CN110208158A - A kind of vehicle environmental detection sensor on-line calibration method and system - Google Patents
A kind of vehicle environmental detection sensor on-line calibration method and system Download PDFInfo
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Abstract
The invention discloses a kind of vehicle environmental detection sensor on-line calibration methods comprising step: (1) remote server receives the calibration request calibrated to the first environment detection sensor on the first vehicle；(2) remote server acquires data measured by several second environment detection sensor environmental datas detected and first environment detection sensor, has a geographic distance between second environment detection sensor and first environment detection sensor；(3) environmental data that remote server acquires second environment detection sensor pre-processes, with rejecting abnormalities data；(4) remote server carries out data fusion to pretreated data, to obtain data fusion as a result, as calibration reference value；(5) remote server obtains calibration factor based on data measured by calibration reference value and first environment detection sensor, and sends it to the first vehicle, and the data of first environment detection sensor real-time detection are based on calibration factor and are calibrated.
Description
Technical field
The present invention relates to a kind of on-line calibration method and its system more particularly to a kind of on-line calibrations for environment measuring
Method and its system.
Background technique
In recent years, people increasingly improve air quality attention rate, and more and more automobiles are initially configured sensor to examine
It surveys and is provided with PM2.5 particulate matter sensors in air quality, such as some vehicles, generated in light beam using PM2.5 particulate matter
Light scattering phenomenon, to measure the mass concentration of PM2.5 particulate matter in air.This aspect is conducive to user and understands in real time currently
The pollution condition of position, another aspect user can control vehicle air cycle throttle by this, reduce the dense of car PM2.5
Degree.
But since the detection unit of sensor is chronically exposed in surrounding air, because of environmental factor (such as dust accumulation) or certainly
Body aging (such as light source decaying), can all cause measurement data deviation occur.But due to its vehicle in actual use
The limitation of sensor mounting location, inconvenience replacement calibration or maintenance.Once replacement calibration, needs relevant professional periodically to tear open
Cleaning is unloaded, just can guarantee measurement accuracy, this process extremely time and effort consuming.
Based on this, it is expected that obtaining a kind of new sensor on-line calibration method, sensor on-line calibration method user
Just, detection is accurate, is highly suitable for being installed on the calibration of the sensor on vehicle.
Summary of the invention
One of the objects of the present invention is to provide a kind of vehicle environmental detection sensor on-line calibration method, the vehicle environmentals
Detection sensor on-line calibration method using remote server to the collected environmental data of environmental detection sensor on vehicle into
Row calibrating patterns are established and adjustment, so that the measured deviation of environmental detection sensor is corrected, so that environmental detection sensor is most
The result obtained eventually keeps degree of precision.
To achieve the goals above, the invention proposes a kind of vehicle environmental detection sensor on-line calibration method, packets
Include step:
(1) remote server receives the calibration request calibrated to the first environment detection sensor on the first vehicle；
(2) remote server acquires several second environment detection sensor environmental datas detected and first environment
Data measured by detection sensor, have between second environment detection sensor and first environment detection sensor one it is geographical away from
From；
(3) environmental data that remote server acquires second environment detection sensor pre-processes, with rejecting abnormalities
Data；
(4) remote server carries out data fusion to pretreated data, to obtain data fusion as a result, data are melted
Result is closed as calibration reference value；
(5) remote server is calibrated based on data measured by calibration reference value and first environment detection sensor
Coefficient, and calibration factor is sent to the first vehicle, the environmental data of first environment detection sensor real-time detection is based on calibration
Coefficient and be calibrated.
In vehicle environmental detection sensor on-line calibration method of the present invention, when the first vehicle to be calibrated is to remote
After journey server issues calibration request, remote server is using the first vehicle as origin, to the certain geographic distance of the first vehicle of distance
Interior second environment detection sensor acquires the environmental data detected by it, and to the ring of second environment detection sensor acquisition
Border data are pre-processed, with rejecting abnormalities data.Remote server carries out data fusion calculating to pretreated data,
Obtain data fusion as a result, and using data fusion result as calibration reference value, will then calibrate reference value and to be calibrated the
The data that first environment detection sensor on one vehicle detects compare, to calculate acquisition calibration factor, will calibrate
Coefficient is sent on the first vehicle, and the environmental data of first environment detection sensor real-time detection is based on calibration factor and by school
It is quasi-.
In the above scheme, setting pretreatment is due in a calibration process, due to each second environment detection sensor
Locating environment has differences, and individual second environment sensors are under high pollution environment, for example, just at construction site or
Be heavy truck just nearby, cause its collected environmental data of institute abnormal, cannot really reflect the environment of actual environment
Data, therefore, it is necessary to be pre-processed to collected data, rejecting abnormalities data.
Further, in vehicle environmental detection sensor on-line calibration method of the present invention, pretreatment includes step
It is rapid:
(i) it is calculated based on following formula and is starting to calibrate what the collected n second environment detection sensor of moment t measured
Environmental data x1,x2,…,xnAverage value
(ii) each environmental data x is obtainediWith average valueResidual error vi:
(iii) the estimation σ of the standard deviation of these environmental datas is acquired2:
(iv) if environmental data xiResidual error viMeet: | vi| 3 σ of > then determines environmental data xiFor abnormal data,
And the data of the corresponding second environment detection sensor of the abnormal data are rejected.
Further, in vehicle environmental detection sensor on-line calibration method of the present invention, data fusion packet
Include step:
It (a) will be by each pretreated second environment detection sensor from starting to calibrate moment t to data acquisition
One group of environmental data measured by finish time T is divided into odd number group data [x by odd number and even numberj1, xj2..., xjk]
With even number set data [xo1, xo2..., xol], and the average value of odd number group data is obtained based on following formula respectivelyEven number set
The average value of dataThe standard deviation sigma of odd number group datajWith the standard deviation sigma of even number set datao:
Wherein k and l respectively indicates the quantity of odd number group data and the quantity of even number set data；
(b) for each second environment detection sensor, its local decision value is obtained based on following formulaAnd variance
Then obtain the respective local decision value of m second environment detection sensor after data are rejectedAnd standard deviationWherein m≤n；
(c) following formula are based on using weighted mean method and obtain data fusion result
Wherein,ωpThe local decision value and weighted factor of p-th of second environment detection sensor are respectively indicated, wherein
Weighted factor ωpMeetAndWhereinIndicate p-th of second environment detection sensing
The standard deviation of device.
Further, in vehicle environmental detection sensor on-line calibration method of the present invention, calibration factor is obtained
The step of include: based on formulaCalibration factor K is obtained, whereinThe data fusion is stated as a result, x0Indicate first
Environmental detection sensor from start calibrate moment t to data acquisition finish time T measured by environmental data average value.
Further, in vehicle environmental detection sensor on-line calibration method of the present invention, second environment detection
Quantity >=30 of sensor, if the quantity of the second environment detection sensor in geographic distance is not achieved 30, remote service
The range of device expansion geographic distance.
Further, in vehicle environmental detection sensor on-line calibration method of the present invention, first environment detection
Sensor and second environment detection sensor are PM2.5 sensor, and environmental data is PM2.5 concentration.
Further, in vehicle environmental detection sensor on-line calibration method of the present invention, remote server is
Cloud server.
Further, in vehicle environmental detection sensor on-line calibration method of the present invention, geographic distance 1-
5km。
Correspondingly, another object of the present invention is to provide a kind of vehicle environmental detection sensor on-line calibration systems, should
Vehicle environmental detection sensor on-line calibration system can carry out the collected environmental data of environmental detection sensor on vehicle
Calibrating patterns are established and adjustment, so that the measured deviation of environmental detection sensor is corrected, so that environmental detection sensor is final
The result of acquisition keeps degree of precision.
To achieve the goals above, the invention proposes a kind of vehicle environmental detection sensor on-line calibration system, packets
It includes:
First environment detection sensor is set on the first vehicle, to detect the environmental data of the first vehicle；
First data processing unit is set on the first vehicle, and the first data processing unit and first environment detection sense
Device data connection；
First vehicle-carrying communication unit is set on the first vehicle, the first vehicle-carrying communication unit and the first data processing unit
Data connection；
Several second environment detection sensors have a geographic distance between first environment detection sensor,
Second environment detection sensor detects the environmental data of its ambient enviroment；
Remote server is connect with the first vehicle-carrying communication cell data, and with second environment detection sensor directly or
Data connection indirectly；
Wherein, when the first vehicle issues calibration request to remote server, environmental detection sensor on-line calibration system
Execute above-mentioned vehicle environmental detection sensor on-line calibration method；
After wherein the first data processing unit receives the calibration factor, by first environment detection sensor real-time detection
Environmental data multiplied by being exported after calibration factor, to realize the calibration of first environment detection sensor.
Further, in vehicle environmental detection sensor on-line calibration system of the present invention, second environment detection
Sensor is set on the second vehicle, is additionally provided with the second data processing unit and the second vehicle-carrying communication unit on the second vehicle, and second
Data processing unit and second environment detection sensor data connection, the second vehicle-carrying communication unit and the second data processing unit number
According to connection, remote server passes through between the second vehicle-carrying communication unit and the second data processing unit and second environment detection sensor
It is grounded data connection.
Vehicle environmental detection sensor on-line calibration method and system of the present invention have such as compared to the prior art
The advantage and the utility model has the advantages that
Vehicle environmental detection sensor on-line calibration method and system of the present invention are using remote server to vehicle
The upper collected environmental data of environmental detection sensor carries out calibrating patterns and establishes and adjust, to correct environmental detection sensor
Measured deviation so that the result that finally obtains of environmental detection sensor keeps degree of precision.
Vehicle environmental detection sensor on-line calibration method and system of the present invention overcome the deficiencies in the prior art,
It can directly be calibrated, not limited by environmental detection sensor installation site by remote server, without additional artificial
Cleaning environmental detection sensor is dismantled, manpower and material resources are greatly saved, has saved the cost and maintenance time of maintenance.
Detailed description of the invention
Fig. 1 is structure of the vehicle environmental detection sensor on-line calibration system of the present invention under some embodiments
Block diagram.
Fig. 2 is process of the vehicle environmental detection sensor on-line calibration method of the present invention under some embodiments
Schematic diagram.
Specific embodiment
Exist below in conjunction with Figure of description and specific embodiment to vehicle environmental detection sensor of the present invention
Line calibration method and system make further explanation, however the explanation and illustration is not to technical solution of the present invention structure
At improper restriction.
Fig. 1 is structure of the vehicle environmental detection sensor on-line calibration system of the present invention under some embodiments
Block diagram.
If as shown in Figure 1, vehicle environmental detection sensor on-line calibration system in present embodiment include the first vehicle,
Dry the second vehicle and the remote server being connect with the first vehicle, the second vehicle data.
Wherein, the first vehicle be equipped with first environment detection sensor, the first data processing unit and with the first data
First vehicle-carrying communication unit of processing unit data connection, environment number of the first environment detection sensor to detect the first vehicle
According to the first data processing unit and first environment detection sensor data connection, the first vehicle pass through the first vehicle-carrying communication unit
It is connect with remote server data.
With further reference to Fig. 1 as can be seen that correspondence also is provided with second environment detection sensor, the second data on the second vehicle
Processing unit and the second vehicle-carrying communication unit, wherein second environment detection sensor with first environment detection sensor it
Between there is certain geographic distance, second environment detection sensor detects surrounding environmental data, and the second data processing unit
With second environment detection sensor data connection, the second vehicle-carrying communication unit and the second data processing unit data connection, remotely
By the second vehicle-carrying communication unit and the second data processing unit and second environment detection sensor, data connect server indirectly
It connects.
It will, of course, be appreciated that in some other embodiments, communication module can also be integrated in the second ring
In the detection sensor of border, to realize, immediate data is connected between second environment detection sensor and remote server.
Certainly, in some other embodiments, second environment detection sensor can also be not arranged in the second vehicle
On, but it is set up directly in environment measuring point or measuring station, detection is carried out to ambient enviroment and obtains environmental data.
It should be pointed out that remote server is cloud server in above scheme, first environment detection sensor and the
Two environmental detection sensors are PM2.5 sensor, and the environmental data of detection is PM2.5 concentration.
When the first vehicle issues calibration request to remote server, environmental detection sensor on-line calibration system is executed such as
Step shown in Fig. 2 carries out vehicle environmental detection sensor on-line calibration method, and Fig. 2 is vehicle environmental of the present invention detection
Flow diagram of the sensor on-line calibration method under some embodiments.
As shown in Fig. 2, the vehicle environmental detection sensor in present embodiment in school calibration method comprising steps of
(1) remote server receives the calibration request calibrated to the first environment detection sensor on the first vehicle；
(2) remote server acquires several second environment detection sensor environmental datas detected and first environment
Data measured by detection sensor, with one between the second environment detection sensor and first environment detection sensor
Manage distance；
(3) environmental data that remote server acquires second environment detection sensor pre-processes, with rejecting abnormalities
Data；
(4) remote server carries out data fusion to pretreated data, to obtain data fusion as a result, data are melted
Result is closed as calibration reference value；
(5) remote server is obtained based on data measured by the calibration reference value and first environment detection sensor
Calibration factor, and calibration factor is sent to the first vehicle, the environmental data of first environment detection sensor real-time detection is based on
Calibration factor and be calibrated.
In above-mentioned steps, pretreatment comprising steps of
(i) it is calculated based on following formula and is starting to calibrate what the collected n second environment detection sensor of moment t measured
Environmental data x1,x2,…,xnAverage value
(ii) each environmental data x is obtainediWith average valueResidual error vi:
(iii) the estimation σ of the standard deviation of these environmental datas is acquired2:
(iv) if environmental data xiResidual error viMeet: | vi| 3 σ of > then determines environmental data xiFor abnormal data,
And the data of the corresponding second environment detection sensor of the abnormal data are rejected.
In addition, in above-mentioned steps, data fusion comprising steps of
It (a) will be by each pretreated second environment detection sensor from starting to calibrate moment t to data acquisition
One group of environmental data measured by finish time T is divided into odd number group data [x by odd number and even numberj1, xj2..., xjk]
With even number set data [xo1, xo2..., xol], and the average value of odd number group data is obtained based on following formula respectivelyEven number set
The average value of dataThe standard deviation sigma of odd number group datajWith the standard deviation sigma of even number set datao:
Wherein k and l respectively indicates the quantity of odd number group data and the quantity of even number set data；
(b) for each second environment detection sensor, its local decision value is obtained based on following formulaAnd variance
Then obtain the respective local decision value of m second environment detection sensor after data are rejectedAnd standard deviationWherein m≤n；
(c) following formula are based on using weighted mean method and obtain data fusion result
Wherein,ωpThe local decision value and weighted factor of p-th of second environment detection sensor are respectively indicated, wherein
Weighted factor ωpMeetAndWhereinIndicate p-th of second environment detection sensing
The standard deviation of device.
Based on formulaCalibration factor K is obtained, whereinThe data fusion is stated as a result, x0Indicate first environment
Detection sensor from start calibrate moment t to data acquisition finish time T measured by environmental data average value.
And after the first data processing unit receives calibration factor K, by first environment detection sensor real-time detection
Environmental data after calibration factor multiplied by exporting, to realize the calibration of first environment detection sensor.
It should be noted that the accuracy in order to guarantee result, can preferably use biggish quantity for sample size,
It is therefore preferred that >=30 can be set by the quantity of second environment detection sensor, if the second environment in geographic distance
When the quantity of detection sensor does not reach 30, remote server can expand the range of geographic distance, until second environment is examined
The quantity for surveying sensor reaches >=30.
In view of data transmission distance and transmission stability, geographic distance can be generally preferably set to 1-5km, example
Such as 3km.
The technical solution, table 1 list 31 environmental detection sensors certain in order to better illustrate the present invention
The data continuously measured in time, wherein using the environmental detection sensor of number 31 as first environment detection sensor, number 1-
30 environmental detection sensor is then second environment detection sensor, and first environment detection sensor and each second environment detect
Geographic distance between sensor is 3km.
Table 1.
Data in table 1 are pre-processed.
Since data are excessively huge, thus, herein only with each environmental detection sensor measured value obtained in table 1
1 data instance, is illustrated, and being computed can obtain:
3 σ=69.37492
Whether the residual error that table 2 lists each environmental detection sensor measured value 1 obtained meets | vi| 3 σ's of > sentences
Disconnected result.
Table 2.
As can be seen from Table 2, the environmental detection sensor of number 22 measured value 1 detected is abnormal data, therefore, will
It is deleted.
Then, fusion calculation, calculated result are carried out to the data of the environmental detection sensor of number 1-30 (in addition to 22)
It is as shown in table 3:
Table 3.
Final data fusion result is obtained by table 3 are as follows:
And it can be obtained by table 1, ten surveys as first environment detection sensor within this time of number 31
The average value of magnitude is x0=51, then: calibration factorTherefore, xcal=1.45xsen, wherein xsenIt is
The environment numerical value of one environmental detection sensor real-time measurement, xcalFor the environment numerical value obtained after calibration.
In summary as can be seen that vehicle environmental detection sensor on-line calibration method of the present invention and its system benefit
Calibrating patterns are carried out to the collected environmental data of environmental detection sensor on vehicle with remote server to establish and adjust, thus
The measured deviation of environmental detection sensor is corrected, so that the result that environmental detection sensor finally obtains keeps degree of precision.
Vehicle environmental detection sensor on-line calibration method and its system of the present invention overcome the prior art not
Foot, can directly be calibrated by remote server, not limited by environmental detection sensor installation site, and additional people is not necessarily to
Work dismantles cleaning environmental detection sensor, and manpower and material resources are greatly saved, and has saved the cost and maintenance time of maintenance.
It should be noted that prior art part is not limited to given by present specification in protection scope of the present invention
Embodiment, all prior arts not contradicted with the solution of the present invention, including but not limited to first patent document, formerly
Public publication, formerly openly use etc., it can all be included in protection scope of the present invention.
In addition, in this case in the combination of each technical characteristic and unlimited this case claim documented combination or
It is combination documented by specific embodiment, all technical characteristics that this case is recorded can be freely combined in any way
Or combine, unless generating contradiction between each other.
It is also to be noted that embodiment enumerated above is only specific embodiments of the present invention.The obvious present invention is not
Above embodiments are confined to, the similar variation or deformation made therewith are that those skilled in the art can be from present disclosure
It immediately arrives at or is easy to just to associate, be within the scope of protection of the invention.
Claims (10)
1. a kind of vehicle environmental detection sensor on-line calibration method, which is characterized in that comprising steps of
(1) remote server receives the calibration request calibrated to the first environment detection sensor on the first vehicle；
(2) remote server acquires several second environment detection sensor environmental datas detected and first environment detection
Data measured by sensor, have between the second environment detection sensor and first environment detection sensor one it is geographical away from
From；
(3) environmental data that remote server acquires second environment detection sensor pre-processes, with rejecting abnormalities data；
(4) remote server carries out data fusion to pretreated data, to obtain data fusion as a result, by data fusion knot
Fruit is as calibration reference value；
(5) remote server is calibrated based on data measured by the calibration reference value and first environment detection sensor
Coefficient, and calibration factor is sent to the first vehicle, the environmental data of first environment detection sensor real-time detection is based on calibration
Coefficient and be calibrated.
2. vehicle environmental detection sensor on-line calibration method as described in claim 1, which is characterized in that the pretreatment packet
Include step:
(i) it is calculated based on following formula and is starting to calibrate the environment that measures of the collected n second environment detection sensor of moment t
Data x1,x2,…,xnAverage value
(ii) each environmental data x is obtainediWith average valueResidual error vi:
(iii) the estimation σ of the standard deviation of these environmental datas is acquired2:
(iv) if environmental data xiResidual error viMeet: | vi| 3 σ of > then determines environmental data xiFor abnormal data, and should
The data of the corresponding second environment detection sensor of abnormal data are rejected.
3. vehicle environmental detection sensor on-line calibration method as claimed in claim 2, which is characterized in that the data fusion
Comprising steps of
(a) will by each pretreated second environment detection sensor from start calibrate moment t to data acquisition terminate
One group of environmental data measured by moment T is divided into odd number group data [x by odd number and even numberj1, xj2..., xjk] and it is even
Array data [xo1, xo2..., xol], and the average value of odd number group data is obtained based on following formula respectivelyEven number set data
Average valueThe standard deviation sigma of odd number group datajWith the standard deviation sigma of even number set datao:
Wherein k and l respectively indicates the quantity of odd number group data and the quantity of even number set data；
(b) for each second environment detection sensor, its local decision value is obtained based on following formulaAnd variance
Then obtain the respective local decision value of m second environment detection sensor after data are rejected
And standard deviationWherein m≤n；
(c) following formula are based on using weighted mean method and obtain data fusion result
Wherein,ωpThe local decision value and weighted factor for respectively indicating p-th of second environment detection sensor, wherein weighting
Factor ωpMeetAndWhereinIndicate the mark of p-th of second environment detection sensor
It is quasi- poor.
4. vehicle environmental detection sensor on-line calibration method as claimed in claim 3, which is characterized in that obtain calibration factor
The step of include: based on formulaCalibration factor K is obtained, whereinThe data fusion is stated as a result, x0Indicate first
Environmental detection sensor from start calibrate moment t to data acquisition finish time T measured by environmental data average value.
5. vehicle environmental detection sensor on-line calibration method as described in claim 1, which is characterized in that the second environment
Quantity >=30 of detection sensor, if the quantity of the second environment detection sensor in the geographic distance is not achieved 30,
Remote server expands the range of the geographic distance.
6. vehicle environmental detection sensor on-line calibration method as described in claim 1, which is characterized in that the first environment
Detection sensor and second environment detection sensor are PM2.5 sensor, and the environmental data is PM2.5 concentration.
7. vehicle environmental detection sensor on-line calibration method as described in claim 1, which is characterized in that the remote service
Device is cloud server.
8. vehicle environmental detection sensor on-line calibration method as described in claim 1, it is characterised in that: the geographic distance
For 1-5km.
9. a kind of vehicle environmental detection sensor on-line calibration system characterized by comprising
First environment detection sensor is set on the first vehicle, to detect the environmental data of the first vehicle；
First data processing unit is set on the first vehicle, and first data processing unit and first environment detection sense
Device data connection；
First vehicle-carrying communication unit is set on the first vehicle, the first vehicle-carrying communication unit and the first data processing unit
Data connection；
Several second environment detection sensors have a geographic distance between first environment detection sensor, described
Second environment detection sensor detects the environmental data of its ambient enviroment；
Remote server is connect with the first vehicle-carrying communication cell data, and straight with the second environment detection sensor
It connects or data connection indirectly；
Wherein, when the first vehicle issues calibration request to remote server, the environmental detection sensor on-line calibration system
Execute the vehicle environmental detection sensor on-line calibration method as described in any one of claim 1-8；
After wherein first data processing unit receives the calibration factor, by first environment detection sensor real-time detection
Environmental data multiplied by being exported after calibration factor, to realize the calibration of first environment detection sensor.
10. vehicle environmental detection sensor on-line calibration system as claimed in claim 9, it is characterised in that: second ring
Border detection sensor is set on the second vehicle, is additionally provided with the second data processing unit and the second vehicle-carrying communication on second vehicle
Unit, second data processing unit and second environment detection sensor data connection, the second vehicle-carrying communication unit with
Second data processing unit data connection, the remote server pass through the second vehicle-carrying communication unit and the second data processing unit
With second environment detection sensor data connection indirectly.
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| CN111157413A (en) * | 2020-01-15 | 2020-05-15 | 北京师范大学 | PM2.5 gridding monitoring network system and consistency calibration method thereof |
| CN112639910A (en) * | 2020-09-25 | 2021-04-09 | 华为技术有限公司 | Method and device for observing traffic elements |
| CN113418845A (en) * | 2021-06-25 | 2021-09-21 | 山东诺方电子科技有限公司 | Maintenance and calibration system and method for dust load acquisition equipment |
| CN113804252A (en) * | 2021-09-10 | 2021-12-17 | 广州市吉华勘测股份有限公司 | High formwork supporting safety monitoring method, device, equipment and storage medium |
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| CN111157413B (en) * | 2020-01-15 | 2021-09-17 | 北京师范大学 | PM2.5 gridding monitoring network system and consistency calibration method thereof |
| CN112639910A (en) * | 2020-09-25 | 2021-04-09 | 华为技术有限公司 | Method and device for observing traffic elements |
| CN113418845A (en) * | 2021-06-25 | 2021-09-21 | 山东诺方电子科技有限公司 | Maintenance and calibration system and method for dust load acquisition equipment |
| CN113418845B (en) * | 2021-06-25 | 2023-02-24 | 山东诺方电子科技有限公司 | Maintenance and calibration system and method for dust load acquisition equipment |
| CN113804252A (en) * | 2021-09-10 | 2021-12-17 | 广州市吉华勘测股份有限公司 | High formwork supporting safety monitoring method, device, equipment and storage medium |
| CN114323104A (en) * | 2021-12-23 | 2022-04-12 | 沈阳环境科学研究院 | Online calibration system of vehicle environment detection sensor |
| CN116560339A (en) * | 2023-05-11 | 2023-08-08 | 中山市博测达电子科技有限公司 | Remote ADAS calibration method and system |
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