WO2021147314A1 - 车载距离探测装置的角度校准方法 - Google Patents

车载距离探测装置的角度校准方法 Download PDF

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Publication number
WO2021147314A1
WO2021147314A1 PCT/CN2020/111128 CN2020111128W WO2021147314A1 WO 2021147314 A1 WO2021147314 A1 WO 2021147314A1 CN 2020111128 W CN2020111128 W CN 2020111128W WO 2021147314 A1 WO2021147314 A1 WO 2021147314A1
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WIPO (PCT)
Prior art keywords
vehicle
calibration
auxiliary
detection device
light
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PCT/CN2020/111128
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English (en)
French (fr)
Inventor
李安培
吴仲文
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铁将军汽车电子股份有限公司
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Publication of WO2021147314A1 publication Critical patent/WO2021147314A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only

Definitions

  • the invention relates to the field of vehicle-mounted electronic equipment, and in particular to an angle calibration method of a vehicle-mounted distance detection device.
  • Vehicle-mounted detection equipment such as millimeter-wave radar is generally installed on the front bumper.
  • the detection distance of millimeter-wave radar is long and requires high detection accuracy. Therefore, it is necessary to ensure that the normal direction of the millimeter-wave radar is aligned with the normal direction of the millimeter-wave radar when it is installed on the vehicle body.
  • the straight lines of the car body are parallel, so that the millimeter-wave radar can accurately detect obstacles ahead and provide safety warnings.
  • the front bumper is generally arc-shaped, it is difficult for the millimeter wave radar to directly realize the normal direction parallel to the vehicle body direction after installation, and the millimeter wave needs to be adjusted.
  • the existing mainstream millimeter wave radar needs to be connected with an adjustment bracket during installation.
  • the adjustment bracket is installed on the car body, and then the millimeter wave radar is installed on the adjustment bracket. By rotating the adjustment bracket, the millimeter wave radar is at the best angle position. .
  • the existing adjustment method is to integrate a component that can reflect light on the shell of the millimeter wave radar, set a light source at a specific position and irradiate the light to the component that can reflect the light, and then irradiate the component that reflects the light to a specific
  • the installation and debugging process of this adjustment method is more complicated, and the error of the debugging result increases with the shortening of the light irradiation distance, and the debugging accuracy is low.
  • the purpose of the present invention is to provide an angle calibration method for a vehicle-mounted distance detection device that is simple to install and debug and can improve the accuracy of the debugging.
  • An angle calibration method for a vehicle-mounted distance detection device includes the following steps:
  • Adjust the angle of the distance detection device so that the horizontal distance between the second projection point and the first projection point is equal to the horizontal distance between the reference point and the projection position of the distance detection device on the reference surface, and the height of the second projection point is equal to The height from the ground where the detection device is installed.
  • a reference line perpendicular to the ground and passing through the first projection point is determined on the reference surface, and a reference line parallel to the reference line is determined on the reference surface.
  • the distance between the calibration line and the reference line is equal to the horizontal distance between the reference point and the projection position of the distance detection device on the reference surface, and the angular orientation of the distance detection device is adjusted so that the second projection point falls on the calibration on-line.
  • auxiliary plane is the plane where the license plate of the vehicle is located.
  • an auxiliary rod is provided, when the light-emitting source auxiliary calibration device is installed on the auxiliary surface, the light-emitting source auxiliary calibration device is installed and fixed on the auxiliary rod, and the auxiliary rod is further away from the side of the light-emitting source auxiliary calibration device It is flat with the license plate so that the illumination direction of the luminous source auxiliary calibration device is parallel to the length of the vehicle body.
  • one end of the auxiliary rod is provided with a connecting part, and the connecting part is provided with a matching hole through which the luminous source auxiliary calibration device can penetrate and interact with each other.
  • the auxiliary rod is adjusted before the angle of the vehicle-mounted distance detection device is adjusted.
  • the rod is removed from the auxiliary surface and sleeved on the luminous source auxiliary calibration device, and the illumination angle of the luminous source auxiliary calibration device is changed by rotating the auxiliary rod.
  • the light-emitting source auxiliary calibration device is provided with a first clamping part
  • the auxiliary rod is provided with a second clamping part that is engaged with the first clamping part, and when the light-emitting source is calibrated auxiliary
  • the first clamping part of the light-emitting source auxiliary calibration device is clamped and fixed to the second clamping part so that the light-emitting source auxiliary calibration device and the auxiliary rod are fixed to each other.
  • the vehicle-mounted distance detection device includes a mounting shell for fixing on the vehicle body and a accommodating shell rotatably provided in the mounting shell, and a distance detecting component is fixed in the accommodating shell, and a distance detection component is fixed in the accommodating shell.
  • the light-emitting source auxiliary calibration device is provided with a first clamping portion, and the containing shell is provided with a third clamping portion that is fixed to the first clamping portion, and the light-emitting source auxiliary calibration device is installed In the step of fixing on the accommodating shell, the first clamping part on the light-emitting source auxiliary calibration device is buckled on the third clamping part so that the light-emitting source auxiliary calibration device and the accommodating shell are fixed to each other.
  • the vehicle-mounted distance detection device is a millimeter wave radar.
  • an auxiliary surface is determined on the license plate or close to the license plate, and the luminous source auxiliary calibration device is installed on the auxiliary surface and irradiated to the remote reference surface
  • the luminous source auxiliary calibration device is installed on the auxiliary surface and irradiated to the remote reference surface
  • FIG. 1 is a schematic diagram of angle calibration of a vehicle-mounted distance detection device according to an embodiment of the present invention
  • Fig. 2 is a schematic diagram of a reference plane of an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of the connection structure of the auxiliary calibration device of the light source and the auxiliary rod according to an embodiment of the present invention
  • FIG. 4 is a schematic structural diagram of a vehicle-mounted distance detection device according to an embodiment of the present invention.
  • Fig. 5 is a schematic diagram of an assembly of a light-emitting source auxiliary calibration device, a vehicle-mounted distance detection device, and a vehicle according to an embodiment of the present invention.
  • the present invention provides an angle calibration method of the vehicle-mounted distance detection device 1.
  • the vehicle-mounted distance detection device 1 is an electromagnetic wave radar, specifically a millimeter wave radar.
  • the millimeter wave radar includes an antenna integrated chip capable of transmitting and receiving millimeter waves.
  • the millimeter wave radar may also have an external microstrip antenna.
  • it may also be a camera device or an ultrasonic radar, and the angle calibration method includes the following steps:
  • the light-emitting source auxiliary calibration device 5 is a laser element.
  • the luminous source auxiliary calibration device 5 is installed vertically on the auxiliary surface 3, and the direction of the emitted light is the length direction of the vehicle body, that is, the vehicle 2.
  • the luminous source auxiliary calibration device 5 installed on the vehicle-mounted detection device 1 is used to emit light, and the emitted light of the luminous source auxiliary calibration device 5 is adjusted so that it is aligned with the luminous source installed on the auxiliary surface 3
  • the light rays emitted by the device 5 remain parallel, and it can be determined that the angle calibration of the vehicle-mounted detection device 1 is completed.
  • the luminous source auxiliary calibration device 5 on 1 performs horizontal angle adjustment and vertical angle adjustment. Firstly, the horizontal detection angle of the vehicle-mounted detection device 1 is determined. The light emitted by the luminous source auxiliary calibration device 5 installed on the auxiliary surface 3 forms the first projection point 41 on the reference surface 4, and the luminous source on the auxiliary surface 3 is measured.
  • the horizontal distance between the installation position of the auxiliary calibration device 5 and the projection position of the vehicle-mounted detection device 1 on the auxiliary surface 3 is determined at the same horizontal distance from the first projection point 41 on the reference surface 4 as the installation position of the vehicle-mounted detection device 1
  • the luminous source assists the horizontal position of the light projected by the calibration device 5 to determine the horizontal detection angle of the vehicle-mounted detection device 1.
  • determine the vertical detection angle of the vehicle-mounted detection device 1 measure the height position of the vehicle-mounted detection device 1 installed above the ground, and determine the vertical position of the light projected by the luminous source auxiliary calibration device 5 at the same ground height position on the reference surface 4.
  • the point where the horizontal position and the vertical position intersect form the calibration point 44.
  • the luminous source auxiliary calibration device 5 on the vehicle-mounted detection device 1 it can be determined that the horizontal and vertical angles of the vehicle-mounted detection device 1 are calibrated.
  • a reference line 42 perpendicular to the ground and passing through the first projection point 41 is determined on the reference surface 4.
  • the distance detection device 1 By forming the calibration line 43 on the reference surface 4, when the distance detection device 1 is adjusted, the light emitted by the luminous source auxiliary calibration device 5 connected to it is irradiated on the calibration line 43, that is, the vehicle-mounted distance detection device can be determined quickly The horizontal orientation angle of 1.
  • the luminous source auxiliary calibration device 5 arranged on the auxiliary surface 3 is removed and installed on the vehicle-mounted distance detection device 1, and the vehicle-mounted distance detection device 1 is adjusted so that the light emitted by the luminous source auxiliary calibration device 5 is irradiated on the calibration line 43.
  • the first projection point 42 of the light-emitting source auxiliary calibration device 5 on the reference surface 4 can draw a reference line 42, and then measure the emission on the auxiliary surface 3.
  • the distance between the installation position of the light source auxiliary calibration device 5 and the projection position of the vehicle-mounted distance detection device 1 on the auxiliary surface 3, and the reference line 42 is offset and drawn by the same distance on the reference surface 4 in the direction close to the vehicle-mounted distance detection device 1
  • the luminous source auxiliary calibration device 5 can be removed from the auxiliary surface 3 and installed on the vehicle-mounted distance detection device 1 for angle calibration. Therefore, only one light-emitting source auxiliary calibration device 5 is needed to complete the angle calibration during the entire angle calibration process, which reduces the calibration cost, and also makes the entire calibration process more streamlined and easier to operate.
  • the auxiliary surface 3 is a plane where the license plate 21 of the vehicle 2 is located. Specifically, the auxiliary surface 3 is provided on the surface of the license plate 21. Because the license plate 21 is installed in the center of the front of the car, the license plate 21 is normally installed toward the front of the vehicle 2. Therefore, with the help of the surface of the license plate 21 as the auxiliary surface 3, the reference line 42 can be quickly determined on the reference surface 4, which improves The calibration efficiency is improved, and the auxiliary surface 3 can be determined directly on the upper body of the vehicle body, which also saves the cost of calibration.
  • the reference surface 4 can be set on the projection board, the projection board can be set in a double-layer board structure, and the double-layer board is correspondingly opened with light-transmitting holes, when the light source installed on the license plate 21
  • the auxiliary calibration device 5 passes through the two light-transmitting holes on the projection board at the same time, it can be determined that the reference surface 4 and the auxiliary surface 3 are parallel to each other.
  • This operation process is relatively simple and does not require other high-cost equipment, which is suitable for Consumers install and calibrate themselves, which greatly reduces the cost of installation and calibration.
  • the light-emitting source auxiliary calibration device 5 is installed on the auxiliary surface 3
  • the light-emitting source auxiliary calibration device 5 is installed and fixed on the auxiliary rod 6, and the auxiliary rod 6 is further away from the light-emitting source
  • One side of the auxiliary calibration device 5 is affixed to the license plate 21 so that the irradiation direction of the light source auxiliary calibration device 5 is parallel to the length direction of the vehicle body. Since the numbers and letters on the license plate 21 are protruding, the surface of the license plate 21 is prone to unevenness, which affects the installation of the light-emitting source auxiliary calibration device 5.
  • the installation difficulty of the luminous source auxiliary calibration device 5 is reduced, and the luminous source auxiliary calibration device 5 is ensured
  • the emitted light is directed straight ahead.
  • only one operator needs to hold the auxiliary lever 6 at the license plate 21 to make it flat on the license plate 21, and another operator draws the reference on the reference surface 4 at a certain distance from the vehicle 2
  • the line 42 is sufficient, so the auxiliary rod 6 does not need to be installed and fixed with the license plate 21, which avoids the tedious process of installation and fixation, and improves the calibration efficiency.
  • one end of the auxiliary rod 6 is provided with a connecting portion 61, and the connecting portion 61 is provided with a matching hole 611 through which the light-emitting source auxiliary calibration device 5 can penetrate and have an interference fit with each other.
  • the auxiliary rod 6 is removed from the auxiliary surface 3 and sleeved on the luminous source auxiliary calibration device 5, and the illumination angle of the luminous source auxiliary calibration device 5 is changed by rotating the auxiliary rod 6.
  • the auxiliary rod 6 is sleeved on the front end of the luminous source auxiliary calibration device 5, that is, away from the end connected to the vehicle-mounted distance detection device 1.
  • the auxiliary rod 6 is sleeved on the luminous source auxiliary calibration device 5 to connect and fix the two.
  • the auxiliary rod 6 can increase the driving force arm, so that the operator can save more effort during adjustment. It brings more convenience to the operator during the calibration process and reduces the difficulty of operation.
  • the light-emitting source auxiliary calibration device 5 is provided with a first clamping portion
  • the auxiliary rod 6 is provided with a second clamping portion 62 that is engaged with the first clamping portion.
  • the rod 6 is provided with a second clamping portion 62 that is engaged with the first clamping portion.
  • the first clamping portion includes a plurality of hooks 51
  • the second clamping portion 62 includes a groove 621 for hooking and fixing the hooks 51
  • the second clamping portion 62 further includes The mounting notch 622 for the hook 51 to be inserted and rotatable hook is placed in the groove 621, preferably, the second hooking portion 62 is provided in the middle of the auxiliary lever 6.
  • the coupling between the hook 51 and the slot 621 keeps the light-emitting source auxiliary calibration device 5 and the auxiliary rod 6 parallel to each other, ensuring that the light emitted by the light-emitting source auxiliary calibration device 5 faces the front of the vehicle 2.
  • the vehicle-mounted distance detection device 1 includes a mounting shell 11 for fixing on the vehicle body and a receiving shell 12 rotatably provided in the mounting shell 11.
  • the receiving shell 12 is equipped with a distance detection component.
  • the luminous source auxiliary calibration device 5 is installed and fixed on the containing shell 12, and the accommodating shell 12 is rotated horizontally to make the luminous source auxiliary calibration device 5 set The emitted light illuminates the calibration line 43.
  • a horizontal reference point is calibrated on the calibration line 43 at the same height as the ground height, and the housing 12 is rotated up and down to make the light source auxiliary calibration device 5 set The emitted light illuminates the horizontal reference point.
  • the vehicle-mounted distance detection device 1 adopts a combined structure of a receiving shell 12 and a mounting shell 11 arranged inside and outside.
  • the receiving shell 12 can be rotated and adjusted relative to the mounting shell 11 to change the detection angle of the distance detection component. Adjust without additional adjustment brackets, reducing the overall space occupied, and when the vehicle-mounted distance detection device 1 is angled, the luminous source auxiliary calibration device 5 is installed on the housing shell 12, and it can be rotated left and right and up and down. The calibration of the vehicle-mounted distance detection device 1 is completed, and the operation is simple and convenient.
  • the accommodating shell 12 has a spherical shape, and the mounting shell 11 defines a spherical space in which the accommodating shell 12 can rotate. Further, the accommodating shell 12 and the mounting shell 11 are interposed between The receiving shell 12 provides a connecting sleeve 13 for damping.
  • a guide protrusion 121 protrudes from the outer wall of the accommodating shell 12, and a guide groove 131 into which the guide protrusion 121 can be inserted is opened on the connecting sleeve 13, and the guide protrusion 121 can extend along the guide groove. Slide 131 to adjust the horizontal rotation of the receiving shell 12. Further, the guide protrusion 121 is in a hemispherical shape, so that the receiving shell 12 can be rotated up and down around the guide protrusion 121 for adjustment.
  • the rotation direction of the distance detecting component installed on the receiving shell 12 is restricted, so that it can only swing left and right and swing up and down.
  • the containing shell 12 is provided with a third clamping portion 122 that is clamped and fixed to the first clamping portion.
  • the light-emitting source The first clamping portion on the auxiliary calibration device 5 is buckled on the third clamping portion 122 so that the light-emitting source auxiliary calibration device 5 and the receiving shell 12 are fixed to each other.
  • the structure of the third clamping portion 122 is the same as the structure of the second clamping portion 62 on the auxiliary lever 6, and both are provided with a groove 621 for the hook 51 to be clamped, and a groove for the hook 51 to pass through.
  • the installation gap 622 Preferably, the front end of the receiving shell 12 is flat.
  • the hook 51 on the light-emitting source auxiliary calibration device 5 is rotated and clamped into the hook 51 on the housing 12 to realize the light-emitting source auxiliary calibration device 5.
  • the connection and fixation with the receiving shell 12 is convenient and quick to install. Since the front end of the receiving shell 12 is flat, it is ensured that the light-emitting source auxiliary calibration device 5 and the receiving shell 12 remain perpendicular to the receiving shell 12 after installation, thereby reducing calibration errors.
  • the mounting shell 11 is inserted and fixed in the predetermined hole 22 on the vehicle body.
  • the predetermined hole 22 needs to be drilled in the vehicle body in advance, and then the mounting shell 11 Insert into the preset hole 22, so that the vehicle-mounted distance detection device 1 is fixed to the vehicle body.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Optical Distance (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种车载距离探测装置（1）的角度校准方法，包括以下步骤：在一与车辆（2）长度方向垂直的辅助面（3）上的一基准点（31）处启动发光源辅助校准装置（5），使其在与辅助面（3）平行的参考面（4）上投射形成第一投射点（41）；在车辆（2）的距离探测装置（1）安装位置处启动发光源辅助校准装置（5），使其在参考面（4）上投射形成第二投射点；调整距离探测装置（1）的角度朝向使第二投射点与第一投射点（41）的水平间距等于基准点（31）与距离探测装置（1）在参考面（4）上的投影位置的水平间距，且第二投射点的离地高度等于距离探测装置（1）安装位置的离地高度，该校准方法简单快捷，且校准误差较小，提高了探测的精确度。

Description

车载距离探测装置的角度校准方法 技术领域
本发明涉及车载电子设备领域，尤其涉及一种车载距离探测装置的角度校准方法。
背景技术
车载探测设备如毫米波雷达一般安装于前保险杠上，毫米波雷达的探测距离远，对于探测的精确性要求较高，因此在其安装于车身上时需要确保毫米波雷达的法线方向与车身的直线方向平行，以使毫米波雷达准确地探测到前方的障碍物，提供安全预警。由于前保险杆一般呈弧形状，这就使毫米波雷达在安装后难以直接实现法线方向与车身方向平行，需要对毫米波进行调节。现有主流的毫米波雷达在安装时需要外接一个调节支架，将调节支架安装于车体上，再将毫米波雷达安装在调节支架上，通过转动调节支架使毫米波雷达处于最佳的角度位置。现有的调节方法是在毫米波雷达外壳上集成一个可以反射光线的部件，在特定的位置设置光源并将光线照射至可以反射光线的部件上，经过反射光线的部件远距离反射后照射至特定的位置点上，以确定毫米波雷达的角度位置，但是此调节方法的安装调试过程较为繁杂，且调试结果的误差随光线照射距离的缩短而增大，调试精确度较低。
发明内容
本发明的目的旨在提供一种安装调试简单且可提高调试精确度的车载距离探测装置的角度校准方法。
为了实现上述目的，本发明提供以下技术方案：
一种车载距离探测装置的角度校准方法，包括以下步骤：
在一与车辆长度方向垂直的辅助面上的一基准点处启动发光源辅助校 准装置，使其在与辅助面平行的参考面上投射形成第一投射点；
在车辆的距离探测装置安装位置处启动发光源辅助校准装置，使其在参考面上投射形成第二投射点；
调整所述距离探测装置的角度朝向使第二投射点与第一投射点的水平间距等于基准点与距离探测装置在参考面上的投影位置的水平间距，且第二投射点的离地高度等于距离探测装置安装位置的离地高度。
进一步设置：在参考面上投射形成第一投射点后，在所述参考面上确定一垂直于地面并经过所述第一投射点的参考线，在所述参考面上确定一平行于参考线的校准线，所述校准线与参考线的间距等于基准点与距离探测装置在参考面上的投影位置的水平间距，调整所述距离探测装置的角度朝向使第二投射点落在所述校准线上。
进一步设置：所述辅助面为车辆的车牌所在的平面。
进一步设置：提供一辅助杆，在将发光源辅助校准装置安装于辅助面上时，将发光源辅助校准装置安装固定于辅助杆上，再将所述辅助杆远离发光源辅助校准装置的一侧与车牌贴平以使发光源辅助校准装置的照射方向与车身长度方向平行。
进一步设置：所述辅助杆的一端设有连接部，所述连接部上开设有可供发光源辅助校准装置穿入并相互过盈配合的配合孔，在调整车载距离探测装置的角度前将辅助杆从辅助面上取下并套设于发光源辅助校准装置上，通过转动辅助杆以改变发光源辅助校准装置的照射角度。
进一步设置：所述发光源辅助校准装置上设有第一卡接部，所述辅助杆上设有与所述第一卡接部卡接配合的第二卡接部，在将发光源辅助校准装置安装固定于辅助杆上的步骤中，将发光源辅助校准装置上的第一卡接部卡接 固定于第二卡接部上使发光源辅助校准装置和辅助杆相互固定。
进一步设置：所述车载距离探测装置包括用于固定于车体上的安装壳以及可转动地设于安装壳内的容纳壳，所述容纳壳内固定有距离探测部件，在确定一平行于参考线的校准线之后，将发光源辅助校准装置安装固定于容纳壳上，水平转动容纳壳使发光源辅助校准装置所发射光线照射于所述校准线处。
进一步设置：在测量车载距离探测装置的离地高度后，于所述校准线上与所述离地高度相同高度处标定水平参考点，上下转动容纳壳使发光源辅助校准装置所发射光线照射于所述水平参考点处。
进一步设置：所述发光源辅助校准装置上设有第一卡接部，所述容纳壳上设有与第一卡接部卡接固定的第三卡接部，在将发光源辅助校准装置安装固定于容纳壳上的步骤中，将发光源辅助校准装置上的第一卡接部扣合在第三卡接部上使发光源辅助校准装置与容纳壳相互固定。
进一步设置：所述车载距离探测装置为毫米波雷达。
相比现有技术，本发明的方案具有以下优点：
1.本发明涉及的车载距离探测装置的角度校准方法中，通过在车牌上或靠近车牌处确定一个辅助面，将发光源辅助校准装置安装于辅助面上并将其照射至远处的参考面上，通过测量车载距离探测装置与发光源辅助校准装置之间的偏移量以及其安装高度，从而快速地在参考面上获得准确的校准落点，调整车载探测装置使其上的发光源辅助校准装置照射至该校准落点即完成角度校准，校准方法简单快捷，且校准误差较小，提高了探测的精确度。
本发明附加的方面和优点将在下面的描述中部分给出，这些将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
本发明上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：
图1为本发明中一种实施例的车载距离探测装置的角度校准示意图；
图2为本发明中一种实施例的参考面的示意图；
图3为本发明中一种实施例的发光源辅助校准装置与辅助杆的连接结构示意图；
图4为本发明中一种实施例的车载距离探测装置的结构示意图；
图5为本发明中一种实施例的发光源辅助校准装置、车载距离探测装置和车辆的组装示意图。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能解释为对本发明的限制。
如图1和图2所示，本发明提供了一种车载距离探测装置1的角度校准方法，在本实施例中，所述车载距离探测装置1为电磁波雷达，具体为毫米波雷达。在本实施例中，所述毫米波雷达包括可收发毫米波的天线集成化芯片，在其他实施例中，所述毫米波雷达还可外置微带天线。在其他实施例中，还可为摄像设备或超声波雷达，该角度校准方法包括以下步骤：
在一与车辆2长度方向垂直的辅助面3上的一基准点31处启动发光源辅助校准装置5，使其在与辅助面3平行的参考面4上投射形成第一投射点41；
在车辆2的距离探测装置1安装位置处启动发光源辅助校准装置5，使其在参考面4上投射形成第二投射点；
调整所述距离探测装置1的角度朝向使第二投射点与第一投射点41的水 平间距等于基准点31与距离探测装置1在参考面4上的投影位置的水平间距，且第二投射点的离地高度等于距离探测装置1安装位置的离地高度。在本实施例中，所述发光源辅助校准装置5为激光元件。
采用上述的角度校准方法，通过确定相互平行的辅助面3和参考面4，将发光源辅助校准装置5垂直安装于辅助面3上，其射出的光线方向即为车身的长度方向，即车辆2行进的直线方向，再利用安装于车载探测装置1上的发光源辅助校准装置5射出光线，调整该发光源辅助校准装置5的射出光线，使其与安装于辅助面3上的发光源辅助校准装置5射出的光线保持平行，则可确定车载探测装置1的角度校准完毕。
具体地，为了使安装于车载探测装置1处的发光源辅助校准装置5射出的光线与安装于辅助面3上的发光源辅助校准装置5射出的光线相互平行，则需要对安装于车载探测装置1上的发光源辅助校准装置5进行水平角度调节和竖直角度调节。首先对车载探测装置1的水平探测角度进行确定，利用安装于辅助面3上的发光源辅助校准装置5射出光线在参考面4上形成第一投射点41，通过测量辅助面3上的发光源辅助校准装置5的安装位置和车载探测装置1在辅助面3上的投影位置之间的水平间距，在参考面4上距离第一投射点41相同水平间距处确定安装于车载探测装置1上的发光源辅助校准装置5投射光线的水平位置，从而确定车载探测装置1的水平探测角度。再对车载探测装置1的竖直探测角度进行确定，测量车载探测装置1安装离地高度位置，在参考面4上相同离地高度位置处确定发光源辅助校准装置5投射光线的竖直位置，再结合在前确定的投射光线的水平位置，水平位置与竖直位置相交的点形成校准点44。最后，调整车载探测装置1上的发光源辅助校准装置5使其照射至该校准点44，即可确定车载探测装置1的水平 及竖直角度校准完毕。
进一步地，在参考面4上投射形成第一投射点41后，在所述参考面4上确定一垂直于地面并经过所述第一投射点41的参考线42，在所述参考面4上确定一平行于参考线42的校准线43，所述校准线43与参考线42的间距等于基准点31与距离探测装置1在参考面4上的投影位置的水平间距，调整所述距离探测装置1的角度朝向使第二投射点落在所述校准线43上。
通过在参考面4上形成校准线43，在调整距离探测装置1时，使与其连接的发光源辅助校准装置5所射出的光线照射于校准线43上，即可以较快地确定车载距离探测装置1的水平朝向角度。
优选地，在所述确定一平行于参考线42的校准线43后，还包括以下步骤：
将设置于辅助面3上的发光源辅助校准装置5取下并安装于车载距离探测装置1上，调整车载距离探测装置1使发光源辅助校准装置5所发射光线照射于校准线43上。
当安装于辅助面3上的发光源辅助校准装置5射出光线后，在参考面4上经过发光源辅助校准装置5第一投射点42可绘制出参考线42，再测量辅助面3上的发光源辅助校准装置5的安装位置和车载距离探测装置1在辅助面3上的投影位置之间的间距，在参考面4上将参考线42沿靠近车载距离探测装置1方向偏移相同间距并绘制出校准线43，此后可将发光源辅助校准装置5从辅助面3上取下，将其装到车载距离探测装置1上进行角度校准。因此，在整个角度校准过程中仅需使用一个发光源辅助校准装置5即可完成角度校准，降低了校准成本，也使整个校准过程更加精简，操作更加方便。
优选地，所述辅助面3为车辆2的车牌21所在的平面，具体地，辅助面3设置于车牌21的表面。由于车牌21安装于汽车车头的中心，车牌21的安装正常情况下为朝向车辆2的正前方，因此借助车牌21表面作为辅助面3可较快地在参考面4上确定出参考线42，提高了校准效率，且可直接在车身上行确定辅助面3，也节省了校准的成本。
在本实施例中，所述参考面4可设置于投影板上，投影板可设置成双层板结构，并在双层板上对应开设透光孔，当从安装于车牌21上的发光源辅助校准装置5射出的光线同时穿过投影板上的两个透光孔时，则可确定参考面4与辅助面3相互平行，此操作过程较为简单，且无需采用其他高成本设备，适用于消费者自行安装校准，大大降低了安装校准成本。
结合图3所示，进一步地，在将发光源辅助校准装置5安装于辅助面3上时，将发光源辅助校准装置5安装固定于辅助杆6上，再将所述辅助杆6远离发光源辅助校准装置5的一侧与车牌21贴平以使发光源辅助校准装置5的照射方向与车身长度方向平行。由于车牌21上的数字和字母为凸出状，导致车牌21表面容易产生不平整，影响发光源辅助校准装置5的安装。通过将发光源辅助校准装置5安装于辅助杆6上，再将辅助杆6横跨于车牌21的凸出字符上，降低了发光源辅助校准装置5的安装难度，确保发光源辅助校准装置5射出的光线朝向正前方。在本实施例的角度校准方法中，仅需一个操作者在车牌21处手持辅助杆6使其贴平于车牌21上，另一操作者在距离车辆2一定距离处的参考面4上绘制参考线42即可，因此辅助杆6无需与车牌21进行安装固定，避免了安装固定的繁琐过程，提高了校准效率。
在本实施例中，所述辅助杆6的一端设有连接部61，所述连接部61 上开设有可供发光源辅助校准装置5穿入并相互过盈配合的配合孔611，在调整车载距离探测装置1的角度前将辅助杆6从辅助面3上取下并套设于发光源辅助校准装置5上，通过转动辅助杆6以改变发光源辅助校准装置5的照射角度。具体地，辅助杆6套设于发光源辅助校准装置5的前端，即远离与车载距离探测装置1连接的一端。
利用辅助杆6套设于发光源辅助校准装置5使两者连接固定，在对车载距离探测装置1进行角度校准时，辅助杆6可增大驱动力臂，使操作者在调整时更加省力，为操作者校准过程中带来更多的便利，降低了操作难度。
进一步地，所述发光源辅助校准装置5上设有第一卡接部，所述辅助杆6上设有与所述第一卡接部卡接配合的第二卡接部62，所述辅助杆6上设有与所述第一卡接部卡接配合的第二卡接部62，在将发光源辅助校准装置5安装固定于辅助杆6上的步骤中，将发光源辅助校准装置5上的第一卡接部卡接固定于第二卡接部62上使发光源辅助校准装置5和辅助杆6相互固定。
具体地，所述第一卡接部包括多个卡钩51，所述第二卡接部62包括可供卡钩51钩置固定的卡槽621，所述第二卡接部62还包括可供所述卡钩51插入并可转动钩置于所述卡槽621内的安装缺口622，优选地，所述第二卡接部62设置于辅助杆6的中部。
在组装辅助杆6和发光源辅助校准装置5时，将卡钩51通过安装缺口622插入并转动至卡槽621内，使发光源辅助校准装置5和辅助杆6相互固定，两者拆装方便快捷，降低了操作难度，大大提高校准的效率。另外，利用卡钩51与卡槽621的卡接配合，使发光源辅助校准装置5与辅 助杆6保持相互平行，确保发光源辅助校准装置5射出的光线朝向车辆2的正前方。
结合图4所示，在本实施例中，所述车载距离探测装置1包括用于固定于车体上的安装壳11以及可转动地设于安装壳11内的容纳壳12，所述容纳壳12内装设有距离探测部件，在确定一平行于参考线42的校准线43之后，将发光源辅助校准装置5安装固定于容纳壳12上，水平转动容纳壳12使发光源辅助校准装置5所发射光线照射于所述校准线43处。
进一步地，在测量车载距离探测装置1的离地高度后，于所述校准线43上与所述离地高度相同高度处标定水平参考点，上下转动容纳壳12使发光源辅助校准装置5所发射光线照射于所述水平参考点处。
车载距离探测装置1采用内外设置的容纳壳12和安装壳11的组合结构，容纳壳12可相对安装壳11进行转动调节，以改变距离探测部件的探测角度，仅通过自身结构及可实现角度的调节，而无需外加调节支架，减小了整体占用空间，且在对车载距离探测装置1进行角度校准时，将发光源辅助校准装置5安装于容纳壳12上，通过左右转动和上下转动即可完成车载距离探测装置1的校准，操作简单方便。
具体地，所述容纳壳12呈球型状，所述安装壳11内限定出可供容纳壳12转动的球形空间，进一步地，所述容纳壳12和安装壳11之间还夹设有为容纳壳12提供阻尼作用的连接套13。所述容纳壳12外壁上凸出设有导向凸起121，所述连接套13上开设有可供所述导向凸起121嵌入的导向槽131，所述导向凸起121可沿所述导向槽131滑动使容纳壳12水平转动调节。进一步地，所述导向凸起121呈半球状使所述容纳壳12可绕着导向凸起121上下转动调节。
通过设置半球形的导向凸起121与连接套13上的导向槽131的配合结构，限制了安装于容纳壳12的距离探测部件的转动方向，使其仅能实现左右摆动和上下摆动。
进一步地，所述容纳壳12上设有与第一卡接部卡接固定的第三卡接部122，在将发光源辅助校准装置5安装固定于容纳壳12上的步骤中，将发光源辅助校准装置5上的第一卡接部扣合在第三卡接部122上使发光源辅助校准装置5与容纳壳12相互固定。具体地，所述第三卡接部122的结构与辅助杆6上的第二卡接部62的结构一致，均设有可供卡钩51卡置的卡槽621以及可供卡钩51通过的安装缺口622。优选地，所述容纳壳12前端呈平面状。
在发光源辅助校准装置5从辅助杆6上拆下后，将发光源辅助校准装置5上的卡钩51转动卡置于容纳壳12上的卡钩51内，即可实现发光源辅助校准装置5与容纳壳12的连接固定，安装方便快捷，且由于容纳壳12前端呈平面状，确保了发光源辅助校准装置5与容纳壳12安装后与容纳壳12保持垂直，降低校准误差。
结合图5所示，在本实施例中，安装壳11插设固定于车体上的预设孔22内，在安装时需要预先在车体上钻出预设孔22，再将安装壳11插入至预设孔22内，从而使车载距离探测装置1与车体固定。采用这样的安装方式，隐蔽性更高，且无需拆下前保险杠，操作更加方便。
以上所述仅是本发明的部分实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (10)

  1. 一种车载距离探测装置的角度校准方法，其特征是：包括以下步骤：
    在一与车辆长度方向垂直的辅助面上的一基准点处启动发光源辅助校准装置，使其在与辅助面平行的参考面上投射形成第一投射点；
    在车辆的距离探测装置安装位置处启动发光源辅助校准装置，使其在参考面上投射形成第二投射点；
    调整所述距离探测装置的角度朝向使第二投射点与第一投射点的水平间距等于基准点与距离探测装置在参考面上的投影位置的水平间距，且第二投射点的离地高度等于距离探测装置安装位置的离地高度。
  2. 根据权利要求1所述的车载距离探测装置的角度校准方法，其特征是：在参考面上投射形成第一投射点后，在所述参考面上确定一垂直于地面并经过所述第一投射点的参考线，在所述参考面上确定一平行于参考线的校准线，所述校准线与参考线的间距等于基准点与距离探测装置在参考面上的投影位置的水平间距，调整所述距离探测装置的角度朝向使第二投射点落在所述校准线上。
  3. 根据权利要求1所述的车载距离探测装置的角度校准方法，其特征是：所述辅助面为车辆的车牌所在的平面。
  4. 根据权利要求3所述的车载距离探测装置的角度校准方法，其特征是：提供一辅助杆，在将发光源辅助校准装置安装于辅助面上时，将发光源辅助校准装置安装固定于辅助杆上，再将所述辅助杆远离发光源辅助校准装置的一侧与车牌贴平以使发光源辅助校准装置的照射方向与车身长度方向平行。
  5. 根据权利要求4所述的车载距离探测装置的角度校准方法，其特征是：所述辅助杆的一端设有连接部，所述连接部上开设有可供发光源辅助校准装置穿入并相互过盈配合的配合孔，在调整车载距离探测装置的角度前将辅助杆从辅助面上取下并套设于发光源辅助校准装置上，通过转动辅助杆以改变发光源辅助校准装置的照射角度。
  6. 根据权利要求4所述的车载距离探测装置的角度校准方法，其特征是：所述发光源辅助校准装置上设有第一卡接部，所述辅助杆上设有与所述第一卡接部卡接配合的第二卡接部，在将发光源辅助校准装置安装固定于辅助杆上的步骤中，将发光源辅助校准装置上的第一卡接部卡接固定于第二卡接部上使发光源辅助校准装置和辅助杆相互固定。
  7. 根据权利要求2所述的车载距离探测装置的角度校准方法，其特征是：所述车载距离探测装置包括用于固定于车体上的安装壳以及可转动地设于安装壳内的容纳壳，所述容纳壳内固定有距离探测部件，在确定一平行于参考线的校准线之后，将发光源辅助校准装置安装固定于容纳壳上，水平转动容纳壳使发光源辅助校准装置所发射光线照射于所述校准线处。
  8. 根据权利要求7所述的车载距离探测装置的角度校准方法，其特征是：在测量车载距离探测装置的离地高度后，于所述校准线上与所述离地高度相同高度处标定水平参考点，上下转动容纳壳使发光源辅助校准装置所发射光线照射于所述水平参考点处。
  9. 根据权利要求7所述的车载距离探测装置的角度校准方法，其特征是：所述发光源辅助校准装置上设有第一卡接部，所述容纳壳上设有与第一卡接部卡接固定的第三卡接部，在将发光源辅助校准装置安装固定于容纳壳上的步骤中，将发光源辅助校准装置上的第一卡接部扣合在第三卡接部上使 发光源辅助校准装置与容纳壳相互固定。
  10. 根据权利要求1所述的车载距离探测装置的角度校准方法，其特征是：所述车载距离探测装置为电磁波雷达。
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