CN219969557U

CN219969557U - Vehicle-mounted radar adjusting device, adjusting system and vehicle

Info

Publication number: CN219969557U
Application number: CN202321157755.3U
Authority: CN
Inventors: 肖建昌; 赵朋
Original assignee: Avatr Technology Chongqing Co Ltd
Current assignee: Avatr Technology Chongqing Co Ltd
Priority date: 2023-05-11
Filing date: 2023-05-11
Publication date: 2023-11-07
Anticipated expiration: 2033-05-11

Abstract

The application relates to the technical field of vehicle parts and discloses a vehicle-mounted radar adjusting device, an adjusting system and a vehicle. The vehicle-mounted radar adjusting device comprises a mounting seat, a first mounting piece and a second mounting piece. The mounting seat is fixedly connected to the vehicle, and a first avoidance space is formed in the mounting seat; the first mounting piece is rotationally connected to the mounting seat and can rotate around a first direction relative to the mounting seat, and a second avoidance space is formed in the first mounting piece; the second mounting piece is rotatably connected to the first mounting piece and can rotate around a second direction relative to the first mounting piece, and a mounting part is arranged on the second mounting piece and is used for mounting the radar; the first avoiding space forms a first mounting part rotating avoiding space, the second avoiding space forms a second mounting part rotating avoiding space, and an included angle is formed between the first direction and the second direction.

Description

Vehicle-mounted radar adjusting device, adjusting system and vehicle

Technical Field

The application relates to the technical field of vehicle parts, in particular to a vehicle-mounted radar adjusting device, an adjusting system and a vehicle.

Background

With the development of vehicles, the use scenes of vehicle-mounted radars are more and more, for example, ultrasonic radars are generally installed at the positions of front safety bars and rear safety bars of the vehicles, and when the vehicles are parked, the front and rear obstacles of the vehicles can be warned. In addition, at present, a plurality of radars with wider recognition range and higher precision are installed on a vehicle and used for recognizing road conditions and the like, so that basis is provided for automatic driving of the vehicle and the like.

However, in a real environment, there are cases where a road objectively turns, goes up or goes down, and there is a need for a device capable of adjusting the radar direction so that the radar can be directed to the road and sufficient road information is detected.

Disclosure of Invention

In view of the above, the utility model provides a vehicle-mounted radar adjusting device, an adjusting system and a vehicle, which have the advantages of simple structure, small volume and capability of adjusting the radar orientation in a large range.

In order to achieve the above purpose, the technical scheme of the utility model is realized as follows:

in a first aspect, the present utility model provides a vehicle-mounted radar adjustment device, including: mount pad, first installed part and second installed part. The mounting seat is fixedly connected to the vehicle, and a first avoidance space is formed in the mounting seat; the first mounting piece is rotationally connected to the mounting seat and can rotate around a first direction relative to the mounting seat, and a second avoidance space is formed in the first mounting piece; the second mounting piece is rotatably connected to the first mounting piece and can rotate around the second direction relative to the first mounting piece, and the second mounting piece is provided with a mounting part for mounting the radar. The first avoidance space forms a first installation piece rotating avoidance space, the second avoidance space forms a second installation piece rotating avoidance space, and the first direction and the second direction are different.

In the vehicle-mounted radar adjustment device provided by the application, the mounting seat provides a mounting foundation for the first mounting piece and the second mounting piece, the first mounting piece is rotatably connected to the mounting seat and can rotate around a first direction relative to the mounting seat, and the second mounting piece is rotatably connected to the first mounting piece and can rotate around a second direction relative to the first mounting piece. Thus, by adaptively adjusting the rotation angle of the first mount with respect to the mount, and the rotation angle of the second mount with respect to the first mount, the orientation of the radar can be adjusted in a wide range. Simultaneously, through rotating first installed part and being connected to the mount pad to adjust the relative position between first space and the first installed part that dodges, can be when first installed part rotates, partial structure or the whole structure of first installed part get into in the first space of dodging, thereby can be with the comparatively compactness that first installed part and mount pad set up, make partial structure of first installed part and mount pad carry out partial overlapping. Simultaneously, through rotating first installed part to be connected to the second installed part to adjust the relative position between second dodge space and the second installed part, can be when the second installed part rotates the partial structure or the whole structure of second installed part get into in the second dodge space, thereby can be with the comparatively compact that second installed part and first installed part set up, make the partial structure of second installed part and first installed part overlap. Therefore, the vehicle-mounted radar adjusting device provided by the application has a simple structure and a small volume.

In one possible implementation manner of the present application, the mounting base includes a bottom plate, a first side plate and a second side plate, where the first side plate and the second side plate are disposed at two ends of the bottom plate in a first direction, and are connected to the bottom plate respectively, and a space among the bottom plate, the first side plate and the second side plate forms a first avoidance space.

In one possible implementation manner of the present application, the middle parts of the bottom plate, the first side plate and the second side plate are all provided with a first hollow structure.

In one possible implementation manner of the application, two ends of the first mounting piece along the first direction are respectively provided with a first rotating shaft and a second rotating shaft, the first rotating shaft and the second rotating shaft are coaxial, one end of the first side plate far away from the bottom plate is provided with a first rotating hole, the first rotating shaft is arranged in the first rotating hole and can rotate relative to the first rotating hole, one side of the second side plate far away from the first side plate is provided with a first driving component, the output end of the first driving component is provided with a first output hole, the second rotating shaft is arranged in the first output hole, and the first driving component drives the first mounting piece to rotate around the first direction through the first output hole.

In one possible implementation of the application, the end of the first side plate remote from the bottom plate is provided with a first connecting piece, the first connecting piece is detachably connected to the first side plate, and the first rotating hole is provided on the first connecting piece.

In one possible implementation manner of the application, the first mounting member extends along the plane, and the middle part of the first mounting member is provided with a second hollow structure, and the second hollow structure forms a second avoidance space.

In one possible implementation manner of the present application, the second mounting member is provided with a third rotation shaft and a fourth rotation shaft at two ends along the second direction, the third rotation shaft and the fourth rotation shaft are coaxial, the first end of the first mounting member along the second direction is provided with a second rotation hole, the third rotation shaft is arranged in the second rotation hole and can rotate relative to the second rotation hole, the second end of the first mounting member along the second direction is provided with a second driving component, the output end of the second driving component is provided with a second output hole, the fourth rotation shaft is arranged in the second output hole, and the second driving component rotates around the second direction through the second output Kong Qudong second mounting member.

In one possible implementation of the application, the first end of the first mounting member in the second direction is provided with a second connecting member detachably connected to the first mounting member, and the second rotation hole is provided on the second connecting member.

In a second aspect, the application provides a vehicle-mounted radar adjustment system, which comprises a vehicle-mounted radar calibration tool and the vehicle-mounted radar adjustment device provided by any one of the first aspects. The vehicle-mounted radar calibration tool comprises a first calibration piece and a second calibration piece. The first calibration piece and the second calibration piece are arranged along a first direction, a first protruding part and a second protruding part which are arranged along a second direction are arranged on the first calibration piece, a third protruding part and a fourth protruding part which are arranged along the second direction are arranged on the second calibration piece, and the first protruding part, the third protruding part, the second protruding part and the fourth protruding part are all arranged along the first direction; the vehicle-mounted radar calibration tool is used for calibrating the position of the radar installed on the vehicle-mounted radar adjusting device.

In a third aspect, the present application provides a vehicle comprising a body, a radar and the in-vehicle radar adjustment device provided in any one of the first aspects. Wherein, on-vehicle radar adjusting device's mount pad fixed connection is to the automobile body, radar fixed connection is to on-vehicle radar adjusting device's installation department.

The vehicle provided by the application comprises the vehicle-mounted radar adjusting device provided by the first aspect, so that the vehicle-mounted radar adjusting device has the same technical effects of simple structure and small volume, and can adjust the radar direction in a large range.

Drawings

Fig. 1 is an exploded schematic view of the overall structure of a vehicle-mounted radar adjustment device according to an embodiment of the present application;

fig. 2 is a schematic diagram illustrating assembly of a second mounting member and a radar of the vehicle-mounted radar adjustment apparatus according to an embodiment of the present application;

fig. 3 is an assembly schematic diagram of a first mounting member and a first driving assembly of the vehicle radar adjustment device according to an embodiment of the present application;

fig. 4 is an assembly schematic diagram of a second mounting member and a first mounting member of the vehicle-mounted radar adjustment device according to an embodiment of the present application;

fig. 5 is a schematic diagram of an on-vehicle radar adjustment device according to an embodiment of the present application for adjusting radar orientation;

fig. 6 is a schematic diagram of an on-vehicle radar adjustment device according to an embodiment of the present application for adjusting radar orientation;

Fig. 7 is a schematic view of a usage scenario of the vehicle-mounted radar adjustment device according to the embodiment of the present application;

fig. 8 is a schematic diagram (oblique view) of a vehicle-mounted radar calibration tool according to an embodiment of the present application;

fig. 9 is a schematic diagram (front view) of a vehicle-mounted radar calibration tool according to an embodiment of the present application;

FIG. 10 is a schematic diagram of radar orientation adjustment for an on-board radar calibration tool provided by an embodiment of the present application;

fig. 11 is a schematic diagram of adjusting radar orientation of an on-board radar calibration tool according to an embodiment of the present application.

Reference numerals:

1-a mounting base; 11-a bottom plate; 12-a first side panel; 13-a second side plate; 14-a first hollow structure; 15-a first connector; 151-first rotation hole; 2-a first mount; 21-a first rotation axis; 22-a second rotation axis; 23-a first drive assembly; 231-a first output aperture; 24-a second connector; 241-a second rotation hole; 3-a second mount; 31-an installation part; 32-a third rotation axis; 33-fourth rotation axis; 34-a second drive assembly; 341-a second output aperture; 4-radar; 5-a measurement module; 51-a body height measurement module; 52-a vehicle body rotation angle measurement module; 6-vehicle radar calibration tool; 61-a first calibration member; 611-a first boss; 612-a second lobe; 62-a second calibration member; 621-third protrusions; 622-fourth lobe; a first pose of the a-radar; b-a second pose of the radar; c-a third pose of the radar; d-fourth pose of radar; a fifth pose of the e-radar; f-sixth pose of radar; g-theoretical scan line of radar; h-the actual scan line of the radar.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application more apparent, the specific technical solutions of the present application will be described in further detail below with reference to the accompanying drawings in the embodiments of the present application. The following examples are illustrative of the application and are not intended to limit the scope of the application.

In embodiments of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.

Furthermore, in the embodiments of the present application, the terms "upper," "lower," "left," and "right," etc., are defined with respect to the orientation in which the components in the drawings are schematically disposed, and it should be understood that these directional terms are relative terms, which are used for descriptive and clarity with respect to each other, and which may vary accordingly with respect to the orientation in which the components in the drawings are disposed.

In embodiments of the present application, unless explicitly specified and limited otherwise, the term "coupled" is to be construed broadly, and for example, "coupled" may be either fixedly coupled, detachably coupled, or integrally formed; can be directly connected or indirectly connected through an intermediate medium.

In embodiments of the present application, 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 the element.

In embodiments of the application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g." in an embodiment of the present application is not to be taken as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

With the development of intelligent technologies of vehicles, the detection of road information and obstacles by using a radar has become a development direction of automatic driving technologies of vehicles. At present, the common radar is installed on a vehicle in a fixed mode, and after the vehicle leaves the factory, the position of the radar relative to the vehicle and the orientation of the radar are unchangeable. The radar is limited by the actual condition of the road, the situations such as turning road, ascending road or descending road inevitably exist, the radar easily loses the detection target, at the moment, the radar cannot detect enough road information, the running safety of the vehicle in an automatic driving mode cannot be ensured, and accidents easily occur.

In view of this, an embodiment of the present application provides a vehicle including a vehicle body, a radar, and an in-vehicle radar adjustment device. Specifically, the vehicle-mounted radar adjustment device is fixedly connected to the vehicle body, and the radar is fixedly connected to the vehicle-mounted radar adjustment device. In the vehicle provided by the embodiment of the application, the vehicle-mounted radar adjusting device is used for installing the radar, and can adjust the direction of the radar, so that the radar can track a road better.

The vehicle in the present application may be a type of vehicle such as a large-sized vehicle, a small-sized vehicle, a special-purpose vehicle, a tram, a trolley bus, or a battery car, and the embodiment of the present application is not limited thereto. The vehicle of the present application may be, for example, a sedan type, an off-road type, a Multi-Purpose Vehicles (MPV) type, or other types, depending on the type of the vehicle.

In addition, in the embodiment of the present application, the type of radar is not limited, and may be an ultrasonic radar, a millimeter wave radar, a laser radar, or the like. The data processing of the ultrasonic radar is simple and quick, and the ultrasonic radar can be used for detecting obstacles in a short-distance; the millimeter wave radar has the advantages of narrow beam, high resolution and strong anti-interference capability, and has better environmental adaptability; the laser radar has wide detection range, higher detection distance and position accuracy, and can be better used for detecting obstacles and acquiring environment three-dimensional information. The radar can be selectively used according to different characteristics of different radars, and the embodiment of the application is not limited to the above.

On the basis, referring to fig. 1, the embodiment of the application further provides a vehicle-mounted radar adjusting device, and specifically, the vehicle-mounted radar adjusting device comprises a mounting seat 1, a first mounting piece 2 and a second mounting piece 3. Wherein, the mounting seat 1 is fixedly connected to the vehicle, and a first avoidance space is arranged on the mounting seat 1; the first mounting piece 2 is rotatably connected to the mounting seat 1 and can rotate around a first direction relative to the mounting seat 1, and a second avoidance space is formed on the first mounting piece 2; the second mounting member 3 is rotatably connected to the first mounting member 2 and is rotatable relative to the first mounting member 2 about a second direction, and a mounting portion 31 is further provided on the second mounting member 3 for mounting the radar 4, wherein the first avoiding space forms a first mounting member 2 rotational avoiding space, the second avoiding space forms a second mounting member 3 rotational avoiding space, and an angle is provided between the first direction and the second direction.

In the embodiment of the present application, the first direction and the second direction are not limited. For example, for a three-dimensional space coordinate system, the first direction and the second direction may refer to any direction having an included angle within the three-dimensional space coordinate system. The orientation of the radar 4 can be adjusted in any direction in the three-dimensional space coordinate system on the basis that the first mount 2 can rotate relative to the mount 1 about the first direction and the second mount 3 can rotate relative to the first mount 2 about the second direction. For example, for a vehicle, the angle of view of the radar 4 may be set to a horizontal angle of view and a vertical angle of view as evaluation indexes, for which a first direction may be set to correspond to the horizontal direction and a second direction may be set to correspond to the vertical direction. Therefore, in some embodiments of the present application, the first direction may be disposed corresponding to the horizontal direction, and the second direction may be disposed corresponding to the vertical direction, and in particular, the first direction may be considered to be parallel to the horizontal direction, or the first direction may be considered to refer to the horizontal direction; meanwhile, the second direction may be considered to be parallel to the vertical direction, or the second direction may be considered to refer to the vertical direction.

On this basis, it can be considered that the horizontal view angle of the radar 4 corresponds to the width direction of the vehicle, and the vertical view angle of the radar 4 corresponds to the height direction of the vehicle, corresponding to the length direction, width direction, and height direction of the vehicle. Therefore, in some embodiments of the present application, the first direction may be set to correspond to the width direction of the vehicle, and the second direction may be set to correspond to the height direction of the vehicle. Specifically, the first direction may be considered to be parallel to the width direction of the vehicle, or the first direction may be considered to refer to the width direction of the vehicle; meanwhile, the second direction may be considered to be parallel to the height direction of the vehicle, or the second direction may be considered to refer to the height direction of the vehicle.

For other directions in which the first direction and the second direction are set to have an included angle, the above description may be referred to for adaptation, which is not limited by the embodiment of the present application.

In the embodiment of the present application, the specific structure of the mount 1 is not limited, and the mount 1 may be manufactured using a frame structure or a plate structure. In addition, in the embodiment of the present application, the connection manner in which the mount 1 is fixedly connected to the vehicle is not limited either. By way of example, the mount 1 may be fixedly attached to the vehicle body by means of a fastener connection; the mount 1 may be fixedly connected to the vehicle body by welding or the like.

In addition, in the embodiment of the present application, the structure, shape, and the like of the first mount 2 and the second mount 3 are not limited either. The second mounting member 3 is used for mounting the radar 4 and can be adjusted according to the shape of the radar 4. The first mounting member 2 is used for mounting the second mounting member 3, and can be adjusted according to the shape of the second mounting member 3.

Since the first mounting member 2 is rotatably connected to the mounting base 1, there must be a rotation path when the first mounting member 2 rotates relative to the mounting base 1, and the first avoiding space in the embodiment of the present application is set corresponding to the rotation path of the first mounting member 2, and illustratively, corresponding to the rotation path of the first mounting member 2, a notch type structure or a slot type structure may be set on the mounting base 1 to form the first avoiding space. Meanwhile, since the second mounting member 3 is rotatably connected to the first mounting member 2, there must be a rotation path when the second mounting member 3 rotates relative to the first mounting member 2, and the second avoidance space in the embodiment of the present application is disposed corresponding to the rotation path of the second mounting member 3, for example, a notch type structure or a slot type structure may be disposed on the first mounting member 2 corresponding to the rotation path of the second mounting member 3 to form the second avoidance space.

Meanwhile, a mounting portion 31 for mounting the radar 4 is also provided on the second mount 3. A groove may be provided on the second mount 3 to mount the radar 4. By way of example, referring to fig. 1 and 2, it is also possible to provide the second mount 3 in a plate-like structure and fixedly connect the radar 4 to the second mount 3 by means of fasteners.

In the vehicle-mounted radar adjustment device provided by the embodiment of the application, the mount 1 provides the mounting basis for the first mount 2 and the second mount 3, by rotationally connecting the first mount 2 to the mount 1 and allowing the first mount 2 to rotate relative to the mount 1 about the first direction, and rotationally connecting the second mount 3 to the first mount 2 and allowing the second mount 3 to rotate relative to the first mount 2 about the second direction. In this way, by adaptively adjusting the rotation angle of the first mount 2 with respect to the mount 1 and the rotation angle of the second mount 3 with respect to the first mount 2, the orientation of the radar 4 can be adjusted over a wide range.

Simultaneously, through rotating first installed part 2 to be connected to mount pad 1 to adjust the relative position between first space and the first installed part 2 of dodging, can be when first installed part 2 is rotating, partial structure or the whole structure of first installed part 2 get into in the first space of dodging, thereby can be with the comparatively compact that first installed part 2 and mount pad 1 set up, make partial structure of first installed part 2 and mount pad 1 carry out partial overlapping. Meanwhile, the first mounting piece 2 is rotationally connected to the second mounting piece 3, and the relative position between the second avoidance space and the second mounting piece 3 is adaptively adjusted, so that part or all of the structure of the second mounting piece 3 can enter the second avoidance space when the second mounting piece 3 rotates, the second mounting piece 3 and the first mounting piece 2 can be compactly arranged, and part of the structure of the second mounting piece 3 and the part of the structure of the first mounting piece 2 are overlapped. Therefore, the vehicle-mounted radar adjusting device provided by the embodiment of the application has the advantages of simple structure and small volume.

On this basis, referring to fig. 1, in some embodiments of the present application, the mount 1 is formed using a plate-like structure. Specifically, the mount 1 includes a bottom plate 11, a first side plate 12, and a second side plate 13, and the first side plate 12 and the second side plate 13 are oppositely disposed at both ends of the bottom plate 11 in the first direction.

In the embodiment of the present application, the first side plate 12 and the second side plate 13 are arranged along the first direction. In addition, the bottom plate 11, the first side plate 12 and the second side plate 13 may be provided as a whole, and may be formed of a plate-like structure by bending processing; the bottom plate 11, the first side plate 12 and the second side plate 13 may also be manufactured separately and then fixedly connected together, which is not limited in the embodiment of the present application.

Since the bottom plate 11, the first side plate 12 and the second side plate 13 are plate-shaped structures, and the first side plate 12 and the second side plate 13 are disposed at two ends of the bottom plate 11, a blank space is formed in the space between the bottom plate 11, the first side plate 12 and the second side plate 13, and thus the blank space forms a first avoiding space.

In this way, in the vehicle radar adjustment device provided by the embodiment of the present application, the plate-shaped structure is used to form the mounting seat 1, so that the structure of the mounting seat 1 is simple and the volume is small, and the structural features of the bottom plate 11, the first side plate 12 and the second side plate 13 can be used to form the first avoidance space, so that no other structure is required to be separately provided to manufacture the first avoidance space.

On this basis, referring to fig. 1, in some embodiments of the present application, the middle portions of the bottom plate 11, the first side plate 12 and the second side plate 13 are all provided with hollowed structures. For convenience of distinction, the hollow structures provided at the middle portions of the bottom plate 11, the first side plate 12, and the second side plate 13 are referred to as a first hollow structure 14.

It should be noted that the first hollow structure 14 may be adaptively processed according to the structural forms or manufacturing methods of the bottom plate 11, the first side plate 12 and the second side plate 13. For example, for the material of the bottom plate 11, the first side plate 12 and the second side plate 13 is a metal material, the first hollow structure 14 may be machined by cutting or the like. In addition, for the bottom plate 11, the first side plate 12 and the second side plate 13 are injection molding pieces, the first hollow structure 14 can be directly injection molded by adjusting the shape of the mold.

By providing the first hollowed-out structure 14 on the bottom plate 11, the first side plate 12 and the second side plate 13, the weight of the mounting seat 1 can be reduced. Meanwhile, the first hollow structure 14 is arranged to be beneficial to radiating the radar 4.

In order to facilitate the rotational connection between the first mount 2 and the mount 1, referring to fig. 1, in some embodiments of the present application, a first rotational shaft 21 and a second rotational shaft 22 are provided at both ends of the first mount 2 in the first direction, respectively, and the first rotational shaft 21 and the second rotational shaft 22 are coaxial.

The first rotation shaft 21 and the second rotation shaft 22 are coaxial, and the axis of the first rotation shaft 21 and the axis of the second rotation shaft 22 are on the same line. In this way, the first rotation shaft 21 and the second rotation shaft 22 can form the rotation shaft of the first mount 2.

Specifically, in the embodiment of the present application, the rotation of the first mount 2 with respect to the mount 1 can be achieved in the following manner.

A first rotation hole 151 is provided at an end of the first side plate 12 remote from the bottom plate 11, and the first rotation shaft 21 is provided in the first rotation hole 151 and rotatable with respect to the first rotation hole 151. Specifically, the inner diameter of the first rotation hole 151 may be set to be slightly larger than the diameter of the first rotation shaft 21 so that a rotation gap is provided between the first rotation hole 151 and the first rotation shaft 21.

Meanwhile, a first driving assembly 23 is further arranged on one side, far away from the first side plate 12, of the second side plate 13, a first output hole 231 is formed in the output end of the first driving assembly 23, the second rotating shaft 22 is arranged in the first output hole 231, and the first driving assembly 23 drives the first mounting piece 2 to rotate around the first direction through the first output hole 231.

Specifically, the first driving assembly 23 may be formed directly using an electric motor; referring to fig. 1 and 4, an output module may also be fabricated using an electric motor as the first driving assembly 23. Specifically, a hole may be provided on the first driving component 23 as the first output hole 231, and a driving wheel may be provided in the first output hole 231, and the transmission structure between the motor and the driving wheel is disposed in the output module, so that the motor can drive the driving wheel to rotate. Through setting up the splined hole on the action wheel, correspond, set up the spline arch on second axis of rotation 22, wear to establish the spline arch in the splined hole, can make second axis of rotation 22 rotate along with the action wheel synchronization. This enables the first mounting member 2 to be driven in rotation about the first direction.

On this basis, in order to facilitate the detachment between the first mount 2 and the mount 1, referring to fig. 1 and 4, in some embodiments of the present application, a first rotation hole 151 is provided through the first link 15.

Specifically, in the embodiment of the present application, the first link 15 is disposed at an end of the first side plate 12 remote from the bottom plate 11, and the first link 15 is detachably connected to the first side plate 12, and the first rotation hole 151 is disposed on the first link 15. Illustratively, referring to FIG. 1, the first connector 15 may be removably attached to the first side panel 12 by a fastener. In addition, the first connecting member 15 may be detachably connected to the first side board 12 by other connection methods, such as a clamping connection, which is not limited in the embodiment of the present application. In this way, the first mounting member 2 can be easily mounted to the mount 1.

In addition, referring to fig. 2, in some embodiments of the application, the first mount 2 is arranged to extend along a plane. And a second hollow structure is arranged at the middle part of the first mounting piece. Therefore, the second avoidance space can be formed by using the second hollow structure.

For example, referring to fig. 1 and 3, the first mount 2 may be provided as a rectangular planar frame structure, and a middle portion of the planar frame structure is hollow to form a second hollowed-out structure. Therefore, the second mounting piece 3 can enter the second hollow structure when rotating, and the second mounting piece 3 and the first mounting piece 2 can be overlapped.

On the basis of this, referring to fig. 1 and 2, in some embodiments of the present application, a third rotation shaft 32 and a fourth rotation shaft 33 are provided at both ends of the second mount 3 in the second direction, respectively, and the third rotation shaft 32 and the fourth rotation shaft 33 are coaxial.

The third rotation shaft 32 and the fourth rotation shaft 33 are coaxial, and the axis of the third rotation shaft 32 and the axis of the fourth rotation shaft 33 are on the same straight line. In this way, the third rotation shaft 32 and the fourth rotation shaft 33 can form the rotation shaft of the second mount 3.

Specifically, in the embodiment of the present application, the rotation of the second mount 3 with respect to the first mount 2 can be achieved in the following manner.

A second rotation hole 241 is provided at a first end of the first mounting member 2 in the second direction, and the third rotation shaft 32 is provided in the second rotation hole 241, rotatable with respect to the second rotation hole 241, and rotatable with respect to the second rotation hole 241. Specifically, the inner diameter of the second rotating hole 241 may be set to be slightly larger than the diameter of the third rotating shaft 32 such that a rotating gap is provided between the second rotating hole 241 and the third rotating shaft 32.

Meanwhile, a second driving component 34 is further arranged at the second end of the first mounting piece 2 along the second direction, a second output hole 341 is formed in the output end of the second driving component 34, a fourth rotating shaft 33 is arranged in the second output hole 341, and the second driving component 34 drives the second mounting piece 3 to rotate around the second direction through the second output hole 341.

In particular, the second drive assembly 34 may be formed directly from an electric motor; referring to fig. 1 and 3, an output module may also be fabricated using an electric motor as the second drive assembly 34. Specifically, a hole may be provided on the second driving assembly 34 as the second output hole 341, a driving wheel may be provided in the second output hole 341, and a transmission structure between the motor and the driving wheel is disposed in the output module, so that the motor can drive the driving wheel to rotate, and by setting a spline hole on the driving wheel, a spline protrusion is correspondingly provided on the fourth rotating shaft 33, and the spline protrusion is inserted into the spline hole, so that the fourth rotating shaft 33 can rotate synchronously with the driving wheel. This enables the second mounting member 3 to be driven in rotation about the second direction.

On this basis, in order to facilitate the detachment between the second mount 3 and the first mount 2, referring to fig. 1 and 3, in some embodiments of the present application, a second rotation hole 241 is provided through the second link 24.

Specifically, in the embodiment of the present application, the second connection member 24 is provided at the first end of the first mounting member 2 in the second direction, and the second connection member 24 is detachably connected to the first mounting member 2, and the second rotation hole 241 is provided on the second connection member 24. Illustratively, referring to fig. 1 and 3, the purpose of detachably connecting the second connector 24 to the first mounting member 2 may be achieved by fasteners. In addition, the second connecting member 24 may be detachably connected to the first mounting member 2 by other connection methods, such as a clamping connection, which is not limited in the embodiment of the present application. In this way, the second mounting member 3 can be mounted to the first mounting member 2 easily.

Referring to fig. 5, the second driving assembly 34 may adjust the orientation of the radar 4 by driving the second mount 3 to rotate. In the drawing, one attitude of the radar and the second mount (first attitude a of the radar) is shown with the radar in solid line and the second mount in solid line, and the other two attitudes of the radar and the second mount (second attitude b of the radar and third attitude c of the radar) are shown with the radar in broken line and the second mount in broken line. Note that, with reference to the relative position in fig. 5, when the radar 4 is in the first attitude a, the radar 4 is directed directly above; when the radar is in the second attitude b, the radar 4 is directed to the upper right; when the radar 4 is in the third attitude c, the radar 4 faces upward and leftward.

Referring to fig. 6, the second driving assembly 34 may adjust the orientation of the radar 4 by driving the first mounting member 3 to rotate. In the drawing, one attitude of the radar 4 and the first mount 3 (fourth attitude d of the radar) is shown by the radar 4 in solid line and the first mount 3 in solid line, and the other two attitudes of the radar 4 and the first mount 3 (fifth attitude e of the radar and sixth attitude f of the radar) are shown by the radar 4 in broken line and the first mount 3 in broken line. Note that, with reference to the relative position in fig. 6, when the radar 4 is in the fourth posture d, the radar 4 faces to the left; when the radar 4 is in the fifth attitude e, the radar 4 faces upward and leftward; when the radar 4 is in the sixth attitude f, the radar 4 faces downward left.

In fig. 3, the dashed second connector 24 illustrates a position before the second connector 24 is mounted. In fig. 4, the first connection 15 in broken lines illustrates the position of the first connection 15 before installation; the dashed first mount 2 and the dashed radar 4 illustrate the positions of the first mount 2 and the radar 4 prior to installation.

In some embodiments of the present application, the operation or stopping of the first drive assembly 23 and the second drive assembly 34 can also be controlled by a related control program to achieve the purpose of automatically adjusting the orientation of the radar 4, so that the orientation of the radar 4 can automatically track the road surface.

On the basis, the vehicle-mounted radar adjusting device provided by the embodiment of the application further comprises a measuring module 5 and a control module. The attitude of the vehicle can be obtained by arranging the measuring module 5 on the vehicle, so that the control module can be used for controlling the first driving assembly 23 and the second driving assembly 34 to respectively drive the first mounting piece 2 to rotate around the first direction and drive the second driving assembly 34 to rotate around the second direction, thereby enabling the radar 4 to automatically track the road surface.

Specifically, in some embodiments of the present application, the measurement module 5 includes a body height measurement module 51 and a body angle measurement module 52. Specifically, the vehicle body height measurement module 51 is provided on the vehicle for measuring a vehicle body height change signal of the vehicle; the body angle measurement module 52 is provided on the vehicle for measuring a body angle change signal of the vehicle, and the body height measurement module 51, the body angle measurement module 52, the first drive assembly 23, and the second drive assembly 34 are all electrically coupled to the control module. The control module can acquire the vehicle height change signal and the vehicle body rotation angle change signal, and can control the movement of the first driving component 23 and the second driving component 34 according to the vehicle body height change signal and the vehicle body rotation angle change signal, so that the radar 4 can adaptively adjust the orientation, and the radar 4 can track the road more accurately. For example, in the case where the vehicle turns left, the control module can control the orientation of the radar 4 to be automatically adjusted to the left based on the vehicle body angle change signal measured by the vehicle body angle measurement module 52.

For example, an axle height sensor may be used as the vehicle body height measuring module 51 in the embodiment of the present application, and an axle height sensor may be disposed on the front and rear axles of the vehicle, respectively, and the posture of the vehicle may be determined by comparing the axle height information of the vehicle obtained by the axle height sensors disposed on the front and rear axles. For example, when the height of the front axle of the vehicle is higher than the height of the rear axle of the vehicle, the vehicle may be considered to be in a climbing state, at which time the movement of the first and second drive assemblies 23, 34 may be controlled such that the orientation of the radar 4 is lowered relative to the vehicle, and thus more road surface information may be acquired by the radar 4; when the height of the front axle of the vehicle is lower than the height of the rear axle of the vehicle, the vehicle may be considered to be in a downhill state, at which time the movement of the first drive assembly 23 and the second drive assembly 34 may be controlled to raise the orientation of the radar 4 relative to the vehicle, so that more road surface information may be acquired by the radar 4.

It should be noted that, the embodiment of the present application is not limited to the specific type of the vehicle body height measuring module 51, and the vehicle body height measuring module 51 in the embodiment of the present application may be provided by using a hall-type, magneto-resistive type, or electromagnetic induction type sensor.

For example, a steering wheel angle sensor may be used as the vehicle body angle measurement module 52 in the embodiment of the present application, and the steering wheel angle change information may be measured to convert the steering wheel angle change information into vehicle body angle change information. In addition, a steering angle sensor may be provided at a steering wheel of the vehicle, and the steering angle sensor may be converted into change information of the steering angle of the vehicle body by measuring change information of the steering angle of the steering wheel of the vehicle. The embodiment of the present application is not limited to the arrangement of the vehicle body rotation angle measurement module 52, and may be arranged with reference to the above description as long as the rotation angle information of the vehicle body can be detected. The vehicle body rotation angle measuring module 52 can acquire a vehicle body rotation angle change signal of the vehicle, and when the vehicle body turns rightwards, the movement of the first driving assembly 23 and the second driving assembly 34 can be controlled at the moment, so that the radar 4 can rotate rightwards relative to the vehicle, and further road surface information can be acquired by the radar 4; when the vehicle body turns left, at this time, the movement of the first driving assembly 23 and the second driving assembly 34 can be controlled to rotate the orientation of the radar 4 to the left with respect to the vehicle, so that the radar 4 can acquire more road surface information and track the road more accurately.

It should be noted that the embodiment of the present application is not limited to the specific type of the vehicle body angle measurement module 52, and the vehicle body angle measurement module 52 in the embodiment of the present application may be provided by a hall type, a reluctance type, or a resistance voltage division type sensor.

It should be noted that, in the embodiment of the present application, the control module may be set by using a programmable logic controller (Programmable Logic Controller, PLC), or may be set by using other devices having a processing function, for example, for a vehicle provided with an on-board control system, the on-board control system may also be used as the control module in the embodiment of the present application.

Through the arrangement, the vehicle-mounted radar adjustment device provided by the embodiment of the application can automatically control the rotation of the first mounting piece 2 and the second mounting piece 3 according to the vehicle body height change information measured by the vehicle body height measurement module 51 and the vehicle body rotation angle change information measured by the vehicle body rotation angle measurement module 52, so that the orientation of the radar 4 can be automatically adjusted according to the posture of the vehicle body, and the radar 4 of the vehicle-mounted radar adjustment device provided by the embodiment of the application always has a larger field angle, and can track a road better.

Exemplary, referring to fig. 7, a usage scenario of the vehicle radar adjustment device according to the embodiment of the present application is provided.

In the present application, the vehicle a is provided with two radars detecting road surface information, and the left-side radar is configured to be able to adjust the orientation to the left, and the right-side radar 4 is configured to be able to adjust the orientation to the right.

Suppose that vehicle a needs to travel from the first position to the second position and then continue to travel left-hand turns to the third position. Correspondingly, the vehicle B runs from the first position to the second position and then continues to run to the third position; the vehicle C travels from the first position to the second position and then continues to travel to the third position.

If the radar cannot be adjusted in direction during the travel of the vehicle a from the first position to the second position, the detection of the vehicle 2 and the vehicle 3 is lost in the second position. During the continued travel of the vehicle a to the third position, a collision or rear-end collision accident may occur with the vehicle 2 or the vehicle 3.

In the process that the vehicle A runs from the first position to the second position, if the vehicle A is at the second position, the left radar adjusts the direction leftwards, and the right radar adjusts the direction rightwards, so that the view angles of the two radars 4 can be enlarged, the radars 4 can acquire more road surface information, the information of the vehicle 2 and the vehicle 3 can be detected, and the collision or rear-end collision accident is avoided.

Specifically, the running of the vehicle a may be controlled as follows:

first, the time when the vehicle a is at the first position, the time when the vehicle B is at the first position, and the time when the vehicle C is at the first position are at the same time, which may be referred to as t for convenience of description ₁ Time of day.

The time when the vehicle a is at the second position, the time when the vehicle B is at the second position, and the time when the vehicle C is at the second position are at the same time, which is referred to as t for convenience of description ₂ Time of day.

The time when the vehicle a is in the third position, the time when the vehicle B is in the third position, and the time when the vehicle C is in the third position are at the same time, which is referred to as t for convenience of description ₃ Time of day. Let t ₁ From time to t ₃ The time period of the moment is called t, and then the displacement calculation formula is as follows:

it can be calculated that:

wherein v corresponds to the speeds of the vehicle B and the vehicle C measured for the radar 4, s corresponds to the speeds of the vehicle B and the vehicle C measured for the radar, and t is the speed of the vehicle B and the vehicle C measured for the radar ₁ Time to vehicle a at t ₁ The distance a at the extension line of the moment movement direction is corresponding to the distance t between the vehicle B and the vehicle C ₁ Acceleration at time.

From the above formula, the time t for the vehicle B to move from the first position to the third position can be determined correspondingly _B And a time t at which the vehicle C moves from the first position to the third position _C 。

At this time, if t _B Greater than t _C The possibility of collision between the vehicle C and the vehicle A is high, the possibility of collision between the vehicle B and the vehicle A is low, and the running path and acceleration and deceleration planning of the vehicle A can be performed according to t _C To do so. At this time:

wherein s is ₁ For the distance of movement of the vehicle a from the first position to the third position planned by navigation, v ₁ For the current speed of the vehicle A at the time T1, T is an installation interval time T (such as 3 to 5 seconds) which is set in consideration of the effectiveness and the safety of the left turn of the vehicle A, T _C +t is the entire movement time of the vehicle a.

Then a can be found ₁ The minimum is:

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if the calculated acceleration a ₁ If the speed exceeds the speed which can cause uncomfortable feeling of drivers and passengers or cause phenomena such as tail flick and drift of the vehicle, the vehicle A can be controlled to keep the existing speed, reduce speed and even stop, and the vehicle B and the vehicle C can drive in a left-turning way after passing through the intersection. If the calculated acceleration a ₁ The people of the vehicle cannot ride uncomfortableAnd if the vehicle is suitable for or does not cause the phenomena of tail flick, drift and the like of the vehicle, controlling the vehicle A to keep the existing speed or to accelerate to pass through the current intersection.

Similarly, if t _B Less than t _C The travel path and acceleration/deceleration plan of the vehicle a can be calculated according to t according to the above analysis _B To do so. The subsequent analysis method is the same as described above.

On the basis, the embodiment of the application also provides a vehicle-mounted radar adjusting system, which comprises the vehicle-mounted radar adjusting device and the vehicle-mounted radar calibration tool.

Referring to fig. 8 to 11, the vehicle radar 4 calibration fixture includes a first calibration member 61 and a second calibration member 62, and the first calibration member 61 and the second calibration member 62 are arranged in the first direction. The first indexing member 61 is provided with first and second protrusions 611 and 612 arranged in the second direction, and the second indexing member 62 is provided with third and fourth protrusions 621 and 622 arranged in the second direction. Meanwhile, the first and third protrusions 611 and 621, and the second and fourth protrusions 612 and 622 are disposed in alignment in the first direction. In this way, the orientation of the radar 4 can be calibrated using the first boss 611, the second boss 612, the third boss 621, and the fourth boss 622. In fig. 8 to 11, the solid radar scan line indicates a theoretical scan line f of the radar, and the broken radar scan line indicates an actual scan line g of the radar.

Referring to fig. 8 and 9, first, the center line of the vehicle is aligned with the center line of the connecting line between the first boss 611 and the third boss 621, and the orientation of the radar 4 is adjusted according to the relative positional relationship between the actual scanning line g of the radar and the first boss 611, the second boss 612, the third boss 621 and the fourth boss 622.

For example, referring to fig. 10, in the case where the actual scanning line g of the radar is below the first convex portion 611 and the second convex portion 612, it is explained that the position of the radar 4 needs to be adjusted upward. Referring to fig. 11, in the case where the actual scan line g of the radar is right of the third boss 621 and the fourth boss 622, it is explained that the position of the radar 4 needs to be adjusted to the left.

It should be noted that, in some embodiments of the present application, in order to improve the accuracy of adjustment of the radar 4, the first boss 611, the second boss 612, the third boss 621 and the fourth boss 622 may be respectively and correspondingly disposed at a position of 30 to 50 millimeters according to the theoretical scanning line f of the radar within the theoretical scanning line f of the radar, and meanwhile, the vehicle-mounted radar calibration fixture may be disposed at a position of 3 to 5 meters from the radar, and the distance between the first calibration piece 61 and the second calibration piece 62 may be set at a position of more than 1 to 1.5 meters.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments. The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims

1. An in-vehicle radar adjustment device, comprising:

the mounting seat is fixedly connected to the vehicle and is provided with a first avoidance space;

the first mounting piece is rotatably connected to the mounting seat and can rotate around a first direction relative to the mounting seat, and a second avoidance space is formed in the first mounting piece;

the second mounting piece is rotatably connected to the first mounting piece and can rotate around a second direction relative to the first mounting piece, and a mounting part is arranged on the second mounting piece and is used for mounting a radar;

the first avoiding space forms an avoiding space for the rotation of the first mounting piece, the second avoiding space forms an avoiding space for the rotation of the second mounting piece, and an included angle is formed between the first direction and the second direction.

2. The vehicle-mounted radar adjustment device according to claim 1, wherein the mounting base includes a bottom plate, a first side plate, and a second side plate, the first side plate and the second side plate being disposed opposite to each other in the first direction at both ends of the bottom plate and connected to the bottom plate, respectively, and a space among the bottom plate, the first side plate, and the second side plate forming the first avoidance space.

3. The vehicle-mounted radar adjustment device according to claim 2, wherein the middle portions of the bottom plate, the first side plate and the second side plate are all provided with a first hollowed-out structure.

4. The vehicle-mounted radar adjustment device according to claim 2, wherein a first rotating shaft and a second rotating shaft are respectively arranged at two ends of the first mounting piece along the first direction, the first rotating shaft and the second rotating shaft are coaxial, a first rotating hole is arranged at one end of the first side plate far away from the bottom plate, the first rotating shaft is arranged in the first rotating hole and can rotate relative to the first rotating hole, a first driving component is arranged at one side of the second side plate far away from the first side plate, a first output hole is arranged at the output end of the first driving component, the second rotating shaft is arranged in the first output hole, and the first driving component drives the first mounting piece to rotate around the first direction through the first output hole.

5. The vehicle-mounted radar adjustment device according to claim 4, wherein an end of the first side plate away from the bottom plate is provided with a first connecting member detachably connected to the first side plate, and the first rotation hole is provided on the first connecting member.

6. The vehicle-mounted radar adjustment device according to claim 1, wherein the first mounting member extends along a plane, and a second hollow structure is provided at a middle portion of the first mounting member, and the second hollow structure forms the second avoidance space.

7. The vehicle-mounted radar adjustment device according to claim 6, wherein a third rotating shaft and a fourth rotating shaft are respectively provided at both ends of the second mounting member in the second direction, the third rotating shaft and the fourth rotating shaft are coaxial, a first end of the first mounting member in the second direction is provided with a second rotating hole, the third rotating shaft is provided in the second rotating hole and is rotatable relative to the second rotating hole, a second driving assembly is provided at a second end of the first mounting member in the second direction, an output end of the second driving assembly is provided with a second output hole, the fourth rotating shaft is provided in the second output hole, and the second driving assembly drives the second mounting member to rotate around the second direction through the second output hole.

8. The vehicle-mounted radar adjustment device according to claim 7, wherein a first end of the first mounting member in the second direction is provided with a second connecting member detachably connected to the first mounting member, the second rotation hole being provided on the second connecting member.

9. A vehicle-mounted radar adjustment system, comprising:

the in-vehicle radar adjustment device according to any one of claims 1 to 8;

vehicle radar calibration frock includes: the first calibration piece and the second calibration piece are arranged along the first direction, the first calibration piece is provided with a first protruding part and a second protruding part which are arranged along the second direction, the second calibration piece is provided with a third protruding part and a fourth protruding part which are arranged along the second direction, and the first protruding part, the third protruding part, the second protruding part and the fourth protruding part are all arranged along the first direction; the vehicle-mounted radar calibration tool is used for calibrating the position of the radar installed on the vehicle-mounted radar adjusting device.

10. A vehicle, characterized by comprising:

a vehicle body;

the in-vehicle radar adjustment device according to any one of claims 1 to 8, the in-vehicle radar adjustment device being fixedly connected to the vehicle body;

and the radar is fixedly connected to the vehicle-mounted radar adjusting device.