ACC Calibration Plate Position Accuracy Verification Method, Device and Storage Medium

Abstract

The present invention provides a method, an apparatus and a storage medium for calibrating the position accuracy of a vehicle ACC calibration plate. The method includes: establishing a spatial standard coordinate system according to the standard calibration position where the calibration sample rack is located; obtaining the first spatial coordinates of a plurality of first identification points on the calibration plate; fitting a calibration plate fitting plane according to the first spatial coordinates; obtaining the second spatial coordinates of a plurality of second identification points on the horizontal reference plane of the calibration sample rack; fitting a horizontal reference fitting plane according to the second spatial coordinates; obtaining the third spatial coordinates of a plurality of third identification objects on the vertical reference plane of the calibration sample rack; fitting a vertical reference fitting plane according to the third spatial coordinates; calculating the angles between the calibration plate fitting plane and the horizontal reference fitting plane and the vertical reference fitting plane, and calibrating the spatial angular position accuracy of the calibration plate according to the angles. The present invention does not require adding new calibration references, unifies the coordinate system, and improves the calibration efficiency and accuracy.

Description

Technical Field

[0001] Embodiments of the present invention generally relate to the technical field of vehicle manufacturing, and more specifically, to a method, device, and storage medium for calibrating the position accuracy of an ACC calibration board. Background Art

[0002] The Adaptive Cruise Control (ACC) function of a vehicle needs to be calibrated using a specific calibration board on the production line to have an accurate adaptive cruise function. For vehicles using active ACC function calibration, there are high requirements for the position accuracy of the ACC calibration board. If the position accuracy of the used ACC calibration board cannot meet the design requirements, there is a risk of functional failure of the calibrated ACC.

[0003] The ACC calibration board in the workshop needs to be regularly inspected for its spatial angular position to ensure the accuracy of ACC function calibration. Traditional inspection methods use indirect measurement methods such as spirit levels and laser rangefinders to inspect the ACC calibration board. The measurement process is cumbersome, greatly affected by the external environment, takes a long time for measurement, requires re - establishing a calibration reference plane during inspection, and the inspection results are obtained through visual discrimination and angle conversion, etc., and the spatial angular position relationship between the vehicle and the ACC calibration board cannot be directly obtained, resulting in low measurement accuracy. Summary of the Invention

[0004] In order to solve the above problems in the prior art, to improve production stability, ensure the accuracy of the ACC function, improve the convenience of ACC calibration board inspection, and improve inspection efficiency and inspection accuracy, embodiments of the present invention utilize existing equipment and on - site toe - in calibration jigs to provide a combined four - wheel alignment device and a method for inspecting the spatial angular position of an ACC calibration board using an existing reference plane.

[0005] In a first aspect, an embodiment of the present invention provides a method for verifying the position accuracy of a calibration plate for vehicle adaptive cruise control. The method includes: establishing a spatial standard coordinate system based on the standard calibration position of a calibration jig; obtaining the first spatial coordinates of a plurality of first identification points on the calibration plate; fitting a calibration plate fitting plane in the spatial standard coordinate system according to the first spatial coordinates; obtaining the second spatial coordinates of a plurality of second identification points on the horizontal reference plane of the calibration jig; fitting a horizontal reference fitting plane in the spatial standard coordinate system according to the second spatial coordinates; obtaining the third spatial coordinates of a plurality of third identification objects on the vertical reference plane of the calibration jig; fitting a vertical reference fitting plane in the spatial standard coordinate system according to the third spatial coordinates; calculating a first angle between the calibration plate fitting plane and the horizontal reference fitting plane and a second angle between the calibration plate fitting plane and the vertical reference fitting plane, and verifying the spatial angular position accuracy of the calibration plate according to the first angle and the second angle.

[0006] In some embodiments, the method further includes: calculating the distance from the first identification point to the calibration plate fitting plane according to the first spatial coordinates and the calibration plate fitting plane, and verifying the spatial flatness of the calibration plate according to the distance.

[0007] In some embodiments, obtaining the first spatial coordinates of a plurality of first identification points on the calibration plate includes: obtaining the first spatial coordinates of the first optical scanner identification objects measured by scanning the first optical scanner identification objects arranged on the calibration plate through an optical scanner.

[0008] In some embodiments, obtaining the second spatial coordinates of a plurality of second identification points on the horizontal reference plane of the calibration jig includes: obtaining the second spatial coordinates of the second optical scanner identification objects measured by scanning the second optical scanner identification objects arranged on the horizontal reference plane of the calibration jig through an optical scanner.

[0009] In some embodiments, obtaining the third spatial coordinates of a plurality of third identification objects on the vertical reference plane of the calibration jig includes: obtaining the third spatial coordinates of the third optical scanner identification objects measured by scanning the third optical scanner identification objects arranged on the vertical reference plane of the calibration jig through an optical scanner.

[0010] In some embodiments, calibrating the spatial angular position accuracy of the calibration plate according to the first angle and the second angle includes: calculating, according to the first angle, a first rotation angle of the fitting plane of the calibration plate relative to the Y-axis of the spatial standard coordinate system; comparing the first rotation angle with a first angle reference value to obtain a first angle difference; calculating, according to the second angle, a second rotation angle of the fitting plane of the calibration plate relative to the Z-axis of the spatial standard coordinate system; comparing the second rotation angle with a second angle reference value to obtain a second angle difference; and calibrating whether the spatial angular position of the calibration plate meets the technical requirements according to the first angle difference and the second angle difference.

[0011] In some embodiments, the calibration jig is fixed on the four-wheel alignment device, and establishing a spatial standard coordinate system according to the standard calibration position where the calibration jig is located includes: establishing a spatial standard coordinate system according to the position of the four-wheel alignment device.

[0012] In a second aspect, an embodiment of the present invention provides a device for calibrating the position accuracy of a vehicle adaptive cruise control calibration plate. The device includes: a coordinate system establishment module configured to establish a spatial standard coordinate system according to the standard calibration position where the calibration jig is located; a first spatial coordinate acquisition module configured to acquire first spatial coordinates of a plurality of first identification points on the calibration plate; a calibration plate plane fitting module configured to fit a calibration plate fitting plane in the spatial standard coordinate system according to the first spatial coordinates; a second spatial coordinate acquisition module configured to acquire second spatial coordinates of a plurality of second identification points on the horizontal reference plane of the calibration jig; a horizontal reference plane fitting module configured to fit a horizontal reference fitting plane in the spatial standard coordinate system according to the second spatial coordinates; a third spatial coordinate acquisition module configured to acquire third spatial coordinates of a plurality of third identification objects on the vertical reference plane of the calibration jig; a vertical reference plane fitting module configured to fit a vertical reference fitting plane in the spatial standard coordinate system according to the third spatial coordinates; and a spatial angular position calibration module configured to calculate a first angle between the calibration plate fitting plane and the horizontal reference fitting plane and a second angle between the calibration plate fitting plane and the vertical reference fitting plane, and calibrate the spatial angular position accuracy of the calibration plate according to the first angle and the second angle.

[0013] In a third aspect, an embodiment of the present invention provides a storage medium storing machine-readable instructions that, when run by a processor, execute the method according to any of the above embodiments.

[0014] The ACC calibration plate position accuracy verification method, device and storage medium proposed in the embodiments of the present invention have the following advantages: the existing reference plane on the four-wheel alignment calibration sample frame is used for verification, and there is no need to add a new calibration reference; the spatial angle position of the ACC calibration plate and the four-wheel alignment equipment is verified in a unified spatial coordinate, thereby unifying the coordinate system; an optical scanner is used to verify the relative position relationship between the ACC calibration plate and the vehicle; in the embodiments of the present invention, the ACC calibration plate and the four-wheel alignment equipment are unified in the coordinate system, and the relative position relationship between the ACC calibration plate and the vehicle is accurately verified; after calibration, the spatial position angle relationship between the ACC calibration plate and the vehicle is directly obtained, and the result is directly visible without conversion; the solution is simple and efficient, and the ACC calibration plate verification can be completed in a short time. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and other objects, features and advantages of the embodiments of the present invention will become readily understood by reading the following detailed description with reference to the accompanying drawings, in which several embodiments of the present invention are shown by way of example and not limitation, in which:

[0016] Figure 1 A flow chart of a method for verifying the position accuracy of an ACC calibration plate according to an embodiment of the present invention is shown;

[0017] Figure 2 FIG2 shows a schematic diagram of the ACC calibration principle according to an embodiment of the present invention;

[0018] Figure 3 shows a schematic diagram of the spatial position of the device during the calibration process according to an embodiment of the present invention;

[0019] Figure 4 A schematic diagram of the working process of an optical scanner according to an embodiment of the present invention is shown;

[0020] Figure 5 A block diagram of an ACC calibration plate position accuracy verification device according to an embodiment of the present invention is shown.

[0021] In the drawings, the same or corresponding reference numerals denote the same or corresponding parts. DETAILED DESCRIPTION

[0022] The principles and spirit of the present invention will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are provided only to enable those skilled in the art to better understand and implement the present invention, and are not intended to limit the scope of the present invention in any way.

[0023] In one aspect, an embodiment of the present invention provides a method for calibrating the position accuracy of a vehicle adaptive cruise control (ACC) calibration plate. Figure 1, which shows a flowchart of the ACC calibration plate position accuracy verification method 100 according to an embodiment of the present invention. As Figure 1 shown, the method 100 includes steps S101 - S108.

[0024] When the vehicle performs ACC calibration, the vehicle position is determined by a four-wheel alignment device. Since the ACC calibration plate is independently installed, the relative position relationship with the four-wheel alignment device cannot be determined. In order to accurately determine the relative position relationship between the ACC calibration plate and the vehicle, the coordinate systems of the ACC calibration plate and the four-wheel alignment device can be unified, and the relative position between the two can be verified to ensure that the spatial angular position relationship between the vehicle and the ACC calibration plate meets the technical requirements during ACC calibration.

[0025] Refer to Figure 2 , which shows a schematic diagram of the ACC calibration principle according to an embodiment of the present invention. When the vehicle performs ACC function calibration, a fixed spatial position relative to the ACC calibration plate is required. When the angles between the X, Y, and Z axes of the vehicle coordinate system and the calibration plate meet the technical requirements, the ACC function can be accurately calibrated.

[0026] The following describes the ACC calibration plate position accuracy verification method provided by the embodiments of the present invention in combination with Figure 1 and Figure 3 . Among them, Figure 3 shows a schematic diagram of the spatial position of the equipment during the calibration process according to an embodiment of the present invention.

[0027] In step S101, a spatial standard coordinate system is established according to the standard calibration position where the calibration sample rack is located. As an embodiment of the present invention, as Figure 3 shown, the calibration sample rack 301 can be fixed on the four-wheel alignment device 303 in advance and adjusted to be in the standard calibration position. Specifically, the calibration sample rack 301 can be fixed at the vehicle wheel fixing position of the four-wheel alignment device 303. The four-wheel alignment device 303 is installed on the equipment installation ground 305. In this embodiment, establishing a spatial standard coordinate system according to the standard calibration position where the calibration sample rack is located can include: establishing a spatial standard coordinate system according to the position of the four-wheel alignment device.

[0028] In step S102, the first spatial coordinates of multiple first identification points on the calibration plate 302 are obtained. As an embodiment of the present invention, obtaining the first spatial coordinates of multiple first identification points on the calibration plate can include: obtaining the first spatial coordinates of the first optical scanner markers measured by scanning the first optical scanner markers arranged on the calibration plate through an optical scanner.

[0029] Refer to Figure 4, which shows a schematic diagram of the working process of an optical scanner according to an embodiment of the present invention. As Figure 4 shown, as an example, when the optical scanner 401 works, first, a certain number of measurement markers 403 are pasted on the target plane 402. The spatial coordinates 405 of the markers 403 are measured by the scanner 401 and recorded in the virtual spatial standard coordinate system 404 in the computer. The target plane 406 is fitted through the marker coordinates in the spatial standard coordinate system.

[0030] Since only one spatial standard coordinate system is set in the fitting system, the different planes measured by the optical scanner have the same spatial position relationship as the actual situation. The relative position relationship between the planes obtained in the fitting system is the spatial position relationship of the actual target planes.

[0031] In step S103, according to the first spatial coordinates, the calibration plate fitting plane 302', or the calibration plate target plane obtained by fitting, is fitted in the spatial standard coordinate system.

[0032] In step S104, the second spatial coordinates of a plurality of second marker points on the horizontal reference plane 307 of the calibration jig are obtained. As an embodiment of the present invention, obtaining the second spatial coordinates of a plurality of second marker points on the horizontal reference plane of the calibration jig may include: obtaining the second spatial coordinates of the second optical scanner markers measured by scanning the second optical scanner markers arranged on the horizontal reference plane of the calibration jig through the optical scanner.

[0033] In step S105, according to the second spatial coordinates, the horizontal reference fitting plane 307', or the horizontal reference plane obtained by fitting, is fitted in the spatial standard coordinate system. The horizontal reference fitting plane 307' can represent the plane where the XY axes of the vehicle coordinate system to be calibrated are located.

[0034] In step S106, the third spatial coordinates of a plurality of third markers on the vertical reference plane 304 of the calibration jig are obtained. As an embodiment of the present invention, obtaining the third spatial coordinates of a plurality of third markers on the vertical reference plane of the calibration jig may include: obtaining the third spatial coordinates of the third optical scanner markers measured by scanning the third optical scanner markers arranged on the vertical reference plane of the calibration jig through the optical scanner.

[0035] In step S107, according to the third space coordinates, a vertical reference fitting plane 306 is fitted in the space standard coordinate system, or it can be called the fitted vertical reference plane. As an example, the determined vertical reference fitting plane 306 is an intermediate plane taken after fitting two vertical reference planes 304, and this intermediate plane can represent the plane where the XZ axis of the calibrated vehicle coordinate system is located.

[0036] In step S108, the first angle between the calibration plate fitting plane and the horizontal reference fitting plane and the second angle between the calibration plate fitting plane and the vertical reference fitting plane are calculated, and the spatial angular position accuracy of the calibration plate is verified according to the first angle and the second angle.

[0037] As an embodiment of the present invention, verifying the spatial angular position accuracy of the calibration plate according to the first angle and the second angle may include: calculating the first rotation angle of the calibration plate fitting plane relative to the Y axis of the space standard coordinate system according to the first angle; comparing the first rotation angle with the first angle reference value to obtain the first angle difference; calculating the second rotation angle of the calibration plate fitting plane relative to the Z axis of the space standard coordinate system according to the second angle; comparing the second rotation angle with the second angle reference value to obtain the second angle difference; verifying whether the spatial angular position of the calibration plate meets the technical requirements according to the first angle difference and the second angle difference.

[0038] Combined Figure 3 Described, the planes 302′, 306, 307′ fitted by the markers are in the same space coordinate system. By measuring the included angle between plane 302′ and plane 306, the angle α of the ACC calibration plate rotating relative to the Z axis of the vehicle coordinate system can be obtained. By measuring the included angle between plane 302′ and plane 307′, the angle β of the ACC calibration plate rotating relative to the Y axis of the vehicle coordinate system can be obtained. Comparing α and β with the technical requirement values can obtain whether the spatial angular position of the ACC calibration plate meets the technical requirements, and complete the verification of the spatial angular position accuracy of the ACC calibration plate. If not, corresponding adjustments are made and the measurement steps are repeated until it is qualified.

[0039] It should be noted that although the above method is described in the order of steps S101 - S108, the steps of measuring and fitting the calibration plate, measuring and fitting the horizontal reference plane, and measuring and fitting the vertical reference plane can be executed in different orders, reverse orders, or in parallel, and the present invention is not limited in this regard.

[0040] As an embodiment of the present invention, the ACC calibration plate position accuracy verification method may further include: calculating the distance from the first marker point to the calibration plate fitting plane according to the first space coordinates and the calibration plate fitting plane, and verifying the spatial flatness of the calibration plate according to the distance. As Figure 3As shown, by measuring the identification position and the fitted plane 302', the distance between the identification object and the fitted plane is measured, so as to obtain the spatial flatness of the ACC calibration plate. Then, the spatial flatness is compared with the flatness technical requirements, so as to complete the flatness verification of the target plate. If it does not meet the requirements, corresponding adjustments are made and the measurement steps are repeated until it is qualified.

[0041] The coordinate position of the calibration sample rack of the four-wheel alignment equipment on the four-wheel alignment equipment coincides with the actual coordinate position of the vehicle on the four-wheel alignment equipment. Determining the relative position relationship between the calibration sample rack and the ACC calibration plate can determine the relative position relationship between the vehicle and the ACC calibration plate. The four-wheel alignment calibration sample rack has a directly available reference plane. Using this plane as the reference, no additional reference plane needs to be added during the verification process, and at the same time, the coordinate systems of the ACC calibration plate and the vehicle can be unified. The verification method proposed in the embodiment of the present invention takes the reference plane on the standard calibration sample rack of the four-wheel alignment equipment as the reference and uses an optical scanner device to achieve the purpose of accurately verifying the spatial angular position of the ACC calibration plate.

[0042] Traditional verification methods use equipment such as spirit levels and laser rangefinders to verify the ACC calibration plate. When verifying, a calibration reference plane needs to be re-established, and the verification results are obtained through methods such as visual discrimination and angle conversion. The spatial angular position relationship between the vehicle and the ACC calibration plate cannot be directly obtained, and the accuracy is relatively low.

[0043] Compared with the traditional verification method, the ACC calibration plate position accuracy verification method proposed in the embodiment of the present invention has the following advantages: using the existing reference plane on the four-wheel alignment calibration sample rack for verification, without adding a new calibration reference; performing spatial angular position verification of the ACC calibration plate and the four-wheel alignment equipment in a unified space coordinate, unifying the coordinate system; using an optical scanner to verify the relative position relationship between the ACC calibration plate and the vehicle; in the embodiment of the present invention, the ACC calibration plate and the four-wheel alignment equipment have a unified coordinate system, accurately verifying the relative position relationship between the ACC calibration plate and the vehicle; directly obtaining the spatial position angle relationship between the ACC calibration plate and the vehicle after calibration, and the result can be directly visible without conversion; the solution is simple and efficient, and the ACC calibration plate verification can be completed in a short time.

[0044] In a second aspect, the embodiment of the present invention also proposes a vehicle ACC calibration plate position accuracy verification device. Refer to Figure 5 , which shows a block diagram of the ACC calibration plate position accuracy verification device according to the embodiment of the present invention. As Figure 5 shown, the device includes modules 501-508.

[0045] The coordinate system establishment module 501 can be configured to establish a spatial standard coordinate system according to the standard calibration position where the calibration sample rack is located.

[0046] The first spatial coordinate acquisition module 502 can be configured to acquire the first spatial coordinates of a plurality of first identification points on the calibration board.

[0047] The calibration board plane fitting module 503 can be configured to fit a calibration board fitting plane in the spatial standard coordinate system according to the first spatial coordinates.

[0048] The second spatial coordinate acquisition module 504 can be configured to acquire the second spatial coordinates of a plurality of second identification points on the horizontal reference plane of the calibration sample frame.

[0049] The horizontal reference plane fitting module 505 can be configured to fit a horizontal reference fitting plane in the spatial standard coordinate system according to the second spatial coordinates.

[0050] The third spatial coordinate acquisition module 506 can be configured to acquire the third spatial coordinates of a plurality of third identification objects on the vertical reference plane of the calibration sample frame.

[0051] The vertical reference plane fitting module 507 can be configured to fit a vertical reference fitting plane in the spatial standard coordinate system according to the third spatial coordinates.

[0052] The spatial angular position verification module 508 can be configured to calculate a first angle between the calibration board fitting plane and the horizontal reference fitting plane and a second angle between the calibration board fitting plane and the vertical reference fitting plane, and verify the spatial angular position accuracy of the calibration board according to the first angle and the second angle.

[0053] It should be noted that the functions executed by each module in the vehicle ACC calibration board position accuracy verification device proposed in the embodiments of the present invention correspond one by one to the steps in the vehicle ACC calibration board position accuracy verification method described above. For the specific implementation manners, examples and beneficial effects, please refer to the detailed description of the method above.

[0054] In a third aspect, an embodiment of the present invention proposes a storage medium storing machine-readable instructions that, when executed by a processor, execute the vehicle ACC calibration board position accuracy verification method described in any of the above embodiments.

[0055] The ACC calibration plate position accuracy verification method, device and storage medium proposed in the embodiments of the present invention have the following advantages: the existing reference plane on the four-wheel alignment calibration sample frame is used for verification, and there is no need to add a new calibration reference; the spatial angle position of the ACC calibration plate and the four-wheel alignment equipment is verified in a unified spatial coordinate, thereby unifying the coordinate system; an optical scanner is used to verify the relative position relationship between the ACC calibration plate and the vehicle; in the embodiments of the present invention, the ACC calibration plate and the four-wheel alignment equipment are unified in the coordinate system, and the relative position relationship between the ACC calibration plate and the vehicle is accurately verified; after calibration, the spatial position angle relationship between the ACC calibration plate and the vehicle is directly obtained, and the result is directly visible without conversion; the solution is simple and efficient, and the ACC calibration plate verification can be completed in a short time.

[0056] For illustrative purposes, the foregoing description of the embodiments of the present invention has been given, which is not exhaustive nor intended to limit the present invention to disclosed exact forms. It will be appreciated by those skilled in the art that various changes may be made without departing from the scope of the present invention, and that elements therein may be replaced with equivalents. In addition, without departing from the basic scope of the present invention, many modifications may be made so that specific situations or materials are adapted to the teachings of the present invention. Therefore, the present invention is not intended to be limited to the specific embodiments disclosed as the best mode for realizing the present invention, and the present invention will include all embodiments within the scope of the appended claims.

Claims

1. A method for verifying the position accuracy of a calibration plate for vehicle adaptive cruise control, characterized in that, The method includes: Establishing a spatial standard coordinate system according to the standard calibration position where the calibration sample rack is located; Obtaining the first spatial coordinates of a plurality of first identification points on the calibration plate; Fitting a calibration plate fitting plane in the spatial standard coordinate system according to the first spatial coordinates; Obtaining the second spatial coordinates of a plurality of second identification points on the horizontal reference plane of the calibration sample rack; Fitting a horizontal reference fitting plane in the spatial standard coordinate system according to the second spatial coordinates; Obtaining the third spatial coordinates of a plurality of third identification objects on the vertical reference plane of the calibration sample rack; Fitting a vertical reference fitting plane in the spatial standard coordinate system according to the third spatial coordinates; Calculating a first angle between the calibration plate fitting plane and the horizontal reference fitting plane and a second angle between the calibration plate fitting plane and the vertical reference fitting plane, and verifying the spatial angular position accuracy of the calibration plate according to the first angle and the second angle.

2. The method according to claim 1, wherein The method further includes: Calculating the distance from the first identification point to the calibration plate fitting plane according to the first spatial coordinates and the calibration plate fitting plane, and verifying the spatial flatness of the calibration plate according to the distance.

3. The method according to claim 1, characterized in that Obtaining the first spatial coordinates of a plurality of first identification points on the calibration plate includes: Obtaining the first spatial coordinates of the first optical scanner identification object measured by scanning the first optical scanner identification object arranged on the calibration plate through an optical scanner.

4. The method according to claim 1, characterized in that Obtaining the second spatial coordinates of a plurality of second identification points on the horizontal reference plane of the calibration sample rack includes: Obtaining the second spatial coordinates of the second optical scanner identification object measured by scanning the second optical scanner identification object arranged on the horizontal reference plane of the calibration sample rack through an optical scanner.

5. The method according to claim 1, characterized in that, Obtaining the third spatial coordinates of a plurality of third identification objects on the vertical reference plane of the calibration sample rack includes: Obtaining the third spatial coordinates of the third optical scanner identification object measured by scanning the third optical scanner identification object arranged on the vertical reference plane of the calibration sample rack through an optical scanner.

6. The method according to claim 1, wherein Verifying the spatial angular position accuracy of the calibration plate according to the first angle and the second angle includes: Calculating a first rotation angle of the calibration plate fitting plane relative to the Y axis of the spatial standard coordinate system according to the first angle; Comparing the first rotation angle with a first angle reference value to obtain a first angle difference; Calculating a second rotation angle of the calibration plate fitting plane relative to the Z axis of the spatial standard coordinate system according to the second angle; Comparing the second rotation angle with a second angle reference value to obtain a second angle difference; Verifying whether the spatial angular position of the calibration plate meets the technical requirements according to the first angle difference and the second angle difference.

7. The method according to claim 1, wherein The calibration sample rack is fixed on a four-wheel alignment device, and establishing a spatial standard coordinate system according to the standard calibration position where the calibration sample rack is located includes: Establishing a spatial standard coordinate system according to the position of the four-wheel alignment device.

8. An apparatus for calibrating the position accuracy of a vehicle adaptive cruise control calibration board, characterized in that, The device includes: A coordinate system establishment module, configured to establish a spatial standard coordinate system according to the standard calibration position where the calibration sample frame is located; A first spatial coordinate acquisition module, configured to acquire the first spatial coordinates of a plurality of first identification points on the calibration plate; A calibration plate plane fitting module, configured to fit a calibration plate fitting plane in the spatial standard coordinate system according to the first spatial coordinates; A second spatial coordinate acquisition module, configured to acquire the second spatial coordinates of a plurality of second identification points on the horizontal reference plane of the calibration sample frame; A horizontal reference plane fitting module, configured to fit a horizontal reference fitting plane in the spatial standard coordinate system according to the second spatial coordinates; A third spatial coordinate acquisition module, configured to acquire the third spatial coordinates of a plurality of third identification objects on the vertical reference plane of the calibration sample frame; A vertical reference plane fitting module, configured to fit a vertical reference fitting plane in the spatial standard coordinate system according to the third spatial coordinates; A spatial angle position verification module, configured to calculate a first angle between the calibration plate fitting plane and the horizontal reference fitting plane and a second angle between the calibration plate fitting plane and the vertical reference fitting plane, and verify the spatial angle position accuracy of the calibration plate according to the first angle and the second angle.

9. A storage medium storing machine-readable instructions that, when executed by a processor, perform the method according to any one of claims 1-7.

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