequentially from far to near relative to the vehicle parking area 10. This eliminates the need for repeated adjustments to the position of the calibration rods, resulting in relatively high calibration efficiency and higher calibration accuracy.

[0042] In an optional embodiment of the present invention, the calibration site 1 is symmetrically equipped with a far-point calibration rod 12, a middle calibration rod 14, and a near-point calibration rod 16 on both sides at corresponding distance positions in the motor vehicle parking area 10. In this embodiment, the symmetrical arrangement of the far-point calibration rod 12, the middle calibration rod 14, and the near-point calibration rod 16 on both sides ensures symmetry when the ultrasonic radar A detects obstacles around the motor vehicle, meets relevant calibration indicators, and ensures calibration accuracy.

[0043] In specific implementation, the far point calibration rod 12, the intermediate calibration rod 14 and the near point calibration rod 16 can be installed at distances of 1650mm, 1300mm and 400mm from the end (usually the rear) of the motor vehicle, respectively; each calibration rod can be implemented using a PVC pipe with a diameter of 75mm; in addition, the predetermined ratio range is usually 1 / 3 to 1 / 2.

[0044] On the other hand, such as Figure 2 As shown, this embodiment of the invention further provides a vehicle-mounted ultrasonic radar calibration method based on the above-mentioned vehicle-mounted ultrasonic radar calibration site, including the following steps:

[0045] S1: Power on the vehicle-mounted ultrasonic radar A of motor vehicle B parked in the motor vehicle parking area 10 of the calibration site 1.

[0046] S2: Adjust the amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar A until the far-point calibration rod 12 is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar A, and at the same time, the actual ratio of the current actual signal strength of the vehicle-mounted ultrasonic radar A to the maximum signal strength of the vehicle-mounted ultrasonic radar A is within a predetermined ratio range. Read the current actual amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar A and determine the actual amplification factor as the calibration amplification factor of the vehicle-mounted ultrasonic radar A.

[0047] S3: Adjust the sensor threshold of the vehicle-mounted ultrasonic radar A until the intermediate calibration rod 14 is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar A, read the current first sensor threshold of the vehicle-mounted ultrasonic radar A, and record the first sensor threshold and the distance between the intermediate calibration rod 12 and the motor vehicle parking area 10 as an intermediate calibration data group.

[0048] S4: Readjust the sensor threshold of the vehicle-mounted ultrasonic radar A until the near point calibration rod 16 is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar A. Read the current second sensor threshold of the vehicle-mounted ultrasonic radar A, and record the second sensor threshold and the distance between the near point calibration rod 16 and the vehicle parking area 10 as a near point calibration data set; and

[0049] S5: Based on the linear variation law of the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar A, the linear relationship between the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar A is constructed according to the intermediate calibration data set and the near-point calibration data set, thus completing the calibration of the vehicle-mounted ultrasonic radar A.

[0050] This invention, through the above-described method, calibrates the vehicle-mounted ultrasonic radar A using a calibration site 1 with a far-point calibration rod 12, an intermediate calibration rod 14, and a near-point calibration rod 16 arranged sequentially from far to near relative to the vehicle parking area 10. After powering on the vehicle-mounted ultrasonic radar A, the amplification factor of its amplifier circuit is adjusted until the far-point calibration rod 12 is at the critical position of the maximum detection range of the vehicle-mounted ultrasonic radar A. Simultaneously, the actual ratio of the current signal strength of the vehicle-mounted ultrasonic radar A to its maximum signal strength is within a predetermined range, thus determining the calibration range matching the vehicle B. A large multiplier ensures that the actual signal strength of the vehicle-mounted ultrasonic radar A meets the predetermined standard. Then, the sensor threshold of the vehicle-mounted ultrasonic radar A is adjusted sequentially so that the intermediate calibration rod 14 and the near-point calibration rod 16 are successively at the critical positions of the maximum detection distance of the vehicle-mounted ultrasonic radar A. This allows the intermediate calibration data set and the near-point calibration data set that correlate the sensor threshold and the detection distance to be determined. Finally, based on the linear variation law of the sensor threshold and the detection distance of the vehicle-mounted ultrasonic radar A, the linear relationship between the sensor threshold and the detection distance of the vehicle-mounted ultrasonic radar A can be determined. This eliminates the need to repeatedly adjust the position of the calibration rods, resulting in relatively high calibration efficiency and higher calibration accuracy.

[0051] In an optional embodiment of the present invention, the following steps are implemented by a radar controller connected to the vehicle-mounted ultrasonic radar A: adjusting and reading the amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar A and adjusting and reading the sensor threshold of the vehicle-mounted ultrasonic radar A. In this embodiment, the radar controller connected to the vehicle-mounted ultrasonic radar A is used to implement the above data adjustment and reading operations, which has high data processing efficiency, can realize an automated calibration process, reduce human error, and has relatively higher calibration efficiency.

[0052] In an optional embodiment of the present invention, the sensor threshold of the vehicle-mounted ultrasonic radar A is gradually decreased from the first sensor threshold until the near-point calibration rod is at the critical position of the maximum detection range of the vehicle-mounted ultrasonic radar A. In this embodiment, when adjusting the sensor threshold of the vehicle-mounted ultrasonic radar A, a corresponding initial value is assigned as the adjustment basis, thereby reducing the adjustment process and improving calibration efficiency. Of course, in specific implementations, when adjusting the sensor threshold of the vehicle-mounted ultrasonic radar A to bring the intermediate calibration rod 14 to the critical position of the maximum detection range of the vehicle-mounted ultrasonic radar A, the initial value for adjustment can also be set based on empirical values, thereby reducing the adjustment process.

[0053] In an optional embodiment of the present invention, the method further includes:

[0054] A table showing the correspondence between the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar A is calculated based on the linear relationship between the sensor threshold and detection distance. In this embodiment, the table also provides a way for operators to more intuitively obtain the calibration data of the vehicle-mounted ultrasonic radar A and thus set its relevant parameters.

[0055] On the other hand, such as Figure 3 As shown, this embodiment of the invention further provides a vehicle-mounted ultrasonic radar calibration system based on the above-described vehicle-mounted ultrasonic radar calibration site 1, comprising:

[0056] Power-on module 2 is used to power on the vehicle-mounted ultrasonic radar A of motor vehicles parked in the motor vehicle parking area of ​​the calibrated site;

[0057] The amplification factor adjustment module 3 is used to adjust the amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar A until the far-point calibration rod is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar A, while the actual ratio of the current actual signal strength of the vehicle-mounted ultrasonic radar A to the maximum signal strength of the ultrasonic radar is within a predetermined ratio range. The module reads the current actual amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar A and determines the actual amplification factor as the calibration amplification factor of the vehicle-mounted ultrasonic radar A.

[0058] The first threshold adjustment module 4 is used to adjust the sensor threshold of the vehicle-mounted ultrasonic radar A until the intermediate calibration rod is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar A, read the current first sensor threshold of the vehicle-mounted ultrasonic radar A, and record the first sensor threshold and the distance between the intermediate calibration rod and the vehicle parking area as an intermediate calibration data group.

[0059] The second threshold adjustment module 5 is used to readjust the sensor threshold of the vehicle-mounted ultrasonic radar A until the near-point calibration rod is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar A, read the current second sensor threshold of the vehicle-mounted ultrasonic radar A, and record the second sensor threshold and the distance between the near-point calibration rod and the vehicle parking area as a near-point calibration data set; and

[0060] The relation determination module 6 is used to construct a linear relation between the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar A based on the linear variation law of the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar A, and to complete the calibration of the vehicle-mounted ultrasonic radar A according to the intermediate calibration data set and the near point calibration data set.

[0061] This invention embodiment calibrates the vehicle-mounted ultrasonic radar A using a calibration site 1, in which a far-point calibration rod 12, an intermediate calibration rod 14, and a near-point calibration rod 16 are sequentially arranged relative to the vehicle parking area 10. After powering on the vehicle-mounted ultrasonic radar A via the power-on module 2, the amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar A is adjusted by the amplification factor adjustment module 3 until the far-point calibration rod 12 is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar A. At the same time, the actual ratio of the current actual signal strength of the vehicle-mounted ultrasonic radar A to its maximum signal strength is within a predetermined ratio range. This determines the calibration amplification factor that matches the vehicle B, and also ensures that the vehicle-mounted ultrasonic radar A... The actual signal strength of ultrasonic radar A currently meets the predetermined standard. Then, the first threshold adjustment module 4 and the second threshold adjustment module 5 sequentially adjust the sensor threshold of the vehicle-mounted ultrasonic radar A, so that the intermediate calibration rod 14 and the near point calibration rod 16 are successively at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar A. In this way, the intermediate calibration data set and the near point calibration data set related to the sensor threshold and the detection distance are determined. Finally, the relationship determination module 6 can determine the linear relationship between the sensor threshold and the detection distance of the vehicle-mounted ultrasonic radar A according to the linear variation law of the sensor threshold and the detection distance. There is no need to repeatedly adjust the position of the calibration rod, the calibration efficiency is relatively high, and the calibration accuracy is also higher.

[0062] In an optional embodiment of the present invention, the amplification factor adjustment module 3, the first threshold adjustment module 4, and the second threshold adjustment module 5, through a radar controller connected to the vehicle-mounted ultrasonic radar A, perform the following steps: adjusting and reading the amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar A and adjusting and reading the sensor threshold of the vehicle-mounted ultrasonic radar A. In this embodiment, the radar controller connected to the vehicle-mounted ultrasonic radar A is used to perform the above data adjustment and reading operations, which has high data processing efficiency, can realize an automated calibration process, reduce human error, and has relatively higher calibration efficiency.

[0063] In an optional embodiment of the present invention, the second threshold adjustment module 5 gradually decreases the sensor threshold of the vehicle-mounted ultrasonic radar A from the first sensor threshold until the near-point calibration rod 16 is at the critical position of the maximum detection range of the vehicle-mounted ultrasonic radar A. In this embodiment, when adjusting the sensor threshold of the vehicle-mounted ultrasonic radar A, the second threshold adjustment module 5 assigns a corresponding initial value as the adjustment basis, thereby reducing the adjustment process and improving calibration efficiency.

[0064] In an optional embodiment of the present invention, such as Figure 4 As shown, the system also includes:

[0065] The relationship table calculation module 7 is used to calculate the correspondence table between the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar A based on the linear relationship between the sensor threshold and detection distance. In this embodiment, the relationship table calculation module 7 also calculates the correspondence table between the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar A, making it easier for operators to obtain the calibration data of the vehicle-mounted ultrasonic radar A more intuitively, thereby setting the relevant parameters of the vehicle-mounted ultrasonic radar A.

[0066] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the scope of protection of the present invention.

Claims

1. A method for calibrating a vehicle-mounted ultrasonic radar, characterized in that, The method includes the following steps: Powering on the vehicle-mounted ultrasonic radar of vehicles parked in the designated parking area of ​​the calibration site, wherein the calibration site includes: a parking area for vehicles equipped with vehicle-mounted ultrasonic radar; and A far-point calibration pole, an intermediate calibration pole, and a near-point calibration pole are set sequentially from far to near relative to the motor vehicle parking area; The distances between the far-point calibration rod and the near-point calibration rod and the vehicle parking area correspond to the farthest detection distance and the closest detection distance of the vehicle-mounted ultrasonic radar, respectively. Adjust the amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar until the far-point calibration rod is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar, and at the same time, the actual ratio of the current actual signal strength of the vehicle-mounted ultrasonic radar to the actual ratio of the maximum signal strength of the ultrasonic radar is within a predetermined ratio range. Read the current actual amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar and determine the actual amplification factor as the calibration amplification factor of the vehicle-mounted ultrasonic radar. Adjust the sensor threshold of the vehicle-mounted ultrasonic radar until the intermediate calibration rod is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar, read the current first sensor threshold of the vehicle-mounted ultrasonic radar, and record the first sensor threshold and the distance between the intermediate calibration rod and the vehicle parking area as an intermediate calibration data set. Readjust the sensor threshold of the vehicle-mounted ultrasonic radar until the proximity calibration rod is at the critical position of the maximum detection range of the vehicle-mounted ultrasonic radar. Read the current second sensor threshold of the vehicle-mounted ultrasonic radar. Record the second sensor threshold and the distance between the proximity calibration rod and the vehicle parking area as a proximity calibration data set; and Based on the linear variation law of the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar, the calibration of the vehicle-mounted ultrasonic radar is completed by constructing a linear relationship between the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar according to the intermediate calibration data set and the near-point calibration data set.

2. The vehicle-mounted ultrasonic radar calibration method as described in claim 1, characterized in that, The following steps are achieved by a radar controller connected to the vehicle-mounted ultrasonic radar: adjusting and reading the amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar and adjusting and reading the sensor threshold of the vehicle-mounted ultrasonic radar.

3. The vehicle-mounted ultrasonic radar calibration method as described in claim 1, characterized in that, Starting from the first sensor threshold, the sensor threshold of the vehicle-mounted ultrasonic radar is gradually decreased until the proximity calibration rod is at the critical position of the maximum detection range of the vehicle-mounted ultrasonic radar.

4. The vehicle-mounted ultrasonic radar calibration method as described in claim 1, characterized in that, The method further includes: A table showing the correspondence between the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar is obtained by calculating the linear relationship between the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar.

5. A vehicle-mounted ultrasonic radar calibration system based on the vehicle-mounted ultrasonic radar calibration method according to any one of claims 1-4, characterized in that, The system includes: The power-on module is used to power on the onboard ultrasonic radar of motor vehicles parked in the designated parking area of ​​the calibration site. The amplification factor adjustment module is used to adjust the amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar until the far-point calibration rod is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar, while the actual ratio of the current actual signal strength of the vehicle-mounted ultrasonic radar to the maximum signal strength of the ultrasonic radar is within a predetermined ratio range. The module reads the current actual amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar and determines the actual amplification factor as the calibration amplification factor of the vehicle-mounted ultrasonic radar. The first threshold adjustment module is used to adjust the sensor threshold of the vehicle-mounted ultrasonic radar until the intermediate calibration rod is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar, read the current first sensor threshold of the vehicle-mounted ultrasonic radar, and record the first sensor threshold and the distance between the intermediate calibration rod and the vehicle parking area as an intermediate calibration data set. The second threshold adjustment module is used to readjust the sensor threshold of the vehicle-mounted ultrasonic radar until the near-point calibration rod is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar, read the current second sensor threshold of the vehicle-mounted ultrasonic radar, and record the second sensor threshold and the distance between the near-point calibration rod and the vehicle parking area as a near-point calibration data set; and The relationship determination module is used to construct a linear relationship between the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar based on the linear variation law of the sensor threshold and detection distance of the vehicle-mounted ultrasonic radar, and to complete the calibration of the vehicle-mounted ultrasonic radar by using the intermediate calibration data set and the near-point calibration data set.

6. The vehicle-mounted ultrasonic radar calibration system as described in claim 5, characterized in that, The amplification factor adjustment module, the first threshold adjustment module, and the second threshold adjustment module, through the radar controller connected to the vehicle-mounted ultrasonic radar, implement the following steps: adjusting and reading the amplification factor of the amplification circuit of the vehicle-mounted ultrasonic radar and adjusting and reading the sensor threshold of the vehicle-mounted ultrasonic radar.

7. The vehicle-mounted ultrasonic radar calibration system as described in claim 5, characterized in that, The second threshold adjustment module gradually decreases the sensor threshold of the vehicle-mounted ultrasonic radar from the first sensor threshold until the proximity calibration rod is at the critical position of the maximum detection distance of the vehicle-mounted ultrasonic radar.

8. The vehicle-mounted ultrasonic radar calibration system as described in claim 5, characterized in that, The system also includes: The relationship table calculation module is used to calculate the correspondence table between the sensor threshold and the detection distance of the vehicle-mounted ultrasonic radar based on the linear relationship between the sensor threshold and the detection distance of the vehicle-mounted ultrasonic radar.

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