CN116148785A - Method and system for correcting radar after-sales static calibration corner reflector - Google Patents
Method and system for correcting radar after-sales static calibration corner reflector Download PDFInfo
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- CN116148785A CN116148785A CN202310164602.XA CN202310164602A CN116148785A CN 116148785 A CN116148785 A CN 116148785A CN 202310164602 A CN202310164602 A CN 202310164602A CN 116148785 A CN116148785 A CN 116148785A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
Abstract
The invention provides a method and a system for correcting a radar after-sale static calibration corner reflector, wherein the method comprises the following steps: selecting a radar antenna center to construct a three-dimensional coordinate system, selecting a radar corner reflector center, acquiring the space coordinate of the radar corner reflector center on the three-dimensional space coordinate system, adjusting the position of the radar corner reflector center to enable the radar corner reflector center to be opposite to the radar antenna center, installing a license plate positioning bracket, controlling a laser pen to be started to capture a projection point of rays emitted by the laser pen on the corner reflector, judging whether the projection point coincides with the corner reflector center according to the space coordinate information of the projection point, and adjusting the space coordinate information of the corner reflector until the projection point coincides with the corner reflector center if the projection point does not coincide with the corner reflector center. The method for calibrating the after-sale static calibration corner reflector of the radar can provide a corner reflector calibrating method with high accuracy so as to provide reliable guarantee for static calibration of the millimeter wave radar.
Description
Technical Field
The invention relates to the technical field of corner reflector position calibration, in particular to a method and a system for calibrating a corner reflector after-sale static calibration of a radar.
Background
The advanced driving assisting system sensor scheme of the light truck generally adopts a fusion scheme of a forward-looking camera and a forward millimeter wave radar, and ADAS functions which can be realized by the scheme comprise forward collision early warning FCW, lane departure early warning function, and control functions such as self-adaptive cruise ACC, automatic emergency brake AEB, lane keeping assisting LKA and the like. The installation angle of the radar and the camera can have errors due to installation differences, individual differences of vehicles and the like of the radar and the camera. In order to more accurately realize the ADAS function, the system needs to correct the installation angle error of the sensor, and the ADAS function can be normally started only after the offline calibration or the after-sale calibration is needed.
After-market calibration of the sensor is performed in a 4S shop and is divided into dynamic calibration and static calibration, wherein the dynamic calibration requires that the vehicle runs at a stable speed for more than 2km on an open road. For static calibration of millimeter wave radar, the radar is adopted to receive the reflected signals of a metal corner reflector or a metal plane plate, and how to arrange the corner reflector is a key step of calibration.
Disclosure of Invention
Based on the above, the invention aims to provide a method and a system for calibrating a radar after-sale static calibration corner reflector, so as to provide a corner reflector calibrating method with higher accuracy and provide reliable guarantee for static calibration of a millimeter wave radar.
The invention provides a method for correcting a radar after-sale static calibration corner reflector, which comprises the following steps:
selecting a radar antenna middle position as a radar antenna center, and constructing a three-dimensional space coordinate system by taking the radar antenna center as an origin;
the radar corner reflector is tightly attached to the radar antenna, the middle position of the radar corner reflector is selected as the center of the radar corner reflector, and the space coordinate information of the center of the radar corner reflector is acquired according to the three-dimensional space coordinate system, so that the position of the center of the radar corner reflector is adjusted according to the space coordinate information of the center of the radar corner reflector, the center of the radar corner reflector is opposite to the center of the radar antenna, and meanwhile, the surface of the radar corner reflector is parallel to the surface of a license plate of a vehicle;
the license plate positioning bracket is arranged on a license plate of a vehicle and comprises a license plate bracket and a laser pen bracket which is vertically connected with the license plate bracket, wherein the license plate bracket is fixedly connected with a license plate of the vehicle, and the corner reflector is arranged on the laser pen bracket;
controlling a laser pen to be started, acquiring space coordinate information of a projection point of rays emitted by the laser pen on the corner reflector, and judging whether the projection point coincides with the center of the corner reflector according to the space coordinate information of the projection point;
and if the projection point is not coincident with the center of the corner reflector, adjusting the space coordinate information of the corner reflector according to the space coordinate information of the projection point so as to enable the projection point to be coincident with the center of the corner reflector.
In summary, according to the method for calibrating the radar after-sales static calibration corner reflector, a standard and standard calibration mode is provided for the radar corner reflector, so that the center of the corner reflector can be aligned with a laser pen with high precision, and reliable guarantee is provided for static calibration of the millimeter wave radar. The method comprises the following steps: firstly, selecting a radar antenna center to construct a three-dimensional coordinate system, tightly attaching a radar corner reflector to a radar antenna, then selecting a radar corner reflector center, acquiring the space coordinate of the radar corner reflector center on the three-dimensional space coordinate system, further adjusting the position of the radar corner reflector center according to the space coordinate of the radar corner reflector center, enabling the radar corner reflector center to be opposite to the radar antenna center, then installing a license plate positioning bracket, controlling a laser pen to be started to capture a projection point of rays emitted by the laser pen on the corner reflector, further judging whether the projection point coincides with the corner reflector center according to the space coordinate information of the projection point, and adjusting the space coordinate information of the corner reflector until the projection point coincides with the corner reflector center if the projection point does not coincide with the corner reflector center, so that the corner reflector is accurately aligned.
In a preferred embodiment of the present invention, the step of adjusting the position of the center of the radar corner reflector according to the spatial coordinate information of the center of the radar corner reflector so that the center of the radar corner reflector is opposite to the center of the radar antenna, and simultaneously making the surface of the radar corner reflector parallel to the surface of the license plate of the vehicle includes:
calculating the Z displacement of the center of the radar corner reflector according to the space coordinate information of the center of the radar corner reflector and the origin;
and adjusting the Z coordinate of the center of the radar corner reflector according to the Z displacement so that the Z coordinate of the center of the radar corner reflector is equal to the Z coordinate of the center of the radar antenna.
In a preferred embodiment of the present invention, the step of adjusting the position of the center of the radar corner reflector according to the spatial coordinate information of the center of the radar corner reflector so that the center of the radar corner reflector is opposite to the center of the radar antenna, and simultaneously making the surface of the radar corner reflector parallel to the surface of the license plate of the vehicle includes:
selecting any two support points of the radar corner reflector support, and acquiring X displacement and Y displacement of the radar corner reflector support according to the space coordinate information of the two support points;
and adjusting the positions of the two support points according to the X displacement and the Y displacement so that the connecting line of the two support points is parallel to the surface of the license plate.
In a preferred embodiment of the present invention, the step of determining whether the projected point coincides with the center of the corner reflector according to the spatial coordinate information of the projected point includes:
calculating an X coordinate difference, a Y coordinate difference and a Z coordinate difference between the two points according to the space coordinate information of the projection points and the space coordinate information of the centers of the corner reflectors, and judging whether the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within a first preset error threshold value;
if the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within a first preset error threshold, judging that the projection point coincides with the center of the corner reflector;
and if at least one difference value among the X coordinate difference, the Y coordinate difference and the Z coordinate difference is not within a first preset error threshold value, judging that the projection point is not coincident with the center of the corner reflector.
In a preferred embodiment of the present invention, if the projection point does not coincide with the center of the corner reflector, the step of adjusting the spatial coordinate information of the corner reflector according to the spatial coordinate information of the projection point so that the projection point coincides with the center of the corner reflector includes:
and adjusting the angle of the corner reflector according to the X coordinate difference, the Y coordinate difference and the Z coordinate difference until the projection point coincides with the center of the corner reflector.
The invention also provides a radar after-sale static calibration corner reflector alignment system, which is characterized by comprising:
the coordinate system construction module is used for selecting the middle position of the radar antenna as the center of the radar antenna and constructing a three-dimensional space coordinate system by taking the center of the radar antenna as an origin;
the radar antenna comprises a radar antenna, a radar corner reflector position adjusting module and a vehicle license plate, wherein the radar corner reflector is tightly attached to the radar antenna, the middle position of the radar corner reflector is selected as the radar corner reflector center, the space coordinate information of the radar corner reflector center is acquired according to the three-dimensional space coordinate system, the position of the radar corner reflector center is adjusted according to the space coordinate information of the radar corner reflector center, the radar corner reflector center is opposite to the radar antenna center, and meanwhile the surface of the radar corner reflector is parallel to the vehicle license plate surface;
the bracket mounting module is used for mounting a license plate positioning bracket on a license plate of a vehicle, the license plate positioning bracket comprises a license plate bracket and a laser pen bracket which is vertically connected with the license plate bracket, the license plate bracket is fixedly connected with the license plate of the vehicle, and the corner reflector is mounted on the laser pen bracket;
the coincidence detection module is used for controlling the laser pen to be started, acquiring the space coordinate information of a projection point of rays emitted by the laser pen on the corner reflector, and judging whether the projection point coincides with the center of the corner reflector or not according to the space coordinate information of the projection point;
and the rotation adjusting module is used for adjusting the space coordinate information of the corner reflector according to the space coordinate information of the projection point if the projection point is not coincident with the center of the corner reflector, so that the projection point is coincident with the center of the corner reflector.
In a preferred embodiment of the present invention, the corner reflector position adjustment module further includes:
a Z displacement amount acquisition unit for calculating the Z displacement amount of the radar corner reflector center according to the space coordinate information of the radar corner reflector center and the origin;
and the Z coordinate adjusting unit is used for adjusting the Z coordinate of the center of the radar corner reflector according to the Z displacement so as to make the Z coordinate of the center of the radar corner reflector equal to the Z coordinate of the center of the radar antenna.
In a preferred embodiment of the present invention, the corner reflector position adjustment module further includes:
the bracket point selecting unit is used for selecting any two bracket points of the radar corner reflector bracket and acquiring X displacement and Y displacement of the radar corner reflector bracket according to the space coordinate information of the two bracket points;
and the parallel adjusting unit is used for adjusting the positions of the two support points according to the X displacement and the Y displacement so as to enable the connecting line of the two support points to be parallel to the surface of the license plate.
In a preferred embodiment of the present invention, the coincidence detecting module further includes:
the projection point position detection unit is used for calculating an X coordinate difference, a Y coordinate difference and a Z coordinate difference between two points according to the space coordinate information of the projection point and the space coordinate information of the corner reflector center, and judging whether the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within a first preset error threshold value;
the coincidence judging unit is used for judging that the projection point coincides with the center of the corner reflector if the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within a first preset error threshold value;
and the misalignment determination unit is used for determining that the projection point is misaligned with the center of the corner reflector if at least one difference value of the X coordinate difference, the Y coordinate difference and the Z coordinate difference is not within a first preset error threshold value.
In a preferred embodiment of the present invention, the coincidence detecting module further includes:
and the angle adjusting unit is used for adjusting the angle of the corner reflector according to the X coordinate difference, the Y coordinate difference and the Z coordinate difference until the projection point coincides with the center of the corner reflector.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a method for calibrating a radar after-market static calibration corner reflector according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a system for calibrating a radar after-market static calibration corner reflector according to a second embodiment of the present invention.
The invention will be further described in the following detailed description in conjunction with the above-described figures.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Several embodiments of the invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, a flowchart of a method for calibrating a radar after-market static calibration corner reflector according to a first embodiment of the present invention is shown, the method includes steps S01 to S05, wherein:
step S01: selecting a radar antenna middle position as a radar antenna center, and constructing a three-dimensional space coordinate system by taking the radar antenna center as an origin;
step S02: the radar corner reflector is tightly attached to the radar antenna, the middle position of the radar corner reflector is selected as the center of the radar corner reflector, and the space coordinate information of the center of the radar corner reflector is acquired according to the three-dimensional space coordinate system, so that the position of the center of the radar corner reflector is adjusted according to the space coordinate information of the center of the radar corner reflector, the center of the radar corner reflector is opposite to the center of the radar antenna, and meanwhile, the surface of the radar corner reflector is parallel to the surface of a license plate of a vehicle;
in this step, the Z-displacement of the radar corner reflector center is specifically calculated according to the spatial coordinate information of the radar corner reflector center and the origin, that is, the height difference between the radar corner reflector center and the radar antenna is calculated according to the spatial coordinate information of the radar corner reflector center, that is, the height difference corresponds to the Z-displacement, and then the Z-coordinate of the radar corner reflector center is adjusted according to the Z-displacement, so that the Z-coordinate of the radar corner reflector center is equal to the Z-coordinate of the radar antenna center, that is, the height of the radar corner reflector center is equal to the height of the radar antenna center.
Further, in the process of enabling the radar corner reflector surface to be parallel to the license plate surface of the vehicle, any two support points of a radar corner reflector support are selected firstly, the radar corner reflector support is used for mounting the radar corner reflector, three support points are generally arranged on the radar corner reflector support, and then a first X displacement amount and a first Y displacement amount of one support point, which are separated from the license plate surface, and a second X displacement amount and a second Y displacement amount of the other support point, which are separated from the license plate surface, are calculated according to space coordinate information of the two support points, then an average value of the sum of the first X displacement amount and the second X displacement amount is calculated to be used as the X displacement amount, and the average value of the sum of the first Y displacement amount and the second Y displacement amount is used as the Y displacement amount, and then the positions of the two support points are adjusted according to the X displacement amount and the Y displacement amount, so that a connecting line of the two support points is parallel to the license plate surface.
It should be noted that, when the connection line of the two bracket points is parallel to the surface of the license plate, the radar corner reflector is translated backward along the X-axis direction to be spaced apart from the radar antenna by a first preset distance, and in this embodiment, the first preset distance is 2.5m.
Step S03: the license plate positioning bracket is arranged on a license plate of a vehicle and comprises a license plate bracket and a laser pen bracket which is vertically connected with the license plate bracket, wherein the license plate bracket is fixedly connected with a license plate of the vehicle, and the corner reflector is arranged on the laser pen bracket;
it should be noted that the license plate positioning bracket is a T-shaped, that is, the vertical connection point of the laser pen bracket and the license plate bracket is positioned at the middle part of the license plate bracket.
Step S04: controlling a laser pen to be started, acquiring space coordinate information of a projection point of rays emitted by the laser pen on the corner reflector, and judging whether the projection point coincides with the center of the corner reflector according to the space coordinate information of the projection point;
in the process of judging whether the projection point is coincident with the center of the corner reflector, firstly, calculating an X coordinate difference, a Y coordinate difference and a Z coordinate difference between the two points according to the space coordinate information of the projection point and the space coordinate information of the center of the corner reflector, and judging whether the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within a first preset error threshold value;
if the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within a first preset error threshold, judging that the projection point coincides with the center of the corner reflector;
and if at least one difference value among the X coordinate difference, the Y coordinate difference and the Z coordinate difference is not within a first preset error threshold value, judging that the projection point is not coincident with the center of the corner reflector.
Step S05: and if the projection point is not coincident with the center of the corner reflector, adjusting the space coordinate information of the corner reflector according to the space coordinate information of the projection point so as to enable the projection point to be coincident with the center of the corner reflector.
It will be appreciated that if the projected point does not coincide with the corner reflector center, the angle of the corner reflector is adjusted according to the X-coordinate difference, Y-coordinate difference, and Z-coordinate difference until the projected point coincides with the corner reflector center.
In summary, according to the method for calibrating the radar after-sales static calibration corner reflector, a standard and standard calibration mode is provided for the radar corner reflector, so that the center of the corner reflector can be aligned with a laser pen with high precision, and reliable guarantee is provided for static calibration of the millimeter wave radar. The method comprises the following steps: firstly, selecting a radar antenna center to construct a three-dimensional coordinate system, tightly attaching a radar corner reflector to a radar antenna, then selecting a radar corner reflector center, acquiring the space coordinate of the radar corner reflector center on the three-dimensional space coordinate system, further adjusting the position of the radar corner reflector center according to the space coordinate of the radar corner reflector center, enabling the radar corner reflector center to be opposite to the radar antenna center, then installing a license plate positioning bracket, controlling a laser pen to be started to capture a projection point of rays emitted by the laser pen on the corner reflector, further judging whether the projection point coincides with the corner reflector center according to the space coordinate information of the projection point, and adjusting the space coordinate information of the corner reflector until the projection point coincides with the corner reflector center if the projection point does not coincide with the corner reflector center, so that the corner reflector is accurately aligned.
Referring to fig. 2, a schematic structural diagram of a radar after-market static calibration corner reflector alignment system according to a second embodiment of the present invention is shown, the system includes:
the coordinate system construction module 10 is used for selecting the middle position of the radar antenna as the center of the radar antenna and constructing a three-dimensional space coordinate system by taking the center of the radar antenna as an origin;
the corner reflector position adjusting module 20 is configured to attach the radar corner reflector to the radar antenna, select a middle position of the radar corner reflector as a radar corner reflector center, and obtain spatial coordinate information of the radar corner reflector center according to the three-dimensional spatial coordinate system, so as to adjust a position of the radar corner reflector center according to the spatial coordinate information of the radar corner reflector center, so that the radar corner reflector center is opposite to the radar antenna center, and simultaneously make a surface of the radar corner reflector parallel to a license plate surface of the vehicle;
further, the corner reflector position adjustment module 20 further includes:
a Z displacement amount acquisition unit for calculating the Z displacement amount of the radar corner reflector center according to the space coordinate information of the radar corner reflector center and the origin;
the Z coordinate adjusting unit is used for adjusting the Z coordinate of the center of the radar corner reflector according to the Z displacement so that the Z coordinate of the center of the radar corner reflector is equal to the Z coordinate of the center of the radar antenna;
the bracket point selecting unit is used for selecting any two bracket points of the radar corner reflector bracket and acquiring X displacement and Y displacement of the radar corner reflector bracket according to the space coordinate information of the two bracket points;
and the parallel adjusting unit is used for adjusting the positions of the two support points according to the X displacement and the Y displacement so as to enable the connecting line of the two support points to be parallel to the surface of the license plate.
The bracket mounting module 30 is used for mounting a license plate positioning bracket on a license plate of a vehicle, wherein the license plate positioning bracket comprises a license plate bracket and a laser pen bracket vertically connected with the license plate bracket, the license plate bracket is fixedly connected with a license plate of the vehicle, and the corner reflector is mounted on the laser pen bracket;
the coincidence detection module 40 is used for controlling the laser pen to be started, acquiring the space coordinate information of a projection point of rays emitted by the laser pen on the corner reflector, and judging whether the projection point coincides with the center of the corner reflector according to the space coordinate information of the projection point;
further, the coincidence detecting module 40 further includes:
the projection point position detection unit is used for calculating an X coordinate difference, a Y coordinate difference and a Z coordinate difference between two points according to the space coordinate information of the projection point and the space coordinate information of the corner reflector center, and judging whether the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within a first preset error threshold value;
the coincidence judging unit is used for judging that the projection point coincides with the center of the corner reflector if the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within a first preset error threshold value;
the misalignment determination unit is used for determining that the projection point is misaligned with the center of the corner reflector if at least one difference value of the X coordinate difference, the Y coordinate difference and the Z coordinate difference is not within a first preset error threshold value;
and the angle adjusting unit is used for adjusting the angle of the corner reflector according to the X coordinate difference, the Y coordinate difference and the Z coordinate difference until the projection point coincides with the center of the corner reflector.
And the rotation adjusting module 50 is configured to adjust the spatial coordinate information of the corner reflector according to the spatial coordinate information of the projection point so that the projection point coincides with the corner reflector center if the projection point does not coincide with the corner reflector center.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. A method for calibrating a radar after-market static calibration corner reflector, the method comprising:
selecting a radar antenna middle position as a radar antenna center, and constructing a three-dimensional space coordinate system by taking the radar antenna center as an origin;
the radar corner reflector is tightly attached to the radar antenna, the middle position of the radar corner reflector is selected as the center of the radar corner reflector, and the space coordinate information of the center of the radar corner reflector is acquired according to the three-dimensional space coordinate system, so that the position of the center of the radar corner reflector is adjusted according to the space coordinate information of the center of the radar corner reflector, the center of the radar corner reflector is opposite to the center of the radar antenna, and meanwhile, the surface of the radar corner reflector is parallel to the surface of a license plate of a vehicle;
the license plate positioning bracket is arranged on a license plate of a vehicle and comprises a license plate bracket and a laser pen bracket which is vertically connected with the license plate bracket, wherein the license plate bracket is fixedly connected with a license plate of the vehicle, and the corner reflector is arranged on the laser pen bracket;
controlling a laser pen to be started, acquiring space coordinate information of a projection point of rays emitted by the laser pen on the corner reflector, and judging whether the projection point coincides with the center of the corner reflector according to the space coordinate information of the projection point;
and if the projection point is not coincident with the center of the corner reflector, adjusting the space coordinate information of the corner reflector according to the space coordinate information of the projection point so as to enable the projection point to be coincident with the center of the corner reflector.
2. The method for calibrating the corner reflector according to claim 1, wherein the step of adjusting the position of the center of the radar corner reflector according to the spatial coordinate information of the center of the radar corner reflector so that the center of the radar corner reflector is opposite to the center of the radar antenna and the surface of the radar corner reflector is parallel to the surface of the license plate of the vehicle comprises:
calculating the Z displacement of the center of the radar corner reflector according to the space coordinate information of the center of the radar corner reflector and the origin;
and adjusting the Z coordinate of the center of the radar corner reflector according to the Z displacement so that the Z coordinate of the center of the radar corner reflector is equal to the Z coordinate of the center of the radar antenna.
3. The method for calibrating the corner reflector according to claim 2, wherein the step of adjusting the position of the center of the radar corner reflector according to the spatial coordinate information of the center of the radar corner reflector so that the center of the radar corner reflector is opposite to the center of the radar antenna and the surface of the radar corner reflector is parallel to the surface of the license plate of the vehicle comprises:
selecting any two support points of the radar corner reflector support, and acquiring X displacement and Y displacement of the radar corner reflector support according to the space coordinate information of the two support points;
and adjusting the positions of the two support points according to the X displacement and the Y displacement so that the connecting line of the two support points is parallel to the surface of the license plate.
4. The method for calibrating a corner reflector for after-sales static calibration of a radar according to claim 3, wherein the step of determining whether the projected point coincides with the center of the corner reflector according to the spatial coordinate information of the projected point comprises:
calculating an X coordinate difference, a Y coordinate difference and a Z coordinate difference between the two points according to the space coordinate information of the projection points and the space coordinate information of the centers of the corner reflectors, and judging whether the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within a first preset error threshold value;
if the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within a first preset error threshold, judging that the projection point coincides with the center of the corner reflector;
and if at least one difference value among the X coordinate difference, the Y coordinate difference and the Z coordinate difference is not within a first preset error threshold value, judging that the projection point is not coincident with the center of the corner reflector.
5. The method for calibrating a corner reflector according to claim 4, wherein if the projected point does not coincide with the center of the corner reflector, the step of adjusting the spatial coordinate information of the corner reflector according to the spatial coordinate information of the projected point so that the projected point coincides with the center of the corner reflector includes:
and adjusting the angle of the corner reflector according to the X coordinate difference, the Y coordinate difference and the Z coordinate difference until the projection point coincides with the center of the corner reflector.
6. A radar after-market static calibration corner reflector alignment system, the system comprising:
the coordinate system construction module is used for selecting the middle position of the radar antenna as the center of the radar antenna and constructing a three-dimensional space coordinate system by taking the center of the radar antenna as an origin;
the radar antenna comprises a radar antenna, a radar corner reflector position adjusting module and a vehicle license plate, wherein the radar corner reflector is tightly attached to the radar antenna, the middle position of the radar corner reflector is selected as the radar corner reflector center, the space coordinate information of the radar corner reflector center is acquired according to the three-dimensional space coordinate system, the position of the radar corner reflector center is adjusted according to the space coordinate information of the radar corner reflector center, the radar corner reflector center is opposite to the radar antenna center, and meanwhile the surface of the radar corner reflector is parallel to the vehicle license plate surface;
the bracket mounting module is used for mounting a license plate positioning bracket on a license plate of a vehicle, the license plate positioning bracket comprises a license plate bracket and a laser pen bracket which is vertically connected with the license plate bracket, the license plate bracket is fixedly connected with the license plate of the vehicle, and the corner reflector is mounted on the laser pen bracket;
the coincidence detection module is used for controlling the laser pen to be started, acquiring the space coordinate information of a projection point of rays emitted by the laser pen on the corner reflector, and judging whether the projection point coincides with the center of the corner reflector or not according to the space coordinate information of the projection point;
and the rotation adjusting module is used for adjusting the space coordinate information of the corner reflector according to the space coordinate information of the projection point if the projection point is not coincident with the center of the corner reflector, so that the projection point is coincident with the center of the corner reflector.
7. The radar after-market static calibration corner reflector alignment system of claim 6, wherein the corner reflector position adjustment module further comprises:
a Z displacement amount acquisition unit for calculating the Z displacement amount of the radar corner reflector center according to the space coordinate information of the radar corner reflector center and the origin;
and the Z coordinate adjusting unit is used for adjusting the Z coordinate of the center of the radar corner reflector according to the Z displacement so as to make the Z coordinate of the center of the radar corner reflector equal to the Z coordinate of the center of the radar antenna.
8. The radar after-market static calibration corner reflector alignment system of claim 7, wherein the corner reflector position adjustment module further comprises:
the bracket point selecting unit is used for selecting any two bracket points of the radar corner reflector bracket and acquiring X displacement and Y displacement of the radar corner reflector bracket according to the space coordinate information of the two bracket points;
and the parallel adjusting unit is used for adjusting the positions of the two support points according to the X displacement and the Y displacement so as to enable the connecting line of the two support points to be parallel to the surface of the license plate.
9. The radar after-market static calibration corner reflector alignment system of claim 8, wherein the coincidence detection module further comprises:
the projection point position detection unit is used for calculating an X coordinate difference, a Y coordinate difference and a Z coordinate difference between two points according to the space coordinate information of the projection point and the space coordinate information of the corner reflector center, and judging whether the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within a first preset error threshold value;
the coincidence judging unit is used for judging that the projection point coincides with the center of the corner reflector if the X coordinate difference, the Y coordinate difference and the Z coordinate difference are all within a first preset error threshold value;
and the misalignment determination unit is used for determining that the projection point is misaligned with the center of the corner reflector if at least one difference value of the X coordinate difference, the Y coordinate difference and the Z coordinate difference is not within a first preset error threshold value.
10. The radar after-market static calibration corner reflector alignment system of claim 9, wherein the coincidence detection module further comprises:
and the angle adjusting unit is used for adjusting the angle of the corner reflector according to the X coordinate difference, the Y coordinate difference and the Z coordinate difference until the projection point coincides with the center of the corner reflector.
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