CN108562881A - A kind of Radar Calibration system and method - Google Patents
A kind of Radar Calibration system and method Download PDFInfo
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- CN108562881A CN108562881A CN201810552354.5A CN201810552354A CN108562881A CN 108562881 A CN108562881 A CN 108562881A CN 201810552354 A CN201810552354 A CN 201810552354A CN 108562881 A CN108562881 A CN 108562881A
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- radar
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- corner reflector
- distance
- vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
Abstract
The present invention relates to trailer-mounted radar application field, more particularly to a kind of Radar Calibration system and method, the system comprises：Vehicle in darkroom, the radar controller for being equipped with radar and being connect with the radar on the vehicle further include：It is located at and the first corner reflector, the second corner reflector on the straight line of the vehicle axis parallel, first laser rangefinder is installed on first corner reflector, second laser rangefinder is installed on second corner reflector, the radar controller is for obtaining first distance, the first angle, the second distance and the second angle and according to first distance, the first angle, the second distance and the second angle, the first software correction angle is calculated, to correct the mechanical erection angle of the radar.Through the invention, the accuracy of entrucking Radar Calibration is improved.
Description
Technical field
The present invention relates to trailer-mounted radar application fields, more particularly to a kind of Radar Calibration system and method.
Background technology
Distance, the azimuth and speed imdicator console of the main applied microwave detection vehicle side rear area target vehicle of blind monitoring system or barrier
The information such as degree, and utilize the positioning of these information realization offside rear area targets；When can effectively overcome night or poor visibility
The influence of (weather such as haze, rain, snow, dirt, mist), visits the potential danger target of this vehicle blind area range and adjacent lane
Survey, accident generation before be supplied to driver's early warning, effectively prevent potential traffic accident, utmostly protection staff and
Property safety.
Blind monitoring system detects two side line of outside rear-view mirror for vehicle by being arranged in two millimetre-wave radars of rear of vehicle
The information of vehicles on road realizes blind monitoring function.However for the millimetre-wave radar of entrucking, true setting angle and design
There are certain errors for setting angle, if the error is more than a certain range, it will target along with vehicle body it is parallel longitudinal do it is straight
When line moves, longitudinally there is certain angle in object run track and vehicle body that radar surveying obtains.
Invention content
For the defects in the prior art with deficiency, the present invention provides a kind of Radar Calibration system and methods, to improve
The accuracy of entrucking Radar Calibration.
To achieve the goals above, the present invention provides following technical solutions：
A kind of Radar Calibration system, the system comprises：Vehicle in darkroom, be equipped on the vehicle radar with
And the radar controller being connect with the radar, further include：It is located at and on the straight line of the vehicle axis parallel
One corner reflector, the second corner reflector are equipped with first laser rangefinder, second corner reflection on first corner reflector
Second laser rangefinder is installed on device, the radar controller respectively with the first laser rangefinder, the second laser
Rangefinder connects, and the first laser rangefinder is for detecting first distance of first corner reflector relative to the radar
And first angle, the second laser rangefinder be used for detect second corner reflector relative to the radar second away from
From and second angle, the radar controller for obtain first distance, the first angle, the second distance with
And the second angle and according to first distance, the first angle, the second distance and the second angle, meter
Calculation obtains the first software correction angle, to correct the mechanical erection angle of the radar.
Preferably, the radar controller is used to that the first software correction angle to be calculated according to following correction formula：
Wherein, α indicates the first software correction angle, z1Indicate the first distance, z2Indicate second distance, θ1Indicate first jiao
Degree, θ2Indicate second angle.
Preferably, the system also includes：The centralising device being connect with the radar controller；The centralising device packet
It includes：Free roller segment and hydraulic-driven part；The free roller segment is used to dispose the revolver and right wheel of the vehicle, liquid respectively
Pressure drive part drives for pushing and conveying the revolver being placed on the free roller segment, the right wheel, the hydraulic pressure
Dynamic part is connect with the radar controller, and the radar controller obtains first distance, the first angle, described the
Two distance and the second angle before, control the hydraulic-driven part so that the revolver, the right wheel respectively with institute
State vehicle axis parallel.
Preferably, the system also includes：
The motorized rails being connect with the radar controller, first corner reflector are arranged on the motorized rails,
The motorized rails and the vehicle axis parallel, the radar controller is according to the first software correction angle to described
After the mechanical erection angle of radar is modified, the radar controller controls the motorized rails, the radar and described
First laser rangefinder works, so that first corner reflector does straight line fortune on the motorized rails according to setting speed
It is dynamic, so that the radar is detected first corner reflector, the radar controller according to the result of detection of the radar,
The first angle and the second angle determine the accuracy of the first software correction angle.
Preferably, when the first software correction angle inaccuracy, described first jiao of the radar controller control is anti-
Emitter moves in a straight line on the motorized rails according to setting speed, the radar controller according to it is described first distance and
The changing value of the first angle substitutes into the correction formula, obtains the second software correction angle, to correct the machine of the radar
Tool setting angle.
Preferably, the shape of first corner reflector and second corner reflector is equilateral triangle.
A kind of Radar Calibration method, the method includes：
Obtain be located at the first corner reflector on the straight line of vehicle axis parallel relative to radar the first distance with
And first angle, the radar are mounted on the vehicle；
Obtain the be located at the second corner reflector on the straight line of the vehicle axis parallel relative to the radar
Two distances and second angle；
According to first distance, the first angle, the second distance, the second angle, it is calculated first
Software correction angle, to correct the mechanical erection angle of the radar.
Preferably, the method further includes：
Before the first corner reflector is obtained relative to the first distance and first angle of radar, institute is made by centralising device
State the revolver of vehicle, right wheel respectively with the vehicle axis parallel.
Preferably, the method further includes：
After being modified to the mechanical erection angle of the radar, the motorized rails of first corner reflector are installed in control
Work, so that first corner reflector moves in a straight line on the motorized rails according to setting speed；
The radar is controlled to detect first corner reflector；
Determine that first software is repaiied according to the result of detection of the radar, the first angle and the second angle
The accuracy of positive-angle.
Preferably, the method further includes：
When the first software correction angle inaccuracy, controls first corner reflector and pressed on the motorized rails
It is moved in a straight line according to setting speed, and according to the changing value of first distance and the first angle, obtains the second software
Angle correction, to correct the mechanical erection angle of the radar.
The beneficial effects of the present invention are：
Radar Calibration system and method provided by the invention, radar controller obtained according to first laser rangefinder first
The second corner reflector that corner reflector is obtained relative to the first distance and first angle and second laser rangefinder of radar
Relative to the second distance and first angle of the radar, the first software correction angle of the radar is calculated, to repair
The mechanical erection angle of the just described radar.Through the invention, the accuracy of entrucking Radar Calibration is improved.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of Radar Calibration system of the embodiment of the present invention.
Fig. 2 is a kind of flow chart of Radar Calibration method of the embodiment of the present invention.
Specific implementation mode
In order to enable those skilled in the art to be further understood that the feature and technology contents of the present invention, below in conjunction with the accompanying drawings
It elaborates to the embodiment of the present invention with embodiment.
It is a kind of structural schematic diagram of Radar Calibration system of the embodiment of the present invention as shown in Figure 1, including：In darkroom
Vehicle, the radar controller (not shown) for being equipped with radar L and being connect with the radar L on the vehicle, the system
Further include：It is located at and the first corner reflector F1, the second corner reflector F2 on the straight line of the vehicle axis parallel, institute
It states to be equipped on the first corner reflector F1 on first laser rangefinder J1, the second reflector F2 and second laser ranging is installed
Instrument J2, the radar controller are connect with the first laser rangefinder J1, the second laser rangefinder J2 respectively, and described
One laser range finder J1 is used to detect first distance and first angle of first corner reflector relative to the radar, institute
Second laser rangefinder J2 is stated for detecting second corner reflector relative to the second distance of the radar and second jiao
Degree, the radar controller is for obtaining first distance, the first angle, the second distance and second jiao described
It spends and according to first distance, the first angle, the second distance and the second angle, the thunder is calculated
The the first software correction angle reached, to correct the mechanical erection angle of the radar.
Specifically, the radar controller is used to that the first software correction angle to be calculated according to following correction formula：
Wherein, α indicates the first software correction angle, z1Indicate the first distance, z2Indicate second distance, θ1Indicate first jiao
Degree, θ2Indicate second angle.It should be noted that first distance be first corner reflector to the radar straight line away from
From the second distance is air line distance of second corner reflector to the radar, and the first angle is the radar
Normal and it is described first distance between acute angle, the second angle be the radar normal and the second distance between
Acute angle, the first software correction angle be the radar normal and the vehicle central axes between acute angle.
Further, it in order to ensure to demarcate accuracy, needs to ensure vehicle both sides wheel and the vehicle axis parallel, originally
In another embodiment of invention, the system also includes：The centralising device being connect with the radar controller, the centering dress
It sets for making the vehicle per side wheel and the vehicle axis parallel；The centralising device includes：Free roller segment and liquid
Press drive part；The free roller segment is used to dispose the revolver and right wheel of the vehicle respectively, and hydraulic-driven part is for pushing away
Move and convey the revolver being placed on the free roller segment, the right wheel, the hydraulic-driven part and the freedom
Roller segment is mechanically connected, and the hydraulic-driven part connect with the radar controller, and the radar controller obtains described the
Before one distance, the first angle, the second distance and the second angle, the hydraulic-driven part is controlled, with
Make the revolver, the right wheel respectively with the vehicle axis parallel.It should be noted that in the embodiment of the present invention, by right
The centering of middle device, it is ensured that the installation site of radar immobilizes, to make the first software correction angle that calculating arrives more
Accurately.
Specifically, the free roller segment includes：Multiple rollers, the roller is by rotation axis by the revolver and the right wheel
Be freely rotatable in front-rear direction, and the roller is disposed in the same line of the rotation axis and simultaneously in the horizontal direction
It is alternately arranged with zigzag, the rotation axis is connect with the hydraulic-driven some mechanical.
Further, in an alternative embodiment of the invention, the radar controller is according to the first software correction angle
After being modified to the mechanical erection angle of the radar, radar work is controlled, so that the radar is respectively to described the
One corner reflector, second corner reflector are detected, and the radar controller is according to the result of detection of the radar, described
First angle and the second angle determine the accuracy of the first software correction angle.It should be noted that the thunder
Amendment up to controller according to the first software correction angle to the radar, mainly：When the radar works, make institute
The start angle for stating radar is the first software correction angle, by the revision to radar initial angle on software, is ensured
The accuracy of the mechanical erection angle of the radar.Further, in the embodiment of the present invention, the radar controller is according to
The result of detection of radar, the first angle and the second angle determine that the accuracy of the first software correction angle is
Refer to：Radar controller detects the radar to institute after the start angle of the radar increases the first software correction angle
Whether the difference of the measurement angle and the first angle of stating the first corner reflector is less than or equal to set angle, if so, determining needle
It is accurate to first corner reflector detection；Radar controller detects measurement angle of the radar to second corner reflector
And whether the difference of the second angle is less than or equal to set angle, if so, determining accurate for second corner reflector detection
Really；When radar detects accurate for first corner reflector with second corner reflector, the radar controller is true
The fixed first software correction angle is accurate, and otherwise, the first software correction angle is inaccurate；It should be noted that setting
Angle can be demarcated according to radar model and be determined, for example, set angle is 1 °.
Further, in order to verify the accuracy of the first software correction angle, in an alternative embodiment of the invention,
The system can also include：
The motorized rails being connect with the radar controller, first corner reflector are arranged on the motorized rails,
The motorized rails and the vehicle axis parallel, the radar controller is according to the first software correction angle to described
After the mechanical erection angle of radar is modified, the radar controller controls the motorized rails, the radar and described
First laser rangefinder works, so that first corner reflector does straight line fortune on the motorized rails according to setting speed
It is dynamic, so that the radar is detected first corner reflector, the radar controller according to the result of detection of the radar,
The first angle and the second angle determine the accuracy of the first software correction angle.It should be noted that setting
Constant speed degree can be demarcated according to the model of motorized rails, radar, first laser rangefinder and be determined, for example, setting speed is 0.5m/
S is to the speed between 3m/s.Specifically, the radar controller according to the result of detection of the radar, the first angle with
And the second angle determines that the accuracy of the first software correction angle refers to：Starting of the radar controller in the radar
After angle increases the first software correction angle, detect the radar to the measurement angle of first corner reflector with it is described
Whether the difference of first angle is less than or equal to set angle, if so, determining for first corner reflector detection accurately；Radar
Controller detects whether the radar is less than or equal to the measurement angle of second corner reflector and the difference of the second angle
Set angle, if so, determining for second corner reflector detection accurately；When radar for first corner reflector with
When second corner reflector detects accurate, the radar controller determines that the first software correction angle is accurate, otherwise,
The first software correction angle inaccuracy set angle can be demarcated according to radar model and be determined, for example, set angle is 1 °.
Specifically, motorized rails include：Guide rail body and the guide-track groove in the guide rail body, the guide rail sheet
Body and the vehicle axis parallel are fixed with sliding shoe on the guide-track groove, and the sliding shoe can be transported along the guide-track groove
Row, the sliding shoe inside have the mechanical movement mechanism controlled by the radar controller, are fixedly mounted on the sliding shoe
First corner reflector, it is described when the radar controller control machinery operating mechanism (controlling motorized rails) works
Sliding shoe is run on the guide-track groove, to drive first corner reflector to move in a straight line.First corner reflector
Mounting height relative to ground can be the distance between 1m to 1.5m.
Further, when the first software correction angle inaccuracy, first corner reflector is controlled described electronic
It is moved in a straight line according to setting speed on guide rail, the radar controller is according to first distance and the first angle
Changing value substitutes into the correction formula, obtains the second software correction angle, to correct the mechanical erection angle of the radar.It needs
It is noted that in the embodiment of the present invention, since first corner reflector is done on the motorized rails according to setting speed
Linear motion, therefore the measurement result of the first laser rangefinder on first corner reflector is variation, therefore,
The value of first distance and first angle is also variation, and it is public that the first different distances and first angle are updated to the amendment
Formula can obtain the second software correction angle different from the first software correction angle, and the second software correction angle
It is opposite more accurate with the first software correction angle.
Specifically, in the embodiment of the present invention, the shape of first corner reflector and second corner reflector can be
Equilateral triangle, and the material of the first corner reflector and second corner reflector can be metallic aluminium corner reflector.Into
One step, the length of side of the equilateral triangle can be 15cm to the value between 25cm.
In conclusion Radar Calibration system provided in an embodiment of the present invention, vehicle is located in darkroom, can prevent it is external its
His interference of the electromagnetic signal to radar；It further,, can be with by centralising device by the vehicle centering in the embodiment of the present invention
Keep electric track and vehicle central axes strictly parallel；After radar entrucking, vehicle is parked in pre-set stop position, vehicle
Spatial position pass through four wheel alignment, after ensureing electric track work, line of motion and the vehicle axis of target movement
Line is parallel.In conjunction with the correction software of design, radar carries out comprehensive analysis to the information of the target of detection automatically, obtains the system
It corrects angle and updates to inside radar system, complete the correction of setting angle.
For above system, the present invention also provides a kind of Radar Calibration methods, as shown in Fig. 2, the method includes with
Lower step：
Step 100：Start.
Step 101：Obtain the be located at the first corner reflector on the straight line of vehicle axis parallel relative to radar
One distance and first angle, the radar are mounted on the vehicle.
Step 102：It obtains and is located at the second corner reflector on the straight line of the vehicle axis parallel relative to described
The second distance and second angle of radar.
Step 103：According to first distance, the first angle, the second distance, the second angle, calculate
The first software correction angle is obtained, to correct the mechanical erection angle of the radar.
It should be noted that according to the mechanical erection angle of radar described in the first software correction angle modification, mainly
It is：When the radar works, it is the first software correction angle to make the start angle of the radar, by right on software
The revision of radar initial angle ensure that the accuracy of the mechanical erection angle of the radar.
Further, it is possible to by first distance, the first angle, the second distance and the second angle generation
Enter correction formula and the first software correction angle is calculated, specifically, the correction formula is：
Wherein, α indicates the first software correction angle, z1Indicate the first distance, z2Indicate second distance, θ1Indicate first jiao
Degree, θ2Indicate second angle；It should be noted that first distance be first corner reflector to the radar straight line away from
From the second distance is air line distance of second corner reflector to the radar, and the first angle is the radar
Normal and it is described first distance between acute angle, the second angle be the radar normal and the second distance between
Acute angle, the first software correction angle be the radar normal and the vehicle central axes between acute angle.
Step 104：Terminate.
Radar Calibration method provided in an embodiment of the present invention obtains and is located at and first on the straight line of vehicle axis parallel
First distance and first angle of the corner reflector relative to radar；It obtains and is located at and the on the straight line of vehicle axis parallel
Second distance and second angle of two corner reflectors relative to the radar；By first distance, the first angle, institute
Second distance, second angle substitution correction formula are stated, the first software correction angle is obtained, to correct the machinery of the radar
Setting angle；Through the invention, the accuracy for improving entrucking Radar Calibration, ensure that the true setting angle of entrucking radar with
There are errors in the range of 0~set angle for the setting angle of design, and set angle can be demarcated according to radar model and be determined,
For example, set angle is 1 °.
Further, in an alternative embodiment of the invention, the method may include following steps：
Step 200：Start.
Step 201：By centralising device make the revolver of vehicle, right wheel respectively with the vehicle axis parallel.
Step 202：It obtains and is located at the first corner reflector on the straight line of the vehicle axis parallel relative to radar
First distance and first angle, the radar be mounted on the vehicle on.
Step 203：It obtains and is located at the second corner reflector on the straight line of the vehicle axis parallel relative to described
The second distance and second angle of radar.
Step 204：According to first distance, the first angle, the second distance, the second angle, calculate
The first software correction angle is obtained, to correct the mechanical erection angle of the radar.
Step 205：Terminate.
Radar Calibration method provided in an embodiment of the present invention ensure that the first software correction by the centering of centralising device
The accuracy of angle.
Further, right in an alternative embodiment of the invention in order to verify the accuracy of the first software correction angle
After the mechanical erection angle of the radar is modified, the radar work is controlled, so that the radar is respectively to described first
Corner reflector, second corner reflector are detected；According to the result of detection of the radar, the first angle and described
Second angle determines the accuracy of the first software correction angle.Further, the result of detection according to the radar, institute
It states first angle and the second angle determines that the accuracy of the first software correction angle refers to：Radar controller is in institute
After start angle increase the first software correction angle for stating radar, survey of the radar to first corner reflector is detected
Whether the difference of measuring angle and the first angle is less than or equal to set angle, and first corner reflector is directed to if so, determining
Detection is accurate；Radar controller detects difference of the radar to the measurement angle and the second angle of second corner reflector
Whether set angle is less than or equal to, if so, determining for second corner reflector detection accurately；When for described first jiao
When reflector and second corner reflector detect accurate, determine that the first software correction angle is accurate, otherwise, described the
One software correction angle is inaccurate；It is determined it should be noted that set angle can be demarcated according to radar model, for example, setting
Angle is 1 °.
Further, in order to verify the accuracy of the first software correction angle, Radar Calibration method of the present invention another
In embodiment, the method can also include：
After being modified to the mechanical erection angle of the radar, control motorized rails work, so that described first jiao is anti-
Emitter moves in a straight line on the motorized rails according to setting speed；The radar is controlled to carry out first corner reflector
Detection；First software correction is determined according to the result of detection of the radar, the first angle and the second angle
The accuracy of angle.
Further, when the first software correction angle inaccuracy, in order to ensure the accuracy of entrucking Radar Calibration,
In another embodiment of Radar Calibration method of the present invention, the method can also include：
When the first software correction angle inaccuracy, controls first corner reflector and pressed on the motorized rails
It is moved in a straight line according to setting speed, and according to the changing value of first distance and the first angle, substitutes into the amendment
Formula obtains the second software correction angle, to correct the mechanical erection angle of the radar.
In conclusion Radar Calibration system and method provided by the invention, true to install for the radar module of entrucking
There are certain errors for angle and the setting angle of design, if it exceeds a certain range (1 degree maximum), it will a kind of phenomenon occur：
When target along with vehicle body it is longitudinal (vehicle forward or backward direction) is parallel move in a straight line when, mesh that radar module measurement obtains
Mark movement locus is shown as one and longitudinally there is certain angle with vehicle body.The angle deviation is estimated by software approach and carries out school
Just, to eliminate mechanical erection angularly error, this basic principle that namely present invention corrects established angle.
The embodiment of the present invention is described in detail above, specific implementation mode used herein carries out the present invention
It illustrates, the explanation of above example is only intended to help to understand the system and method for the present invention；Meanwhile for the one of this field
As technical staff, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, to sum up institute
It states, the content of the present specification should not be construed as limiting the invention.
Claims (10)
1. a kind of Radar Calibration system, which is characterized in that the system comprises：Vehicle in darkroom is pacified on the vehicle
The radar controller being connect equipped with radar and with the radar further includes：It is located at and the vehicle axis parallel
The first corner reflector, the second corner reflector on straight line are equipped with first laser rangefinder on first corner reflector, described
Second laser rangefinder is installed on the second corner reflector, the radar controller respectively with the first laser rangefinder, institute
The connection of second laser rangefinder is stated, the first laser rangefinder is for detecting first corner reflector relative to the radar
The first distance and first angle, the second laser rangefinder is for detecting second corner reflector relative to the thunder
The second distance and second angle reached, the radar controller is for obtaining the first distance, first angle, described
Second distance and the second angle and according to first distance, the first angle, the second distance and described
The first software correction angle is calculated in second angle, to correct the mechanical erection angle of the radar.
2. Radar Calibration system according to claim 1, which is characterized in that the radar controller is used for basis and repaiies as follows
The first software correction angle is calculated in positive formula：
Wherein, α indicates the first software correction angle, z1Indicate the first distance, z2Indicate second distance, θ1Indicate first angle, θ2
Indicate second angle.
3. Radar Calibration system according to claim 2, which is characterized in that the system also includes：With the radar control
The centralising device of device connection processed；The centralising device includes：Free roller segment and hydraulic-driven part；The free roller segment is used
In the revolver and right wheel that dispose the vehicle respectively, hydraulic-driven part is used to push and conveying is placed in the free roller segment
On the revolver, the right wheel, the hydraulic-driven part connect with the radar controller, and the radar controller obtains
Before first distance, the first angle, the second distance and the second angle, the hydraulic-driven portion is controlled
Point so that the revolver, the right wheel respectively with the vehicle axis parallel.
4. Radar Calibration system according to claim 3, which is characterized in that the system also includes：
The motorized rails being connect with the radar controller, first corner reflector is arranged on the motorized rails, described
Motorized rails and the vehicle axis parallel, the radar controller is according to the first software correction angle to the radar
Mechanical erection angle be modified after, the radar controller controls the motorized rails, the radar and described first
Laser range finder works, so that first corner reflector moves in a straight line on the motorized rails according to setting speed, makes
The radar detects first corner reflector, and the radar controller is according to the result of detection of the radar, described
First angle and the second angle determine the accuracy of the first software correction angle.
5. Radar Calibration system according to claim 4, which is characterized in that when the first software correction angle inaccuracy
When, the radar controller controls first corner reflector and is moved in a straight line according to setting speed on the motorized rails,
The radar controller substitutes into the correction formula, obtains according to the changing value of first distance and the first angle
Second software correction angle, to correct the mechanical erection angle of the radar.
6. Radar Calibration system according to claim 5, which is characterized in that first corner reflector and described second jiao
The shape of reflector is equilateral triangle.
7. a kind of Radar Calibration method, which is characterized in that the method includes：
It obtains and is located at the first corner reflector on the straight line of vehicle axis parallel relative to the first distance of radar and the
One angle, the radar are mounted on the vehicle；
Obtain be located at the second corner reflector on the straight line of the vehicle axis parallel relative to the radar second away from
From and second angle；
According to first distance, the first angle, the second distance, the second angle, the first software is calculated
Angle correction, to correct the mechanical erection angle of the radar.
8. Radar Calibration method according to claim 7, which is characterized in that the method further includes：
Before the first corner reflector is obtained relative to the first distance and first angle of radar, the vehicle is made by centralising device
Revolver, right wheel respectively with the vehicle axis parallel.
9. Radar Calibration method according to claim 8, which is characterized in that the method further includes：
After being modified to the mechanical erection angle of the radar, the motorized rails work of first corner reflector is installed in control
Make, so that first corner reflector moves in a straight line on the motorized rails according to setting speed；
The radar is controlled to detect first corner reflector；
First software correction angle is determined according to the result of detection of the radar, the first angle and the second angle
The accuracy of degree.
10. Radar Calibration method according to claim 9, which is characterized in that the method further includes：
When the first software correction angle inaccuracy, first corner reflector is controlled on the motorized rails according to setting
Constant speed degree moves in a straight line, and according to the changing value of first distance and the first angle, obtains the second software correction
Angle, to correct the mechanical erection angle of the radar.
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| CN109709525A (en) * | 2019-03-05 | 2019-05-03 | 森思泰克河北科技有限公司 | A kind of scaling method and radar of radar |
| CN109932693A (en) * | 2018-11-30 | 2019-06-25 | 惠州华阳通用电子有限公司 | A kind of trailer-mounted radar caliberating device, system and method |
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| CN113030920A (en) * | 2021-03-17 | 2021-06-25 | 苏州一径科技有限公司 | Method, device, equipment and storage medium for verifying precision of calibration angle |
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| CN111157971A (en) * | 2018-11-07 | 2020-05-15 | 湖南中车时代电动汽车股份有限公司 | Control method and device of laser radar |
| CN109507652A (en) * | 2018-11-29 | 2019-03-22 | 驭势（上海）汽车科技有限公司 | A kind of trailer-mounted radar scaling method, device, mobile unit and storage medium |
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| CN110109071A (en) * | 2019-04-24 | 2019-08-09 | 中国电子科技集团公司第三十八研究所 | Vehicle-mounted millimeter wave blind area monitors radar setting angle automatic calibration device and method |
| CN110221313A (en) * | 2019-06-18 | 2019-09-10 | 广东嘉腾机器人自动化有限公司 | The laser radar installation site modification method and AGV trolley of AGV trolley |
| CN110221313B (en) * | 2019-06-18 | 2021-04-16 | 广东嘉腾机器人自动化有限公司 | Laser radar installation position correction method of AGV (automatic guided vehicle) and AGV |
| CN112114292B (en) * | 2019-06-21 | 2023-07-21 | 宇通客车股份有限公司 | Calibration system for vehicle-mounted radar |
| CN112114292A (en) * | 2019-06-21 | 2020-12-22 | 郑州宇通客车股份有限公司 | Calibration system for vehicle-mounted radar |
| WO2020258231A1 (en) * | 2019-06-28 | 2020-12-30 | 深圳市大疆创新科技有限公司 | Method and system for calibrating mounting angle of millimeter wave radar assembly, and movable platform |
| CN110703212A (en) * | 2019-09-27 | 2020-01-17 | 苏州豪米波技术有限公司 | Calibration method for vehicle radar installation angle |
| CN110658503A (en) * | 2019-10-17 | 2020-01-07 | 北京百度网讯科技有限公司 | Method and device for correcting measurement angle of radar |
| CN110716184B (en) * | 2019-10-18 | 2021-08-10 | 安徽江淮汽车集团股份有限公司 | Radar system angle calibration method, device, equipment and storage medium |
| CN110716184A (en) * | 2019-10-18 | 2020-01-21 | 安徽江淮汽车集团股份有限公司 | Radar system angle calibration method, device, equipment and storage medium |
| CN111190150A (en) * | 2020-01-13 | 2020-05-22 | 江铃汽车股份有限公司 | Vehicle-mounted radar self-learning calibration method and system |
| WO2021179012A1 (en) * | 2020-03-04 | 2021-09-10 | Continental Automotive Systems, Inc. | Sensor calibration |
| US11506791B2 (en) | 2020-03-04 | 2022-11-22 | Continental Autonomous Mobility US, LLC | Sensor calibration |
| CN113030920B (en) * | 2021-03-17 | 2023-01-03 | 苏州一径科技有限公司 | Calibration angle precision verification method and device, equipment and storage medium |
| CN113030920A (en) * | 2021-03-17 | 2021-06-25 | 苏州一径科技有限公司 | Method, device, equipment and storage medium for verifying precision of calibration angle |
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Address after: 230601 No. 99 Ziyun Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Anhui Jianghuai Automobile Group Limited by Share Ltd Address before: 230601 No. 669 Shixin Road, Taohua Industrial Park, Hefei City, Anhui Province Applicant before: Anhui Jianghuai Automobile Group Limited by Share Ltd |
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