CN112051074A - Vehicle calibration parameter acquisition method and system and computer readable storage medium - Google Patents
Vehicle calibration parameter acquisition method and system and computer readable storage medium Download PDFInfo
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Abstract
The invention provides a vehicle calibration parameter acquisition method, a vehicle calibration parameter acquisition system and a computer readable storage medium, wherein the method comprises the following steps: acquiring first whole vehicle signal data of a vehicle and motion data detected by a sensor module located in the mass center of the vehicle; matching a first vehicle signal corresponding to a motion signal in the motion data in the first vehicle signal data; and taking the first vehicle signal obtained by matching as a calibration parameter. Through the first whole vehicle signal corresponding to the motion signal to be matched, calibration parameters can be directly obtained through data processing, manual vehicle moving operation is avoided, vehicle calibration parameters can be conveniently obtained, and meanwhile the accuracy of vehicle calibration can be improved according to the motion data obtained by the sensor module.
Description
Technical Field
The present invention relates to the field of vehicle calibration, and in particular, to a method and a system for obtaining vehicle calibration parameters and a computer-readable storage medium.
Background
At present, an intelligent automobile driving system is mainly calibrated through manual operation, and the specific method is that a vehicle to be calibrated, which is provided with the intelligent automobile driving system, is moved to a calibration site through manual operation, then a vehicle body is moved manually to enable the central axis of the vehicle to be calibrated to coincide with the central axis of the calibration site, and then calibration equipment is used to obtain vehicle calibration parameters. Due to the fact that the weight of the vehicle body of the vehicle to be calibrated is large, the operation of obtaining the vehicle calibration parameters is complex.
Disclosure of Invention
The invention mainly aims to provide a vehicle calibration parameter obtaining method, a vehicle calibration parameter obtaining system and a computer readable storage medium, and aims to solve the problem that the operation for obtaining vehicle calibration parameters in the prior art is complex.
In order to achieve the above object, the present invention provides a method for obtaining vehicle calibration parameters, comprising the steps of:
acquiring first whole vehicle signal data of a vehicle and motion data detected by a sensor module located in the mass center of the vehicle;
matching a first vehicle signal corresponding to a motion signal in the motion data in the first vehicle signal data;
and taking the first vehicle signal obtained by matching as a calibration parameter.
Optionally, the step of matching a first complete vehicle signal corresponding to a motion signal in the motion data in the first complete vehicle signal data includes:
receiving a matching instruction, and acquiring a motion signal to be matched corresponding to the matching instruction;
matching a first vehicle signal corresponding to the motion signal to be matched in the first vehicle signal data
Optionally, the step of matching a first vehicle signal corresponding to the motion signal to be matched in the first vehicle signal data includes:
acquiring a preset data source corresponding to the motion signal to be matched;
matching a second vehicle signal corresponding to the preset data source in the first vehicle signal data;
taking the set of the second vehicle signal as second vehicle signal data;
and matching a second whole vehicle signal corresponding to the motion signal to be matched in the second whole vehicle signal data.
Optionally, the preset data source includes a preset CAN bus type, and the step of matching a second vehicle signal corresponding to the preset data source in the second vehicle signal data includes:
and taking a first finished automobile signal sent by the CAN bus corresponding to the preset CAN bus type as a second finished automobile signal.
Optionally, the preset data source includes preset data characteristics, and the step of matching a second vehicle signal corresponding to the motion signal to be matched in the second vehicle signal data includes:
matching a third finished automobile signal corresponding to the preset data characteristic in the second finished automobile signal data;
taking the set of the third vehicle signal as third vehicle signal data;
and matching a third vehicle signal corresponding to the motion signal to be matched in the third vehicle signal data.
Optionally, the preset data feature includes a preset message sending period range, and the step of matching a third vehicle signal corresponding to the preset data feature in the second vehicle signal data includes:
acquiring a preset text transmission period range in preset characteristic data;
and taking the second whole vehicle signal of which the message sending period range is contained in the preset message sending period range in the second whole vehicle signal data as a third whole vehicle signal.
Optionally, the step of matching a third vehicle signal corresponding to the motion signal to be matched in the third vehicle signal data includes:
comparing and displaying the motion signal to be matched with each third whole vehicle signal according to the time stamp;
receiving a confirmation instruction, and obtaining a third vehicle finishing signal corresponding to the motion signal to be matched according to the confirmation instruction;
the step of taking the first vehicle signal obtained by matching as a calibration parameter comprises the following steps:
and taking the third vehicle signal obtained by matching as a calibration parameter.
In order to achieve the above object, the present invention further provides a vehicle calibration parameter obtaining system, which includes a sensor module and an analyzing device, where the analyzing device includes a memory, a processor and a computer program stored in the memory and operable on the processor, and the computer program, when executed by the processor, implements the steps of the vehicle calibration parameter obtaining method as described above.
Optionally, the sensor module comprises at least one gyroscope unit and at least one accelerometer unit.
To achieve the above object, the present invention further provides a computer readable storage medium, which stores a computer program, and the computer program when executed by a processor implements the steps of the vehicle calibration parameter obtaining method as described above.
The invention provides a vehicle calibration parameter acquisition method, a vehicle calibration parameter acquisition system and a computer readable storage medium, which are used for acquiring first vehicle signal data of a vehicle and motion data detected by a sensor module positioned in the mass center of the vehicle; matching a first vehicle signal corresponding to a motion signal in the motion data in the first vehicle signal data; and taking the first vehicle signal obtained by matching as a calibration parameter. Through the first whole vehicle signal corresponding to the motion signal to be matched, calibration parameters can be directly obtained through data processing, manual vehicle moving operation is avoided, vehicle calibration parameters can be conveniently obtained, and meanwhile the accuracy of vehicle calibration can be improved according to the motion data obtained by the sensor module.
Drawings
FIG. 1 is a schematic flow chart illustrating a first embodiment of a method for obtaining calibration parameters of a vehicle according to the present invention;
FIG. 2 is a detailed flowchart of step S20 of the method for obtaining calibration parameters of a vehicle according to the second embodiment of the present invention;
FIG. 3 is a schematic block diagram of an analysis apparatus in the vehicle calibration parameter obtaining system according to the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a vehicle calibration parameter obtaining method, referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of the vehicle calibration parameter obtaining method, and the method comprises the following steps:
step S10, acquiring first vehicle signal data of the vehicle and motion data detected by a sensor module located in the center of mass of the vehicle;
the embodiment is applied to a CANoe (controller area network) which is a comprehensive tool for developing, testing and analyzing a network and an ECU (electronic control unit), and supports the whole process from requirement analysis to system implementation of bus network development, including model creation, simulation, testing, diagnosis, communication analysis and the like.
The sensor module is an instrument for real-time accurate motion measurement, adopts a mathematical algorithm for a fighter navigation system, is provided with three accelerometers and three gyroscope angular rate sensors, calculates all signal outputs through inertial sensors of the gyroscopes, and can accurately measure signals such as acceleration, angular velocity, course angle, yaw angle, pitch angle and the like. And the signal output end of the sensor module is connected with the 1-path CAN channel of the CANoe. The sensor module is used for acquiring motion data such as the heading angle, the yaw angle, the transverse acceleration, the longitudinal acceleration and the like of the whole vehicle and sending the acquired motion data to the CANoe. The sensor module is arranged at the position of the mass center of the vehicle, so that the motion data can be measured more accurately.
The CANoe is connected with each bus of the vehicle to receive signal data sent by the multiple buses in real time to form first vehicle signal data. 2 paths of CAN channels such as CANoe are connected with a high-speed CAN bus of the vehicle; and 3 paths of CAN channels of the CANoe are connected with a chassis CAN bus of the vehicle. .
Step S20, matching a first vehicle finishing signal corresponding to a motion signal in the motion data in the first vehicle finishing signal data;
the motion data comprises a plurality of motion signals, each motion signal corresponds to a calibration parameter representing a vehicle, and a first whole vehicle signal corresponding to the calibration parameter represented by the motion signal can be obtained by matching a first whole vehicle signal matched with the motion signal in the first whole vehicle signal data. In this embodiment, the matching may be performed according to the waveform of the motion signal and the first complete vehicle signal.
And step S30, taking the first vehicle signal obtained by matching as a calibration parameter.
And after the first vehicle signal corresponding to the motion signal is matched, taking the first vehicle signal as a calibration parameter represented by the motion signal. So that the calibration personnel can execute the calibration operation according to the calibration parameters.
The first whole vehicle signal corresponding to the motion signal to be matched is used in the embodiment, so that the calibration parameter can be directly obtained through data processing, manual vehicle moving operation is avoided, vehicle calibration parameters can be conveniently and fast acquired, and meanwhile the accuracy of vehicle calibration can be improved according to the motion data acquired by the sensor module.
Further, referring to fig. 2, in the second embodiment of the method for obtaining calibration parameters of a vehicle according to the present invention based on the first embodiment of the present invention, the step S20 includes the steps of:
step S21, receiving a matching instruction, and acquiring a motion signal to be matched corresponding to the matching instruction;
and step S22, matching a first vehicle signal corresponding to the motion signal to be matched in the first vehicle signal data.
The matching instruction is sent by a user through CANoe, and the matching instruction comprises calibration parameters. A single calibration parameter may be included, or multiple calibration parameters may be included. After receiving the matching instruction, acquiring a motion signal corresponding to the calibration parameter according to the calibration parameter in the matching instruction, and taking the motion signal as a motion signal to be matched. And matching a first vehicle signal corresponding to the motion signal to be matched in the received first vehicle signal data to obtain a first vehicle signal corresponding to the calibration parameter.
In this embodiment, the received matching instruction is used to match the first vehicle signal corresponding to the motion signal to be matched in the first vehicle signal data, so that the calibration parameter can be obtained according to the user requirement.
Further, in a third embodiment of the vehicle calibration parameter obtaining method based on the second embodiment of the present invention, the step S22 includes the steps of:
step S221, acquiring a preset data source corresponding to the motion signal to be matched;
step S222, matching a second vehicle signal corresponding to the preset data source in the first vehicle signal data;
step S223, taking the set of the second vehicle signal as second vehicle signal data;
and S224, matching a second whole vehicle signal corresponding to the motion signal to be matched in the second whole vehicle signal data.
Each motion signal represents a calibration parameter correspondingly, each calibration parameter is provided with a preset data source correspondingly, and the preset data source is used for reducing the range of the calibration parameter in the signal data of the whole vehicle so as to improve the matching efficiency and the matching accuracy. And matching a first finished automobile signal conforming to a preset data source in the first finished automobile signal data, taking the first finished automobile signal conforming to the preset data source as a second finished automobile signal, taking the finished automobile signal data formed by all the second finished automobile signals as second finished automobile signal data, and then matching a second finished automobile signal corresponding to the motion signal to be matched in the second finished automobile signal data.
In the embodiment, the preset data source is arranged, so that the number of matched finished automobile signals is reduced, the matching efficiency is improved, and the matching accuracy is improved.
Further, in a fourth embodiment of the method for obtaining calibration parameters of a vehicle according to the present invention based on the third embodiment of the present invention, the preset data source includes a preset CAN bus type, and the step S222 includes the steps of:
and taking a first finished automobile signal sent by the CAN bus corresponding to the preset CAN bus type as a second finished automobile signal.
Generally, a vehicle bus system will include multiple buses to meet the communication requirements between different systems of the vehicle, such as a chassis CAN bus and a high speed CAN bus. Taking the body attitude data in the finished vehicle signal as an example, the body attitude data is usually output by a body stabilization system, and the analysis design CAN be known according to a vehicle network architecture, the body stabilization system is mostly used as a domain controller of a chassis CAN bus, so the collected body attitude data is mostly sent through the chassis CAN bus, when the motion signal to be matched is the motion signal to be matched corresponding to the body attitude data, the corresponding preset CAN bus type is the chassis CAN bus, a first finished vehicle signal sent by the chassis CAN bus is obtained from the first finished vehicle signal data, and the obtained first finished vehicle signal is used as a second finished vehicle signal.
This embodiment screens first whole car signal data through judging CAN bus type for CAN accurately get rid of the first whole car signal of irrelevant part, make to have improved the matching efficiency, improve the degree of accuracy of matching simultaneously.
Further, in a fifth embodiment of the method for obtaining calibration parameters of a vehicle according to the present invention based on the fourth embodiment of the present invention, the step S224 includes the steps of:
matching a third finished automobile signal corresponding to the preset data characteristic in the second finished automobile signal data;
taking the set of the third vehicle signal as third vehicle signal data;
and matching a third vehicle signal corresponding to the motion signal to be matched in the third vehicle signal data.
The method comprises the steps that preset data characteristics are correspondingly set for each calibration parameter, the preset data characteristics are used for screening finished automobile signal data according to the corresponding calibration parameter characteristics, second finished automobile signals which accord with preset data sources are matched in the second finished automobile signal data, the second finished automobile signals which accord with the preset data sources are used as third finished automobile signals, finished automobile signal data formed by all the third finished automobile signals are used as third finished automobile signal data, and then third finished automobile signals which correspond to motion signals to be matched are matched in the third finished automobile signal data.
According to the matching method and device, the preset data characteristics are set, so that the number of matched finished automobile signals is reduced, the matching efficiency is improved, and meanwhile the matching accuracy is improved.
Further, in a sixth embodiment of the method for obtaining vehicle calibration parameters according to the present invention based on the fifth embodiment of the present invention, the step of matching a third entire vehicle signal corresponding to the preset data characteristic in the second entire vehicle signal data includes:
acquiring a preset text transmission period range in preset characteristic data;
and taking the second whole vehicle signal of which the message sending period range is contained in the preset message sending period range in the second whole vehicle signal data as a third whole vehicle signal.
Generally speaking, the message period of a single vehicle signal in a vehicle signal is set within a fixed range, taking a lateral acceleration signal and a longitudinal acceleration signal as an example, according to vehicle network development experience and vehicle safety requirements, it CAN be known that the lateral acceleration signal and the longitudinal acceleration signal belong to a signal with a higher vehicle safety level in a vehicle, the message period generally does not exceed 20ms, and the number of the signals sent by a chassis CAN bus is 46, wherein the number of the message periods is less than or equal to 17 of 20ms, which is about one third of the amount of the signals sent by the chassis CAN bus. And screening out a second vehicle signal with a message period less than or equal to 20ms from the second vehicle signal data as a third vehicle signal.
It should be noted that, the vehicle signal meeting the preset data source may be matched in the first vehicle signal, and then the vehicle signal meeting the preset data characteristic may be matched in the matching result; or matching the whole vehicle signal which accords with the preset data characteristic in the first whole vehicle signal, and then matching the whole vehicle signal which accords with the preset data source from the matching result.
In the embodiment, the second whole vehicle signal is screened by judging the message period of the signal, so that irrelevant part of the second whole vehicle signal can be accurately eliminated, the matching efficiency is improved, and the matching accuracy is improved.
Further, in a fifth embodiment of the method for obtaining vehicle calibration parameters according to the present invention based on the fifth embodiment of the present invention, the step of matching a third entire vehicle signal corresponding to the motion signal to be matched in the third entire vehicle signal data includes:
comparing and displaying the motion signal to be matched with each third whole vehicle signal according to the time stamp;
receiving a confirmation instruction, and obtaining a third vehicle finishing signal corresponding to the motion signal to be matched according to the confirmation instruction;
the step of taking the first vehicle signal obtained by matching as a calibration parameter comprises the following steps:
and taking the third vehicle signal obtained by matching as a calibration parameter.
The method includes the steps that a plane rectangular coordinate system can be set, the acquired timestamps are taken as a transverse axis, data of signals are taken as a longitudinal axis, motion signals to be matched are respectively displayed in the plane rectangular coordinate system with all third vehicle signals, the plane rectangular coordinate systems with the number being the same as that of the third vehicle signals are obtained, the corresponding plane rectangular coordinate systems are displayed according to selection of a user, when a confirmation instruction is received, the plane rectangular coordinate systems corresponding to the confirmation instruction are judged, and the third vehicle signals in the plane rectangular coordinate systems are taken as the third vehicle signals corresponding to the motion signals to be matched.
The embodiment enables the relationship between the motion signal to be matched and each third vehicle signal to be clearly shown by comparing and displaying the motion signal to be matched with each third vehicle signal according to the time stamp.
Referring to fig. 3, the system for obtaining calibration parameters of a vehicle includes a sensor module, a vehicle, and an analysis device, which may include components such as a communication module 10, a memory 20, and a processor 30. In the vehicle calibration parameter obtaining system, the processor 30 is connected to the memory 20 and the communication module 10, respectively, the memory 20 stores thereon a computer program, and the computer program is executed by the processor 30 at the same time, and when the computer program is executed, the steps of the above method embodiment are implemented.
The sensor module includes at least one gyroscope unit and at least one accelerometer unit.
The communication module 10 may be connected to an external communication device through a network. The communication module 10 may receive a request sent by an external communication device, and may also send a request, an instruction, and information to the external communication device, where the external communication device may be another vehicle calibration parameter obtaining system, a server, or an internet of things device, such as a television, for example.
The memory 20 may be used to store software programs as well as various data. The memory 20 may mainly include a program storage area and a data storage area, where the program storage area may store an operating system, an application program required by at least one function (for example, matching a first complete vehicle signal corresponding to the motion signal to be matched in the first complete vehicle signal data), and the like; the storage data area may include a database, and the storage data area may store data or information created according to use of the system, or the like. Further, the memory 20 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The processor 30, which is a control center of the vehicle calibration parameter acquiring system, connects various parts of the whole vehicle calibration parameter acquiring system by using various interfaces and lines, and executes various functions and processing data of the vehicle calibration parameter acquiring system by operating or executing software programs and/or modules stored in the memory 20 and calling data stored in the memory 20, thereby performing overall monitoring of the vehicle calibration parameter acquiring system. Processor 30 may include one or more processing units; alternatively, the processor 30 may integrate an application processor, which primarily handles operating systems, user interfaces, applications, etc., and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 30.
Although not shown in fig. 3, the vehicle calibration parameter acquiring system may further include a circuit control module, which is used for connecting with a power supply to ensure normal operation of other components. Those skilled in the art will appreciate that the configuration of the vehicle calibration parameter acquisition system shown in FIG. 3 does not constitute a limitation of the vehicle calibration parameter acquisition system, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
The invention also proposes a computer-readable storage medium on which a computer program is stored. The computer-readable storage medium may be the Memory 20 in the vehicle calibration parameter acquiring system in fig. 3, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, where the computer-readable storage medium includes several instructions to enable a terminal device (which may be a television, an automobile, a mobile phone, a computer, a server, a terminal, or a network device) with a processor to execute the method according to the embodiments of the present invention.
In the present invention, the terms "first", "second", "third", "fourth" and "fifth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and those skilled in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although the embodiment of the present invention has been shown and described, the scope of the present invention is not limited thereto, it should be understood that the above embodiment is illustrative and not to be construed as limiting the present invention, and that those skilled in the art can make changes, modifications and substitutions to the above embodiment within the scope of the present invention, and that these changes, modifications and substitutions should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A vehicle calibration parameter acquisition method is characterized by comprising the following steps:
acquiring first whole vehicle signal data of a vehicle and motion data detected by a sensor module located in the mass center of the vehicle;
matching a first vehicle signal corresponding to a motion signal in the motion data in the first vehicle signal data;
and taking the first vehicle signal obtained by matching as a calibration parameter.
2. The method for obtaining calibration parameters of a vehicle according to claim 1, wherein the step of matching a first vehicle signal corresponding to a motion signal in the motion data in the first vehicle signal data comprises:
receiving a matching instruction, and acquiring a motion signal to be matched corresponding to the matching instruction;
and matching a first whole vehicle signal corresponding to the motion signal to be matched in the first whole vehicle signal data.
3. The method for obtaining calibration parameters of a vehicle according to claim 2, wherein the step of matching a first vehicle signal corresponding to the motion signal to be matched in the first vehicle signal data comprises:
acquiring a preset data source corresponding to the motion signal to be matched;
matching a second vehicle signal corresponding to the preset data source in the first vehicle signal data;
taking the set of the second vehicle signal as second vehicle signal data;
and matching a second whole vehicle signal corresponding to the motion signal to be matched in the second whole vehicle signal data.
4. The vehicle calibration parameter acquisition method according to claim 3, wherein the preset data source includes a preset CAN bus type, and the step of matching a second vehicle signal corresponding to the preset data source in the second vehicle signal data includes:
and taking a first finished automobile signal sent by the CAN bus corresponding to the preset CAN bus type as a second finished automobile signal.
5. The vehicle calibration parameter acquisition method of claim 4, wherein the predetermined data source includes predetermined data characteristics, and the step of matching a second vehicle signal corresponding to the motion signal to be matched in the second vehicle signal data comprises:
matching a third finished automobile signal corresponding to the preset data characteristic in the second finished automobile signal data;
taking the set of the third vehicle signal as third vehicle signal data;
and matching a third vehicle signal corresponding to the motion signal to be matched in the third vehicle signal data.
6. The vehicle calibration parameter acquisition method according to claim 5, wherein the preset data characteristic includes a preset message period range, and the step of matching a third entire vehicle signal corresponding to the preset data characteristic in the second entire vehicle signal data includes:
acquiring a preset text transmission period range in preset characteristic data;
and taking the second whole vehicle signal of which the message sending period range is contained in the preset message sending period range in the second whole vehicle signal data as a third whole vehicle signal.
7. The vehicle calibration parameter acquisition method according to claim 6, wherein the step of matching a third entire vehicle signal corresponding to the motion signal to be matched in the third entire vehicle signal data includes:
respectively comparing the motion signals to be matched with the time stamps of all the third whole vehicle signals and displaying the time stamps;
receiving a confirmation instruction, and obtaining a third vehicle finishing signal corresponding to the motion signal to be matched according to the confirmation instruction;
the step of taking the first vehicle signal obtained by matching as a calibration parameter comprises the following steps:
and taking the third vehicle signal obtained by matching as a calibration parameter.
8. A vehicle calibration parameter acquisition system, characterized in that the system comprises a sensor module and an analysis device, the analysis device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the vehicle calibration parameter acquisition method according to any one of claims 1 to 7.
9. The vehicle calibration parameter acquisition system of claim 8, wherein the sensor module comprises at least one gyroscope unit and at least one accelerometer unit.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the vehicle calibration parameter acquisition method according to any one of claims 1 to 8.
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