Radar post-sale static calibration corner reflector alignment method and system

Abstract

The application provides a radar post-sale static calibration corner reflector alignment method and system, which comprises the following steps: selecting a radar antenna center to construct a three-dimensional coordinate system, selecting a radar corner reflector center to obtain the spatial coordinates of the radar corner reflector center in the three-dimensional coordinate system, adjusting the position of the radar corner reflector center to make the radar corner reflector center and the radar antenna center face each other, then installing a license plate positioning support, controlling a laser pen to be turned on to capture the projection point of the laser ray emitted by the laser pen on the corner reflector, and judging whether the projection point coincides with the center of the corner reflector according to the spatial coordinate information of the projection point; if not, adjusting the spatial coordinate information of the corner reflector until the projection point coincides with the center of the corner reflector. The radar post-sale static calibration corner reflector alignment method can provide a high-precision corner reflector alignment method to provide reliable guarantee for the static calibration of the millimeter wave radar.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of corner reflector position calibration, and in particular to a radar post-sale static calibration corner reflector alignment method and system. BACKGROUND

[0002] The sensor scheme of the advanced auxiliary driving system of the light truck usually adopts a fusion scheme of the front-view camera and the front millimeter wave radar. The ADAS functions that can be realized by the scheme include the front collision warning FCW, the lane departure warning function, and the adaptive cruise ACC, the automatic emergency braking AEB, the lane keeping assistance LKA, and the like. Due to the installation difference and the individual difference of the vehicle, the installation angle of the radar and the camera sensor will have errors. In order to more accurately realize the ADAS function, the system needs to correct the installation angle error of the sensor, needs to perform off-line calibration or post-sale calibration, and the ADAS function can be normally enabled.

[0003] The post-sale calibration of the sensor is performed in the 4S shop and is divided into dynamic calibration and static calibration. The dynamic calibration needs the vehicle to run at a smooth speed for more than 2km on an open road. For the static calibration of the millimeter wave radar, the reflection signal of the radar receiving the metal corner reflector or the metal plane plate is adopted, and how to place the corner reflector is a key step of the calibration. SUMMARY

[0004] Based on this, the purpose of the present application is to provide a radar post-sale static calibration corner reflector alignment method and system to provide a corner reflector alignment method with high accuracy and to provide reliable guarantee for the static calibration of the millimeter wave radar.

[0005] According to the radar post-sale static calibration corner reflector alignment method provided by the present application, the method comprises:

[0006] The middle position of the radar antenna is selected as the radar antenna center, and a three-dimensional space coordinate system is constructed with the radar antenna center as the origin;

[0007] The radar corner reflector is tightly attached to the radar antenna, the middle position of the radar corner reflector is selected as the radar corner reflector center, the space coordinate information of the radar corner reflector center is acquired according to the three-dimensional space coordinate system, the position of the radar corner reflector center is adjusted according to the space coordinate information of the radar corner reflector center, so that the radar corner reflector center is directly opposite to the radar antenna center, and the surface of the radar corner reflector is parallel to the license plate surface of the vehicle;

[0008] The license plate positioning support is installed on the license plate of the vehicle, the license plate positioning support comprises a license plate support and a laser pen support connected perpendicularly to the license plate support, the license plate support is fixedly connected with the license plate of the vehicle, and the corner reflector is installed on the laser pen support;

[0009] controlling the laser pen to be turned on, obtaining spatial coordinate information of a projection point of a ray emitted by the laser pen on the corner reflector, and judging whether the projection point coincides with the center of the corner reflector according to the spatial coordinate information of the projection point;

[0010] If the projection point does not coincide with the center of the corner reflector, adjusting the spatial coordinate information of the corner reflector according to the spatial coordinate information of the projection point so that the projection point coincides with the center of the corner reflector.

[0011] In summary, according to the above-mentioned method for adjusting the corner reflector in the radar post-sale static calibration, a standard and normative adjustment method is provided for the radar corner reflector, so that the center of the corner reflector can be accurately aligned with the laser pen, thereby providing reliable guarantee for the static calibration of the millimeter wave radar. Specifically, first, the center of the radar antenna is selected, thereby constructing a three-dimensional coordinate system, and the radar corner reflector is closely attached to the radar antenna, and then the center of the radar corner reflector is selected, thereby obtaining the spatial coordinates of the center of the radar corner reflector in the three-dimensional coordinate system, and then the position of the center of the radar corner reflector is adjusted according to the spatial coordinates of the center of the radar corner reflector, so that the center of the radar corner reflector is directly opposite to the center of the radar antenna, and then the license plate positioning support is installed, and the laser pen is controlled to be turned on, so as to capture the projection point of the ray emitted by the laser pen on the corner reflector, and then it is judged whether the projection point coincides with the center of the corner reflector according to the spatial coordinate information of the projection point, and if not, the spatial coordinate information of the corner reflector is adjusted until the projection point coincides with the center of the corner reflector, thereby accurately adjusting the corner reflector.

[0012] In the preferred embodiment of the present application, the step of adjusting the position of the center of the radar corner reflector according to the spatial coordinate information of the center of the radar corner reflector, so that the center of the radar corner reflector is directly opposite to the center of the radar antenna, and the surface of the radar corner reflector is parallel to the surface of the license plate of the vehicle, comprises:

[0013] calculating the Z displacement of the center of the radar corner reflector according to the spatial coordinate information of the center of the radar corner reflector and the origin;

[0014] adjusting the Z coordinate of the center of the radar corner reflector according to the Z displacement, so that the Z coordinate of the center of the radar corner reflector is equal to the Z coordinate of the center of the radar antenna.

[0015] In the preferred embodiment of the present application, the step of adjusting the position of the center of the radar corner reflector according to the spatial coordinate information of the center of the radar corner reflector, so that the center of the radar corner reflector is directly opposite to the center of the radar antenna, and the surface of the radar corner reflector is parallel to the surface of the license plate of the vehicle, comprises:

[0016] selecting any two support points of the radar corner reflector support, and obtaining the X displacement and the Y displacement of the radar corner reflector support according to the spatial coordinate information of the two support points.

[0017] The positions of the two support points are adjusted according to the X displacement and the Y displacement, so that the line connecting the two support points is parallel to the license plate surface.

[0018] In the preferred embodiment of the present application, the step of judging whether the projection point coincides with the corner reflector center according to the spatial coordinate information of the projection point comprises:

[0019] The X coordinate difference, the Y coordinate difference and the Z coordinate difference between the two points are calculated according to the spatial coordinate information of the projection point and the spatial coordinate information of the corner reflector center, and it is judged whether the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within the first preset error threshold;

[0020] If the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within the first preset error threshold, it is determined that the projection point coincides with the corner reflector center;

[0021] If at least one of the X coordinate difference, the Y coordinate difference and the Z coordinate difference is not within the first preset error threshold, it is determined that the projection point does not coincide with the corner reflector center.

[0022] In the preferred embodiment of the present application, if the projection point does not coincide with the corner reflector center, the step of adjusting the spatial coordinate information of the corner reflector according to the spatial coordinate information of the projection point so that the projection point coincides with the corner reflector center comprises:

[0023] The angle of the corner reflector is adjusted according to the X coordinate difference, the Y coordinate difference and the Z coordinate difference until the projection point coincides with the corner reflector center.

[0024] Another aspect of the present application also provides a radar post-sale static calibration corner reflector alignment system, characterized in that the system comprises:

[0025] A coordinate system construction module is configured to select the middle position of a radar antenna as the radar antenna center and construct a three-dimensional space coordinate system with the radar antenna center as the origin;

[0026] A corner reflector position adjustment module is configured to tightly attach a radar corner reflector to the radar antenna, select the middle position of the radar corner reflector as the radar corner reflector center, and obtain the spatial coordinate information of the radar corner reflector center according to the three-dimensional space coordinate system, so as to adjust the position of the radar corner reflector center according to the spatial coordinate information of the radar corner reflector center, so that the radar corner reflector center is directly opposite to the radar antenna center, and the surface of the radar corner reflector is parallel to the license plate surface of a vehicle;

[0027] The support mounting module is used for mounting a license plate positioning support on a license plate of a vehicle, the license plate positioning support comprising a license plate support and a laser pen support connected perpendicularly to the license plate support, the license plate support being fixedly connected to the license plate of the vehicle, and the corner reflector being mounted on the laser pen support;

[0028] The coincidence detection module is used for controlling the laser pen to be turned on, acquiring spatial coordinate information of a projection point of a ray emitted by the laser pen on the corner reflector, and judging whether the projection point coincides with the center of the corner reflector according to the spatial coordinate information of the projection point.

[0029] The rotation adjustment module is used for adjusting the spatial coordinate information of the corner reflector according to the spatial coordinate information of the projection point, so as to make the projection point coincide with the center of the corner reflector, if the projection point does not coincide with the center of the corner reflector.

[0030] In the preferred embodiment of the present application, the corner reflector position adjustment module further comprises:

[0031] The Z displacement amount acquisition unit is used for calculating a Z displacement amount of the center of the radar corner reflector according to the spatial coordinate information of the center of the radar corner reflector and the origin;

[0032] The Z coordinate adjustment unit is used for adjusting the Z coordinate of the center of the radar corner reflector according to the Z displacement amount, so as to make the Z coordinate of the center of the radar corner reflector equal to the Z coordinate of the center of the radar antenna.

[0033] In the preferred embodiment of the present application, the corner reflector position adjustment module further comprises:

[0034] The support point selection unit is used for selecting any two support points of the radar corner reflector support, and acquiring an X displacement amount and a Y displacement amount of the radar corner reflector support according to the spatial coordinate information of the two support points;

[0035] The parallel adjustment unit is used for adjusting the positions of the two support points according to the X displacement amount and the Y displacement amount, so as to make the line connecting the two support points parallel to the surface of the license plate.

[0036] In the preferred embodiment of the present application, the coincidence detection module further comprises:

[0037] The projection point position detection unit is used for calculating an X coordinate difference, a Y coordinate difference and a Z coordinate difference between the projection point and the center of the corner reflector according to the spatial coordinate information of the projection point and the spatial coordinate information of the center of the corner reflector, and judging whether the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within a first preset error threshold;

[0038] The coincidence determination unit is used for determining that the projection point coincides with the center of the corner reflector, if the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within the first preset error threshold.

[0039] The non-coincidence determination unit is configured to determine that the projection point and the corner reflector center do not coincide if at least one of the X coordinate difference, the Y coordinate difference and the Z coordinate difference is not within a first preset error threshold.

[0040] In the preferred embodiment of the present application, the coincidence detection module further comprises:

[0041] The angle adjustment unit is configured to adjust the angle of the corner reflector according to the X coordinate difference, the Y coordinate difference and the Z coordinate difference until the projection point and the corner reflector center coincide.

[0042] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 A flow chart of a radar post-sale static calibration corner reflector alignment method according to a first embodiment of the present application;

[0044] Figure 2 A structural schematic diagram of a radar post-sale static calibration corner reflector alignment system according to a second embodiment of the present application.

[0045] The following detailed description will further describe the present application with reference to the above-mentioned drawings. DETAILED DESCRIPTION

[0046] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. The drawings show several embodiments of the present application. However, the present application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0048] Please refer to Figure 1 , which is a flow chart of a radar post-sale static calibration corner reflector alignment method according to a first embodiment of the present application. The method comprises steps S01 to S05, wherein:

[0049] Step S01: Select the middle position of the radar antenna as the radar antenna center, and construct a three-dimensional coordinate system with the radar antenna center as the origin;

[0050] Step S02: The radar corner reflector is tightly attached to the radar antenna, and the middle position of the radar corner reflector is selected as the center of the radar corner reflector, and the spatial coordinate information of the center of the radar corner reflector is obtained according to the three-dimensional space coordinate system, so as to adjust the position of the center of the radar corner reflector according to the spatial coordinate information of the center of the radar corner reflector, so that the center of the radar corner reflector is opposite to the center of the radar antenna, and the surface of the radar corner reflector is parallel to the license plate surface of the vehicle.

[0051] It should be noted that in this step, the Z displacement of the center of the radar corner reflector is specifically calculated according to the spatial coordinate information of the center of the radar corner reflector and the origin, that is, the height difference between the center of the radar corner reflector and the radar antenna is calculated according to the spatial coordinate information of the center of the radar corner reflector, which corresponds to the Z displacement, and then the Z coordinate of the center of the radar corner reflector is adjusted according to the Z displacement, so that the Z coordinate of the center of the radar corner reflector is equal to the Z coordinate of the center of the radar antenna, that is, the height of the center of the radar corner reflector is equal to the height of the center of the radar antenna.

[0052] Further, in the process of making the surface of the radar corner reflector parallel to the license plate surface of the vehicle, first, any two support points of the radar corner reflector support are selected, the radar corner reflector support is used to install the radar corner reflector, and generally three support points exist, then the first X displacement and the first Y displacement between one of the two support points and the license plate surface, and the second X displacement and the second Y displacement between the other support point and the license plate surface are calculated according to the spatial coordinate information of the two support points, and then the average of the sum of the first X displacement and the second X displacement is taken as the X displacement, and the average of the sum of the first Y displacement and the second Y displacement is taken as the Y displacement, and then the positions of the two support points are adjusted according to the X displacement and the Y displacement, so that the line connecting the two support points is parallel to the license plate surface.

[0053] It should be noted that when the line connecting the two support points is parallel to the license plate surface, the radar corner reflector is translated backward along the X axis direction to a first preset distance from the radar antenna, and in this embodiment, the first preset distance is 2.5m.

[0054] Step S03: The license plate positioning support is installed on the license plate of the vehicle, the license plate positioning support includes a license plate support and a laser pen support vertically connected with the license plate support, the license plate support is fixedly connected with the license plate of the vehicle, and the corner reflector is installed on the laser pen support.

[0055] It should be noted that the license plate positioning support is a T-shaped, that is, the vertical connection point of the laser pen support and the license plate support is located at the middle part of the license plate support.

[0056] Step S04: controlling the laser pen to be turned on, obtaining the spatial coordinate information of the projection point of the ray emitted by the laser pen on the corner reflector, and judging whether the projection point coincides with the center of the corner reflector according to the spatial coordinate information of the projection point;

[0057] It should be noted that, in the process of judging whether the projection point coincides with the center of the corner reflector, first, the X coordinate difference, the Y coordinate difference and the Z coordinate difference between the two points are calculated according to the spatial coordinate information of the projection point and the spatial coordinate information of the center of the corner reflector, and it is judged whether the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within the first preset error threshold;

[0058] If the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within the first preset error threshold, it is determined that the projection point coincides with the center of the corner reflector.

[0059] If at least one of the X coordinate difference, the Y coordinate difference and the Z coordinate difference is not within the first preset error threshold, it is determined that the projection point does not coincide with the center of the corner reflector.

[0060] Step S05: if the projection point does not coincide with the center of the corner reflector, adjusting the spatial coordinate information of the corner reflector according to the spatial coordinate information of the projection point, so that the projection point coincides with the center of the corner reflector.

[0061] It can be understood that, if the projection point does not coincide with the center of the corner reflector, the angle of the corner reflector is adjusted according to the X coordinate difference, the Y coordinate difference and the Z coordinate difference until the projection point coincides with the center of the corner reflector.

[0062] In summary, according to the above radar post-sale static calibration corner reflector alignment method, a standard and normative alignment method is provided for the radar corner reflector, so that the center of the corner reflector can be accurately aligned with the laser pen, thereby providing reliable guarantee for the static calibration of the millimeter wave radar. Specifically, first, the radar antenna center is selected, thereby constructing a three-dimensional coordinate system, and the radar corner reflector is closely attached to the radar antenna, and then the center of the radar corner reflector is selected, thereby obtaining the spatial coordinates of the center of the radar corner reflector in the three-dimensional coordinate system, and then adjusting the position of the center of the radar corner reflector according to the spatial coordinates of the center of the radar corner reflector, so that the center of the radar corner reflector and the center of the radar antenna are opposite, and then the license plate positioning support is installed, and the laser pen is controlled to be turned on to capture the projection point of the ray emitted by the laser pen on the corner reflector, and then it is judged whether the projection point coincides with the center of the corner reflector according to the spatial coordinate information of the projection point, and if not, the spatial coordinate information of the corner reflector is adjusted until the projection point coincides with the center of the corner reflector, thereby accurately realizing the alignment of the corner reflector.

[0063] Please refer to Figure 2, as shown in the structural schematic diagram of the radar post-sale static calibration corner reflector alignment system in the second embodiment of the application, the system comprises:

[0064] The coordinate system construction module 10 is configured to select a middle position of the radar antenna as a center of the radar antenna, and construct a three-dimensional space coordinate system with the center of the radar antenna as an origin;

[0065] The corner reflector position adjustment module 20 is configured to tightly attach the radar corner reflector to the radar antenna, select a middle position of the radar corner reflector as a center of the radar corner reflector, and acquire space coordinate information of the center of the radar corner reflector according to the three-dimensional space coordinate system, so as to adjust the position of the center of the radar corner reflector according to the space coordinate information of the center of the radar corner reflector, so that the center of the radar corner reflector is directly opposite to the center of the radar antenna, and the surface of the radar corner reflector is parallel to the surface of the license plate of the vehicle;

[0066] Further, the corner reflector position adjustment module 20 further comprises:

[0067] The Z displacement amount acquisition unit is configured to calculate a Z displacement amount of the center of the radar corner reflector according to the space coordinate information of the center of the radar corner reflector and the origin;

[0068] The Z coordinate adjustment unit is configured to adjust a Z coordinate of the center of the radar corner reflector according to the Z displacement amount, so that the Z coordinate of the center of the radar corner reflector is equal to a Z coordinate of the center of the radar antenna;

[0069] The support point selection unit is configured to select any two support points of a support of the radar corner reflector, and acquire an X displacement amount and a Y displacement amount of the support of the radar corner reflector according to space coordinate information of the two support points;

[0070] The parallel adjustment unit is configured to adjust the positions of the two support points according to the X displacement amount and the Y displacement amount, so that a line connecting the two support points is parallel to the surface of the license plate.

[0071] The support installation module 30 is configured to install a license plate positioning support on the license plate of the vehicle, the license plate positioning support comprising a license plate support and a laser pen support connected perpendicularly to the license plate support, the license plate support being fixedly connected to the license plate of the vehicle, and the corner reflector being installed on the laser pen support;

[0072] The coincidence detection module 40 is configured to control the laser pen to be turned on, acquire space coordinate information of a projection point of a ray emitted by the laser pen on the corner reflector, and determine whether the projection point coincides with the center of the corner reflector according to the space coordinate information of the projection point;

[0073] Further, the coincidence detection module 40 further comprises:

[0074] The projection point position detection unit is configured to calculate X coordinate difference, Y coordinate difference and Z coordinate difference between the two points according to the spatial coordinate information of the projection point and the spatial coordinate information of the corner reflector center, and determine whether the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within the first preset error threshold;

[0075] The coincidence determination unit is configured to determine that the projection point coincides with the center of the corner reflector if the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within the first preset error threshold.

[0076] The non-coincidence determination unit is configured to determine that the projection point does not coincide with the center of the corner reflector if at least one of the X coordinate difference, the Y coordinate difference and the Z coordinate difference is not within the first preset error threshold.

[0077] The angle adjustment unit is configured to adjust the angle of the corner reflector according to the X coordinate difference, the Y coordinate difference and the Z coordinate difference until the projection point coincides with the center of the corner reflector.

[0078] The rotation adjustment module 50 is configured to adjust the spatial coordinate information of the corner reflector according to the spatial coordinate information of the projection point if the projection point does not coincide with the center of the corner reflector, so as to make the projection point coincide with the center of the corner reflector.

[0079] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0080] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be noted that, for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method for aligning a radar after-sales static calibration angle reflector, characterized in that, The method includes: The middle position of the radar antenna is selected as the center of the radar antenna, and a three-dimensional spatial coordinate system is constructed with the center of the radar antenna as the origin. The radar corner reflector is placed close to the radar antenna, and the middle position of the radar corner reflector is selected as the center of the radar corner reflector. The spatial coordinate information of the center of the radar corner reflector is obtained according to the three-dimensional spatial coordinate system. The position of the center of the radar corner reflector is adjusted according to the spatial coordinate information of the center of the radar corner reflector so that the center of the radar corner reflector is directly opposite the center of the radar antenna, and the surface of the radar corner reflector is parallel to the surface of the vehicle's license plate. A license plate positioning bracket is installed on the license plate of a vehicle. The license plate positioning bracket includes a license plate bracket and a laser pointer bracket that is perpendicularly connected to the license plate bracket. The license plate bracket is fixedly connected to the license plate of the vehicle, and the corner reflector is installed on the laser pointer bracket. The laser pointer is turned on, and the spatial coordinates of the projection point of the laser beam emitted by the laser pointer on the corner reflector are obtained. Based on the spatial coordinates of the projection point, it is determined whether the projection point coincides with the center of the corner reflector. If the projection point does not coincide with the center of the corner reflector, the spatial coordinate information of the corner reflector is adjusted according to the spatial coordinate information of the projection point so that the projection point coincides with the center of the corner reflector.

2. The radar after-sales static calibration angle reflector alignment method according to claim 1, characterized in that, The steps of adjusting the position of the radar corner reflector center according to the spatial coordinate information of the radar corner reflector center, so that the radar corner reflector center is directly aligned with the radar antenna center, and simultaneously making the radar corner reflector surface parallel to the vehicle's license plate surface, include: The Z displacement of the radar corner reflector center is calculated based on the spatial coordinates of the radar corner reflector center and the origin. Adjust the Z-coordinate of the radar corner reflector center according to the Z-displacement to make the Z-coordinate of the radar corner reflector center equal to the Z-coordinate of the radar antenna center.

3. The radar after-sales static calibration angle reflector alignment method according to claim 2, characterized in that, The steps of adjusting the position of the radar corner reflector center according to the spatial coordinate information of the radar corner reflector center, so that the radar corner reflector center is directly aligned with the radar antenna center, and simultaneously making the radar corner reflector surface parallel to the vehicle's license plate surface, include: Select any two support points of the radar corner reflector bracket, and obtain the X and Y displacements of the radar corner reflector bracket based on the spatial coordinate information of the two support points. Adjust the positions of the two support points according to the X and Y displacements so that the line connecting the two support points is parallel to the license plate surface.

4. The radar after-sales static calibration angle reflector alignment method according to claim 3, characterized in that, The step of determining whether the projection point coincides with the center of the corner reflector based on the spatial coordinate information of the projection point includes: The differences in X, Y, and Z coordinates between the two points are calculated based on the spatial coordinates of the projection point and the center of the corner reflector. It is then determined whether the differences in X, Y, and Z coordinates are all within the first preset error threshold. If the X-coordinate difference, Y-coordinate difference, and Z-coordinate difference are all within the first preset error threshold, then it is determined that the projection point coincides with the center of the corner reflector. If at least one of the differences in X coordinate, Y coordinate, and Z coordinate is not within the first preset error threshold, then it is determined that the projection point does not coincide with the center of the corner reflector.

5. The radar after-sales static calibration angle reflector alignment method according to claim 4, characterized in that, The step of adjusting the spatial coordinates of the corner reflector according to the spatial coordinates of the projection point so that the projection point coincides with the center of the corner reflector if the projection point does not coincide with the center of the corner reflector includes: Adjust the angle of the corner reflector according to the X-coordinate difference, Y-coordinate difference, and Z-coordinate difference until the projection point coincides with the center of the corner reflector.

6. A radar after-sales static calibration angle reflector alignment system, characterized in that, The system includes: The coordinate system construction module is used to select the middle position of the radar antenna as the radar antenna center and construct a three-dimensional spatial coordinate system with the radar antenna center as the origin. The corner reflector position adjustment module is used to attach the radar corner reflector tightly to the radar antenna, select the middle position of the radar corner reflector as the center of the radar corner reflector, and obtain the spatial coordinate information of the center of the radar corner reflector according to the three-dimensional spatial coordinate system. The position of the center of the radar corner reflector is adjusted according to the spatial coordinate information of the center of the radar corner reflector so that the center of the radar corner reflector is directly opposite the center of the radar antenna, and at the same time, the surface of the radar corner reflector is parallel to the surface of the vehicle's license plate. A bracket mounting module is used to install a license plate positioning bracket on a vehicle's license plate. The license plate positioning bracket includes a license plate bracket and a laser pointer bracket that is vertically connected to the license plate bracket. The license plate bracket is fixedly connected to the vehicle's license plate, and the corner reflector is mounted on the laser pointer bracket. The overlap detection module is used to control the laser pointer to turn on, obtain the spatial coordinate information of the projection point of the ray emitted by the laser pointer on the corner reflector, and determine whether the projection point coincides with the center of the corner reflector based on the spatial coordinate information of the projection point. The rotation adjustment module is used to adjust the spatial coordinate information of the corner reflector according to the spatial coordinate information of the projection point if the projection point does not coincide with the center of the corner reflector, so that the projection point coincides with the center of the corner reflector.

7. The radar after-sales static calibration angle reflector alignment system according to claim 6, characterized in that, The corner reflector position adjustment module also includes: The Z-displacement acquisition unit is used to calculate the Z-displacement of the radar corner reflector center based on the spatial coordinate information of the radar corner reflector center and the origin. The Z-coordinate adjustment unit is used to adjust the Z-coordinate of the radar corner reflector center according to the Z-displacement, so that the Z-coordinate of the radar corner reflector center is equal to the Z-coordinate of the radar antenna center.

8. The radar after-sales static calibration angle reflector alignment system according to claim 7, characterized in that, The corner reflector position adjustment module also includes: The support point selection unit is used to select any two support points of the radar corner reflector support and obtain the X displacement and Y displacement of the radar corner reflector support based on the spatial coordinate information of the two support points. The parallel adjustment unit is used to adjust the position of the two support points according to the X displacement and Y displacement, so that the line connecting the two support points is parallel to the license plate surface.

9. The radar after-sales static calibration angle reflector alignment system according to claim 8, characterized in that, The overlap detection module further includes: The projection point position detection unit is used to calculate the difference between the X coordinate, Y coordinate and Z coordinates of the two points based on the spatial coordinate information of the projection point and the spatial coordinate information of the corner reflector center, and to determine whether the difference between the X coordinate, Y coordinate and Z coordinates are all within the first preset error threshold. The coincidence determination unit is used to determine that the projection point coincides with the center of the corner reflector if the difference between the X coordinates, the difference between the Y coordinates, and the difference between the Z coordinates are all within the first preset error threshold. The non-coincidence determination unit is used to determine that the projection point and the center of the corner reflector do not coincide if at least one of the differences among the X coordinate difference, Y coordinate difference and Z coordinate difference is not within the first preset error threshold.

10. The radar after-sales static calibration angle reflector alignment system according to claim 9, characterized in that, The overlap detection module further includes: An angle adjustment unit is used to adjust the angle of the corner reflector according to the X-coordinate difference, Y-coordinate difference and Z-coordinate difference until the projection point coincides with the center of the corner reflector.

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