CN112986697B - Intelligent key calibration method, calibration system and readable storage medium - Google Patents
Intelligent key calibration method, calibration system and readable storage medium Download PDFInfo
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- G—PHYSICS
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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- G—PHYSICS
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Abstract
The invention provides a method for calibrating an intelligent key, a calibrating system and a readable storage medium, wherein an intelligent key with a camera is used for shooting a target object with a known size and position, and meanwhile, the signal intensity of the intelligent key at the position is recorded, so that the space 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 further 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. Thus, the system performances of different intelligent keys tend to be consistent. The user can calibrate the intelligent key by himself according to the instruction, so that the calibration method is greatly simplified, and the calibration is not required to be performed by using a preset Helmholtz coil.
Description
Technical Field
The invention relates to the technical field of automobile debugging, in particular to a calibration method and a calibration system of an intelligent key and a readable storage medium.
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 keys, but the difference between the intelligent keys is unavoidable, so that the intelligent keys are required to be calibrated, and the normal function and the reasonable accuracy of the whole system are ensured.
The existing method for calibrating the intelligent key comprises the following steps: the intelligent key is placed in a preset uniform magnetic field of the Helmholtz coil, after a signal sent by the Helmholtz coil is sensed, the magnitude of the sensed magnetic field strength is calculated, data are sent to the controller, the calibration compensation value of the intelligent key is calculated by the controller, and the intelligent key is written in to complete calibration. Thus, the calibration of the smart key must be performed in a production line or laboratory, subject to the limitations of the calibration method and calibration tool.
However, with the development of technology, mobile phones occupy more and more important positions in life of people, and after the interconnection age, the use of smart phones to replace traditional physical car keys has become a trend. Because of the difference between the hardware and software systems adopted by the mobile phones of various brands and various manufacturers, the mobile phones used by users obviously cannot be calibrated in the production line or laboratory of the automobile manufacturer. Therefore, the existing calibration method is obviously inconvenient to calibrate the intelligent mobile phone serving as the intelligent 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, which are used for solving the problem that the existing calibration method is required to adopt a preset Helmholtz coil for calibration.
In order to solve the above technical problems, according to one aspect of the present invention, there is provided a method for calibrating an intelligent key, the intelligent key having a camera, the camera having an image capturing function, the method for calibrating the intelligent key comprising:
step one: 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 according to the focal length of the camera and the shot image of the target object to obtain the space coordinate of the intelligent key at the position;
Step four: and 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.
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 intensities of the smart key at two positions, the positioning model parameters of the smart key are corrected by using the spatial coordinates and the signal intensities of the smart key at least at two positions.
Optionally, in the method for calibrating a smart key, the third step includes:
Calculating according to the focal length of the camera and the size of the shot image of the target object to obtain the relative distance between the intelligent key and the target object;
And calculating 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 for calibrating signal intensity of the smart key in a vehicle-mounted keyless system, the smart key adopts bluetooth to communicate with a vehicle, and the signal intensity is bluetooth signal intensity.
Optionally, in the method for calibrating the smart key, the smart key further has a display screen, where the display screen is configured to display an image of the target object and a preset image, and when the image of the target object is overlapped with the preset image, the spatial coordinate of the smart key at the location is calculated according to the focal length of the camera.
Based on another aspect of the present invention, the present invention further provides a calibration system of a smart key, which includes:
the intelligent key is provided with a camera, and the camera has an image shooting function; and
Targets of known size and location;
The smart key calibration system 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 according to the focal length of the camera and the shot image of the target object to obtain the space coordinate of the intelligent key at the position; and 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.
Optionally, in the calibration system of the smart key, the calibration system of the smart key is used for calibrating the signal intensity of the smart key in the vehicle-mounted keyless system, and the target object is a vehicle body, an in-vehicle fixture, an out-of-vehicle fixture or a preset image displayed on an in-vehicle display screen.
Optionally, in the calibration system of the smart key, the smart key is a mobile phone.
Based on still another aspect of the present invention, there is also provided a readable storage medium having stored thereon a program, which when executed, enables the calibration method of a smart key as described above.
In summary, in the method, the system and the readable storage medium for calibrating the smart key provided by the invention, the smart key with the camera is used for shooting a target object with a known size and position, and meanwhile, the signal intensity of the smart key at the position is recorded, so that the space coordinate of the smart key at the position can be calculated according to the focal length of the camera and the shot image of the target object; and further 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. Thus, the system performances of different intelligent keys tend to be consistent. The user can calibrate the intelligent key by himself according to the instruction, so that the calibration method is greatly simplified, and the calibration is not required to be performed by using a preset Helmholtz coil.
Drawings
Those of ordinary skill in the art will appreciate that the figures are provided for a better understanding of the present invention and do not constitute any limitation on the scope of the present 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
The invention will be described in further detail with reference to the drawings and the specific embodiments thereof in order to make the objects, advantages and features of the invention more apparent. It should be noted that the drawings are in a very simplified form and are not drawn to scale, merely for convenience and clarity in aiding in the description of embodiments of the invention. Furthermore, the structures shown in the drawings are often part of actual structures. In particular, the drawings are shown with different emphasis instead being placed upon illustrating the various embodiments.
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 invention provides a calibration method, a calibration system and a readable storage medium of an intelligent key, which are used for solving the problem that the existing calibration method is required to adopt a preset Helmholtz coil for calibration. The method, system and readable storage medium for calibrating the intelligent key provided by the invention are described below 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 invention provides a method for calibrating an intelligent key, wherein the intelligent key is provided with a camera, the camera has an image shooting function, and the method for calibrating the intelligent key comprises the following steps:
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 according to the focal length of the camera and the shot image of the target object to obtain the space coordinate of the intelligent key at the position;
step S4: and 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.
It should be understood that, according to the prior art, a person skilled in the art can set a positioning model of the smart key, and by using the positioning model, the area where the smart key is located can be determined according to the signal intensity of the smart key. Further, a certain 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 smart key, and when the signal strength of the smart key is greater than the threshold a, the smart key can be considered to be close to the unlock region, and further when the signal strength of the smart key is greater than the threshold B, the smart key can be considered to enter the unlock region. Here, the correction of the positioning model parameters of the smart key may be implemented in some embodiments by correcting the positioning data threshold value, so that the system performances of different smart keys tend to be consistent.
Based on the method, the intelligent key with the camera is used for shooting a target object with known size and position, and meanwhile, the signal intensity of the intelligent key at the position is recorded, so that the space 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 further 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. Thus, the system performances of different intelligent keys tend to be consistent. The user can calibrate the intelligent key by himself according to the instruction, so that the calibration method is greatly simplified, and the calibration is not required to be performed by using a preset Helmholtz coil.
Preferably, step S2 and step S3 are performed at least twice to obtain at least the spatial coordinates and the signal intensity of the smart key at two positions. Further, after at least obtaining the spatial coordinates and the signal intensities of the smart key at two positions, the positioning model parameters of the smart key are corrected by using the spatial coordinates and the signal intensities of the smart key at least at two positions. 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 relation between the coordinates of the intelligent key at more than two positions and the signal intensity.
Optionally, step S3 includes: calculating according to the focal length of the camera and the size of the shot image of the target object to obtain the relative distance between the intelligent key and the target object; and calculating 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 formulas hold:
1/object distance+1/image distance=1/focal length (F1)
Image height/image distance = object height/object distance (F2)
As is clear from the above formulas (F1) and (F2), the object distance can be calculated from the captured image as long as the focal length is known and the object size (object height) of the target object is known. Alternatively, the focal length may be read directly by retrieving 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 feature 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 space coordinate of the smart key can be determined based on the position information of the target object.
Preferably, the method for calibrating the intelligent key is used for calibrating the signal intensity of the intelligent key in the vehicle-mounted keyless system, the intelligent key adopts Bluetooth to communicate with a vehicle, and the signal intensity is Bluetooth signal intensity. Unlike conventional keys, the novel smart key carrier may be, for example, a mobile phone or an embedded module with a camera, and the smart key preferably uses bluetooth signals instead of 125 khz LF signals and 434 mhz RF signals of the conventional key. Based on the characteristics of Bluetooth signals, the intelligent key is positioned through positioning model parameters, so that the functions of unlocking without a key and starting without a key are realized.
In another preferred embodiment, the smart key further has a display screen, where the display screen is configured to display an image of the target object and a preset image, and when the image of the target object is overlapped with the preset image, the spatial coordinates of the smart key at the location are calculated according to the focal length of the camera. If the mobile phone can be used as the intelligent key, the preset image of the target object is stored in the mobile phone in advance. When the camera is adopted to shoot the target object, an image of the target object shot by the camera is displayed on a display screen, when the image is overlapped with a 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 mobile phone camera is overlapped with the preset image, the mobile phone can be determined to be positioned at the preset shooting point angle, so that the position of the mobile phone can be conveniently known. And further, according to the Bluetooth signal intensity of the mobile phone at the shooting point, the positioning model parameters of the intelligent key can be corrected.
Based on the above-mentioned method for calibrating the smart key, the embodiment of the invention also provides a system for calibrating the smart key, which comprises: the intelligent key and a target object with known size and position are provided with a camera, and the camera has an image shooting function; the smart key calibration system 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 according to the focal length of the camera and the shot image of the target object to obtain the space coordinate of the intelligent key at the position; and 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.
Preferably, the calibration system of the intelligent key is used for calibrating the signal intensity of the intelligent key in the vehicle-mounted keyless system, and the target object is a preset image displayed on 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 is used as the intelligent key to have more allocated resources, so that the existing functions of the mobile phone can be utilized to improve the problems existing in the 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 may be known according to real vehicle data of the vehicle type, so that the space coordinate of the mobile phone relative to the vehicle body may be calculated only by photographing the vehicle body with the mobile phone by the user. And further, the relation between the Bluetooth signal intensities and the relative positions of the two to three test points is integrated, and the preset positioning model parameters in the system, namely the positioning data threshold value, can be corrected, so that the system performance of different intelligent mobile phones serving as intelligent keys tends to be consistent. Of course, the object may also be a significant marker on the inside or outside of the vehicle, or a predetermined image displayed on an in-vehicle display (e.g., center control) with well-known size and location information.
Based on the intelligent key calibration method and the intelligent key calibration system, the invention also provides a readable storage medium, wherein a program is stored on the readable storage medium, and the program can realize the intelligent key calibration method when being executed. Specifically, the method for calibrating the intelligent key provided by the invention can be programmed or software and stored on the readable storage medium, and the readable storage medium can be arranged in debugging equipment, a mobile phone or integrated in a vehicle-mounted controller.
In summary, in the method, the system and the readable storage medium for calibrating the smart key provided by the invention, the smart key with the camera is used for shooting a target object with a known size and position, and meanwhile, the signal intensity of the smart key at the position is recorded, so that the space coordinate of the smart key at the position can be calculated according to the focal length of the camera and the shot image of the target object; and further 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. Thus, the system performances of different intelligent keys tend to be consistent. The user can calibrate the intelligent key by himself according to the instruction, so that the calibration method is greatly simplified, and the calibration is not required to be performed by using a preset Helmholtz coil.
The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the appended claims.
Claims (9)
1. The method for calibrating the intelligent key is characterized in that the method for calibrating the intelligent key is used for calibrating the signal intensity of the intelligent key in a vehicle-mounted keyless system; the method for calibrating the intelligent key comprises the following steps:
step one: 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; the target object is a preset image displayed on a vehicle body, an in-vehicle fixed object, an out-vehicle fixed object or an in-vehicle display screen;
Step three: based on the size and the position of the target object, calculating according to the focal length of the camera and the shot image of the target object to obtain the space coordinate of the intelligent key at the position;
Step four: and 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.
2. The method according to claim 1, wherein the second and third steps are performed at least twice to obtain at least the spatial coordinates and the signal intensity of the smart key at two positions.
3. The method for calibrating a smart key according to claim 2, wherein after at least the spatial coordinates and the signal intensities of the smart key at two positions are obtained, the positioning model parameters of the smart key are corrected by using the spatial coordinates and the signal intensities of the smart key at least two positions.
4. The method for calibrating a smart key according to claim 1, wherein the third step comprises:
Calculating according to the focal length of the camera and the size of the shot image of the target object to obtain the relative distance between the intelligent key and the target object;
And calculating 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 according to claim 1, wherein the smart key communicates with a vehicle using bluetooth, and the signal strength is bluetooth signal strength.
6. The method for calibrating a smart key according to claim 1, wherein the smart key further comprises a display screen, the display screen is used for displaying an image of the target object and a preset image, and when the image of the target object is overlapped with the preset image, the spatial coordinates of the smart key at the position of the smart key are calculated according to the focal length of the camera.
7. The utility model provides a calibration system of smart key which characterized in that includes:
the intelligent key is provided with a camera, and the camera has an image shooting function; and
Targets of known size and location;
the smart key calibration system 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 according to the focal length of the camera and the shot image of the target object to obtain the space coordinate of the intelligent key at the position; 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;
the intelligent key calibration system is used for calibrating the signal intensity of the intelligent key in the vehicle-mounted keyless system, and the target object is a preset image displayed by a vehicle body, an in-vehicle fixed object, an out-vehicle fixed object or an in-vehicle display screen.
8. The smart key calibration system of claim 7, wherein the smart key is a mobile phone.
9. A readable storage medium having a program stored thereon, wherein the program, when executed, enables the calibration method of the smart key according to any one of claims 1 to 6.
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