CN102495398B - Method and device for regulating collimation axis of radar - Google Patents
Method and device for regulating collimation axis of radar Download PDFInfo
- Publication number
- CN102495398B CN102495398B CN201110443988.5A CN201110443988A CN102495398B CN 102495398 B CN102495398 B CN 102495398B CN 201110443988 A CN201110443988 A CN 201110443988A CN 102495398 B CN102495398 B CN 102495398B
- Authority
- CN
- China
- Prior art keywords
- radar
- module
- reflecting plate
- signal
- pitch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000001105 regulatory effect Effects 0.000 title abstract description 3
- 230000003287 optical effect Effects 0.000 claims description 16
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 239000007769 metal material Substances 0.000 claims description 4
- 230000011514 reflex Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000008140 language development Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Landscapes
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention relates to a method and a device for regulating a collimation axis of a radar. The device is characterized by comprising a collimation axis regulation control system, the radar and a signal reflector, wherein the collimation axis regulation control system comprises a configuration module, a judgment module, a recording module, an average value calculation module and an output module; the signal reflector comprises a reflecting plate and an adjustment bracket; the radar is arranged at the front end of an automobile; the signal reflector is arranged right in front of the automobile; the configuration module transmits a configured radar pitching angle to the radar; the radar transmits signals to the reflecting plate, and transmits received feedback signals to the judgment module; the judgment module judges the received feedback signals, and transmits radar pitching angle values to the recording module when certain radar signals are reflected by the reflecting plate; the recording module records the received pitching angle values, and transmits the received pitching angle values to the average value calculation module; the average value calculation module calculates an average value, and transmits the average value to the output module; and the output module assigns the average value serving as an ideal radar pitching angle value to the radar. The method and the device can be widely applied to the regulation of the collimation axis of the radar in the mounting of the radar in the automobile.
Description
Technical field
The present invention relates to a kind of method and device of Radar Calibration, particularly about a kind of method and device that is applicable to guarantee the adjustment collimation axis of radar of ride safety of automobile.
Background technology
Along with the development of auto manufacturing and the raising day by day of automobile popularity rate, this means of transportation easily and efficiently of automobile has shown its drawback---danger gradually.In order to guarantee ride safety of automobile, on existing automobile, many safety features have been installed, be two classes substantially: a class is for avoiding accident that the active safety measure that arranges occurs; Another kind of is the passive security measure that arranges for alleviating damage sequence after accident occurs.The drive assist systems such as the FCW in the active safety measure (front hit warning), DCA (it is auxiliary that distance keeps), ACC (adaptive cruise controls), EBR (brake hard is auxiliary), PCV (pre-crash protection) and LCA (change and assist) all need to rely on trailer-mounted radar to realize.
Millimetre-wave radar is widely used in the car steering backup system because it has round-the-clock, advantages such as resolution is high, multiple target detection.Millimetre-wave radar can be by receiving target thing reflection the relative distance, relative velocity etc. of echoed signal detecting objects.If the direction that radar is installed is improper, the situation less than front truck might appear identifying.In prior art, existing radar mounting direction method of adjustment is that the reverberation mark is set on given position, and the intensity that the reflected signal that above-mentioned reverberation is marked with and receives whether can be detected according to detecting device is adjusted the receiving and transmitting signal direction of radar.Prior art also has the method that detects and proofread and correct trailer-mounted radar horizontal axis shifting amount, and this kind method can effectively be eliminated collimation axis of radar side-play amount in the horizontal direction.But, even in the situation that radar mounting direction is right against the place ahead object, if the radar angle of pitch is excessive or too small, also might identify less than front truck, cause running car dangerous, if for example there is the error of 1 ° in the radar angle of pitch, to produce the vertical range error of 1.75m at the 100m place, this may cause the radar beam sweep limit not cover automobile on road surface, 100m place, and identification is easily caused danger less than front truck.
Summary of the invention
For the problems referred to above, the purpose of this invention is to provide a kind of method and the device that can automatically select the adjustment collimation axis of radar that the desirable angle of pitch adjusts collimation axis of radar in the radar installation process.
For achieving the above object, the present invention takes following technical scheme: a kind of method of adjusting collimation axis of radar, it comprises the following steps: 1) arrange and include the device that the optical axis is adjusted the adjustment collimation axis of radar of control system, radar and signal reflectors, the described optical axis is adjusted control system and is included configuration module, judge module, logging modle, calculating mean value module and output module, and described signal projector includes reflecting plate and supports the adjusting support of described reflecting plate; 2) described radar is arranged on the front end center of automobile, signal reflectors is placed on the automobile dead ahead that radar is installed, make the reflecting plate center over against radar center; 3) described configuration module is set setting range and the adjustment step-length to the radar angle of pitch; 4) described configuration module configures the angle of pitch value i of radar according to the adjustment step-length, and radar arrives reflecting plate at place, angle of pitch value i position with radar signal; 5) radar sends to the feedback signal that receives in described judge module, is judged by fore-and-aft distance and the width of judge module to feedback signal, determines whether the radar signal through baffle reflection; When 6) described judge module defines radar signal through baffle reflection, just corresponding radar angle of pitch value i is sent in logging modle; 7) judge by configuration module whether radar angle of pitch i reaches the maximal value of setting range: if 1. do not reach the maximal value of setting range, enter step 4); If 2. reach the maximal value of setting range, enter step 8); 8) all angle of pitch values that record in described logging modle are sent to the calculating mean value module, calculated the mean value of all radar angles of pitch by described calculating mean value module, and this mean value is sent to output module; 9) described output module with described mean value as the ideal value assignment of the radar angle of pitch to radar, namely complete the demarcation of radar.
Described step 2) make the reflecting plate center adopt the laser aiming method over against radar center.
Described step 4) fore-and-aft distance in described feedback signal refers to the distance between radar and signal reflex plate, width in described feedback signal refers to the width of reflecting plate, if described fore-and-aft distance is all corresponding identical with the broadband, judgement thinks that feedback signal is the radar signal of returning through reflecting plate.
realize the device of the adjustment collimation axis of radar of described method, it is characterized in that: it comprises the optical axis adjustment control system, a radar and a signal reflectors, the described optical axis is adjusted control system and is comprised a configuration module, a judge module, a logging modle, a calculating mean value module and an output module, and described signal reflectors comprises that a reflecting plate and supports the adjusting support of described reflecting plate, described radar is arranged on automotive front end, described signal reflectors is arranged on the dead ahead of described automobile, and described reflecting plate is over against the center of described radar, described configuration module sends to described radar with the radar angle of pitch of configuration, described radar emission signal is to described reflecting plate, described radar sends to described judge module with the feedback signal that receives, judged receiving feedback signal by described judge module, and the radar angle of pitch value will define radar signal through described baffle reflection the time sends to described logging modle, the described angle of pitch value that is recorded and will be received by described logging modle sends to described calculating mean value module, after described calculating mean value module calculating mean value, send to described output module, described output module is given described radar with described mean value as the ideal value assignment of the radar angle of pitch.
The control system of adjusting the described optical axis adopts notebook computer as operation platform, and described notebook computer utilizes a USBCAN adapter to connect a CAN card, and the output terminal of described CAN card connects described radar.
The reflecting plate of described signal reflectors adopts metal material to be made, and described adjusting support adopts nonmetallic materials to be made.
Described adjusting support is a tripod, the top center of described tripod is provided with a sleeve, be provided with a longitudinal fluting in described sleeve, plug a boom in described groove, described sleeve outer wall arranges a locked instrument that can penetrate described loop bar, and the top of described boom connects described reflecting plate by a coupling arrangement.
the present invention is owing to taking above technical scheme, it has the following advantages: 1, the present invention adjusts control system owing to being provided with the optical axis, radar and signal reflectors, the optical axis is adjusted in control system can automatically change the angle of pitch by control radar, when radar angle of pitch circulation one all after dates, calculate that all are reflected back the mean value of the angle of pitch of radar beam through signal reflectors in a cycle, and automatically give radar with this mean value as radar angle of pitch ideal value, this process need not to carry out demarcation and the collimation axis of radar adjustment that manual intervention just can be completed radar automatically, easy to operate.2, radar angle of pitch ideal value of the present invention just can be completed Radar Calibration and collimation axis of radar adjustment after really fixing on radar angle of pitch circulation one-period automatically, therefore can effectively shorten the adjustment cycle of collimation axis of radar.3, in the present invention, the adjusting support of signal reflectors setting can be adjusted according to the setting height(from bottom) of radar the height of reflecting plate, so the present invention goes for the automobile of different styles.When the present invention can be widely used in automobile radar is installed in the adjustment of collimation axis of radar.
Description of drawings
Fig. 1 is method flow diagram of the present invention;
Fig. 2 is experiment scene schematic diagram in the embodiment of the present invention;
Fig. 3 is the schematic side view of Fig. 2;
Fig. 4 is apparatus structure block diagram of the present invention;
Fig. 5 is the reflection board structure schematic diagram of signal reflectors of the present invention;
Fig. 6 is that schematic diagram is looked on the left side of Fig. 5;
Fig. 7 is the structural representation that the present invention regulates support.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
As shown in Fig. 1～4, the device of adjustment collimation axis of radar of the present invention comprises the optical axis adjustment control system 1, a radar 2 and a signal reflectors 3, the optical axis is adjusted control system 1 and is comprised a configuration module, a judge module, a logging modle, a calculating mean value module and an output module, signal reflectors 3 comprises the adjusting support of a reflecting plate and a supporting reflex plate, and the method that the present invention adjusts collimation axis of radar comprises the following steps:
1) radar 2 is arranged on the front end center of automobile 4, signal reflectors 3 is placed on the about 5m place, automobile 4 dead aheads that radar 2 is installed, adjust the adjusting support of signal reflectors 3, make reflecting plate center and radar 2 centers contour, be that the reflecting plate center is over against radar 2 centers, this moment, the radar angle of pitch did not configure, and initial value i is 0 °.
in order to make the reflecting plate center can be over against radar 2 centers, can adopt the method for laser aiming, namely utilize a laser pen, the light beam that laser pen is launched passes the center line of automobile 4 front and back glass, adjust the position of reflecting plate, the light beam that laser pen is launched is just in time beaten the vertical centerline at reflecting plate, the longitudinal center's face (annotating: along the central plane of vehicle traveling direction) that has guaranteed automobile (is annotated: the center line of vertical direction) coplanar with the vertical center line of reflecting plate, adjusting reflecting plate makes the center identical apart from the height on ground with radar 2 centers apart from the height on ground again.
2) configuration module is set radar angle of pitch setting range and is adjusted step-length according to selected radar, radar 2 models that adopt in the embodiment of the present invention are Continental ARS308, the setting range of its radar 2 angles of pitch is 0～32 °, adjusting step-length is 0.25 ° (as example, being not limited to this).
3) configuration module is i according to adjusting the step-length configuration radar angle of pitch, and concurrent delivery is put signal to radar 2, when radar 2 receives configuration signal, the angle of pitch is adjusted to i, and the emission radar signal is to reflecting plate.
4) radar 2 sends to judge module with the feedback signal that receives, judge module judges fore-and-aft distance and the width of the object information of carrying in feedback signal, whether the fore-and-aft distance that judges feedback signal is the distance between radar 2 and signal reflectors 3, whether the width of feedback signal is the width of reflecting plate, if fore-and-aft distance is all corresponding identical with width, thinking has the radar signal of returning through baffle reflection in feedback signal, and namely radar 2 scans reflecting plate.In the present embodiment, distance between signal reflectors 3 and radar 2 is 5m, the width of reflecting plate is 20mm, if the judgement feedback signal fore-and-aft distance between 4m～6m and the width of signal think that in 0.5m feedback signal has the radar signal through baffle reflection.
5) judge module is judged when radar signal that baffle reflection returns, just will this moment corresponding radar angle of pitch value i send in logging modle.
6) judge by configuration module whether radar angle of pitch i reaches the maximal value of setting range:
If 1. do not reach the maximal value of setting range, enter step 3);
If 2. reach the maximal value of setting range, enter step 7).
7) all angle of pitch values that record in logging modle are sent to the calculating mean value module, calculated the mean value x of all radar angles of pitch of record by the calculating mean value module, and this mean value x is sent to output module.
8) output module with this mean value as the ideal value assignment of the radar angle of pitch to radar 2, complete the demarcation of radar 2.
As shown in Figure 4, in above-described embodiment, the optical axis is adjusted control system 1 and is based on programme controlled, can adopt LabView, Matlab or C language development, notebook computer is more more convenient, succinct than industrial computer, the present invention adopts notebook computer to adjust operation (program operation) platform of control system 1 as the optical axis, because notebook computer does not have CAN (bus) interface, therefore utilize notebook computer to pass through a USBCAN adapter and connect the CAN card, the output terminal of CAN card connects radar 2 by data line.
As Fig. 5, shown in Figure 6, in the various embodiments described above, reflecting plate 31 is L shaped, can adopt the sheet steel of bending to make also can select other metal material to make, the plane that is used for radar signal reflected requires smooth surface, its shape can be set to rectangle, and the size of reflecting plate 31 can be determined according to distance between radar 2 and signal reflectors 3.
As shown in Figure 7, in the various embodiments described above, regulating support 32 is a tripod 321, the top of tripod 321 is provided with a sleeve 322, and sleeve 322 inwalls are provided with longitudinal fluting, is inserted with a boom 323 in sleeve 322, the groove of corresponding sleeve 322, the outer wall of boom 323 is provided with projection.During use, in the groove of the projection of boom 323 insertion sleeve 322, boom 323 can be slided up and down along sleeve 322.The top of boom 323 is fixedly connected with a coupling arrangement, coupling arrangement comprises a L shaped web joint 324 and a leveling board 325, L shaped web joint 324 and leveling board 325 are by circular shaft 326 pivot joints, can pass circular shaft 326 by a bolt during use locates, leveling board 325 tops are bolted to connection the bottom of reflecting plate 31, and leveling board 525 tops also are provided with a level meter (not shown) that is used for adjusting reflecting plate 31 levelnesss.The inwall of sleeve 322 is embedded with a friction block (not shown), corresponding with the friction block position, one locked instrument 327 that penetrates its outer wall is set on sleeve 322, locked instrument 327 adopts a bolt, bolt withstands friction block, when screwing bolt, produce friction force obstruction boom 323 between friction block and boom 323 and move up and down, lock boom 323 at a certain height this moment; When unclamping bolt, do not produce friction force between friction block and boom 323, boom 323 can move up and down.Be provided with the scale value of real-time demonstration reflecting plate 31 center height on boom 323, according to actual conditions, after adjusting the height of reflecting plate 31, utilize locked instrument 327 with boom 323 lockings.
In the various embodiments described above, regulate support 32 and adopt not that the nonmetallic materials of radar signal reflected are made.
in the various embodiments described above, when signal reflectors 3 is positioned over the dead ahead of automobile, require road surface between radar 2 and signal reflectors 3 smooth and there is no other barriers, and there is no other barriers in the peripheral certain limit of signal reflectors 3 yet, because if also there is the barrier that other can radar signal reflected around signal reflectors 3, may be when radar 2 receive the radar signal of signal reflectors 3 reflections, the radar signal that receives other barrier reflections is thought by mistake be the radar signal of signal reflectors 3 reflections, the radar angle of pitch mean value that causes calculating may not be to be the desirable angle of pitch, make the collimation axis of radar adjustment deviation occur, in the present embodiment, around signal reflectors 3, length is 10 meters, there is no other barriers in the rectangular region of wide 6 meters.
The various embodiments described above only are used for explanation the present invention; wherein step of the structure of each parts, setting position, connected mode and implementation method etc. all can change to some extent; every equivalents of carrying out on the basis of technical solution of the present invention and improvement all should not got rid of outside protection scope of the present invention.
Claims (8)
1. method of adjusting collimation axis of radar, it comprises the following steps:
1) device of the adjustment collimation axis of radar that includes the optical axis adjustment control system, radar and signal reflectors is set, the described optical axis is adjusted control system and is included configuration module, judge module, logging modle, calculating mean value module and output module, and described signal reflectors includes reflecting plate and supports the adjusting support of described reflecting plate;
2) described radar is arranged on the front end center of automobile, signal reflectors is placed on the automobile dead ahead that radar is installed, make the reflecting plate center over against radar center;
3) described configuration module is set setting range and the adjustment step-length to the radar angle of pitch;
4) described configuration module configures the angle of pitch value i of radar according to the adjustment step-length, and radar arrives reflecting plate at place, angle of pitch value i position with radar signal;
5) radar sends to the feedback signal that receives in described judge module, is judged by fore-and-aft distance and the width of judge module to feedback signal, determines whether the radar signal through baffle reflection;
When 6) described judge module defines radar signal through baffle reflection, just corresponding radar angle of pitch value i is sent in logging modle;
7) judge by configuration module whether radar angle of pitch i reaches the maximal value of setting range:
If 1. do not reach the maximal value of setting range, enter step 4);
If 2. reach the maximal value of setting range, enter step 8);
8) all angle of pitch values that record in described logging modle are sent to the calculating mean value module, calculated the mean value of all radar angles of pitch by described calculating mean value module, and this mean value is sent to output module;
9) described output module with described mean value as the ideal value assignment of the radar angle of pitch to radar, namely complete the demarcation of radar.
2. a kind of method of adjusting collimation axis of radar as claimed in claim 1 is characterized in that: described step 2) make the reflecting plate center adopt the laser aiming method over against radar center.
3. a kind of method of adjusting collimation axis of radar as claimed in claim 1 or 2, it is characterized in that: the fore-and-aft distance in the described feedback signal of described step 5) refers to the distance between radar and signal reflex plate, width in described feedback signal refers to the width of reflecting plate, if described fore-and-aft distance is all corresponding identical with the broadband, judgement thinks that feedback signal is the radar signal of returning through reflecting plate.
4. realize the device as the adjustment collimation axis of radar of method as described in claim 1～3 any one claim, it is characterized in that: it comprises the optical axis adjustment control system, a radar and a signal reflectors, the described optical axis is adjusted control system and is comprised a configuration module, a judge module, a logging modle, a calculating mean value module and an output module, and described signal reflectors comprises that a reflecting plate and supports the adjusting support of described reflecting plate, described radar is arranged on automotive front end, described signal reflectors is arranged on the dead ahead of described automobile, and described reflecting plate is over against the center of described radar, described configuration module sends to described radar with the radar angle of pitch of configuration, described radar emission signal is to described reflecting plate, described radar sends to described judge module with the feedback signal that receives, judged receiving feedback signal by described judge module, and the radar angle of pitch value will define radar signal through described baffle reflection the time sends to described logging modle, the described angle of pitch value that is recorded and will be received by described logging modle sends to described calculating mean value module, after described calculating mean value module calculating mean value, send to described output module, described output module is given described radar with described mean value as the ideal value assignment of the radar angle of pitch.
5. a kind of device of adjusting collimation axis of radar as claimed in claim 4, it is characterized in that: the described optical axis is adjusted control system and is adopted notebook computer as operation platform, described notebook computer utilizes a USBCAN adapter to connect a CAN card, and the output terminal of described CAN card connects described radar.
6. a kind of device of adjusting collimation axis of radar as claimed in claim 4 is characterized in that: the reflecting plate of described signal reflectors adopts metal material to be made, and described adjusting support adopts nonmetallic materials to be made.
7. a kind of device of adjusting collimation axis of radar as claimed in claim 5 is characterized in that: the reflecting plate of described signal reflectors adopts metal material to be made, and described adjusting support adopts nonmetallic materials to be made.
8. as claim 4 or 5 or 6 or 7 described a kind of devices of adjusting collimation axis of radar, it is characterized in that: described adjusting support is a tripod, the top center of described tripod is provided with a sleeve, be provided with a longitudinal fluting in described sleeve, plug a boom in described groove, described sleeve outer wall arranges a locked instrument that can penetrate described loop bar, and the top of described boom connects described reflecting plate by a coupling arrangement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110443988.5A CN102495398B (en) | 2011-12-27 | 2011-12-27 | Method and device for regulating collimation axis of radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110443988.5A CN102495398B (en) | 2011-12-27 | 2011-12-27 | Method and device for regulating collimation axis of radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102495398A CN102495398A (en) | 2012-06-13 |
| CN102495398B true CN102495398B (en) | 2013-05-08 |
Family
ID=46187238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110443988.5A Withdrawn - After Issue CN102495398B (en) | 2011-12-27 | 2011-12-27 | Method and device for regulating collimation axis of radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102495398B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103091667B (en) * | 2013-01-10 | 2014-12-10 | 清华大学 | Vehicle-borne radar calibration device and calibration method |
| CN106353734A (en) * | 2016-08-23 | 2017-01-25 | 孟玲 | Radar boresight regulating device |
| CN108614239A (en) * | 2016-12-12 | 2018-10-02 | 北京行易道科技有限公司 | To Barebone |
| CN109425852B (en) * | 2017-08-21 | 2021-05-14 | 比亚迪股份有限公司 | Calibration method and device for automobile and vehicle-mounted radar |
| CN107966690B (en) * | 2018-01-12 | 2024-05-24 | 深圳市道通科技股份有限公司 | Vehicle-mounted radar calibration equipment |
| CN109655798B (en) * | 2018-11-29 | 2023-06-23 | 惠州华阳通用电子有限公司 | Vehicle-mounted radar self-adaptive adjustment method and device |
| CN110244283A (en) * | 2019-07-15 | 2019-09-17 | 中国安全生产科学研究院 | It can be along the Radar Calibration system that strong scattering direction tracks |
| CN110346770A (en) * | 2019-08-13 | 2019-10-18 | 中国科学院电子学研究所 | A kind of radar test structure with automatic pitching function |
| CN116381632B (en) * | 2023-06-05 | 2023-08-18 | 南京隼眼电子科技有限公司 | Self-calibration method and device for radar roll angle and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101229798A (en) * | 2007-01-25 | 2008-07-30 | 福特汽车公司 | Vehicle mounting and alignment bracket |
| JP2008203147A (en) * | 2007-02-21 | 2008-09-04 | Denso Corp | On-vehicle radar with axis regulation function |
| CN101271156A (en) * | 2007-03-22 | 2008-09-24 | 欧姆龙株式会社 | Object detector and method of adjusting irradiation axis therefor |
| JP2008286565A (en) * | 2007-05-16 | 2008-11-27 | Omron Corp | Body detector |
-
2011
- 2011-12-27 CN CN201110443988.5A patent/CN102495398B/en not_active Withdrawn - After Issue
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101229798A (en) * | 2007-01-25 | 2008-07-30 | 福特汽车公司 | Vehicle mounting and alignment bracket |
| JP2008203147A (en) * | 2007-02-21 | 2008-09-04 | Denso Corp | On-vehicle radar with axis regulation function |
| CN101271156A (en) * | 2007-03-22 | 2008-09-24 | 欧姆龙株式会社 | Object detector and method of adjusting irradiation axis therefor |
| JP2008286565A (en) * | 2007-05-16 | 2008-11-27 | Omron Corp | Body detector |
Non-Patent Citations (2)
| Title |
|---|
| 《激光测距雷达距离图障碍物实时检测算法研究及误差分析》;张奇等;《机器人》;19970630;第19卷(第2期);全文 * |
| 张奇等.《激光测距雷达距离图障碍物实时检测算法研究及误差分析》.《机器人》.1997,第19卷(第2期),全文. |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102495398A (en) | 2012-06-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102495398B (en) | Method and device for regulating collimation axis of radar | |
| CN208000376U (en) | A kind of mobile lidar | |
| US11796657B2 (en) | Control device, control method, program, and storage medium | |
| CN105047020B (en) | A kind of current avoiding collision of bridge based on radar and device | |
| CN109239685A (en) | A kind of caliberating device and its scaling method of vehicle-mounted millimeter wave radar installation site | |
| US10429492B2 (en) | Apparatus for calculating misalignment quantity of beam sensor | |
| CN107918113A (en) | One kind combines vehicle-mounted Radar Calibration method | |
| CN110550015A (en) | Automatic driving control apparatus and program product for vehicle | |
| CN104111058A (en) | Vehicle distance measuring method and device and vehicle relative speed measuring method and device | |
| CN105699985A (en) | Single-line laser radar device | |
| JP5407443B2 (en) | Radar equipment | |
| JP2006146372A (en) | Object recognition device for vehicle | |
| CN102590793A (en) | Method for operating sensor of vehicle and vehicle having sensor | |
| CN108032859A (en) | It is automatic to become channel control method, device and automobile | |
| CN102445148A (en) | Method, device and system for acquiring position parameters | |
| CN103625367A (en) | Road obstacle recognition device and recognition method thereof | |
| CN106114357A (en) | Device and method for preventing scratching during turning of vehicle | |
| CN110308429A (en) | A kind of method and apparatus of millimetre-wave radar producing line calibration | |
| CN104115027A (en) | Peripheral object detection apparatus and peripheral object detection method | |
| CN111310943A (en) | ADAS system calibration guiding method and device and automobile diagnosis equipment | |
| CN103596805A (en) | Method and device for providing a signal for a light control unit | |
| CN109367529B (en) | Millimeter wave radar combined installation structure and virtual tunnel construction and obstacle judgment method | |
| CN214954069U (en) | A installing support and roadside base station for laser radar calibration at zero point | |
| US20210389469A1 (en) | External environment recognition device | |
| CN108061905A (en) | A kind of pavement behavior detection method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: SUZHOU INVO AUTOMOTIVE ELECTRONICS CO., LTD. Free format text: FORMER OWNER: BEIJING INTELLIDRIVE AUTOMOTIVE ELECTRONIC TECHNOLOGY DEVELOPMENT CO., LTD. Effective date: 20150216 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 100192 HAIDIAN, BEIJING TO: 215200 SUZHOU, JIANGSU PROVINCE |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20150216 Address after: 215200 No. 1268 traffic road, Wujiang economic and Technological Development Zone, Suzhou, Jiangsu Patentee after: SUZHOU INVO AUTOMOTIVE ELECTRONICS Co.,Ltd. Address before: 100192, Beijing, Haidian District, 66 North West Road, Dongsheng Science Park North Territory C1-211 Patentee before: Beijing Zhihua Nuxin Automobile Electronic Technology Development Co.,Ltd. |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20151030 Address after: 8, 97 B511, Changping Road, Shahe Town, Beijing, Changping District, 102200 Patentee after: Beijing Idriverplus Technology Co.,Ltd. Address before: 215200 No. 1268 traffic road, Wujiang economic and Technological Development Zone, Suzhou, Jiangsu Patentee before: SUZHOU INVO AUTOMOTIVE ELECTRONICS Co.,Ltd. |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20120613 Assignee: GUANGDONG ZONGXING TECHNOLOGY Co.,Ltd. Assignor: Beijing Idriverplus Technology Co.,Ltd. Contract record no.: 2018990000239 Denomination of invention: Method and device for regulating collimation axis of radar Granted publication date: 20130508 License type: Common License Record date: 20180823 |
|
| EC01 | Cancellation of recordation of patent licensing contract | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: GUANGDONG ZONGXING TECHNOLOGY Co.,Ltd. Assignor: Beijing Idriverplus Technology Co.,Ltd. Contract record no.: 2018990000239 Date of cancellation: 20230116 |
|
| EM01 | Change of recordation of patent licensing contract | ||
| EM01 | Change of recordation of patent licensing contract |
Change date: 20230116 Contract record no.: 2018990000239 Assignor after: Beijing Idriverplus Technology Co.,Ltd. Assignor before: Beijing Idriverplus Technology Co.,Ltd. |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130508 Effective date of abandoning: 20230309 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20130508 Effective date of abandoning: 20230309 |