A vehicle body alignment device and method applicable to the calibration of an intelligent driving perception system

Abstract

The present application relates to a vehicle body alignment device and method suitable for calibration of an intelligent driving perception system, which includes: two first brackets, two second brackets, and two beam emitters; when in use, the vehicle is placed in the alignment frame body, and then it is judged whether the scales on the reflection scales at both ends of the first bracket hit by the light emitted by the beam emitter installed on the vehicle are the same, so as to ensure that the distance between the first bracket and the vehicle body is always equal, and then the position of the first bracket is fixed, and the second bracket is connected to the first bracket; during the above vehicle body alignment process, it is ensured that the alignment frame body is always unified with the coordinate of the vehicle itself, so that calibration can be carried out without the vehicle stopping in the specified parking frame; at the same time, the formed alignment frame body can provide an installation position for the sensor calibration plate, and the coordinate systems of the vehicle and the sensor calibration plate are unified, without the need to perform coordinate system conversion and compensation through complex algorithms, reducing the error transmission link, with a simple structure and greatly reducing the test cost.

Description

Technical Field

[0001] This application relates to the technical field of automotive intelligent driving technology development, and particularly relates to a vehicle body alignment device and method suitable for calibrating an intelligent driving perception system. Background Art

[0002] In the development of intelligent driving technology, multi-sensor perception is involved, such as intelligent sensors like cameras, millimeter-wave radars, and lidar. All intelligent vehicles need to accurately calibrate the arranged cameras and radars, and the calibration accuracy will have an important impact on the final performance of the intelligent driving system. One of the prerequisites for achieving accurate calibration is that the coordinate systems of the vehicle body, camera, and radar have a high degree of unity and consistency. Ensuring the correct relative position between the vehicle body and the sensor calibration system is the basis and important prerequisite for the automatic driving sensor calibration system. Currently, the calibration systems of intelligent driving vehicles at home and abroad adopt active vehicle body adjustment facilities and methods, and achieve unity with the calibration device position by continuously correcting the vehicle position, which is expensive and requires high site requirements. Or adopt active vehicle body adjustment facilities and methods, and achieve unity with the calibration device position by continuously correcting the vehicle position through a rotatable and adjustable ground iron floor device, which is expensive and requires high site requirements.

[0003] In some related technologies, when calibrating the whole vehicle with sensors such as cameras, it mainly relies on the subjective judgment of the calibration personnel to ensure the relative position accuracy of the vehicle and the calibration board.

[0004] The first step: within a pre-set ground square, through the experience judgment of the operator, move the vehicle to make its position as straight as possible within the calibration frame drawn on the ground;

[0005] The second step: place the calibration board, and it is necessary to ensure that the calibration board is aligned with the sensor to meet the requirements of the relative position of the sensor calibration in terms of height and lateral direction. The prior art uses a meter stick to measure the distance and the measurement personnel subjectively judge whether it is aligned to achieve this.

[0006] However, it has the following problems:

[0007] (1) The method of achieving the vehicle being straightened within the specified square through the subjective feeling and experience of the operator, without the assistance of a special alignment tool, cannot ensure the placement accuracy.

[0008] (2) Using a meter stick to measure and the way of manual observation to determine the relative position between the calibration board and the sensor cannot guarantee the accuracy, cannot achieve high-precision lateral and longitudinal adjustment as required, and this scheme has a large error, affecting the performance of automatic driving. Summary of the Invention

[0009] The embodiment of the present application provides a vehicle body alignment device and method applicable to the calibration of an intelligent driving perception system to solve the problem in the related art that the accuracy of the vehicle placement position cannot be ensured.

[0010] In a first aspect, a vehicle body alignment device applicable to the calibration of an intelligent driving perception system is provided, which includes:

[0011] Two first brackets, which are respectively located on both sides in the width direction of the vehicle, and an installation plane is provided at the top. The first brackets extend along the length direction of the vehicle, and two reflection scales located at both ends of the first brackets are provided on the installation plane.

[0012] A second bracket, which extends along the width direction of the vehicle and is connected to the two first brackets to form an alignment frame body with a placement space inside.

[0013] A beam emitter, which is used to be installed on the vehicle located in the placement space and is used to emit beams to both ends of the first bracket so that the beams hit the reflection scales.

[0014] During use, the vehicle is placed in the alignment frame body, and then it is judged whether the scales on the reflection scales at both ends of the first bracket hit by the light emitted by the beam emitter installed on the vehicle are the same to ensure that the distance between the first bracket and the vehicle body is always equal. This distance is like the mark H in the figure. Then, the position of the first bracket is fixed, and the second bracket is connected to the first bracket; during the above vehicle body alignment process, it is ensured that the alignment frame body is always unified with the coordinates of the vehicle itself, so that calibration can be carried out without the vehicle having to stop in the specified parking frame, and even the vehicle can be parked obliquely, without being restricted by the site; at the same time, the formed alignment frame body can provide an installation position for the sensor calibration board, and the coordinate systems of the vehicle and the sensor calibration board are unified, without the need to perform coordinate system conversion and compensation through complex algorithms, reducing the error transmission link. More importantly, it does not require expensive and complex equipment, greatly reducing the test cost.

[0015] In some embodiments, a first scale extending along the width direction of the vehicle is provided on the reflection scale; or,

[0016] A second scale extending along the height direction of the vehicle is provided on the reflection scale.

[0017] In some embodiments, the vehicle body alignment device applicable to the calibration of an intelligent driving perception system further includes a sensor calibration board provided on the alignment frame body; the sensor calibration board can move on the alignment frame body and can be vertically adjusted itself.

[0018] In some embodiments, third scales are provided on the first bracket and the second bracket in their respective length directions.

[0019] In some embodiments, the first bracket includes two support rods fixed to the bottom surface and a top rod; telescopic members are provided at the tops of the support rods; the two support rods are located at both ends in the length direction of the top rod and are connected to the top rod through the telescopic members.

[0020] In some embodiments, the second bracket is a straight rod, and both ends of the straight rod are detachably connected to both ends of the top rod through connecting members.

[0021] In some embodiments, the connecting member includes a connecting elbow.

[0022] In some embodiments, the light beam emitter is a laser emitter or an infrared emitter; a spirit level is provided on the mounting base of the laser emitter or the infrared emitter.

[0023] In a second aspect, a vehicle body alignment method applicable to the calibration of an intelligent driving perception system is provided, which includes the following steps:

[0024] Provide a vehicle body alignment device applicable to the calibration of an intelligent driving perception system;

[0025] Place the vehicle on an open ground with a flat bottom surface, and then install a light beam emitter on the vehicle;

[0026] Place two first brackets on both sides in the width direction of the vehicle, and use the light beam emitted by the light beam emitter and the reflection scale to make the two first brackets parallel to the vehicle body central axis and maintain an equal distance;

[0027] Fix the positions of the two first brackets and install the second bracket to form an alignment frame body, and ensure that the vehicle is always centered within the placement space.

[0028] In some embodiments, the reflection scale is provided with a first scale extending in the width direction of the vehicle;

[0029] Using the light beam emitted by the light beam emitter and the reflection scale to make the two first brackets parallel to the vehicle body central axis and maintain an equal distance; includes the following steps:

[0030] Read the reading of the light beam emitted by the light beam emitter on the first scale on one of the first brackets;

[0031] Adjust the first bracket to make the readings on the two reflection scales the same, and complete the calibration of the first bracket;

[0032] Calibrate the other first bracket according to the above steps.

[0033] The beneficial effects brought by the technical solution provided by this application include:

[0034] The embodiment of the present application provides a vehicle body alignment device and method suitable for calibrating an intelligent driving perception system. Since the first bracket and the second bracket form an alignment frame body, and a reflection scale is provided on the first bracket. When in use, the vehicle is placed in the alignment frame body, and then it is judged whether the scales on the reflection scales at both ends of the first bracket hit by the light emitted by the light beam emitter installed on the vehicle are the same, so as to ensure that the distance between the first bracket and the vehicle body is always equal. Then, the position of the first bracket is fixed, and the second bracket is connected to the first bracket; during the above vehicle body alignment process, it is ensured that the alignment frame body is always unified with the coordinate of the vehicle itself, so that calibration can be carried out without the vehicle being parked in a specified parking frame, and even when the vehicle is parked obliquely, it is also possible, without being restricted by the site; at the same time, the formed alignment frame body can provide an installation position for the sensor calibration plate, and the coordinate systems of the vehicle and the sensor calibration plate are unified, without the need to perform coordinate system conversion and compensation through complex algorithms, reducing the error transmission link. More importantly, the structure is simple, it does not require expensive and complex equipment, and greatly reduces the test cost. Brief Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0036] Figure 1 It is a schematic diagram of the vehicle calibration device for the intelligent driving perception system provided by the embodiment of the present application.

[0037] In the figure: 1. First bracket; 2. Reflection scale; 3. Second bracket; 4. Light beam emitter; 5. Sensor calibration plate; 6. Vehicle. Detailed Embodiments

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0039] A vehicle body alignment device and method suitable for calibrating an intelligent driving perception system to solve the problems of unable to ensure the accuracy of the vehicle placement position in the related art and the cost problem brought by using expensive equipment.

[0040] Please refer to Figure 1, A vehicle alignment device suitable for calibrating an intelligent driving perception system, which includes: two first brackets 1, two second brackets 3, and two beam emitters 4;

[0041] The two first brackets 1 are respectively located on both sides of the vehicle 6 in the width direction, and the top is provided with a mounting plane. The first bracket 1 extends along the length direction of the vehicle 6, and two reflection scales 2 are respectively located at both ends of the first bracket 1 on its mounting plane;

[0042] The second bracket 3 extends along the width direction of the vehicle 6 and is connected to the two first brackets 1 to form an alignment frame body with a placement space inside;

[0043] The beam emitter 4 is used to be installed on the vehicle 6 located in the placement space and is used to emit beams to both ends of the first bracket 1 so that the beams hit the reflection scales 2; wherein the installation of the beam emitter 4 needs to ensure that the installation is not inclined and is always parallel to the vehicle body central axis. One beam emitter 4 emits two coaxial beams, and the beams are straight beams; the two beams are located in the same plane, that is, this plane is on the plane in the width direction of the vehicle 6.

[0044] Through the above structural settings, the first bracket 1 and the second bracket 3 form an alignment frame body. The first bracket 1 is provided with reflection scales 2. When in use, the vehicle 6 is placed in the alignment frame body, and then it is judged whether the scales on the reflection scales 2 hit by the light emitted by the beam emitter 4 installed on the vehicle 6 at both ends of the first bracket 1 are the same, so as to ensure that the distance between the first bracket 1 and the vehicle body is always equal. This distance is like the mark H in the figure. Then the position of the first bracket 1 is fixed, and the second bracket 3 is connected to the first bracket 1; during the above vehicle alignment process, it is ensured that the alignment frame body is always unified with the coordinates of the vehicle 6 itself, so that calibration can be carried out without the vehicle 6 having to stop in the specified parking frame, and even when the vehicle 6 is parked obliquely, it is also possible, without being restricted by the site; at the same time, the formed alignment frame body can provide an installation position for the sensor calibration plate 5, and the coordinate systems of the vehicle 6 and the sensor calibration plate 5 are unified, without the need to perform coordinate system conversion and compensation through complex algorithms, reducing the error transmission link. More importantly, it does not require expensive and complex equipment, greatly reducing the test cost.

[0045] In some preferred embodiments, the following settings are made for the scales on the reflection scales 2:

[0046] First, the reflection scale 2 is provided with a first scale extending in the width direction of the vehicle 6; this above way is the best way, so that the distance between the first bracket 1 extending in the length direction of the vehicle 6 and the vehicle 6 can be visually seen. As long as the scales where the light beams on the two reflection scales 2 are located are equal, it means that the first bracket 1 on this side has completed the orthotropic calibration. In addition, since different vehicle models have different distances from the first bracket 1, at this time, the orthotropic frame body also has the effect of being applicable to a variety of different vehicle models, so as to expand its applicable range.

[0047] Second, the reflection scale 2 is provided with a second scale extending in the height direction of the vehicle 6; in this implementation manner, the light beam hitting the reflection scale 2 is used to ensure whether the two ends of the first bracket 1 are on the same straight line. After adjusting to be on the same straight line; the naked eye is used to judge whether the light beam is parallel to the vehicle body central axis. Obviously, this method has errors compared with the first method. Of course, this application does not exclude this method.

[0048] Furthermore, in the first method, there is a situation where the two ends of the first bracket 1 are not on the same straight line. The reason may be that the flatness of the bottom surface is not high. At this time, adjustment is required. Therefore, the following settings are made for the first bracket 1:

[0049] The first bracket 1 includes two support rods fixed to the bottom surface and a top rod; the top of the support rod is provided with a telescopic component; the two support rods are located at both ends in the length direction of the top rod and are connected to the top rod through the telescopic component. By adjusting the telescopic component, the two ends of the first bracket 1 are located on the same straight line. The telescopic component is an existing structure that can be telescoped and is selected according to needs, such as a telescopic sleeve structure or a lead screw mechanism.

[0050] Such a structure makes it convenient to adjust the first bracket 1, and at the same time further reduces the requirement for the flatness of the bottom surface during calibration.

[0051] Furthermore, to facilitate the connection between the second bracket 3 and the first bracket 1, the second bracket 3 adopts a straight rod, and both ends of the straight rod are detachably connected to both ends of the top rod through a connecting piece; the connecting piece includes a connecting elbow, and the connecting elbow adopts a 90-degree elbow, which can refer to the structure in the field of pipeline connection; the connecting elbow makes the connection simple, convenient and stable; of course, this application does not exclude other detachable connection forms, such as pin connection, snap connection, threaded connection, etc.

[0052] In some preferred embodiments, the vehicle body alignment device applicable to the calibration of the intelligent driving perception system further includes a sensor calibration plate 5 disposed on the alignment frame; the sensor calibration plate 5 can move on the alignment frame and can be vertically adjusted by itself to meet the required position. The sensor calibration plate 5 is of an existing structure and has a structure for vertical adjustment, and no further explanation will be given here.

[0053] In this embodiment, to facilitate the determination of the position of the sensor calibration plate 5, both the first bracket 1 and the second bracket 3 are provided with a third scale in their own length directions. Through the setting of the third scale, the sensor calibration plate 5 can be horizontally and longitudinally adjusted with high precision along the first bracket 1 and the second bracket 3, so that the coordinate systems of the vehicle 6 and the sensor calibration plate 5 are unified. There is no need to perform coordinate system conversion and compensation through complex algorithms, reducing the error transmission link. More importantly, it does not require expensive and complex equipment, greatly reducing the test cost.

[0054] Among them Figure 1 The installation position of the upper sensor calibration plate 5 only gives one form of implementation, and the installation position of the sensor calibration plate 5 changes continuously according to actual needs.

[0055] In some preferred embodiments, the beam emitter 4 uses a laser emitter or an infrared emitter; a spirit level is provided on the mounting seat of the laser emitter or the infrared emitter; the most preferred way is a laser emitter, which is an instrument for accurately measuring the distance to a target using a laser. When the laser ruler works, it emits a very thin laser beam towards the target. The laser beam reflected by the target is received by a photoelectric element, and a timer measures the time from the emission to the reception of the laser beam, and calculates the distance from the observer to the target. The beam generated by it is a kind of light with very pure color, highly concentrated energy and good directivity.

[0056] The setting of the spirit level makes the installation of the beam emitter 4 more accurate and convenient for adjustment. The spirit level uses a scale with a bubble, or it can also be a spirit level of other structures. The spirit level is a common measuring tool for measuring small angles. In the machinery industry and instrument manufacturing, it is used to measure the inclination angle relative to the horizontal position, the flatness and straightness of the guide rails of machine tool equipment, the horizontal position and vertical position of equipment installation, etc. According to the different shapes of the spirit level, it can be divided into: universal spirit level, cylindrical spirit level, integrated spirit level, mini spirit level, camera spirit level, frame spirit level, ruler spirit level; according to the fixing method of the level gauge, it can be divided into: adjustable spirit level and non-adjustable spirit level.

[0057] The present application also proposes a vehicle calibration method applicable to the intelligent driving perception system, which includes the following steps:

[0058] Provide the vehicle alignment device applicable to the calibration of the intelligent driving perception system described above;

[0059] Place the vehicle 6 on an open field with a flat bottom surface, and then install the beam emitter 4 on the vehicle 6; Place the two first brackets 1 on both sides of the vehicle 6 in the width direction, and use the beam emitted by the beam emitter 4 and the reflection scale 2 to make the two first brackets 1 parallel to the vehicle body central axis and maintain an equal distance; Fix the positions of the two first brackets 1 and install the second bracket 3 to form an alignment frame body, and ensure that the vehicle 6 is always centered within the placement space;

[0060] During the above vehicle body alignment process, ensure that the alignment frame body is always unified with the coordinates of the vehicle 6 itself, so that calibration can be carried out without the vehicle 6 having to stop within the specified parking frame. Even if the vehicle 6 is parked obliquely, it is also possible, without being restricted by the site; At the same time, the formed alignment frame body can provide an installation position for the sensor calibration plate 5, and the coordinate systems of the vehicle 6 and the sensor calibration plate 5 are unified. There is no need to perform coordinate system conversion and compensation through complex algorithms, reducing the error transmission link. More importantly, it does not require expensive and complex equipment, greatly reducing the test cost.

[0061] Further, the reflection scale 2 is provided with a first scale extending in the width direction of the vehicle 6;

[0062] Using the beam emitted by the beam emitter 4 and the reflection scale 2 to make the two first brackets 1 parallel to the vehicle body central axis and maintain an equal distance; includes the following steps:

[0063] Read the reading of the beam emitted by the beam emitter 4 on the first scale on one of the first brackets 1; Adjust this first bracket 1 to make the readings on the two reflection scales 2 the same, and complete the calibration of this first bracket 1; Calibrate the other first bracket 1 according to the above steps.

[0064] The principle of this application:

[0065] (1) This technical solution can perform calibration without the vehicle 6 having to stop within the specified parking frame. Even if the vehicle 6 is parked obliquely, it is also possible, without being restricted by the site, so that the calibration frame and the vehicle body can be quickly aligned, solving the problem of excessive position error between the vehicle 6 being straightened and the calibration bracket.

[0066] (2) The first bracket 1 and the second bracket 3 are both provided with a third scale in their own length directions. Through the setting of the third scale, the sensor calibration plate 5 can be adjusted horizontally and vertically with high precision along the first bracket 1 and the second bracket 3, so that the coordinate systems of the vehicle 6 and the sensor calibration plate 5 are unified. There is no need to perform coordinate system conversion and compensation through complex algorithms, reducing the error transmission link. More importantly, it does not require expensive and complex equipment, greatly reducing the test cost.

[0067] (3) The front-position frame formed by this technical solution can provide an installation position for the sensor calibration plate 5, unifying the coordinate systems of the vehicle 6 and the sensor calibration plate 5, eliminating the need for complex algorithms for coordinate system conversion and compensation, and reducing the error transmission link.

[0068] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application. Unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0069] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0070] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one or more flows or multiple flows and / or blocks Figure 1 one or more blocks or multiple blocks.

[0071] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device that realizes the functions in the processFigure 1 one or more processes and / or blocks Figure 1 functions specified in one or more blocks.

[0072] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus, such that a series of operational steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one Figure 1 one or more processes and / or blocks Figure 1 or more processes and / or in one or more blocks. In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory. The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

[0073] Computer-readable media includes both permanent and non-permanent, removable and non-removable media implemented by any method or technology for storing information. The information may be computer-readable instructions, data structures, program modules, or other data.

[0074] Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media such as modulated data signals and carrier waves. It should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element qualified by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0075] It should be noted that in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0076] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather will conform to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A vehicle alignment device suitable for calibrating an intelligent driving perception system, characterized in that, it includes: Two first brackets (1), the two first brackets (1) are respectively located on both sides of the vehicle (6) in the width direction, and the top is provided with a mounting plane. The first bracket (1) extends along the length direction of the vehicle (6), and two reflection scales (2) are respectively provided at both ends of the first bracket (1) on its mounting plane; A second bracket (3), the second bracket (3) extends along the width direction of the vehicle (6) and is connected to the two first brackets (1) to form an alignment frame body with a placement space inside; A beam emitter (4), the beam emitter (4) is used to be installed on the vehicle (6) located in the placement space and is used to emit beams to both ends of the first bracket (1) so that the beams hit the reflection scale (2).

2. The vehicle alignment device suitable for calibrating an intelligent driving perception system according to claim 1, characterized in that: The reflection scale (2) is provided with a first scale extending along the width direction of the vehicle (6); or, The reflection scale (2) is provided with a second scale extending along the height direction of the vehicle (6).

3. The vehicle alignment device suitable for calibrating an intelligent driving perception system according to claim 1, characterized in that: This vehicle alignment device suitable for calibrating an intelligent driving perception system further includes a sensor calibration plate (5) provided on the alignment frame body; the sensor calibration plate (5) can move on the alignment frame body and can be adjusted vertically by itself.

4. The vehicle alignment device suitable for calibrating an intelligent driving perception system according to claim 3, characterized in that: The first bracket (1) and the second bracket (3) are both provided with a third scale in their own length directions.

5. The vehicle alignment device suitable for calibrating an intelligent driving perception system according to claim 1, characterized in that: The first bracket (1) includes two support rods fixed to the bottom surface and a top rod; a telescopic member is provided at the top of the support rod; the two support rods are located at both ends of the length direction of the top rod and are connected to the top rod through the telescopic member.

6. The vehicle alignment device suitable for calibrating an intelligent driving perception system according to claim 5, characterized in that: The second bracket (3) adopts a straight rod, and both ends of the straight rod are detachably connected to both ends of the top rod through connecting members.

7. The vehicle alignment device suitable for calibrating an intelligent driving perception system according to claim 6, characterized in that: The connecting member includes a connecting elbow.

8. The vehicle alignment device suitable for calibrating an intelligent driving perception system according to claim 1, characterized in that: The beam emitter (4) adopts a laser emitter or an infrared emitter; a level is provided on the mounting seat of the laser emitter or the infrared emitter.

9. A vehicle alignment method suitable for calibrating an intelligent driving perception system, characterized in that, it includes the following steps: Provide the vehicle alignment device suitable for calibrating an intelligent driving perception system according to any one of claims 1-8; Place the vehicle (6) on an open field with a flat bottom surface, and then install the beam emitter (4) on the vehicle (6); Place two first brackets (1) on both sides in the width direction of the vehicle (6), and use the light beam emitted by the light beam emitter (4) and the reflection scale (2) to make the two first brackets (1) parallel to the vehicle body central axis and maintain an equal distance; Fix the positions of the two first brackets (1) and install the second bracket (3) to form an alignment frame body, and ensure that the vehicle (6) is always centered within the placement space.

10. The vehicle body alignment method applicable to the calibration of an intelligent driving perception system as described in claim 9, characterized in that: The reflection scale (2) is provided with a first scale extending in the width direction of the vehicle (6); Using the light beam emitted by the light beam emitter (4) and the reflection scale (2) to make the two first brackets (1) parallel to the vehicle body central axis and maintain an equal distance; includes the following steps: Read the reading of the light beam emitted by the light beam emitter (4) on the first scale on one of the first brackets (1); Adjust this first bracket (1) to make the readings on the two reflection scales (2) the same, and complete the calibration of this first bracket (1); Calibrate the other first bracket (1) according to the above steps.

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