CN112986697A - Calibration method and calibration system of intelligent key and readable storage medium - Google Patents
Calibration method and calibration system of intelligent key and readable storage medium Download PDFInfo
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention provides a calibration method, a calibration system and a readable storage medium of an intelligent key, which are characterized in that the intelligent key with a camera is used for shooting a target object with known size and position, and the signal intensity of the intelligent key at the position is recorded at the same time, so that the spatial coordinate of the intelligent key at the position can be calculated according to the focal length of the camera and the image of the shot target object; and then correcting the positioning model parameters of the intelligent key by using the space coordinates and the signal intensity of the intelligent key at the position. Thereby enabling the system performance of different smart keys to be consistent. The user can calibrate the intelligent key according to the guidance, so that the calibration method is greatly simplified, and the preset Helmholtz coil is not needed for calibration.
Description
Technical Field
The invention relates to the technical field of automobile debugging, in particular to a calibration method, a calibration system and a readable storage medium of an intelligent key.
Background
The principle of the keyless unlocking and keyless starting functions of the vehicle is as follows: and positioning the position of the intelligent key according to the signal intensity sent by the intelligent key, thereby realizing the corresponding function. Therefore, the accuracy of the keyless unlocking and keyless starting functions of the vehicle is closely related to the consistency of the signal intensity sent by the intelligent key, but the difference between the intelligent keys is inevitable, so that the intelligent key needs to be calibrated, and the normal function and reasonable precision of the whole system are ensured.
The existing calibration method of the intelligent key comprises the following steps: the intelligent key is placed in a uniform magnetic field of a preset Helmholtz coil, after a signal sent by the Helmholtz coil is sensed, the magnitude of the sensed magnetic field intensity is calculated, data are sent to a controller, a calibration compensation value of the intelligent key is calculated by the controller, the intelligent key is written in, and calibration is completed. Therefore, the calibration of the smart key must be performed in a production line or a laboratory, limited by the calibration method and the calibration tool.
However, with the development of science and technology, mobile phones occupy more and more important positions in people's lives, and after the internet era is entered, the trend of replacing traditional physical car keys with smart phones is developed. Because hardware and software systems adopted by mobile phones of various brands and manufacturers are different, the mobile phone used by a user can not be calibrated in a production line or a laboratory of an automobile manufacturer obviously. Therefore, the existing calibration method is obviously inconvenient for calibrating the smart phone as the smart key of the keyless system.
Disclosure of Invention
The invention aims to provide a calibration method, a calibration system and a readable storage medium of an intelligent key, so as to solve the problem that the conventional calibration method needs to adopt a preset Helmholtz coil for calibration.
In order to solve the above technical problem, according to an aspect of the present invention, the present invention provides a method for calibrating an intelligent key, where the intelligent key has a camera, the camera has an image capturing function, and the method for calibrating an intelligent key includes:
the method comprises the following steps: acquiring the focal length of a camera of the intelligent key;
step two: shooting a target object with known size and position through the camera, and simultaneously recording the signal intensity of the intelligent key at the position;
step three: based on the size and the position of the target object, calculating a space coordinate of the intelligent key at the position according to the focal length of the camera and the shot image of the target object;
step four: and correcting the positioning model parameters of the intelligent key by using the space coordinates and the signal intensity of the position of the intelligent key.
Optionally, in the method for calibrating the smart key, the second step and the third step are performed at least twice, so as to obtain at least the spatial coordinates and the signal strength of the smart key at two positions.
Optionally, in the method for calibrating the smart key, after at least obtaining the spatial coordinates and the signal strengths of the smart key at two positions, the spatial coordinates and the signal strengths of the smart key at the at least two positions are used to correct the parameters of the positioning model of the smart key.
Optionally, in the method for calibrating an intelligent key, the third step includes:
calculating the relative distance between the intelligent key and the target object according to the focal length of the camera and the size of the shot image of the target object;
and calculating to obtain the space coordinate of the intelligent key at the position based on the relative distance between the intelligent key and the target object according to the geometric characteristics and the position of the target object.
Optionally, in the method for calibrating the smart key, the method for calibrating the smart key is used to calibrate the signal intensity of the smart key in a vehicle-mounted keyless system, the smart key communicates with the vehicle by using bluetooth, and the signal intensity is a bluetooth signal intensity.
Optionally, in the method for calibrating the smart key, the smart key further has a display screen, the display screen is configured to display an image of the target object and a preset image, which are captured by the camera, and when the image of the target object is overlapped with the preset image, the spatial coordinate of the position where the smart key is located is obtained through calculation according to the focal length of the camera.
Based on another aspect of the present invention, the present invention further provides a system for calibrating a smart key, including:
the intelligent key is provided with a camera, and the camera has an image shooting function; and
a target of known size and location;
the calibration system of the smart key is configured to: shooting the target object through the camera, and simultaneously recording the signal intensity of the intelligent key at the position; based on the size and the position of the target object, calculating a space coordinate of the intelligent key at the position according to the focal length of the camera and the shot image of the target object; and correcting the positioning model parameters of the intelligent key by using the space coordinates and the signal intensity of the position of the intelligent key.
Optionally, in the calibration system of the smart key, the calibration system of the smart key is configured to calibrate the signal strength of the smart key in a vehicle-mounted keyless system, and the target object is a predetermined image displayed on a vehicle body, an in-vehicle fixture, an out-vehicle fixture, or an in-vehicle display screen.
Optionally, in the system for calibrating the smart key, the smart key is a mobile phone.
According to still another aspect of the present invention, there is also provided a readable storage medium, on which a program is stored, wherein the program is executed to implement the calibration method of the smart key as described above.
In summary, in the calibration method, the calibration system and the readable storage medium of the smart key provided by the present invention, the smart key having the camera is used to shoot a target object with a known size and position, and the signal intensity of the position where the smart key is located is recorded, so that the spatial coordinate of the position where the smart key is located can be calculated according to the focal length of the camera and the image of the shot target object; and then correcting the positioning model parameters of the intelligent key by using the space coordinates and the signal intensity of the intelligent key at the position. Thereby enabling the system performance of different smart keys to be consistent. The user can calibrate the intelligent key according to the guidance, so that the calibration method is greatly simplified, and the preset Helmholtz coil is not needed for calibration.
Drawings
It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:
fig. 1 is a flowchart of a method for calibrating a smart key according to an embodiment of the present invention.
Detailed Description
To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.
As used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the content clearly dictates otherwise. As used in this specification and the appended claims, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise.
The core idea of the invention is to provide a calibration method, a calibration system and a readable storage medium for an intelligent key, so as to solve the problem that the conventional calibration method needs to adopt a preset Helmholtz coil for calibration. The following describes a calibration method, a calibration system and a readable storage medium of the smart key provided by the present invention with reference to the accompanying drawings. Fig. 1 is a flowchart of a method for calibrating a smart key according to an embodiment of the present invention.
Referring to fig. 1, the present invention provides a method for calibrating an intelligent key, where the intelligent key has a camera, and the camera has an image capturing function, and the method for calibrating the intelligent key includes:
step S1: acquiring the focal length of a camera of the intelligent key;
step S2: shooting a target object with known size and position through the camera, and simultaneously recording the signal intensity of the intelligent key at the position;
step S3: based on the size and the position of the target object, calculating a space coordinate of the intelligent key at the position according to the focal length of the camera and the shot image of the target object;
step S4: and correcting the positioning model parameters of the intelligent key by using the space coordinates and the signal intensity of the position of the intelligent key.
It is understood that a person skilled in the art can set a positioning model of the key fob according to the prior art, by which the location area of the key fob can be determined according to the signal strength of the key fob. Furthermore, a positioning data threshold value can be set for the corresponding relation between the signal intensity of the intelligent key and the area where the intelligent key is located. For example, two positioning data thresholds a and B (where a < B) are set according to the signal strength of the key fob, and when the signal strength of the key fob is greater than the threshold a, the key fob may be considered to be close to the unlock region, and further when the signal strength of the key fob is greater than the threshold B, the key fob may be considered to enter the unlock region. Here, the positioning model parameters of the smart key are modified, in some embodiments, by modifying the positioning data threshold, so that the system performance of different smart keys tends to be consistent.
Based on the method, the intelligent key with the camera is used for shooting a target object with a known size and position, and the signal intensity of the intelligent key at the position is recorded, so that the spatial coordinate of the intelligent key at the position can be calculated according to the focal length of the camera and the shot image of the target object; and then correcting the positioning model parameters of the intelligent key by using the space coordinates and the signal intensity of the intelligent key at the position. Thereby enabling the system performance of different smart keys to be consistent. The user can calibrate the intelligent key according to the guidance, so that the calibration method is greatly simplified, and the preset Helmholtz coil is not needed for calibration.
Preferably, steps S2 and S3 are performed at least twice to obtain at least the spatial coordinates and signal strength of the key fob at two locations. Further, after at least the spatial coordinates and the signal intensities of the smart key at the two positions are obtained, the spatial coordinates and the signal intensities of the smart key at the at least two positions are utilized to correct the positioning model parameters of the smart key. Because the signal intensity measured by the intelligent key at one position may have a certain error, the positioning model parameters of the intelligent key can be corrected more accurately based on the relative relationship between the coordinates and the signal intensity of the intelligent key at more than two positions.
Optionally, step S3 includes: calculating the relative distance between the intelligent key and the target object according to the focal length of the camera and the size of the shot image of the target object; and calculating to obtain the space coordinate of the intelligent key at the position based on the relative distance between the intelligent key and the target object according to the geometric characteristics and the position of the target object. According to the imaging principle, the following optical formula holds:
1/object distance + 1/image distance 1/focal length (F1)
Image height/image distance being object height/object distance (F2)
As can be seen from the above equations (F1) and (F2), if the focal length is known and the object size (object height) of the target object is known, the object distance can be calculated from the captured image. Alternatively, the focal length may be read directly by calling up the interface of the key fob. Furthermore, after the relative distance between the smart key and the target object is obtained, the angle parameter of the smart key relative to the target object can be obtained according to the geometric features of the target object, for example, if the target object is a rectangle, the relative angle of the smart key relative to the target object can be obtained according to the deformation (such as trapezoidal deformation) of the target object shot by the camera, and the spatial coordinates of the smart key can be determined based on the position information of the target object.
Preferably, the method for calibrating the smart key is used for calibrating the signal intensity of the smart key in a vehicle-mounted keyless system, the smart key is communicated with a vehicle by using bluetooth, and the signal intensity is the bluetooth signal intensity. Unlike conventional keys, the carrier of the new key fob, which may be, for example, a cell phone or an embedded module containing a camera, preferably uses bluetooth signals instead of the 125 khz LF signals and 434 mhz RF signals of the conventional key fob. Based on the characteristics of the Bluetooth signal, the intelligent key is positioned through the positioning model parameters, so that the functions of keyless unlocking and keyless starting are realized.
In another preferred embodiment, the smart key further has a display screen, the display screen is configured to display an image of the target object captured by the camera and a preset image, and when the image of the target object is overlapped with the preset image, the spatial coordinate of the position where the smart key is located is obtained through calculation according to the focal length of the camera. If the mobile phone can be used as an intelligent key, a preset image of the target object is stored in the mobile phone in advance. When the camera is used for shooting the target object, the image of the target object shot by the camera can be displayed on the display screen, when the image is superposed with the preset image, the angle of the camera relative to the target object can be determined, and further, the space coordinate of the mobile phone can be determined according to the focal length of the camera. By adopting the method, a plurality of shooting points can be preset, and when the image shot by the camera of the mobile phone is superposed with the preset image, the mobile phone can be determined to be at the preset angle of the shooting points, so that the position of the mobile phone can be conveniently known. Furthermore, according to the intensity of the Bluetooth signal of the mobile phone at the shooting point, the positioning model parameters of the intelligent key can be corrected.
Based on the above calibration method for the smart key, an embodiment of the present invention further provides a calibration system for the smart key, including: the intelligent key is provided with a camera, and the camera has an image shooting function; the calibration system of the smart key is configured to: shooting the target object through the camera, and simultaneously recording the signal intensity of the intelligent key at the position; based on the size and the position of the target object, calculating a space coordinate of the intelligent key at the position according to the focal length of the camera and the shot image of the target object; and correcting the positioning model parameters of the intelligent key by using the space coordinates and the signal intensity of the position of the intelligent key.
Preferably, the calibration system of the smart key is used for calibrating the signal strength of the smart key in the vehicle-mounted keyless system, and the target object is a predetermined image displayed by a vehicle body, an in-vehicle fixed object, an out-vehicle fixed object or an in-vehicle display screen. More preferably, the smart key is a mobile phone. Compared with the traditional key, the mobile phone has more allocable resources as the intelligent key, so that the existing functions on the mobile phone can be utilized to solve the problem of calibration of the intelligent key in the keyless system. Here, the target object may be a vehicle body, and the specific size of the vehicle body can be known according to the real vehicle digital-analog data of the vehicle type, so that the user only needs to use the mobile phone to photograph the vehicle body, and the spatial coordinate of the mobile phone relative to the vehicle body can be calculated. And then the relation between the Bluetooth signal intensity and the relative position of two to three test points is synthesized, and the preset positioning model parameter in the system, namely the positioning data threshold value, can be corrected, so that the system performance of different intelligent mobile phones as intelligent keys tends to be consistent. Of course, the target object may be a prominent landmark inside or outside the vehicle, or a predetermined image displayed on an in-vehicle display screen (e.g., a center control) with well-known size and location information.
Based on the calibration method and the calibration system for the smart key, the invention further provides a readable storage medium, wherein a program is stored on the readable storage medium, and the program can realize the calibration method for the smart key when being executed. Specifically, the calibration method of the smart key provided by the present invention may be programmed into a program or software, and stored in the readable storage medium, and the readable storage medium may be installed in a debugging device, a mobile phone, or integrated into a vehicle-mounted controller, and in use, the program stored in the readable storage medium is utilized to execute each step of the calibration method of the smart key, thereby implementing the calibration of the smart key.
In summary, in the calibration method, the calibration system and the readable storage medium of the smart key provided by the present invention, the smart key having the camera is used to shoot a target object with a known size and position, and the signal intensity of the position where the smart key is located is recorded, so that the spatial coordinate of the position where the smart key is located can be calculated according to the focal length of the camera and the image of the shot target object; and then correcting the positioning model parameters of the intelligent key by using the space coordinates and the signal intensity of the intelligent key at the position. Thereby enabling the system performance of different smart keys to be consistent. The user can calibrate the intelligent key according to the guidance, so that the calibration method is greatly simplified, and the preset Helmholtz coil is not needed for calibration.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (10)
1. A calibration method of an intelligent key, wherein the intelligent key is provided with a camera which has an image shooting function, is characterized by comprising the following steps:
the method comprises the following steps: acquiring the focal length of a camera of the intelligent key;
step two: shooting a target object with known size and position through the camera, and simultaneously recording the signal intensity of the intelligent key at the position;
step three: based on the size and the position of the target object, calculating a space coordinate of the intelligent key at the position according to the focal length of the camera and the shot image of the target object;
step four: and correcting the positioning model parameters of the intelligent key by using the space coordinates and the signal intensity of the position of the intelligent key.
2. A method for calibrating a key fob according to claim 1, wherein the second and third steps are performed at least twice to obtain at least the spatial coordinates and signal strength of the key fob at two locations.
3. The method for calibrating a key fob according to claim 2, wherein the spatial coordinates and signal strengths of the key fob at the at least two locations are used to modify the positioning model parameters of the key fob after the spatial coordinates and signal strengths of the key fob at the at least two locations are obtained.
4. The method for calibrating a smart key according to claim 1, wherein the third step comprises:
calculating the relative distance between the intelligent key and the target object according to the focal length of the camera and the size of the shot image of the target object;
and calculating to obtain the space coordinate of the intelligent key at the position based on the relative distance between the intelligent key and the target object according to the geometric characteristics and the position of the target object.
5. The method for calibrating a smart key of claim 1, wherein the method for calibrating a signal strength of the smart key in a vehicle-mounted keyless system is used, the smart key communicates with a vehicle by using bluetooth, and the signal strength is a bluetooth signal strength.
6. The method for calibrating an intelligent key according to claim 1, wherein the intelligent key further comprises a display screen, the display screen is used for displaying the image of the target object shot by the camera and a preset image, and when the image of the target object is overlapped with the preset image, the spatial coordinates of the position of the intelligent key are obtained through calculation according to the focal length of the camera.
7. A calibration system of a smart key, comprising:
the intelligent key is provided with a camera, and the camera has an image shooting function; and
a target of known size and location;
the calibration system of the smart key is configured to: shooting the target object through the camera, and simultaneously recording the signal intensity of the intelligent key at the position; based on the size and the position of the target object, calculating a space coordinate of the intelligent key at the position according to the focal length of the camera and the shot image of the target object; and correcting the positioning model parameters of the intelligent key by using the space coordinates and the signal intensity of the position of the intelligent key.
8. The system for calibrating a smart key of claim 7, wherein the system for calibrating a signal strength of the smart key is used for calibrating a signal strength of the smart key in an on-board keyless system, and the target is a predetermined image displayed on a car body, an on-board fixture, an off-board fixture, or an on-board display screen.
9. The system for calibrating a smart key of claim 7, wherein the smart key is a mobile phone.
10. Readable storage medium, on which a program is stored, wherein the program, when executed, is capable of implementing a method for calibration of a smart key according to any one of claims 1 to 6.
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| CN114022978A (en) * | 2021-10-25 | 2022-02-08 | 远峰科技股份有限公司 | Calibration method, key, vehicle, system, electronic device and readable storage medium |
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