CN114264268A

CN114264268A - Automatic centering device and automatic centering method for four-wheel vehicle

Info

Publication number: CN114264268A
Application number: CN202111563645.2A
Authority: CN
Inventors: 于峰; 张辉; 凌玺炯
Original assignee: Lu'an Zhisuo Unmanned Vehicle Technology Co ltd
Current assignee: Lu'an Zhisuo Unmanned Vehicle Technology Co ltd
Priority date: 2021-12-20
Filing date: 2021-12-20
Publication date: 2022-04-01

Abstract

The application provides a four-wheel vehicle automatic centering device and an automatic centering method, the device comprises: the coordinate system of the platform is consistent with that of the calibration device, and the platform comprises a first part and a second part; a front wheel centering mechanism provided to the first portion and configured to center front wheels of the four-wheeled vehicle; a rear wheel-in-pair mechanism provided to the second portion and configured to center rear wheels of the four-wheeled vehicle; and the left and right wheel centering mechanisms are arranged on two sides of the first part or the second part and are configured to center left and right wheels of the four-wheel vehicle, so that a coordinate system of the four-wheel vehicle is consistent with a coordinate system of the platform and a coordinate system of the calibration device. The application provides an automatic centering device and an automatic centering method for a four-wheel vehicle, which can enable a coordinate system of the four-wheel vehicle to be consistent with a coordinate system of a calibration device in an automatic centering mode.

Description

Automatic centering device and automatic centering method for four-wheel vehicle

Technical Field

The application relates to the technical field of vehicles, in particular to an automatic centering device and an automatic centering method for a four-wheel vehicle.

Background

In the research, development and production processes of four-wheeled vehicles equipped with Advanced Driving Assistance Systems (ADAS) or Automatic Driving Systems (ADS), the calibration of environment sensing systems (laser radar, millimeter wave radar, cameras and the like) is an important link for ensuring the performance of the ADAS or ADS. In the calibration process, the standard devices such as corresponding icons and scales are arranged around the vehicle, and the measured value of the environment sensing system is compared with the actual value to determine that the installation and the setting of the sensing system meet the requirements of the system, wherein the most important is that the position of the calibration device needs to be aligned with a vehicle body coordinate system.

At present, the industry basically adopts an operation mode of firstly positioning a vehicle and then placing a calibration device according to the position of the vehicle. In this manner, if larger or more complex calibration devices are involved, manual adjustment of the vehicle position is required to facilitate alignment of the coordinate systems of the calibration system, which is not only inefficient, but is also prone to human error.

Therefore, there is a need to provide more efficient and reliable solutions.

Disclosure of Invention

The application provides an automatic centering device and an automatic centering method for a four-wheel vehicle, which can enable a coordinate system of the four-wheel vehicle to be consistent with a coordinate system of a calibration device in an automatic centering mode.

One aspect of the present application provides an automatic centering device for a four-wheeled vehicle, which is used for calibrating a context awareness system of the four-wheeled vehicle, and comprises: the coordinate system of the platform is consistent with that of the calibration device, the platform comprises a first part and a second part, and the first part and the second part are oppositely arranged on two sides of the platform; a front wheel centering mechanism provided in the first portion and configured to vertically coincide a center axis of a front wheel of the four-wheeled vehicle in a first direction with a center axis of the platform in the first direction; a rear wheel-in-pair mechanism provided in the second portion and configured to make a center axis of a rear wheel of the four-wheeled vehicle in a first direction coincide with a center axis of the platform in the first direction in a vertical direction; and left and right wheel centering mechanisms disposed on both sides of the first portion or the second portion, and configured to make central axes of left and right wheels of the four-wheel vehicle in a second direction coincide with a central axis of the platform in the second direction in a vertical direction, wherein the first direction is perpendicular to the second direction, and the front wheel centering mechanism, the rear wheel centering mechanism, and the left and right wheel centering mechanisms make a coordinate system of the four-wheel vehicle coincide with a coordinate system of the platform and a coordinate system of the calibration device.

In some embodiments of the present application, the front wheel-in-pair mechanism includes: a front wheel slide plate arranged on the first part and configured to bear the front wheels of the four-wheel vehicle and drive the front wheels of the four-wheel vehicle to translate in the first direction; the front wheel screw rod is arranged on the central axis of the platform; the front wheel push rod is sleeved on the front wheel screw rod and is configured to move on the front wheel screw rod along a second direction under the driving of the front wheel screw rod; the front wheel push blocks are arranged at two ends of the front wheel push rod; the front wheel sliding block guide mechanism is fixedly arranged on the platform, the front wheel pushing block is arranged on the front wheel sliding block guide mechanism, and the front wheel pushing block can only move on the front wheel sliding block guide mechanism along the first direction; the front wheel driving mechanism is configured to drive the front wheel screw rod to rotate, the front wheel screw rod drives the front wheel push rod to move on the front wheel screw rod along a second direction, and two ends of the front wheel push rod drive the front wheel push block to move in a first direction.

In some embodiments of the present application, the centering device further comprises: and the front wheel sliding plate resetting mechanism is elastically connected with the front wheel sliding plate and the platform and is configured to reset the front wheel sliding plate after moving due to the elastic action.

In some embodiments of the present application, the front wheel pusher has a length equal to 1 to 1.2 times the front wheel spacing.

In some embodiments of the present application, the rear wheel-in-pair mechanism includes: a rear wheel skid plate disposed on the second portion and configured to carry and translate the rear wheels of the four-wheeled vehicle in the first direction; the rear wheel screw rod is arranged on the central axis of the platform; the rear wheel push rod is sleeved on the rear wheel screw rod and is configured to move on the rear wheel screw rod along a second direction under the driving of the rear wheel screw rod; the rear wheel push blocks are arranged at two ends of the rear wheel push rod; the rear wheel sliding block guide mechanism is fixedly arranged on the platform, the rear wheel push block is arranged on the rear wheel sliding block guide mechanism, and the rear wheel push block can only move on the rear wheel sliding block guide mechanism along the first direction; the rear wheel driving mechanism is configured to drive the rear wheel screw rod to rotate, the rear wheel screw rod drives the rear wheel push rod to move on the rear wheel screw rod along a second direction, and two ends of the rear wheel push rod drive the rear wheel push block to move in a first direction.

In some embodiments of the present application, the centering device further comprises: and the rear wheel sliding plate resetting mechanism is elastically connected with the rear wheel sliding plate and the platform and is configured to reset the rear wheel sliding plate after moving due to the elastic action.

In some embodiments of the present application, the rear wheel pusher has a length equal to 1 to 1.2 times the rear wheel spacing.

In some embodiments of the present application, the left-right wheel-in-pair mechanism comprises: the left wheel limiting block comprises a left wheel front limiting block and a left wheel rear limiting block, the left wheel front limiting block and the left wheel rear limiting block are configured to rotate in the vertical direction, so that the center of a left wheel of the four-wheel vehicle and the centers of the left wheel front limiting block and the left wheel rear limiting block are positioned on the same vertical line, and the central axis of the left wheel of the four-wheel vehicle in the second direction is vertically overlapped with the central axis of the platform in the second direction; a right wheel stopper including a right wheel front stopper and a right wheel rear stopper configured to rotate in a vertical direction such that a center of a right wheel of the four-wheel vehicle and centers of the right wheel front stopper and the right wheel rear stopper are positioned on a same vertical line, and such that a central axis of the right wheel of the four-wheel vehicle in a second direction is vertically coincident with a central axis of the platform in the second direction; the distance between the centers of the front left wheel limiting block and the rear left wheel limiting block and the distance between the centers of the platform and the central axis of the second direction are equal to the distance between the centers of the left wheels of the four-wheel vehicle and the central axis of the four-wheel vehicle in the second direction, and the distance between the centers of the front right wheel limiting block and the rear right wheel limiting block and the distance between the centers of the platform and the central axis of the second direction are equal to the distance between the centers of the right wheels of the four-wheel vehicle and the central axis of the four-wheel vehicle in the second direction.

In some embodiments of the present application, the distance between the front and rear left wheel stops is equal to 0.4 to 0.6 times the diameter of the left wheel; the distance between the right wheel front limiting block and the right wheel rear limiting block is equal to 0.4 to 0.6 times of the diameter of the right wheel.

In some embodiments of the present application, the rotation angle of the left wheel front stopper and the left wheel rear stopper in the vertical direction such that the center of the left wheel of the four-wheeled vehicle and the centers of the left wheel front stopper and the left wheel rear stopper are located on the same vertical line is 40 to 50 degrees; the right wheel front limit block and the right wheel rear limit block rotate in the vertical direction, so that the rotation angle of the center of the right wheel of the four-wheel vehicle and the rotation angle of the center of the right wheel front limit block and the rotation angle of the center of the right wheel rear limit block are 40-50 degrees when the centers of the right wheel front limit block and the right wheel rear limit block are positioned on the same vertical line.

In some embodiments of the present application, the front wheel-in-pair mechanism includes: a front wheel slide plate arranged on the first part and configured to bear the front wheels of the four-wheel vehicle and drive the front wheels of the four-wheel vehicle to translate in the first direction; the front wheel telescopic rod is arranged in the center of the first part; the front wheel push blocks are arranged at two ends of the front wheel telescopic rod; the front wheel driving mechanism is configured to drive the front wheel telescopic rod to stretch and retract along the first direction, and the front wheel telescopic rod drives the front wheel push block to move in the first direction.

In some embodiments of the present application, the maximum length of the front wheel telescoping rod is equal to 1 to 1.2 times the front wheel spacing.

In some embodiments of the present application, the rear wheel-in-pair mechanism includes: a rear wheel skid plate disposed on the second portion and configured to carry and translate the rear wheels of the four-wheeled vehicle in the first direction; the rear wheel telescopic rod is arranged in the center of the second part; the rear wheel push blocks are arranged at two ends of the rear wheel telescopic rod; the rear wheel driving mechanism is configured to drive the rear wheel telescopic rod to stretch and retract along the first direction, and the rear wheel telescopic rod drives the rear wheel push block to move in the first direction.

In some embodiments of the present application, the maximum length of the rear wheel telescoping rod is equal to 1 to 1.2 times the rear wheel spacing.

In some embodiments of the present application, the front wheel-in-pair mechanism includes: a front wheel slide plate arranged on the first part and configured to bear the front wheels of the four-wheel vehicle and drive the front wheels of the four-wheel vehicle to translate in the first direction; a front wheel distance sensor disposed at a center of the first portion, configured to measure a distance between a front wheel of the four-wheeled vehicle and the front wheel distance sensor in a first direction; a front wheel slide plate driving mechanism connected with the front wheel slide plate and configured to drive the front wheel slide plate to move in the first direction; a front wheel processor configured to receive a measurement result of the front wheel distance sensor and control the front wheel slide driving mechanism to drive the front wheel slide to move in the first direction according to the measurement result.

In some embodiments of the present application, the rear wheel-in-pair mechanism includes: a rear wheel skid plate disposed on the second portion and configured to carry and translate the rear wheels of the four-wheeled vehicle in the first direction; a rear wheel distance sensor disposed at a center of the second portion, configured to measure a distance between a rear wheel of the four-wheeled vehicle and the rear wheel distance sensor in a first direction; a rear wheel slide plate driving mechanism connected with the rear wheel slide plate and configured to drive the rear wheel slide plate to move in the first direction; a rear wheel processor configured to receive a measurement result of the rear wheel distance sensor and control the rear wheel slide driving mechanism to drive the rear wheel slide to move in the first direction according to the measurement result.

In some embodiments of the present application, the centering device further comprises: a sensing device configured to sense a position of the four-wheeled vehicle; and the controller is configured to control the four-wheel vehicle automatic centering device to be switched on and off according to the sensing result of the sensing device.

In some embodiments of the present application, the controlling of the turning on and off of the automatic centering device for four-wheeled vehicles according to the sensing result of the sensing device includes: when the sensing device senses that the four-wheel vehicle is completely positioned on the platform, the controller controls the automatic centering device of the four-wheel vehicle to be started; when the sensing device senses that the four-wheel vehicle completely leaves the platform, the controller controls the automatic centering device of the four-wheel vehicle to be closed.

In some embodiments of the present application, the centering device further comprises: and the guide mechanisms are arranged on two sides of the first part and the second part and are configured to guide the four-wheel vehicle to drive in and drive out of the platform.

Another aspect of the present application further provides a four-wheel vehicle automatic centering method of the four-wheel vehicle automatic centering device, for calibrating a context awareness system of a four-wheel vehicle, including: mounting the platform on a set station, and enabling a coordinate system of the platform to be consistent with a coordinate system of a calibration device; enabling a central axis of a front wheel of the four-wheel vehicle in a first direction to be vertically overlapped with a central axis of the platform in the first direction through the front wheel centering mechanism, and enabling a central axis of a rear wheel of the four-wheel vehicle in the first direction to be vertically overlapped with the central axis of the platform in the first direction through the rear wheel centering mechanism; and the central axes of the left and right wheels of the four-wheel vehicle in the second direction are superposed with the central axis of the platform in the second direction in the vertical direction through the left and right wheel centering mechanisms, so that the coordinate system of the four-wheel vehicle is consistent with the coordinate system of the platform and the coordinate system of the calibration device.

The application provides a four-wheel vehicle automatic centering device and an automatic centering method, which can enable front and rear wheels and left and right wheels of the four-wheel vehicle to be respectively centered through an automatic centering mode, further enable a coordinate system of the four-wheel vehicle to be consistent with a coordinate system of the centering device, and therefore enable the coordinate system of the four-wheel vehicle to be consistent with a coordinate system of a calibration device, the centering method is automatically completed, the efficiency is higher, and the error rate is lower.

Drawings

The following drawings describe in detail exemplary embodiments disclosed in the present application. Wherein like reference numerals represent similar structures throughout the several views of the drawings. Those of ordinary skill in the art will understand that the present embodiments are non-limiting, exemplary embodiments and that the accompanying drawings are for illustrative and descriptive purposes only and are not intended to limit the scope of the present application, as other embodiments may equally fulfill the inventive intent of the present application. It should be understood that the drawings are not to scale. Wherein:

FIG. 1 is a schematic structural diagram of an automatic centering device for a four-wheeled vehicle according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a front wheel centering mechanism in an automatic centering device for a four-wheel vehicle according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a left and right wheel centering mechanism in an automatic centering device for a four-wheel vehicle according to an embodiment of the present application.

Detailed Description

The following description is presented to enable any person skilled in the art to make and use the present disclosure, and is provided in the context of a particular application and its requirements. Various modifications to the disclosed embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the present application. Thus, the present application is not limited to the embodiments shown, but is to be accorded the widest scope consistent with the claims.

The technical solution of the present invention will be described in detail below with reference to the embodiments and the accompanying drawings.

In a four-wheeled vehicle equipped with an Advanced Driving Assistance System (ADAS) or an Automatic Driving System (ADS), an environment sensing system (lidar, millimeter wave radar, camera, etc.) is provided on the four-wheeled vehicle for sensing the environment around the four-wheeled vehicle so as to realize automatic driving. Therefore, it is important that the environment sensing system can sense accurately, and the calibration of the environment sensing system is an important link for ensuring the performance of the ADAS or ADS. In the calibration process, corresponding calibration devices such as icons and scales are arranged around the vehicle, and the measured value of the environment sensing system is compared with the actual value to determine that the installation and the setting of the environment sensing system meet the requirements of the system, wherein the most important is that the coordinate system of the calibration device needs to be aligned with the coordinate system of the vehicle body.

In order to solve the problems, the application provides an automatic centering device and an automatic centering method for a four-wheel vehicle, which can enable front wheels, rear wheels, left wheels and right wheels of the four-wheel vehicle to be respectively centered in an automatic centering mode, and further enable a coordinate system of the four-wheel vehicle to be consistent with a coordinate system of the centering device, so that the coordinate system of the four-wheel vehicle is consistent with a coordinate system of a calibration device, and the centering method is automatically completed, so that the efficiency is higher, and the error rate is lower.

Fig. 1 is a schematic structural diagram of an automatic centering device for a four-wheel vehicle according to an embodiment of the present application.

The embodiment of the application provides an automatic centering device for a four-wheel vehicle, which is used for calibrating an environment sensing system of the four-wheel vehicle.

Referring to fig. 1, the automatic centering device for a four-wheeled vehicle includes: the coordinate system of the platform 100 is consistent with that of the calibration device, the platform comprises a first part 101 and a second part 102, and the first part 101 and the second part 102 are oppositely arranged on two sides of the platform 100.

The coordinate system described herein is a cartesian coordinate system including an X-axis located in a horizontal plane, a Y-axis and a Z-axis perpendicular to the horizontal plane. The four-wheel vehicle automatic centering device is used for enabling the coordinate system of the four-wheel vehicle to be consistent with the coordinate system of the four-wheel vehicle automatic centering device, namely enabling an X axis, a Y axis and a Z axis in the coordinate system of the four-wheel vehicle to be consistent with the X axis, the Y axis and the Z axis in the coordinate system of the four-wheel vehicle automatic centering device. Wherein the Z-axis of the four-wheel vehicle and the Z-axis of the four-wheel vehicle automatic centering device are coincident when the four-wheel vehicle is positioned on the four-wheel vehicle automatic centering device as long as the surface level of the four-wheel vehicle automatic centering device is ensured. Therefore, the automatic centering device for the four-wheel vehicle in the embodiment of the present application mainly aims to make the X axis and the Y axis in the coordinate system of the four-wheel vehicle coincide with the X axis and the Y axis in the coordinate system of the automatic centering device for the four-wheel vehicle. The directions of the X axis and the Y axis of the four-wheel vehicle automatic centering device are a first direction 10 and a second direction 20 respectively.

The platform 100 serves as a base of the four-wheel vehicle automatic centering device, and other structures of the four-wheel vehicle automatic centering device can be directly or indirectly arranged on the platform 100. Therefore, the coordinate system of the platform 100 coincides with the coordinate system of the four-wheel vehicle automatic centering device.

In the technical scheme of the application, the four-wheel vehicle automatic centering device is used as an intermediate medium, a coordinate system of the four-wheel vehicle automatic centering device (namely, a coordinate system of the platform 100) is made to be consistent with a coordinate system of the calibration device, and then the coordinate system of the four-wheel vehicle is made to be consistent with the coordinate system of the four-wheel vehicle automatic centering device, so that the coordinate system of the four-wheel vehicle is consistent with the coordinate system of the calibration device.

The platform 100 is also used to carry a four-wheeled vehicle, and thus the shape and size of the platform 100 corresponds to the shape and size of a four-wheeled vehicle, and the size of the platform 100 may be slightly larger than the size of a four-wheeled vehicle. Generally, the shape of the four-wheeled vehicle is approximately rectangular, and the platform 100 may be configured to be rectangular. Wherein the long side of the platform 100 is located in the second direction 20.

With continued reference to fig. 1, the platform 100 is provided with opposing first and

second portions

101, 102 on either side in the second direction 20. The positions of the first and

second portions

101 and 102 correspond to the positions of the front and rear wheels of the four-wheeled vehicle, respectively, when the four-wheeled vehicle is positioned on the platform 100. It should be noted that the front wheel, the rear wheel, the left wheel and the right wheel mentioned in the present application refer to the wheel located at the front of the four-wheel vehicle, the wheel located at the rear of the four-wheel vehicle, the wheel located at the left side of the four-wheel vehicle, and the wheel located at the right side of the four-wheel vehicle, respectively. Wherein, the front, back, left and right directions are consistent with the directions of the four-wheel vehicle when the four-wheel vehicle normally runs forwards.

With continued reference to FIG. 1, in some embodiments of the present application, the four-wheel vehicle automatic centering device further comprises: and guide mechanisms 130, disposed on both sides of the first portion 101 and the second portion 102, configured to guide the four-wheeled vehicle to enter and leave the platform 100.

In some embodiments of the present application, the platform 100 is disposed on the ground, and a four-wheeled vehicle cannot directly drive into the platform 100, which requires the assistance of the guiding mechanism 130. The guide mechanism 130 is a slope having a height corresponding to the height of the platform 10. The positions of the guide mechanisms 130 correspond to the left and right wheels of the four-wheeled vehicle, respectively.

In other embodiments of the present application, the platform 100 may be embedded in the ground, and the guide mechanism 130 may not be required.

With continued reference to fig. 1, the automatic centering device for a four-wheeled vehicle further includes: a front wheel centering mechanism 110, provided to the first portion 101, configured to vertically coincide a center axis of front wheels of the four-wheeled vehicle in the first direction 10 with a center axis of the platform 100 in the first direction 10. When a four-wheeled vehicle is positioned on the platform 100, two front wheels of the four-wheeled vehicle are positioned in the first portion 101, and the front wheel centering mechanism 110 centers the two front wheels of the four-wheeled vehicle, that is, a central axis of the two front wheels of the four-wheeled vehicle in the first direction 10 and a central axis of the platform 100 in the first direction 10 are vertically aligned, that is, a head portion (a portion including the two front wheels) of the four-wheeled vehicle is oriented in the second direction 20.

Fig. 2 is a schematic structural diagram of a front wheel centering mechanism in an automatic centering device for a four-wheel vehicle according to an embodiment of the present application. The structure and the operation principle of the front wheel centering mechanism in the automatic centering device for the four-wheel vehicle according to the embodiment of the present application will be described in detail with reference to fig. 1 and 2.

Referring to fig. 1 and 2, the front wheel centering mechanism 110 includes: a front wheel sled 111, disposed at the first portion 101, configured to carry and translate the front wheels of the four-wheeled vehicle in the first direction 10.

In some embodiments of the present application, the front wheel slide 111 is connected to the platform 100 by a slide rail, so that the front wheel slide 111 can slide freely in the first direction 10.

In some embodiments of the present application, the number of the front wheel slide plates 111 is one. The front wheel slide 111 extends in the first direction 10, and the front wheel slide 111 simultaneously carries two front wheels of a four-wheeled vehicle. The use of one front wheel slide 111 ensures the uniformity of the movement of the two front wheels of the four-wheeled vehicle.

In other embodiments of the present application, the number of the front wheel slide plates 111 is two, and the two front wheel slide plates are respectively disposed on both sides of the first portion 101 in the first direction 10. The two front wheel slide plates 111 carry two front wheels of the four-wheeled vehicle, respectively. The use of two front wheel skids 111 saves material and facilitates maintenance and replacement of the front wheel skids.

In some embodiments of the present application, the front wheel centering mechanism 110 further comprises: a front wheel slide returning mechanism (not shown in the drawings), elastically connecting the front wheel slide 111 and the platform 100, configured to return the front wheel slide 111 after moving due to an elastic action. For example, the front wheel slide returning mechanism is a spring, one end of the spring is connected to the front wheel slide 111, and the other end of the spring is connected to the platform 100. When the front wheel slide plate 111 is located at the initial position, the spring is also in the initial state. When the front wheel slide 111 moves, the spring is stretched or compressed to be deformed, but the spring cannot return to an original state due to the pressure of the four-wheeled vehicle. When the four-wheeled vehicle leaves the platform 100, the spring returns to the initial state due to the elastic force, and then drives the front wheel slide 111 to return to the initial position.

Referring to fig. 1 and 2, the front wheel centering mechanism 110 further includes: and the front wheel screw rod 112 is arranged on the central axis of the platform 100. The front wheel alignment is performed subsequently with the front wheel spindle 112 as the center position, so that the front wheel spindle 112 must be located on the center axis of the platform 100 to align the two front wheels with respect to the center axis of the platform 100.

Referring to fig. 1 and 2, the front wheel centering mechanism 110 further includes: the front wheel push rod 113 is sleeved on the front wheel screw rod 112 and configured to move on the front wheel screw rod 112 along the second direction 20 under the driving of the front wheel screw rod 112.

The front wheel push rod 113 includes a left push rod, a right push rod, and a connection part connecting the left push rod and the right push rod. The connecting portion is sleeved on the front wheel screw rod 112, and the left push rod and the right push rod are rotatably connected to the connecting portion. When the connecting portion moves on the front wheel screw 112, the left and right push rods may rotate along the connecting point of the left and right push rods and the connecting portion to convert the movement of the connecting portion in the second direction 20 into the movement of the left and right push rods in the first direction 10.

In some embodiments of the present application, the length of the front wheel push rod 113 is equal to 1 to 1.2 times the distance between two front wheels of the four-wheel vehicle. The length of the front wheel push rod 113 cannot be too short, otherwise, the two front wheels cannot be contacted simultaneously, and the centering effect cannot be achieved. The length of the front wheel push rod 113 cannot be too long, otherwise the angle between the front wheel push rod 113 and the front wheel screw rod 112 is too small, and the driving force required for driving the front wheel push rod 113 to push the automobile is too large.

Referring to fig. 1 and 2, the front wheel centering mechanism 110 further includes: and the front wheel push block 114 is arranged at two ends of the front wheel push rod 113, and two ends of the front wheel push rod 113 are rotatably connected with the front wheel push block 114. The front wheel push block 114 is a rigid material. The front wheel push block 114 is used for pushing wheels, and the front wheel push block 114 cannot deform when stressed so as to prevent the position of the rear wheel pushing the wheels from being inaccurate.

Referring to fig. 1 and 2, the front wheel centering mechanism 110 further includes a front wheel slider guide mechanism 115 fixedly disposed on the platform 100 at a position corresponding to positions of two front wheels of the four-wheel vehicle, the front wheel push block 114 is disposed on the front wheel slider guide mechanism 115, and the front wheel push block 114 can only move on the front wheel slider guide mechanism 115 in the first direction 10. Referring to fig. 2, the front wheel slider guide mechanism 115 includes two blocking plates disposed along the second direction 20, and blocks the end of the front wheel push rod 113 connected to the front wheel slider 114 from moving in the second direction 20, so that the end of the front wheel push rod 113 connected to the front wheel slider 114 can only move in the first direction 10.

Referring to fig. 1 and 2, the front wheel centering mechanism 110 further includes: a front wheel driving mechanism 116 configured to drive the front wheel screw 112 to rotate. The front wheel drive mechanism 116 is, for example, an electric motor. The front wheel drive mechanism 116 may be positioned between the first portion 101 and the second portion 102 to take advantage of space on the platform 100.

In the technical scheme of this application, through the drive of front wheel actuating mechanism 116 the front wheel lead screw 112 is rotatory, front wheel lead screw 112 drives front wheel push rod 113 is in the front wheel lead screw 112 is last to move along second direction 20, the both ends of front wheel push rod 113 drive front wheel ejector pad 114 is at first direction 10 equidistance removal. Due to the initial position deviation of two front wheels (shown by a dotted line in fig. 2) of the four-wheel vehicle, the front wheel push block 114 will contact one of the front wheels first, push the front wheel after contacting and drive the vehicle body to move outward, when the two front wheels contact the front wheel push block 114 at the same time, the centers of the two front wheels are located on the central axis of the platform 100, and the centering of the two front wheels is completed.

In other embodiments of the present application, the front wheel centering mechanism 110 may have other structures, for example, the front wheel centering mechanism 110 may include: a front wheel slide plate arranged on the first part and configured to bear the front wheels of the four-wheel vehicle and drive the front wheels of the four-wheel vehicle to translate in the first direction; the front wheel telescopic rod is arranged in the center of the first part; the front wheel push blocks are arranged at two ends of the front wheel telescopic rod; the front wheel driving mechanism is configured to drive the front wheel telescopic rod to stretch and retract along the first direction, and the front wheel telescopic rod drives the front wheel push block to move in the first direction.

The front wheel slide plate, the front wheel push block and the front wheel driving mechanism are completely the same as the corresponding structures described in the foregoing. The transmission structure of the front wheel screw 112 and the front wheel push rod 113 described above is adjusted to be a front wheel telescopic rod. The front wheel sliding block is pushed by the telescopic rod of the front wheel to push the four-wheel vehicle.

In the technical scheme of this application, through front wheel actuating mechanism drive the front wheel telescopic link extension, the front wheel telescopic link drives the front wheel ejector pad is at 10 equidistance removal in the first direction. Due to the deviation of the initial positions of the two front wheels of the four-wheel vehicle, the front wheel push block firstly contacts one of the front wheels, pushes the front wheel after the front wheel push block contacts the front wheel and drives the vehicle body to move outwards, and when the two front wheels simultaneously contact the front wheel push block, the centers of the two front wheels are positioned on the central axis of the platform 100, so that the centering of the two front wheels is completed.

In still other embodiments of the present application, the front wheel centering mechanism 110 may also be other structures, including, for example: a front wheel slide plate arranged on the first part and configured to bear the front wheels of the four-wheel vehicle and drive the front wheels of the four-wheel vehicle to translate in the first direction; a front wheel distance sensor disposed at a center of the first portion, configured to measure a distance between a front wheel of the four-wheeled vehicle and the front wheel distance sensor in a first direction; a front wheel slide plate driving mechanism connected with the front wheel slide plate and configured to drive the front wheel slide plate to move in the first direction; a front wheel processor configured to receive a measurement result of the front wheel distance sensor and control the front wheel slide driving mechanism to drive the front wheel slide to move in the first direction according to the measurement result.

In the technical scheme of this application, through front wheel distance sensor measures the distance of two front wheels of four-wheel vehicle, according to the distance difference control of two front wheels front wheel slide actuating mechanism drive the front wheel slide is in the first direction removes, the front wheel slide drives the automobile body and removes, up to the distance of two front wheels is the same, when two front wheels with the distance of front wheel distance sensor is the same, the center of two front wheels is located on the axis of platform 100, accomplishes the centering of two front wheels.

With continued reference to fig. 1, the automatic centering device for a four-wheeled vehicle further includes: a rear wheel-in-pair mechanism 120, provided to the second portion 102, configured to make a center axis of a rear wheel of the four-wheeled vehicle in the first direction 10 coincide with a center axis of the platform 100 in the first direction 10 in a vertical direction. When a four-wheeled vehicle is positioned on the platform 100, two rear wheels of the four-wheeled vehicle are positioned in the second portion 102, and the rear-wheel-in-pair mechanism 120 makes a central axis of two rear wheels of the four-wheeled vehicle in the first direction 10 coincide with a central axis of the platform 100 in the first direction 10 in a vertical direction, that is, makes a rear portion (a portion including two rear wheels) of the four-wheeled vehicle face in the second direction 20.

When the head portion and the tail portion of the four-wheeled vehicle are both oriented in the same direction as the second direction 20, the entire body of the four-wheeled vehicle is in the same direction as the second direction 20. Namely, the Y axis of the coordinate system of the four-wheel vehicle is consistent with the Y axis of the coordinate system of the automatic centering device of the four-wheel vehicle, namely, the Y axis of the coordinate system of the four-wheel vehicle is consistent with the Y axis of the coordinate system of the calibration device.

In some embodiments of the present application, the rear wheel-to-center mechanism 120 includes: a rear wheel skid plate disposed on the second portion and configured to carry and translate the rear wheels of the four-wheeled vehicle in the first direction; the rear wheel screw rod is arranged on the central axis of the platform; the rear wheel push rod is sleeved on the rear wheel screw rod and is configured to move on the rear wheel screw rod along a second direction under the driving of the rear wheel screw rod; the rear wheel push blocks are arranged at two ends of the rear wheel push rod; the rear wheel sliding block guide mechanism is arranged on the rear wheel push block, so that two ends of the rear wheel push rod can only move in the first direction; the rear wheel driving mechanism is configured to drive the rear wheel screw rod to rotate, the rear wheel screw rod drives the rear wheel push rod to move on the rear wheel screw rod along a second direction, and two ends of the rear wheel push rod drive the rear wheel push block to move in a first direction.

In some embodiments of the present application, the rear wheel-to-center mechanism 120 further comprises: and the rear wheel sliding plate resetting mechanism is elastically connected with the rear wheel sliding plate and the platform and is configured to reset the rear wheel sliding plate after moving due to the elastic action.

In other embodiments of the present application, the rear wheel-in-pair mechanism includes: a rear wheel skid plate disposed on the second portion and configured to carry and translate the rear wheels of the four-wheeled vehicle in the first direction; the rear wheel telescopic rod is arranged in the center of the second part; the rear wheel push blocks are arranged at two ends of the rear wheel telescopic rod; the rear wheel driving mechanism is configured to drive the rear wheel telescopic rod to stretch and retract along the first direction, and the rear wheel telescopic rod drives the rear wheel push block to move in the first direction.

In still other embodiments of the present application, the rear wheel-in-pair mechanism includes: a rear wheel skid plate disposed on the second portion and configured to carry and translate the rear wheels of the four-wheeled vehicle in the first direction; a rear wheel distance sensor disposed at a center of the second portion, configured to measure a distance between a rear wheel of the four-wheeled vehicle and the rear wheel distance sensor in a first direction; a rear wheel slide plate driving mechanism connected with the rear wheel slide plate and configured to drive the rear wheel slide plate to move in the first direction; a rear wheel processor configured to receive a measurement result of the rear wheel distance sensor and control the rear wheel slide driving mechanism to drive the rear wheel slide to move in the first direction according to the measurement result.

In some embodiments of the present application, the structure of the rear wheel-centering mechanism 120 is identical to the structure of the front wheel-centering mechanism 110. The structure of the front wheel centering mechanism 110 has been described in detail above, and therefore the structure of the rear wheel centering mechanism 120 will not be described in detail, and the structure of the rear wheel centering mechanism 120 can be referred to the front wheel centering mechanism 110.

With continued reference to fig. 1, the automatic centering device for a four-wheeled vehicle further includes: left and right wheel centering mechanisms 140, disposed on both sides of the first portion 101 or the second portion 102 (in the embodiment of the present application, the left and right wheel centering mechanisms 140 are located on the first portion 101), are configured to make central axes of left and right wheels of the four-wheeled vehicle in a second direction 20 vertically coincide with a central axis of the platform 100 in the second direction 20, wherein the first direction 10 is perpendicular to the second direction 20.

When the entire body of the four-wheel vehicle coincides with the second direction 20, that is, the Y axis of the coordinate system of the four-wheel vehicle coincides with the Y axis of the coordinate system of the automatic centering device for the four-wheel vehicle, the central axis of the left and right wheels of the four-wheel vehicle in the second direction 20 coincides with the central axis of the platform 100 in the second direction 20 in the vertical direction, that is, the body of the four-wheel vehicle coincides with the first direction 10, that is, the X axis of the coordinate system of the four-wheel vehicle coincides with the X axis of the coordinate system of the automatic centering device for the four-wheel vehicle. Therefore, the coordinate system of the four-wheel vehicle is consistent with the coordinate system of the automatic centering device of the four-wheel vehicle, and further consistent with the coordinate system of the calibration device.

Fig. 3 is a schematic structural diagram of a left and right wheel centering mechanism in an automatic centering device for a four-wheel vehicle according to an embodiment of the present application. The structure and the operation principle of the left and right wheel centering mechanism in the automatic centering device for four-wheel vehicles according to the embodiment of the present application will be described in detail with reference to fig. 1 and 3.

Referring to fig. 1 and 3, the left-right wheel centering mechanism 140 includes: the left wheel stopper 141, the left wheel stopper 141 includes a left wheel front stopper 141a and a left wheel rear stopper 141b, the left wheel front stopper 141a and the left wheel rear stopper 141b are configured to rotate in a vertical direction so that a center of a left wheel of the four-wheel vehicle and centers of the left wheel front stopper 141a and the left wheel rear stopper 141b are located on a same vertical line, and thus a central axis of the left wheel of the four-wheel vehicle in the second direction 20 coincides with a central axis of the platform 100 in the second direction 20 in the vertical direction.

When the four-wheel vehicle is located on the platform 100, a left wheel of the four-wheel vehicle is located between the left wheel front limit block 141a and the left wheel rear limit block 141b, and at this time, the left wheel front limit block 141a and the left wheel rear limit block 141b are driven to rotate towards the left wheel at the same time, so that the left wheel can be limited. Specifically, referring to fig. 3, the left wheel front stopper 141a and the left wheel rear stopper 141b are respectively wound around the axial center O thereof from the initial position (indicated by a dotted line in fig. 3)₁And O₂Rotate until both the front left wheel limiter 141a and the rear left wheel limiter 141b contact the left wheel. The axle center O of the left wheel₀And the axial center O of the left wheel front stopper 141a and the left wheel rear stopper 141b₁And O₂Are equal.

The left-right wheel centering mechanism 140 further includes: the right wheel stopper, the stopper is followed to the right wheel stopper includes stopper and right wheel before the right wheel, stopper and right wheel after the right wheel are configured to rotate and make in the vertical direction the center of four-wheel vehicle's right wheel and the center of stopper is located same vertical line behind stopper and the right wheel before the right wheel, make four-wheel vehicle's right wheel in the axis of second direction with the platform is in the coincidence of the axis of second direction on the vertical direction.

The structure of the right wheel limiting block is completely the same as that of the left wheel limiting block 141. Since the structure and the operation principle of the left wheel stopper 141 are explained in detail in the foregoing, the structure and the operation principle of the right wheel stopper are not described herein again.

In some embodiments of the present application, the center of the front left wheel stopper and the rear left wheel stopper and the distance of the central axis of the second direction 20 of the platform 100 are equal to the center of the left wheel of the four-wheel vehicle and the distance of the central axis of the second direction 20 of the four-wheel vehicle, the center of the front right wheel stopper and the rear right wheel stopper and the distance of the central axis of the second direction 200 of the platform 100 are equal to the distance of the central axis of the second direction 20 of the four-wheel vehicle and the distance of the central axis of the second direction 20 of the four-wheel vehicle. That is, it is ensured that when the four-wheeled vehicle is positioned on the platform 100, the left wheel of the four-wheeled vehicle is positioned just between the left wheel front stopper and the left wheel rear stopper, and the right wheel of the four-wheeled vehicle is positioned just between the right wheel front stopper and the right wheel rear stopper.

In some embodiments of the present application, the distance between the left wheel front stopper 141a and the left wheel rear stopper 141b is equal to 0.4 to 0.6 times the diameter of the left wheel; the distance between the right wheel front limiting block and the right wheel rear limiting block is equal to 0.4 to 0.6 times of the diameter of the right wheel.

In some embodiments of the present application, the rotation angle of the left wheel front stopper 141a and the left wheel rear stopper 141b in the vertical direction, which is further rotated such that the center of the left wheel of the four-wheeled vehicle and the centers of the left wheel front stopper and the left wheel rear stopper are located on the same vertical line, is 40 to 50 degrees; the right wheel front limit block and the right wheel rear limit block rotate in the vertical direction, so that the rotation angle of the center of the right wheel of the four-wheel vehicle and the rotation angle of the center of the right wheel front limit block and the rotation angle of the center of the right wheel rear limit block are 40-50 degrees when the centers of the right wheel front limit block and the right wheel rear limit block are positioned on the same vertical line.

In the technical solution of the present application, after the four-wheel vehicle drives into the four-wheel vehicle automatic centering device, the front wheel centering mechanism 110 and the rear wheel centering mechanism 120 make the entire vehicle body of the four-wheel vehicle coincide with the second direction 20, that is, make the Y axis of the coordinate system of the four-wheel vehicle coincide with the Y axis of the coordinate system of the four-wheel vehicle automatic centering device, and then make the central axes of the left and right wheels of the four-wheel vehicle in the second direction 20 coincide with the central axis of the platform 100 in the second direction 20 in the vertical direction through the front and rear wheel centering mechanism 140, that is, make the vehicle body of the four-wheel vehicle coincide with the first direction 10, that is, make the X axis of the coordinate system of the four-wheel vehicle coincide with the X axis of the coordinate system of the four-wheel vehicle automatic centering device. And realizing the consistency of the coordinate system of the four-wheel vehicle and the coordinate system of the automatic centering device of the four-wheel vehicle, and further realizing the consistency of the coordinate system of the four-wheel vehicle and the coordinate system of the calibration device.

In some embodiments of the present application, the four-wheel vehicle automatic centering device further comprises: a sensing device configured to sense a position of the four-wheeled vehicle; and the controller is configured to control the four-wheel vehicle automatic centering device to be switched on and off according to the sensing result of the sensing device. The sensing device and controller may be mounted on the platform 100 between the first portion 101 and the second portion 102. Specifically, when the four-wheel vehicle needs to be centered, the four-wheel vehicle is driven onto the platform 100, and when the sensing device senses that the four-wheel vehicle is completely positioned on the platform 100, the controller controls the automatic centering device of the four-wheel vehicle to be started to perform centering work on the four-wheel vehicle; after the centering operation is finished, the four-wheel vehicle drives away from the platform 100, and when the sensing device senses that the four-wheel vehicle completely leaves the platform 100, the controller controls the automatic centering device of the four-wheel vehicle to be closed.

According to the technical scheme, automatic centering and aligning of the four-wheel vehicle in the first direction 10 and the second direction 20 are achieved, the position precision in initial position adjustment in the calibration process of the four-wheel vehicle can be improved through automatic operation, and the efficiency is greatly improved. The application four-wheel vehicle automatic centering device adopt the integral type design, can carry out integral installation, easy dismounting, except that autopilot marks the station, it is applicable to the various scene that need carry out X, Y axle direction and outside coordinate system alignment, centering and uses.

The application discloses four-wheel vehicle automatic centering device mainly realizes the function that automobile body coordinate system and outside coordinate system align in the static calibration of high-grade driving assistance system (ADAS) or Automatic Driving System (ADS) whole car sensor. The vehicle can be automatically adjusted to the same position (x, y and z axis positions) in the calibration system and the consistent postures (x, y and z axis directions) of the vehicle can be ensured.

The automatic centering device of the four-wheel vehicle can enable the front wheel and the rear wheel and the left wheel and the right wheel of the four-wheel vehicle to be centered respectively through an automatic centering mode, further enables a coordinate system of the four-wheel vehicle to be consistent with a coordinate system of the centering device, accordingly enables the coordinate system of the four-wheel vehicle to be consistent with a coordinate system of a calibration device, and the centering method is achieved automatically, so that the efficiency is higher, and the error rate is lower.

An embodiment of the present application further provides a four-wheel vehicle automatic centering method of the four-wheel vehicle automatic centering device, which is used in a calibration process of a four-wheel vehicle in an environment sensing system, and includes:

step S1: mounting the platform on a set station, and enabling a coordinate system of the platform to be consistent with a coordinate system of a calibration device;

step S2: enabling a central axis of a front wheel of the four-wheel vehicle in a first direction to be vertically overlapped with a central axis of the platform in the first direction through the front wheel centering mechanism, and enabling a central axis of a rear wheel of the four-wheel vehicle in the first direction to be vertically overlapped with the central axis of the platform in the first direction through the rear wheel centering mechanism;

step S3: and the central axes of the left and right wheels of the four-wheel vehicle in the second direction are superposed with the central axis of the platform in the second direction in the vertical direction through the left and right wheel centering mechanisms, so that the coordinate system of the four-wheel vehicle is consistent with the coordinate system of the platform and the coordinate system of the calibration device.

It should be noted that the process and principle of centering the four-wheel vehicle in step S2 and step S3 have been described above, and are not described herein again.

In view of the above, it will be apparent to those skilled in the art upon reading the present application that the foregoing application content may be presented by way of example only, and may not be limiting. Those skilled in the art will appreciate that the present application is intended to cover various reasonable variations, adaptations, and modifications of the embodiments described herein, although not explicitly described herein. Such alterations, modifications, and variations are intended to be within the spirit and scope of the exemplary embodiments of this application.

It is to be understood that the term "and/or" as used herein in this embodiment includes any and all combinations of one or more of the associated listed items. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present.

It will be further understood that the terms "comprises," "comprising," "includes" or "including," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It will be further understood that, although the terms first, second, third, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. Thus, a first element in some embodiments may be termed a second element in other embodiments without departing from the teachings of the present application. The same reference numerals or the same reference characters denote the same elements throughout the specification.

Further, the present specification describes example embodiments with reference to idealized example cross-sectional and/or plan and/or perspective views. Accordingly, variations from the shapes of the illustrations as a result, for example, of manufacturing techniques and/or tolerances, are to be expected. Thus, example embodiments should not be construed as limited to the shapes of regions illustrated herein but are to include deviations in shapes that result, for example, from manufacturing.

Claims

1. An automatic centering device for a four-wheeled vehicle, which is used for calibrating a environmental perception system of the four-wheeled vehicle, and is characterized by comprising:

the coordinate system of the platform is consistent with that of the calibration device, the platform comprises a first part and a second part, and the first part and the second part are oppositely arranged on two sides of the platform;

a front wheel centering mechanism provided in the first portion and configured to vertically coincide a center axis of a front wheel of the four-wheeled vehicle in a first direction with a center axis of the platform in the first direction;

a rear wheel-in-pair mechanism provided in the second portion and configured to make a center axis of a rear wheel of the four-wheeled vehicle in a first direction coincide with a center axis of the platform in the first direction in a vertical direction; and

and the left and right wheel centering mechanisms are arranged on two sides of the first part or the second part and are configured to enable central axes of left and right wheels of the four-wheel vehicle in a second direction to be vertically overlapped with a central axis of the platform in the second direction, wherein the first direction is perpendicular to the second direction, and the front wheel centering mechanism, the rear wheel centering mechanism and the left and right wheel centering mechanisms enable a coordinate system of the four-wheel vehicle to be consistent with a coordinate system of the platform and a coordinate system of the calibration device.

2. The automatic centering device for four-wheeled vehicles according to claim 1, wherein said front wheel centering mechanism comprises:

a front wheel slide plate arranged on the first part and configured to bear the front wheels of the four-wheel vehicle and drive the front wheels of the four-wheel vehicle to translate in the first direction;

the front wheel screw rod is arranged on the central axis of the platform;

the front wheel push rod is sleeved on the front wheel screw rod and is configured to move on the front wheel screw rod along a second direction under the driving of the front wheel screw rod;

the front wheel push blocks are arranged at two ends of the front wheel push rod;

the front wheel sliding block guide mechanism is fixedly arranged on the platform, the front wheel pushing block is arranged on the front wheel sliding block guide mechanism, and the front wheel pushing block can only move on the front wheel sliding block guide mechanism along the first direction;

the front wheel driving mechanism is configured to drive the front wheel screw rod to rotate, the front wheel screw rod drives the front wheel push rod to move on the front wheel screw rod along a second direction, and two ends of the front wheel push rod drive the front wheel push block to move in a first direction.

3. The automatic centering device for four-wheeled vehicles according to claim 2, further comprising: and the front wheel sliding plate resetting mechanism is elastically connected with the front wheel sliding plate and the platform and is configured to reset the front wheel sliding plate after moving due to the elastic action.

4. The automatic centering device for four-wheeled vehicles according to claim 2, wherein the length of the front wheel push rod is equal to 1 to 1.2 times the distance between the front wheels.

5. The automatic centering device for four-wheeled vehicles according to claim 1, wherein said rear wheel-centering mechanism comprises:

a rear wheel skid plate disposed on the second portion and configured to carry and translate the rear wheels of the four-wheeled vehicle in the first direction;

the rear wheel screw rod is arranged on the central axis of the platform;

the rear wheel push rod is sleeved on the rear wheel screw rod and is configured to move on the rear wheel screw rod along a second direction under the driving of the rear wheel screw rod;

the rear wheel push blocks are arranged at two ends of the rear wheel push rod;

the rear wheel sliding block guide mechanism is fixedly arranged on the platform, the rear wheel push block is arranged on the rear wheel sliding block guide mechanism, and the rear wheel push block can only move on the rear wheel sliding block guide mechanism along the first direction;

the rear wheel driving mechanism is configured to drive the rear wheel screw rod to rotate, the rear wheel screw rod drives the rear wheel push rod to move on the rear wheel screw rod along a second direction, and two ends of the rear wheel push rod drive the rear wheel push block to move in a first direction.

6. The automatic centering device for four-wheeled vehicles according to claim 5, further comprising: and the rear wheel sliding plate resetting mechanism is elastically connected with the rear wheel sliding plate and the platform and is configured to reset the rear wheel sliding plate after moving due to the elastic action.

7. The automatic centering device for four-wheeled vehicles according to claim 5, wherein the length of said rear wheel push rod is equal to 1 to 1.2 times the distance between said rear wheels.

8. The automatic centering device for four-wheeled vehicles according to claim 1, wherein said left and right wheel-centering mechanisms comprise:

the left wheel limiting block comprises a left wheel front limiting block and a left wheel rear limiting block, the left wheel front limiting block and the left wheel rear limiting block are configured to rotate in the vertical direction, so that the center of a left wheel of the four-wheel vehicle and the centers of the left wheel front limiting block and the left wheel rear limiting block are positioned on the same vertical line, and the central axis of the left wheel of the four-wheel vehicle in the second direction is vertically overlapped with the central axis of the platform in the second direction;

a right wheel stopper including a right wheel front stopper and a right wheel rear stopper configured to rotate in a vertical direction such that a center of a right wheel of the four-wheel vehicle and centers of the right wheel front stopper and the right wheel rear stopper are positioned on a same vertical line, and such that a central axis of the right wheel of the four-wheel vehicle in a second direction is vertically coincident with a central axis of the platform in the second direction;

the distance between the centers of the front left wheel limiting block and the rear left wheel limiting block and the distance between the centers of the platform and the central axis of the second direction are equal to the distance between the centers of the left wheels of the four-wheel vehicle and the central axis of the four-wheel vehicle in the second direction, and the distance between the centers of the front right wheel limiting block and the rear right wheel limiting block and the distance between the centers of the platform and the central axis of the second direction are equal to the distance between the centers of the right wheels of the four-wheel vehicle and the central axis of the four-wheel vehicle in the second direction.

9. The automatic centering device for four-wheeled vehicles according to claim 8, wherein the distance between the front and rear left wheel stoppers is equal to 0.4 to 0.6 times the diameter of the left wheel; the distance between the right wheel front limiting block and the right wheel rear limiting block is equal to 0.4 to 0.6 times of the diameter of the right wheel.

10. The automatic centering device for four-wheeled vehicles according to claim 8, wherein the rotation angle of the front left wheel stopper and the rear left wheel stopper in the vertical direction is 40 to 50 degrees when the center of the left wheel of the four-wheeled vehicle and the centers of the front left wheel stopper and the rear left wheel stopper are on the same vertical line; the right wheel front limit block and the right wheel rear limit block rotate in the vertical direction, so that the rotation angle of the center of the right wheel of the four-wheel vehicle and the rotation angle of the center of the right wheel front limit block and the rotation angle of the center of the right wheel rear limit block are 40-50 degrees when the centers of the right wheel front limit block and the right wheel rear limit block are positioned on the same vertical line.

11. The automatic centering device for four-wheeled vehicles according to claim 1, wherein said front wheel centering mechanism comprises:

the front wheel telescopic rod is arranged in the center of the first part;

the front wheel push blocks are arranged at two ends of the front wheel telescopic rod;

the front wheel driving mechanism is configured to drive the front wheel telescopic rod to stretch and retract along the first direction, and the front wheel telescopic rod drives the front wheel push block to move in the first direction.

12. The automatic centering device for four-wheeled vehicles according to claim 11, wherein the maximum length of the telescopic rod of the front wheel is equal to 1 to 1.2 times the distance between the front wheels.

13. The automatic centering device for four-wheeled vehicles according to claim 1, wherein said rear wheel-centering mechanism comprises:

the rear wheel telescopic rod is arranged in the center of the second part;

the rear wheel push blocks are arranged at two ends of the rear wheel telescopic rod;

the rear wheel driving mechanism is configured to drive the rear wheel telescopic rod to stretch and retract along the first direction, and the rear wheel telescopic rod drives the rear wheel push block to move in the first direction.

14. The automatic centering device for four-wheeled vehicles according to claim 13, wherein the maximum length of the rear wheel extension rod is equal to 1 to 1.2 times the distance between the rear wheels.

15. The automatic centering device for four-wheeled vehicles according to claim 1, wherein said front wheel centering mechanism comprises:

a front wheel distance sensor disposed at a center of the first portion, configured to measure a distance between a front wheel of the four-wheeled vehicle and the front wheel distance sensor in a first direction;

a front wheel slide plate driving mechanism connected with the front wheel slide plate and configured to drive the front wheel slide plate to move in the first direction;

a front wheel processor configured to receive a measurement result of the front wheel distance sensor and control the front wheel slide driving mechanism to drive the front wheel slide to move in the first direction according to the measurement result.

16. The automatic centering device for four-wheeled vehicles according to claim 1, wherein said rear wheel-centering mechanism comprises:

a rear wheel distance sensor disposed at a center of the second portion, configured to measure a distance between a rear wheel of the four-wheeled vehicle and the rear wheel distance sensor in a first direction;

a rear wheel slide plate driving mechanism connected with the rear wheel slide plate and configured to drive the rear wheel slide plate to move in the first direction;

a rear wheel processor configured to receive a measurement result of the rear wheel distance sensor and control the rear wheel slide driving mechanism to drive the rear wheel slide to move in the first direction according to the measurement result.

17. The automatic centering device for four-wheeled vehicles according to claim 1, further comprising:

a sensing device configured to sense a position of the four-wheeled vehicle;

and the controller is configured to control the four-wheel vehicle automatic centering device to be switched on and off according to the sensing result of the sensing device.

18. The automatic centering device for four-wheeled vehicles according to claim 17, wherein said controlling the opening and closing of the automatic centering device for four-wheeled vehicles according to the sensing result of the sensing device comprises:

when the sensing device senses that the four-wheel vehicle is completely positioned on the platform, the controller controls the automatic centering device of the four-wheel vehicle to be started;

when the sensing device senses that the four-wheel vehicle completely leaves the platform, the controller controls the automatic centering device of the four-wheel vehicle to be closed.

19. The automatic centering device for four-wheeled vehicles according to claim 1, further comprising: and the guide mechanisms are arranged on two sides of the first part and the second part and are configured to guide the four-wheel vehicle to drive in and drive out of the platform.

20. A four-wheel vehicle automatic centering method for calibrating a four-wheel vehicle environmental sensing system using the four-wheel vehicle automatic centering device according to any one of claims 1 to 19, comprising:

mounting the platform on a set station, and enabling a coordinate system of the platform to be consistent with a coordinate system of a calibration device;

enabling a central axis of a front wheel of the four-wheel vehicle in a first direction to be vertically overlapped with a central axis of the platform in the first direction through the front wheel centering mechanism, and enabling a central axis of a rear wheel of the four-wheel vehicle in the first direction to be vertically overlapped with the central axis of the platform in the first direction through the rear wheel centering mechanism;

and the central axes of the left and right wheels of the four-wheel vehicle in the second direction are superposed with the central axis of the platform in the second direction in the vertical direction through the left and right wheel centering mechanisms, so that the coordinate system of the four-wheel vehicle is consistent with the coordinate system of the platform and the coordinate system of the calibration device.