CN110954882A - Radar installation calibration device and calibration method thereof - Google Patents
Radar installation calibration device and calibration method thereof Download PDFInfo
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- CN110954882A CN110954882A CN201911389075.2A CN201911389075A CN110954882A CN 110954882 A CN110954882 A CN 110954882A CN 201911389075 A CN201911389075 A CN 201911389075A CN 110954882 A CN110954882 A CN 110954882A
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- 238000009434 installation Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 230000005855 radiation Effects 0.000 claims abstract description 11
- 238000012795 verification Methods 0.000 claims description 11
- 238000010586 diagram Methods 0.000 description 3
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 1
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 1
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000001624 hip Anatomy 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
- 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
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
-
- 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
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
-
- 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
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
- G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
Abstract
The invention relates to a radar installation calibration device and a calibration method thereof, wherein the calibration method comprises the following steps: providing a radar installation calibration device, and placing the radar installation calibration device in place and leveling; determining a reference height, a first height and a second height of the reflecting device, enabling the reference height to be equal to the radar height, and enabling the first height and the second height which are positioned at two sides of the reference height to be within the radar wave radiation range of the radar; starting the radar and transmitting radar waves to the reference height, adjusting the reflection device to the reference height, the first height and the second height respectively, acquiring three reflected waves at the reference height, the first height and the second height respectively, obtaining an angle deviation adjustment amount of radar installation according to the three reflected waves, and adjusting an installation angle of the radar according to the angle deviation adjustment amount. The invention is not only suitable for the radar with the horizontal angle and pitch angle detection function, but also suitable for realizing the radar with the horizontal angle detection function, and has flexible use and simple and quick operation.
Description
Technical Field
The invention relates to the technical field of automobile equipment installation, in particular to a radar installation calibration device and a calibration method thereof.
Background
The existing radar installation calibration devices are generally two types: the first type is composed of 3 reflecting plates, and the radar is installed and calibrated by adjusting the angles of the reflecting plates; the second type consists of 1 corner reflector, which is placed in a designated position directly in front of the radar for installation calibration of the radar.
The first reflector solution has the following disadvantages: the reflecting plate is expensive, and the material is fragile, so that the reflecting plate is easy to damage in the transportation process. And the calibration distance (namely the distance between the reflecting plate and the radar) is required to be within the range of 1-1.5 m, and if the distance is too small, the requirement of the whole vehicle factory on the space can not be met when the whole vehicle is calibrated on the off-line.
The second corner reflector solution has the following disadvantages: the radar calibration device is only suitable for radars with both horizontal angle detection function and pitch angle detection function, and can not calibrate the radars with only horizontal angle detection function in the pitch direction, so that the radar installation calibration requirement can not be met, the detection distance of the radars is influenced, and the operation of an ADAS system is further influenced.
Disclosure of Invention
The invention aims to carry out radar installation and calibration by adopting a height-adjustable reflecting device and a mode of obtaining the angle deviation of a radar by acquiring the reflected wave of the reflecting device when the reflecting device is positioned at different heights, so that the radar installation and calibration method is suitable for the radar with only a horizontal angle detection function and also suitable for the radar with both horizontal angle and pitch angle detection functions.
The invention is realized by the following technical scheme: a radar mount calibration device, comprising:
the bracket comprises a base and a vertical rod fixed on the base;
a sliding component which is arranged on the vertical rod in a sliding way;
and the reflecting device is arranged on the sliding assembly.
Through the setting of sliding assembly, make reflect meter's height-adjustable to be applicable to the radar installation calibration of co-altitude not, adjust reflect meter to co-altitude not in order to obtain the reflection wave of co-location department and provide the structure basis simultaneously for when carrying out the calibration flow.
The radar installation and calibration device is further improved in that the vertical rod is provided with scales.
Through the setting of scale, be convenient for better adjustment and location reflect meter's height.
The radar installation and calibration device further comprises a limiting piece which is detachably connected to the vertical rod and used for limiting the sliding position of the sliding component on the vertical rod.
Through the improvement, the limiting piece can be arranged on the specified height of the vertical rod in advance according to the predetermined position relation among the adjustment heights of the reflecting device, so that the reflecting device can be quickly adjusted to the specified height during radar calibration.
A further improvement of the radar mount calibration apparatus of the present invention is that the reflecting means is a corner reflector.
Through the setting of corner reflector, the distance between adjustment radar installation calibrating device that can be more nimble and the radar, the demand of satisfying whole car factory to the space that can be better.
The radar mounting calibration device of the present invention is further improved in that a laser is provided at the center of the surface of the corner reflector.
The horizontal laser is emitted by the laser, so that whether the height of the corner reflector is equal to the target height or not is conveniently calibrated.
A calibration method of a radar mounting calibration device comprises the following steps:
providing the radar installation and calibration device, and placing the radar installation and calibration device at a specified distance in front of a radar, wherein the specified distance is determined according to the radar wave radiation range of the radar;
determining three adjusting heights of the reflecting device according to the specified distance and the radar wave radiation range, wherein the three adjusting heights are respectively a reference height equal to the installation height of the radar, and a first height and a second height which are respectively positioned above and below the reference height and are within the radar wave radiation range;
entering a radar calibration process, wherein the radar calibration process comprises the following steps:
adjusting the reflecting device to the reference height, starting the radar and transmitting radar waves to the position of the reference height to obtain a reference reflected wave of the reflecting device when the reflecting device is positioned at the reference height;
adjusting the reflecting device to a first height and a second height respectively, and acquiring a first reflected wave and a second reflected wave of the reflecting device when the reflecting device is positioned at the first height and the second height respectively;
obtaining a horizontal angle adjustment amount, a downward angle adjustment amount and an upward angle adjustment amount of the radar according to the reference reflected wave, the first reflected wave and the second reflected wave;
and adjusting the angle of the radar according to the horizontal angle adjustment amount, the overlook angle adjustment amount and the upward angle adjustment amount.
The radar installation calibration is carried out in a mode of obtaining the angle deviation of the radar by obtaining the reflected waves of the reflecting devices positioned at different heights, and the radar installation calibration method is suitable for the radar with the horizontal angle and pitch angle detection function and also suitable for the installation calibration of the radar with only the horizontal angle detection function.
In a further improvement of the calibration method of the radar installation calibration apparatus of the present invention, the distance between the first height and the reference height is equal to the distance between the second height and the reference height.
The calibration method of the radar installation calibration device is further improved in that the radar calibration process further comprises calibration verification, and the calibration verification comprises the following steps:
after the angle of the radar is adjusted, starting the radar after the angle is adjusted, transmitting the radar wave to the reference height position again, and acquiring a reference reflected wave, a first reflected wave and a second reflected wave again; obtaining and judging whether the horizontal angle adjustment amount, the overlook angle adjustment amount and the upward angle adjustment amount meet the precision requirement; if yes, ending the radar calibration process; if not, angle adjustment is carried out on the radar again according to the current horizontal angle adjustment amount, the overlook angle adjustment amount and the upward angle adjustment amount, and the calibration verification is carried out repeatedly.
Through the calibration verification step, the calibration precision is improved.
The radar installation calibration device and the calibration method thereof have the following beneficial effects that:
1. the height of the reflecting device is adjustable through the arrangement of the sliding assembly, so that the reflecting device is suitable for installation and calibration of radars with different heights, and meanwhile, a structural foundation is provided for adjusting the reflecting device to different heights to obtain reflected waves at different positions during a calibration process;
2. through the setting of scale and locating part, be convenient for when carrying out the radar calibration, can adjust reflect meter to appointed height on fast.
3. Through the setting of corner reflector, the distance between adjustment radar installation calibrating device that can be more nimble and the radar, the demand of satisfying whole car factory to the space that can be better.
4. The height calibration of the diagonal reflector is facilitated through the arrangement of the laser;
5. the calibration precision is improved by the calibration verification step;
6. the radar installation calibration is carried out in a mode of obtaining the angle deviation of the radar by obtaining the reflected waves of the reflecting devices positioned at different heights, and the radar installation calibration method is suitable for the radar with the horizontal angle and pitch angle detection function and also suitable for the radar with only the horizontal angle detection function.
Drawings
FIG. 1 is a schematic structural diagram of a radar mount calibration apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a corner reflector according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a positional relationship of the reflection device at different heights in the calibration method according to the embodiment of the present invention;
fig. 4 is a flow chart of radar calibration according to an embodiment of the present invention.
Detailed Description
The invention provides a radar installation calibration device, aiming at the defects of the existing radar installation calibration device, wherein the height of a reflection device is adjustable, and based on the radar installation calibration device, a calibration method for radar installation calibration in a mode of obtaining the angle deviation of a radar by acquiring the reflected wave of the reflection device positioned at different heights is provided, so that the radar installation calibration device is suitable for radars with both horizontal angle and pitch angle detection functions and radars with only horizontal angle detection function.
The radar mounting calibration apparatus and the calibration method thereof according to the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1 and 2, a radar mounting calibration apparatus includes:
the support 10 comprises a base 11 and a vertical rod 12 fixed on the base 11;
a sliding component which is slidably mounted on the upright 12;
a reflecting means 20 mounted on the sliding assembly.
In this embodiment, the upright 12 is vertically fixed on the base 11, and the base 11 is provided with a level device for adjusting the levelness of the base 11, which may be a horizontal bead or a level gauge; the sliding component (not shown in the figure) can be any device capable of sliding up and down along the vertical rod 12, for example, a vertical sliding groove can be formed in the vertical rod 12, a screw rod is fixed on the sliding component, the other end of the screw rod penetrates through the sliding groove and is sleeved with a nut at the penetrating end, the outer diameter of the nut is larger than the width of the vertical sliding groove, and the sliding of the sliding component and the locking of the sliding component are realized by loosening the nut and fastening the nut; the clamping plate can be fixed on the sliding assembly, and the sliding assembly can slide by loosening the clamping plate and can be locked by fastening the clamping plate; the reflector 20 uses, but is not limited to, a corner reflector as a reflector, and other reflectors (such as a plane reflector) or radar simulator may be used. The reflecting device 20 used in this embodiment is a 10dBsm corner reflector as shown in fig. 2, and the reflecting area can be adjusted appropriately according to the actual installation calibration environment, specifically, the corner reflector is assembled by three isosceles triangle corner reflecting plates, the two waists of the three corner reflecting plates are connected with each other, and the vertexes of the vertex angles of the three corner reflecting plates coincide at an intersection point.
Further, in order to facilitate the calibration of the levelness and height of the corner reflector, in this embodiment, an extended balance beam 21 parallel to the bottom edge of one of the corner reflecting plates of the corner reflector is fixed on the back surface of the intersection point of the corner reflector, the middle part of the balance beam 21 is connected to the sliding assembly through a rotating shaft, when the balance beam 21 rotates, the corner reflector rotates along with the extended balance beam, and two end parts of the balance beam 21 are provided with laser devices for calibrating the levelness of the balance beam 21 (i.e., the levelness of the corner reflector); a laser 22 is fixed on the front surface of the intersection point of the corner reflector, and a laser port 221 of the laser 22 is superposed with the intersection point; specifically, for the calibration of the levelness of the corner reflector, the laser devices at the two ends of the balance beam 21 are used for simultaneously emitting horizontal laser, and the balance beam 21 is rotated to simultaneously project the two horizontal laser onto the horizontal axis of the vehicle, so as to ensure that the balance beam 21 is parallel to the horizontal axis of the vehicle, and further ensure the levelness of the corner reflector rotating along with the balance beam 21; for the height calibration of the corner reflector, the position of the bracket 10 and the height of the corner reflector are fine-tuned using the horizontal laser light emitted from the laser 22 as a height calibration line of the corner reflector until the other end of the horizontal laser light is projected to a target position (e.g., a radar position or other reference position on the vehicle).
Preferably, the embodiment preferably provides a scale on the upright 12 for quick adjustment and positioning of the height of the reflector 20.
Preferably, the radar installation calibration device of the present embodiment further includes a limiting member detachably connected to the vertical rod 12 and used for limiting the sliding position of the sliding component on the vertical rod 12, and the limiting member may be any device detachably connected to the vertical rod 12 and used for blocking the sliding of the sliding component, such as an elastic plug capable of being plugged into the chute of the vertical rod 12, or a clip capable of being clamped on the side wall of the chute of the vertical rod 12. In this embodiment, the number of the limiting members is preferably at least two, and the highest adjustment height and the lowest adjustment height of the reflection device 20 can be limited, so that the reflection device can be adjusted to the corresponding heights quickly when radar calibration is performed.
With reference to fig. 3, based on the above radar installation calibration apparatus, the present invention provides a radar installation calibration method, which includes the following steps:
step S1, providing a radar installation calibration device, placing the radar installation calibration device at a specified distance in front of the radar, where the specified distance is determined according to the radar wave radiation range of the radar, and the radar installation calibration device is located within the radar wave radiation range, so that the reflection device 20 can receive the radar wave and can emit a reflected wave for the radar wave.
In this embodiment, the precondition for performing step S1 is that the vehicle asset is in a correct state, the four-wheel positioning device is used to position and calibrate the vehicle pose, and the four-wheel positioning device can be, but is not limited to, a mass production or customization device in the market, so as to ensure the accuracy and reliability of the vehicle system. When the radar installation calibration device is placed, the support 10 and the reflection device need to be leveled, and particularly, for the radar installation calibration device provided with the balance beam 21, the levelness of the reflection device 20 can be ensured by adjusting the balance beam 21 to be parallel to the transverse axis of the vehicle.
Step S2, determining three adjusting heights of the reflecting device 20 according to the designated distance and the radar wave radiation range, wherein the three adjusting heights are respectively a reference height POS0 equal to the installation height of the radar, and a first height POS1 and a second height POS2 which are respectively above and below the reference height POS0 and are in the radar wave radiation range; in this embodiment, the distance between the first height POS1 and the reference height POS0 is preferably equal to the distance between the second height POS2 and the reference height POS0, that is, the first height POS1 and the second height POS2 are symmetrically disposed on the upper and lower sides of the reference height POS 0.
Step S3, entering a radar calibration process, as shown in fig. 4, the radar calibration process includes the following steps:
step S31, adjusting the reflection device 20 to a reference height POS0 by the sliding assembly, starting a radar, transmitting a radar wave to the position of the reference height POS0, and acquiring a reference reflected wave of the reflection device 20 when the reflection device is positioned at the reference height POS 0;
step S32, sliding the sliding assembly above the reference height POS0 to adjust the reflection device 20 to a first height POS1, and acquiring a first reflected wave of the reflection device 20 at the first height POS 1; sliding the sliding assembly below the reference height POS0 to adjust the reflection device 20 to a second height POS2, and acquiring a second reflected wave of the reflection device 20 at the second height POS 2;
step S33, obtaining a radar horizontal angle adjustment amount, a radar overlook angle adjustment amount and a radar overlook angle adjustment amount according to the reference reflected wave, the first reflected wave and the second reflected wave;
and step S34, adjusting the angle of the radar according to the horizontal angle adjustment amount, the overlook angle adjustment amount and the upward angle adjustment amount.
For a fixed type of radar, the positional relationship among the reference height POS0, the first height POS1, and the second height POS2 may be predetermined, and therefore, in order to facilitate the height adjustment of the reflection apparatus 20, it is preferable to provide scales on the upright 12, and when performing step S31, only one calibration is required for the reference height POS0 of the reflection apparatus 20, and then the reflection apparatus 20 may be quickly positioned to the first height POS1 and the second height POS2 according to the positional relationship and the scales of the three heights.
Preferably, in order to improve the accuracy of radar installation calibration, the radar calibration process in this embodiment further includes a calibration verification process, where the calibration verification process includes the following steps:
after the angle of the radar is adjusted, starting the radar after the angle is adjusted, transmitting the radar wave to the original reference height POS0 again, and acquiring a reference reflected wave, a first reflected wave and a second reflected wave again; obtaining and judging whether the horizontal angle adjustment amount, the overlook angle adjustment amount and the upward angle adjustment amount meet the precision requirement; if yes, ending the radar calibration process; if not, angle adjustment is carried out on the radar again according to the current horizontal angle adjustment amount, the overlook angle adjustment amount and the upward angle adjustment amount, and calibration verification is carried out repeatedly.
The radar installation calibration device and the calibration method thereof provided by the embodiment are suitable for the vehicle-mounted radar with the horizontal and pitching detection functions and the vehicle-mounted radar with the horizontal detection function.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.
Claims (10)
1. A radar mount calibration device, comprising:
the bracket comprises a base and a vertical rod fixed on the base;
a sliding component which is arranged on the vertical rod in a sliding way; and the reflecting device is arranged on the sliding assembly.
2. The radar mount calibration device of claim 1, wherein the upright is provided with a scale.
3. The radar mount calibration device of claim 1 further comprising a stop removably attached to said mast for limiting the sliding position of said sliding assembly on said mast.
4. The radar mount calibration device of claim 1 wherein the reflecting means is a corner reflector.
5. The radar mount calibration device of claim 4 wherein a laser is disposed at the center of the surface of the corner reflector.
6. A calibration method of a radar mounting calibration device is characterized by comprising the following steps:
providing the radar installation calibration device according to any one of claims 1 to 5, placing the radar installation calibration device at a specified distance in front of a radar, wherein the specified distance is determined according to the radiation range of radar waves of the radar;
determining three adjusting heights of the reflecting device according to the specified distance and the radar wave radiation range, wherein the three adjusting heights are respectively a reference height equal to the installation height of the radar, and a first height and a second height which are respectively positioned above and below the reference height and are within the radar wave radiation range;
entering a radar calibration process, wherein the radar calibration process comprises the following steps:
adjusting the reflecting device to the reference height, starting the radar and transmitting radar waves to the position of the reference height to obtain a reference reflected wave of the reflecting device when the reflecting device is positioned at the reference height;
adjusting the reflecting device to a first height and a second height respectively, and acquiring a first reflected wave and a second reflected wave of the reflecting device when the reflecting device is positioned at the first height and the second height respectively;
obtaining a horizontal angle adjustment amount, a downward angle adjustment amount and an upward angle adjustment amount of the radar according to the reference reflected wave, the first reflected wave and the second reflected wave;
and adjusting the angle of the radar according to the horizontal angle adjustment amount, the overlook angle adjustment amount and the upward angle adjustment amount.
7. The method of calibrating a radar mount calibration device of claim 6 wherein the distance between the first height and the reference height is equal to the distance between the second height and the reference height.
8. The method of calibrating a radar mount calibration device of claim 7, wherein the radar calibration process further includes a calibration verification, the calibration verification including the steps of:
after the angle of the radar is adjusted, starting the radar after the angle is adjusted, transmitting the radar wave to the reference height position again, and acquiring a reference reflected wave, a first reflected wave and a second reflected wave again; obtaining and judging whether the horizontal angle adjustment amount, the overlook angle adjustment amount and the upward angle adjustment amount meet the precision requirement; if yes, ending the radar calibration process; if not, angle adjustment is carried out on the radar again according to the current horizontal angle adjustment amount, the overlook angle adjustment amount and the upward angle adjustment amount, and the calibration verification is carried out repeatedly.
9. The method of calibrating a radar mount calibration device according to any one of claims 6 to 8, wherein the radar is a vehicle-mounted radar having level and pitch detection functions.
10. The calibration method of a radar-mounting calibration device according to any one of claims 6 to 8, wherein the radar is a vehicle-mounted radar having only a level detection function.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911389075.2A CN110954882A (en) | 2019-12-30 | 2019-12-30 | Radar installation calibration device and calibration method thereof |
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| CN201911389075.2A CN110954882A (en) | 2019-12-30 | 2019-12-30 | Radar installation calibration device and calibration method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113625239A (en) * | 2021-08-11 | 2021-11-09 | 南京隼眼电子科技有限公司 | Vehicle-mounted millimeter wave radar pitch angle error calibration method and device and electronic equipment |
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Application publication date: 20200403 |