CN215526103U - Vehicle-mounted radar calibration system - Google Patents
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- CN215526103U CN215526103U CN202023252633.1U CN202023252633U CN215526103U CN 215526103 U CN215526103 U CN 215526103U CN 202023252633 U CN202023252633 U CN 202023252633U CN 215526103 U CN215526103 U CN 215526103U
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Abstract
The utility model relates to the technical field of vehicle-mounted radar calibration, and discloses a vehicle-mounted radar calibration system. The system comprises: at least one corner reflector target, each corner reflector target being arranged to be detected by a respective on-board radar mounted on the vehicle; a laser radar arranged to identify the position of the vehicle and each corner reflector target; the vehicle-mounted automatic diagnosis device is connected with a diagnosis interface of the vehicle and transmits information of the position of the corner reflector target detected by the vehicle-mounted radar; and the computing device is arranged to be in communication connection with the laser radar and the vehicle-mounted automatic diagnosis device, calculates compensation parameters according to the information of the positions of the vehicle and each corner reflector target identified by the laser radar and the information of the positions of the corner reflector targets detected by the vehicle-mounted radar, and inputs the calculated compensation parameters into a radar system of the vehicle-mounted radar through the vehicle-mounted automatic diagnosis device. By the method, the site requirement can be reduced, and the calibration time can be shortened.
Description
Technical Field
The utility model relates to the technical field of vehicle-mounted radar calibration, in particular to a vehicle-mounted radar calibration system.
Background
With the great popularization of automobiles, the safety driving problem of automobiles is more and more concerned by people, and under the continuous progress of automobile technology, more and more automobile intelligent auxiliary driving technologies are applied to the safety driving of automobiles. The main sensor of the automobile intelligent assistant driving technology is the vehicle-mounted radar, so that how to ensure that the vehicle-mounted radar can be accurately judged in the application process is crucial, because the vehicle-mounted radar is used as the main sensor of various automobile intelligent assistant driving technologies, if the vehicle-mounted radar is judged incorrectly, a driver of an automobile can cause wrong driving due to the error of the vehicle-mounted radar in the driving process, and thus traffic accidents are easily caused.
In particular, the radar has a series of errors such as process errors from factory shipment to actual installation, or vehicle manufacturing itself. By integrating the various error factors, after the radar is installed on a vehicle, the radar needs to be installed and calibrated, so that the effect of the vehicle-mounted radar after installation is ensured, and the use requirement can be met.
Therefore, in order to solve the above problem, the vehicle operator must calibrate the vehicle-mounted radar before the vehicle leaves the factory. Currently, most on-board radar calibration techniques require the orientation of the vehicle to be determined by the body wobbler. However, the system of the method has the problems of high cost of site construction, large occupied area and low reusability.
SUMMERY OF THE UTILITY MODEL
Therefore, it is necessary to provide a vehicle-mounted radar calibration system for solving the above technical problems, in such a manner, the requirement on the site is reduced, and the calibration time is shortened.
The embodiment of the utility model provides a vehicle-mounted radar calibration system, which comprises: at least one corner reflector target, each said corner reflector target being arranged for detection by a respective onboard radar mounted on the vehicle; a lidar arranged to identify the position of the vehicle and each of the corner reflector targets; an on-board automatic diagnostic device configured to interface with a diagnostic interface of the vehicle and to transmit information of the position of the corner reflector target detected by the on-board radar; and the computing device is arranged to be in communication connection with the laser radar and the vehicle-mounted automatic diagnosis device, calculate compensation parameters according to the information of the positions of the vehicle and each corner reflector target identified by the laser radar and the information of the positions of the corner reflector targets detected by the vehicle-mounted radar, and input the calculated compensation parameters into a radar system of the vehicle-mounted radar through the vehicle-mounted automatic diagnosis device.
In other embodiments, the on-board automatic diagnostic device is communicatively coupled to the computing device in a wired or wireless manner.
In other embodiments, the number of the at least one corner reflector target is five, and the five corner reflector targets are respectively used for detection by a front vehicle radar, a left front vehicle radar, a right front vehicle radar, a left rear vehicle radar and a right rear vehicle radar which are installed on the vehicle.
In other embodiments, the laser radar is arranged in front of three corner reflector targets corresponding to the front vehicle-mounted radar, the left front vehicle-mounted radar and the right front vehicle-mounted radar, and is opposite to the corner reflector target corresponding to the front vehicle-mounted radar.
In some other embodiments, the corner reflector target and the lidar are arranged in a fixed projection position on the plane of the calibration field and are adjustable in the height direction.
In other embodiments, the lidar is an industrial-grade lidar.
In some other embodiments, the computing device is integrated in an operating console.
In some other embodiments, the vehicle-mounted radar calibration system further comprises a vision camera device, wherein the vision camera device is used for visually identifying the environment of a calibration site so as to cooperate with the laser radar to accurately identify the positions of the vehicle and each corner reflector target.
In other embodiments, the vision camera is coupled to the lidar.
Compared with the prior art, the utility model has the beneficial effects that: different from the situation of the prior art, in the vehicle-mounted radar calibration system provided by the embodiment of the utility model, the automatic calibration of the vehicle-mounted radar such as a millimeter wave radar is realized through the high-precision laser radar, the construction of a vehicle body corrector is not needed, and the requirement on a site is reduced; in addition, the complicated operation steps in the traditional calibration device can be reduced, so that the operation in the calibration process is very simple, convenient and efficient, and the calibration time can be greatly shortened.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic top view of a vehicle radar calibration system provided in accordance with an embodiment of the present invention, wherein an exemplary vehicle and vehicle radar are also shown;
FIG. 2 is a schematic side view of the vehicle radar calibration system of FIG. 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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.
It should be noted that, if not conflicted, the various features of the embodiments of the utility model may be combined with each other within the scope of protection of the utility model. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. The terms "first", "second", "third", and the like used in the present invention do not limit data and execution order, but distinguish the same items or similar items having substantially the same function and action.
Referring to fig. 1 and fig. 2, a vehicle radar calibration system 100 according to an embodiment of the present invention is shown. The vehicle radar calibration system 100 may generally include at least one corner reflector target 10, a lidar 20, a vehicle automatic diagnostic device 30, and a computing device 40. The corner reflector target 10 and the laser radar 20 are used for being arranged in a calibration field; the calibration site mainly provides a support plane for supporting a vehicle 200 to be calibrated for the vehicle-mounted radar 201 mounted on the calibration site; the corner reflector target 10 and the laser radar 20 may be disposed at a position around the vehicle 200. The on-board automatic diagnostic device 30 is configured to be mounted on a vehicle 200, and the computing device 40 is mainly configured to serve as an operation terminal.
The vehicle radar 201 may be a millimeter wave radar, a laser radar, or the like. The vehicle-mounted radar 201 is preferably a millimeter-wave radar, because the vehicle-mounted radar can work all weather, the system is simple, the cost is low, and the performance is not affected by weather basically. In the vehicle 200, due to an error of a metal frame of a vehicle body, an error caused by a difference in thickness of screws when the vehicle-mounted radar 201 is mounted, and an error of a support frame of the vehicle-mounted radar 201, a deviation of, for example, several degrees may exist between an actual zero-degree direction and an expected zero-degree direction of the vehicle-mounted radar 201; therefore, the vehicle-mounted radar 201 needs to be calibrated before being offline, and the vehicle-mounted radar calibration system 100 according to the embodiment of the present application needs to be adopted.
Specifically, each of the corner reflector targets 10 may be provided for detection by a respective on-board radar 201 mounted on the vehicle 200. The corner reflector target 10 mainly includes a corner reflector 11 (also called a radar reflector), the corner reflector 11 can be made into radar wave reflectors of different specifications according to different purposes through metal plates, when the electromagnetic waves of the vehicle-mounted radar 201 scan the corner reflection, the electromagnetic waves can be refracted and amplified on the metal corner, a strong echo signal is generated, and then the vehicle-mounted radar 201 detects an echo target. The corner reflector target 10 may also include a target mount 12 for mounting the corner reflector 11 and adjusting the height, orientation, etc. of the corner reflector 11.
The laser radar 20 is provided to identify the position of the vehicle 200 and each of the corner reflector targets 10. The lidar 20 mainly uses laser for detection and ranging, projects a large amount of light through an internal laser element, and measures the size and distance of an object according to the quantity and time of light refraction and return. The more light the lidar 20 projects, the more accurate the image is rendered. The lidar 20 may be mounted on a radar mount 21 for adjusting the height, orientation, etc. of the lidar 20. The corner reflector targets 10 are aimed at the corresponding vehicle-mounted radar 201, and the laser radar 20 can scan each corner reflector target 10. The laser radar 20 may have a radar system, i.e., its own information processing system, to perform reading, calculation, etc. processing of information.
The on-board automatic diagnostic device 30 is provided for connection to a diagnostic interface of the vehicle 200 and for transmitting information on the position of the corner reflector target 10 detected by the on-board radar 201. Among them, the On-Board automatic diagnostic device may be abbreviated as OBD, and its english language is called On Board Diagnostics. The OBD can monitor the working conditions of an engine electric control system and other functional modules of the vehicle in real time in the running process of the vehicle, if the working condition is found to be abnormal, the OBD judges a specific fault according to a specific algorithm and stores the specific fault in a memory in the system in the form of Diagnostic Trouble Codes (DTCs); useful information obtained after the system self-diagnosis can provide help for the maintenance and the repair of the vehicle, and maintenance personnel can read the fault code by using a special instrument of an automobile original factory, so that the fault can be quickly positioned, the vehicle can be conveniently repaired, and the time of manual diagnosis is shortened. The present invention is to transmit information on the position of the corner reflector target 10 detected by the vehicle radar 201 by means of the vehicle-mounted automatic diagnostic device 30, for example, to the computing device 40; and the vehicle-mounted automatic diagnosis device 30 can also receive input information from the calculation device 40, and further input the input information into a radar system of the vehicle-mounted radar 201 to realize calibration.
The calculation device 40 is configured to be in communication connection with the laser radar 20 and the vehicle-mounted automatic diagnosis device 30 in a wireless or wired manner, and is configured to calculate a compensation parameter according to information of the positions of the vehicle 200 and each of the corner reflector targets 10 identified by the laser radar 20 and information of the positions of the corner reflector targets 10 detected by the vehicle-mounted radar 201, and input the calculated compensation parameter into a radar system of the vehicle-mounted radar 201 through the vehicle-mounted automatic diagnosis device 30. After the compensation parameters are calculated, the errors are written into a radar system of the vehicle-mounted radar 201 through a program, so that the vehicle-mounted radar 201 can automatically correct based on the compensation parameters; thus, there is no need to adjust the vehicle-mounted radar 201 in terms of the mounting structure, which can save the process flow, the assembly time, and further reduce the manufacturing cost.
In the vehicle-mounted radar calibration system 100 of the above embodiment, the high-precision laser radar 20 can automatically calibrate the vehicle-mounted radar 201, such as a millimeter-wave radar, without the need of a vehicle body aligner, and the requirement on the site is reduced; in addition, the complicated operation steps in the traditional calibration device can be reduced, so that the operation in the calibration process is very simple, convenient and efficient, and the calibration time can be greatly shortened.
In some embodiments, as shown in fig. 1 and 2, the onboard automatic diagnostic device 30 and the computing device 40 may be communicatively coupled wirelessly. In this way, placement of the computing device 40 may be facilitated such that its location is less limited. Alternatively, the on-board automatic diagnosis device 30 and the computing device 40 may be connected in a wired communication manner; for example, the two are connected by a communication line.
In some embodiments, as shown in fig. 1 and 2, the lidar 20 may be specifically configured to: modeling in space according to the identified positions of the vehicle 200 and each of the corner reflector targets 10, and reading initial coordinates of a vehicle body of the vehicle 200 and each of the corner reflector targets 10 in a first coordinate system; and, said computing means 40 are particularly arranged for: determining theoretical coordinates of the corner reflector target 10 corresponding to the vehicle-mounted radar 201 in a first coordinate system according to the theoretical installation position of the vehicle-mounted radar 201; and calculating a coordinate system compensation parameter according to a second coordinate of the corresponding corner reflector target 10 in a second coordinate system and a theoretical coordinate of the corner reflector target 10 in a first coordinate system, which are detected by the vehicle-mounted radar 201. In addition, the same reference object of the two coordinate systems of the laser radar coordinate system and the vehicle-mounted radar coordinate system may be each corner reflector target 10.
Two errors are typically involved in the calibration process of the present application. One is the aforementioned installation error, and the other is an error caused by an insufficient standard of placement of the vehicle body on the calibration site. After scanning and positioning, the laser radar 20 mainly positions the area of the boundary between the wheel and the vehicle body, and accordingly finds the central axis of the vehicle body; after the error caused by the fact that the vehicle body is not straightened is determined and calibrated, the detection result of the vehicle-mounted radar 201 corresponds to the detection result of the laser radar 20; for example, if it is determined that the vehicle-mounted radar 201 has an error of 5 degrees based on the laser radar coordinate system, but it is previously determined that the vehicle body has an error of 1 degree due to misalignment in the laser radar coordinate system, it is possible to comprehensively determine that the vehicle-mounted radar actually has an error of 4 degrees, and write the error of 4 degrees into the radar system of the vehicle-mounted radar 201.
In some embodiments, as shown in fig. 1, the number of the at least one corner reflector target 10 is five. The five corner reflector targets 10 are respectively used for detection by a front vehicle-mounted radar, a left front vehicle-mounted radar, a right front vehicle-mounted radar, a left rear vehicle-mounted radar and a right rear vehicle-mounted radar which are mounted on the vehicle 200; in fig. 1 and 2, only one vehicle-mounted radar 201 is shown, and the vehicle-mounted radar 201 in fig. 1 is a front right vehicle-mounted radar, and the vehicle-mounted radar 201 in fig. 2 is a front right vehicle-mounted radar.
Further, as shown in fig. 1 and 2, the laser radar 20 may be disposed in front of the three corner reflector targets 10 corresponding to the front vehicle radar, the left front vehicle radar, and the right front vehicle radar, and directly face the corner reflector target 10 corresponding to the front vehicle radar. Wherein the height of the laser radar 20 is set so as to be able to irradiate all the corner reflector targets 10; for example, lidar 20 may be slightly elevated above the vehicle body. It is noted that the calibration process of the present application may involve some coordinate system conversion, for example, the difference in height of the lidar 20 above the ground may have a different error than the ground-based coordinates, and thus the coordinate system conversion may be performed according to the height of the lidar 20 above the ground.
In some embodiments, as shown in fig. 1 and 2, the corner reflector target 10 and the lidar 20 may be arranged so that the projected position on the plane of the calibration site is fixed and adjustable in the height direction. That is, in addition to being height adjustable, the corner reflector target 10 and the lidar 20 are disposed at fixed locations on a calibration site. By substantially fixing the positions of the lidar 20 and the corner reflector target 10, the coordinate system scanned by the lidar 20 is substantially fixed, which reduces the amount of subsequent calculations. The installation position in the height direction is set to be fine-adjustable, so that the automobile seat can adapt to different automobile types.
In some embodiments, the lidar 20 may be an industrial-grade lidar 20. By adopting the industrial-grade laser radar, the detection distance is far, the performance is stable in various application environments, the laser scanning device can experience severe operation environments, can resist strong light interference, high and low temperature, vibration and impact, and the like, and further provides accurate laser scanning.
In some embodiments, the computing device 40 may be integrated into a console. The operation panel can be used for the operator to perform various operations, such as inputting various operation instructions and the like; the computing device 40 is integrated in the console, so that the environment for calibration operation is clean and convenient to operate.
In some embodiments, as shown in fig. 1 and 2, the onboard radar calibration system 100 may further include a vision camera 50, where the vision camera 50 is used to visually identify the environment of the calibration site, so as to cooperate with the laser radar 20 to accurately identify the positions of the vehicle 200 and each of the corner reflector targets 10. In the present application, the visual imaging device 50 is provided to roughly identify that the object in the target area is an angle reflection target, not an interfering object; the vision camera 50 can roughly recognize the general positions of the corner reflector target 10 and the vehicle 200, and when the positions of the corner reflector target 10 and the vehicle 200 detected by the laser radar 20 are aligned with the positions detected by the vision camera 50, the target recognition is correct; and the visual camera device 50 is combined, so that the detection effect is more perfect.
Further, as shown in fig. 1 and 2, the vision camera 50 and the laser radar 20 may be connected together. Therefore, the vision camera device 50 and the laser radar 20 can be installed on the same radar bracket 21, and synchronous height adjustment is realized. The vision camera 50 may be in wired or wireless communication with the lidar 20 and may also be in wired or wireless communication with the computing device 40.
The following briefly describes the operation steps of the vehicle-mounted radar calibration system 100 according to the embodiment of the present invention, with reference to fig. 1 and fig. 2.
Firstly, a vehicle 200 to be calibrated stops at a calibration site, so that the vehicle 200 corresponds to each corner reflector target 10, the laser radar 20 and the visual camera device 50 of the vehicle-mounted radar calibration system 100; the on-board automatic diagnostic device 30 is connected to an OBD diagnostic interface of the vehicle 200.
The calibration site basically serves as a flat site for placing the vehicle 200 and the vehicle-mounted radar calibration system 100; the vehicle 200 is parked as far as possible in the calibration field in correspondence with the corner reflector target 10, in particular such that the central axis of the vehicle 200 corresponds to the laser radar 20. In addition, the vehicle 200 needs to have the conditions of correct tire pressure, stable parking and no-load of the vehicle during calibration, because the phenomenon that the vehicle body is not level enough and the front and the back are not at the same height due to abnormal factors can be avoided; when the condition is met, the vehicle body of the vehicle is easily in a symmetrical and stable state, and the calibration result can be more accurate.
Secondly, the positions of the vehicle 200 and each corner reflector target 10 are automatically identified through the laser radar 20 and the visual image pickup device 50, the laser radar 20 performs space modeling, and the coordinate system relation of the vehicle body and each corner reflector target 10 is read; and determining theoretical coordinates of the corner reflector target 10 corresponding to the vehicle-mounted radar 201 in a first coordinate system (i.e. a coordinate system established by the laser radar 20) according to the theoretical installation position of the vehicle-mounted radar 201; when five vehicle-mounted radars and corresponding five corner reflector targets 10 are used, the theoretical coordinates of the five corner reflector targets 10 may be respectively: corner reflector target coordinates (X11, Y11) corresponding to the front radar, corner reflector target coordinates (X12, Y12) corresponding to the left front radar, corner reflector target coordinates (X13, Y13) corresponding to the right front radar, corner reflector target coordinates (X14, Y14) corresponding to the left rear radar, and corner reflector target coordinates (X15, Y15) corresponding to the right rear radar.
In the coordinate system established by the laser radar 20, for example, the laser radar 20 may be used as the origin of coordinates, and the coordinates of the vehicle body and the corner targets are fixed in the coordinate system. In addition, the operation of determining the theoretical coordinates can be divided into two steps: firstly, scanning the outline of a vehicle body by laser of a laser radar 20, and calculating the deviation angle of the vehicle body and a laser coordinate system; secondly, compensating the angle error into a coordinate system of a detected target of the radar; in this way, theoretical coordinates can be determined, which may also be referred to as an alignment operation.
Then, the information of the corresponding corner reflector target 10 detected by the vehicle-mounted radar 201 is read. In the coordinate system (i.e., the second coordinate system) established by each of the vehicle-mounted radars 201, the coordinates of the five corner reflector targets 10 may be respectively: corner reflector target coordinates (X21, Y21) corresponding to the front radar, corner reflector target coordinates (X22, Y22) corresponding to the left front radar, corner reflector target coordinates (X23, Y23) corresponding to the right front radar, corner reflector target coordinates (X24,24) corresponding to the left rear radar, and corner reflector target coordinates (X25, Y25) corresponding to the right rear radar.
Finally, the coordinate system relation detected by each vehicle-mounted radar 201 and the actual space coordinate system relation identified by the laser radar 20 are respectively calculated through the calculating device 40, the coordinate system compensation parameter is calculated, the calibration parameter is transmitted through the vehicle-mounted automatic diagnosis device 30, and is input into the radar system of each vehicle-mounted radar 201 and stored, and the calibration is completed.
The embodiment of the utility model has the advantages that the high-precision laser radar 20 can realize automatic calibration of the vehicle-mounted radar 201 such as a millimeter wave radar, the construction of a vehicle body aligner is not needed, and the requirement on the site is reduced; in addition, the complicated operation steps in the traditional calibration device can be reduced, so that the operation in the calibration process is very simple, convenient and efficient, and the calibration time can be greatly shortened; when a plurality of corner reflector targets 10 are employed, a vehicle in which vehicle-mounted radars 201 such as millimeter-wave radars are mounted at a plurality of positions can be calibrated at the same time; when a wireless communication connection mode is adopted, the vehicle-mounted radar calibration system 100 of the present application can implement wireless operation. In summary, the vehicle-mounted radar calibration system 100 of the present application is a calibration system with low space occupancy rate, high precision and high efficiency, and is mainly applicable to an offline calibration procedure of millimeter wave radar in automobile production, and can improve the offline productivity of automobiles.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the utility model, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the utility model as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A vehicle radar calibration system, comprising:
at least one corner reflector target (10), each said corner reflector target (10) being arranged for detection by a respective vehicle radar (201) mounted on a vehicle (200);
a lidar (20), the lidar (20) being arranged to identify the position of the vehicle (200) and each of the corner reflector targets (10);
an on-board automatic diagnostic device (30), the on-board automatic diagnostic device (30) being provided for connecting with a diagnostic interface of the vehicle (200) and for transmitting information of the position of the corner reflector target (10) detected by the on-board radar (201); and
a computing device (40), wherein the computing device (40) is arranged to be in communication connection with the laser radar (20) and the vehicle-mounted automatic diagnosis device (30), and is used for calculating compensation parameters according to the information of the positions of the vehicle (200) and each corner reflector target (10) identified by the laser radar (20) and the information of the position of the corner reflector target (10) detected by the vehicle-mounted radar (201), and inputting the calculated compensation parameters into a radar system of the vehicle-mounted radar (201) through the vehicle-mounted automatic diagnosis device (30).
2. The vehicle radar calibration system according to claim 1,
the vehicle-mounted automatic diagnosis device (30) is in communication connection with the computing device (40) in a wired or wireless mode.
3. The vehicle radar calibration system according to claim 1,
the number of the at least one corner reflector target (10) is five, and the five corner reflector targets (10) are respectively used for detection by a front vehicle-mounted radar, a left front vehicle-mounted radar, a right front vehicle-mounted radar, a left rear vehicle-mounted radar and a right rear vehicle-mounted radar which are mounted on the vehicle (200).
4. The vehicle radar calibration system according to claim 3,
the laser radar (20) is arranged in front of three corner reflector targets (10) corresponding to the front vehicle-mounted radar, the left front vehicle-mounted radar and the right front vehicle-mounted radar, and is opposite to the corner reflector targets (10) corresponding to the front vehicle-mounted radar.
5. The vehicle radar calibration system according to claim 1,
the corner reflector target (10) and the lidar (20) are arranged in a fixed projection position on the plane of the calibration field and are adjustable in the height direction.
6. The vehicle radar calibration system according to claim 1,
the laser radar (20) is an industrial-grade laser radar (20).
7. The vehicle radar calibration system according to claim 1,
the computing device (40) is integrated in an operating console.
8. The vehicle radar calibration system according to any one of claims 1 to 7,
the vehicle-mounted radar calibration system (100) further comprises a vision camera device (50), wherein the vision camera device (50) is used for visually identifying the environment of a calibration site so as to be matched with the laser radar (20) to accurately identify the positions of the vehicle (200) and each corner reflector target (10).
9. The vehicle radar calibration system according to claim 8,
the visual image pickup device (50) is connected with the laser radar (20).
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| CN202023252633.1U CN215526103U (en) | 2020-12-29 | 2020-12-29 | Vehicle-mounted radar calibration system |
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| CN202023252633.1U CN215526103U (en) | 2020-12-29 | 2020-12-29 | Vehicle-mounted radar calibration system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114488047A (en) * | 2022-01-27 | 2022-05-13 | 中国第一汽车股份有限公司 | Vehicle sensor calibration system |
| CN114623856A (en) * | 2022-02-08 | 2022-06-14 | 武汉路特斯汽车有限公司 | Offline composite calibration system and method for multiple sensors |
| CN116593973A (en) * | 2023-03-29 | 2023-08-15 | 深圳承泰科技有限公司 | Method and system for automatically calibrating installation angle of vehicle-mounted millimeter wave radar |
-
2020
- 2020-12-29 CN CN202023252633.1U patent/CN215526103U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114488047A (en) * | 2022-01-27 | 2022-05-13 | 中国第一汽车股份有限公司 | Vehicle sensor calibration system |
| CN114623856A (en) * | 2022-02-08 | 2022-06-14 | 武汉路特斯汽车有限公司 | Offline composite calibration system and method for multiple sensors |
| CN116593973A (en) * | 2023-03-29 | 2023-08-15 | 深圳承泰科技有限公司 | Method and system for automatically calibrating installation angle of vehicle-mounted millimeter wave radar |
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