CN110082734A - Caliberating device, calibration system and the scaling method of automobile mounted millimetre-wave radar extrinsic calibration - Google Patents
Caliberating device, calibration system and the scaling method of automobile mounted millimetre-wave radar extrinsic calibration Download PDFInfo
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- CN110082734A CN110082734A CN201910349602.0A CN201910349602A CN110082734A CN 110082734 A CN110082734 A CN 110082734A CN 201910349602 A CN201910349602 A CN 201910349602A CN 110082734 A CN110082734 A CN 110082734A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 238000009434 installation Methods 0.000 claims abstract description 38
- 239000011358 absorbing material Substances 0.000 claims abstract description 29
- 230000008439 repair process Effects 0.000 claims abstract description 6
- 230000033001 locomotion Effects 0.000 claims description 31
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 4
- 230000008450 motivation Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 claims 1
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- 230000008569 process Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
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- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
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Classifications
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses caliberating device, calibration system and the scaling methods of automobile mounted millimetre-wave radar extrinsic calibration.The caliberating device of the automobile mounted millimetre-wave radar extrinsic calibration of the present invention, it includes bottom plate, inhales wave reflection mechanism, inhales wave reflection mechanism and is placed on；Inhaling wave reflection mechanism includes several blocks of absorbing material plates, several radar reflection devices, upper support base, absorbing material plate and radar reflection device are each attached in support base, at least provided with an absorbing material plate before each radar reflection device, upper support base is placed on.The caliberating device and calibration system of extrinsic calibration of the present invention are used in auto production line or auto repair service station, the calibration to radar installation site may be implemented, installation site for correcting automobile vehicle-mounted millimetre-wave radar holder device, radar site to guarantee that automobile is filled is correct, to improve the security performance of vehicle.
Description
Technical field
The present invention relates to detections of radar field, in particular to a kind of automobile mounted millimetre-wave radar carries out when outside is marked
Caliberating device, calibration system and scaling method.
Background technique
Automobile mounted with millimetre-wave radar is main sensors in Senior Officer's auxiliary system (ADAS), it passes through sense
Know the status information of surrounding objects, help driver discover within the shortest time may generation danger, to arouse attention and
Improve safety.Automobile-used millimetre-wave radar be widely used in front of to anti-collision early warning (FCW), adaptive learning algorithms (ACC),
In blind-spot detection (BSD) and lane change auxiliary (LCA) system.
Currently, more and more automobile production manufacturers list the configuration of automobiles sold millimetre-wave radar (preceding dress), also have
Many automotive vehicle owners have installed millimetre-wave radar (rear dress) later period additional.In order to guarantee the performance and quality of automobile electronics, not only
Automotive electronics supplier needs to be tested with millimetre-wave radar automobile mounted, and car manufacturer is also required to assessment vapour
The technical indicator of the vehicle-mounted millimetre-wave radar of vehicle.
Dress or rear dress millimetre-wave radar, higher to the angle requirement of arrangement before either, but there is presently no
Mature regulating mechanism eliminates deviation and adaptive adjusting, limits the accuracy and precision of detection to a certain extent.
Moreover, current artificial calibration and the calibration of road real steering vectors do not adapted to it is present it is automobile mounted with millimetre-wave radar to efficiency
With the demand of precision.
Summary of the invention
The present invention provides caliberating device, calibration system and the scaling methods of automobile mounted millimetre-wave radar extrinsic calibration.
The caliberating device and calibration system that extrinsic calibration of the present invention is used in auto production line or auto repair service station, may be implemented
Calibration to radar installation site, for the installation site of correcting automobile vehicle-mounted millimetre-wave radar holder device, to guarantee vapour
The radar site that vehicle is filled is correct, to improve the security performance of vehicle.Meanwhile caliberating device of the present invention and calibration system can
It is demarcated with the vehicle of vehicle and different bodywork heights to different in width, use scope is wide, versatile.Present invention calibration
Method is simple and reliable, strong applicability.
The caliberating device of the automobile mounted millimetre-wave radar extrinsic calibration of the present invention, it includes bottom plate, inhales wave reflection mechanism, inhales
Wave reflection mechanism is placed on；Inhale wave reflection mechanism include several blocks of absorbing material plates, several radar reflection devices, on
Support base, absorbing material plate and radar reflection device are each attached in support base, before each radar reflection device
At least provided with an absorbing material plate, upper support base is placed on.
Further, radar reflection device is preferably four, and each radar reflection device includes the standard reflection mesh on top
It marks, the pedestal of lower part, the two is affixed, and pedestal is fixed in support base；The standard reflection target on radar reflection device top
It is the standard corner reflector that RCS (Radar Cross Section) is 0dB.
Further, the absorbing material plate is the dedicated absorbing material of radar wave, and number is no less than radar reflection dress
The number set.
Further, caliberating device further includes left/right movement device, and left/right movement device includes left and right driving motor, transverse direction
Transmission gear, lateral driving rack, lower support base, movement roller group, supporting block, rack support block；Lower support base is located at
Below upper support base, both be in contact, movement roller group setting is in contact below lower support base, and with bottom plate,
The output end of left and right driving motor connects traverse gear, and traverse gear is meshed with lateral driving rack, and left and right is driven
Dynamic motor is fixed on bottom plate by supporting block, and the left end of lateral driving rack is passed through from the rack support block on the left side, it is right
End is fixed in the supporting block on the right, and the rack support block on the left side is fixed on bottom plate, and the rack support block on the right is fixed on down
On the bottom surface of support base.
Further, left/right movement device further includes moving left and right auxiliary body, and moving left and right auxiliary body includes two
Mobile unit, two mobile units are relative to arranged symmetrically before and after transverse shifting rack gear；Each mobile unit includes lateral shifting
Two dynamic guide rod, left and right small supporting blocks, the left end of transverse shifting guide rod is passed through from the small supporting block on the left side, its right end is fixed on
In the small supporting block on the right, the small supporting block on the left side is fixed on bottom plate, and the small supporting block on the right is fixed on lower support base
On bottom surface.
Further, caliberating device further includes reciprocating mechanism, and reciprocating mechanism includes driving upside down motor, longitudinal direction
Transmission gear, longitudinal driving rack；The output end for driving upside down motor connects longitudinal transmission gear, longitudinal transmission gear and longitudinal direction
Driving rack is meshed, and longitudinal driving rack one end is free end, and the other end is affixed with link block, and link block is fixed on support
On pedestal, drives upside down motor and be fixed in lower support base by support base.
Further, reciprocating mechanism further includes guide plate, and guide plate is fixed on support base, with longitudinal driving cog
Cooperated between item by V-shaped groove.
Further, reciprocating mechanism further includes moving up and down auxiliary body, and moving up and down auxiliary body includes two
Mobile unit, two mobile units are relative to arranged symmetrically before and after longitudinal movement rack gear；Each mobile unit includes longitudinal shifting
Dynamic guide rod, guide sleeve, the lower end for vertically moving guide rod are fixed in lower support base, guide sleeve covers outside longitudinal movement guide rod,
Its lower end is fixed in support base.
The calibration system of the automobile mounted millimetre-wave radar extrinsic calibration of the present invention, it includes a set of automobile mounted millimeter wave thunder
Up to the caliberating device of extrinsic calibration, further includes one and implement the Radar Calibration region of calibration millimetre-wave radar installation site, pacified
Fill vehicle to be calibrated, the calibration control cabinet of millimetre-wave radar sensor；Wherein, Radar Calibration region is located at car assembly shop inspection
The front or auto repair service station of survey line；Millimetre-wave radar sensor on vehicle to be calibrated is used to perceive the external rings of vehicle
Border: where the radar sensor includes the radar transmitter of multiple transmitting radio signals, multiple reception radio signals
Receiver, the processor handled signal, three become one；The received radio signal of receiver is filled from calibration
The radio signal for the spotting group reflection set；Processor is used to handle the radio signal of spotting group reflection, obtains
It is arriving the result is that target position and angle；When vehicle to be calibrated is in vehicle parking region, radar transmitter emits radar
Signal, radar receiver receive the signal reflected through spotting group, and processor handles the signal received, will handle
Result by can bus be sent to calibration control cabinet in calibration computer, the peace of radar supports device is determined by calibration computer
Whether holding position is accurate；If radar installation site misalignment, radar installation deviation is adjusted according to system suggestion to calibrate radar
The installation site of holder device.
The scaling method of the automobile mounted millimetre-wave radar extrinsic calibration of the present invention, step:
1. determining Radar Calibration region, caliberating device is placed in Radar Calibration region, vehicle-mounted milli will be installed
The vehicle to be calibrated of metre wave radar, which moves, is put into outside Radar Calibration region the i.e. specified vehicle parking region in caliberating device front, prepares
Carry out installation calibration；
2. determining that vehicle to be calibrated is in horizontal stationary state before calibration, vehicular four wheels circle center distance ground level is consistent,
Vehicle central axes are overlapped with the central axes in Radar Calibration region, and error meets status requirement；
3. after calibration system is powered on, selection enters radar and installs calibration mode, vehicle and Radar Calibration area when calibration
Caliberating device in domain answers hold mode to fix；
4. entering radar after calibrating procedure enters automatic installation calibration, the software green light demarcated in control cabinet all lights table
Show that installation passes through, otherwise need to carry out the adjustment of radar supports device setting angle according to software prompt, until installation passes through mark
It is fixed.
The advantages of caliberating device and calibration system of the present invention is: (one) absorbing material plate is caliberating device or existing in order to prevent
Metal object of the field other than spotting group reflects radar wave, interferes calibration；Radar reflection device is then by radar wave
It is reflected on the radar sensor installed on vehicle, is received and processed by sensor；For correcting automobile vehicle-mounted millimeter
The installation site of wave radar supports device realizes the calibration to radar；(2) left/right movement device is for realizing suction wave reflection machine
Structure moves left and right, and demarcates to realize to the vehicle of different in width, widens the use scope of caliberating device；It moves up and down
Mechanism demarcates the vehicle of different bodywork heights to realize, widens for realizing moving up and down for wave reflection mechanism is inhaled
The use scope of caliberating device；Therefore, the use scope of caliberating device and calibration system is wide, and versatility is extensively strong；(3) once it is true
Determine radar installation site and deviation occur, calibration system can be provided according to determining deviation needs the setting angle adjusted to guarantee
The correctness of radar sensor installation site.
Detailed description of the invention
Fig. 1 is the schematic diagram of calibration system of the present invention；
Fig. 2 is the perspective view one of caliberating device of the present invention；
Fig. 3 is the perspective view two of caliberating device of the present invention；
Fig. 4 is the main view of caliberating device of the present invention；
Fig. 5 is the top view of caliberating device of the present invention.
Specific embodiment
Sensing vehicle system (such as context aware systems of driver assistance system or vehicle automation control loop)
Effect be obtain outside vehicle sensing data, and handle the data of capture with detect near vehicle and vehicle predicted path in
Barrier.The system includes a processor, and the processor is to receive the sensing data from one or more sensors simultaneously
Output, such as existence, position and speed of barrier etc. are provided.
Wherein, driver's auxiliary system or sensor-based system, including at least one millimetre-wave radar sensor is (before such as
To radar sensor), system may include multiple onboard sensors, such as camera or other sensors (such as vehicle rear
Backward sensor and vehicle lateral sensor), to sense the perimeter of vehicle.Sensor-based system includes electronics
Control unit (ECU) or processor, to handle the data obtained by sensor and barrier can be detected etc..From sensing
Data transmission or signal communication of the device to ECU may include any suitable data or communication link, such as automotive networking bus
Deng.
The system includes one or more transmitting antennas and one or more receiving antennas, for transmitting and receiving signal,
And by processing received signal with existing obstructing objects in detection system radar sensor perceived area.The system can be with
Using multiple radio frequency sensors, to provide 360 degree of sensings for closer objects such as basic facility, vehicle, bicycle and pedestrians
Covering.Radio frequency sensor system supports the functions such as parking auxiliary, uses ultrasonic sensor at present, while solving ultrasonic wave system
The technological deficiencies such as distance, response time, short distance detection, limited view, the accurate detection attention object profile of system.
When radar sensor is installed on vehicle in assembling process, radar sensor may misplace or misalignment, thus
Deviation can be generated compared to desired locations are installed on vehicle.Deviation may be rotating deviation, may be one or more pitching,
Sideway and rollover.This dislocation or misalignment may cause target positioning mistake.For example, ideal radar sensor installation, target
The position at place is the position that system senses.But if radar sensor misalignment, it will lead to sensor-based system and detect
The position of barrier is not inconsistent with its physical location.
Caliberating device of the invention, calibration system are to the vehicle-mounted millimeter wave radar sensing for being parked in known location and getting on the car
The installation site of device carries out extrinsic calibration, such as in car assembly shop detection line terminal region, or in auto repair service station etc..
The calibration of sensor-based system, purpose are executed using fixed target group (the calibration reflectance target set on caliberating device)
It is the accuracy that installation site is determined by comparing the target position and locations of real targets of sensor measurement.Spotting quilt
It is placed near radar sensor, generally attempts to cover other targets in the environment.The purpose for the arrangement is that in order to avoid work
The interference of other targets of factory.Target is placed on to position needed for test process or selected, then removing after the completion of calibration (needs
Removable frame to be installed in the end of production line).
Once it is determined that deviation occurs in radar installation site, calibration system can provide the peace for needing to adjust according to determining deviation
Fill angle.For example, if calibration process determine sensor installation it is unjustified with left side, calibration system provide adjust to the right put down
Shifting amount moves right induction field amount appropriate, to effectively adjust induction system to correct determining deviation, to protect
Demonstrate,prove the correctness of radar sensor installation site.
The present invention will be further described in detail with reference to the accompanying drawings and detailed description.
Embodiment 1
From Fig. 2, Fig. 3, Fig. 4, Fig. 5 it is found that the caliberating device of the automobile mounted millimetre-wave radar extrinsic calibration of the present invention, it is wrapped
It includes bottom plate 9, inhale wave reflection mechanism, inhale wave reflection mechanism and be placed on bottom plate 9；Inhaling wave reflection mechanism includes several pieces of absorbing materials
Plate 4, several radar reflection devices 5, upper support base 6, absorbing material plate 4 and radar reflection device 5 are each attached to support
On pedestal 6, at least provided with an absorbing material plate 4 before each radar reflection device 5, upper support base 6 is placed on bottom
On plate 9.
In caliberating device of the present invention: absorbing material plate be in order to prevent caliberating device or calibration region scene in addition to demarcate mesh
Metal object other than mark group reflects radar wave, that is, prevents metal object from interfering calibration；Radar reflection device is then by radar wave
It is reflected on the radar sensor installed on vehicle, is received and processed by sensor.
In caliberating device of the present invention: radar reflection device 5 is preferably four, and each radar reflection device 5 includes top
Standard reflection target, lower part pedestal, the two is affixed, and pedestal is fixed in support base 6；5 top of radar reflection device
Standard reflection target is the standard corner reflector that RCS (Radar Cross Section) is 0dB.
Radar reflection device then by the radar sensor installed in reflection of radar wave to vehicle, is received simultaneously by sensor
Processing.Wherein, standard corner reflector is simultaneously practical calibrated by design data, calculating, is a standard component, can not be random
Replacement.The central axis of target group is consistent with vertical axis, is fixed in Radar Calibration region, towards vehicle to be calibrated, i.e. court
To radar transmitter direction.
Wherein, the absorbing material plate 4 in caliberating device of the present invention is the dedicated absorbing material of radar wave, and number is no less than thunder
Up to the number of reflection unit 5.
The effect of absorbing material plate is to metal part in caliberating device and calibration region (except calibration reflectance target is formed
Other than spotting group) carry out whole effective protection isolation, it is ensured that do not influence Radar Calibration.Due to the support of standard corner reflector
Bar is metalwork, so placing an absorbing material plate before each standard corner reflector.
The position of absorbing material plate is specific as follows: the foremost for inhaling wave reflection mechanism is provided with absorbing material plate 4-1, this
The area of block absorbing material plate area in all suction wave plates is maximum, and length is minimum are as follows: the left side and the left side on bottom plate
Flush on the right of the left side flush of rack support block, the right and support base.The length of absorbing material plate 4-1 is long, can be right
More effectively it is isolated positioned at associated metal components behind.
Embodiment 2
The caliberating device of the automobile mounted millimetre-wave radar extrinsic calibration of the present invention further includes left/right movement device, is moved left and right
Mechanism includes left and right driving motor 1, traverse gear 2, lateral driving rack 3, lower support base 7, movement roller group 8, branch
Bracer 11, rack support block 12；Lower support base 7 is located at below upper support base 6, the two is in contact, and movement roller group 8 is set
It sets below lower support base 7, and be in contact with bottom plate 9, the output end of left and right driving motor 1 connects traverse gear 2,
Traverse gear 2 is meshed with lateral driving rack 3, and left and right driving motor 1 is fixed on bottom plate 9 by supporting block 11, horizontal
To the left end of driving rack 3 from passed through in the rack support block 12 on the left side, its right end be fixed on the right supporting block 12 in, the left side
Rack support block 12 be fixed on bottom plate 9, the rack support block 12 on the right is fixed on the bottom surface of lower support base 7.
For left/right movement device for realizing moving left and right for wave reflection mechanism is inhaled, i.e. left and right driving motor is to realize that suction wave is anti-
The power device that mechanism moves left and right is penetrated, traverse gear rack gear is used for transmission the power of left and right driving motor to realize suction wave
Reflecting mechanism side-to-side movement, specifically: when left and right driving motor works, being driven by the transverse direction engaged with traverse gear
Rack gear drives and inhales wave reflection mechanism by movement roller group realization moving left and right on bottom plate, to realize to different in width
Vehicle demarcated, widen the use scope of caliberating device.
In order to further ensure the effect of protection isolation, several pieces can also be arranged on the upper surface of lower support base 7
Absorbing material plate 4.
As a kind of preferred embodiment of the invention, left/right movement device further includes moving left and right auxiliary body, is moved left and right
Auxiliary body includes two mobile units, and two mobile units are symmetrical arranged relative to before and after transverse shifting rack gear 3；Each movement
Unit includes transverse shifting guide rod 13, the two small supporting block 14 in left and right, the ramuscule of the left end of transverse shifting guide rod 13 from the left side
Passed through in bracer 14, its right end is fixed in the small supporting block 14 on the right, the small supporting block 14 on the left side is fixed on bottom plate 9, right
The small supporting block 14 on side is fixed on the bottom surface of lower support base 7.
Move left and right auxiliary body and ensure that and inhale wave reflection mechanism along straight line side-to-side movement: Ji Xi wave reflection mechanism or so moves
When dynamic, transverse shifting guide rod is moved left and right along the hole in small supporting block, is transported for ensuring to inhale wave reflection mechanism along straight line or so
It is dynamic.
Embodiment 3
The caliberating device of the automobile mounted millimetre-wave radar extrinsic calibration of the present invention further includes reciprocating mechanism, is moved up and down
Mechanism includes driving upside down motor 10, longitudinal transmission gear 15, longitudinal driving rack 16；The output end for driving upside down motor 10 connects
Longitudinal transmission gear 15 is connect, longitudinal transmission gear 15 is meshed with longitudinal driving rack 16, and longitudinal 16 one end of driving rack is certainly
By holding, the other end and link block 17 are affixed, and link block 17 is fixed in support base 6, drive upside down motor 10 and pass through support
Seat 21 is fixed in lower support base 7.
Reciprocating mechanism moves up and down for realizing suction wave reflection mechanism, wherein drives upside down motor and inhales to realize
The power device that wave reflection mechanism moves up and down, upper and lower transmission gear rack gear is used for transmission the power for driving upside down motor, with reality
The up and down motion of Xian Xi wave reflection mechanism, specifically: when driving upside down motor work, passing through what is engaged with longitudinal transmission gear
Longitudinal driving rack, link block drive upper support base to move up and down, and move up and down to realize and inhale wave reflection mechanism, thus real
Now the vehicle of different bodywork heights is demarcated, widens the use scope of caliberating device.
It is above moved down to guarantee to inhale the stationarity that wave reflection mechanism moves up and down as a kind of preferred embodiment of the invention
Motivation structure further includes guide plate 20, and guide plate 20 is fixed on support base 21, passes through V-shaped groove between longitudinal driving rack 16
Cooperation.In this way, longitudinal driving rack 16 is moved up and down by V-shaped groove, to ensure that the stability for inhaling wave reflection mechanism.
As a kind of preferred embodiment of the invention, the reciprocating mechanism in the present invention further includes moving up and down auxiliary machine
Structure, moving up and down auxiliary body includes two mobile units, and two mobile units are symmetrical relative to 16 front and back of longitudinal movement rack gear
Setting；Each mobile unit includes longitudinal movement guide rod 18, guide sleeve 19, and the lower end of longitudinal movement guide rod 18 is fixed on lower branch
It supports on pedestal 7,19 sets of guide sleeve is longitudinal movement guide rod 18 is outer, its lower end is fixed in upper support base 6.
Moving up and down auxiliary body ensure that inhale wave reflection mechanism moves up and down along straight line: upper support base moves up and down
When, guide sleeve is moved up and down along longitudinal movement guide rod, is moved up and down for ensuring to inhale wave reflection mechanism along straight line.
As a kind of preferred embodiment of the invention, the invention also includes tank chain 22, tank chain 22 is arranged on bottom plate 9,
For arranging the power supply line in caliberating device.
Embodiment 4
As shown in Figure 1:
The calibration system of the automobile mounted millimetre-wave radar sensor external calibration of the present invention, it includes a set of automobile mounted milli
The caliberating device 23 of metre wave radar extrinsic calibration further includes the Radar Calibration area for implementing calibration millimetre-wave radar installation site
Domain 24, the vehicle to be calibrated 26 positioned at vehicle parking region 25, calibration control cabinet (being not drawn into figure)；
Wherein, Radar Calibration region 24 is located at the front or auto repair service station of car assembly shop detection line；
Vehicle 26 to be calibrated has been mounted with that millimetre-wave radar sensor 27, radar sensor are used to perceive the external rings of vehicle
Border: where the radar sensor includes the radar transmitter of multiple transmitting radio signals, multiple reception radio signals
Receiver, the processor handled signal, three become one；The received radio signal of receiver is filled from calibration
The radio signal for the spotting group reflection set；Processor is used to handle the radio signal of spotting group reflection, obtains
It is arriving the result is that target position and angle；
When vehicle to be calibrated is in vehicle parking region, radar transmitter emits radar signal, and radar receiver receives
The signal reflected through spotting group, processor handle the signal received, and the result of processing is sent out by can bus
Give the calibration computer in calibration control cabinet, target position and locations of real targets by comparing sensor measurement, by demarcating
Computer determines whether the installation site of radar supports device is accurate；If radar installation site misalignment, is according to system suggestion adjusted
Whole radar installation deviation is to calibrate the installation site of radar supports device.
Desired zone requirement in calibration system of the present invention: 1) Radar Calibration region is preferably that length and width distance is greater than 10m × 8m
Depletion region, ground is horizontal as far as possible, no groove or protrusion, in region in addition to fixed placement standard target group, that is, caliberating device
Forbid other objects occur, the floor degree in entire Radar Calibration region and vehicle parking region is required to reach 5mm；If 2)
There is no length and width distance to be greater than the depletion region of 10m × 8m, slightly smaller region (beyond the long and wide region of vehicle) also may be selected, use
Absorbing material surrounds three bread of region, it is desirable that length is greater than 10m, (need to if not can avoid really without metallics in region
Covered with absorbing material), wide height can be adjusted according to vehicle dimension, in case ambient enviroment influences to cause to demarcate radar beam
As a result wrong；If 3) be greater than the region of 10m without length, smaller area may be selected, will be surrounded on four sides with absorbing material, length is big
In 5m.
Embodiment 5
The scaling method of the automobile mounted millimetre-wave radar extrinsic calibration of the present invention, based on outside automobile mounted millimetre-wave radar
The calibration system of portion's calibration, the specific steps are as follows:
1. determining Radar Calibration region, caliberating device is placed in Radar Calibration region, vehicle-mounted milli will be installed
The vehicle to be calibrated of metre wave radar, which moves, is put into outside Radar Calibration region the i.e. specified vehicle parking region in caliberating device front, prepares
Carry out installation calibration；
2. determining that vehicle to be calibrated is in horizontal stationary state before calibration, vehicular four wheels circle center distance ground level is consistent,
Vehicle central axes are overlapped with the central axes in Radar Calibration region, and error meets status requirement；
3. after calibration system is powered on, selection enters radar and installs calibration mode, vehicle and Radar Calibration area when calibration
Caliberating device in domain answers hold mode to fix；
4. entering radar after calibrating procedure enters automatic installation calibration, the software green light demarcated in control cabinet all lights table
Show that installation passes through, otherwise need to carry out the adjustment of radar setting angle according to software prompt, until installation passes through calibration.
Claims (10)
1. the caliberating device of automobile mounted millimetre-wave radar extrinsic calibration, it is characterized in that: it includes bottom plate (9), inhales wave reflection machine
Structure is inhaled wave reflection mechanism and is placed on bottom plate (9)；Inhaling wave reflection mechanism includes several pieces of absorbing material plates (4), several radars
Reflection unit (5), upper support base (6), absorbing material plate (4) and radar reflection device (5) are each attached to support base (6)
On, at least provided with an absorbing material plate (4) before each radar reflection device (5), upper support base (6) is placed on bottom
Plate is (on 9.
2. caliberating device according to claim 1, it is characterized in that: radar reflection device (5) is preferably four, each radar
Reflection unit (5) includes the pedestal of the standard reflection target on top, lower part, and the two is affixed, and pedestal is fixed on support base (6)
On；The standard reflection target on radar reflection device (5) top is the standard corner reflector that RCS (Radar Cross Section) is 0dB.
3. caliberating device according to claim 1, it is characterized in that: the absorbing material plate (4) is radar wave dedicated suction
Wave material, number are no less than the number of radar reflection device (5).
4. caliberating device according to claim 1, it is characterized in that: caliberating device further includes left/right movement device, left and right is moved
Motivation structure includes left and right driving motor (1), traverse gear (2), lateral driving rack (3), lower support base (7), movement
Roller group (8), supporting block (11), rack support block (12)；Both lower support base (7) is located at below upper support base (6),
It is in contact, movement roller group (8) setting is in contact below lower support base (7), and with bottom plate (9), left and right driving motor
(1) output end connects traverse gear (2), and traverse gear (2) is meshed with lateral driving rack (3), and left and right is driven
Dynamic motor (1) is fixed on bottom plate (9) by supporting block (11), the rack support of the left end of lateral driving rack (3) from the left side
Block passes through in (12), its right end is fixed in the supporting block (12) on the right, and the rack support block (12) on the left side is fixed on bottom plate (9)
On, the rack support block (12) on the right is fixed on the bottom surface of lower support base (7).
5. caliberating device according to claim 4, it is characterized in that: left/right movement device further includes moving left and right auxiliary machine
Structure, moving left and right auxiliary body includes two mobile units, and two mobile units are relative to symmetrical before and after transverse shifting rack gear (3)
Setting；Each mobile unit includes transverse shifting guide rod (13), the two small supporting block (14) in left and right, transverse shifting guide rod (13)
Left end from passed through in the small supporting block (14) on the left side, its right end be fixed on the right small supporting block (14) in, the ramuscule on the left side
Bracer (14) is fixed on bottom plate (9), and the small supporting block (14) on the right is fixed on the bottom surface of lower support base (7).
6. caliberating device according to claim 1 or 4, it is characterized in that: caliberating device further includes reciprocating mechanism, up and down
Mobile mechanism includes driving upside down motor (10), longitudinal transmission gear (15), longitudinal driving rack (16)；Drive upside down motor
(10) output end connects longitudinal transmission gear (15), and longitudinal transmission gear (15) is meshed with longitudinal driving rack (16), indulges
It is free end to driving rack (16) one end, the other end and link block (17) are affixed, and link block (17) is fixed on support base
(6) on, motor (10) is driven upside down and are fixed on lower support base (7) by support base (21).
7. caliberating device according to claim 6, it is characterized in that: reciprocating mechanism further includes guide plate (20), guiding
Plate (20) is fixed on support base (21), is cooperated between longitudinal driving rack (16) by V-shaped groove.
8. caliberating device according to claim 6, it is characterized in that: reciprocating mechanism further includes moving up and down auxiliary machine
Structure, moving up and down auxiliary body includes two mobile units, and two mobile units are relative to right before and after longitudinal movement rack gear (16)
Claim setting；Each mobile unit includes longitudinal movement guide rod (18), guide sleeve (19), and the lower end of longitudinal movement guide rod (18) is solid
Be scheduled on lower support base (7), guide sleeve (19) cover longitudinal movement guide rod (18) outside, its lower end be fixed on upper support base
(6) on.
9. the calibration system of automobile mounted millimetre-wave radar extrinsic calibration, it is characterized in that: it includes a set of right 1-8 any described
Automobile mounted millimetre-wave radar extrinsic calibration caliberating device, further include implementation calibration millimetre-wave radar installation site
Radar Calibration region, the vehicle to be calibrated for having installed millimetre-wave radar sensor, calibration control cabinet；
Wherein, Radar Calibration region is located at the front or auto repair service station of car assembly shop detection line；
Millimetre-wave radar sensor on vehicle to be calibrated is used to perceive the external environment of vehicle: where the radar sensor
The receiver of radar transmitter, multiple reception radio signals including multiple transmitting radio signals handles signal
Processor, three becomes one；The received radio signal of receiver is from the spotting group reflection on caliberating device
Radio signal；Processor be used for handle spotting group reflection radio signal, it is obtaining the result is that target position
And angle；
When vehicle to be calibrated is in vehicle parking region, radar transmitter emits radar signal, and radar receiver is received through marking
Set the goal a group signal for reflection, and processor handles the signal received, the result of processing is sent to by can bus
The calibration computer in control cabinet is demarcated, determines whether the installation site of radar supports device is accurate by calibration computer；If radar
Installation site misalignment adjusts radar installation deviation according to system suggestion then to calibrate the installation site of radar supports device.
10. a kind of scaling method based on calibration system described in claim 9, step:
1. determining Radar Calibration region, caliberating device is placed in Radar Calibration region, vehicle-mounted millimeter wave will be installed
The vehicle to be calibrated of radar, which moves, is put into outside Radar Calibration region the i.e. specified vehicle parking region in caliberating device front, is ready for
Installation calibration；
2. determining that vehicle to be calibrated is in horizontal stationary state before calibration, vehicular four wheels circle center distance ground level is consistent, vehicle
Central axes are overlapped with the central axes in Radar Calibration region, and error meets status requirement；
3. after calibration system is powered on, selection enters radar and installs calibration mode, when calibration in vehicle and Radar Calibration region
Caliberating device answer hold mode to fix；
4. entering radar after calibrating procedure enters automatic installation calibration, the software green light demarcated in control cabinet all lights expression peace
Dress passes through, and otherwise needs to carry out the adjustment of radar supports device setting angle according to software prompt, until installation passes through calibration.
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| CN201910349602.0A CN110082734A (en) | 2019-04-28 | 2019-04-28 | Caliberating device, calibration system and the scaling method of automobile mounted millimetre-wave radar extrinsic calibration |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910349602.0A CN110082734A (en) | 2019-04-28 | 2019-04-28 | Caliberating device, calibration system and the scaling method of automobile mounted millimetre-wave radar extrinsic calibration |
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