A flexible device for calibrating vehicle-mounted millimeter-wave radar

Abstract

The present application relates to the field of automated testing and calibration in the automobile manufacturing industry, and in particular to a flexible device for vehicle-mounted millimeter-wave radar calibration, including: a vehicle-mounted millimeter-wave radar system, a radar calibration target system, and a vehicle positioning and attitude adjustment system; the vehicle-mounted millimeter-wave radar system includes: a vehicle and a millimeter-wave radar; the radar calibration target system includes: a target plate, a vertical guide rail mechanism, a horizontal guide rail mechanism, and a laser sight; the vehicle positioning and attitude adjustment system includes: a rear wheel lifting mechanism, a horizontal limit block, a horizontal tightening mechanism, an integral steel plate horizontal surface, and two front wheel V-shaped self-centering mechanisms. The present application can improve the automation level and efficiency of vehicle-mounted millimeter-wave radar calibration, reduce the requirements for vehicle-mounted millimeter-wave radar calibration, and expand the coverage of vehicle-mounted millimeter-wave radar calibration.

Description

Technical Field

[0001] The present application relates to the field of automated testing and calibration in the automobile manufacturing industry, and in particular to a flexible device for calibrating vehicle-mounted millimeter-wave radars. Background Art

[0002] As the degree of automobile automation and intelligence continues to improve, the installed capacity of vehicle-mounted radars is also increasing. As one of the core sensors of the Advanced Intelligent Driving Assistance System (ADAS), millimeter-wave radars must go through a complex calibration process before the vehicle is shipped off the production line and during after-sales maintenance calibration.

[0003] At present, one of the main methods for calibrating vehicle-mounted millimeter-wave radars is to determine the center line of the vehicle and the physical zero degree of the radar through a body oscillator. The entire process frequently involves the measurement of the radar installation position and angle and the dynamic adjustment of the vehicle's posture, which is time-consuming and laborious. In addition, adjusting the vehicle's posture through a body oscillator requires professional operators with relevant knowledge and experience, and the calibration requirements are high. Moreover, the method of calibrating through a body oscillator mostly uses dedicated calibration equipment, that is, only one type of radar can be calibrated on a set of calibration equipment, which has the disadvantages of low automation, low efficiency, large investment in upgrading and transformation, low flexibility, and low one-time calibration pass rate.

[0004] Therefore, how to improve the automation and efficiency of vehicle-mounted millimeter-wave radar calibration, reduce the requirements for vehicle-mounted millimeter-wave radar calibration, and expand the coverage of vehicle-mounted millimeter-wave radar calibration are technical problems that technical personnel in this field need to solve. Summary of the invention

[0005] The present application provides a flexible device for vehicle-mounted millimeter-wave radar calibration to improve the automation and efficiency of vehicle-mounted millimeter-wave radar calibration, reduce the requirements for vehicle-mounted millimeter-wave radar calibration, and expand the coverage of vehicle-mounted millimeter-wave radar calibration.

[0006] In order to solve the above technical problems, this application provides the following technical solutions:

[0007] A flexible device for calibrating a vehicle-mounted millimeter-wave radar comprises: a vehicle-mounted millimeter-wave radar system, a radar calibration target system and a vehicle positioning and posture adjustment system; wherein the vehicle-mounted millimeter-wave radar system comprises: a vehicle and a millimeter-wave radar; the millimeter-wave radar is installed on the front surface of the vehicle; the radar calibration target system comprises: a target plate, a vertical guide rail mechanism, a horizontal guide rail mechanism and a laser sight; the laser sight is fixed to the working surface of the target plate facing the vehicle to emit laser to the millimeter-wave radar; the mounting surface of the target plate is slid up and down and connected to the vertical guide rail; the lower end of the vertical guide rail is slid left and right and connected to the upper surface of the horizontal guide rail, and the sliding direction of the vertical guide rail is parallel to the working surface of the target plate; the lower surface of the horizontal guide rail is fixedly connected to the upper surface of the horizontal surface of the integral steel plate; the vehicle positioning and posture adjustment system comprises: a rear wheel lifting mechanism, a horizontal limit stopper, a horizontal tightening mechanism, the horizontal surface of the integral steel plate and two front wheel V-shaped self-centering Mechanism; the lower end of the rear wheel lifting mechanism is fixedly connected to the upper surface of the horizontal plane of the integral steel plate, and the upper end of the rear wheel lifting mechanism can be lifted up and down to lift the rear wheels of the vehicle and adjust the pitch angle of the vehicle; the lower ends of the horizontal limit block and the horizontal tightening mechanism are fixed to the upper surface of the horizontal plane of the integral steel plate, and are located side by side between the working surfaces of the rear wheel lifting mechanism and the target plate, and the telescopic rod of the horizontal tightening mechanism can be extended and retracted toward the horizontal limit block so that the telescopic rod contacts the right side of the vehicle and pushes the vehicle in the horizontal direction to the left side of the vehicle to contact the inner side of the horizontal limit block; the lower ends of the two front wheel V-shaped self-centering mechanisms are fixed to the upper surface of the horizontal plane of the integral steel plate, and the two front wheel V-shaped self-centering mechanisms are located side by side between the horizontal limit block and the horizontal tightening mechanism and the working surface of the target plate; and the upper end of the front wheel V-shaped self-centering mechanism has a V-shaped groove that runs through the left and right to accommodate the front wheels of the fixed vehicle.

[0008] As described above, in the flexible device for calibrating a vehicle-mounted millimeter-wave radar, preferably, the millimeter-wave radar is installed at a middle position of the front surface of the vehicle.

[0009] In the flexible device for calibrating a vehicle-mounted millimeter-wave radar as described above, preferably, the laser sight is fixed to the center position of the working surface of the target plate.

[0010] As described above, in the flexible device for calibrating a vehicle-mounted millimeter-wave radar, preferably, the mounting surface of the target plate is fixedly connected to a connecting bracket, and the connecting bracket is slidably connected to a vertical guide rail.

[0011] As described above, in the flexible device for calibrating a vehicle-mounted millimeter-wave radar, preferably, flexible rollers are installed on the inner side surface of the horizontal limit block and the inner side surface of the telescopic rod of the horizontal tightening mechanism so that the flexible rollers are in contact with the left and right sides of the vehicle.

[0012] As described above, in the flexible device for calibrating a vehicle-mounted millimeter-wave radar, preferably, the flexible roller is made of nylon material.

[0013] In the flexible device for calibrating a vehicle-mounted millimeter-wave radar as described above, preferably, the left-right moving zero point reference of the horizontal guide rail mechanism coincides with the inner side surface of the horizontal limit block serving as the reference plane.

[0014] The flexible device for calibrating the vehicle-mounted millimeter-wave radar as described above, wherein, preferably, the laser sight is adjusted to the target coordinate value (X, Y, H), wherein X=B / 2, Y=Y2-y1, H=h3+h1+h2; B is the width of the vehicle; Y2 is the distance between the center point between the bottom of the V-shaped groove of the two front wheel V-shaped self-centering mechanisms and the emission point of the laser sight 205 on the target plate; y1 is the distance from the millimeter-wave radar to the axis of the two front wheels of the vehicle; h3 is the distance between the millimeter-wave radar and the lower edge of the front surface of the vehicle; h1 is the distance between the lower edge of the front surface of the vehicle and the bottom of the V-shaped groove; h2 is the height of the bottom of the V-shaped groove from the upper surface of the horizontal plane of the overall steel plate.

[0015] As described above, in the flexible device for calibrating a vehicle-mounted millimeter-wave radar, preferably, h1=R / sin(α / 2), wherein R is the diameter of the front wheel of the vehicle, and α is the angle of the V-shaped groove.

[0016] In the flexible device for vehicle-mounted millimeter-wave radar calibration as described above, preferably, the target plate is made of a material that can reflect radar waves, and the vertical guide rail and the horizontal guide rail are made of an absorbing material.

[0017] Compared with the above-mentioned background technology, the flexible device for vehicle-mounted millimeter-wave radar calibration provided in the present application can improve the degree of automation and efficiency of vehicle-mounted millimeter-wave radar calibration, reduce the requirements for vehicle-mounted millimeter-wave radar calibration, and expand the coverage of vehicle-mounted millimeter-wave radar calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0019] Figure 1 is a three-dimensional diagram of a flexible device for calibrating a vehicle-mounted millimeter-wave radar provided in an embodiment of the present application;

[0020] Figure 2 is a stereogram of a vehicle-mounted millimeter-wave radar system of a flexible device for calibrating a vehicle-mounted millimeter-wave radar provided in an embodiment of the present application;

[0021] Figure 3 It is a stereoscopic diagram of a radar calibration target system of a flexible device for calibrating a vehicle-mounted millimeter-wave radar provided in an embodiment of the present application;

[0022] Figure 4 It is a stereogram of a vehicle positioning and attitude adjustment system of a flexible device for vehicle-mounted millimeter-wave radar calibration provided in an embodiment of the present application;

[0023] Figure 5 It is a schematic diagram of the X-direction coordinate calculation of the millimeter-wave radar of the flexible device for calibrating the vehicle-mounted millimeter-wave radar provided in an embodiment of the present application;

[0024] Figure 6 It is a schematic diagram of the Y-direction coordinate calculation of the millimeter-wave radar of the flexible device for calibrating the vehicle-mounted millimeter-wave radar provided in an embodiment of the present application;

[0025] Figure 7 It is a schematic diagram of the H-direction coordinate calculation of the millimeter-wave radar of the flexible device for calibrating the vehicle-mounted millimeter-wave radar provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be interpreted as limiting the present application.

[0027] See also Figure 1 , Figure 1 It is a three-dimensional diagram of a flexible device for calibrating a vehicle-mounted millimeter-wave radar provided in an embodiment of the present application.

[0028] The present application provides a flexible device for calibrating a vehicle-mounted millimeter-wave radar, including: a vehicle-mounted millimeter-wave radar system 100, a radar calibration target system 200 and a vehicle positioning and posture adjustment system 300.

[0029] See also Figure 2 , Figure 2 It is a stereoscopic diagram of a vehicle-mounted millimeter-wave radar system of a flexible device for calibrating a vehicle-mounted millimeter-wave radar provided in an embodiment of the present application.

[0030] The vehicle-mounted millimeter-wave radar system 100 includes: a vehicle 101 and a millimeter-wave radar 102. The millimeter-wave radar 102 is installed on the front surface of the vehicle 101 to receive the laser emitted by the laser sight 205 of the radar calibration target system 200. Optionally, the millimeter-wave radar 102 is installed in the middle of the front surface of the vehicle 101. After the millimeter-wave radar 102 is installed on the front surface of the vehicle 101, the distance h3 between the millimeter-wave radar 102 and the lower edge of the front surface of the vehicle 101 is known, and the distance B / 2 between the millimeter-wave radar 102 and the left edge of the front surface of the vehicle 101 is also known, where B is the width of the vehicle 101, and h3 and B can be flexible and variable (the width of vehicles of different models may be different, and the millimeter-wave radar 102 is installed on vehicles of different models, and the distance h3 between the millimeter-wave radar 102 and the lower edge of the front surface of the vehicle 101 may also be different).

[0031] See also Figure 3 , Figure 3 It is a stereoscopic diagram of a radar calibration target system of a flexible device for vehicle-mounted millimeter-wave radar calibration provided in an embodiment of the present application.

[0032] The radar calibration target system 200 includes: a target plate 201 , a connecting bracket 202 , a vertical guide rail mechanism 203 , a horizontal guide rail mechanism 204 and a laser sight 205 .

[0033] The laser sight 205 is fixed to the working surface of the target plate 201 facing the vehicle 101 to emit laser light to the front surface of the vehicle 101, so that the millimeter wave radar 102 installed on the front surface of the vehicle 101 can receive the laser light, which is used as an indicator for the vehicle 101 to adjust its posture. Optionally, the laser sight 205 is fixed to the center of the working surface of the target plate 201, such as Figure 3 As shown, the laser sight 205 can emit a laser line, and the laser line can intuitively show that the laser sight 205 is set at the center position of the working surface of the target plate 201.

[0034] The mounting surface of the target plate 201 is slidably connected to the vertical guide rail 203, so that the target plate 201 can slide up and down along the extension direction of the vertical guide rail 203 to adjust the height of the target plate 201 in the vertical direction, so that the emission point of the laser sight 205 fixed thereon can coincide with the center point of the millimeter wave radar 102 in the vertical height. Optionally, the mounting surface of the target plate 201 is fixedly connected to the connecting bracket 202, and the connecting bracket 202 is slidably connected to the vertical guide rail 203. Since the connecting bracket 202 only serves as a connection, its structural form is not limited by other functions. Therefore, when manufacturing the connecting bracket 202, the structural strength of the connecting bracket 202 can meet higher requirements, thereby ensuring that the target plate 201 will not be significantly vibrated or displaced due to inertia or airflow during use and vertical movement.

[0035] The lower end of the vertical rail 203 is slidably connected to the upper surface of the horizontal rail 204, so that the vertical rail 203 can slide left and right along the extension direction of the horizontal rail 204 to adjust the horizontal position of the target plate 201 so that the emission point of the laser sight 205 fixed thereon can coincide with the center point of the millimeter wave radar 102 in the horizontal direction. In addition, the sliding direction of the vertical rail 203 is parallel to the working surface of the target plate 201, so that the sliding direction of the vertical rail 203 is perpendicular to the laser line emitted by the laser sight 205, thereby ensuring that the laser line can always be vertically emitted to the millimeter wave radar 102.

[0036] Optionally, the target plate 201 is made of a material that can reflect radar waves, for example, a metal plate; the vertical guide rail 203 and the horizontal guide rail 204 are made of an absorbing material, for example, a diamond-shaped cone foam material coated with absorbing paint can be bonded to the surface of the vertical guide rail 203 and the horizontal guide rail 204.

[0037] The lower surface of the horizontal guide rail 204 is fixedly connected to the upper surface of the integral steel plate horizontal plane 305 of the vehicle positioning and attitude adjustment system 300 to provide the same standard horizontal plane reference for the radar calibration target system 200 and the vehicle positioning and attitude adjustment system 300 through the integral steel plate horizontal plane 305, so that all calibration equipment can be installed on the steel plate horizontal plane.

[0038] See also Figure 4 , Figure 4 It is a stereoscopic diagram of a vehicle positioning and posture adjustment system of a flexible device for vehicle-mounted millimeter-wave radar calibration provided in an embodiment of the present application.

[0039] The vehicle positioning and posture adjustment system 300 includes: a rear wheel lifting mechanism 301, a horizontal limit stopper 302, a horizontal tightening mechanism 303, an integral steel plate horizontal surface 305 and two front wheel V-shaped self-centering mechanisms 304.

[0040] Among them, the lower end of the rear wheel lifting mechanism 301 is fixedly connected to the upper surface of the integral steel plate horizontal surface 305, and the upper end of the rear wheel lifting mechanism 301 can be lifted up and down, so that the rear wheels of the vehicle 101 can be lifted up and moved in the vertical direction, so that the vehicle 101 can be adjusted in pitch angle along the axis direction of the front wheels, so as to achieve the coincidence of the axis of the center point of the millimeter wave radar 102 and the axis of the emission point of the laser sight 205 fixed to the working surface of the target plate 201. Optionally, the rear wheel lifting mechanism 301 is a large-load, high-precision stepless speed regulation lifting mechanism, for example, it can be realized by a hydraulic servo telescopic cylinder or an electric servo telescopic rod.

[0041] The lower ends of the horizontal limit block 302 and the horizontal clamping mechanism 303 are fixed to the upper surface of the integral steel plate horizontal surface 305, and the horizontal limit block 302 and the horizontal clamping mechanism 303 are located side by side between the working surfaces of the rear wheel lifting mechanism 301 and the target plate 201.

[0042] The inner side surface (also called reference surface) of the horizontal limit stopper 302 facing the horizontal clamping mechanism 303 is used to contact the left side surface of the vehicle 101 to provide a displacement reference for the vehicle 101 in the horizontal direction. The horizontal coordinate of the millimeter wave radar 102 can be calculated based on this reference. In addition, during design and installation, it is necessary to ensure that the left and right moving zero point reference of the horizontal guide mechanism 204 in the radar calibration target system 200 coincides with this reference (such as Figure 5 As shown), the value of the distance X that the target plate 201 moves in the horizontal direction is equal to the horizontal coordinate of the millimeter wave radar 102. Optionally, when the millimeter wave radar 102 is installed at the center of the front surface of the vehicle 101, the distance X that the target plate 201 moves in the horizontal direction is X=B / 2.

[0043] The telescopic rod of the horizontal clamping mechanism 303 is extended and retracted toward the horizontal limit block 302 so that the telescopic rod of the horizontal clamping mechanism 303 contacts the right side of the vehicle 101, and pushes the vehicle 101 in the horizontal direction until its left side contacts the inner side of the horizontal limit block 302, so that the left side of the vehicle 101 coincides with the reference plane of the horizontal limit block 302, and fixes the vehicle 101 in the horizontal direction.

[0044] Optionally, flexible rollers (not shown) are installed on the inner side of the horizontal limit stopper 302 and the inner side of the telescopic rod of the horizontal tightening mechanism 303, so that the flexible rollers are in contact with the left and right sides of the vehicle 101, thereby avoiding damage to the left and right sides of the vehicle 101 when the pitch angle is adjusted in cooperation with the rear wheel lifting mechanism 301. Optionally, the flexible rollers can be made of nylon material.

[0045] The lower ends of the two front wheel V-shaped self-centering mechanisms 304 are fixed to the upper surface of the integral steel plate horizontal surface 305, and the two front wheel V-shaped self-centering mechanisms 304 are located side by side between the horizontal limit block 302 and the horizontal tightening mechanism 303 and the working surface of the target plate 201. In addition, the upper end of the front wheel V-shaped self-centering mechanism 304 has a V-shaped groove that passes through from left to right to accommodate the front wheels of the fixed vehicle 101. The left and right direction mentioned here is a direction perpendicular to the front and rear direction of the vehicle 101, that is, the width direction of the vehicle 101.

[0046] After the lower ends of the two front wheel V-shaped self-centering mechanisms 304 are fixed to the upper surface of the integral steel plate horizontal surface 305, Figure 6 As shown, the distance Y2 between the center point between the bottom of the V-shaped groove of the two front wheel V-shaped self-centering mechanism 304 and the emission point of the laser sight 205 on the target plate 201 is a fixed value, which is known and unchanged. Since the installation position of the millimeter wave radar 102 on the front surface of the vehicle 101 is fixed, the distance y1 from the millimeter wave radar 102 to the axis of the two front wheels of the vehicle 101 is known and variable (the distance between the front surface of the vehicle of different models and the axis of the two front wheels may be different), so the distance Y between the millimeter wave radar 102 and the emission point of the laser sight 205 on the target plate 201 can be calculated by Y=Y2-y1.

[0047] like Figure 7 As shown, since the angle of the V-shaped groove is α, it is known and fixed; the height of the bottom of the V-shaped groove from the upper surface of the overall steel plate horizontal plane 305 is h2, which is known and fixed. Also, since the diameter of the front wheel of the vehicle 101 is R, which is known and variable (the diameter of the front wheel of different models of vehicles may be different), the distance h1 between the lower edge of the front surface of the vehicle 101 and the bottom of the V-shaped groove can be calculated by h1=R / sin(α / 2). Since the distance h3 between the millimeter wave radar 102 and the lower edge of the front surface of the vehicle 101 is known and fixed, the distance H between the emission point of the laser sight 205 on the target plate 201 and the upper surface of the overall steel plate horizontal plane 305 can be calculated by H=h3+h1+h2.

[0048] Before calibration, the millimeter-wave radar 102 is set in the middle of the front surface of the vehicle 101; and before calibration, ensure that the vehicle 101 has completed four-wheel alignment, the entire vehicle is powered on, the vehicle speed is 0, and the engine speed is 0; it is also necessary to ensure that the target plate 201 will not shake due to air flow, and there is no obstruction between the millimeter-wave radar 102 and the target plate 201.

[0049] Then, the vehicle 101 is adjusted in posture, and the specific posture adjustment steps are as follows:

[0050] Setp1: Place the rear wheel of the vehicle 101 on the rear wheel lifting mechanism 301, and place the front wheel of the vehicle 101 in the V-shaped groove of the front wheel V-shaped self-centering mechanism 304;

[0051] The vehicle 101 is slowly driven onto the whole steel plate horizontal plane 305 , and the rear wheels of the vehicle 101 are stopped on the rear wheel lifting mechanism 301 , and the front wheels of the vehicle 101 are stopped in the V-shaped groove of the front wheel V-shaped self-centering mechanism 304 .

[0052] Setp2: The telescopic rod of the horizontal tightening mechanism 303 is slowly extended to tighten the vehicle 101 to the reference surface of the horizontal limit stopper 302;

[0053] After the vehicle 101 is parked in place, the telescopic rod of the horizontal tightening mechanism 303 is slowly extended, and the inner side of the telescopic rod is pressed against the right side of the vehicle 101, pushing the vehicle 101 toward the horizontal limit block 302, so that the left side of the vehicle 101 contacts the inner side (reference surface) of the horizontal limit block 302.

[0054] Setp3: Input the target coordinate value (X, Y, H) of the laser sight 205 into the controller, and the controller adjusts the laser sight 205 to a predetermined position according to the target coordinate value (X, Y, H);

[0055] The radar calibration target system 200 works, and the X=B / 2, Y=Y2-y1, and H=h3+h1+h2 calculated by the above method are input into the controller, and then the controller controls the vertical guide rail 203 to slide horizontally relative to the horizontal guide rail 204, and controls the target plate 201 to slide up and down relative to the vertical guide rail 203, so as to adjust the laser sight 205 to a predetermined position.

[0056] Of course, the position adjustment of the laser aimer 205 can be performed before Setp1, between Setp1 and Setp2, or between Setp2 and Setp3.

[0057] Setp4: The rear wheel lifting mechanism 301 is raised and lowered to adjust the pitch angle of the vehicle 101 so that the emission point of the laser sight 205 coincides with the center point of the millimeter wave radar 102;

[0058] After the laser sight 205 is adjusted to the predetermined position and the vehicle 101 is fixed between the horizontal limit block 302 and the horizontal tightening mechanism 303, the laser sight 205 emits a laser, and then the pitch angle of the vehicle 101 is adjusted by controlling the rear wheel lifting mechanism 301 to rise or fall, so that the laser emitted by the laser sight 205 is shot at the center point of the millimeter wave radar 102.

[0059] Setp5: After the posture adjustment is completed, the vehicle 101 is calibrated;

[0060] After the posture adjustment of the vehicle 101 is completed, the calibration coordinate values ​​are written into the millimeter wave radar ECU through the CAN bus according to the general process to complete the entire calibration process.

[0061] Since the V-shaped groove can accommodate the front wheels of vehicles of different models, and the position of the laser sight 205 on the target plate 201 can also be calculated when the vehicles of different models to be calibrated are obtained, the target plate 201 together with the laser sight 205 can be adjusted by the calculated position of the laser sight 205 on the target plate 201, so the present application can adapt to the radar calibration function of any type of vehicle, and expand the coverage of vehicle-mounted millimeter-wave radar calibration. In addition, the present application also simplifies the operation steps, improves the degree of automation, reduces manual participation, does not require the operator to have professional skills and experience, reduces the requirements for vehicle-mounted millimeter-wave radar calibration, and indicates the adjustment process through the laser sight of the target plate, which greatly improves efficiency and quality.

[0062] It is obvious to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present application. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0063] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A flexible device for calibrating a vehicle-mounted millimeter-wave radar, characterized in that: include: Vehicle-mounted millimeter-wave radar system, radar target calibration system, and vehicle positioning and attitude adjustment system; The vehicle-mounted millimeter-wave radar system includes: a vehicle and a millimeter-wave radar; the millimeter-wave radar is installed on the front surface of the vehicle; The radar calibration target system includes: a target plate, a vertical guide rail mechanism, a horizontal guide rail mechanism and a laser sight; The laser sight is fixed to the working surface of the target plate facing the vehicle to emit laser to the millimeter wave radar; the mounting surface of the target plate is slid up and down and connected to the vertical guide rail; the lower end of the vertical guide rail is slid left and right and connected to the upper surface of the horizontal guide rail, and the sliding direction of the vertical guide rail is parallel to the working surface of the target plate; the lower surface of the horizontal guide rail is fixedly connected to the upper surface of the horizontal surface of the integral steel plate; The vehicle positioning and posture adjustment system includes: rear wheel lifting mechanism, horizontal limit block, horizontal tightening mechanism, integral steel plate horizontal surface and two front wheel V-shaped self-centering mechanisms; The lower end of the rear wheel lifting mechanism is fixedly connected to the upper surface of the horizontal plane of the integral steel plate, and the upper end of the rear wheel lifting mechanism can be lifted up and down to lift the rear wheels of the vehicle and adjust the pitch angle of the vehicle; The lower ends of the horizontal limit stopper and the horizontal jacking mechanism are both fixed to the upper surface of the horizontal plane of the integral steel plate, and are located side by side between the rear wheel lifting mechanism and the working surface of the target plate. The telescopic rod of the horizontal jacking mechanism can be extended and retracted toward the horizontal limit stopper so that the telescopic rod contacts the right side of the vehicle and pushes the vehicle in the horizontal direction until the left side of the vehicle contacts the inner side of the horizontal limit stopper. The lower ends of the two front wheel V-shaped self-centering mechanisms are fixed to the upper surface of the horizontal plane of the integral steel plate, and the two front wheel V-shaped self-centering mechanisms are located side by side between the horizontal limit block and the horizontal tightening mechanism and the working surface of the target plate; and the upper end of the front wheel V-shaped self-centering mechanism has a V-shaped groove running through the left and right to accommodate the front wheels of the fixed vehicle.

2. The flexible device for calibrating a vehicle-mounted millimeter-wave radar according to claim 1, characterized in that: The millimeter wave radar is installed to the center of the front surface of the vehicle.

3. The flexible device for calibrating a vehicle-mounted millimeter-wave radar according to claim 1 or 2, characterized in that: The laser sight is fixed to the center of the working surface of the target plate.

4. The flexible device for calibrating a vehicle-mounted millimeter-wave radar according to claim 1 or 2, characterized in that: The mounting surface of the target plate is fixedly connected to the connecting bracket, and the connecting bracket is slidably connected to the vertical guide rail.

5. The flexible device for calibrating a vehicle-mounted millimeter-wave radar according to claim 1 or 2, characterized in that: Flexible rollers are installed on the inner side surface of the horizontal limit stopper and the inner side surface of the telescopic rod of the horizontal tightening mechanism, so that the flexible rollers are in contact with the left side surface and the right side surface of the vehicle.

6. The flexible device for calibrating a vehicle-mounted millimeter-wave radar according to claim 5, characterized in that: The flexible roller is made of nylon material.

7. The flexible device for calibrating a vehicle-mounted millimeter-wave radar according to claim 2, characterized in that: The left-right moving zero point reference of the horizontal guide mechanism coincides with the inner side surface of the horizontal limit stopper serving as the reference surface.

8. The flexible device for calibrating a vehicle-mounted millimeter-wave radar according to claim 7, characterized in that: The laser sight is adjusted to the target coordinates (X, Y, H), where X = B / 2, Y = Y2-y1, H = h3+h1+h2; B is the width of the vehicle; Y2 is the distance between the center point between the bottoms of the V-shaped grooves of the two front wheel V-shaped self-centering mechanisms and the emission point of the laser sight 205 on the target plate; y1 is the distance from the millimeter wave radar to the axis of the two front wheels of the vehicle; h3 is the distance between the millimeter wave radar and the lower edge of the front surface of the vehicle; h1 is the distance between the lower edge of the front surface of the vehicle and the bottom of the V-shaped groove; h2 is the height of the bottom of the V-shaped groove from the upper surface of the horizontal plane of the entire steel plate.

9. The flexible device for calibrating a vehicle-mounted millimeter-wave radar according to claim 8, characterized in that: h1=R / sin(α / 2), where R is the diameter of the front wheel of the vehicle and α is the angle of the V-shaped groove.

10. The flexible device for calibrating a vehicle-mounted millimeter-wave radar according to claim 1 or 2, characterized in that: The target plate is made of material that can reflect radar waves, and the vertical and horizontal guide rails are made of absorbing materials.

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