CN114442074A - Vehicle calibration device and calibration method thereof - Google Patents
Vehicle calibration device and calibration method thereof Download PDFInfo
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- CN114442074A CN114442074A CN202210114359.6A CN202210114359A CN114442074A CN 114442074 A CN114442074 A CN 114442074A CN 202210114359 A CN202210114359 A CN 202210114359A CN 114442074 A CN114442074 A CN 114442074A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000012360 testing method Methods 0.000 claims abstract description 57
- 238000009434 installation Methods 0.000 claims abstract description 30
- 238000004519 manufacturing process Methods 0.000 claims abstract description 25
- 240000004282 Grewia occidentalis Species 0.000 claims description 5
- 238000002310 reflectometry Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
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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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention relates to the technical field of vehicle calibration, and discloses a vehicle calibration device and a vehicle calibration method. The vehicle calibration device comprises a test station, a positioning module and a front radar calibration module, wherein the test station is arranged at the tail end of a vehicle production line; the positioning module is arranged at the test station and is configured to position the test vehicle at the test station; the front radar calibration module is arranged in front of the test station and is just opposite to a forward radar of a vehicle to be tested, and is used for calibrating the forward radar. The vehicle testing device has the advantages that the testing station is arranged at the tail end of the vehicle production line and is used for testing the vehicle assembled on the vehicle production line, so that the testing process and the production and assembly process are integrated into a whole, the structure is simple, the vehicle manufacturing cost is saved, the vehicle production efficiency is improved, and the floor space requirement of vehicle production is reduced; meanwhile, the vehicle which is assembled is detected, so that errors caused by installation can be avoided, and calibration is more accurate.
Description
Technical Field
The invention relates to the technical field of vehicle calibration, in particular to a vehicle calibration device and a vehicle calibration method.
Background
The laser radar is used as one of the sensors, has the advantages of being obvious, long in detection distance and high in distance measurement precision, and is widely used for vehicles to assist in vehicle distance measurement.
In the prior art, the traditional mechanical rotation type is usually adopted to calibrate the laser radar, but the structure is complex, the steps are complicated, the cost is high, and the efficiency is low; in addition, the existing calibration only calibrates the laser radar, and after calibration, due to operations such as assembly and installation, a large error occurs between the calibrated parameter and the parameter in actual use, which affects the detection precision and accuracy of the laser radar.
Therefore, a vehicle calibration device and a calibration method thereof are needed to solve the above problems.
Disclosure of Invention
Based on the above, the invention aims to provide a vehicle calibration device and a calibration method thereof, which have the advantages of simple structure, low cost and high efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
a vehicle calibration apparatus, comprising:
the testing station is arranged at the tail end of the vehicle production line;
the positioning module is arranged at the testing station and is configured to position a vehicle to be tested at the testing station;
and the front radar calibration module is arranged in front of the test station, is just opposite to the forward radar of the vehicle to be tested, and is used for calibrating the forward radar.
As a preferred scheme of a vehicle calibration device, the vehicle calibration device comprises a portal frame, and the radar calibration module is arranged on the portal frame.
As a preferable scheme of the vehicle calibration device, the radar calibration module comprises two reflecting points, and the distances between the two reflecting points and the preset installation position of the forward radar are the same.
As a preferable scheme of the vehicle calibration device, the two reflection points and the preset installation position of the forward radar are located on the same horizontal plane.
As a preferable scheme of the vehicle calibration device, the distance between the reflecting point and the preset installation position of the forward radar is 2.5-3 m.
As a preferable scheme of the vehicle calibration device, the radar calibration module comprises a target, and both the two reflection points are arranged on the target.
As a preferable mode of the vehicle calibration device, the reflectivity of the reflective point is greater than that of the target.
As a preferred scheme of the vehicle calibration device, the vehicle calibration device further comprises a side radar calibration module, wherein the side radar calibration module is arranged on one side of the test station and is opposite to the side radar of the vehicle to be tested and used for calibrating the side radar.
The vehicle calibration device further comprises a four-corner sensor arranged at the test station to detect whether the vehicle to be tested is located at the test station.
A vehicle calibration method, using the vehicle calibration device according to any one of the above aspects, the vehicle calibration method comprising the steps of:
acquiring a forward radar mounting position parameter of a vehicle to be tested on a testing station, comparing the mounting position parameter with a preset mounting parameter, and if the mounting position parameter is within a preset error of the preset mounting parameter, compensating the preset error and calibrating the forward radar; and if the mounting position parameter is larger than the preset error, re-mounting the forward radar.
The invention has the beneficial effects that:
the vehicle testing device is provided with the testing station at the tail end of the vehicle production line and is used for testing the vehicles assembled on the vehicle production line, so that the testing process and the production and assembly process are integrated, the structure is simple, the manufacturing cost of the vehicles is saved, the production efficiency of the vehicles is improved, and the floor space requirement of vehicle production is reduced. Meanwhile, the vehicle is detected after being assembled, so that errors caused by installation can be avoided, and calibration is more accurate; the positioning module is arranged and used for positioning the vehicle to be tested at the testing station so as to ensure the accuracy of subsequent calibration; the front radar calibration module is arranged in front of the test station and used for calibrating the vehicle which is assembled and positioned on the test station on the vehicle production line, vehicle assembly errors are effectively avoided according to calibration results, and accuracy is higher.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
Fig. 1 is a schematic diagram of a vehicle calibration device according to an embodiment of the present invention.
In the figure:
100. a vehicle to be tested; 110. a forward radar; 120. a lateral radar;
1. a test station;
2. a positioning module;
3. a front radar calibration module; 31. reflecting points; 32. a target;
4. a gantry;
5. a side radar calibration module;
6. a four corner sensor.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present embodiment provides a vehicle calibration apparatus, which includes a test station 1, a positioning module 2, and a front radar calibration module 3, where the test station 1 is disposed at the end of a vehicle production line; the positioning module 2 is arranged at the test station 1, and the positioning module 2 is configured to position the vehicle 100 to be tested at the test station 1; the front radar calibration module 3 is arranged in front of the test station 1, is opposite to the forward radar 110 of the vehicle 100 to be tested, and is used for calibrating the forward radar 110.
The tail end of the vehicle production line is provided with the test station 1 for testing the vehicle assembled on the vehicle production line, so that the test procedure and the production and assembly procedure are integrated, the structure is simple, the manufacturing cost of the vehicle is saved, the production efficiency of the vehicle is improved, and the occupied space requirement of vehicle production is reduced. Meanwhile, the vehicle is detected after being assembled, so that errors caused by installation can be avoided, and calibration is more accurate; the positioning module 2 is arranged and used for positioning the vehicle 100 to be tested at the testing station 1 so as to ensure the accuracy of subsequent calibration; through setting up preceding radar calibration module 3 in the place ahead at test station 1 for to assemble the vehicle of accomplishing and being located test station 1 from the vehicle production line and mark, the vehicle equipment error has been avoided effectively to the calibration result, and the accuracy is higher.
Specifically, the radar calibration module includes two reflection of light points 31, two reflection of light points 31 are the same with the distance of the preset mounting position of preceding radar 110, wherein, the theoretical mounting position of preceding radar 110 on the vehicle is preset to the preset mounting position, installation error has been ignored to this position, through two reflection of light points 31 with the distance of the preset mounting position of preceding radar 110 the same, then can compare with the preset mounting parameter of presetting the mounting position according to the actual mounting position parameter of preceding radar 110 that two reflection of light points 31 obtained, and then obtain the installation error of preceding radar 110, so that on next demarcation. It is understood that the obtaining of the installation position parameters and the preset installation parameters may need to be obtained by calculation through a trigonometric function or the like.
Preferably, the two light reflecting points 31 are located at the same horizontal plane as the preset installation position of the forward radar 110, which is beneficial to simplify the calculation process.
Illustratively, the distance between the reflective dot 31 and the preset installation position of the forward radar 110 is 2.5m to 3m to ensure the reflection of the reflective dot 31. It is noted that the area of the reflective dots 31 is related to the calibration accuracy, and those skilled in the art can select the reflective dots 31 with an appropriate area according to the accuracy of the forward radar 110 required by the vehicle 100 to be tested.
In this embodiment, the radar calibration module includes a target 32, and two reflective points 31 are both disposed on the target 32, and then the target 32 is mounted on the gantry 4. In other embodiments, two targets 32 may be selected, and the two reflection points 31 are correspondingly disposed on the two targets 32 one by one, as long as the distances between the reflection points 31 for calibration and the preset installation positions of the forward radar 110 are the same.
Specifically, the reflectivity of the reflective dots 31 is greater than that of the target 32, so as to distinguish the reflective dots 31 from the target 32, and ensure that the reflective dots 31 have better reflectivity.
For the installation that realizes preceding radar calibration module 3, vehicle calibration device still includes portal frame 4, and portal frame 4 sets up in the place ahead of test station 1, and the radar is markd the module and is set up on portal frame 4. Meanwhile, other detection devices can be arranged on the portal frame 4, so that other detections can be performed on the vehicle to be tested 100 positioned at the testing station 1 while the forward radar 110 is calibrated, and the production rhythm of the vehicle is effectively improved.
The vehicle calibration device further comprises a side radar calibration module 5, wherein the side radar calibration module 5 is arranged on one side of the test station 1, is opposite to the side radar 120 of the vehicle 100 to be tested, and is used for calibrating the side radar 120. Optionally, both sides of the vehicle 100 to be tested are provided with the side radar calibration modules 5, and the side radar calibration modules 5 can also be installed on the portal frame 4, so as to simplify the structure of the vehicle calibration device.
Further, vehicle calibration device still includes four corners sensor 6, sets up in test station 1 through four corners sensor 6 for whether the vehicle 100 that awaits measuring is located test station 1, only when the vehicle 100 that awaits measuring is located test station 1, just more accurate to the mounted position parameter that radar 110 demarcation module acquireed, and then guarantee that the result of maring is more accurate, reliable.
The embodiment also discloses a vehicle calibration method, which adopts the vehicle calibration device of any one of the above schemes, and comprises the following steps:
acquiring the installation position parameter of the forward radar 110 of the vehicle 100 to be tested on the test station 1, comparing the installation position parameter with a preset installation parameter, and if the installation position parameter is within a preset error of the preset installation parameter, compensating the preset error and calibrating the forward radar 110; if the installation position parameter is greater than the preset error, the forward radar 110 is reinstalled.
By calibrating the forward radar 110 installed behind the vehicle, the influence of installation errors on calibration is effectively avoided, and the calibrated parameters are more reliable and accurate.
Specifically, before acquiring the mounting position parameter of the forward radar 110 of the vehicle 100 to be tested placed on the testing station 1, the method further includes detecting whether the vehicle 100 to be tested is located on the testing station 1 through the four-corner sensor 6, acquiring the mounting position parameter of the forward radar 110 of the vehicle 100 to be tested placed on the testing station 1 if the vehicle is located on the testing station 1, adjusting the position of the vehicle 100 to be tested if the vehicle is not located on the testing station 1, and detecting that the vehicle 100 to be tested is located on the detecting station when the four-corner sensor 6 detects that the vehicle 100 to be tested is located on the detecting station.
Further, the method further comprises calibrating a lateral radar 120 of the vehicle to be tested through the lateral radar calibration module 5. It should be noted that the calibration of the forward radar 110 and the lateral radar 120 may be performed simultaneously, or sequentially, as long as it is ensured that the vehicle 100 to be tested is always located at the testing station 1.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Claims (10)
1. A vehicle calibration device, comprising:
the testing station (1) is arranged at the tail end of the vehicle production line;
a positioning module (2) arranged at the testing station (1), wherein the positioning module (2) is configured to position a vehicle (100) to be tested at the testing station (1);
the front radar calibration module (3) is arranged in front of the test station (1), is opposite to a forward radar (110) of the vehicle (100) to be tested, and is used for calibrating the forward radar (110).
2. The vehicle calibration device according to claim 1, comprising a gantry (4), wherein the radar calibration module is disposed on the gantry (4).
3. The vehicle calibration device according to claim 1, wherein the radar calibration module comprises two reflective points (31), and the two reflective points (31) are located at the same distance from a preset installation position of the forward radar (110).
4. Vehicle calibration arrangement according to claim 3, characterized in that both said reflection points (31) are located at the same level as the predetermined mounting position of the forward radar (110).
5. The vehicle calibration device according to claim 3, wherein the distance between the reflection point (31) and the preset installation position of the forward radar (110) is 2.5-3 m.
6. The vehicle calibration device according to claim 3, wherein the radar calibration module comprises a target (32), and both of the reflective points (31) are disposed on the target (32).
7. Vehicle calibration arrangement according to claim 6, characterized in that the reflectivity of the reflection point (31) is greater than the reflectivity of the target (32).
8. The vehicle calibration device according to any one of claims 1 to 7, further comprising a side radar calibration module (5), wherein the side radar calibration module (5) is arranged at one side of the test station (1) and faces a side radar (120) of the vehicle (100) to be tested for calibrating the side radar (120).
9. The vehicle calibration device according to any one of claims 1 to 7, further comprising a four-corner sensor (6) disposed at the test station (1) to detect whether the vehicle (100) to be tested is located at the test station (1).
10. A vehicle calibration method, characterized by using the vehicle calibration device as claimed in any one of claims 1-9, and comprising the steps of:
acquiring installation position parameters of a forward radar (110) of a vehicle (100) to be tested on a testing station (1), comparing the installation position parameters with preset installation parameters, and if the installation position parameters are within preset errors of the preset installation parameters, compensating the preset errors and calibrating the forward radar (110); if the installation position parameter is greater than the preset error, the forward radar is reinstalled (110).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210114359.6A CN114442074A (en) | 2022-01-30 | 2022-01-30 | Vehicle calibration device and calibration method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210114359.6A CN114442074A (en) | 2022-01-30 | 2022-01-30 | Vehicle calibration device and calibration method thereof |
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| Publication Number | Publication Date |
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| CN114442074A true CN114442074A (en) | 2022-05-06 |
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| CN202210114359.6A Pending CN114442074A (en) | 2022-01-30 | 2022-01-30 | Vehicle calibration device and calibration method thereof |
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