CN109932693A - A kind of trailer-mounted radar caliberating device, system and method - Google Patents
A kind of trailer-mounted radar caliberating device, system and method Download PDFInfo
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- CN109932693A CN109932693A CN201811459734.0A CN201811459734A CN109932693A CN 109932693 A CN109932693 A CN 109932693A CN 201811459734 A CN201811459734 A CN 201811459734A CN 109932693 A CN109932693 A CN 109932693A
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Abstract
The present invention relates to a kind of trailer-mounted radar caliberating devices, system and method.It includes a trailer-mounted radar caliberating device, first fixing piece and the second fixing piece are respectively symmetrically mounted on the two sides of radar to be calibrated and are kept at concordant position therewith by the device, calibration object is arranged on third fixing piece, first fixing piece and the second fixing piece are utilized respectively an isometric rope and are connected with third fixing piece, to form the connection structure of an isosceles triangle, and radar to be calibrated is then on the center line on its vertical bottom edge of the isosceles triangle, calibration angle and horizontal departure are calculated separately by the caliberating device, to realize the calibration of radar fix.Trailer-mounted radar caliberating device of the invention, system and method, device is simple and novel, it is ingenious in design precisely, radar and calibration object location can accurately be obtained by this method, stated accuracy is improved, and scaling method is simple, calibration speed can be effectively improved.
Description
Technical field
The present invention relates to vehicle electronics technical field more particularly to a kind of trailer-mounted radar caliberating devices, system and method.
Background technique
Trailer-mounted radar is as a kind of safe and reliable sensor, in terms of sensing external environment, obtaining
Play important function.Although trailer-mounted radar overcorrect before entrucking, due to factors such as entrucking position, installation accuracies
It influences, there are a certain distance with barrier physical location for the Obstacle Position data obtained from radar, then, correct in radar
When, become the important step of adjustment radar parameter to Radar Calibration, can be had modified using it inclined between measured value and actual value
Difference.
In existing Radar Calibration technology, calibration process is determined radar using special fixture and demarcates the opposite position of object
It sets, changes calibration object location every time and need to reinstall fixture or measuring device, calibration process is cumbersome；It is calculated in calibrating parameters
When, radar angular is first corrected, then correct radar horizontal detection distance and longitudinal probing distance, this process will cause certain error
Accumulation.
Summary of the invention
The purpose of the present invention is to provide a kind of trailer-mounted radar caliberating devices, system and method.
The technical scheme of the invention to solve the technical problem is: a kind of trailer-mounted radar caliberating device comprising
Pedestal and it is vertically arranged guide rail on the base, it is hollow and be in the form of a column that the guide rail is nested with one at its apical position
The slide unit of body is provided with a calibration object on one side wall of the slide unit, is connected with one between the calibration object and the slide unit
Third fixing piece is connected with the first rope and the second rope of same size, first rope on the third fixing piece
Rope and second rope one end are respectively symmetrically connected to the left and right sides of the calibration object, first rope and the second rope it is another
One end is connected respectively mutually isostructural first fixing piece and the second fixing piece.
In a preferred embodiment, the calibration object is flared cavity body structure open at one end, is had in cavity pair
Radar wave has the coating of good reflection performance；The other end of the non-opening of the calibration object is fixed on the outside of the third fixing piece
One end of the center position of wall, first rope and the second rope is respectively symmetrically connected to hanging down where the calibration object
The two sides of straight center line.
In a preferred embodiment, first rope and the second rope are non-resilient rope, on their rope body
It is provided with scale.
In a preferred embodiment, first fixing piece includes a positioning seat, is vertically installed with one on the positioning seat
First bolt is sequentially coaxially arranged with the first gasket and nut on the outer wall of first bolt from the bottom to top；First rope
The end of rope or the second rope can be wrapped on the outer wall of the first bolt between first gasket and positioning seat, described in rotation
Nut is allowed to mobile towards the positioning seat direction, and first gasket squeezes the winding end of first rope so that it is pressed from both sides
It holds between the positioning seat and first gasket and forms positioning.
In a preferred embodiment, it is rectangular column that third fixing piece, which is a section, and one side wall and the slide unit are solid
Fixed connection, is formed with installation position at the center of another side wall opposite with the side wall, the non-open end of the calibration object with it is described
Installation position is fixedly connected, and the open end of the calibration object is towards radar to be calibrated；Divide in the symmetrical two side walls in installation position
It is not provided with one for connecting the ear-ring structure of first rope and the second rope.
In a preferred embodiment, the ear-ring structure includes the bracket of a concave, the open end of the bracket with it is described
Third fixing piece is fixedly connected, and the earrings slot longitudinally extended by one is formed on side wall opposite to the open end；In the bracket
Equipped with a second horizontally arranged gasket；Be externally connected to a vertical second gasket setting second of the bracket
Bolt, second bolt penetrate its inside via the outer wall of the bracket and intert connection with second septum screw, turn
Moving second bolt can make second gasket move reciprocatingly in the inside of the bracket along the direction of the earrings slot；Institute
The end for stating the first rope or the second rope can be wrapped between second gasket and rack side wall via the earrings slot
On the outer wall of second bolt, second bolt is rotated, the second gasket is moved along second bolt direction, by described the
The winding end of one rope or the second rope is clamped between the rack side wall and second gasket and forms positioning.
In a preferred embodiment, one is additionally provided on the slide unit for limiting its peace moved along the guide rail direction
Pretension bolt is filled, the installation pretension bolt sequentially interts the slide unit and guide rail, so that the slide unit and the guide rail are mutual
It is fixed.
The present invention also provides a kind of trailer-mounted radar calibration system, including the trailer-mounted radar caliberating device, radar to be calibrated,
Communication module and demarcating module；
The demarcating module, communication module, radar to be calibrated are sequentially connected；
The trailer-mounted radar caliberating device obtains the actual coordinate of calibration object for fixed calibration object；
The radar to be calibrated is used to obtain the position coordinates of calibration object；
The communication module is used to for the position coordinates for the calibration object that radar to be calibrated obtains being sent to demarcating module, and will
Calibrating parameters after demarcating module calculates are sent to radar；
The position coordinates calculating calibration ginseng that the demarcating module is used for the actual coordinate according to the calibration object, demarcates object
Number.
The present invention also provides a kind of scaling methods of trailer-mounted radar caliberating device, including trailer-mounted radar calibration system
System, includes the following steps:
Step S1, by vehicle parking in horizontal calibration place, radar to be calibrated is mounted on body structure, vehicle width direction
Midpoint adjusts radar altitude to be calibrated to predetermined installation site；
First fixing piece of trailer-mounted radar caliberating device and the second fixing piece are separately mounted to body structure by step S2,
And make the setting of the installation site of first fixing piece and the second fixing piece concordant with radar to be calibrated holding and about vehicle body
At the symmetrical position of axis；
One end of first rope and the second rope is connected with the first fixing piece and the second fixing piece by step S3 respectively, will
The other end of first rope and the second rope is connected with third fixing piece, while making the first rope and the second rope in tensioning shape
State, and the first rope and the second rope scale at the position being connected with third fixing piece are identical；
Step S4, adjust separately the first rope and the second rope and be allowed to respectively with ground keeping parallelism so that vehicle-mounted thunder
Height up to the calibration object on caliberating device is adjusted to identical as radar to be calibrated；
Step S5, with the line of central point A1 and A2 where the first fixing piece and the second fixing piece difference and vehicle central axes
Intersection point be origin, using the line of A1 and A2 as x-axis, A1 be directed toward the direction A2 be positive, using vehicle central axes as y-axis, radar to be calibrated
80 direction of directional beacon earnest is positive, and establishes rectangular coordinate system；
Step S6, according to radar to be calibrated horizontal plane rotational angle theta and radar to be calibrated horizontal plane deviation delta x
The amendment coordinate of radar to be calibrated is calculated with Δ y.
In a preferred embodiment, the step SO6 further includes following steps:
Step S61 obtains length value from the first rope and the second rope, according to the first formulaCalculate the actual coordinate (x of calibration objectn,yn), wherein LnThe length (two of rope is read for n-th
Rope length keeps the same), s A1A2Distance, n indicates pendulous frequency, for the positive integer more than or equal to 3；
Step S62 reads calibration object location coordinate (x ' from radar to be calibratedn,y′n), n is reading times, reads n for the first time
=1；
Step S63, according to the second formulaIt calculates
Calibrating parameters θ, Δ x and Δ y, wherein (x 'n,y′n) it is the position coordinates for demarcating object that radar R n-th to be calibrated is read,
(xn,yn) it is the actual coordinate that n-th measures markers earnest；
The calibrating parameters θ obtained in step S64, Δ x and Δ y are substituted into third formula by step S64Calibration amendment is carried out, wherein (x0,y0) it is before radar R to be calibrated is corrected
Coordinate, (xr,yr) it is coordinate after radar R to be calibrated amendment；
Step S65, calibration are completed.
The beneficial effect of trailer-mounted radar caliberating device, system and method for the invention is: by trailer-mounted radar caliberating device
The first fixing piece and the second fixing piece be respectively symmetrically mounted on the two sides of radar to be calibrated and keep concordant position therewith
Place, calibration object are arranged on third fixing piece, and the first fixing piece and the second fixing piece are utilized respectively an isometric rope and third
Fixing piece is connected, so that the connection structure of an isosceles triangle is formed, and radar to be calibrated is then in hanging down for the isosceles triangle
On the center line on its straight bottom edge, calculating calibration angle and horizontal departure are calculated separately by the caliberating device, to realize radar
The calibration of coordinate.Trailer-mounted radar caliberating device of the invention, system and method, device is simple, ingenious in design, can by this method
Accurately to obtain radar and calibration object location, stated accuracy is improved, and scaling method is simple, calibration speed can be effectively improved
Degree.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of trailer-mounted radar caliberating device in an embodiment.
Fig. 2 is the main view of the first fixing piece or the second fixing piece in a Fig. 1.
Fig. 3 is the stereoscopic schematic diagram of ear-ring structure in Fig. 1.
Fig. 4 is the scheme of installation of rope and the first fixing piece or the second fixing piece in an embodiment.
Fig. 5 is the system block diagram of trailer-mounted radar calibration system in an embodiment.
Fig. 6 is the calibration principle figure of trailer-mounted radar scaling method in an embodiment.
Fig. 7 is the calibration top view of trailer-mounted radar scaling method in an embodiment.
Fig. 8 is the coordinate reference figure that top view is demarcated in Fig. 7.
Specific embodiment
Trailer-mounted radar caliberating device of the invention and method are made below in conjunction with specific embodiments and drawings further detailed
Thin description.
Referring to Figure 1, a kind of trailer-mounted radar caliberating device comprising pedestal 50 and be vertically arranged guide rail on base 50
60, guide rail 60 is nested with a slide unit 70 that is hollow and being in the form of a column body at its apical position.
Preferably, it is provided with a calibration object 80 on a side wall of slide unit 70, demarcates between object 80 and slide unit 70 and is connected with
One third fixing piece 30, is connected with the first rope 41 and the second rope 42 of same size on third fixing piece 30, and first
One end of rope 41 and the second rope 42 is respectively symmetrically connected to the left and right sides of calibration object 80, the first rope 41 and the second rope
42 other end is connected respectively mutually isostructural first fixing piece 10 and the second fixing piece 20.
Calibration object 80 is flared cavity body structure open at one end, and having in cavity has good reflection performance to radar wave
Coating；The other end for demarcating the non-opening of object 80 is fixed on the center position of 30 lateral wall of third fixing piece, the first rope
41 and second one end of rope 42 be respectively symmetrically connected to demarcate the two sides of the vertical center line where object 80.
First rope 41 and the second rope 42 are non-resilient rope, are provided with scale on their rope body.
Please referring also to Fig. 2 is said since the first fixing piece 10 is identical with 20 structure of the second fixing piece with the first fixing piece 10
Its bright structure.First fixing piece 10 includes a positioning seat 11, is vertically installed with one first bolt 14, the first bolt on positioning seat 11
The first gasket 12 and nut 13 are sequentially coaxially arranged on 14 outer wall from the bottom to top.
The end of please referring also to Fig. 4, the first rope 41 or the second rope 42 can be wrapped in the first gasket 12 and positioning seat
On the outer wall of the first bolt 14 between 11, rotating nut 13 is allowed to mobile towards 11 direction of positioning seat, and the first gasket 12 squeezes
The winding end of first rope 41 is so that it is clamped between positioning seat 11 and the first gasket 12 and forms positioning.
Third fixing piece 30 is that a section is rectangular column, and one side wall is fixedly connected with slide unit 70, with the side wall phase
Pair another side wall center at be formed with installation position 31, the non-open end of calibration object 80 is fixedly connected with installation position 31, calibration
The open end of object 80 is towards radar to be calibrated.
One is respectively arranged in the symmetrical two side walls in installation position 31 for connecting the first rope 41 and the second rope 42
Ear-ring structure 90.
Please referring also to Fig. 3, ear-ring structure 90 include the bracket 91 of a concave, the open end of bracket 91 and third fixing piece
30 are fixedly connected, and the earrings slot 94 longitudinally extended by one is formed on side wall opposite to the open end；A water is equipped in bracket 91
Square to setting the second gasket 92；The second bolt 93 for being externally connected to vertical second gasket 92 and being arranged of bracket 91, the
Two bolts 93 penetrate its inside via the outer wall of bracket 91 and intert connection with 92 screw thread of the second gasket, and the second bolt 93 of rotation can
The second gasket 92 is set to move reciprocatingly in the inside of bracket 91 along the direction of earrings slot 94.
The end of first rope 41 or the second rope 42 can be wrapped in the second gasket 92 and 91 side of bracket via earrings slot 94
On the outer wall of the second bolt 93 between wall, the second bolt 93 is rotated, moves the second gasket 92 along 93 direction of the second bolt, with
The winding end of first rope 41 or the second rope 42 is clamped between 91 side wall of bracket and the second gasket 92 and forms positioning.
One is additionally provided on slide unit 70 for limiting its installation pretension bolt 71 moved along 60 direction of guide rail, installation pre-tightens
Bolt 71 sequentially interts slide unit 70 and guide rail 60, so that slide unit 70 is fixed to each other with guide rail 60.
Third fixing piece 30, pedestal 50, guide rail 60 and slide unit 70 are to radar wave areflexia.
When actual installation trailer-mounted radar caliberating device, first choice need to be to be calibrated by vehicle parking in horizontal calibration place
Radar R is mounted on body structure, vehicle width direction midpoint, adjusts radar R height to be calibrated to predetermined installation site, then specifically
Include the following steps:
First fixing piece 10 and the second fixing piece 20 are separately mounted to body structure by auxiliary device by the first step, and
Make the installation site of the first fixing piece 10 and the second fixing piece 20 concordant with radar to be calibrated holding and about vehicle body central axes
Symmetrically.
Second step, by one end of the first rope 41 and the second rope 42 respectively with the first fixing piece 10 and the second fixing piece 20
It is connected and is fixed, specifically, rope is tightened around the first bolt 14 between positioning seat 11 and the first gasket 12
Square nut 13 is to appropriate location so that the end of rope is fixed on first gasket 12, finally make the zero graduation line of two ropes with
Corresponding fixing piece center alignment.
The other end of first rope 41 and the second rope 42 is connected with third fixing piece 30 respectively and compresses solid by third step
It is fixed, specifically, bypassing the second bolt after the other end of two ropes to be each passed through to the earrings slot 94 of 30 two sides of third fixing piece
93, the second bolt 93 is rotated, moves the second gasket 92 along 93 direction of the second bolt, by the first rope 41 or the second rope 42
Winding end be clamped between 91 side wall of bracket and the second gasket 92 and formed compression positioning, finally make rope at tensioning shape
State, and keep the first rope 41 and the second rope 42 scale at third fixing piece 30 equal.
Finally, the height for demarcating object 80 and radar is adjusted to identical, it specifically can be by adjusting the first rope 41, second
Rope 42 is realized with ground keeping parallelism.
As shown in figure 5, the embodiment of the present invention also provides a kind of trailer-mounted radar calibration system, including the trailer-mounted radar mark
Determine device, radar to be calibrated, communication module and demarcating module；
The demarcating module, communication module, radar to be calibrated are sequentially connected；
The trailer-mounted radar caliberating device obtains the actual coordinate of calibration object for fixed calibration object；
The radar to be calibrated is used to obtain the position coordinates of calibration object；
The communication module is used to for the position coordinates for the calibration object that radar to be calibrated obtains being sent to demarcating module, and will
Calibrating parameters after demarcating module calculates are sent to radar；
The position coordinates calculating calibration ginseng that the demarcating module is used for the actual coordinate according to the calibration object, demarcates object
Number.
Also a kind of scaling method of trailer-mounted radar caliberating device of the embodiment of the present invention, including trailer-mounted radar calibration
System includes the following steps:
Step S1, please referring also to Fig. 6, by vehicle parking in horizontal calibration place, radar to be calibrated is mounted on vehicle
Body front end, vehicle width direction midpoint adjust radar altitude to be calibrated to predetermined installation site.
Step S2, before the first fixing piece 10 of trailer-mounted radar caliberating device and the second fixing piece 20 are separately mounted to vehicle body
End, and be separately positioned on the installation site A1 and A2 of the first fixing piece 10 and the second fixing piece 20 and keep flat with radar to be calibrated
It is neat and about the symmetrical position of vehicle body axis at.
Step S3, by one end of the first rope 41 (L1) and the second rope 42 (L2) respectively with the first fixing piece 10 and second
Fixing piece 20 is connected, and the other end of the first rope 41 (L1) and the second rope 42 (L2) is connected with third fixing piece 30, simultaneously
Make the first rope 41 (L1) and the second rope 42 (L2) in tensioning state, and the first rope 41 (L1) and the second rope 42 (L2) exist
It is identical as scale at the position that third fixing piece 30 is connected.
Step S4 adjusts separately the first rope 41 (L1) and the second rope 42 (L2) and is allowed to keep flat with ground respectively
Row, so that the height of the calibration object on trailer-mounted radar caliberating device is adjusted to identical as radar to be calibrated.
Step S5, please referring also to Fig. 7 to Fig. 8, the center at place is distinguished with the first fixing piece 10 and the second fixing piece 20
The line of point A1 and A2 and the intersection point of vehicle central axes are origin, and using the line of A1 and A2 as x-axis, A1 is directed toward the direction A2 and is positive, with
Vehicle central axes are y-axis, and 80 direction of radar ramark earnest to be calibrated is positive, and establish rectangular coordinate system.
Step S6, according to radar to be calibrated horizontal plane rotational angle theta and radar to be calibrated horizontal plane deviation delta x and
Δ y calculates the amendment coordinate of radar to be calibrated.
Further, step SO6 further includes following steps:
Step S61 obtains length value from the first rope 41 and the second rope 42, according to the first formula of formulaCalculate the actual coordinate (x of calibration object (80)n,yn), wherein LnThe length of rope is read for n-th
Degree (two rope lengths keep the same), s A1A2Distance, n indicates pendulous frequency, for the positive integer more than or equal to 3.
In the present embodiment, by taking n=3 as an example, step S61 includes the following steps:
A, L1=D is taken, (x is calculated by formula (1)1,y1)；
B, change rope lengths L2=D+1 meters, (x is calculated by formula (1)2,y2)；
C, change rope lengths L3=D-1 meters, (x is calculated by formula (1)3,y3)。
Wherein, D is a certain numerical value (generally 10-15 meters) in radar coverage.
Step S62 reads calibration 80 position coordinates (x ' of object from radar to be calibratedn,y′n), n is reading times, is read for the first time
N=1.
For example, as n=3:
When rope lengths are L1,80 position coordinates of calibration object read from radar R to be calibrated are (x '1,y′1), rope lengths
For L2,80 position coordinates of calibration object read from radar R to be calibrated are (x '2,y′2)；Rope lengths are L3, from radar R to be calibrated
80 position coordinates of calibration object of reading are (x '3,y′3)。
Step S63, according to the second formulaIt calculates
Calibrating parameters θ, Δ x and Δ y, wherein (x 'n,y′n) it is the position coordinates for demarcating object 80 that radar R n-th to be calibrated is read,
(xn,yn) it is the actual coordinate that n-th measures markers earnest 80.
Specific method is: by (xn,yn) and corresponding (x 'n,y′n) the second formula is substituted into, an overdetermined equation is obtained, is passed through
Solving the overdetermined equation can be obtained calibrating parameters θ, Δ x and Δ y.The method for solving (such as numerical solution) of overdetermined equation is existing
There is technology, details are not described herein.
The calibrating parameters θ obtained in step S63, Δ x and Δ y are substituted into third formula by step S64Calibration amendment is carried out, wherein (x0,y0) it is before radar R to be calibrated is corrected
Coordinate, (xr,yr) it is coordinate after radar R to be calibrated amendment.
Step S65, calibration are completed.
To sum up, trailer-mounted radar caliberating device of the invention, system and method, it is fixed by the first of trailer-mounted radar caliberating device
Part and the second fixing piece are respectively symmetrically mounted on the two sides of radar to be calibrated and are kept at concordant position therewith, and calibration object is set
It sets on third fixing piece, the first fixing piece and the second fixing piece are utilized respectively an isometric rope and are connected with third fixing piece,
To form the connection structure of an isosceles triangle, and radar to be calibrated is then in its vertical bottom edge of the isosceles triangle
On heart line, calculating calibration angle and horizontal departure are calculated separately by the caliberating device, to realize the calibration of radar fix.This
Trailer-mounted radar caliberating device, the system and method for invention, device is simple, ingenious in design, can accurately obtain thunder by this method
Up to calibration object location, improve stated accuracy, and scaling method is simple, calibration speed can be effectively improved.
Although description of this invention combination embodiments above carries out, those skilled in the art
Member can carry out many replacements based on the above contents, modifications and variations, be obvious.Therefore, all such substitutions,
Improvements and changes are included in the spirit and scope of appended claims.
Claims (10)
1. a kind of trailer-mounted radar caliberating device comprising pedestal and be vertically arranged guide rail on the base, the guide rail leans on
A slide unit that is hollow and being in the form of a column body is nested at its nearly apical position, which is characterized in that is set on a side wall of the slide unit
It is equipped with a calibration object, a third fixing piece is connected between the calibration object and the slide unit, is connected on the third fixing piece
It is provided with the first rope and the second rope of same size, one end of first rope and the second rope is respectively symmetrically connected to
The other end of the left and right sides of the calibration object, first rope and the second rope is connected respectively mutually isostructural first
Fixing piece and the second fixing piece.
2. trailer-mounted radar caliberating device according to claim 1, which is characterized in that the calibration object is loudspeaker open at one end
Shape cavity body structure has the coating for having good reflection performance to radar wave in cavity；It is described calibration object non-opening it is another
One end is fixed on the center position of the third fixing piece lateral wall, and one end of first rope and the second rope is right respectively
Claim to be connected to the two sides of the vertical center line where the calibration object.
3. trailer-mounted radar caliberating device according to claim 2, which is characterized in that first rope and the second rope are equal
For non-resilient rope, scale is provided on their rope body.
4. trailer-mounted radar caliberating device according to claim 3, which is characterized in that first fixing piece includes a positioning
, it is vertically installed with one first bolt on the positioning seat, is sequentially coaxially disposed from the bottom to top on the outer wall of first bolt
There are the first gasket and nut；The end of first rope or the second rope can be wrapped between first gasket and positioning seat
The first bolt outer wall on, rotate the nut and be allowed to mobile towards the positioning seat direction, first gasket squeezes institute
The winding end of the first rope is stated so that it is clamped between the positioning seat and first gasket and forms positioning.
5. trailer-mounted radar caliberating device according to claim 3, which is characterized in that third fixing piece is that a section is rectangular
Column, one side wall is fixedly connected with the slide unit, be formed with installation position at the center of another side wall opposite with the side wall,
The non-open end of the calibration object is fixedly connected with the installation position, and the open end for demarcating object is towards radar to be calibrated；Institute
It states and is respectively arranged with one in the symmetrical two side walls in installation position for connecting the ear-ring structure of first rope and the second rope.
6. trailer-mounted radar caliberating device according to claim 5, which is characterized in that the ear-ring structure includes a concave
Bracket, the open end of the bracket are fixedly connected with the third fixing piece, are formed on side wall opposite to the open end by one
The earrings slot longitudinally extended；A second horizontally arranged gasket is equipped in the bracket；The bracket is externally connected to
Second bolt of the one vertical second gasket setting, second bolt via the outer wall of the bracket penetrate its it is internal and with
The interspersed connection of second septum screw, rotating second bolt can make second gasket in the inside of the bracket along institute
The direction for stating earrings slot moves reciprocatingly；The end of first rope or the second rope can be wrapped in institute via the earrings slot
On the outer wall for stating the second bolt between the second gasket and rack side wall, second bolt is rotated, the second gasket of institute is described in
The winding end of first rope or the second rope is clamped in the rack side wall and described the by the movement of the second bolt direction
Between two gaskets and form positioning.
7. trailer-mounted radar caliberating device according to claim 5, which is characterized in that be additionally provided with one on the slide unit and be used for
Its installation pretension bolt moved along the guide rail direction is limited, the installation pretension bolt sequentially interts the slide unit and leads
Rail, so that the slide unit is fixed to each other with the guide rail.
8. a kind of trailer-mounted radar calibration system, which is characterized in that demarcate and fill including the trailer-mounted radar as described in claim 1 to 7
It sets, further includes radar, communication module and demarcating module to be calibrated；
The demarcating module, communication module, radar to be calibrated are sequentially connected；
The trailer-mounted radar caliberating device obtains the actual coordinate of calibration object for fixed calibration object；
The radar to be calibrated is used to obtain the position coordinates of calibration object；
The communication module is used to for the position coordinates for the calibration object that radar to be calibrated obtains being sent to demarcating module, and will calibration
Calibrating parameters after module calculates are sent to radar；
The position coordinates calculating calibrating parameters that the demarcating module is used for the actual coordinate according to the calibration object, demarcates object.
9. a kind of scaling method of trailer-mounted radar caliberating device comprising trailer-mounted radar calibration system, which is characterized in that including such as
Lower step:
Step S1, by vehicle parking in horizontal calibration place, radar to be calibrated is mounted on body structure, vehicle width direction midpoint
Place, adjusts radar altitude to be calibrated to predetermined installation site；
First fixing piece of trailer-mounted radar caliberating device and the second fixing piece are separately mounted to body structure, and made by step S2
The setting of the installation site of first fixing piece and the second fixing piece is concordant with radar to be calibrated holding and about vehicle body axis
At symmetrical position；
One end of first rope and the second rope is connected with the first fixing piece and the second fixing piece, by first by step S3 respectively
The other end of rope and the second rope is connected with third fixing piece, while making the first rope and the second rope in tensioning state, and
First rope and the second rope scale at the position being connected with third fixing piece are identical；
Step S4, adjust separately the first rope and the second rope and be allowed to respectively with ground keeping parallelism so that trailer-mounted radar mark
The height for determining the calibration object on device is adjusted to identical as radar to be calibrated；
Step S5, with the friendship of the line of central point A1 and A2 where the first fixing piece and the second fixing piece difference and vehicle central axes
Point is origin, and using the line of A1 and A2 as x-axis, A1 is directed toward the direction A2 and is positive, and using vehicle central axes as y-axis, radar to be calibrated is directed toward
Object space is demarcated to being positive, establishes rectangular coordinate system；
Step S6, according to radar to be calibrated horizontal plane rotational angle theta and radar to be calibrated horizontal plane deviation delta x and Δ y
Calculate the amendment coordinate of radar to be calibrated.
10. trailer-mounted radar scaling method according to claim 9, which is characterized in that the step SO6 further includes walking as follows
It is rapid:
Step S61 obtains length value from the first rope and the second rope, according to the first formulaMeter
Calculate the actual coordinate (x of calibration objectn,yn), wherein LnThe length (two rope lengths keep the same) of rope, s are read for n-th
For A1A2Distance, n indicates pendulous frequency, for the positive integer more than or equal to 3；
Step S62 reads calibration object location coordinate (x ' from radar to be calibratedn,y′n), n is reading times, reads n=1 for the first time；
Step S63, according to the second formulaCalculate calibration
Parameter θ, Δ x and Δ y, wherein (x 'n,y′n) it is the position coordinates for demarcating object that radar n-th to be calibrated is read, (xn,yn)
The actual coordinate of markers earnest is measured for n-th；
The calibrating parameters θ obtained in step S64, Δ x and Δ y are substituted into third formula by step S64Calibration amendment is carried out, wherein (x0,y0) it is before radar R to be calibrated is corrected
Coordinate, (xr,yr) it is coordinate after radar R to be calibrated amendment；
Step S65, calibration are completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811459734.0A CN109932693B (en) | 2018-11-30 | 2018-11-30 | Vehicle-mounted radar calibration device, system and method |
Applications Claiming Priority (1)
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