CN108614256A - Calibration system and method - Google Patents
Calibration system and method Download PDFInfo
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- CN108614256A CN108614256A CN201611141127.0A CN201611141127A CN108614256A CN 108614256 A CN108614256 A CN 108614256A CN 201611141127 A CN201611141127 A CN 201611141127A CN 108614256 A CN108614256 A CN 108614256A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000009434 installation Methods 0.000 claims abstract description 18
- 238000011900 installation process Methods 0.000 claims abstract description 7
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
Classifications
-
- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of calibration system and methods.Wherein, which is used to calibrate above-mentioned radar in Radar for vehicle installation process, including：Emitter, on a predetermined position, for sending calibration signal, above-mentioned calibration signal, which is used to indicate, calibrates installation site of the above-mentioned radar on above-mentioned vehicle for setting；Reception device is set together with above-mentioned radar, the above-mentioned calibration signal for receiving the transmitting of above-mentioned emitter, and according to the above-mentioned calibration signal received determine position that above-mentioned radar is currently installed whether and there are deviations for designated mounting position.The present invention solves the technical problem that radar sensor calibration efficiency is low in the related technology.
Description
Technical field
The present invention relates to radar detection fields, in particular to a kind of calibration system and method.
Background technology
Radar sensor is in being installed to vehicle processes, due to installing the presence of mechanical deflection so that radar sensor day
There are deviations for line launching beam and actual requirement, radar sensor effective target discrimination are reduced, for vehicles such as ACC, AEB
When active safety function, the deviation of radar sensor installation results even in these disablers.Currently, being passed for Radar for vehicle
The method of sensor installation calibrating is less, and existing certain methods device is complicated, calibration process is complicated, calibration efficiency is not high, general
Property it is not strong, economic cost is high.
For above-mentioned problem, currently no effective solution has been proposed.
Invention content
An embodiment of the present invention provides a kind of calibration system and methods, at least to solve radar sensor school in the related technology
The low technical problem of quasi- efficiency.
One side according to the ... of the embodiment of the present invention provides a kind of calibration system, in Radar for vehicle installation process
In above-mentioned radar is calibrated, including：Emitter is arranged on a predetermined position, for sending calibration signal, above-mentioned calibration
Signal, which is used to indicate, calibrates installation site of the above-mentioned radar on above-mentioned vehicle；Reception device is arranged with above-mentioned radar
Together, the above-mentioned calibration signal for receiving above-mentioned emitter transmitting, and determined according to the above-mentioned calibration signal received
The position that above-mentioned radar is currently installed whether and there are deviations for designated mounting position.
Further, above-mentioned emitter includes：Laser, above-mentioned laser is for transmitting calibration light beam using as above-mentioned
Calibration signal；Above-mentioned reception device includes：Photographic plate and signal processing circuit, wherein above-mentioned photographic plate is above-mentioned sharp for receiving
The above-mentioned calibration beam of light device transmitting is to incude the position that above-mentioned calibration beam is formed by hot spot, and the above-mentioned light that will be sensed
The position of spot is sent to above-mentioned signal processing circuit, and above-mentioned signal processing circuit is used to carry out deviation to the position of above-mentioned hot spot to estimate
It calculates, to generate difference signal, the position that above-mentioned difference signal is used to currently install above-mentioned radar is adjusted.
Further, above-mentioned calibration beam is overlapped with the field of view center line of above-mentioned radar after calibration, and with after calibration
Plane where above-mentioned photographic plate is vertical.
Further, the center of above-mentioned photographic plate is overlapped with the field of view center of above-mentioned radar.
Further, above-mentioned signal processing circuit has CAN interface, wherein above-mentioned signal processing circuit passes through upper
State the radar sensor that above-mentioned difference signal is sent to above-mentioned radar by CAN interface.
Further, above-mentioned signal processing circuit includes：Signal conversion module, for by the position of the above-mentioned hot spot sensed
Set the corresponding electric signal in position that corresponding optical signal is converted into above-mentioned hot spot；Signal processing module, with above-mentioned signal modulus of conversion
Block connects, for being handled above electrical signal to obtain above-mentioned difference signal；Difference signal output module, with above-mentioned signal
Processing module connects, for exporting above-mentioned difference signal.
Further, the calibration beam of above-mentioned laser transmitting is visible light narrow beam.
Further, above-mentioned calibration system further includes：Vehicle producing line mounting platform, wherein in calibration process, above-mentioned vehicle
It rests on above-mentioned vehicle producing line mounting platform.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of calibration method, for being installed in Radar for vehicle
Above-mentioned radar is calibrated in journey, which is characterized in that including：By the way that emitter transmission calibration on a predetermined position is arranged
Signal, above-mentioned calibration signal, which is used to indicate, calibrates installation site of the above-mentioned radar on above-mentioned vehicle；By with it is above-mentioned
The reception device that radar is set together receives the above-mentioned calibration signal of above-mentioned emitter transmitting, and above-mentioned according to what is received
Calibration signal determine position that above-mentioned radar is currently installed whether and there are deviations for designated mounting position.
In embodiments of the present invention, it using a kind of calibration system, is used in Radar for vehicle installation process to above-mentioned radar
It is calibrated, including：Emitter, on a predetermined position, for sending calibration signal, above-mentioned calibration signal is used to indicate for setting
Installation site of the above-mentioned radar on above-mentioned vehicle is calibrated；Reception device is set together with above-mentioned radar, for connecing
The above-mentioned calibration signal of above-mentioned emitter transmitting is received, and the current institute of above-mentioned radar is determined according to the above-mentioned calibration signal received
The position of installation whether and designated mounting position there are deviation, achieved the purpose that improve radar sensor calibration efficiency, to
It realizes and improves vehicle producing line production efficiency, reduces the technique effect of economic cost, and then solve thunder in the related technology
The technical problem low up to pick up calibration efficiency.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 (a) is a kind of front view of optional calibration system according to the ... of the embodiment of the present invention；
Fig. 1 (b) is the vertical view of the calibration system in Fig. 1 (a)；
Fig. 2 is the schematic diagram of reception device in another optional calibration system according to the ... of the embodiment of the present invention；
Fig. 3 is a kind of flow chart of optional calibration method according to the ... of the embodiment of the present invention.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model that the present invention protects
It encloses.
It should be noted that term " first " in description and claims of this specification and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
It covers and non-exclusive includes.
Embodiment 1
According to an embodiment of the present invention, a kind of calibration system embodiment is provided, Fig. 1 (a) is implemented according to the present invention
A kind of schematic diagram of optional calibration system of example, as shown in Fig. 1 (a), the calibration system 200, for being installed in Radar for vehicle
Radar is calibrated in the process, including：Emitter 210, setting on a predetermined position, for sending calibration signal, are calibrated
The installation site that signal is used to indicate to radar on vehicle is calibrated；Reception device 220 is set together with radar 100,
For the calibration signal of receiving and transmitting unit transmitting, and the position that radar is currently installed is determined according to the calibration signal received
Whether and there are deviations for designated mounting position.Fig. 1 (b) is the vertical view of the calibration system in Fig. 1 (a), and corresponding component is herein
It repeats no more.
That is, calibration system includes emitter and reception device, wherein emitter is arranged in scheduled position, can
Depending on the practical position convenient for Radar for vehicle calibration.Reception device is set together with radar, and radar can be arranged in vehicle
Any position, such as the front end of vehicle.Installation position by emitter transmitting calibration signal designation to radar on vehicle
It sets and is calibrated, the reception device on vehicle receives the calibration signal, and the calibration signal received determination is installed
Position whether be expected installation site.
It is used in Radar for vehicle installation process to above-mentioned radar using a kind of calibration system by the above embodiment
It is calibrated, including：Emitter, on a predetermined position, for sending calibration signal, above-mentioned calibration signal is used to indicate for setting
Installation site of the above-mentioned radar on above-mentioned vehicle is calibrated；Reception device is set together with above-mentioned radar, for connecing
The above-mentioned calibration signal of above-mentioned emitter transmitting is received, and the current institute of above-mentioned radar is determined according to the above-mentioned calibration signal received
The position of installation whether and designated mounting position there are deviation, achieved the purpose that improve radar sensor calibration efficiency, to
It realizes and improves vehicle producing line production efficiency, reduces the technique effect of economic cost, and then solve thunder in the related technology
The technical problem low up to pick up calibration efficiency.
Optionally, Fig. 2 is the schematic diagram of reception device in another optional calibration system according to the ... of the embodiment of the present invention；
In conjunction with Fig. 1 (a), Fig. 1 (b) and Fig. 2, it can be seen that emitter 210 includes：Laser 211, laser 211 is for emitting school
Collimated light beam 212 is using as calibration signal；Reception device 220 includes：Photographic plate 221 and signal processing circuit 222, wherein photosensitive
Plate 221 is used to receive the calibration beam 212 of the transmitting of laser 211 to incude the position that calibration beam 212 is formed by hot spot 213
It sets, and the position of the hot spot 213 sensed is sent to signal processing circuit 222, signal processing circuit 222 is used for hot spot
213 position carries out Error estimation, to generate difference signal, the position that difference signal is used to currently install radar 100 into
Row adjustment.
That is, emitter 210 by 211 transmitting calibration light beam 212 of laser using as calibration signal, the light of transmitting
Spot 213 can be to be " ˙ " dotted type, for positioning, it should be noted that hot spot 213 is thinner, illustrates that positioning accuracy is more accurate, is connecing
When penetrating the calibration beam 212 of the transmitting of laser 211 on the photographic plate 221 of receiving apparatus 220, it can incude on photographic plate 221
It is formed by hot spot 213 to calibration beam 212, and then gets the position of hot spot 213, in signal processing circuit 222, is passed through
Error estimation is carried out to the position of hot spot 213, the difference signal of generation can be used for adjusting the position that radar 100 is currently installed
It sets, by the above-mentioned means, the calibration system is for the calibration in Radar for vehicle sensor installation process, simple in structure, calibration speed
Spend it is fast, efficient, can fast implement radar sensor installation calibration.
Optionally, visual field 101 (shown in such as Fig. 1 (a), Fig. 1 (b)) center line weight of calibration beam and the radar after calibration
It closes, and vertical with plane where the photographic plate after calibration.At this point, radar site is the position after calibration, the hot spot of laser is answered
The center in photographic plate.And radar site be it is non-calibrated when position when, i.e., installation site deviate when radar sensor regard
Field 102 (shown in such as Fig. 1 (a), Fig. 1 (b)), the light beam of laser transmitting at this time should exist with radar sensor field of view center to be pressed from both sides
Angle, hot spot deviate photographic plate center, and the position of field of view center offset is different, and the corresponding position of hot spot is also different on photographic plate.This
Outside, radar 110 is the radar of other functions (shown in such as Fig. 1 (a), Fig. 1 (b)), may be mounted at the different location of vehicle, but its
Calibration method is the same, for the visual field 111 of the radar (shown in such as Fig. 1 (b)).
In order to realize accurately calibration radar installation site, optionally, the center of photographic plate and the field of view center weight of radar
It closes.
In order to realize that non-calibrated radar site is adjusted to standard radar position, optionally, signal processing circuit has CAN total
Line interface, wherein difference signal is sent to the radar sensor of radar, such as Fig. 2 by CAN interface by signal processing circuit
It is shown, difference signal that signal processing circuit is handled is sent to the radar sensor of radar by CAN interface, it can
To realize the position of quickly calibration radar, the time is saved, has achieved the effect that efficient calibration.
Optionally, as shown in Fig. 2, signal processing circuit includes：Signal conversion module 231, the hot spot for will sense
The corresponding optical signal in position be converted into the corresponding electric signal in position of hot spot；Signal processing module 232, with signal conversion module
Connection, for being handled electric signal to obtain difference signal；Difference signal output module 233 connects with signal processing module
It connects, for exporting difference signal.
That is, converting optical signals to electric signal to realize, and then the calibration of radar is completed, first in signal processing electricity
The corresponding optical signal in the position of the hot spot sensed is converted into corresponding electric signal by the signal conversion module in road, wherein electricity
Signal is corresponding with the position of hot spot.Then, the electric signal is handled in signal processing module, obtains difference signal, most
Afterwards, difference signal output module exports obtained difference signal.
In order to realize that remote calibration, the calibration beam that laser 211 emits are visible light narrow beam, realization is reached
More calibration at a distance.Optionally, calibration system further includes：Vehicle producing line mounting platform, wherein in calibration process, vehicle stops
It leans against on vehicle producing line mounting platform.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of calibration method, for being installed in Radar for vehicle
Radar is calibrated in journey, as shown in figure 3, Fig. 3 is a kind of flow of optional calibration method according to the ... of the embodiment of the present invention
Figure, includes the following steps：
S302：By the way that emitter transmission calibration signal on a predetermined position is arranged, calibration signal is used to indicate to thunder
It is calibrated up to the installation site on vehicle；
S304：The calibration signal emitted by the reception device receiving and transmitting unit being set together with radar, and according to
The calibration signal received determine position that radar is currently installed whether and there are deviations for designated mounting position.
By the above method, achievees the purpose that improve radar sensor calibration efficiency, vehicle is improved to realize
Producing line production efficiency, the technique effect for reducing economic cost, and then solve radar sensor calibration efficiency in the related technology
Low technical problem.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
In the above embodiment of the present invention, all emphasizes particularly on different fields to the description of each embodiment, do not have in some embodiment
The part of detailed description may refer to the associated description of other embodiment.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (9)
1. a kind of calibration system, for being calibrated to the radar in Radar for vehicle installation process, which is characterized in that packet
It includes：
Emitter, on a predetermined position, for sending calibration signal, the calibration signal is used to indicate to the radar for setting
Installation site on the vehicle is calibrated；
Reception device is set together with the radar, the calibration signal for receiving the emitter transmitting, and root
According to the calibration signal received determine position that the radar is currently installed whether and there are deviations for designated mounting position.
2. calibration system according to claim 1, which is characterized in that
The emitter includes：Laser, the laser is for transmitting calibration light beam using as the calibration signal；
The reception device includes：Photographic plate and signal processing circuit, wherein the photographic plate is for receiving the laser hair
The calibration beam penetrated is to incude the position that the calibration beam is formed by hot spot, and by the position of the hot spot sensed
It sets and is sent to the signal processing circuit, the signal processing circuit is used to carry out Error estimation to the position of the hot spot, with
Difference signal is generated, the position that the difference signal is used to currently install the radar is adjusted.
3. calibration system according to claim 2, which is characterized in that the calibration beam and the radar after calibration
Field of view center line overlaps, and vertical with plane where the photographic plate after calibration.
4. calibration system according to claim 2, which is characterized in that the visual field at the center of the photographic plate and the radar
Center overlaps.
5. calibration system according to claim 2, which is characterized in that the signal processing circuit has CAN interface,
Wherein, the difference signal is sent to the radar biography of the radar by the CAN interface by the signal processing circuit
Sensor.
6. calibration system according to claim 2, which is characterized in that the signal processing circuit includes：
Signal conversion module, the position for the corresponding optical signal in the position of the hot spot sensed to be converted into the hot spot
Corresponding electric signal；
Signal processing module is connect with the signal conversion module, for being handled the electric signal to obtain the difference
Value signal；
Difference signal output module is connect with the signal processing module, for exporting the difference signal.
7. calibration system according to claim 2, which is characterized in that the calibration beam of the laser transmitting is visible light
Narrow beam.
8. calibration system according to claim 1, which is characterized in that the calibration system further includes：Vehicle producing line is installed
Platform, wherein in calibration process, the vehicle parking is on the vehicle producing line mounting platform.
9. a kind of calibration method, for being calibrated to the radar in Radar for vehicle installation process, which is characterized in that packet
It includes：
By the way that emitter transmission calibration signal on a predetermined position is arranged, the calibration signal is used to indicate to the radar
Installation site on the vehicle is calibrated；
The calibration signal of the emitter transmitting, and root are received by the reception device being set together with the radar
According to the calibration signal received determine position that the radar is currently installed whether and there are deviations for designated mounting position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611141127.0A CN108614256A (en) | 2016-12-12 | 2016-12-12 | Calibration system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611141127.0A CN108614256A (en) | 2016-12-12 | 2016-12-12 | Calibration system and method |
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| Publication Number | Publication Date |
|---|---|
| CN108614256A true CN108614256A (en) | 2018-10-02 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611141127.0A Pending CN108614256A (en) | 2016-12-12 | 2016-12-12 | Calibration system and method |
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Cited By (2)
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| CN111380573A (en) * | 2018-12-28 | 2020-07-07 | 大众汽车有限公司 | Method for calibrating the orientation of a moving object sensor |
| CN112904314A (en) * | 2019-11-19 | 2021-06-04 | 郑州宇通客车股份有限公司 | Laser radar calibration system and calibration board |
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