CN109270505A - For demarcating caliberating device, method and the vehicle of vehicle sensors - Google Patents
For demarcating caliberating device, method and the vehicle of vehicle sensors Download PDFInfo
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- CN109270505A CN109270505A CN201811083676.6A CN201811083676A CN109270505A CN 109270505 A CN109270505 A CN 109270505A CN 201811083676 A CN201811083676 A CN 201811083676A CN 109270505 A CN109270505 A CN 109270505A
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- vehicle
- vehicle sensors
- reflecting part
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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
-
- 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
Abstract
This disclosure relates to a kind of caliberating device for demarcating vehicle sensors, method and vehicle, wherein the device includes: detector, for emitting the first detectable signal, first echo signal is received, determines its first position parameter relative to sensor according to two signals；Reflecting part forms second echo signal, described two signals determine itself second position parameter relative to reflecting part for vehicle sensors for reflecting the second detectable signal that vehicle sensors emit；Controller determines the third place parameter of the reflecting part relative to vehicle sensors, and be sent to vehicle for the relative position according to first position parameter and detector and reflecting part.Thus, itself second position parameter relative to reflecting part that vehicle can be determined according to the reflecting part that caliberating device is determined relative to the third place parameter and vehicle sensors of vehicle sensors, vehicle sensors are demarcated, to promote the precision of vehicle sensors, also, it is fast to demarcate speed.
Description
Technical field
This disclosure relates to technical field of vehicle, and in particular, to a kind of caliberating device for demarcating vehicle sensors, side
Method and vehicle.
Background technique
In the prior art, the device for demarcating Vehicular automatic driving environment sensing sensor is metal triangular cone and volume
Ruler, scaling method are the fronts that metal triangular cone is placed on to sensor to be calibrated on target vehicle, are little by little measured with tape measure
Actual metal triangular bores the position reference parameter relative to target vehicle sensor out, according to position reference parameter and to be calibrated
The metal triangular of sensor perception bores the location aware parameter relative to target vehicle sensor, treats calibration sensor and is marked
Fixed, this scaling method calibration speed is slow, and the precision demarcated is not also high.
Summary of the invention
Caliberating device, method and the vehicle that purpose of this disclosure is to provide a kind of for demarcating vehicle sensors.
To achieve the goals above, according to the disclosure in a first aspect, providing a kind of for demarcating the mark of vehicle sensors
Determine device, described device includes:
Detector receives corresponding first echo letter for emitting the first detectable signal to vehicle sensors to be calibrated
Number, and according to first detectable signal and the first echo signal, determine the detector relative to the vehicle sensory
The first position parameter of device；
Reflecting part, the second detectable signal for emitting the vehicle sensors reflect, and form corresponding second
Echo-signal, second detectable signal and the second echo signal determine itself relative to institute for the vehicle sensors
State the second position parameter of reflecting part；
Controller, the first position parameter and the detector and institute for being determined according to the detector
The relative position for stating reflecting part determines the third place parameter of the reflecting part relative to the vehicle sensors, and will be described
The third place parameter is sent to vehicle, so that the vehicle is according to the second position parameter and the third place parameter to institute
Vehicle sensors are stated to be demarcated.
Optionally, described device further include:
Driving portion, fixed setting opposite with the reflecting part position, for according to the control of controller driving
Reflecting part rotation, to adjust the position of the reflecting part.
Optionally, the detector is also used to receive corresponding third echo to the vehicle emissions third detectable signal
Signal, and according to the third detectable signal and the third echo-signal, determine the profile information of the vehicle；
The controller, the profile information and pre-stored vehicle of the vehicle for being also used to determine the detector
Profile information is matched, and is determined the vehicle model of the vehicle, is determined according to the vehicle model described to be calibrated
Vehicle sensors location information, and it is dynamic according to the location information of the vehicle sensors to be calibrated to control the driving portion
Make, to drive the reflecting part to turn to the position of vehicle sensors to be calibrated described in face.
Optionally, the detector, the controller, the driving portion and the reflecting part successively from bottom to top stack.
Optionally, the reflecting part is taper.
Optionally, described device further includes bracket, is used to support the detector.
According to the second aspect of the disclosure, a kind of method for demarcating vehicle sensors is provided, which comprises
Emit the first detectable signal to vehicle sensors to be calibrated by detector, receives corresponding first echo letter
Number, and according to first detectable signal and the first echo signal, determine the detector relative to the vehicle sensory
The first position parameter of device；
The second detectable signal that the vehicle sensors emit is reflected by reflecting part, is formed corresponding second time
Wave signal, second detectable signal and the second echo signal determine itself relative to described for the vehicle sensors
The second position parameter of reflecting part；
According to the first position parameter and the relative position of the detector and the reflecting part, determine described anti-
The third place parameter of the portion relative to the vehicle sensors is penetrated, and the third place parameter is sent to vehicle, so that institute
Vehicle is stated to demarcate the vehicle sensors according to the second position parameter and the third place parameter.
Optionally, it is described first detectable signal is emitted to vehicle sensors to be calibrated by detector before, the side
Method further include:
By the detector to the vehicle emissions third detectable signal, corresponding third echo-signal, and root are received
According to the third detectable signal and the third echo-signal, the profile information of the vehicle is determined；
The profile information for the vehicle that the detector is determined and the progress of pre-stored vehicle's contour information
Match, determine the vehicle model of the vehicle, the position of the vehicle sensors to be calibrated is determined according to the vehicle model
Confidence breath；
The driving portion movement is controlled according to the location information of the vehicle sensors to be calibrated, to drive the reflection
Portion turns to the position of vehicle sensors to be calibrated described in face.
According to the third aspect of the disclosure, a kind of vehicle is provided, the vehicle includes vehicle sensors, communication module and biography
Sensor demarcating module, in which:
The vehicle sensors are used for the reflecting part emission detection signal to caliberating device, receive corresponding echo-signal,
And itself location parameter relative to the reflecting part is determined according to the detectable signal and the echo-signal；
The communication module is used to receive the reflecting part that the caliberating device is sent, described relative to the vehicle sensors
Location parameter；
The location parameter that the transducer calibration module is used to be determined according to the vehicle sensors and described logical
The location parameter that letter module receives, demarcates the vehicle sensors.
According to the fourth aspect of the disclosure, a kind of method for demarcating vehicle sensors is provided, which comprises
By vehicle sensors to the reflecting part emission detection signal of caliberating device, corresponding echo-signal, and root are received
Itself location parameter relative to the reflecting part is determined according to the detectable signal and the echo-signal；
Receive location parameter of the reflecting part that the caliberating device is sent, described relative to the vehicle sensors；
According to the location parameter determined and the location parameter received, the vehicle sensors are marked
It is fixed.
In the above-mentioned technical solutions, the caliberating device for demarcating vehicle sensors includes: detector, reflecting part and control
Device, wherein detector receives first echo signal, determine detector phase according to two signals for emitting the first detectable signal
For the first position parameter of sensor；Reflecting part, for reflecting the second detectable signal that vehicle sensors emit, shape
At second echo signal, described two signals determine itself second position parameter relative to reflecting part for vehicle sensors；
Controller determines reflecting part relative to vehicle for the relative position according to first position parameter and detector and reflecting part
The third place parameter of sensor, and the third place parameter is sent to vehicle.In this way, vehicle can be determined according to caliberating device
Reflecting part out is determined relative to the third place parameter of vehicle sensors to be calibrated and the vehicle sensors to be calibrated
Itself second position parameter relative to reflecting part, which is demarcated, to be promoted wait mark
The precision of fixed vehicle sensors, also, it is fast to demarcate speed.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is a kind of for demarcating the structural block diagram of the caliberating device of vehicle sensors of embodiment of the present disclosure offer.
Fig. 2 is a kind of for demarcating the structural frames of the caliberating device of vehicle sensors of another embodiment offer of the disclosure
Figure.
Fig. 3 A is a kind of for demarcating the structural schematic diagram of the caliberating device of vehicle sensors of embodiment of the present disclosure offer.
Fig. 3 B is a kind of for demarcating the structural representation of the caliberating device of vehicle sensors of the another embodiment offer of the disclosure
Figure.
Fig. 4 is a kind of for demarcating the flow chart of the method for vehicle sensors of embodiment of the present disclosure offer.
Fig. 5 is a kind of for demarcating the flow chart of the method for vehicle sensors of another embodiment offer of the disclosure.
Fig. 6 is a kind of for demarcating the flow chart of the method for vehicle sensors of another embodiment offer of the disclosure.
Description of symbols
1 detector, 2 reflecting part
3 controller, 4 driving portion
5 bracket, 10 caliberating device
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
In the disclosure, in the absence of explanation to the contrary, when element is expressed " being fixed on " another element, it can
With directly there may be one or more elements placed in the middle on the other element or therebetween.When an element is expressed " even
Connect " another element, it can be directly to another element or there may be one or more members placed in the middle therebetween
Part.Term "vertical", "horizontal", "left" and "right" and similar statement used in this specification simply to illustrate that
Purpose.
Unless otherwise defined, technical and scientific term all used in this specification is led with the technology for belonging to the disclosure
The normally understood meaning of the technical staff in domain is identical.It is specific that description is intended merely in the term used in the description of the disclosure
Embodiment purpose, be not intended to limitation the disclosure.
Referring to Fig. 1, embodiment of the present disclosure offer is a kind of for demarcating the caliberating device 10 of vehicle sensors, the calibration
Device 10 includes:
Detector 1 can be radar (for example, laser radar, millimetre-wave radar etc.), infrored equipment etc..Detector 1 is used
In emitting the first detectable signal to vehicle sensors to be calibrated, and receive corresponding first echo signal.Wherein, the first detection
Signal can be the laser signal of the transmitting of detector 1, and first echo signal is quilt after the first detectable signal arrives at vehicle sensors
The signal of vehicle sensors reflection.Wherein, vehicle sensors are also possible to radar, infrored equipment etc..Detector 1 is also used to root
According to the first detectable signal and first echo signal, first position parameter of the detector 1 relative to vehicle sensors is determined.Wherein,
First position parameter be the outer surface of detector 1 geometric center point relative to vehicle sensors outer surface geometric center point
Relative position parameter.
Reflecting part 2 can be cone-shaped metal, especially triangular pyramid metal, can reflect the spy of vehicle sensors transmitting
Survey signal.Reflecting part 2 selects metal material, the reason is that metal is strong to the albedo of detectable signal (especially radar signal),
The echo-signal of generation is just strong, facilitates vehicle sensors and receives corresponding echo-signal.Reflecting part 2 is also possible to non-metallic material
Matter, such as plastic material, as long as can be realized the detectable signal of reflection vehicle sensors transmitting.Reflecting part 2 is set as trigone
Taper is to determine the geometric center point of reflecting part 2, reflecting part 2 or other metals with regular shape for convenience,
Such as square, spherical shape etc..Vehicle sensors to be calibrated emit the second detectable signal to reflecting part 2；Reflecting part 2 is to second spy
It surveys signal to be reflected, forms corresponding second echo signal；Vehicle sensors to be calibrated receive the second echo signal, it
Afterwards, according to above-mentioned second detectable signal and second echo signal, itself second position parameter relative to reflecting part 2 is determined.Its
In, second position parameter be the outer surface of vehicle sensors geometric center point relative to reflecting part 2 geometric center point phase
To location parameter.
Controller 3, may, for example, be industrial personal computer, connect with detector 1, first for being determined according to detector 1
The relative position for setting parameter and detector 1 and reflecting part 2 determines of reflecting part 2 relative to vehicle sensors to be calibrated
Three location parameters.Wherein, the relatively fixed setting of detector 1 and 2 position of reflecting part, the i.e. geometric center of the outer surface of detector 1
Point and the position of the geometric center point of reflecting part 2 are fixed.The relative position of detector 1 and reflecting part 2 is the outer surface of detector 1
Geometric center point and reflecting part 2 geometric center point relative position.Detector 1 and reflecting part 2 relative positions can be with
It is stored in advance in controller 3, detectable signal can also be sent from detector 1 to reflecting part 2, and receive corresponding echo letter
Number, detector 1 is determined according to the detectable signal and the echo-signal.Controller 3 is according to first position parameter, 1 and of detector
The relative position of reflecting part 2 can determine the third place parameter of the reflecting part 2 relative to vehicle sensors to be calibrated.Its
In, the third place parameter be reflecting part 2 geometric center point relative to vehicle sensors outer surface geometric center point phase
To location parameter.Controller 3 further includes wireless communication module, the third position that module will be determined by wireless communication of controller 3
It sets parameter and is sent to vehicle, vehicle receives the second position parameter and the third place parameter, may then pass through corresponding processing
Device, for example, electronic processing unit (Electronic Control Unit, ECU), according to the second position parameter and third position
Parameter is set to demarcate vehicle sensors.
Under normal circumstances, the precision of vehicle sensors can with use the time, temperature change and change, over time, vehicle
Sensor has certain error, thus, the second position parameter determined by vehicle sensors is vehicle sensors to its from
Perceptual parameters of the body relative to the position of reflecting part 2, may be inaccurate because of the errors of vehicle sensors.And the disclosure is real
The detector 1 for applying the caliberating device for demarcating vehicle sensors of example offer, should be the higher instrument of accuracy, thus, by
The detector 1 that detector 1 is determined should be closer to practical relative to the first position parameter of vehicle sensors to be calibrated
The position reference parameter of value according to the first position parameter and the relative position of detector 1 and reflecting part 2, determines in turn
Reflecting part 2 out should be accurately, closer to actual number relative to the third place parameter of vehicle sensors to be calibrated
Value, can be used as the position reference parameter demarcated to vehicle sensors to be calibrated.Therefore, vehicle can be according to above-mentioned
Two location parameters and the third place parameter demarcate vehicle sensors to be calibrated.In addition, vehicle is according to above-mentioned second
The concrete mode that parameter and the third place parameter demarcate vehicle sensors to be calibrated is set, is ordinary skill people
Technology well known to member, which is not described herein again.
In the above-mentioned technical solutions, the caliberating device for demarcating vehicle sensors includes: detector, reflecting part and control
Device, wherein detector receives first echo signal, determine detector phase according to two signals for emitting the first detectable signal
For the first position parameter of sensor；Reflecting part, for reflecting the second detectable signal that vehicle sensors emit, shape
At second echo signal, described two signals determine itself second position parameter relative to reflecting part for vehicle sensors；
Controller determines reflecting part relative to vehicle for the relative position according to first position parameter and detector and reflecting part
The third place parameter of sensor, and the third place parameter is sent to vehicle.In this way, vehicle can be determined according to caliberating device
Reflecting part out is determined relative to the third place parameter of vehicle sensors to be calibrated and the vehicle sensors to be calibrated
Itself second position parameter relative to reflecting part, demarcates the vehicle sensors to be calibrated, to be promoted to be calibrated
Vehicle sensors precision, also, demarcate speed it is fast.
Referring to Fig. 2, the above-mentioned caliberating device for demarcating vehicle sensors may be used also as another embodiment of the present disclosure
To include driving portion 4.Driving portion 4 is connect with reflecting part 2 and controller 3 respectively, fixed setting opposite with 2 position of reflecting part.It drives
Dynamic portion 4 may, for example, be holder, connect with controller 1, for the control according to controller 3, reflecting part 2 be driven to rotate, to adjust
The position of whole reflecting part 2, the vehicle sensors for keeping 2 face of reflecting part to be calibrated, in this way, reflecting part 2 can be made faster, more
Effectively the second detectable signal of vehicle sensors transmitting to be calibrated is reflected.
In the present embodiment, detector 1 is also used to vehicle emissions third detectable signal, and receives corresponding third echo
Signal.Detector 1 can determine point cloud data according to third detectable signal and third echo-signal, and then determine vehicle
Profile information, and the profile information is sent to controller 3, controller 3 receives the profile information.
In addition, vehicle's contour information can be previously stored in controller 3, wherein the vehicle's contour information includes various
The profile information of vehicle model, in this way, the vehicle's contour information that controller 3 can determine detector 1 is deposited in advance with above-mentioned
The vehicle's contour information of storage is matched, and determines vehicle model belonging to vehicle sensors to be calibrated.Due to every kind of vehicle
The position of each vehicle sensors of model be it is fixed, therefore, controller 3 can determine vehicle to be calibrated according to vehicle model
The location information of sensor.Later, which can control driving portion 4 according to the location information and act, to drive reflection
Portion 2 turns to the position of face vehicle sensors to be calibrated.
As shown in Fig. 3 A, 3B, detector 1, controller 3, driving portion 4 and reflector 2 successively can be stacked from bottom to top.
As shown in Figure 3B, the caliberating device as described above for demarcating vehicle sensors can also include bracket 5, bracket
5 are set to 1 lower section of detector, are used to support detector 1.In this way, the first detectable signal that detector 1 can be allow to emit arrives
Up to vehicle sensors, reflecting part 2 is enable to be irradiated to by the second detectable signal that vehicle sensors emit.
Referring to Fig. 4, Fig. 4 is a kind of method for demarcating vehicle sensors shown according to an exemplary embodiment
Flow chart, the present embodiment are applied to caliberating device in the method for being used to demarcate vehicle sensors to illustrate.Referring to fig. 4,
The method for being used to demarcate vehicle sensors may include the following steps:
In step 401, the first detectable signal is emitted to vehicle sensors to be calibrated by detector, received corresponding
First echo signal, and according to the first detectable signal and first echo signal, determine of detector relative to vehicle sensors
One location parameter；
In step 402, the second detectable signal that vehicle sensors emit is reflected by reflecting part, is formed and is corresponded to
Second echo signal, the second detectable signal and second echo signal determine itself relative to reflecting part for vehicle sensors
Second position parameter；
In step 403, according to first position parameter and the relative position of detector and reflecting part, reflecting part is determined
It is sent to vehicle relative to the third place parameter of vehicle sensors, and by the third place parameter, so that vehicle is according to second
It sets parameter and the third place parameter demarcates vehicle sensors.
Referring to Fig. 5, optionally, before step 401, the method also includes:
In step 404, corresponding third echo-signal is received to vehicle emissions third detectable signal by detector,
And according to third detectable signal and third echo-signal, the profile information of vehicle is determined；
In step 405, the profile information for vehicle detector determined and pre-stored vehicle's contour information into
Row matching, determines the vehicle model of vehicle, and the position letter of vehicle sensors to be calibrated is determined according to the vehicle model
Breath；
In a step 406, driving portion movement is controlled according to the location information of vehicle sensors to be calibrated, to drive reflection
Portion turns to the position of face vehicle sensors to be calibrated.
Referring to Fig. 6, Fig. 6 is a kind of method for demarcating vehicle sensors shown according to an exemplary embodiment
Flow chart, the present embodiment are applied to vehicle in the method for being used to demarcate vehicle sensors to illustrate.Referring to Fig. 6, the use
In calibration vehicle sensors method may include the following steps:
In step 601, it is received corresponding time by vehicle sensors to the reflecting part emission detection signal of caliberating device
Wave signal, and itself location parameter relative to reflecting part is determined according to detectable signal and echo-signal；
In step 602, location parameters that caliberating device is sent, that reflecting part is relative to vehicle sensors are received；
In step 603, the location parameter and reflecting part according to vehicle sensors relative to reflecting part are passed relative to vehicle
The location parameter of sensor, demarcates vehicle sensors.
About the method in above-described embodiment, wherein the concrete mode that each step executes is in the implementation in relation to device
It is described in detail in example, no detailed explanation will be given here.
The embodiment of the present disclosure also provides a kind of vehicle, which includes vehicle sensors, communication module and transducer calibration
Module, in which:
Vehicle sensors are used for the reflecting part emission detection signal to caliberating device, receive corresponding echo-signal, and root
Itself location parameter relative to reflecting part is determined according to detectable signal and echo-signal；
Location parameters that communication module is used to receive caliberating device transmission, that reflecting part is relative to vehicle sensors；
The position that the location parameter and communication module that transducer calibration module is used to be determined according to vehicle sensors receive
Parameter is set, vehicle sensors are demarcated.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (10)
1. a kind of for demarcating the caliberating device of vehicle sensors, which is characterized in that described device includes:
Detector, for receiving corresponding first echo signal to vehicle sensors the first detectable signal of transmitting to be calibrated, and
According to first detectable signal and the first echo signal, of the detector relative to the vehicle sensors is determined
One location parameter；
Reflecting part, the second detectable signal for emitting the vehicle sensors reflect, and form corresponding second echo
Signal, second detectable signal and the second echo signal determine itself relative to described anti-for the vehicle sensors
Penetrate the second position parameter in portion；
Controller, the first position parameter and the detector for being determined according to the detector and described anti-
The relative position for penetrating portion, determines the third place parameter of the reflecting part relative to the vehicle sensors, and by the third
Location parameter is sent to vehicle, so that the vehicle is according to the second position parameter and the third place parameter to the vehicle
Sensor is demarcated.
2. the apparatus according to claim 1, which is characterized in that described device further include:
Driving portion, fixed setting opposite with the reflecting part position, for driving the reflection according to the control of the controller
Portion's rotation, to adjust the position of the reflecting part.
3. the apparatus of claim 2, which is characterized in that the detector is also used to the vehicle emissions third
Detectable signal receives corresponding third echo-signal, and according to the third detectable signal and the third echo-signal, determines
The profile information of the vehicle；
The controller, the profile information and pre-stored vehicle wheel of the vehicle for being also used to determine the detector
Wide information is matched, and determines the vehicle model of the vehicle, determines the vehicle to be calibrated according to the vehicle model
The location information of sensor, and the driving portion is controlled according to the location information of the vehicle sensors to be calibrated and is acted,
To drive the reflecting part to turn to the position of vehicle sensors to be calibrated described in face.
4. the apparatus of claim 2, which is characterized in that the detector, the controller, the driving portion and institute
Reflecting part is stated successively from bottom to top to stack.
5. device described in any one of -4 according to claim 1, which is characterized in that the reflecting part is taper.
6. device described in any one of -4 according to claim 1, which is characterized in that described device further includes bracket, for branch
Support the detector.
7. a kind of method for demarcating vehicle sensors, which is characterized in that the described method includes:
Emit the first detectable signal to vehicle sensors to be calibrated by detector, receives corresponding first echo signal, and
According to first detectable signal and the first echo signal, of the detector relative to the vehicle sensors is determined
One location parameter；
The second detectable signal that the vehicle sensors emit is reflected by reflecting part, forms corresponding second echo letter
Number, second detectable signal and the second echo signal are used for the vehicle sensors and determine itself relative to the reflection
The second position parameter in portion；
According to the first position parameter and the relative position of the detector and the reflecting part, the reflecting part is determined
It is sent to vehicle relative to the third place parameter of the vehicle sensors, and by the third place parameter, so that the vehicle
The vehicle sensors are demarcated according to the second position parameter and the third place parameter.
8. the method according to the description of claim 7 is characterized in that described sent out by detector to vehicle sensors to be calibrated
It penetrates before the first detectable signal, the method also includes:
By the detector to the vehicle emissions third detectable signal, corresponding third echo-signal is received, and according to institute
Third detectable signal and the third echo-signal are stated, determines the profile information of the vehicle；
The profile information for the vehicle that the detector is determined is matched with pre-stored vehicle's contour information, really
The vehicle model for making the vehicle determines that the position of the vehicle sensors to be calibrated is believed according to the vehicle model
Breath；
The driving portion movement is controlled according to the location information of the vehicle sensors to be calibrated, to drive the reflecting part to turn
It moves to the position of vehicle sensors to be calibrated described in face.
9. a kind of vehicle, which is characterized in that the vehicle includes vehicle sensors, communication module and transducer calibration module,
In:
The vehicle sensors are used for the reflecting part emission detection signal to caliberating device, receive corresponding echo-signal, and root
Itself location parameter relative to the reflecting part is determined according to the detectable signal and the echo-signal；
The communication module is used to receive position of the reflecting part that the caliberating device is sent, described relative to the vehicle sensors
Set parameter；
The transducer calibration module is used for the location parameter and the communication mould determined according to the vehicle sensors
The location parameter that block receives, demarcates the vehicle sensors.
10. a kind of method for demarcating vehicle sensors, which is characterized in that the described method includes:
By vehicle sensors to the reflecting part emission detection signal of caliberating device, corresponding echo-signal is received, and according to institute
It states detectable signal and the echo-signal determines itself location parameter relative to the reflecting part；
Receive location parameter of the reflecting part that the caliberating device is sent, described relative to the vehicle sensors；
According to the location parameter determined and the location parameter received, the vehicle sensors are demarcated.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110308460A (en) * | 2019-07-01 | 2019-10-08 | 百度在线网络技术（北京）有限公司 | The parameter determination method and system of sensor |
| CN112710341A (en) * | 2020-11-30 | 2021-04-27 | 广州文远知行科技有限公司 | Vehicle-mounted terminal, server, sensor calibration method and system |
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