CN109883331A - Vehicle calibration system and method - Google Patents
Vehicle calibration system and method Download PDFInfo
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- CN109883331A CN109883331A CN201910127335.2A CN201910127335A CN109883331A CN 109883331 A CN109883331 A CN 109883331A CN 201910127335 A CN201910127335 A CN 201910127335A CN 109883331 A CN109883331 A CN 109883331A
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- Prior art keywords
- rangefinder
- distance
- vehicle
- calibration
- reference plate
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
This disclosure relates to a kind of vehicle calibration system and method, the system comprises: calibration facility, reference plate and control module, the calibration facility include the first rangefinder and the second rangefinder；First rangefinder is used to obtain the first distance of the first rangefinder to the reference plate；Second rangefinder is used to obtain the second distance of the second rangefinder to the reference plate；The control module, for determining the angle of the vehicle Yu the reference plate according to the first distance and the second distance.Pass through two rangefinders of setting and a reference plate, vehicle calibration is carried out using the distance of two rangefinders, according to the vehicle calibration system and method for the embodiment of the present disclosure, so that the calibration system of automatic driving vehicle is simpler, calibration process is more succinct, and calibration is realized using rangefinder, so that calibration system expense is lower.
Description
Technical field
This disclosure relates to vehicle calibration field more particularly to a kind of vehicle calibration system and method.
Background technique
The calibration of automatic driving vehicle needs complicated equipment, such as four-wheel position finder at present, and use is not only cumbersome, expense
Also higher.Therefore, how the calibration of realization automatic driving vehicle that is simple and spending less expense is as urgent problem to be solved.
Summary of the invention
In view of this, the present disclosure proposes a kind of vehicle calibration system and methods.So that the calibration of automatic driving vehicle is more
Add simply, expense is lower.
According to the one side of the disclosure, a kind of vehicle calibration system is provided, the system comprises: calibration facility, reference
Plate and control module, the calibration facility include the first rangefinder and the second rangefinder；
First rangefinder is used to obtain the first distance of the first rangefinder to the reference plate；
Second rangefinder is used to obtain the second distance of the second rangefinder to the reference plate；
The control module, for determining the vehicle and the ginseng according to the first distance and the second distance
Examine the angle of plate.
In one possible implementation, first rangefinder and the second rangefinder are arranged on vehicle, and institute
It is parallel with the width direction of vehicle with the line of the second rangefinder to state the first rangefinder.
In one possible implementation, first rangefinder and the second rangefinder are one of following or more
Kind: laser range finder, infrared range-measurement system or ultrasonic distance measuring apparatus.
In one possible implementation, the system also includes: a horizontal axis, the horizontal axis is along the vehicle
Width direction is extended；
First rangefinder and the second rangefinder are located at position different on the horizontal axis.
In one possible implementation, the direction of the launch of the direction of the launch of first rangefinder and the second rangefinder
It is identical.
In one possible implementation, the direction of the launch of the direction of the launch of first rangefinder and the second rangefinder
For the length direction of vehicle.
According to another aspect of the present disclosure, a kind of vehicle calibration method based on above system, the method packet are provided
It includes:
Obtain the first distance of the first rangefinder to the reference plate；
Obtain the second distance of the second rangefinder to the reference plate；
According to the first distance and second distance, determine whether the vehicle reaches calibration state.
In one possible implementation, the calibration state is vehicle and reference plate angle is predetermined angle, according to
The first distance and second distance, determine whether the vehicle reaches calibration state, comprising:
According to the first distance and the second distance, the angle of vehicle Yu the reference plate is determined；
If the angle is identical as the predetermined angle, it can determine that the vehicle reaches calibration state.
In one possible implementation, the predetermined angle is 90 degree, according to the first distance and second distance,
Determine whether the vehicle reaches calibration state, comprising:
If the first distance is equal with second distance, determine that the vehicle reaches calibration state.
According to another aspect of the present disclosure, a kind of vehicle calibration device is provided, comprising: processor；It is handled for storage
The memory of device executable instruction；Wherein, the processor is configured to executing the above method.
According to another aspect of the present disclosure, a kind of non-volatile computer readable storage medium storing program for executing is provided, is stored thereon with
Computer program instructions, wherein the computer program instructions realize the above method when being executed by processor.
By two rangefinders of setting and a reference plate, vehicle calibration is carried out using the distance of two rangefinders, according to
The vehicle calibration system and method for the embodiment of the present disclosure, so that the calibration system of automatic driving vehicle is simpler, calibration process
It is relatively succinct, and calibration is realized using rangefinder, so that calibration system expense is lower.
According to below with reference to the accompanying drawings to detailed description of illustrative embodiments, the other feature and aspect of the disclosure will become
It is clear.
Detailed description of the invention
Comprising in the description and constituting the attached drawing of part of specification and specification together illustrates the disclosure
Exemplary embodiment, feature and aspect, and for explaining the principles of this disclosure.
Fig. 1 shows the schematic diagram of the vehicle calibration system according to one embodiment of the disclosure.
Fig. 2 shows the schematic diagrames according to the vehicle calibration system of one embodiment of the disclosure.
Fig. 3 shows the schematic diagram of the vehicle calibration system according to one embodiment of the disclosure.
Fig. 4 shows the flow chart of the vehicle calibration method according to one embodiment of the disclosure.
Fig. 5 shows the flow chart of the step S13 according to one embodiment of the disclosure.
Fig. 6 is a kind of block diagram of vehicle calibration device 800 shown according to an exemplary embodiment.
Fig. 7 is a kind of block diagram of vehicle calibration device 1900 shown according to an exemplary embodiment.
Specific embodiment
Various exemplary embodiments, feature and the aspect of the disclosure are described in detail below with reference to attached drawing.It is identical in attached drawing
Appended drawing reference indicate element functionally identical or similar.Although the various aspects of embodiment are shown in the attached drawings, remove
It non-specifically points out, it is not necessary to attached drawing drawn to scale.
Dedicated word " exemplary " means " being used as example, embodiment or illustrative " herein.Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.
In addition, giving numerous details in specific embodiment below to better illustrate the disclosure.
It will be appreciated by those skilled in the art that without certain details, the disclosure equally be can be implemented.In some instances, for
Method, means, element and circuit well known to those skilled in the art are not described in detail, in order to highlight the purport of the disclosure.
Fig. 1 shows the schematic diagram of the vehicle calibration system according to one embodiment of the disclosure.Described Fig. 1 is top view, described
Vehicle can be automatic driving vehicle.As shown in Figure 1, the calibration system may include: calibration facility, reference plate (scaling board)
3 and control module (not shown), the calibration facility may include the first rangefinder 1 and the second rangefinder 2.With the first ranging
Instrument 1 and the second rangefinder 2 is for laser range finder, the A can be the Laser emission source point of the first rangefinder 1, and the B can
To be the Laser emission source point of the second rangefinder 2.
As shown in Figure 1, the plane L can be a plane for being parallel to vehicle lengthwise direction (front-rear direction), for example,
If left and right vehicle wheel is symmetrical in mirror surface, the vehicle can be symmetrical in mirror surface with respect to plane L.
First rangefinder 1 and the second rangefinder 2 can be located at the symmetrical position of left and right vehicle wheel, for example, the first ranging
Instrument 1 can be located at the center of left rear wheel, and the second rangefinder can be behind the center of off hind wheel, the center and the right side of the left rear wheel
It the center of wheel can be on the straight line AB.It here is only the example of the position of the first rangefinder 1 and the second rangefinder 2,
First rangefinder 1 and the second rangefinder 2 can be in headstocks or in tailstock etc., and the disclosure is not construed as limiting this.
As shown in Figure 1, the direction of the launch of first rangefinder 1 and the second rangefinder 2 can be the length direction of vehicle.
First rangefinder 1 can be used for obtaining the first distance of the first rangefinder 1 to the reference plate 3；Described
Two rangefinders 2 can be used for obtaining the second distance of the second rangefinder 2 to the reference plate 3.
The control module can be mounted in interior computer, independent processor etc., alternatively, the control module
It can be the computer etc. remotely controlled.The control module can be communicated with the first rangefinder and the second rangefinder, the communication
Mode can be communication or wired communication mode.The control module can be surveyed from the first rangefinder and second respectively
Distance meter obtains first distance and second distance, and can determine the vehicle and institute according to the first distance and second distance
The angle of reference plate is stated, whether control module can equal with predetermined angle to realize by judging the angle of the reference plate
State the calibration of vehicle.
When the predetermined angle can be preset vehicle calibration, the vehicle (length direction of vehicle) with it is described
The included angle of reference plate.
In one example, if the first rangefinder 1 is placed on the center of vehicle left rear wheel, the second rangefinder 2 is placed on vehicle
The center of off hind wheel, and the direction of the launch of the first rangefinder 1 and the direction of the launch of the second rangefinder 2 are the length side of vehicle
To the predetermined angle is 60 degree.Control module can determine the vehicle (vehicle according to the first distance and second distance
Length direction) with the angle of the reference plate whether be 60 degree, as shown in Figure 1, BC is parallel with reference plate 3, the vehicle
Equal with angle E (angle AEB) with the angle a of reference plate 3, triangle ABE is right angled triangle, the AE=first distance-the second
Distance, AB is known when being the first rangefinder of setting and the second rangefinder, it is consequently possible to calculate the degree of angle of departure E, and then control
The degree of the available angle a of module, control module may determine that whether the angle a is equal to 60 degree, if being equal to, can determine
It realizes vehicle calibration, if angle a is not equal to 60 degree, can determine that the vehicle is not demarcated.
In another example, if predetermined angle is 90 degree, i.e., the calibration of vehicle is realized when vehicle is vertical with reference plate 3,
Such as Fig. 2, control module can determine whether vehicle is demarcated according to whether the angle of vehicle and reference plate is equal to 90 degree；Alternatively,
Control module can determine whether vehicle is demarcated according to whether the first distance AD and second distance BC are equal, for example, if
AD, which is equal to BC, can determine realization vehicle calibration.
By two rangefinders of setting and a reference plate, vehicle calibration is carried out using the distance of two rangefinders, according to
The vehicle calibration system of the embodiment of the present disclosure, so that the calibration system of automatic driving vehicle is simpler, calibration process is more succinct,
And calibration is realized using rangefinder, so that calibration system expense is lower.
In one possible implementation, first rangefinder and the second rangefinder can be one of following or
It is a variety of: laser range finder, infrared range-measurement system or ultrasonic distance measuring apparatus.
In one possible implementation, first rangefinder and the second rangefinder can be set on vehicle, and
And first rangefinder can be parallel with width direction (left and right directions) of vehicle with the line of the second rangefinder.That is
First rangefinder can be symmetrical in mirror surface relative to the plane L with the second rangefinder, as shown in Figure 1, namely the first rangefinder
A and the second rangefinder B relative to the plane L in mirror surface it is symmetrical.
In one possible implementation, the direction of the launch of the direction of the launch of first rangefinder and the second rangefinder
Can be identical, for example, as shown in Figure 1, the direction of the launch of first rangefinder is parallel with the direction of the launch of the second rangefinder, and
It is consistent with the length direction of vehicle.
In one example, the direction of the launch of first rangefinder and the direction of the launch of the second rangefinder can be vertical
In the width direction of the vehicle, i.e., the direction of the launch of described first rangefinder and the direction of the launch of the second rangefinder can hang down
Directly in straight line AB.The direction of the launch of the direction of the launch and the second rangefinder for first rangefinder and the angle of horizontal plane,
For example, can be 0-45 degree.The disclosure is not construed as limiting this.
It should be noted that the direction of the launch of first rangefinder and the direction of the launch of the second rangefinder can not also hang down
The width direction of the straight vehicle, as long as the direction of the launch of first rangefinder and the direction of the launch of the second rangefinder are identical
It can.
Fig. 3 shows the schematic diagram of the vehicle calibration system according to one embodiment of the disclosure.As shown in figure 3, in a kind of possibility
Implementation in, the calibration system can also include: horizontal axis a M, the horizontal axis M can be along the width of the vehicle
Direction is extended；Wherein, the horizontal axis M can be set in the left or right side of vehicle.
First rangefinder and the second rangefinder can be located at position different on the horizontal axis, as shown in Figure 3.
The direction of the launch of first rangefinder and the direction of the launch of the second rangefinder can be identical, and described first surveys
The direction of the launch of distance meter and the direction of the launch of the second rangefinder can perpendicular to the width direction of the vehicle, as shown in figure 3,
Namely first rangefinder the direction of the launch and the second rangefinder the direction of the launch can perpendicular to the horizontal axis M, for example,
The direction of the launch of first rangefinder and the direction of the launch of the second rangefinder can be the length direction of vehicle.
Fig. 4 shows the flow chart of the vehicle calibration method according to one embodiment of the disclosure.As shown in figure 4, the method can
To include:
Step S11 obtains the first distance of the first rangefinder to the reference plate；
Step S12 obtains the second distance of the second rangefinder to the reference plate；
Step S13 determines whether the vehicle reaches calibration state according to the first distance and second distance.
The control module can obtain first distance from the first rangefinder, obtain second distance, control from the second rangefinder
Molding block can determine whether the vehicle reaches calibration state according to the first distance and second distance.The calibration shape
State can refer to that vehicle and reference plate angle are predetermined angle.
In one example, if the predetermined angle is 90 degree, i.e., vehicle calibration state is that vehicle is vertical with reference plate 3,
Control module can by judging whether the first distance and second distance equal, determine the vehicle whether with the reference
Plate is vertical, and then determines whether the vehicle reaches calibration state.If the first distance is equal with second distance, control module
It can determine that the vehicle is vertical with the reference plate, and then determine that the vehicle reaches calibration state, as shown in Figures 2 and 3.
If the first distance and second distance are unequal, control module can determine the vehicle and the reference plate out of plumb, into
And it determines the vehicle and is not up to calibration state.
By two rangefinders of setting and a reference plate, vehicle calibration is carried out using the distance of two rangefinders, according to
The vehicle calibration method of the embodiment of the present disclosure, so that the calibration system of automatic driving vehicle is simpler, calibration process is more succinct,
And calibration is realized using rangefinder, so that calibration system expense is lower.
Fig. 5 shows the flow chart of the step S13 according to one embodiment of the disclosure.As shown in figure 5, in a kind of possible realization
In mode, the step S13 may include:
Step S131 determines the angle of vehicle Yu the reference plate according to the first distance and the second distance；
Step S132 determines that the vehicle reaches calibration state if the angle is identical as the predetermined angle.
Control module on vehicle can determine vehicle and the reference according to the first distance and the second distance
The angle of plate, as shown in Figure 1, determining the angle of angle a, it can be determined that whether angle a is identical as the predetermined angle, if phase
Together, it can determine that the vehicle reaches calibration state.Wherein, the calculation of angle a is same as above, and is repeated no more.
Fig. 6 is a kind of block diagram of vehicle calibration device 800 shown according to an exemplary embodiment.For example, device 800 can
To be mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, Medical Devices are good for
Body equipment, personal digital assistant etc..
Referring to Fig. 6, device 800 may include following one or more components: processing component 802, memory 804, power supply
Component 806, multimedia component 808, audio component 810, the interface 812 of input/output (I/O), sensor module 814, and
Communication component 816.
The integrated operation of the usual control device 800 of processing component 802, such as with display, telephone call, data communication, phase
Machine operation and record operate associated operation.Processing component 802 may include that one or more processors 820 refer to execute
It enables, to perform all or part of the steps of the methods described above.In addition, processing component 802 may include one or more modules, just
Interaction between processing component 802 and other assemblies.For example, processing component 802 may include multi-media module, it is more to facilitate
Interaction between media component 808 and processing component 802.
Memory 804 is configured as storing various types of data to support the operation in device 800.These data are shown
Example includes the instruction of any application or method for operating on device 800, contact data, and telephone book data disappears
Breath, picture, video etc..Memory 804 can be by any kind of volatibility or non-volatile memory device or their group
It closes and realizes, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM) is erasable to compile
Journey read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash
Device, disk or CD.
Power supply module 806 provides electric power for the various assemblies of device 800.Power supply module 806 may include power management system
System, one or more power supplys and other with for device 800 generate, manage, and distribute the associated component of electric power.
Multimedia component 808 includes the screen of one output interface of offer between described device 800 and user.One
In a little embodiments, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen
Curtain may be implemented as touch screen, to receive input signal from the user.Touch panel includes one or more touch sensings
Device is to sense the gesture on touch, slide, and touch panel.The touch sensor can not only sense touch or sliding action
Boundary, but also detect duration and pressure associated with the touch or slide operation.In some embodiments, more matchmakers
Body component 808 includes a front camera and/or rear camera.When device 800 is in operation mode, such as screening-mode or
When video mode, front camera and/or rear camera can receive external multi-medium data.Each front camera and
Rear camera can be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio component 810 is configured as output and/or input audio signal.For example, audio component 810 includes a Mike
Wind (MIC), when device 800 is in operation mode, when such as call mode, recording mode, and voice recognition mode, microphone is matched
It is set to reception external audio signal.The received audio signal can be further stored in memory 804 or via communication set
Part 816 is sent.In some embodiments, audio component 810 further includes a loudspeaker, is used for output audio signal.
I/O interface 812 provides interface between processing component 802 and peripheral interface module, and above-mentioned peripheral interface module can
To be keyboard, click wheel, button etc..These buttons may include, but are not limited to: home button, volume button, start button and lock
Determine button.
Sensor module 814 includes one or more sensors, and the state for providing various aspects for device 800 is commented
Estimate.For example, sensor module 814 can detecte the state that opens/closes of device 800, and the relative positioning of component, for example, it is described
Component is the display and keypad of device 800, and sensor module 814 can be with 800 1 components of detection device 800 or device
Position change, the existence or non-existence that user contacts with device 800,800 orientation of device or acceleration/deceleration and device 800
Temperature change.Sensor module 814 may include proximity sensor, be configured to detect without any physical contact
Presence of nearby objects.Sensor module 814 can also include optical sensor, such as CMOS or ccd image sensor, at
As being used in application.In some embodiments, which can also include acceleration transducer, gyro sensors
Device, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 816 is configured to facilitate the communication of wired or wireless way between device 800 and other equipment.Device
800 can access the wireless network based on communication standard, such as WiFi, 2G or 3G or their combination.In an exemplary implementation
In example, communication component 816 receives broadcast singal or broadcast related information from external broadcasting management system via broadcast channel.
In one exemplary embodiment, the communication component 816 further includes near-field communication (NFC) module, to promote short range communication.Example
Such as, NFC module can be based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) technology,
Bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, device 800 can be believed by one or more application specific integrated circuit (ASIC), number
Number processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for executing the above method.
In the exemplary embodiment, a kind of non-volatile computer readable storage medium storing program for executing is additionally provided, for example including calculating
The memory 804 of machine program instruction, above-mentioned computer program instructions can be executed above-mentioned to complete by the processor 820 of device 800
Method.
Fig. 7 is a kind of block diagram of vehicle calibration device 1900 shown according to an exemplary embodiment.For example, device 1900
It may be provided as a server.Referring to Fig. 7, it further comprises one or more that device 1900, which includes processing component 1922,
Processor and memory resource represented by a memory 1932, can be by the finger of the execution of processing component 1922 for storing
It enables, such as application program.The application program stored in memory 1932 may include each one or more correspondence
In the module of one group of instruction.In addition, processing component 1922 is configured as executing instruction, to execute the above method.
Device 1900 can also include that a power supply module 1926 be configured as the power management of executive device 1900, and one
Wired or wireless network interface 1950 is configured as device 1900 being connected to network and input and output (I/O) interface
1958.Device 1900 can be operated based on the operating system for being stored in memory 1932, such as Windows ServerTM, Mac
OS XTM, UnixTM, LinuxTM, FreeBSDTM or similar.
In the exemplary embodiment, a kind of non-volatile computer readable storage medium storing program for executing is additionally provided, for example including calculating
The memory 1932 of machine program instruction, above-mentioned computer program instructions can be executed by the processing component 1922 of device 1900 to complete
The above method.
The disclosure can be system, method and/or computer program product.Computer program product may include computer
Readable storage medium storing program for executing, containing for making processor realize the computer-readable program instructions of various aspects of the disclosure.
Computer readable storage medium, which can be, can keep and store the tangible of the instruction used by instruction execution equipment
Equipment.Computer readable storage medium for example can be-- but it is not limited to-- storage device electric, magnetic storage apparatus, optical storage
Equipment, electric magnetic storage apparatus, semiconductor memory apparatus or above-mentioned any appropriate combination.Computer readable storage medium
More specific example (non exhaustive list) includes: portable computer diskette, hard disk, random access memory (RAM), read-only deposits
It is reservoir (ROM), erasable programmable read only memory (EPROM or flash memory), static random access memory (SRAM), portable
Compact disk read-only memory (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanical coding equipment, for example thereon
It is stored with punch card or groove internal projection structure and the above-mentioned any appropriate combination of instruction.Calculating used herein above
Machine readable storage medium storing program for executing is not interpreted that instantaneous signal itself, the electromagnetic wave of such as radio wave or other Free propagations lead to
It crosses the electromagnetic wave (for example, the light pulse for passing through fiber optic cables) of waveguide or the propagation of other transmission mediums or is transmitted by electric wire
Electric signal.
Computer-readable program instructions as described herein can be downloaded to from computer readable storage medium it is each calculate/
Processing equipment, or outer computer or outer is downloaded to by network, such as internet, local area network, wide area network and/or wireless network
Portion stores equipment.Network may include copper transmission cable, optical fiber transmission, wireless transmission, router, firewall, interchanger, gateway
Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be counted
Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment
In calculation machine readable storage medium storing program for executing.
Computer program instructions for executing disclosure operation can be assembly instruction, instruction set architecture (ISA) instructs,
Machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programming languages
The source code or object code that any combination is write, the programming language include the programming language-of object-oriented such as
Smalltalk, C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer
Readable program instructions can be executed fully on the user computer, partly execute on the user computer, be only as one
Vertical software package executes, part executes on the remote computer or completely in remote computer on the user computer for part
Or it is executed on server.In situations involving remote computers, remote computer can pass through network-packet of any kind
It includes local area network (LAN) or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as benefit
It is connected with ISP by internet).In some embodiments, by utilizing computer-readable program instructions
Status information carry out personalized customization electronic circuit, such as programmable logic circuit, field programmable gate array (FPGA) or can
Programmed logic array (PLA) (PLA), the electronic circuit can execute computer-readable program instructions, to realize each side of the disclosure
Face.
Referring herein to according to the flow chart of the method, apparatus (system) of the embodiment of the present disclosure and computer program product and/
Or block diagram describes various aspects of the disclosure.It should be appreciated that flowchart and or block diagram each box and flow chart and/
Or in block diagram each box combination, can be realized by computer-readable program instructions.
These computer-readable program instructions can be supplied to general purpose computer, special purpose computer or other programmable datas
The processor of processing unit, so that a kind of machine is produced, so that these instructions are passing through computer or other programmable datas
When the processor of processing unit executes, function specified in one or more boxes in implementation flow chart and/or block diagram is produced
The device of energy/movement.These computer-readable program instructions can also be stored in a computer-readable storage medium, these refer to
It enables so that computer, programmable data processing unit and/or other equipment work in a specific way, thus, it is stored with instruction
Computer-readable medium then includes a manufacture comprising in one or more boxes in implementation flow chart and/or block diagram
The instruction of the various aspects of defined function action.
Computer-readable program instructions can also be loaded into computer, other programmable data processing units or other
In equipment, so that series of operation steps are executed in computer, other programmable data processing units or other equipment, to produce
Raw computer implemented process, so that executed in computer, other programmable data processing units or other equipment
Instruct function action specified in one or more boxes in implementation flow chart and/or block diagram.
The flow chart and block diagram in the drawings show system, method and the computer journeys according to multiple embodiments of the disclosure
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
One module of table, program segment or a part of instruction, the module, program segment or a part of instruction include one or more use
The executable instruction of the logic function as defined in realizing.In some implementations as replacements, function marked in the box
It can occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually be held substantially in parallel
Row, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that block diagram and/or
The combination of each box in flow chart and the box in block diagram and or flow chart, can the function as defined in executing or dynamic
The dedicated hardware based system made is realized, or can be realized using a combination of dedicated hardware and computer instructions.
The presently disclosed embodiments is described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.The selection of term used herein, purport
In the principle, practical application or technological improvement to the technology in market for best explaining each embodiment, or lead this technology
Other those of ordinary skill in domain can understand each embodiment disclosed herein.
Claims (11)
1. a kind of vehicle calibration system characterized by comprising calibration facility, reference plate and control module, the calibration are set
Standby includes the first rangefinder and the second rangefinder；
First rangefinder is used to obtain the first distance of the first rangefinder to the reference plate；
Second rangefinder is used to obtain the second distance of the second rangefinder to the reference plate；
The control module, for determining the vehicle and the reference plate according to the first distance and the second distance
Angle.
2. system according to claim 1, which is characterized in that first rangefinder and second rangefinder are arranged
On vehicle, and first rangefinder is parallel with the width direction of vehicle with the line of the second rangefinder.
3. calibration system according to claim 1, which is characterized in that first rangefinder and the second rangefinder are following
One of or it is a variety of: laser range finder, infrared range-measurement system or ultrasonic distance measuring apparatus.
4. system according to claim 1, which is characterized in that further include: a horizontal axis, the horizontal axis is along the vehicle
Width direction be extended；
First rangefinder and the second rangefinder are located at position different on the horizontal axis.
5. system according to claim 2 or 4, which is characterized in that the direction of the launch of first rangefinder and second is surveyed
The direction of the launch of distance meter is identical.
6. system according to claim 5, which is characterized in that the direction of the launch and the second rangefinder of first rangefinder
The direction of the launch be vehicle length direction.
7. a kind of vehicle calibration method based on system described in claim 5 characterized by comprising
Obtain the first distance of the first rangefinder to the reference plate；
Obtain the second distance of the second rangefinder to the reference plate；
According to the first distance and second distance, determine whether the vehicle reaches calibration state.
8. scaling method according to claim 7, which is characterized in that the calibration state refers to vehicle and reference plate angle
It is described according to the first distance and second distance for predetermined angle, determine whether the vehicle reaches calibration state, comprising:
According to the first distance and the second distance, the angle of vehicle Yu the reference plate is determined；
If the angle is identical as the predetermined angle, it can determine that the vehicle reaches calibration state.
9. scaling method according to claim 8, which is characterized in that the predetermined angle is 90 degree, according to described first
Distance and second distance, determine whether the vehicle reaches calibration state, comprising:
If the first distance is equal with second distance, determine that the vehicle reaches calibration state.
10. a kind of vehicle calibration device characterized by comprising
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to:
The executable instruction is executed to realize method described in any one of claim 7-9.
11. a kind of non-volatile computer readable storage medium storing program for executing, is stored thereon with computer program instructions, which is characterized in that institute
It states and realizes method described in any one of claim 7-9 when computer program instructions are executed by processor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910127335.2A CN109883331A (en) | 2019-02-20 | 2019-02-20 | Vehicle calibration system and method |
| PCT/CN2019/115962 WO2020168744A1 (en) | 2019-02-20 | 2019-11-06 | Vehicle calibration system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910127335.2A CN109883331A (en) | 2019-02-20 | 2019-02-20 | Vehicle calibration system and method |
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| CN109883331A true CN109883331A (en) | 2019-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910127335.2A Pending CN109883331A (en) | 2019-02-20 | 2019-02-20 | Vehicle calibration system and method |
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| Country | Link |
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| CN (1) | CN109883331A (en) |
| WO (1) | WO2020168744A1 (en) |
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| CN112339800A (en) * | 2019-08-08 | 2021-02-09 | 比亚迪股份有限公司 | Parking precision measuring system and method and electronic equipment |
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Also Published As
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| WO2020168744A1 (en) | 2020-08-27 |
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Application publication date: 20190614 |