A vehicle-mounted angular millimeter wave radar position calibration device and method

Abstract

The application discloses a kind of vehicle-mounted corner millimeter wave radar position calibration device and method, the device includes wheel hub fixing device, level and laser range finder combination, wheel hub fixing device is adjusted to horizontal position by the setting of X direction level and Y direction level, reduce the installation angle error of laser range finder combination, and make wheel hub fixture and the side of vehicle be in same coordinate system, it is convenient to establish coordinate reference relationship for laser range finder combination and the corner millimeter wave radar of the front of this side of vehicle, in addition, the X direction fixed rod of wheel hub fixing device, wheel hub fixture is combined with up and down movement guide rail and transverse movement guide rail, it is convenient to adjust the position relationship of laser range finder combination, to obtain the distance such as spatial position information of corner millimeter wave radar, the device and method can be suitable for the calibration demand of different shapes, different types of corner millimeter radar on intelligent driving heavy truck vehicle.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of radar position calibration, and particularly relates to a vehicle-mounted corner millimeter wave radar position calibration device and method. BACKGROUND

[0002] In the driving process of an autonomous vehicle, a corner millimeter wave radar, as one of important sensors in an intelligent driving system, provides speed, distance and other information of a target object perceived by the vehicle in the driving process.

[0003] At present, the corner millimeter wave radar of an intelligent heavy truck is generally installed at four corner positions of front and rear bumpers. Since different corner millimeter wave radars have different installation angle requirements, the existing large millimeter wave radar calibration equipment can only calibrate the horizontal, pitch and yaw angle positions of the front millimeter wave radar. In the installation process of the corner millimeter wave radar, the sensing distance and sensing range of the target object will have a large difference due to the influence of the part size chain (the radar body, the installation bracket, the front and rear bumpers and installation errors). Taking the effective sensing distance of 100 meters of the corner millimeter wave radar as an example, the horizontal angle error deviates by 1°, and the deviation of the sensing center point from the actual target point reaches about 1.75 meters, which also affects the actual sensing area. It is not very friendly to the sensing, planning and control of the intelligent heavy truck. Therefore, in the installation and repair and replacement process of the corner millimeter wave radar, the systematic calibration of the corner millimeter wave radar is particularly important to provide a strong guarantee for the driving safety of the intelligent heavy truck.

[0004] The main function of the millimeter wave radar for intelligent driving heavy truck is to provide the surrounding environment of the heavy truck in the driving process with medium and long distance sensing, including the distance, speed, position and other information of moving vehicles, pedestrians and obstacles.

[0005] Currently, heavy-duty trucks with different levels of autonomous driving (L2, L3, L4) are generally equipped with 3D or 4D millimeter-wave radar, primarily located in the center of the front and rear bumpers and on the left and right sides. Among these, the millimeter-wave radars located on the left and right sides are called angular millimeter-wave radars. Due to differences in intelligent heavy-duty truck models and millimeter-wave radar models, the horizontal and vertical field of view (FOV) achieved by these angular millimeter-wave radars varies. Therefore, there are specific requirements for the yaw angle, horizontal angle, and pitch angle of the angular millimeter-wave radar. If the yaw angle of the angular millimeter-wave radar deviates, it will lead to a corresponding deviation in the horizontal FOV, changing the detection range. If the pitch angle of the angular millimeter-wave radar deviates, it will affect the vertical FOV, shortening the overall detection range of the radar and ultimately impacting the intelligent heavy-duty truck's ability to perceive its surroundings. Therefore, high-precision calibration and high-quality detection of the angular millimeter-wave radar position are particularly important. This ensures the intelligent driving perception level of the heavy-duty truck while improving its safety during operation. Summary of the Invention

[0006] To address the aforementioned problems, the main objective of this invention is to design a vehicle-mounted angular millimeter-wave radar position calibration device and method. This novel calibration device is used to calibrate the installation position of the angular millimeter-wave radar, solving the calibration problem for angular millimeter-wave radars of different shapes and types.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A vehicle-mounted angle millimeter-wave radar position calibration device is used to assist in measuring the distance information of the vehicle-mounted angle millimeter-wave radar and adjust the yaw angle and pitch angle of the angle millimeter-wave radar to be measured to the required position of the vehicle based on the measured values. The calibration device includes a combination of a wheel hub fixing device, a level and a laser rangefinder.

[0009] The wheel hub fixing device is installed and fixed on the wheel on one side of the vehicle and adjusted to a horizontal state by a level.

[0010] The laser rangefinder assembly is installed at the front end of the wheel hub fixing device and establishes a coordinate reference relationship with the angular millimeter-wave radar on the front side of the vehicle.

[0011] As a further description of the present invention, the wheel hub fixing device includes an X-direction fixing rod, a Y-direction fixing rod, and a wheel hub clamp disposed on the X-direction fixing rod;

[0012] The hub clamp is fixedly connected to the hub flange of the wheel, and the X-direction fixing rod and the Y-direction fixing rod are perpendicularly connected.

[0013] As further described in the present application, the level comprises an X-direction level and a Y-direction level; the X-direction level is arranged at the connection between the X-direction fixed rod and the Y-direction fixed rod, and the Y-direction level is arranged on the Y-direction fixed rod.

[0014] As further described in the present application, the front end of the X-direction fixed rod further comprises a moving guide rail, and the laser range finder combination is arranged on the moving guide rail and adjusted through the moving guide rail.

[0015] As further described in the present application, the moving guide rail comprises an up-down moving guide rail and a transverse moving guide rail, one end of the transverse moving guide rail is matched with the X-direction fixed rod through a sliding frame, the other end is connected with the up-down moving guide rail, and the laser range finder combination slides up and down along the up-down moving guide rail.

[0016] As further described in the present application, the sliding frame is sleeved on the outer periphery of the X-direction fixed rod, a hinge shaft is arranged on the outer side of the sliding frame, and the transverse moving guide rail is matched with the sliding frame through the hinge shaft.

[0017] Further, the technical scheme of the present application further comprises a vehicle-mounted angular millimeter wave radar position calibration method, which is based on the above-mentioned vehicle-mounted angular millimeter wave radar position calibration device and specifically comprises the following steps:

[0018] Step 1: fixing the hub fixing device on the vehicle;

[0019] Step 2: adjusting the position of the laser range finder combination;

[0020] Step 3: measuring the distance information of the vehicle-mounted angular millimeter wave radar through the laser range finder combination;

[0021] Step 4: adjusting the yaw angle and the pitch angle of the vehicle-mounted angular millimeter wave radar to the required position according to the measured value of the laser range finder combination.

[0022] As further described in the present application, in step 1, the specific fixing mode of the hub fixing device comprises the following steps:

[0023] Step 1.1: the hub clamp of the hub fixing device is pre-fixed on the hub flange of the wheel;

[0024] Step 1.2: adjusting the hub fixing device to a horizontal position through the X-direction level and the Y-direction level, so that the hub clamp is in the same coordinate system as one side of the vehicle.

[0025] As a further description of the application, in step 2, the position adjustment of the laser range finder combination is: by moving the transverse guide rail and the up-down moving guide rail, the laser range finder combination is adjusted to be in front of the vehicle-mounted angular millimeter wave radar.

[0026] As a further description of the application, in step 3, the laser range finder combination measures the distance information of the vehicle-mounted angular millimeter wave radar, including the following steps:

[0027] Step 3.1: according to the angular millimeter wave radar installation angle requirement, the yaw angle of the laser range finder combination is set through the angle measuring instrument, so that the laser range finder combination and the to-be-measured angular millimeter wave radar are at the same installation angle;

[0028] Step 3.2: turn on the external processor and the laser range finder combination, and measure the distance information of the measured angular millimeter wave radar through the laser light speed emitted by the laser range finder to the surface of the angular millimeter wave radar.

[0029] Compared with the prior art, the technical effect of the application is:

[0030] The application provides a vehicle-mounted angular millimeter wave radar position calibration device and method, which mainly detects and adjusts the position and angle of the angular millimeter wave radar of an intelligent driving heavy truck during installation to meet the requirements. The device comprises a hub fixing device, a level and a laser range finder combination. Specifically, the X-direction level and the Y-direction level are used to adjust the hub fixing device to a horizontal position, reduce the installation angle error of the laser range finder combination, and make the hub clamp and one side of the vehicle in the same coordinate system, so as to establish a coordinate reference relationship between the laser range finder combination and the angular millimeter wave radar in front of the vehicle side. In addition, the position relationship of the laser range finder combination is adjusted by combining the up-down moving guide rail and the transverse moving guide rail, so as to obtain the distance and other spatial position information of the angular millimeter wave radar. The device has the advantages of simple structure, easy implementation and strong practical value. Meanwhile, the device and method can be applied to the calibration requirements of angular millimeter wave radars of different shapes and different types on intelligent driving heavy trucks. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a calibration device structure diagram of the application;

[0032] Figure 2 It is a cooperation structure diagram of the X-direction fixed rod and the laser range finder combination in the application;

[0033] Figure 3 It is a calibration device plane overall schematic diagram of the application;

[0034] Figure 4 It is a calibration method flowchart of the application.

[0035] In the figure, 1. Hub fixing device, 11. X-direction fixing rod, 12. Y-direction fixing rod, 13. Hub clamp, 21. X-direction level, 22. Y-direction level, 3. Laser rangefinder assembly, 4. Up and down moving guide rail, 5. Lateral moving guide rail, 51. Sliding frame, 52. Hinge. Implementation

[0036] The present invention will now be described in detail with reference to the accompanying drawings:

[0037] In one embodiment of the present invention, a vehicle-mounted angular millimeter-wave radar position calibration device is disclosed, with reference to... Figures 1-3 As shown, this calibration device is used to assist in measuring the distance information of the vehicle-mounted angular millimeter-wave radar, and adjusts the yaw and pitch angles of the angular millimeter-wave radar to the required position on the vehicle based on the measured values. A in the figure represents the angular millimeter-wave radar. Specifically, the calibration device includes a wheel hub fixing device 1, a level, and a laser rangefinder assembly 3. The wheel hub fixing device 1 is installed and fixed on the wheel hub on one side of the vehicle and adjusted to a horizontal state by the level. The laser rangefinder assembly 3 is set at the front end of the wheel hub fixing device 1 and establishes a coordinate reference relationship with the angular millimeter-wave radar at the front of the vehicle on that side.

[0038] More specifically, in this embodiment, the wheel hub fixing device 1 is configured to include an X-direction fixing rod 11, a Y-direction fixing rod 12, and a wheel hub clamp 13 disposed on the X-direction fixing rod 11; in this embodiment, there are two wheel hub clamps 13, which are simultaneously fixed to adjacent wheel hub flanges on one side of the vehicle, and the X-direction fixing rod 11 and the Y-direction fixing rod 12 are vertically connected.

[0039] It should also be noted that the aforementioned level includes an X-direction level 21 and a Y-direction level 22; the X-direction level 21 is located at the connection between the X-direction fixing rod 11 and the Y-direction fixing rod 12, which facilitates fine-tuning of the wheel hub clamp 13, adjusting the X-direction level, and ensuring that the X-direction level 21 is in a horizontal position; the Y-direction level 22 is located on the Y-direction fixing rod 12; in this embodiment, the Y-direction level 22 is located in the middle position of the Y-direction fixing rod 12, ensuring that the Y-direction level 22 is in a horizontal position, thereby fixing the wheel hub clamp 13 to the wheel hub flange of the vehicle.

[0040] In addition, in this embodiment, the front end of the X-direction fixing rod 11 also includes a movable guide rail, and the laser rangefinder assembly 3 is mounted on the movable guide rail and its position is adjusted by the movable guide rail.

[0041] Specifically, the aforementioned movable guide rail includes a vertical movable guide rail 4 and a horizontal movable guide rail 5;

[0042] The end of the transverse moving guide rail 5 is matched with the X direction fixed rod 11 through a sliding frame 51, the sliding frame 51 is sleeved on the outer periphery of the X direction fixed rod 11, and the transverse moving guide rail 5 is slid forward or backward on the X direction fixed rod 11; in addition, a hinge shaft 52 is arranged on the outer side of the sliding frame 51, the end of the transverse moving guide rail 5 is provided with a rotating hole, the hinge shaft 52 rotates in the rotating hole, the transverse moving guide rail 5 is matched with the sliding frame 51 through the hinge shaft 52, and the requirement that the transverse moving guide rail 5 can adjust the angle of the laser range finder combination 3 is realized.

[0043] The other end of the transverse moving guide rail 5 is connected with the up-down moving guide rail 4, and the connection is usually fixed, the laser range finder combination 3 is sleeved on the outer periphery of the up-down moving guide rail 4 in a close-fitting mode, and is slid upward or downward along the up-down moving guide rail 4, so that the height adjustment requirement of the laser range finder combination 3 is realized.

[0044] It should be noted that the up-down moving guide rail 4 described above also includes an active connection with the transverse moving guide rail 5, in the active connection mode, the up-down moving guide rail 4 realizes the requirement of moving upward or downward on the transverse moving guide rail 5, and the laser range finder combination 3 can be matched with the up-down moving guide rail 4 in a fixed mode or in a slidable mode, the above is only the matching mode disclosed in the embodiment, and it should be noted that the embodiment includes not only the matching modes disclosed above, which can adjust the height, transverse length and angle of the laser range finder combination 3, but also other matching modes which can adjust the height, transverse length and angle of the laser range finder combination 3.

[0045] In another embodiment of the present application, a vehicle-mounted angular millimeter wave radar position calibration method is disclosed, as shown in the figure, the method is based on the vehicle-mounted angular millimeter wave radar position calibration device described above, and specifically includes the following steps: Figure 4

[0046] Step 1: fixing the hub fixing device on the vehicle;

[0047] The specific fixing mode of the hub fixing device includes the following steps:

[0048] Step 1.1: the hub clamp of the hub fixing device is pre-fixed on the hub flange of the wheel on the same side of the vehicle;

[0049] Step 1.2: adjust the hub fixing device to a horizontal position through the X direction level and the Y direction level, so that the hub clamp and the angular millimeter wave radar on one side of the vehicle are in the same coordinate system.

[0050] Step 2: adjust the position of the laser range finder combination;

[0051] ​The specific adjustment mode is: by moving the guide rail horizontally and the upper and lower guide rails, the laser range finder combination is adjusted to be located in front of the vehicle-mounted angular millimeter wave radar.

[0052] Step 3: measuring the distance information of the vehicle-mounted angular millimeter wave radar by the laser range finder combination;

[0053] The specific measurement mode comprises the following steps:

[0054] Step 3.1: according to the angular millimeter wave radar installation angle requirement, the yaw angle of the laser range finder combination is set by the angle measuring instrument, so that the laser range finder combination and the angular millimeter wave radar to be measured are at the same installation angle;

[0055] Step 3.2: turn on the external processor and the laser range finder combination, and measure the distance information of the measured angular millimeter wave radar by the speed of the laser light emitted by the laser range finder to the surface of the angular millimeter wave radar.

[0056] Step 4: according to the measured value of the laser range finder combination, the yaw angle and the pitch angle of the vehicle-mounted angular millimeter wave radar are adjusted to the required position.

[0057] Specifically, in the embodiment, the laser range finder combination opens five laser beams at the same time, and emits them to the surface of the measured angular millimeter wave radar, the distance information of the five laser beams at different positions of the laser range finder combination and the measured angular millimeter wave radar is transmitted to the external processor, and the external processor displays the distance and spatial position information of the five laser range finders in real time.

[0058] Meanwhile, the processing unit of the external processor combines the distance information of the laser range finder combination emitting laser beams to the measured angular millimeter wave radar, calculates and displays the yaw angle and the pitch angle of the measured angular millimeter wave radar in real time, confirms whether the technical requirements are met, adjusts the yaw angle and the pitch angle of the measured millimeter wave radar to the required position according to the measured value, and meets the requirements.

[0059] The calibration device and method disclosed in the application have the following advantages compared with the prior art:

[0060] 1. The X-direction level and the Y-direction level are used to adjust the hub fixing device to the horizontal position, reduce the installation angle error of the laser range finder combination, and make the hub clamp and the side of the vehicle in the same coordinate system, so as to establish a coordinate reference relationship between the laser range finder combination and the angular millimeter wave radar in front of the side of the vehicle.

[0061] 2. The X-direction fixed rod of the application, the hub clamp combines the up-down moving guide rail and the transverse moving guide rail, adjusts the position relationship of the laser range finder combination, facilitates to obtain the distance and other spatial position information of the angular millimeter wave radar, and is suitable for the calibration needs of different shapes and different types of angular millimeter radars on intelligent driving heavy truck vehicles.

[0062] The above examples are only used to illustrate the technical solutions of the present application but not limit the present application. Other modifications or equivalent replacements to the technical solutions of the present application made by those skilled in the art should be covered in the scope of claims of the present application as long as they do not depart from the spirit and scope of the present application.

Claims

1. A vehicle-mounted angular millimeter-wave radar position calibration device, used to assist in measuring the distance information of the vehicle-mounted angular millimeter-wave radar, and to adjust the yaw angle and pitch angle of the angular millimeter-wave radar to the required position of the vehicle based on the measured values, characterized in that: The calibration device includes a hub fixing device, a level, and a laser rangefinder combination. The wheel hub fixing device is installed and fixed on the wheel on one side of the vehicle and adjusted to a horizontal state by a level. The laser rangefinder assembly is installed at the front end of the wheel hub fixing device and establishes a coordinate reference relationship with the angular millimeter-wave radar at the front of the vehicle on that side. The wheel hub fixing device includes an X-direction fixing rod, a Y-direction fixing rod, and a wheel hub clamp disposed on the X-direction fixing rod. The wheel hub clamp is fixedly connected to the wheel hub flange, and the X-direction fixing rod and the Y-direction fixing rod are perpendicularly connected. The front end of the X-direction fixed rod also includes a movable guide rail, and the laser rangefinder assembly is mounted on the movable guide rail and adjusted via the movable guide rail; The movable guide rail includes a vertical movable guide rail and a horizontal movable guide rail. One end of the horizontal movable guide rail is connected to the X-direction fixed rod via a sliding frame, and the other end is connected to the vertical movable guide rail. The laser rangefinder assembly slides up and down along the vertical movable guide rail. The sliding frame is sleeved on the outer periphery of the X-direction fixed rod, and a hinge is provided on the outer side of the sliding frame. The horizontal movable guide rail is connected to the sliding frame via the hinge.

2. The vehicle-mounted angular millimeter-wave radar position calibration device according to claim 1, characterized in that: The level includes an X-direction level and a Y-direction level; the X-direction level is located at the connection between the X-direction fixed rod and the Y-direction fixed rod, and the Y-direction level is located on the Y-direction fixed rod.

3. A method for position calibration using a vehicle-mounted angular millimeter-wave radar, characterized in that: This method, based on the vehicle-mounted angular millimeter-wave radar position calibration device as described in claim 1 or 2, specifically includes the following steps: Step 1: Secure the wheel hub mounting device to the vehicle; Step 2: Adjust the position of the laser rangefinder assembly; Step 3: Measure the distance information of the vehicle-mounted angular millimeter-wave radar using a laser rangefinder combination; Step 4: Based on the measured values ​​from the laser rangefinder assembly, adjust the yaw and pitch angles of the vehicle-mounted millimeter-wave radar to the required positions.

4. The method for calibrating the position of a vehicle-mounted angular millimeter-wave radar according to claim 3, characterized in that: In step 1, the specific fixing method of the wheel hub fixing device includes the following steps: Step 1.1: The wheel hub clamp of the wheel hub fixing device is pre-fixed to the wheel hub flange; Step 1.2: Using the X-axis and Y-axis levels, adjust the wheel hub fixing device to a horizontal position so that the wheel hub clamp and one side of the vehicle are in the same coordinate system.

5. The method for calibrating the position of a vehicle-mounted angular millimeter-wave radar according to claim 3, characterized in that: In step 2, the position of the laser rangefinder assembly is adjusted by using the horizontal and vertical moving guide rails to position the laser rangefinder assembly directly in front of the vehicle-mounted angular millimeter-wave radar.

6. The method for calibrating the position of a vehicle-mounted angular millimeter-wave radar according to claim 3, characterized in that: In step 3, the laser rangefinder assembly measures the distance information of the vehicle-mounted angular millimeter-wave radar, including the following steps: Step 3.1: According to the installation angle requirements of the angular millimeter-wave radar, set the yaw angle of the laser rangefinder assembly using an angle measuring instrument so that the laser rangefinder assembly and the angular millimeter-wave radar to be measured are at the same installation angle. Step 3.2: Turn on the external processor and laser rangefinder combination, and measure the distance information of the angular millimeter-wave radar by using the laser light emitted by the laser rangefinder to reach the surface of the angular millimeter-wave radar.

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