CN116045925B - Vehicle body righting device and method suitable for intelligent driving perception system calibration - Google Patents
Vehicle body righting device and method suitable for intelligent driving perception system calibration Download PDFInfo
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- CN116045925B CN116045925B CN202211528796.9A CN202211528796A CN116045925B CN 116045925 B CN116045925 B CN 116045925B CN 202211528796 A CN202211528796 A CN 202211528796A CN 116045925 B CN116045925 B CN 116045925B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The application relates to a vehicle body righting device and method suitable for intelligent driving perception system calibration, wherein the vehicle body righting device comprises two first brackets, two second brackets and two light beam transmitters, when the vehicle is used, the vehicle is placed in a righting frame body, then whether scales of reflection graduated scales on two ends of the first brackets, which are used for enabling light emitted by the light beam transmitters arranged on the vehicle to strike the light beams, are identical or not is judged, so that the distance between the first brackets and a vehicle body is always equal, then the positions of the first brackets are fixed, the second brackets are connected with the first brackets, the righting frame body is always unified with the coordinates of the vehicle in the righting process of the vehicle body, so that the vehicle can be stopped in a specified parking frame without stopping the vehicle, the coordinate system of the vehicle and the sensor calibration plate is unified, the coordinate system conversion and compensation of the vehicle are not required to be carried out through a complex algorithm, the error transmission link is reduced, the structure is simple, and the test cost is greatly reduced.
Description
Technical Field
The application relates to the technical field of development of intelligent driving technology of automobiles, in particular to a vehicle body righting device and method suitable for calibration of an intelligent driving perception system.
Background
In the development of intelligent driving technology, intelligent sensors such as cameras, millimeter wave radars, laser radars and the like are involved in multi-sensor sensing. All intelligent vehicles need to accurately calibrate the arranged cameras and radars, and the calibrated accuracy can have important influence on the final performance of the intelligent driving system. One of the preconditions for realizing accurate calibration is that the coordinate systems of the vehicle body, the camera and the radar have high uniformity and consistency. The method is characterized in that the relative position of the vehicle body and the sensor calibration system is ensured to be correct, and the method is an important precondition for the automatic driving sensor calibration system. At present, the calibration system of the intelligent driving vehicle at home and abroad adopts facilities and methods for adjusting an active vehicle body, realizes the unification of the positions of the calibration devices by continuously correcting the positions of the vehicle, has high price and needs to meet higher site requirements. Or the device and the method for actively adjusting the car body are adopted, and the position of the car is continuously corrected through a rotationally adjustable ground iron floor device to realize the unification of the position of the calibrating device, so that the device is high in price and needs to meet higher site requirements.
In some related technologies, when a sensor such as a camera is used for whole vehicle calibration, the relative position accuracy of a vehicle and a calibration plate is ensured mainly by subjective judgment of a calibration person.
In a preset ground frame, through experience judgment of an operator, moving the vehicle to enable the position of the vehicle to be aligned to a calibration frame drawn on the ground as much as possible;
and secondly, placing the calibration plate, wherein the calibration plate needs to be aligned with the sensor, and the requirements of the sensor for calibrating the relative position in the height and the transverse direction are met. In the prior art, a meter ruler is adopted to measure the distance, and a measurer subjectively judges whether the distance is aligned.
But it has the following problems:
(1) The vehicle is adjusted in the appointed square frame through subjective feeling and experience of operators, and the vehicle cannot be ensured to be placed accurately without assistance of special positioning tools.
(2) The relative positions of the calibration plate and the sensor are determined by the meter ruler measuring and manual observation modes, the precision cannot be ensured, the high-precision transverse and longitudinal adjustment according to the needs cannot be realized, and the scheme has larger error and influences the automatic driving performance.
Disclosure of Invention
The embodiment of the application provides a vehicle body righting device and method suitable for intelligent driving perception system calibration, which are used for solving the problem that the vehicle placement position accuracy cannot be ensured in the related technology.
In a first aspect, a vehicle body righting device suitable for intelligent driving perception system calibration is provided, which comprises:
The two first brackets are respectively positioned at two sides of the width direction of the vehicle, the top of the two first brackets is provided with a mounting plane, the first brackets extend along the length direction of the vehicle, and the mounting plane is provided with two reflection graduated scales respectively positioned at two ends of the first brackets;
the second brackets extend along the width direction of the vehicle and are connected with the two first brackets to form a righting frame body with a placing space inside;
and the light beam emitter is used for being installed on a vehicle positioned in the placement space and emitting light beams to two ends of the first bracket so that the light beams strike the reflection graduated scale.
When the vehicle is used, the vehicle is placed in the righting frame body, then, whether scales on reflection graduated scales on two ends of the first bracket are identical or not is judged, so that the distance between the first bracket and the vehicle body is always equal, the distance is equal to a mark H in the figure, then, the position of the first bracket is fixed, and the second bracket is connected with the first bracket; the vehicle body alignment process ensures that the alignment frame body is unified with the coordinates of the vehicle all the time, so that the vehicle can be calibrated without stopping in a specified parking frame, even if the vehicle is parked obliquely, the vehicle is not limited by a field, meanwhile, the formed alignment frame body can provide an installation position for a sensor calibration plate, the coordinate systems of the vehicle and the sensor calibration plate are unified, the coordinate system conversion and compensation are not required through a complex algorithm, the error transmission link is reduced, more importantly, expensive and complex equipment is not required, and the test cost is greatly reduced.
In some embodiments, the reflective scale is provided with a first scale extending in the vehicle width direction, or,
The reflection graduated scale is provided with a second graduated scale extending along the height direction of the vehicle.
In some embodiments, the vehicle body righting device suitable for the intelligent driving perception system calibration further comprises a sensor calibration plate arranged on the righting frame body, wherein the sensor calibration plate can move on the righting frame body and can be vertically adjusted.
In some embodiments, the first bracket and the second bracket are provided with a third scale along the length direction of the first bracket and the second bracket.
In some embodiments, the first bracket comprises two struts fixed with the bottom surface and a push rod, the top of each strut is provided with a telescopic part, and the two struts are positioned at two ends of the push rod in the length direction and are connected with the push rod through the telescopic parts.
In some embodiments, the second support adopts a straight rod, and two ends of the straight rod are detachably connected with two ends of the ejector rod through connecting pieces.
In some embodiments, the connector comprises a connecting elbow.
In some embodiments, the light beam emitter is a laser emitter or an infrared emitter, and a level gauge is arranged on a mounting seat of the laser emitter or the infrared emitter.
In a second aspect, a vehicle body positioning method suitable for calibrating an intelligent driving perception system is provided, which comprises the following steps:
providing a vehicle body righting device suitable for calibrating an intelligent driving perception system;
placing the vehicle on an open field with a flat bottom surface, and then installing a beam emitter on the vehicle;
The two first brackets are placed on two sides of the width direction of the vehicle, and the light beams emitted by the light beam emitters and the reflection graduated scale are utilized to enable the two first brackets to be parallel to the central axis of the vehicle body and keep equal distances;
The positions of the two first brackets are fixed, and the second brackets are installed to form a righting frame body, so that the vehicle is always centrally located in the placing space.
In some embodiments, the reflective scale is provided with a first scale extending along the width direction of the vehicle;
The beam emitted by the beam emitter and the reflection graduated scale are utilized to enable the two first brackets to be parallel to the central axis of the vehicle body and keep equal distance; the method comprises the following steps:
reading the reading of the light beam emitted by the light beam emitter on the first scale on one of the first brackets;
adjusting the first bracket to enable the readings on the two reflection graduated scales to be the same, and completing the calibration of the first bracket;
and calibrating the other first bracket according to the steps.
The technical scheme provided by the application has the beneficial effects that:
The embodiment of the application provides a vehicle body righting device and a vehicle body righting method suitable for the calibration of an intelligent driving sensing system, wherein a first bracket and a second bracket form a righting frame body, a reflection scale is arranged on the first bracket, a vehicle is placed in the righting frame body when the vehicle is in use, then whether scales of light emitted by a beam emitter arranged on the vehicle, which are arranged on the reflection scale on two ends of the first bracket, are identical or not is judged, so that the distance between the first bracket and the vehicle body is always equal, then the position of the first bracket is fixed, and the second bracket is connected with the first bracket.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a whole vehicle calibration device for an intelligent driving perception system according to an embodiment of the present application.
In the figure, 1, a first bracket, 2, a reflection graduated scale, 3, a second bracket, 4, a light beam emitter, 5, a sensor calibration plate and 6, a vehicle.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
A vehicle body righting device and method suitable for intelligent driving perception system calibration are used for solving the problem that the vehicle placement position precision cannot be ensured in the related technology and the problem of cost caused by using expensive equipment.
Referring to FIG. 1, a vehicle body righting device suitable for intelligent driving perception system calibration comprises two first brackets 1, two second brackets 3 and two beam emitters 4;
The two first brackets 1 are respectively positioned at two sides of the width direction of the vehicle 6, the top of the two first brackets is provided with a mounting plane, the first brackets 1 extend along the length direction of the vehicle 6, and the mounting plane is provided with two reflection graduated scales 2 respectively positioned at two ends of the first brackets 1;
a second bracket 3 extending in the width direction of the vehicle 6 and connected to the two first brackets 1 to form a righting frame body having a placement space inside;
the light beam emitter 4 is used for being installed on the vehicle 6 positioned in the placement space and emitting light beams to two ends of the first bracket 1 so as to make the light beams strike on the reflection graduated scale 2, wherein the installation of the light beam emitter 4 needs to ensure that the installation is not inclined and is always parallel to the central axis of the vehicle body, one light beam emitter 4 emits two coaxial light beams, the light beams are straight light beams, and the two light beams are positioned in the same plane, namely, the plane is the plane in the width direction of the vehicle 6.
Through the arrangement of the structure, the first bracket 1 and the second bracket 3 form the righting frame body, the first bracket 1 is provided with the reflection graduated scale 2, when in use, the vehicle 6 is placed in the righting frame body, then, whether scales of the reflection graduated scale 2 on two ends of the first bracket 1 are identical or not by light emitted by the light beam emitters 4 arranged on the vehicle 6 is judged, so that the distance between the first bracket 1 and the vehicle body is always equal, the distance is equal to a mark H in the figure, then, the position of the first bracket 1 is fixed, the second bracket 3 is connected with the first bracket 1, the righting frame body is always unified with the self coordinate of the vehicle 6 in the righting process of the vehicle body, thus, calibration can be carried out without stopping the vehicle 6 in a specified stopping frame, even the vehicle 6 is obliquely stopped, the position is not limited by a place, meanwhile, the formed righting frame body can provide mounting positions for the sensor calibration plate 5, the coordinate system of the vehicle 6 and the sensor calibration plate 5 is unified, the coordinate system is converted and compensated through a complex algorithm, the complex algorithm is reduced, the complex and the complex test device is not required, and the cost is greatly reduced.
In some preferred implementations, the following is provided for the scale on the reflective scale 2:
In the first way, the first scales extending along the width direction of the vehicle 6 are arranged on the reflection graduated scales 2, and in the best way, the distance between the first support 1 extending along the length direction of the vehicle 6 and the vehicle 6 can be intuitively seen, and if the scales of the light beams on the two reflection graduated scales 2 are equal, the first support 1 on the side is indicated to finish the righting calibration. In addition, because the distances between different vehicle types and the first bracket 1 are also different, the righting bracket body has the effect of being applicable to various vehicle types so as to promote the application range of the righting bracket body.
In the second embodiment, the light beam striking the reflective scale 2 is used to ensure whether the two ends of the first bracket 1 are positioned on the same straight line, and after the two ends are adjusted to be positioned on the same straight line, the naked eye is used to judge whether the light beam is parallel to the central axis of the vehicle body. It is obvious that this way there is an error compared to the first, although the application does not exclude this way.
Further, in the first embodiment, there is a case where both ends of the first bracket 1 are not on the same straight line, and the cause of the occurrence may be a cause of the low flatness of the bottom surface, and at this time, adjustment is required, so the following settings are made for the first bracket 1:
The first bracket 1 comprises two supporting rods fixed with the bottom surface and a top rod, wherein the top of each supporting rod is provided with a telescopic part, and the two supporting rods are positioned at two ends of the top rod in the length direction and are connected with the top rod through the telescopic parts. The two ends of the first bracket 1 are positioned on the same straight line by adjusting the telescopic components. The telescopic member is a conventional telescopic structure, and is selected as required, for example, a telescopic sleeve structure or a screw mechanism.
By adopting the structure, the first bracket 1 is convenient to adjust, and the requirement on the flatness of the bottom surface during calibration is further lowered.
Further, in order to facilitate the connection between the second bracket 3 and the first bracket 1, the second bracket 3 adopts a straight rod, two ends of the straight rod are detachably connected with two ends of the ejector rod through a connecting piece, the connecting piece comprises a connecting elbow, the connecting elbow adopts a 90-degree elbow, the connecting elbow can refer to a structure in the field of pipeline connection, the connecting elbow is simple, convenient and stable, and the application does not exclude other detachable connection modes such as pin shaft connection, clamping connection, threaded connection and the like.
In some preferred embodiments, the vehicle body righting device suitable for the intelligent driving perception system calibration further comprises a sensor calibration plate 5 arranged on the righting frame body, wherein the sensor calibration plate 5 can move on the righting frame body and can be vertically adjusted so as to meet the required position. The sensor calibration plate 5 is of a conventional construction, having a vertically adjustable construction, and will not be explained here too much.
In this embodiment, for convenience in determining the position of the sensor calibration plate 5, the first bracket 1 and the second bracket 3 are each provided with a third scale in their own length direction. Through the setting of the third scale, the sensor calibration plate 5 can realize horizontal and vertical high-precision adjustment along the first bracket 1 and the second bracket 3, so that the coordinate systems of the vehicle 6 and the sensor calibration plate 5 are unified, coordinate system conversion and compensation are not needed through a complex algorithm, error transmission links are reduced, more importantly, expensive and complex equipment is not needed, and the test cost is greatly reduced.
The installation position of the sensor calibration plate 5 in fig. 1 is only one embodiment, and the installation position of the sensor calibration plate 5 is continuously changed according to actual requirements.
In some preferred embodiments, the beam emitter 4 is a laser emitter or an infrared emitter, a level meter is arranged on a mounting seat of the laser emitter or the infrared emitter, and the most preferred mode is the laser emitter, which is an instrument for accurately measuring the distance of a target by utilizing laser. When the laser ruler works, a very thin laser beam is emitted to a target, the photoelectric element receives the laser beam reflected by the target, the timer measures the time from the emission to the receiving of the laser beam, and the distance from an observer to the target is calculated. The light beam generated by the device is light with pure color, high concentration of energy and good directivity.
The setting of spirit level makes the installation of beam emitter 4 more accurate, is convenient for adjust, and the spirit level adopts the scale that has the bubble, also can be the spirit level of other structures, and the spirit level is a measure commonly used of measuring the low angle. In the machine industry and in the manufacture of instruments, for measuring inclination angles with respect to horizontal, flatness and straightness of machine tool-like equipment rails, horizontal and vertical positions of equipment installations, etc. The shape of the leveling instrument can be divided into a universal leveling instrument, a cylindrical leveling instrument, an integrated leveling instrument, a mini leveling instrument, a camera leveling instrument, a frame leveling instrument and a ruler level instrument according to different shapes of the leveling instrument, and the leveling instrument can be divided into an adjustable level instrument and an unadjustable level instrument according to the fixing mode of the leveling instrument.
The application also provides a whole vehicle calibration method suitable for the intelligent driving perception system, which comprises the following steps:
Providing the vehicle body righting device suitable for the calibration of the intelligent driving perception system;
Placing the vehicle 6 on an open field with a flat bottom surface, and then installing a beam emitter 4 on the vehicle 6, placing the two first brackets 1 on two sides of the vehicle 6 in the width direction, and utilizing the beams emitted by the beam emitter 4 and the reflection graduated scale 2 to enable the two first brackets 1 to be parallel to the central axis of the vehicle body and keep equal distance;
The vehicle body alignment process ensures that the alignment frame body is unified with the coordinates of the vehicle 6 all the time, so that the vehicle 6 can be calibrated without stopping in a specified parking frame, even if the vehicle 6 is parked obliquely, the vehicle is not limited by a field, meanwhile, the formed alignment frame body can provide an installation position for the sensor calibration plate 5, the coordinate systems of the vehicle 6 and the sensor calibration plate 5 are unified, the coordinate system conversion and compensation are not required to be carried out through a complex algorithm, the error transmission link is reduced, more importantly, expensive and complex equipment is not required, and the test cost is greatly reduced.
Further, the reflective scale 2 is provided with a first scale extending in the width direction of the vehicle 6;
The light beam emitted by the light beam emitter 4 and the reflection graduated scale 2 are utilized to enable the two first brackets 1 to be parallel to the central axis of the vehicle body and keep equal distance, and the method comprises the following steps:
Reading the readings of the light beam emitted by the light beam emitter 4 on the first scale on one of the first supports 1, adjusting the first support 1 to enable the readings on the two reflection scales 2 to be the same, completing the calibration of the first support 1, and calibrating the other first support 1 according to the steps.
The principle of the application is as follows:
(1) According to the technical scheme, the vehicle 6 can be calibrated without stopping in the specified parking frame, even if the vehicle 6 is parked obliquely, the vehicle is not limited by a field, so that the calibration frame and the vehicle body can be quickly positioned, and the problem that the position error of the vehicle 6 is overlarge when the vehicle 6 is aligned and the calibration frame is solved.
(2) The first bracket 1 and the second bracket 3 are provided with third scales along the length direction of the first bracket and the second bracket. Through the setting of the third scale, the sensor calibration plate 5 can realize horizontal and vertical high-precision adjustment along the first bracket 1 and the second bracket 3, so that the coordinate systems of the vehicle 6 and the sensor calibration plate 5 are unified, coordinate system conversion and compensation are not needed through a complex algorithm, error transmission links are reduced, more importantly, expensive and complex equipment is not needed, and the test cost is greatly reduced.
(3) The righting frame body formed by the technical scheme can provide mounting positions for the sensor calibration plate 5, coordinate systems of the vehicle 6 and the sensor calibration plate 5 are unified, coordinate system conversion and compensation are not needed through a complex algorithm, and error transmission links are reduced.
In the description of the present application, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, or indirectly connected via an intervening medium, or may be in communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks. In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory. The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data.
Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves. It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
It should be noted that in the present application, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
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| DE19541379C2 (en) * | 1995-11-07 | 2001-01-18 | Fraunhofer Ges Forschung | Method for determining the position of a vehicle in a driving plane |
| JP4771657B2 (en) * | 2001-08-16 | 2011-09-14 | ヴァレオ・レイダー・システムズ・インコーポレーテッド | Proximity object detection system |
| EP3734323A4 (en) * | 2017-12-25 | 2021-11-24 | Autel Intelligent Technology Corp., Ltd. | DEVICE AND METHOD FOR RADAR CALIBRATION ON BOARD A VEHICLE |
| CN108459309B (en) * | 2018-04-20 | 2025-02-28 | 清智汽车科技(苏州)有限公司 | Vehicle centerline calibration device |
| WO2020182591A1 (en) * | 2019-03-08 | 2020-09-17 | Osram Gmbh | Component for a lidar sensor system, lidar sensor system, lidar sensor device, method for a lidar sensor system and method for a lidar sensor device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108161853A (en) * | 2018-01-29 | 2018-06-15 | 深圳市道通科技股份有限公司 | A kind of holder device |
| CN113375707A (en) * | 2021-06-04 | 2021-09-10 | 广汽乘用车有限公司 | Flexible calibration equipment for driving assistance and method thereof |
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