A mobile millimeter-wave radar calibration device and calibration method for commercial vehicles

Abstract

This invention provides a portable millimeter-wave radar calibration device and method for commercial vehicles. The device includes a metal reflector, a support bracket, a movable locking mechanism, and a dual-axis laser calibration assembly. The metal reflector provides a radar reflective surface for the millimeter-wave radar of the commercial vehicle to be calibrated. The support bracket supports the metal reflector and adjusts its installation height. The dual-axis laser calibration assembly includes a first laser emitter for projecting distance calibration light and a second laser emitter for projecting attitude calibration light. During calibration, the metal reflector is moved to the front of the commercial vehicle to be calibrated via the movable locking mechanism. The first laser emitter calibrates the calibration distance, and the second laser emitter calibrates the lateral position and / or yaw angle. After locking, the millimeter-wave radar completes the calibration based on the reflected signal formed by the continuously flat radar reflective surface. This invention improves the versatility, efficiency, and stability of millimeter-wave radar calibration for commercial vehicles.

Description

Technical Field

[0001] This invention relates to the field of automotive testing technology, and in particular to a mobile millimeter-wave radar calibration device and calibration method for commercial vehicles. Background Technology

[0002] With the increasing prevalence of advanced driver assistance systems (ADAS) in commercial vehicles, millimeter-wave radar has been widely used in functions such as forward collision warning, automatic emergency braking, and adaptive cruise control. Whether the detection axis of the millimeter-wave radar is aligned with the vehicle's driving axis directly affects the target recognition distance, target location determination, and the accuracy of triggering driver assistance functions. Therefore, during commercial vehicle assembly, radar repair and replacement, vehicle collision repair, and after-sales inspection, millimeter-wave radar calibration is typically required to ensure that the radar's installation posture and detection direction meet the requirements of the vehicle's control system.

[0003] Existing millimeter-wave radar calibration equipment typically uses triangular reflectors, corner reflectors, single-point signal transmitters, or small-area reflectors as calibration targets. These targets have a relatively small effective reflection area, requiring repeated adjustments to the height, angle, front-to-back position, and left-to-right position of the calibration equipment based on vehicle model, radar installation height, radar lateral installation position, and distance between the radar and the target. For passenger vehicles, where the platform is relatively uniform, these adjustments can be achieved using fixed workstations or specialized fixtures. However, for commercial vehicles, significant differences exist in body width, chassis height, bumper structure, radar installation position, and radar ground clearance between different models. Traditional small-area calibration targets are difficult to switch quickly between various vehicle types, resulting in long calibration preparation times and high adaptation costs.

[0004] Meanwhile, existing millimeter-wave radar calibration systems have high requirements for the work site and vehicle parking posture. To ensure the correspondence between the calibration target and the vehicle's centerline, the radar installation center, and the preset calibration distance, the vehicle usually needs to be parked in a dedicated calibration station, requiring the ground to be flat, the vehicle to be straight, and the front-to-back distance and lateral offset to meet high accuracy requirements. When calibration work occurs in non-standard scenarios such as repair workshops, trench workstations, outdoor roads, and temporary testing areas, traditional fixed or semi-fixed calibration equipment is difficult to move flexibly and position quickly due to limited site conditions. This can easily lead to inaccurate placement of the calibration equipment or the vehicle's posture not meeting the requirements, thus affecting calibration efficiency.

[0005] Furthermore, the calibration accuracy of traditional millimeter-wave radar calibration equipment largely depends on manual alignment. Because small-area reflective targets have limited coverage of the radar beam, slight height, angle, or lateral deviations between the calibration target and the millimeter-wave radar can easily affect the reflected signal received by the radar due to environmental clutter, ground reflections, and equipment placement errors. This can lead to the radar being unable to stably identify the calibration target, or the identified target position deviating from the actual calibration center. These situations can cause calibration failures, unstable calibration results, or require multiple adjustments, increasing the operational difficulty and calibration time for maintenance personnel. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the purpose of this invention is to provide a mobile commercial vehicle millimeter-wave radar calibration device and calibration method, aiming to solve the technical problems of low calibration efficiency and poor effect in the prior art.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solution: a mobile commercial vehicle millimeter-wave radar calibration device, comprising a metal reflector, a support bracket, a movable locking mechanism, and a dual-axis laser calibration component; The metal reflector includes a radar reflector surface for providing a planar radar reflector area for the millimeter-wave radar of the commercial vehicle to be calibrated; The support bracket is connected to the metal reflector to support the metal reflector and to make the radar reflector surface cover the preset installation height range of the commercial vehicle millimeter-wave radar. The movable locking mechanism is located at the bottom of the support bracket and is used to move the metal reflector and the support bracket as a whole, and to lock the support bracket at the calibrated position. The dual-axis laser calibration assembly includes a first laser emitter and a second laser emitter. The first laser emitter is used to project distance calibration light to calibrate the calibration distance between the metal reflector and the commercial vehicle to be calibrated. The second laser emitter is used to project attitude calibration light to calibrate the lateral position and / or yaw angle of the metal reflector relative to the commercial vehicle to be calibrated. The radar reflector is used to enable the millimeter-wave radar to complete radar calibration based on the stable reflected signal formed by the radar reflector after the calibration distance and the lateral position and / or yaw angle calibration are completed.

[0008] According to one aspect of the above technical solution, the support bracket is provided with a height adjustment structure, which is used to adjust the height of the lower edge of the metal reflector relative to the ground to adapt to millimeter-wave radars for commercial vehicles with different installation heights.

[0009] According to one aspect of the above technical solution, the moving locking mechanism includes four universal pulleys, which are respectively located at the four corners of the bottom of the support bracket. Each universal pulley is equipped with an independent braking mechanism to lock the device after it moves to the calibration position.

[0010] According to one aspect of the above technical solution, the first laser emitter is a horizontal laser emitter, which is installed at a position 30cm above the ground, and the light emission direction of the horizontal laser emitter is tilted downward at 12° relative to the horizontal plane, so that the distance calibration light it projects forms a distance indicator line on the ground.

[0011] According to one aspect of the above technical solution, the second laser emitter is a vertical laser emitter, which is located at the center vertical reference line of the metal reflector, and the attitude calibration light projected by the vertical laser emitter is located in the same vertical reference plane as the center vertical reference line of the metal reflector.

[0012] According to one aspect of the above technical solution, the height adjustment range of the height adjustment structure is ±150mm; when the metal reflector is adjusted to the lowest position, the lower edge of the metal reflector is 350mm above the ground; when the metal reflector is adjusted to the highest position, the lower edge of the metal reflector is 650mm above the ground.

[0013] According to one aspect of the above technical solution, the width of the metal reflector is 1500mm and the height is 1200mm.

[0014] According to one aspect of the above technical solution, the metal reflector includes a reflector body and a rust-proof treatment layer disposed on the reflector body.

[0015] On the other hand, this solution provides a calibration method for a mobile commercial vehicle millimeter-wave radar calibration device based on the above-described technical solution, comprising the following steps: The commercial vehicle to be calibrated is parked in the calibration position, and the millimeter-wave radar of the commercial vehicle to be calibrated is directed toward the preset placement area of ​​the metal reflector. The metal reflector and the support bracket are moved together to the front of the commercial vehicle to be calibrated by the moving locking mechanism, so that the radar reflective surface of the metal reflector faces the millimeter-wave radar of the commercial vehicle to be calibrated. Turn on the first laser emitter and calibrate the light according to the distance of the first laser emitter projected on the ground, and adjust the front and rear position of the metal reflector relative to the commercial vehicle to be calibrated; Turn on the second laser emitter, and adjust the left and right position and / or yaw angle of the metal reflector relative to the commercial vehicle to be calibrated according to the attitude calibration light projected by the second laser emitter, so that the attitude calibration light corresponds to the vehicle centerline of the commercial vehicle to be calibrated. The position of the support bracket is locked by the movable locking mechanism; The commercial vehicle to be calibrated is put into millimeter-wave radar calibration mode, and the millimeter-wave radar calibration is completed based on the reflected signal formed by the continuous and flat radar reflective surface of the metal reflector.

[0016] Compared with existing technologies, the advantages of this invention are as follows: By setting a metal reflector with a continuous and flat radar reflective surface, and in conjunction with a support bracket, a moving locking mechanism, and a dual-axis laser calibration component, the calibration device can form a stable, large-area planar reflective region in front of the millimeter-wave radar of the commercial vehicle to be calibrated. Compared with traditional triangular reflective cones, corner reflectors, or small-area reflectors, it can effectively cover the differences in radar installation height and lateral position among different commercial vehicle models, reducing the need to repeatedly adjust the height, position, and angle of the calibration target due to different vehicle models, thus improving calibration efficiency. At the same time, the large-area flat metal plate surface allows the millimeter-wave radar to automatically identify the area with the highest reflection intensity as the calibration point, forming accuracy redundancy, improving the calibration success rate, and resisting interference from road surface / placement errors. The first laser emitter forms a calibration distance reference, and the second laser emitter forms an attitude calibration reference, which can assist in completing the calibration of the calibration device's front-to-back distance, lateral position, and yaw angle relative to the vehicle, reducing errors from manual ranging and alignment. Attached Figure Description

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of the mobile commercial vehicle millimeter-wave radar calibration device in the first embodiment of the present invention; Figure 2 This is a flowchart of the millimeter-wave radar calibration method for mobile commercial vehicles in the second embodiment of the present invention; Explanation of key component symbols in the diagram: 1. Metal reflector; 2. Support bracket; 3. Movable locking mechanism; 4. Dual-axis laser calibration assembly. Detailed Implementation

[0018] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the invention will be thorough and complete.

[0019] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0020] 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 this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] Please see Figure 1 The diagram shows a schematic of a mobile commercial vehicle millimeter-wave radar calibration device according to an embodiment of the present invention. This calibration device is used to calibrate the millimeter-wave radar of commercial vehicles such as light trucks, heavy trucks, buses, vans, and special-purpose vehicles. The calibration device includes a metal reflector 1, a support bracket 2, a movable locking mechanism 3, and a dual-axis laser calibration component 4. The metal reflector 1 is vertically arranged, the support bracket 2 is located on the back side of the metal reflector 1, the movable locking mechanism 3 is located at the bottom of the support bracket 2, and the dual-axis laser calibration component 4 is located on the metal reflector 1 and / or the support bracket 2. With the above structure, the calibration device can be moved as a whole to the front of the commercial vehicle to be calibrated and locked in the calibration position after completing distance and attitude calibration.

[0022] The metal reflector 1 includes a reflector body, a rust-proof layer, and a radar reflector surface. The reflector body is a single continuous metal plate, preferably a single flat iron plate, with a width of 1500mm and a height of 1200mm. The radar reflector surface is formed on the side of the reflector body facing the commercial vehicle to be calibrated. The radar reflector surface is a continuous flat metal reflector surface with no seams, holes, or protrusions, forming a large area of ​​planar radar reflection in front of the millimeter-wave radar. This allows the millimeter-wave radar to automatically identify the area with the highest reflection intensity as the calibration point, creating accuracy redundancy, improving calibration success rate, and resisting interference from road surface / placement errors. The rust-proof layer is applied to the surface of the reflector body. The rust-proof layer can be a sprayed rust-proof paint layer, an electrophoretic rust-proof layer, or a galvanized rust-proof layer, to reduce the risk of corrosion of the reflector body in long-term maintenance environments and maintain the flatness and reflection stability of the radar reflector surface.

[0023] The support bracket 2 is connected to the metal reflector 1 and is used to support the metal reflector 1, so that the radar reflector surface covers the preset installation height range of the commercial vehicle millimeter-wave radar. Specifically, the support bracket 2 includes a support frame and a height adjustment structure. The support frame is located on the back side of the metal reflector 1 and is fixedly connected to the metal reflector 1. The support frame can be formed by welding square steel and includes vertical support rods, horizontal support rods, and a bottom support rod. The vertical support rods are used to support the vertical load of the metal reflector 1, the horizontal support rods are used to improve the horizontal support strength of the back side of the metal reflector 1, and the bottom support rod is used to connect the moving locking mechanism 3 and maintain overall stability.

[0024] A height adjustment structure is mounted on the support bracket 2 to adjust the height of the lower edge of the metal reflector 1 relative to the ground. Specifically, the height adjustment structure includes a retractable support column and a locking element for locking the retractable position of the support column. The support column may include an outer tube and an inner telescopic rod, the inner telescopic rod being movable up and down along the outer tube. The locking element may be a locking bolt, a pin, a locating pin, or a clamp. When the height of the metal reflector 1 needs to be adjusted, the locking element is released, allowing the inner telescopic rod to move relative to the outer tube to the target height; after adjustment, the locking element is tightened to fix the height position of the metal reflector 1. Preferably, the height adjustment range of the height adjustment structure is ±150mm; when the metal reflector 1 is adjusted to its lowest position, the lower edge of the metal reflector 1 is 350mm above the ground; when the metal reflector 1 is adjusted to its highest position, the lower edge of the metal reflector 1 is 650mm above the ground. Since the metal reflector 1 is 1200mm high, it can cover the detection area of ​​the millimeter-wave radar without frequent height adjustments within the installation height range of most conventional commercial vehicle millimeter-wave radars. For a few millimeter-wave radars with special installation heights, they can be adapted through a height adjustment structure.

[0025] A movable locking mechanism 3 is located at the bottom of the support bracket 2, used to move the metal reflector 1 and the support bracket 2 as a whole, and to lock the support bracket 2 at the calibration position. Specifically, the movable locking mechanism 3 includes four universal pulleys, which are respectively located at the four corners of the bottom of the support bracket 2. Each universal pulley is equipped with an independent braking mechanism, which can be a foot-operated brake or a manual locking mechanism. When the calibration device needs to be moved, the locking state of the independent braking mechanism is released, and the operator can push the support bracket 2 to move the calibration device to the front of the commercial vehicle to be calibrated; when the calibration device reaches the calibration position, the independent braking mechanisms of the four universal pulleys are locked respectively, so that the calibration device remains fixed during the calibration process, avoiding displacement of the metal reflector 1 due to slight ground slope, collision or operational disturbance.

[0026] The dual-axis laser calibration assembly 4 includes a first laser emitter and a second laser emitter. The first laser emitter projects distance calibration light, and the second laser emitter projects attitude calibration light. The first laser emitter can be a horizontal laser emitter, installed 30cm above the ground, with its light emission direction tilted downwards at 12° relative to the horizontal plane. When the first laser emitter is activated, its projected distance calibration light falls on the ground between the calibration device and the commercial vehicle to be calibrated, forming a distance indicator line on the ground. The operator can adjust the position of the metal reflector 1 relative to the commercial vehicle to be calibrated based on the positional relationship between the distance indicator line and the commercial vehicle or millimeter-wave radar, thereby ensuring that the calibration distance between the metal reflector 1 and the millimeter-wave radar meets the calibration requirements. Preferably, when the first laser emitter is arranged 30cm above the ground and tilted downwards at 12°, the projection position of its projected distance calibration light on the ground can form a horizontal distance reference of approximately 1.4m.

[0027] The second laser emitter can be a vertical laser emitter, positioned at the center vertical reference line of the metal reflector 1. The attitude calibration light projected by the second laser emitter lies within the same vertical reference plane as the center vertical reference line of the metal reflector 1. When the second laser emitter is activated, its projected attitude calibration light extends vertically and can be compared with the centerline of the commercial vehicle to be calibrated. By observing the correspondence between the attitude calibration light and the vehicle's centerline, the operator can adjust the lateral position and / or yaw angle of the calibration device relative to the commercial vehicle to be calibrated, ensuring that the center vertical reference plane of the metal reflector 1 corresponds to the vehicle's centerline, thereby reducing the impact of lateral offset or yaw deviation of the calibration device on the millimeter-wave radar calibration results.

[0028] Example 2 A second embodiment of the present invention provides a calibration method for a mobile commercial vehicle millimeter-wave radar calibration device based on the above embodiments. The calibration method includes: Step S100: Park the commercial vehicle to be calibrated at the calibration location, and align the millimeter-wave radar of the commercial vehicle with the preset placement area of ​​the metal reflector. The calibration location can be a vehicle off-line inspection area, repair workshop, pit work station, ordinary road surface, or temporary inspection area. After the vehicle is parked, the approximate placement direction of the metal reflector can be determined based on the vehicle's centerline or the center position of the front of the vehicle body.

[0029] In step S200, the metal reflector and the support bracket are moved together to the front of the commercial vehicle to be calibrated via the movable locking mechanism, so that the radar reflective surface of the metal reflector faces the millimeter-wave radar of the commercial vehicle to be calibrated. Specifically, the operator releases the independent braking mechanism of the four universal casters, pushes the support bracket, and moves the calibration device to a preset area in front of the vehicle, so that the radar reflective surface is roughly facing the millimeter-wave radar.

[0030] Step S300: Activate the first laser emitter and calibrate the light according to the distance projected onto the ground by the first laser emitter, adjusting the front-to-back position of the metal reflector relative to the commercial vehicle to be calibrated. Specifically, the first laser emitter projects a distance indicator line onto the ground. The operator moves the calibration device back and forth to make the distance indicator line reach a preset distance relationship relative to the front of the vehicle or the millimeter-wave radar, thereby determining the calibration distance between the metal reflector and the millimeter-wave radar. Using this method, the operator does not need to repeatedly measure with a tape measure, which helps improve the efficiency of distance setup before calibration.

[0031] Step S400: Activate the second laser emitter and adjust the left-right position and / or yaw angle of the metal reflector relative to the commercial vehicle to be calibrated based on the attitude calibration light projected by the second laser emitter, so that the attitude calibration light corresponds to the vehicle's centerline. Specifically, when the attitude calibration light deviates left-right from the vehicle's centerline, finely adjust the calibration device along the vehicle's width direction; when the attitude calibration light deviates angularly from the vehicle's centerline, finely adjust the placement angle of the support bracket around the vertical direction of the calibration device, so that the central vertical reference plane of the metal reflector corresponds to the vehicle's centerline.

[0032] In step S500, after adjusting the front-to-back distance, left-to-right position, and / or yaw angle, the position of the support bracket is locked by the moving locking mechanism. Specifically, the independent brake mechanisms on the four universal casters are depressed or operated to fix the support bracket in its current position, thereby keeping the metal reflector stable throughout the millimeter-wave radar calibration process.

[0033] Step S600 involves putting the commercial vehicle to be calibrated into millimeter-wave radar calibration mode and completing the millimeter-wave radar calibration based on the reflected signal formed by the continuous, flat radar reflective surface of the metal reflector. Specifically, the commercial vehicle to be calibrated can be powered on and connected to a host computer or diagnostic equipment. The millimeter-wave radar calibration function interface can be accessed, and parameters such as the calibration distance between the millimeter-wave radar and the metal reflector, as well as the installation height of the millimeter-wave radar, can be input. The calibration program is then started. The millimeter-wave radar emits radar waves forward and receives the planar reflected signal formed by the radar reflector. The vehicle radar calibration system determines the calibration target area based on the received reflected signal and completes the axis calibration or installation deviation correction of the millimeter-wave radar.

[0034] In the above embodiments, the metal reflector adopts a large-area continuous flat plate structure, which can reduce the impact of differences in radar installation height, lateral offset, and vehicle structure between different commercial vehicle models on the coverage of the calibrated target; the movable locking mechanism allows the calibration device to move flexibly and lock according to the vehicle position; the first laser emitter and the second laser emitter respectively form the distance calibration reference and attitude calibration reference, enabling the calibration device to be quickly adjusted in terms of front-to-back distance, left-to-right position, and / or yaw angle. Therefore, the calibration device can complete the rapid calibration of commercial vehicle millimeter-wave radar in a non-dedicated calibration station, and improve the stability and efficiency of the calibration operation.

[0035] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0036] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A mobile millimeter-wave radar calibration device for commercial vehicles, characterized in that, Includes a metal reflector, support bracket, movable locking mechanism, and dual-axis laser calibration assembly; The metal reflector includes a radar reflector surface for providing a planar radar reflector area for the millimeter-wave radar of the commercial vehicle to be calibrated; The support bracket is connected to the metal reflector to support the metal reflector and to make the radar reflector surface cover the preset installation height range of the commercial vehicle millimeter-wave radar. The movable locking mechanism is located at the bottom of the support bracket and is used to move the metal reflector and the support bracket as a whole, and to lock the support bracket at the calibrated position. The dual-axis laser calibration assembly includes a first laser emitter and a second laser emitter. The first laser emitter is used to project distance calibration light to calibrate the calibration distance between the metal reflector and the commercial vehicle to be calibrated. The second laser emitter is used to project attitude calibration light to calibrate the lateral position and / or yaw angle of the metal reflector relative to the commercial vehicle to be calibrated. The radar reflector is used to enable the millimeter-wave radar to complete radar calibration based on the stable reflected signal formed by the radar reflector after the calibration distance and the lateral position and / or yaw angle calibration are completed.

2. The mobile commercial vehicle millimeter-wave radar calibration device according to claim 1, characterized in that, The support bracket is equipped with a height adjustment structure, which is used to adjust the height of the lower edge of the metal reflector relative to the ground to adapt to millimeter-wave radars for commercial vehicles with different installation heights.

3. The mobile commercial vehicle millimeter-wave radar calibration device according to claim 1, characterized in that, The movable locking mechanism includes four omnidirectional pulleys, which are respectively located at the four corners of the bottom of the support bracket. Each omnidirectional pulley is equipped with an independent braking mechanism to lock after the calibration device moves to the calibration position.

4. The mobile commercial vehicle millimeter-wave radar calibration device according to claim 1, characterized in that, The first laser emitter is a horizontal laser emitter, which is installed at a position 30cm above the ground, and the light emission direction of the horizontal laser emitter is tilted downward at 12° relative to the horizontal plane so that the distance calibration light it projects forms a distance indicator line on the ground.

5. The mobile commercial vehicle millimeter-wave radar calibration device according to claim 1, characterized in that, The second laser emitter is a vertical laser emitter, which is located at the center vertical reference line of the metal reflector, and the attitude calibration light projected by the vertical laser emitter is located in the same vertical reference plane as the center vertical reference line of the metal reflector.

6. The mobile commercial vehicle millimeter-wave radar calibration device according to claim 2, characterized in that, The height adjustment range of the height adjustment structure is ±150mm; when the metal reflector is adjusted to the lowest position, the lower edge of the metal reflector is 350mm above the ground; when the metal reflector is adjusted to the highest position, the lower edge of the metal reflector is 650mm above the ground.

7. The mobile commercial vehicle millimeter-wave radar calibration device according to claim 1, characterized in that, The metal reflector has a width of 1500mm and a height of 1200mm.

8. The mobile commercial vehicle millimeter-wave radar calibration device according to claim 1, characterized in that, The metal reflector includes a reflector body and a rust-proof treatment layer disposed on the reflector body.

9. A calibration method for a mobile commercial vehicle millimeter-wave radar calibration device according to any one of claims 1-8, characterized in that, Includes the following steps: The commercial vehicle to be calibrated is parked in the calibration position, and the millimeter-wave radar of the commercial vehicle to be calibrated is directed toward the preset placement area of ​​the metal reflector. The metal reflector and the support bracket are moved together to the front of the commercial vehicle to be calibrated by the moving locking mechanism, so that the radar reflective surface of the metal reflector faces the millimeter-wave radar of the commercial vehicle to be calibrated. Turn on the first laser emitter and calibrate the light according to the distance of the first laser emitter projected on the ground, and adjust the front and rear position of the metal reflector relative to the commercial vehicle to be calibrated; Turn on the second laser emitter, and adjust the left and right position and / or yaw angle of the metal reflector relative to the commercial vehicle to be calibrated according to the attitude calibration light projected by the second laser emitter, so that the attitude calibration light corresponds to the vehicle centerline of the commercial vehicle to be calibrated. The position of the support bracket is locked by the movable locking mechanism; The commercial vehicle to be calibrated is put into millimeter-wave radar calibration mode, and the millimeter-wave radar calibration is completed based on the reflected signal formed by the continuous and flat radar reflective surface of the metal reflector.

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