Automobile positioning device and automobile sensor parameter calibration system

Abstract

The embodiment of the utility model provides an automobile positioning device and an automobile sensor parameter calibration system, and the system comprises a pedestal which is used for bearing an automobile; the positioning mechanism comprises an adjusting mechanism and a positioning piece, the positioning piece is used for being in butt joint with the center of a tire of the automobile, the adjusting mechanism is used for driving the positioning piece to move in the first direction, the second direction and the third direction so that the positioning piece can move relative to the tire, and the adjusting mechanism is further used for representing the position of the positioning piece; and the positioning target is used for detecting a sensor to be calibrated on the automobile, and the positioning target is relatively fixed relative to the position of the base. The adjusting mechanism drives the positioning part to move, the positioning part can move in the first direction, the second direction and the third direction, the automobile tire is positioned through the positioning part, the coordinates of the center position of the automobile tire are determined, and the position of the automobile tire is adjusted according to the position of the positioning target and the coordinates of the center position of the automobile tire. And the position and the relative form of the automobile can be calculated.

Description

Technical Field

[0001] The present invention relates to the field of automobile positioning technology, and in particular to an automobile positioning device and a calibration system for automobile sensor parameters. Background Art

[0002] With the development of intelligent vehicles, the construction of ADAS calibration laboratories is becoming more and more important. ADAS calibration is based on the positioning of the car, which means that the position of the car needs to be determined.

[0003] At present, most ADAS calibration laboratories use centering devices to adjust the position of the car using hydraulic cylinders or electric cylinder systems to move the car to a predetermined position. Although the centering device can well complete the positioning of the car, the centering device has a large investment, high cost, long construction period, and requires regular maintenance. In addition, the centering device forcibly pushes the inside of the car tire, which may damage the car. Utility Model Content

[0004] In view of this, the embodiments of the present specification provide a vehicle positioning device and a vehicle sensor parameter calibration system, wherein the positioning member is driven to move by an adjustment mechanism, and the positioning member can move along one direction, a second direction, and a third direction, and wherein the position of the positioning member after movement can indicate the position of the vehicle tire on the base, and at the same time, the position of the positioning target for detection by the sensor to be calibrated on the vehicle is relatively fixed relative to the base. Therefore, in response to the need to determine the position of the vehicle, the present application introduces a positioning member and an adjustment mechanism that can indicate the position of the positioning member for active positioning, which can provide a basis for the positioning of the vehicle for the calibration process of the vehicle sensor parameter calibration system.

[0005] The embodiments of this specification provide the following technical solutions: a vehicle positioning device, comprising:

[0006] A base, the base being used to support the car;

[0007] A positioning mechanism, the positioning mechanism comprising an adjusting mechanism and a positioning member, the positioning member being used to dock with the center of the tire of the automobile, the adjusting mechanism being used to drive the positioning member to move along a first direction, a second direction and a third direction, so that the positioning member moves relative to the tire, and the adjusting mechanism being used to indicate the position of the positioning member, wherein the first direction, the second direction and the third direction are perpendicular to each other;

[0008] At least one positioning target, the positioning target is used for detection by the sensor to be calibrated on the vehicle, and the position of the positioning target relative to the base is relatively fixed.

[0009] Preferably, the adjustment mechanism includes a first scale guide arranged along a first direction, a second scale guide arranged along a second direction, and a third scale guide arranged along a third direction, a first moving member is arranged between the first scale guide and the second scale guide, and the first moving member can drive the second scale guide to move along the first scale guide, a second moving member is arranged between the second scale guide and the third scale guide, and the second moving member can drive the third scale guide to move along the second scale guide, and the positioning member is slidably installed on the third scale guide, and the positioning member can move along the third direction relative to the third scale guide.

[0010] Preferably, the adjustment mechanism also includes a first locking member and / or a second locking member, the first locking member is mounted on the second moving member, the first locking member can lock the second moving member so that the second moving member is fixed relative to the second scale guide rail, and the second locking member is mounted on the positioning member, the second locking member can lock the positioning member so that the positioning member is fixed relative to the third scale guide rail.

[0011] Preferably, the adjustment mechanism further includes a mounting seat, and the first scale guide rail is mounted on the base through the mounting seat.

[0012] Preferably, the positioning member comprises a sliding portion and a cone portion for docking with the center hole of the tire, the sliding portion is slidably connected to the third scale guide rail, and the sliding portion slides along the third scale guide rail, so that the cone portion moves relative to the tire;

[0013] The end of the cone portion close to the automobile tire is not larger than the size of the center hole of the automobile tire, so that the cone portion can be inserted into the center hole of the automobile tire.

[0014] Preferably, four groups of the positioning mechanisms are provided, and the four groups of the positioning mechanisms correspond to the four tires of the vehicle respectively.

[0015] Preferably, the base includes two groups of horizontal platforms, both of which are arranged along the length direction of the car. The two groups of horizontal platforms respectively support two groups of tires on the same side of the car. A guide bridge is provided on the first side of the horizontal platform, and a limit rod is provided on the second side of the horizontal platform.

[0016] Preferably, the positioning target includes a calibration plate with a black and white grid pattern, the positioning target includes a calibration plate with a black and white grid pattern, the at least one positioning target includes a first positioning target and / or a second positioning target, the first positioning target is arranged on a horizontal plane where the base is placed, and the second positioning target is installed on the horizontal plane through a bracket.

[0017] Preferably, a plurality of positioning parts are provided on the horizontal plane, and the positioning targets are installed at the positioning parts.

[0018] A calibration system for automobile sensor parameters comprises any one of the above-mentioned automobile positioning devices.

[0019] Compared with the prior art, the at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

[0020] The positioning member is driven to move by the adjusting mechanism, and the positioning member can move along one direction, a second direction and a third direction, and the position of the positioning member after movement can indicate the position of the automobile tire on the base. At the same time, the position of the positioning target for detection by the sensor to be calibrated on the automobile is relatively fixed relative to the base. Therefore, in response to the need to determine the position of the automobile, the present application introduces a positioning member and an adjusting mechanism that can indicate the position of the positioning member for active positioning, which can provide a basis for the positioning of the automobile for the calibration process of the automobile sensor parameter calibration system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 is a structural schematic diagram of a vehicle positioning device provided by an embodiment of the present application;

[0023] Figure 2 This is a structural schematic diagram of a base and a positioning mechanism of a vehicle positioning device provided in one embodiment of the present application;

[0024] Figure 3 It is a structural schematic diagram of a positioning mechanism of a vehicle positioning device provided in one embodiment of the present application;

[0025] Figure 4 This is a structural schematic diagram of a vehicle positioning device provided by an embodiment of the present application when the vehicle is on a base;

[0026] Figure 5 It is a schematic diagram of the structure of a three-dimensional target provided in one embodiment of the present application.

[0027] In the figure, 1, horizontal platform; 2, first scale guide rail; 3, second scale guide rail; 4, third scale guide rail; 5, positioning target; 6, guide bridge; 7, limit rod; 8, positioning member; 81, sliding part; 82, cone part; 9, first moving part; 10, second moving part; 11, first locking member; 12, second locking member; 13, mounting seat. DETAILED DESCRIPTION

[0028] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0029] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0030] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0031] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0032] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0033] The technical solutions provided by various embodiments of the present application are described below in conjunction with the accompanying drawings.

[0034] like Figure 1-Figure 4 As shown, a vehicle positioning device is arranged in a calibration place, and the positioning device comprises:

[0035] A base, the base being used to support the car;

[0036] A positioning mechanism, the positioning mechanism positions the tire of the automobile, the positioning mechanism comprises an adjusting mechanism and a positioning member 8, the positioning member 8 is used to dock with the center of the tire of the automobile, the adjusting mechanism is used to drive the positioning member 8 to move along a first direction, a second direction and a third direction, so that the positioning member 8 moves relative to the tire, and the adjusting mechanism is also used to indicate the position of the positioning member 8, wherein the first direction, the second direction and the third direction are perpendicular to each other;

[0037] At least one positioning target 5, wherein the positioning target 5 is used for detection by the sensor to be calibrated on the vehicle, and the position of the positioning target 5 relative to the base is relatively fixed.

[0038] The car can be driven onto the base. When the car stops on the base, the positioning member 8 is driven to move by the adjustment mechanism. The adjustment mechanism can drive the positioning member 8 to move along the first direction, the second direction and the third direction, so that the positioning member 8 moves to contact the center position of the car tire. The coordinates of the center position of the car tire are determined by the coordinate position of the positioning member 8. According to the position of the positioning target 5 and the coordinates of the center position of the car tire, the position and relative shape of the car can be calculated to realize the positioning calibration of the car. The specific operations are as follows:

[0039] A spatial coordinate system is established in advance. The positions of various calibration targets on the ground in the spatial coordinate system are fixed. The car is driven onto the base, and the position of the tire center point (the measurement results of the three axes) is read. After entering the computer, the position of the car in the spatial coordinate system can be calculated. That is, at this time, the relative position of the car coordinate system (which can be understood as a coordinate system based on the car) and the spatial coordinate system is determined. The purpose of the entire car positioning device is to allow the car to enter the calibration site and feedback where the car is parked. The car is equipped with sensors such as cameras and radars. The purpose of calibration is to calculate the conversion relationship between the detection data of different sensors. For example, the points collected by the camera are based on the data of the image coordinate system, such as the coordinates of the points in the image coordinate system, and the points detected by the radar are based on the data of the radar coordinate system, such as the coordinates of the points in the radar coordinate system. If they are to be placed in a coordinate system, it is necessary to calibrate how the coordinate systems are converted (for example, how the points in the radar coordinate system are projected to the image coordinate system of the camera), which can be described using information such as the conversion matrix.

[0040] During calibration, different sensors will capture the same calibration target, and then, based on the coordinates of the midpoint of the calibration target, the corresponding transformation matrix can be calculated.

[0041] like Figure 1-Figure 4As shown, in some embodiments, the adjustment mechanism includes a first scale guide rail 2 arranged along a first direction, a second scale guide rail 3 arranged along a second direction, and a third scale guide rail 4 arranged along a third direction, a first moving member 9 is arranged between the first scale guide rail 2 and the second scale guide rail 3, and the first moving member 9 can drive the second scale guide rail 3 to move along the first scale guide rail 2, a second moving member 10 is arranged between the second scale guide rail 3 and the third scale guide rail 4, and the second moving member 10 can drive the third scale guide rail 4 to move along the second scale guide rail 3, the positioning member 8 is slidably installed on the third scale guide rail 4, and the positioning member 8 can move relative to the third scale guide rail 4 along the third direction, and the first scale guide rail 2 and the second scale guide rail 4 are provided with a first moving member 9. A first moving member 9 is arranged between the guide rails 3. When it is necessary to adjust the position of the positioning member 8 along the first direction, the first moving member 9 can be moved along the first scale guide rail 2 by pushing the second scale guide rail 3 or the first moving member 9, so as to adjust the position of the positioning member 8 in the first direction. A second moving member 10 is arranged between the second scale guide rail 3 and the third scale guide rail 4. When it is necessary to adjust the position of the positioning member 8 along the second direction, the third scale guide rail 4 or the second moving member 10 can be pushed and the second moving member 10 can be moved along the second scale guide rail 3, so as to adjust the position of the positioning member 8 in the second direction. When it is necessary to adjust the position of the positioning member 8 along the third direction, the positioning member 8 can be directly moved, and the positioning member 8 can slide along the third guide rail, so as to adjust the position of the positioning member 8 in the third direction. By setting the first scale guide rail 2, the second scale guide rail 3 and the third scale guide rail 4, the position adjustment of the positioning member 8 along the first direction, the second direction and the third direction can be realized. At the same time, the movement distance of the positioning member 8 in the space can be obtained through the scales on the guide rails, and the coordinates of the positioning member 8 in the space can be determined, thereby further determining the coordinates of the center position of the automobile tire.

[0042] It should be noted that, in the present embodiment, the moving part moves in a sliding manner, and in other embodiments, it can also move in a manner of adding balls, and the selection can be made according to the actual situation.

[0043] It should also be noted that, in this embodiment, the first direction is the X-axis direction, the second direction is the Z-axis direction, and the third direction is the Y-axis direction.

[0044] like Figure 3As shown, in some embodiments, the adjustment mechanism further includes a first locking member 11 and / or a second locking member 12, the first locking member 11 is mounted on the second moving member 10, the first locking member 11 can lock the second moving member 10, so that the second moving member 10 is fixed relative to the second scale guide 3, the second locking member 12 is mounted on the positioning member 8, the second locking member 12 can lock the positioning member 8, so that the positioning member 8 is fixed relative to the third scale guide 4, by arranging the first locking member 11 on the second moving member 10, the first locking member 11 It can move between a locking position and a disengaged position. When the first locking member 11 is in the locking position, the first locking member 11 fixes the second moving member 10 on the second scale guide rail 3. When the first locking member 11 is in the disengaged position, the second moving member 10 can slide relative to the second scale guide rail 3. By arranging the second locking member 12 on the positioning member 8, the second locking member 12 can move between a locking position and a disengaged position. When the second locking member 12 is in the locking position, the second locking member 12 fixes the positioning member 8 on the third scale guide rail 4. When the second locking member 12 is in the disengaged position, the positioning member 8 can slide relative to the third scale guide rail 4.

[0045] It should be noted that, in other embodiments, a third locking member may also be provided on the first moving member 9 , and the third locking member may lock the first moving member 9 so that the first moving member 9 is fixed relative to the first scale guide rail 2 .

[0046] like Figure 3 As shown, in some embodiments, the adjustment mechanism also includes a mounting seat 13, and the first scale guide rail 2 is mounted on the base through the mounting seat 13. By setting the mounting seat 13, the first scale guide rail 2 is mounted on the mounting seat 13, and the mounting seat 13 is mounted on the base, so that the relative fixation between the first scale guide rail 2 and the base can be achieved.

[0047] In other embodiments, the mounting base 13 may also be directly mounted on the ground, which can be selected according to actual conditions.

[0048] like Figure 3 As shown, in some embodiments, the positioning member 8 includes a sliding portion 81 and a conical portion 82 for docking with the center hole of the tire, the sliding portion 81 is slidably connected to the third scale guide rail 4, the sliding portion 81 slides along the third scale guide rail 4, so that the conical portion 82 moves relative to the tire, the sliding portion 81 of the positioning member 8 is slidably connected to the third scale guide rail 4, ensuring that the positioning member 8 can slide along the third scale guide rail 4, and the conical portion 82 is set at one end of the positioning member 8 close to the automobile tire, so as to facilitate the precise positioning of the center of the automobile tire.

[0049] The end of the cone 82 close to the automobile tire is not larger than the size of the center hole of the automobile tire, so that the cone 82 can be inserted into the center hole of the automobile tire. The size of the outer end of the cone 82 is not larger than the center hole of the automobile tire. The cone 82 can match the center hole of the automobile tire to ensure the accuracy of positioning the center hole of the automobile tire.

[0050] It should be noted that the sliding portion 81 and the cone portion 82 may or may not be integrally formed. The cone portion 82 and the sliding portion 81 are assembled together. The cone portion 82 may have a variety of shapes and sizes. According to the vehicle tire, a suitable cone portion 82 is selected and installed.

[0051] like Figure 1-Figure 2 and Figure 4 As shown, in some embodiments, the positioning mechanism is provided with four groups, and the four groups of the positioning mechanism correspond to the four tires of the automobile respectively. By providing four groups of positioning mechanisms, the four groups of positioning mechanisms respectively position the four tires of the automobile, and the positioning operation of the automobile tires is more convenient, thereby ensuring the accuracy of positioning.

[0052] like Figure 1-Figure 2 As shown, in some embodiments, the base includes two groups of horizontal platforms 1, and the two groups of horizontal platforms 1 are arranged along the length direction of the car. The two groups of horizontal platforms 1 respectively support the two groups of tires on the same side of the car. A guide bridge 6 is arranged on the first side of the horizontal platform 1 to facilitate moving the car onto the horizontal platform 1. A limiting rod 7 is arranged on the second side of the horizontal platform 1. By setting up two groups of horizontal platforms 1, the horizontal platform 1 supports the two groups of tires on the same side of the car. By setting the guide bridge 6 on the first side of the horizontal platform 1, the guide bridge 6 can play a guiding role to facilitate the car to drive onto the horizontal platform 1. At the same time, a limiting rod 7 is arranged on the second side of the horizontal platform 1. The limiting rod 7 can play a limiting role to prevent the car from driving under the horizontal platform 1.

[0053] In other embodiments, a group of larger horizontal platforms 1 or two groups of horizontal platforms arranged along the width direction of the car can also be used to support the front wheels and rear wheels of the car respectively to ensure that the car can be carried.

[0054] like Figure 1As shown, in some embodiments, the positioning target 5 includes a calibration plate with a black and white grid pattern, and the at least one positioning target includes a first positioning target and / or a second positioning target. The first positioning target is arranged on a horizontal plane where the base is placed, and the second positioning target is installed on the horizontal plane through a bracket. The calibration plate with a black and white grid pattern is used as the positioning target 5. The positioning target 5 can be directly set on the ground according to the usage, or by installing a bracket on a horizontal plane, and then installing the positioning target 5 on the bracket to ensure that the position of the positioning target plate is fixed relative to the position of the base.

[0055] like Figure 1 As shown, in some embodiments, a plurality of positioning parts are provided on the horizontal plane, and the positioning target 5 is installed at the positioning parts. By providing a plurality of positioning parts on the horizontal plane, the positioning parts may be positioning holes, positioning columns, etc., and the positioning target 5 may be installed at the positioning parts, thereby achieving standardization of the position of the positioning target 5.

[0056] The sensor can be any device such as a camera or a radar. Some radars have a weak ability to distinguish between black and white. Therefore, the calibration plate of the black and white grid map may not be able to fully and accurately meet the needs.

[0057] Therefore, in one example, at least one positioning target is a three-dimensional target having multiple surfaces, at least two of which can form an angle other than 180 degrees. The three-dimensional target can be, for example, a rectangular parallelepiped, a pyramid, or any other regular or irregular shape including pyramidal surfaces or prismatic surfaces.

[0058] Furthermore, the three-dimensional target can be, for example Figure 5 The bent plate shown includes a plurality of plate bodies connected in sequence. For any intermediate plate body that is neither the first plate body nor the last plate body, one side of the intermediate plate body is connected to a first plate body (which may be the first plate body, the last plate body, or the middle plate body), and the other side is connected to a second plate body (which may be the first plate body, the last plate body, or the middle plate body). The first plate body and the first surface of the intermediate plate body form a first angle of less than 180 degrees, and the second plate body and the second surface of the intermediate plate body form a second angle of less than 180 degrees. The first angle and the second angle may be the same or different. The colors of the plates may be the same or different.

[0059] Furthermore, the bending plate can be arranged on the first rotating base, and then, by rotating the first rotating base around the axis (for example, the axis in the vertical direction), the orientation of the bending plate can be changed, and then, the bending plate can be adjusted to the angle most suitable for detection according to different installation positions, angles, and positions of the vehicle's radar.

[0060] Radar, a sensor that scans physical point clouds, often has excellent detection capabilities for three-dimensional shapes. In the above example, since the positioning target has changes in three-dimensional shape, it can be accurately and effectively detected by radar and other sensors that are not easy to distinguish between black and white.

[0061] In a further example, some positioning targets are calibration plates with black and white grid patterns, and some positioning targets are three-dimensional targets. In addition, in some examples, the calibration plate with a black and white grid pattern can be arranged on a second rotating base, and then, by rotating the rotating base around an axis (e.g., an axis in a vertical direction), the orientation of the calibration plate can be changed, and then, it can be adapted to different installation positions, angles, and positions of the vehicle's sensors and adjusted to the angle most suitable for detection. Furthermore, the first rotating base and the second rotating base can be the same rotating base, and then, the calibration plate with a black and white grid pattern and the three-dimensional target can also rotate synchronously.

[0062] Based on the same inventive concept, the embodiment of this specification provides a calibration system for automobile sensor parameters, characterized by comprising any of the above-mentioned automobile positioning devices. By using the above-mentioned automobile positioning device for positioning, the positioning operation is more convenient, the construction cost is low, and the later maintenance is free. At the same time, when positioning the automobile, there is no need to push the automobile, and no damage to the automobile is caused.

[0063] The same or similar parts between the various embodiments in this specification can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the method embodiment described later, since it corresponds to the system, the description is relatively simple, and the relevant parts can be referred to the partial description of the system embodiment.

[0064] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A vehicle positioning device, characterized in that: include: A base, the base being used to support the car; A positioning mechanism, the positioning mechanism comprising an adjusting mechanism and a positioning member, the positioning member being used to dock with the center of the tire of the automobile, the adjusting mechanism being used to drive the positioning member to move along a first direction, a second direction and a third direction, so that the positioning member moves relative to the tire, and the adjusting mechanism being used to indicate the position of the positioning member, wherein the first direction, the second direction and the third direction are perpendicular to each other; At least one positioning target, the positioning target is used for detection by the sensor to be calibrated on the vehicle, and the position of the positioning target relative to the base is relatively fixed.

2. The vehicle positioning device according to claim 1, characterized in that: The adjustment mechanism includes a first scale guide rail arranged along a first direction, a second scale guide rail arranged along a second direction, and a third scale guide rail arranged along a third direction. A first moving member is arranged between the first scale guide rail and the second scale guide rail, and the first moving member can drive the second scale guide rail to move along the first scale guide rail. A second moving member is arranged between the second scale guide rail and the third scale guide rail, and the second moving member can drive the third scale guide rail to move along the second scale guide rail. The positioning member is slidably installed on the third scale guide rail, and the positioning member can move along the third direction relative to the third scale guide rail.

3. The vehicle positioning device according to claim 2, characterized in that: The adjustment mechanism also includes a first locking member and / or a second locking member, the first locking member is installed on the second moving member, the first locking member can lock the second moving member so that the second moving member is fixed relative to the second scale guide rail, and the second locking member is installed on the positioning member, the second locking member can lock the positioning member so that the positioning member is fixed relative to the third scale guide rail.

4. The vehicle positioning device according to claim 2, characterized in that: The adjustment mechanism also includes a mounting seat, and the first scale guide rail is mounted on the base through the mounting seat.

5. The vehicle positioning device according to any one of claims 2 to 4, characterized in that: The positioning member includes a sliding portion and a cone portion for docking with the center hole of the tire, the sliding portion is slidably connected to the third scale guide rail, and the sliding portion slides along the third scale guide rail, so that the cone portion moves relative to the tire; The end of the cone portion close to the automobile tire is not larger than the size of the center hole of the automobile tire, so that the cone portion can be inserted into the center hole of the automobile tire.

6. The vehicle positioning device according to any one of claims 1 to 4, characterized in that: The positioning mechanisms are provided in four groups, and the four groups of positioning mechanisms correspond to the four tires of the vehicle respectively.

7. The vehicle positioning device according to claim 1, characterized in that: The base includes two groups of horizontal platforms, both of which are arranged along the length direction of the car. The two groups of horizontal platforms respectively support two groups of tires on the same side of the car. A guide bridge is arranged on the first side of the horizontal platform, and a limit rod is arranged on the second side of the horizontal platform.

8. The vehicle positioning device according to claim 1, characterized in that: The positioning target includes a calibration plate with a black and white grid pattern, and the at least one positioning target includes a first positioning target and / or a second positioning target. The first positioning target is arranged on a horizontal plane where the base is placed, and the second positioning target is installed on the horizontal plane through a bracket.

9. The vehicle positioning device according to claim 8, characterized in that: A plurality of positioning parts are arranged on the horizontal plane, and the positioning targets are installed at the positioning parts.

10. A calibration system for automobile sensor parameters, characterized in that: The invention comprises the automobile positioning device according to any one of claims 1 to 9.

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