Laboratory test verification system for vehicle ADAS fusion calibration

Abstract

The invention discloses a laboratory test verification system for vehicle ADAS fusion calibration, and belongs to the technical field of advanced driving assistance systems, the laboratory test verification system comprises a control assembly, a driving assembly, a ground rail assembly, a portal frame assembly, a vertical multi-axis robot assembly, a wave absorbing wall assembly and a plurality of calibration plates, a robot calibration plate is installed on the vertical multi-axis robot assembly. According to the laboratory test verification system for vehicle ADAS fusion calibration, the ground rail walking vertical multi-axis robot is used for replacing an old portal frame and other traditional structures, combination of multiple stations and multiple vehicle types is achieved, and universality is guaranteed to the maximum extent; the related calibration requirements of a single sensor or multiple sensors can be met; according to the method, the calibration requirements of various vehicle types are met, fusion integrated construction is carried out in combination with various sensors and a multi-vehicle-type calibration engineering experience basis, detection of various vehicle types and various sensors can be carried out in the same site, a to-be-detected vehicle does not need to be moved, and the detection efficiency is greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of advanced driver assistance systems, and specifically discloses a laboratory test verification system for vehicle ADAS fusion calibration. Background Art

[0002] Advanced Driving Assistance System (ADAS) uses various system sensors installed on the vehicle, such as satellite navigation and panoramic image (AVM), millimeter-wave radar (Radar), laser radar (Lidar), lane centering control (LCC), lane departure warning (LDW), etc., to sense the surrounding environment at any time during the driving process of the car, collect data, identify, detect and track static and dynamic objects, and combine navigation map data to perform systematic calculations and analysis, so as to make the driver aware of possible dangers in advance, effectively increasing the comfort and safety of car driving.

[0003] In the early stages of ADAS development, its functions need to be tested and verified. With the continuous advancement and complexity of ADAS technology, its testing and verification work has become more and more challenging. The existing ADAS detection system can only test a single model or a single sensor at a testing site, which has poor applicability and low efficiency. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a laboratory test and verification system for vehicle ADAS fusion calibration in view of the deficiencies in the prior art, which can detect multiple vehicle models and multiple sensors in the same venue without moving the vehicle to be tested, thereby greatly improving the detection efficiency.

[0005] In order to solve the above technical problems, the present invention provides a laboratory test verification system for vehicle ADAS fusion calibration, including a control component, a drive component and:

[0006] Several calibration plates are connected to the control component and the drive component, including a robot calibration plate and a test calibration plate. The test calibration plate is installed on the test site floor and the gantry component, and the robot calibration plate is installed on the vertical multi-axis robot component. An adjustment device for adjusting the horizontality and inclination is installed on the back of the calibration plate, and a target pattern is provided on the surface of the calibration plate;

[0007] A ground rail assembly is arranged on the ground of the test site and is used to provide a moving track for the vertical multi-axis robot assembly. The ground rail assembly at least includes a first front-to-back ground rail, a second front-to-back ground rail, a third front-to-back ground rail and a left-to-right ground rail;

[0008] A gantry assembly, connected with the control assembly and the drive assembly, and used for installing a test calibration plate, comprises a front gantry and a rear gantry, the front gantry is connected and fixed to the rear gantry through a connecting rod, a plurality of first moving rods which can move left and right along the front gantry are slidably connected to the front gantry, a second moving rod which can slide up and down along the first moving rod is provided on the first moving rod, a plurality of third moving rods which can slide forward and backward along the connecting rod are provided on the connecting rod, a plurality of fourth moving rods which can move left and right along the rear gantry are provided on the rear gantry, and the test calibration plate is fixed on the second moving rod, the third moving rod and the fourth moving rod;

[0009] The vertical multi-axis robot assembly is connected to the control assembly and the drive assembly and is used to install the robot calibration plate. It includes several fixed vertical multi-axis robots and several movable vertical multi-axis robots. The fixed vertical multi-axis robots are fixed on the ground of the test site, and the movable vertical multi-axis robots are mounted on the first forward and backward ground rails and can move forward and backward along the first forward and backward ground rails.

[0010] As a further description of the present invention, the front gantry includes a plurality of front cross beams, and the first moving rod is slidably connected to the front cross beams.

[0011] As a further description of the present invention, the rear gantry includes a rear cross beam, and the fourth moving rod is slidably mounted on the rear cross beam.

[0012] As a further description of the present invention, a robot calibration plate is fixed to the top and bottom of the fixed vertical multi-axis robot respectively.

[0013] As a further description of the present invention, the movable vertical multi-axis robot includes a column, on which two support rods are slidably connected, and a robot calibration plate is fixed to each end of the support rods.

[0014] As a preferred embodiment of the present invention, it also includes an absorbing wall component, which is connected to the control component and the drive component. The surface of the absorbing wall component is sprayed with absorbing material to absorb reflected waves and eliminate the influence of reflected waves.

[0015] As a further description of the present invention, the ground rail assembly also includes a second front-to-back ground rail, a third front-to-back ground rail and a left-to-right ground rail; the absorbing wall assembly includes a side absorbing wall, a front absorbing wall and a rear absorbing wall, the side absorbing wall is arranged on the second front-to-back ground rail and can move forward and backward along the second front-to-back ground rail, the front absorbing wall is arranged on the left-to-right ground rail and can move left and right along the left-to-right ground rail, and the rear absorbing wall is mounted on the third front-to-back ground rail and can move forward and backward along the third front-to-back ground rail.

[0016] As a further description of the present invention, the front absorbing wall is slidably mounted on the front absorbing wall gantry and can move up and down along the front absorbing wall gantry. The front absorbing wall is mounted on the left and right ground rails through the front absorbing wall gantry.

[0017] As a further description of the present invention, the rear absorbing wall is slidably mounted on the rear absorbing wall gantry and can move up and down along the rear absorbing wall gantry. The rear absorbing wall is mounted on the third front-to-back ground rail through the rear absorbing wall gantry and can move forward and backward along the third front-to-back ground rail. The rear absorbing wall gantry includes a support rod, a vertical slide groove is opened on the support rod, a clamping frame is slidably connected in the vertical slide groove, the clamping frame can move up and down along the vertical slide groove, two clamping blocks are slidably mounted on the clamping frame, and the rear absorbing wall is clamped between the two clamping blocks and can move left and right with the clamping blocks.

[0018] As a further description of the present invention, a vehicle positioning device is also installed on the ground of the test site to achieve accurate parking of the vehicle, avoiding manual measurement of the vehicle parking position.

[0019] The present invention simulates various complex road conditions by arranging a plurality of fixed vertical multi-axis robots and a plurality of movable vertical multi-axis robots that can walk along a first forward and backward ground rail on a test site, and installing a robot calibration plate on the top and bottom of the robots, respectively. A front gantry and a rear gantry erected above the test site are adopted, and a plurality of movable test calibration plates with adjustable deflection angles are installed thereon. In combination with the ground test calibration plates and the movable absorbing wall components, they can be freely combined according to test needs to realize the test verification of various vehicle models and various calibration sensors.

[0020] Due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0021] The present invention provides a set of laboratory test verification system for vehicle ADAS fusion calibration based on the construction requirements of automobile intelligent driving multi-fusion calibration laboratory, which is used to meet the test verification of sensor calibration such as periscopic camera, AVM, laser radar, front and rear millimeter wave radar of multiple models, and adapt to the relevant calibration requirements of single or multiple sensors, the calibration requirements of multiple models, and the calibration requirements of matching multi-fusion calibration algorithms. The test verification system of the present invention has high integration, reliability, advancement and expansibility. The test verification system uses a movable vertical multi-axis robot that can walk along the ground rail to replace the traditional gantry structure, realize multi-scene and multi-model combination, and maximize the universality. It supports the functional test of the vehicle-mounted ADAS system, meets the comprehensive and in-depth functional test, fault test, bus diagnosis test, and automation test of the ADAS calibration system, and assists engineers in analyzing and verifying the test results, reproducing the fault, and improving the means of test verification and analysis. It can not only meet the needs of the current test scene, but also has the ability to expand and upgrade. With the continuous updating and progress of ADAS technology, it can still meet the test needs of more complex ADAS systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is the overall layout diagram of the test verification system of the present invention.

[0023] Figure 2 is a layout diagram of the ground rail components of the test and verification system of the present invention;

[0024] Figure 3 is a layout diagram of the gantry assembly of the test verification system of the present invention;

[0025] Figure 4 It is a layout diagram of the vertical multi-axis robot components of the test verification system of the present invention;

[0026] Figure 5 It is the layout diagram of the absorber wall components of the test verification system;

[0027] Figure 6 It is a structural schematic diagram of the rear absorbing wall;

[0028] Figure 7 This is the layout diagram of the robot calibration plate for the panoramic calibration test verification.

[0029] Legend:

[0030] 101, 102, 103, 104-test calibration plate; 105, 106-robot calibration plate; 200-ground rail assembly; 211-first front-to-back ground rail; 212-second front-to-back ground rail; 213-third front-to-back ground rail; 220-left-right ground rail; 300-gantry assembly; 310-front gantry; 311-front support leg; 312-front crossbeam; 313-frame; 320-rear gantry; 321-rear support leg; 322-rear crossbeam; 330-connecting rod; 340-first moving rod; 350-second moving rod ;360-third moving rod;370-fourth moving rod;400-vertical multi-axis robot assembly;410-fixed vertical multi-axis robot;411, 421-columns;420-movable vertical multi-axis robot;422-support rod;423-sliding seat;500-absorbing wall assembly;510-side absorbing wall;520-front absorbing wall;521-front absorbing wall gantry;530-rear absorbing wall;531-rear absorbing wall gantry;5311-support rod;5312-vertical slide;5313-clamping frame;5314-clamping block. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0032] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more explicit definition of the protection scope of the present invention. The directional terms mentioned in the present invention, such as "up", "down", "left", "right", "front", "rear", etc., are all directions with reference to the vehicle to be tested. Therefore, the directional terms used are used to illustrate and understand the present invention, rather than to limit the present invention.

[0033] This embodiment provides a laboratory test verification system for vehicle ADAS fusion calibration, such as Figure 1 — Figure 6 As shown, it includes a control component and a drive component. The drive component includes a servo motor and is equipped with a non-contact absolute encoder. It also includes:

[0034] Several calibration plates are connected to the control component and the drive component, including a robot calibration plate and a test calibration plate. The test calibration plate is installed on the test site ground and the gantry component 300, and the robot calibration plate is installed on the vertical multi-axis robot component 400. The calibration plate can be a metal flat plate, and an adjustment device for adjusting the horizontality and inclination is installed on the back. The device can use the drive component to drive and adjust the assembly horizontality and inclination errors caused by the calibration plate being installed on the gantry component or the vertical multi-axis robot component according to the control component instruction. The calibration plate surface The surface spray pattern uses full matte black and white pigments, and the paint is evenly sprayed. The black and white blocks are not mixed with each other. There is at least 85% contrast between the black and white light and dark areas. The black and white blocks form the target pattern. The target pattern surface is flat and diffuse, without wrinkles, bulges and bubbles. During calibration, the calibration board is evenly illuminated, and the calibration board will not be directly illuminated by any light source (including sunlight and vehicle headlights), and no shadows will be generated on the calibration board. The brightness of the white area of ​​the calibration board is 60-10000cd / ㎡: the brightness of the black area must be less than 3% of the brightness of the white area. According to different test requirements.

[0035] The ground rail assembly 200 is arranged on the ground of the test site, and is used to provide a moving track for the vertical multi-axis robot assembly 400 and the wave-absorbing wall assembly 500. The ground rail assembly 200 includes a first front-to-back ground rail 211, a second front-to-back ground rail 212, a third front-to-back ground rail 213, and a left-to-right ground rail 220;

[0036] The gantry assembly 300 is erected above the test ground, connected to the control assembly and the drive assembly, and is used to install the test calibration plate, including a front gantry 310 and a rear gantry 320. The front gantry 310 and the rear gantry 320 both adopt a steel square tube structure. The front gantry 310 is connected and fixed to the rear gantry 320 by a connecting rod 330. The front gantry 310 includes a front support leg 311, four front cross beams 312 running left and right, and two left and right frames 313 connecting the four front cross beams 312. Three first moving rods 340 are slidably connected to the front cross beam 312, and each first moving rod 340 is slidably connected to a second moving rod 350. The test calibration plate 101 is installed on the second moving rod 350. The drive assembly can drive the first moving rod 340 to move left and right and the second moving rod 350 to move up and down, so as to adjust the left and right and up and down positions of the test calibration plate 101, combined with the adjustment of the test calibration plate 101 itself Device, to achieve the adjustment of position and deflection angle; the connecting rod 330 is provided with four third moving rods 360 that can slide forward and backward along the connecting rod 330, and the test calibration plate 102 is fixed on the third moving rod 360, and the driving component can drive the third moving rod 360 to move forward and backward, so as to adjust the front and rear position of the test calibration plate 102; the rear gantry 320 includes rear legs 321 and rear crossbeam 322, the rear crossbeam 322 is fixed on the top of the two rear legs 321, the rear crossbeam 322 is parallel to the front crossbeam 312, and the rear crossbeam 322 is provided with a plurality of fourth moving rods 370 that can move left and right along the rear crossbeam 322, and the test calibration plate 103 is installed on the fourth moving rod 370, and the driving component can drive the fourth moving rod 370 to move left and right, so as to adjust the left and right position of the test calibration plate 103; a plurality of test calibration plates can also be arranged on the front gantry 310, the rear gantry 320 and the connecting rod 330 as needed;

[0037] The vertical multi-axis robot assembly 400 is connected to the control assembly and the drive assembly, and is used to install a robot calibration plate, including six fixed vertical multi-axis robots 410 and eight movable vertical multi-axis robots 420. The fixed vertical multi-axis robot 410 includes a column 411, and a robot calibration plate 105 is fixed on the top and bottom of the column 411 respectively. The fixed vertical multi-axis robot 410 is respectively fixed at the left front, right front, left rear and right rear of the test site; the movable vertical multi-axis robot 420 includes a column 421, and two support rods 422 are slidably connected to the column 421, and a robot calibration plate 106 is fixed at each end of the support rod 422. A sliding seat 423 is fixed at the bottom of the column 421, and the sliding seat 423 is arranged on the first forward and backward ground rail 211. When driven by the drive assembly, the robot calibration plate 106 can move up and down with the support rod 422, and move forward and backward along the first forward and backward ground rail 211 with the column 421 and the sliding seat 423.

[0038] The maximum stroke of the calibration plate moving up and down is 2m. The movement in the up and down directions is through the rack and has an anti-fall protection function. Once an emergency occurs, it will automatically lock to prevent damage to the operator. The columns and struts of the vertical multi-axis robot assembly are made of aluminum alloy industrial frame profiles (wall thickness>4mm), which are firm and non-deformed with appropriate strength. The cross-sectional size of the column is ≥100mm×100mm. A steel ruler is installed on the column as a visual mark of the moving position of the calibration plate. A linear guide is used between the calibration plate and the column. The transmission method for the calibration plate to move up and down is a ball screw, using imported brands NSK or THK. The speed of the calibration plate moving up and down is adjustable, with a maximum speed of 350mm / sec, and a maximum speed of 300mm / sec when rising. Limit switches are set at the lowest and highest positions of the calibration plate. The frame of the calibration plate is made of aluminum alloy industrial profiles, which is not easy to deform and has appropriate strength. The calibration plate uses an aluminum alloy plate with a thickness of >4mm and a surface flatness of <2mm. The largest area material is used, and there is no gap at the joint.

[0039] The absorbing wall component 500 is sprayed with absorbing material, and the absorbing material has an incident loss / reflection loss>50dB, which is suitable for absorbing reflected waves in the 76-77GHz frequency band and eliminating the influence of reflected waves. The absorbing wall assembly 500 includes four side absorbing walls 510, a front absorbing wall 520 and a rear absorbing wall 530. The side absorbing walls 510 are arranged on the second front-to-back ground rail 212 and can move forward and backward along the second front-to-back ground rail 212 to avoid blocking the robot calibration plate. The front absorbing wall 520 is slidably mounted on the front absorbing wall gantry 521 and can move up and down along the front absorbing wall gantry 521. The front absorbing wall gantry 521 is mounted on the left-right ground rail 220 and can move left and right along the left-right ground rail 220. The rear absorbing wall 530 is slidably mounted on the rear absorbing wall gantry 531 and can move up and down along the rear absorbing wall gantry 531. The rear absorbing wall gantry 531 is mounted It is arranged on the third front-to-back ground rail 213 and can move forward and backward along the third front-to-back ground rail 213. The rear absorbing wall gantry 531 includes a support rod 5311. A vertical slide groove 5312 is opened on the support rod 5311. A clamping frame 5313 is slidably connected in the vertical slide groove 5312. Two clamping blocks 5314 are slidably installed on the clamping frame 5313. The rear absorbing wall 540 is clamped between the two clamping blocks 5314 and can move left and right with the clamping blocks 5314. That is, the rear absorbing wall 510 can move forward and backward along the third front-to-back ground rail 213, move up and down along the absorbing wall gantry 531, and move left and right in the absorbing wall gantry 531 to meet various position adjustment needs.

[0040] As a preferred embodiment, a vehicle positioning device is also installed on the ground of the test site to achieve accurate parking of the vehicle, avoiding manual measurement of the position. The vehicle positioning device adopts a front and rear split design, and is placed on the ground of the test site using an I-beam structure. The positioning device table has sufficient strength and a load-bearing capacity of not less than 4t. The positioning device's straightener straightens the rear wheel bottom convex platform to be level with the platform surface. The positioning device has a centering structure, which consists of two sets of front and rear positioning stands. The front and rear wheel expansion frames symmetrical to the axis of the equipment are pushed outward synchronously. When the expansion frames on both sides contact the inner sides of the left and right wheels respectively, the center lines of the left and right wheels coincide with the axis of the equipment, thereby positioning and straightening the car, with fast centering speed and high precision. The front axle adopts a V-face split design. The surface of the positioning device is provided with a wheel positioning groove at the position of the front wheel, and a vehicle positioning switch is installed at the same time to ensure accurate vehicle positioning. In addition, the positioning device adopts a unique design structure, and the left and right sides are mechanically connected and synchronously centered. The centering accuracy can reach ±1mm in the left and right directions. When the vehicle drives to the specified position of the front wheel, the equipment automatically moves the rear wheel of the vehicle to the correct position. A position switch is set at the front wheel positioning position to determine whether the vehicle is in place. The rear wheel is placed on a long roller. When centered, it works together with the front positioning stand to synchronously position and center the vehicle on the positioning device. The free roller structure is adopted at the contact with the tire to facilitate the left and right sliding of the vehicle when centered on the equipment. The rear wheel of the vehicle stops on a small roller group that can roll laterally, which can adapt to the wheelbase change to suit a variety of vehicle models.

[0041] The control system includes a main control cabinet, which is equipped with a human-machine operation panel for operation monitoring, parameter setting, fault alarm and retrieval, routine operation, etc. The operation panel has indicator lights, button switches, etc. The control cabinet has an emergency stop button, emergency stop indicator light, fault indicator light, operation mode selection switch, and alarm sound prompt device.

[0042] The software system uses the PC system as the control center, supporting users to configure and save different projects for different models. It can interact with the electric inspection system through the network to automatically execute the docking information, and interact with the lower computer control system (PLC) of the equipment to control the posture adjustment of each device and the control of the vehicle centering platform. The upper computer software supports the addition, deletion, modification and query of project management configuration, and can configure and save for new projects or new models, including the number of calibration items corresponding to a model, and the physical location value of the special equipment corresponding to each number calibration item.

[0043] Red and green traffic lights are installed at prominent positions at the laboratory entrance and exit to instruct drivers to drive their vehicles in and out of the test site. Display screens for static and dynamic operation steps of vehicle calibration are installed on the experimental wall to prompt and standardize the operation steps. Mechanical limit protection mechanisms and safety detection photoelectric sensors are set up in the test site. When people or obstacles enter by mistake, the sensors can sense and make the equipment stop suddenly and sound and light alarm. Easy-to-operate calibration solutions and calibration instruments are provided in the laboratory to ensure the long-term effectiveness of the equipment. The mechanical movement is smooth, the installation is excellent, the positioning is accurate, the movement is fast, the anti-corrosion performance is good, and the maintenance is simple.

[0044] Test example:

[0045] 1. Peripheral Calibration Test Verification:

[0046] The test site layout is as follows Figure 1 As shown, the test calibration plate and the absorbing wall assembly 500 on the gantry assembly 300 are moved to a position that does not block the robot calibration plate. In the same calibration area, 28 robot calibration plates of 14 vertical multi-axis robots and a vehicle positioning device are used in a functional combination to achieve front, back, left, right and 360° camera calibration. Among them, the 12 robot calibration plates 105 of the 6 fixed vertical multi-axis robots 410 are fixed, and do not need to be shifted by the ground rail. They can be fixed by the column 411. The 16 robot calibration plates 106 of the 8 movable vertical multi-axis robots 420 need to be moved forward and backward along the first front-back ground rail 211 to complete the movement of the multi-camera calibration position, as shown in FIG. Figure 7 shown.

[0047] 2. Surround view calibration test verification:

[0048] The test site layout is as follows Figure 1 As shown, it also includes several test calibration plates 104 set on the ground of the test site. The surround-view calibration program identifies the target pattern on the test calibration plate with a known position in the image captured by the camera, and calculates the actual installation position and angle of the camera after algorithm processing. The method is suitable for the calibration of the surround-view camera, specifically: the front-view camera calibration mainly uses the target patterns of the three test calibration plates 101 on the front gantry 310, the rear-view camera calibration mainly uses the target pattern of the test calibration plate 103 on the rear gantry 320, the side-view camera calibration mainly uses the target pattern of the four test calibration plates 102 on the connecting rod 330, and the surround-view camera calibration mainly uses the target pattern of the test calibration plate 104 sprayed on the ground and the target pattern of the four test calibration plates 102 on the connecting rod 330.

[0049] The target pattern must meet the following spraying requirements:

[0050] 1) Pattern resolution: 600×600 DPI, surface is Lambertian reflection;

[0051] 2) Under the illumination of the calibration room lights, no high light reflection is produced when observing from any angle;

[0052] 3) The target patterns are non-repetitive and arranged in the designed order without segmentation printing;

[0053] 4) Horizontal and vertical inclination < 0.2°;

[0054] 5) The overall translation error of target printing and installation is less than ±2mm;

[0055] 6) The surface is smooth without wrinkles, bulges or bubbles;

[0056] 7) Use full matte black and white pigments, the color numbers are as follows:

[0057] The white color is RAL9016 traffic white, and its corresponding RGB value is (255, 255, 255);

[0058] The black color is RAL9017 traffic black, and its corresponding RGB value is (7, 7, 7);

[0059] The target surface around the circular hole is made of diffuse reflection material, with a reflectivity of 50% for 905nm wavelength laser, RAL color number RAL7037 earth gray, and the corresponding RGB value is (119, 121, 121);

[0060] 8) Spray paint evenly, without mixing black and white blocks;

[0061] 9) Not easy to change color, good coating adhesion, not easy to age, and impact resistant;

[0062] 10) Ensure sufficient strength of the test calibration plate, use steel structure, thickness <20mm.

[0063] 3. Lidar test verification

[0064] The LiDAR calibration test verification mainly uses three LiDAR calibration plates on the front gantry 310. The three LiDAR calibration plates can be driven by the drive assembly to achieve up, down, left, right, front, and back movement and deflection.

[0065] The accuracy of circular holes observed by laser point cloud meets the following requirements:

[0066] 1) The calibration plate is 6m away from the front axle;

[0067] 2) In order to keep the laser radar calibration plate as far away from the laser as possible and ensure sufficient strength of the laser radar calibration plate, the laser radar calibration plate uses a steel structure calibration plate with a thickness of less than 20mm;

[0068] 3) All circular holes are chamfered at 30° to avoid identifying the hole wall when observing the target pattern from the side;

[0069] 4) The frame thickness of the laser radar calibration plate shall not exceed 30 mm;

[0070] 5) Leave at least 50cm of clearance behind the circular hole;

[0071] 6) Hole processing accuracy ±1mm.

[0072] 4. Millimeter wave radar (Radar) test verification

[0073] The front gantry 310 is used to fix the forward MRR (medium-range millimeter-wave radar) metal calibration plate. The calibration plate is located in front of the front of the vehicle. An adjustment device for adjusting the horizontality and inclination is installed on the back of the calibration plate. The device can adjust the assembly horizontality and inclination errors after the calibration plate is installed on the gantry. The surface flatness of the calibration plate is F≤0.1mm for each 80mm×80mm partition, and the roughness RZ≤50μm. The minimum size of the calibration plate (typical value) is: length×height=1m×0.65m@Dmrr=2m, and the error is <10mm. When the radial distance Dmrr between the calibration plate and the forward radar changes, it can be calculated by linear interpolation according to Table 1.

[0074] Table 1 Linear relationship between the width and height of the calibration plate and the calibration distance Dmrr

[0075]

[0076] The rear absorbing wall gantry 531 adopts an aluminum profile structure. The rear absorbing wall 530 can move forward and backward along the ground rail when driven by the driving component, and can move up, down, left and right on the rear absorbing wall gantry. Before the robot calibration plate is calibrated, the rear absorbing wall gantry 531 moves backward along the ground rail to avoid affecting the robot calibration plate. Since the side absorbing wall 510 blocks the robot calibration plate, the four side absorbing walls 510 on the left and right need to be set on the ground rail so as to move forward and backward to avoid interfering with the robot calibration plate. Absorbing materials are deployed in the reflection area to ensure the effective range of the reflection avoidance zone. The forward radar calibration considers the reflection avoidance zone in the site layout to avoid unexpected echo reflections, such as metal columns, stairs, etc. Specifically, within the horizontal ±65° and vertical ±15° range, the use of absorbing materials ensures a pure reflection environment.

[0077] Absorbing wall specifications:

[0078] 1) The distance between the millimeter wave radar and the absorbing wall is d ≥ 1.2m;

[0079] 2) Except for the calibration plate, all other metal parts in the calibration area are covered with absorbing materials to ensure that no other metal structural parts are leaking;

[0080] 3) The incident loss / reflection loss of the absorbing material is >50dB, which is suitable for absorbing millimeter waves in the 76-77GHz frequency band.

[0081] 5. Deviation Warning (LDW) Test Verification

[0082] The LDW metal calibration plate is fixed on the front gantry 310. There are no fixing screws on the surface of the calibration plate with the target pattern. The calibration plate can move up and down driven by the drive component. The position of the calibration plate can be set arbitrarily, and the stop positioning accuracy is within ±0.5mm. According to different vehicle models, the calibration plate will stop accurately at the corresponding position. The up and down movement is controlled by the drive component. The accuracy and repeatability can be verified by the laser beam on the sample frame. At the same time, the movement accuracy of the calibration plate can also be verified on-site using Leica measuring instruments.

[0083] The maximum size of the calibration plate is length × height = 2.5m × 1.0m. The center of the calibration plate is 1.2 to 1.8m above the ground. The height of the lower edge of the calibration plate from the ground should meet the vehicle calibration range and not affect the vehicle's driving. The positioning accuracy of the calibration plate is ≤1mm, the flatness of the calibration plate is ≤1mm, the distance from the calibration plate to the camera is 3.5 to 7m, and the distance between the left and right calibration plates is 1 to 1.5m.

[0084] The present invention provides a set of laboratory test verification system for vehicle ADAS fusion calibration based on the construction requirements of automobile intelligent driving multi-fusion calibration laboratory, which is used to meet the test verification of sensor calibration such as periscopic camera, AVM, laser radar, front and rear millimeter wave radar of multiple models, and adapt to the relevant calibration requirements of single or multiple sensors, the calibration requirements of multiple models, and the calibration requirements of matching multi-fusion calibration algorithms. The test verification system of the present invention has high integration, reliability, advancement and expansibility. The test verification system uses a movable vertical multi-axis robot that can walk along the ground rail to replace the traditional gantry structure, realize multi-scene and multi-model combination, and maximize the universality. It supports the functional test of the vehicle-mounted ADAS system, meets the comprehensive and in-depth functional test, fault test, bus diagnosis test, and automation test of the ADAS calibration system, and assists engineers in analyzing and verifying the test results, reproducing the fault, and improving the means of test verification and analysis. It can not only meet the needs of the current test scene, but also has the ability to expand and upgrade. With the continuous updating and progress of ADAS technology, it can still meet the test needs of more complex ADAS systems.

[0085] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. A person skilled in the art should understand that the technical solutions described in the above embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the present invention.

Claims

1. A laboratory test verification system for vehicle ADAS fusion calibration, including a control component and a drive component, characterized in that: Also includes: A plurality of calibration plates are connected to the control component and the drive component, including a test calibration plate and a robot calibration plate, wherein the test calibration plate is installed on the test site ground and the gantry component (300), and the robot calibration plate is installed on the vertical multi-axis robot component (400). An adjustment device for adjusting the horizontality and inclination is installed on the back of the calibration plate, and a target pattern is provided on the surface of the calibration plate; A ground rail assembly (200) is arranged on the ground of a test site and is used to provide a moving track for a vertical multi-axis robot assembly (400), wherein the ground rail assembly comprises at least a first forward and backward ground rail (211); The gantry assembly (300) is connected to the control assembly and the drive assembly and is used to install the test calibration plate. It includes a front gantry (310) and a rear gantry (320). The front gantry (310) is connected and fixed to the rear gantry (320) through a connecting rod (330). The front gantry (310) is slidably connected to a plurality of first moving rods (340) that can move left and right along the front gantry (310). The first moving rods (340) are provided with a plurality of first moving rods (340) that can move left and right along the front gantry (310). A second moving rod (350) that slides up and down on a moving rod (340), a plurality of third moving rods (360) that can slide forward and backward along the connecting rod (30) are provided on the connecting rod (330), a plurality of fourth moving rods (370) that can move left and right along the rear gantry (320) are provided on the rear gantry (320), and a test calibration plate is fixed on the second moving rod (350), the third moving rod (360) and the fourth moving rod (370); The vertical multi-axis robot assembly (400) is connected to the control assembly and the drive assembly and is used to install a robot calibration plate, and comprises a plurality of fixed vertical multi-axis robots (410) and a plurality of movable vertical multi-axis robots (420), wherein the fixed vertical multi-axis robots (410) are fixed on the ground of a test site, and the movable vertical multi-axis robots (420) are mounted on a first front-to-back ground rail (211) and can move forward and backward along the first front-to-back ground rail (211).

2. The laboratory test verification system for vehicle ADAS fusion calibration as claimed in claim 1, characterized in that: The front gantry (310) comprises a plurality of front cross beams (312), and the first moving rod (340) is slidably connected to the front cross beams (312).

3. The laboratory test verification system for vehicle ADAS fusion calibration as claimed in claim 2, characterized in that: The rear gantry (320) comprises a rear crossbeam (322), and the fourth moving rod (370) is slidably mounted on the rear crossbeam (322).

4. The laboratory test verification system for vehicle ADAS fusion calibration as claimed in claim 1, characterized in that: A robot calibration plate is respectively installed on the top and the bottom of the fixed vertical multi-axis robot (410).

5. The laboratory test verification system for vehicle ADAS fusion calibration as claimed in claim 4, characterized in that: The movable vertical multi-axis robot (420) comprises a column (421), two support rods (422) are slidably connected to the column (421), and a robot calibration plate is installed at each end of the support rods (422).

6. The laboratory test verification system for vehicle ADAS fusion calibration according to any one of claims 1 to 5, characterized in that: It also includes an absorbing wall component (500), which is connected to the control component and the drive component. The surface of the absorbing wall component (500) is coated with absorbing material to absorb reflected waves and eliminate the influence of reflected waves.

7. The laboratory test verification system for vehicle ADAS fusion calibration as claimed in claim 6, characterized in that: The ground rail assembly further comprises a second front-to-back ground rail (212), a third front-to-back ground rail (213) and a left-to-right ground rail (220); the wave absorbing wall assembly (500) comprises a side wave absorbing wall (510), a front wave absorbing wall (520) and a rear wave absorbing wall (530); the side wave absorbing wall (510) is arranged on the second front-to-back ground rail (212) and can move forward and backward along the second front-to-back ground rail (212); the front wave absorbing wall (520) is arranged on the left-to-right ground rail (220) and can move left and right along the left-to-right ground rail (220); the rear wave absorbing wall (530) is mounted on the third front-to-back ground rail (213) and can move forward and backward along the third front-to-back ground rail (213).

8. The laboratory test verification system for vehicle ADAS fusion calibration as claimed in claim 7, characterized in that: The front absorbing wall (520) is slidably mounted on the front absorbing wall gantry (521) and can move up and down along the front absorbing wall gantry (521). The front absorbing wall (520) is mounted on the left and right ground rails (220) through the front absorbing wall gantry (521).

9. The laboratory test verification system for vehicle ADAS fusion calibration as claimed in claim 7, characterized in that: The rear absorbing wall (530) is slidably mounted on the rear absorbing wall gantry (531) and can move up and down along the rear absorbing wall gantry (531). The rear absorbing wall (530) is mounted on the third front-to-back ground rail (213) through the rear absorbing wall gantry (531) and can move forward and backward along the third front-to-back ground rail (213). The rear absorbing wall gantry (531) includes a support rod (5311). The support rod (5311) A vertical slide groove (5312) is formed on the upper surface of the support frame (5311), a clamping frame (5413) is slidably connected in the vertical slide groove (5312), the clamping frame (5413) can move up and down along the vertical slide groove (5312), two clamping blocks (5314) are slidably mounted on the clamping frame (5413), the rear absorbing wall (530) is clamped between the two clamping blocks (5314), and can move left and right with the clamping blocks (5314).

10. The laboratory test verification system for vehicle ADAS fusion calibration as claimed in claim 6, characterized in that: A vehicle positioning device is also installed on the ground of the test site to achieve accurate parking of the vehicle.

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