CN113223093A

CN113223093A - Driving assistance system calibration method and device, computer equipment and storage medium

Info

Publication number: CN113223093A
Application number: CN202110533247.XA
Authority: CN
Inventors: 丁兆祥; 王法义; 卢鹏; 王晓东; 程郢; 李阳; 王磊; 吴冠良; 王浩; 贾明; 郭小龙
Original assignee: FAW Jiefang Automotive Co Ltd; FAW Jiefang Qingdao Automobile Co Ltd
Current assignee: FAW Jiefang Automotive Co Ltd; FAW Jiefang Qingdao Automobile Co Ltd
Priority date: 2021-05-17
Filing date: 2021-05-17
Publication date: 2021-08-06
Anticipated expiration: 2041-05-17
Also published as: CN113223093B

Abstract

The application relates to a method and a device for calibrating a driving assistance system, computer equipment and a storage medium. The method comprises the following steps: receiving identification information of a target vehicle located on a vehicle; acquiring calibration parameters of the target vehicle based on the identification information; controlling a centering device to apply a centering force to the target vehicle based on cab width information; adjusting the positions of a camera target and a radar target on a calibration support based on camera radar mounting position information to enable the camera target to be opposite to a camera and the radar target to be opposite to a radar; establishing communication connection with a target vehicle based on the vehicle communication interface information; calling a calibration program of the camera based on the camera identification information, communicating with a target vehicle according to the calibration program of the camera, and calibrating the camera; and calling a calibration program of the radar based on the radar identification information, communicating with the target vehicle according to the calibration program of the radar, and calibrating the radar. By adopting the method, the camera and the radar can be automatically calibrated.

Description

Driving assistance system calibration method and device, computer equipment and storage medium

Technical Field

The present application relates to the field of calibration technologies, and in particular, to a method and an apparatus for calibrating a driving assistance system, a computer device, and a storage medium.

Background

With the development of automobile technology, driving assistance systems have emerged. The driving assistance system is an in-vehicle apparatus that senses the conditions of the surrounding road using a camera and a radar to assist driving. Because the positions and angles of the cameras and the radar are usually deviated from the design, the cameras and the radar are calibrated before the assistant driving, and the deviation between the positions and angles of the cameras and the radar and the design is determined so as to compensate in the assistant driving process and ensure the accuracy of the assistant driving.

In the conventional technology, the model structure of the commercial vehicle and the configuration variety on the vehicle are various, and the calibration of the camera and the radar is basically completed by manpower at present due to the upgrading change of the driving auxiliary system.

However, the accuracy of manually calibrating the camera and the radar is low, the time is long, the cost is high, the production requirements of automobile enterprises cannot be met, and the development trend of manufacturing intelligent large backgrounds is not met.

Disclosure of Invention

In view of the above, it is necessary to provide a method, an apparatus, a computer device and a storage medium for calibrating a driving assistance system, which can automatically calibrate a camera and a radar.

A method of driver assistance system calibration, the method comprising:

receiving identification information of a target vehicle positioned on a centering device, wherein a camera and a radar to be calibrated are installed on the target vehicle;

acquiring calibration parameters of the target vehicle based on the identification information, wherein the calibration parameters comprise camera radar installation position information, camera identification information, radar identification information, vehicle communication interface information and cab width information;

controlling the centering device to apply a centering force to the target vehicle based on the cab width information, so that the target vehicle is opposite to the front of a calibration support, and a camera target and a radar target are mounted on the calibration support;

adjusting the positions of the camera target and the radar target on the calibration support based on the camera radar mounting position information, so that the camera target is opposite to the camera and the radar target is opposite to the radar;

establishing a communication connection with the target vehicle based on the vehicle communication interface information;

calling a calibration program of the camera based on the camera identification information, communicating with the target vehicle according to the calibration program of the camera, and calibrating the camera;

and calling a calibration program of the radar based on the radar identification information, communicating with the target vehicle according to the calibration program of the radar, and calibrating the radar.

In one embodiment, the controlling the centering device to apply a centering force to the target vehicle to enable the target vehicle to be opposite to the front face of the calibration bracket based on the cab width information includes:

determining a target vehicle type corresponding to the cab width information according to the corresponding relation between the cab width and the vehicle type;

determining the aligning force corresponding to the target vehicle type according to the corresponding relationship between the vehicle type and the aligning force;

and controlling the centering device to apply a centering force with a determined magnitude to the target vehicle so that the target vehicle is opposite to the front side of the calibration bracket.

In one embodiment, the obtaining calibration parameters of the target vehicle based on the identification information includes:

searching for multiple definitions of pins of a corresponding camera to the axis of the front shaft, the distance from the camera to the symmetrical center plane of the whole vehicle, the Z-direction distance from the camera to a radar, the X-direction distance from the radar to the axis of the front shaft, the distance from the radar to the symmetrical center plane of the whole vehicle, the Z-direction distance from the radar to the lower wing surface of the cross beam, the Z-direction height from the lower wing surface of the cross beam to the axis of the front shaft, a front overhang, a cab width, the camera model, the radar model and an OBD based on the identification information in a BOM table of the PDM system;

searching a corresponding tire radius in a BOM of an ERP system connected with the PDM system based on the identification information, and transmitting the information searched in the PDM system by using the ERP system;

collecting information searched in the PDM system and the ERP system by using an MES (manufacturing execution system) connected with the ERP system to obtain camera radar installation position information, camera identification information, radar identification information, vehicle communication interface information and cab width information of the target vehicle;

the camera radar installation position information comprises the X-direction distance from a camera to a front shaft axis, the distance from the camera to a whole vehicle symmetrical center plane, the Z-direction distance from the camera to a radar, the X-direction distance from the radar to the front shaft axis, the distance from the radar to the whole vehicle symmetrical center plane, the Z-direction distance from the radar to a cross beam lower wing surface, the Z-direction height from the cross beam lower wing surface to the front shaft axis and multiple types in a front suspension, the camera identification information comprises camera models, the radar identification information comprises radar models, the vehicle communication interface information comprises definition of OBD pins, and the cab width information comprises cab width.

In one embodiment, the establishing a communication connection with the target vehicle based on the vehicle communication interface information includes:

determining a target pin for communicating with an ECU of the target vehicle in the searched OBD pin definitions;

and communicating the target pin with the ECU, and establishing communication connection with the target vehicle.

In one embodiment, the method further comprises:

searching corresponding axle weight, axle distance and wheel distance in the MES based on the identification information;

determining the material and thickness of the aligner based on the searched axle weight;

determining the length and width of the aligner based on the searched wheel base and wheel track.

In one embodiment, the aligner is provided with two V-rollers, and when the target vehicle is opposite to the front face of the calibration stand, two front wheels of the target vehicle are located in different V-rollers, and the method further comprises:

searching the corresponding minimum ground clearance in the MES based on the identification information;

designing a width and a depth of each of the V-shaped rollers based on the searched minimum ground clearance and the tire radius.

In one embodiment, the method further comprises:

determining the installation deviation of the camera based on the calibration result of the camera;

determining the installation deviation of the radar based on the calibration result of the radar;

and compensating in a driving assistance algorithm based on the installation deviation of the camera and the installation deviation of the radar.

A driving assistance system calibration apparatus, the apparatus comprising:

the information receiving module is used for receiving identification information of a target vehicle positioned on the centering device, and a camera and a radar to be calibrated are installed on the target vehicle;

the parameter acquisition module is used for acquiring calibration parameters of the target vehicle based on the identification information, wherein the calibration parameters comprise camera radar installation position information, camera identification information, radar identification information, vehicle communication interface information and cab width information;

the vehicle straightening module is used for controlling the straightening device to apply straightening force to the target vehicle based on the cab width information so that the target vehicle is opposite to the front of the calibration support, and the calibration support is provided with a camera target and a radar target;

the target adjusting module is used for adjusting the positions of the camera target and the radar target on the calibration support based on the camera radar mounting position information, so that the camera target is opposite to the camera and the radar target is opposite to the radar;

the communication establishing module is used for establishing communication connection with the target vehicle based on the vehicle communication interface information;

the camera calibration module is used for calling a calibration program of the camera based on the camera identification information, communicating with the target vehicle according to the calibration program of the camera and calibrating the camera;

and the radar calibration module is used for calling a calibration program of the radar based on the radar identification information, communicating with the target vehicle according to the calibration program of the radar and calibrating the radar.

A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

According to the driving assistance system calibration method, the driving assistance system calibration device, the computer equipment and the storage medium, the identification information of the target vehicle on the centering device is received, and the calibration parameters corresponding to the target vehicle can be obtained based on the identification information of the target vehicle. The calibration parameters comprise camera radar installation position information, camera identification information, radar identification information, vehicle communication interface information and cab width information. And controlling the centering device to apply a centering force to the target vehicle based on the cab width information so that the target vehicle is opposite to the front side of the calibration bracket, and the target vehicle is located at a known preset position. Based on the camera radar mounting location information, the location of the camera radar on the target vehicle may be determined, plus the target vehicle is located at a known predetermined location, at which point the locations of the camera and radar may be determined. Under the condition, the positions of the camera target and the radar target on the calibration support are adjusted, so that the camera target is opposite to the camera, and the radar target is opposite to the radar. Communication connection can be established with a target vehicle based on the vehicle communication interface information, and then a calibration program of the camera is called based on the camera identification information, so that the camera can be communicated with the target vehicle according to the calibration program of the camera to calibrate the camera; and calling a calibration program of the radar based on the radar identification information, namely communicating with the target vehicle according to the calibration program of the radar to calibrate the radar. In conclusion, the process is completely and automatically completed by computer equipment, the automatic calibration of the driving assistance system is realized, the calibration precision is improved, the calibration time is shortened, the calibration cost is reduced, the method can be applied to various vehicles, the production requirements of automobile enterprises are met, and the development trend of manufacturing intelligent large backgrounds is met.

Drawings

FIG. 1 is a schematic flow chart of a method for calibrating a driving assistance system in one embodiment;

FIG. 2 is a flowchart illustrating a method for calibrating a driving assistance system according to another embodiment;

FIG. 3 is a flowchart illustrating a method for calibrating a driving assistance system according to yet another embodiment;

FIG. 4 is a block diagram showing the configuration of a driving assistance system calibration apparatus according to an embodiment;

FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In one embodiment, as shown in FIG. 1, a method for calibrating a driving assistance system is provided. The embodiment is exemplified by applying the method to a terminal. It is understood that the method can also be applied to a server, and can also be applied to a system comprising a terminal and a server, and is realized through the interaction of the terminal and the server. The terminal can be, but is not limited to, various personal computers, notebook computers, smart phones and tablet computers, and the server can be implemented by an independent server or a server cluster formed by a plurality of servers.

In this embodiment, the method includes the steps of:

step S102, receiving identification information of a target vehicle on the centering device.

Wherein the target vehicle is a vehicle currently located on the leveler. And a camera to be calibrated and a radar are installed on the target vehicle. The identification information of the target vehicle is information for identifying the target vehicle.

The centering device consists of a front shaft platform and a rear shaft platform which are overlapped by the central lines. The front axle platform comprises a front bracket, a front moving plate and a front expanding frame, wherein the front moving plate can move along the vertical direction of the central line of the platform. The rear shaft platform comprises a rear support, a rear moving frame and a rear expanding frame which can move along the direction vertical to the central line of the platform, and a turntable which is positioned between the rear moving frame and the rear expanding frame and can swing along the central line of the rear moving frame. When in use, the front and rear wheels of the target vehicle are respectively arranged on the front movable plate and the turntable. Under the push of the front expanding frame and the rear expanding frame, the longitudinal center line of the target vehicle is superposed with the center lines of the front axle platform and the rear axle platform, and the target vehicle is straightened. At the moment, the target vehicle is opposite to the front side of the calibration support, and the camera target and the radar target are installed on the calibration support.

Illustratively, the Identification information includes one of a VIN (Vehicle Identification Number), a Vehicle type code, and a chassis Number.

Specifically, a two-dimensional code may be pasted on a door side of the target vehicle or on the vehicle-mounted list, and the computer device scans the two-dimensional code, so as to obtain the identification information of the target vehicle. The computer device may also provide an input device for receiving the identification information input by the user, i.e. obtaining the identification information of the target vehicle.

In this embodiment, by receiving the identification information of the target vehicle, the vehicle type structure and the on-vehicle configuration corresponding to the target vehicle and the related information of the driving assistance system can be further obtained, so that the camera and the radar are calibrated in a corresponding manner based on the specific situation of the target vehicle, and the problem of adapting to different vehicles to calibrate the driving assistance system is solved.

And step S104, acquiring calibration parameters of the target vehicle based on the identification information.

The calibration parameters comprise camera radar installation position information, camera identification information, radar identification information, vehicle communication interface information and cab width information. The camera radar mounting position information is information indicating a mounting position of the camera and/or the radar. The camera identification information is information for identifying the camera. The radar identification information is information for identifying a radar. The vehicle communication interface information is information of an interface that communicates with the vehicle. The cab width information is information indicating the cab width.

Specifically, the corresponding relationship between the identification information of the target vehicle and the calibration parameters is stored in advance, and after the identification information of the target vehicle is received, the corresponding calibration parameters can be obtained based on the identification information of the target vehicle.

In this embodiment, cab width information corresponding to the identification information is acquired, and the target vehicle may be aligned at a predetermined position with an appropriate aligning force. The camera radar installation position information corresponding to the identification information is acquired, the positions of the camera target and the radar target can be adjusted in a targeted manner based on the camera of the target vehicle and the installation position of the radar, so that the relative positions of the camera and the camera target and the relative positions of the radar and the radar target meet the calibration requirement, and the camera and the radar can be calibrated conveniently. The camera identification information, the radar identification information and the vehicle communication interface information corresponding to the identification information are obtained, an applicable camera calibration program and an applicable radar calibration program can be called in a targeted manner based on the types of the camera and the radar of the target vehicle, communication connection is established with the target vehicle based on the vehicle communication interface information corresponding to the target vehicle, and finally the camera and the radar are calibrated according to the information interacted with the target vehicle.

And S106, controlling the aligning device to apply aligning force to the target vehicle based on the cab width information, so that the target vehicle is opposite to the front side of the calibration bracket.

Wherein, install camera mark target and radar mark target on the demarcation support. The camera target is a target for calibrating the camera. The radar target is a target for calibrating a radar.

The front of the target vehicle is a plane towards which the head of the target vehicle faces, and the front of the calibration support is a plane towards which the camera target and the radar target face. The target vehicle is opposite to the front of the calibration bracket, namely, a plane oriented by the head of the target vehicle is parallel to a plane oriented by the camera target and the radar target, and no part of the target vehicle and/or the calibration bracket is arranged between the target vehicle and the radar target.

The cab width information includes a cab width. The larger the cab width, the larger the model of the target vehicle, and the larger the aligning force required to align the target vehicle. The cab width information includes a cab width, and can be applied to the target vehicle with an appropriate aligning force.

Specifically, there is a correspondence between the cab width and the magnitude of the yaw force, the magnitude of the yaw force corresponding to the cab width is obtained based on the cab width, and the yaw device is controlled to apply the yaw force of the obtained magnitude to the target vehicle. As mentioned above, the aligner consists of front and rear axle platforms with coincident central lines. The front axle platform comprises a front bracket, a front moving plate and a front expanding frame, wherein the front moving plate can move along the vertical direction of the central line of the platform. The rear shaft platform comprises a rear support, a rear moving frame and a rear expanding frame which can move along the direction vertical to the central line of the platform, and a turntable which is positioned between the rear moving frame and the rear expanding frame and can swing along the central line of the rear moving frame. When in use, the front and rear wheels of the target vehicle are respectively arranged on the front movable plate and the turntable. Under the push of the front expanding frame and the rear expanding frame, the longitudinal center line of the target vehicle is superposed with the center lines of the front axle platform and the rear axle platform, and the target vehicle is straightened. At this time, the target vehicle is in front-facing opposition to the calibration bracket.

Optionally, two V-rolls are provided on the straightener. When the target vehicle is opposite to the front side of the calibration support, two front wheels of the target vehicle are positioned in different V-shaped rollers, and the target vehicle can be positioned by utilizing the V-shaped rollers, so that the target vehicle is conveniently positioned at a known preset position after being straightened.

In this embodiment, the centering device is controlled to apply the centering force to the target vehicle based on the cab width information, and the centering force with a proper magnitude can be applied to the target vehicle according to the size of the model of the target vehicle, so that the target vehicle is opposite to the front side of the calibration bracket. After the target vehicle is straightened, the target vehicle is located at a preset position, and then the positions of the camera target and the radar target on the calibration support are correspondingly adjusted according to the positions of the camera and the radar on the target vehicle, so that the relative position between the camera target and the camera and the relative position between the radar target and the radar can meet the calibration requirement.

And S108, adjusting the positions of the camera target and the radar target on the calibration support based on the camera radar mounting position information, so that the camera target is opposite to the camera and the radar target is opposite to the radar.

The camera radar installation position information comprises multiple types of X-direction distance from the camera to the axis of the front shaft, distance from the camera to the symmetrical center plane of the whole vehicle, Z-direction distance from the camera to the radar, X-direction distance from the radar to the axis of the front shaft, distance from the radar to the symmetrical center plane of the whole vehicle, Z-direction distance from the radar to the lower wing surface of the cross beam, Z-direction height from the lower wing surface of the cross beam to the axis of the front shaft and front suspension.

The target vehicle is positioned on the centering device, and after the centering device centers the target vehicle, the target vehicle is positioned on a preset position. At this time, based on the X-direction distance from the camera to the axis of the front axle, the X-direction distance from the radar to the axis of the front axle, and the front overhang, the positions of the camera and the radar in the horizontal longitudinal direction of the target vehicle can be determined; based on the distance from the camera to the symmetrical center plane of the whole vehicle and the distance from the radar to the symmetrical center plane of the whole vehicle, the positions of the camera and the radar in the horizontal transverse direction of the target vehicle can be determined; based on the Z-direction distance from the camera to the radar, the Z-direction distance from the radar to the lower wing surface of the cross beam and the Z-direction height from the lower wing surface of the cross beam to the axis of the front shaft, the positions of the camera and the radar in the vertical direction can be determined. In conclusion, the installation position of the camera radar can be obtained, and then the target positions of the camera target and the radar target are determined and moved so as to calibrate the camera and the radar.

Specifically, based on camera radar mounting position information, the target positions of the camera target and the radar target corresponding to the calibration support can be determined, the camera target is opposite to the camera on the corresponding target position, and the radar target is opposite to the radar on the corresponding target position. The camera target and the radar target are respectively arranged on the calibration support through the moving mechanism, the moving mechanism is controlled to move on the calibration support based on the corresponding target position of the camera target on the calibration support, and the position of the camera target on the calibration support can be adjusted until the camera target is opposite to the camera; the moving mechanism is controlled to move on the calibration support based on the target position corresponding to the radar target on the calibration support, and the position of the radar target on the calibration support can be adjusted until the radar target is opposite to the radar.

In practical applications, the moving mechanism may include at least two linear motion mechanisms that move linearly in different directions. For example, the moving mechanism corresponding to the camera target comprises a linear motion mechanism which moves linearly along a first direction and a linear motion mechanism which moves linearly along a second direction, and the first direction is perpendicular to the second direction. The camera target is arranged on a linear motion mechanism which makes linear motion along a first direction, the linear motion mechanism which makes linear motion along the first direction is arranged on a linear motion mechanism which makes linear motion along a second direction, and the linear motion mechanism which makes linear motion along the second direction is arranged on a calibration support. For another example, the moving mechanism corresponding to the radar target includes a linear motion mechanism that moves linearly along a first direction, a linear motion mechanism that moves linearly along a second direction, and a linear motion mechanism that moves linearly along a third direction, where the first direction, the second direction, and the third direction are perpendicular to each other. The radar target is arranged on a linear motion mechanism which makes linear motion along a first direction, the linear motion mechanism which makes linear motion along the first direction is arranged on a linear motion mechanism which makes linear motion along a second direction, the linear motion mechanism which makes linear motion along the second direction is arranged on a linear motion mechanism which makes linear motion along a third direction, and the linear motion mechanism which makes linear motion along the third direction is arranged on a calibration support.

In this embodiment, based on camera radar mounted position information, can confirm camera target and radar target position on the calibration support and adjust, make camera target relative with the camera, radar target relative with the radar to mark camera and radar.

And step S110, establishing communication connection with the target vehicle based on the vehicle communication interface information.

The vehicle communication interface information includes pin definitions of On-Board Diagnostics (OBD).

OBD monitors a number of systems and components, including engines, catalytic converters, particulate traps, oxygen sensors, emission control systems, fuel systems, EGR (Exhaust Gas recirculation), etc. After the OBD is connected to an ECU (Electronic Control Unit), the ECU can detect and analyze a function of a fault related to emission based on various kinds of emission-related component information, and ensure access to and processing of fault information. The pins for communicating with the OBD are different for different ECUs, and the pins for communicating with the ECUs of the target vehicle can be determined based on the definition of the pins of the OBD corresponding to the identification information of the target vehicle, so that the pins are in communication connection with the target vehicle, and the camera and the radar are calibrated.

Specifically, pins of the OBD and the ECU of the target vehicle for communication can be determined based on the definition of pins of the OBD in the vehicle communication interface information, the pins determined by the OBD are communicated with the ECU, communication connection is established between the OBD and the ECU, and communication with the target vehicle is achieved.

In practical application, a relay is arranged in the OBD, and pins communicated with the ECU can be switched according to the determined pins.

In this embodiment, communication connection is established with the target vehicle based on the vehicle communication interface information, so that communication with the target vehicle can be realized, and calibration of the camera and the radar is further realized.

And step S112, calling a calibration program of the camera based on the camera identification information, communicating with the target vehicle according to the calibration program of the camera, and calibrating the camera.

The camera identification information comprises a camera model.

The cameras of different models adopt different calibration programs. The camera identification information comprises camera types, and corresponding calibration programs can be adopted for calibrating cameras of different types.

Specifically, there is a correspondence between the identifier of the camera and the calibration program, and based on the camera identification information, the corresponding calibration program can be called and run, so as to calibrate the camera.

And step S114, calling a calibration program of the radar based on the radar identification information, communicating with the target vehicle according to the calibration program of the radar, and calibrating the radar.

Wherein the radar identification information includes a radar model.

The calibration programs adopted by the radars with different models are different. The radar identification information comprises radar models, and can be calibrated by adopting corresponding calibration programs aiming at radars of different models.

Specifically, a corresponding relationship exists between the radar identifier and the calibration program, and based on the radar identifier information, the corresponding calibration program can be called and run, so that the radar is calibrated.

In the calibration method of the driving assistance system, the calibration parameters corresponding to the target vehicle can be obtained based on the identification information of the target vehicle by receiving the identification information of the target vehicle on the centering device. The calibration parameters comprise camera radar installation position information, camera identification information, radar identification information, vehicle communication interface information and cab width information. And controlling the centering device to apply a centering force to the target vehicle based on the cab width information so that the target vehicle is opposite to the front side of the calibration bracket, and the target vehicle is located at a known preset position. Based on the camera radar mounting location information, the location of the camera radar on the target vehicle may be determined, plus the target vehicle is located at a known predetermined location, at which point the locations of the camera and radar may be determined. Under the condition, the positions of the camera target and the radar target on the calibration support are adjusted, so that the camera target is opposite to the camera, and the radar target is opposite to the radar. Communication connection can be established with a target vehicle based on the vehicle communication interface information, and then a calibration program of the camera is called based on the camera identification information, so that the camera can be communicated with the target vehicle according to the calibration program of the camera to calibrate the camera; and calling a calibration program of the radar based on the radar identification information, namely communicating with the target vehicle according to the calibration program of the radar to calibrate the radar. In conclusion, the process is completely and automatically completed by computer equipment, the automatic calibration of the driving assistance system is realized, the calibration precision is improved, the calibration time is shortened, the calibration cost is reduced, the method can be applied to various vehicles, the production requirements of automobile enterprises are met, and the development trend of manufacturing intelligent large backgrounds is met.

In one embodiment, the step S102 includes: and scanning the two-dimensional code corresponding to the identification information of the target vehicle to obtain the identification information of the target vehicle.

Specifically, the two-dimensional code may be pasted on the target vehicle, or may be pasted on a vehicle-mounted list of the target vehicle.

In the embodiment, the identification information of the target vehicle is converted into the two-dimensional code, so that the identification information of the target vehicle can be conveniently identified by the computer equipment.

In one embodiment, this step S104 includes: searching multiple kinds of corresponding X-direction distance from a camera to the axis of a front shaft, distance from the camera to the symmetrical center plane of the whole vehicle, Z-direction distance from the camera to a radar, X-direction distance from the radar to the axis of the front shaft, distance from the radar to the symmetrical center plane of the whole vehicle, Z-direction distance from the radar to a lower wing surface of a cross beam, Z-direction height from the lower wing surface of the cross beam to the axis of the front shaft, front overhang, cab width, camera model, radar model and OBD pin definition in a BOM (Bill of Material) table of a PDM (Product Data Management) system based on identification information; searching a corresponding tire radius in a BOM (Enterprise Resource Planning) of an ERP (Enterprise Resource Planning) system connected with the PDM system based on the identification information, and transmitting the information searched in the PDM system by using the ERP system; and collecting the information searched in the PDM System and the ERP System by using a Manufacturing Execution System (MES) connected with the ERP System to obtain the camera radar installation position information, the camera identification information, the radar identification information, the vehicle communication interface information and the cab width information of the target vehicle.

Among other things, the PDM system is used to manage all product-related information (including part information, configuration, documentation, CAD (Computer Aided Design) files, structure, rights information, etc.) and all product-related processes (including process definition and management). The PDM system can effectively organize production operation documents such as enterprise production process cards, part blueprints, three-dimensional digifax, cutter lists, quality files, numerical control programs and the like, and realizes paperless production in workshops.

The BOM table is a file for describing the structure of the product in a data format, and is also a data file of the structure of the product which can be identified by a computer. BOM allows the system to identify product structures and is also a link to and communicate with various business of the enterprise.

The ERP system is a management platform which is established on the basis of information technology and provides decision operation means for enterprises and employees by means of a systematized management idea. ERP is an enterprise management information system that can provide integration of real-time information across regions, divisions, and even companies. ERP is not only software, but also a management idea, realizes the integration of internal resources of an enterprise and external resources related to the enterprise, and tightly integrates people, property, production, supply and sale of the enterprise and corresponding logistics, information flow, fund flow, management flow, value added flow and the like to realize resource optimization and sharing.

MES is a set of production information management system facing the workshop execution layer of manufacturing enterprises. The MES can provide management modules for enterprises, such as manufacturing data management, planning scheduling management, production scheduling management, inventory management, quality management, human resource management, work center/equipment management, tool and tool management, purchasing management, cost management, project bulletin board management, production process control, bottom layer data integration analysis, upper layer data integration decomposition and the like, and create a solid, reliable, comprehensive and feasible manufacturing cooperative management platform for the enterprises.

Specifically, the BOM is a link for linking and communicating various businesses of the enterprise, and corresponding information can be obtained from the PDM system and the ERP system through the BOM. And the PDM system, the ERP system and the MES system are connected in sequence. After the system at the current level acquires the locally stored calibration parameters based on the identification information of the target vehicle, the calibration parameters acquired from the current level are transmitted to the system at the next level. The next-level system receives the calibration parameters acquired by the previous level, and after the locally stored calibration parameters are acquired based on the identification information of the target vehicle, the calibration parameters received from the previous level and the calibration parameters acquired by the current level are transmitted to the next-level system together. After such a stage pass, all calibration parameters are available.

In this embodiment, the calibration parameters stored locally are acquired based on the identification information of the target vehicle by using the respective characteristics of the PDM system, the ERP system, and the MES system, and the PDM system, the ERP system, and the MES system are connected in sequence, so that the calibration parameters acquired from the systems at all levels can be transmitted at one level, and finally, all the calibration parameters can be obtained by summarizing.

In one embodiment, this step S106 includes: determining a target vehicle type corresponding to cab width information according to the corresponding relation between the cab width and the vehicle type; determining the aligning force corresponding to the type of the target vehicle according to the corresponding relationship between the type of the vehicle and the aligning force; and controlling the centering device to apply a centering force with a determined magnitude to the target vehicle so that the target vehicle is opposite to the front side of the calibration bracket.

In this embodiment, the cab width information is first compared with the cab width ranges of various types of vehicles, the type of the target vehicle corresponding to the cab width range in which the cab width information is located is determined, and then the amount of the aligning force corresponding to the type of the target vehicle is applied to the target vehicle, so that the target vehicle is aligned by using an appropriate acting force.

Exemplary vehicle types may include small and large trucks, as well as light, medium and heavy trucks.

In one embodiment, this step S108 includes: determining a target position of the camera target and a target position of the radar target based on camera radar mounting position information, relative positions of the camera and the camera target in a calibration process and relative positions of the radar and the radar target in the calibration process; adjusting the position of the camera target on the calibration support based on the target position of the camera target, so that the camera target is opposite to the camera; and adjusting the position of the radar target on the calibration support based on the target position of the radar target, so that the radar target is opposite to the radar.

In this embodiment, the target position of the camera target is determined based on the camera radar mounting position information and the relative position of the camera and the camera target in the calibration process, and then the camera target is adjusted according to the target position of the camera target, so that the camera target is opposite to the camera. Similarly, the target position of the radar target is determined based on the camera radar mounting position information and the relative position of the radar and the radar target in the calibration process, and then the radar target is adjusted according to the target position of the radar target, so that the radar target is opposite to the radar.

Illustratively, the radar target is located 1.2 meters directly in front of the radar, and the camera head target is located 1.7 meters and 2.7 meters directly in front of the target vehicle center.

In one embodiment, the step S110 includes: determining a target pin for communicating with an ECU of a target vehicle in the searched OBD pin definitions; and communicating the target pin with the ECU, and establishing communication connection with the target vehicle.

In this embodiment, a target pin for communication between the OBD and the ECU of the target vehicle is determined based on the definition of each pin of the OBD, and then the determined target pin is communicated with the ECU, so as to communicate with the target vehicle.

For example, the OBD has 16 pins, and may communicate using pin 3 and pin 11, or may communicate using pin 6 and pin 14.

In one embodiment, as shown in FIG. 2, the method includes:

step S202, receiving identification information of a target vehicle on the centering device, wherein the target vehicle is provided with a camera to be calibrated and a radar.

Specifically, the step S202 is the same as the step S102, and is not described in detail here.

Step S204, based on the identification information, obtaining calibration parameters of the target vehicle, wherein the calibration parameters comprise camera radar installation position information, camera identification information, radar identification information, vehicle communication interface information, cab width information and vehicle size information.

The vehicle size information includes, among other things, axle weight, wheel base, and wheel base.

Specifically, the corresponding axle weight, wheel base and wheel base are searched in the MES based on the identification information.

Optionally, the vehicle dimension information further comprises a minimum ground clearance.

Accordingly, the corresponding minimum ground clearance is searched in the MES based on the identification information.

In addition, the acquisition of the camera radar installation position information, the camera identification information, the radar identification information, the vehicle communication interface information, and the cab width information is the same as that in step S104, and detailed description thereof is omitted.

In step S206, a vehicle size information is used to design a vehicle aligner.

Specifically, the step S206 includes: determining the material and thickness of the aligner based on the searched axle weight; based on the searched wheelbase and wheel base, the length and width of the aligner are determined.

Optionally, the step S206 further includes: the width and depth of each V-roll are designed based on the searched minimum ground clearance and the tire radius.

Specifically, the minimum ground clearance and the tire radius of the target vehicle, and the width and the depth of the V-roll satisfy the following relational expressions:

wherein h is₁Is the minimum ground clearance of the target vehicle, r is the tire radius of the target vehicle, h₂Is the depth of the V-roll and L is the width of the V-roll.

And S208, controlling the aligning device to apply aligning force to the target vehicle based on the cab width information to enable the target vehicle to be opposite to the front of the calibration support, wherein the calibration support is provided with a camera target and a radar target.

Specifically, the step S208 is the same as the step S106, and will not be described in detail here.

And S210, adjusting the positions of the camera target and the radar target on the calibration support based on the camera radar mounting position information, so that the camera target is opposite to the camera and the radar target is opposite to the radar.

Specifically, the step S210 is the same as the step S108, and will not be described in detail here.

And step S212, establishing communication connection with the target vehicle based on the vehicle communication interface information.

Specifically, the step S212 is the same as the step S110, and is not described in detail here.

And step S214, calling a calibration program of the camera based on the camera identification information, communicating with the target vehicle according to the calibration program of the camera, and calibrating the camera.

Specifically, the step S214 is the same as the step S112, and is not described in detail here.

And S216, calling a calibration program of the radar based on the radar identification information, communicating with the target vehicle according to the calibration program of the radar, and calibrating the radar.

Specifically, the step S216 is the same as the step S114, and will not be described in detail here.

In this embodiment, by adding the vehicle size information to the acquired calibration parameters, the alignment device can be designed based on the vehicle size information, and the use requirements can be met.

In one embodiment, as shown in FIG. 3, the method includes:

step S302, receiving identification information of a target vehicle on the centering device, wherein the target vehicle is provided with a camera to be calibrated and a radar.

Specifically, the step S302 is the same as the step S102, and is not described in detail here.

And step S304, acquiring calibration parameters of the target vehicle based on the identification information, wherein the calibration parameters comprise camera radar installation position information, camera identification information, radar identification information, vehicle communication interface information and cab width information.

Specifically, the step S304 is the same as the step S104, and is not described in detail here.

And S306, controlling the aligning device to apply aligning force to the target vehicle based on the cab width information to enable the target vehicle to be opposite to the front of the calibration support, wherein the calibration support is provided with a camera target and a radar target.

Specifically, the step S306 is the same as the step S106, and is not described in detail here.

And S308, adjusting the positions of the camera target and the radar target on the calibration support based on the camera radar mounting position information, so that the camera target is opposite to the camera and the radar target is opposite to the radar.

Specifically, the step S308 is the same as the step S108, and is not described in detail here.

And step S310, establishing communication connection with the target vehicle based on the vehicle communication interface information.

Specifically, the step S310 is the same as the step S110, and is not described in detail here.

And step S312, calling a calibration program of the camera based on the camera identification information, communicating with the target vehicle according to the calibration program of the camera, and calibrating the camera to obtain the installation deviation of the camera.

Specifically, the step S312 is the same as the step S112, and is not described in detail here.

And step S314, calling a calibration program of the radar based on the radar identification information, communicating with the target vehicle according to the calibration program of the radar, and calibrating the radar to obtain the installation deviation of the radar.

Specifically, the step S314 is the same as the step S114, and is not described in detail here.

And step S316, compensating in a driving assistance algorithm based on the installation deviation of the camera and the installation deviation of the radar.

In the embodiment, the installation deviation is obtained in the calibration process, and the compensation is performed in the driving assistance algorithm, so that the driving assistance effect is effectively improved.

Specifically, the calibration bracket can be further provided with a liquid crystal display screen for outputting calibration results of the camera and the radar.

Optionally, a safety grating and a signal indicator lamp can be further mounted on the calibration bracket. And if the size of the target vehicle exceeds that of the centering device, the signal indicator lamp gives an alarm.

In addition, a photoelectric switch is also arranged on the centering device. And if the target vehicle is located at the righting position, starting calibration.

It should be understood that although the various steps in the flow charts of fig. 1-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-3 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.

In one embodiment, as shown in fig. 4, there is provided a driving assistance system calibration device including: the system comprises an information receiving module 401, a parameter obtaining module 402, a vehicle correcting module 403, a target adjusting module 404, a communication establishing module 405, a camera calibration module 406 and a radar calibration module 407, wherein:

and the information receiving module 401 is configured to receive identification information of a target vehicle located on the aligner, where the target vehicle is equipped with a camera and a radar to be calibrated.

A parameter obtaining module 402, configured to obtain calibration parameters of the target vehicle based on the identification information, where the calibration parameters include camera radar installation position information, camera identification information, radar identification information, vehicle communication interface information, and cab width information.

And a vehicle aligning module 403, configured to control the aligner to apply an aligning force to the target vehicle based on the cab width information, so that the target vehicle is opposite to the front of the calibration bracket, and the calibration bracket is provided with a camera target and a radar target.

And the target adjusting module 404 is used for adjusting the positions of the camera target and the radar target on the calibration support based on the camera radar mounting position information, so that the camera target is opposite to the camera and the radar target is opposite to the radar.

And a communication establishing module 405 for establishing a communication connection with the target vehicle based on the vehicle communication interface information.

And the camera calibration module 406 is configured to call a calibration program of the camera based on the camera identification information, communicate with the target vehicle according to the calibration program of the camera, and calibrate the camera.

And the radar calibration module 407 is configured to invoke a calibration program of the radar based on the radar identification information, communicate with the target vehicle according to the calibration program of the radar, and calibrate the radar.

The driving assistance system calibration device receives the identification information of the target vehicle on the corrector, and can acquire the calibration parameter corresponding to the target vehicle based on the identification information of the target vehicle. The calibration parameters comprise camera radar installation position information, camera identification information, radar identification information, vehicle communication interface information and cab width information. And controlling the centering device to apply a centering force to the target vehicle based on the cab width information so that the target vehicle is opposite to the front side of the calibration bracket, and the target vehicle is located at a known preset position. Based on the camera radar mounting location information, the location of the camera radar on the target vehicle may be determined, plus the target vehicle is located at a known predetermined location, at which point the locations of the camera and radar may be determined. Under the condition, the positions of the camera target and the radar target on the calibration support are adjusted, so that the camera target is opposite to the camera, and the radar target is opposite to the radar. Communication connection can be established with a target vehicle based on the vehicle communication interface information, and then a calibration program of the camera is called based on the camera identification information, so that the camera can be communicated with the target vehicle according to the calibration program of the camera to calibrate the camera; and calling a calibration program of the radar based on the radar identification information, namely communicating with the target vehicle according to the calibration program of the radar to calibrate the radar. In conclusion, the process is completely and automatically completed by computer equipment, the automatic calibration of the driving assistance system is realized, the calibration precision is improved, the calibration time is shortened, the calibration cost is reduced, the method can be applied to various vehicles, the production requirements of automobile enterprises are met, and the development trend of manufacturing intelligent large backgrounds is met.

In one embodiment, the vehicle squaring module 403 includes a type determination unit, a size determination unit, and a squaring unit, wherein:

and the type determining unit is used for determining the target vehicle type corresponding to the cab width information according to the corresponding relation between the cab width and the vehicle type.

And the size determining unit is used for determining the size of the aligning force corresponding to the type of the target vehicle according to the corresponding relation between the type of the vehicle and the size of the aligning force.

And the correcting unit is used for controlling the correcting device to apply a correcting force with a determined magnitude to the target vehicle so that the target vehicle is opposite to the front side of the calibration bracket.

In one embodiment, the parameter obtaining module 402 includes a first obtaining unit, a second obtaining unit, and a third obtaining unit, wherein:

the first obtaining unit is used for searching multiple kinds of corresponding pin definitions of the camera to the front shaft axis, the camera to the whole vehicle symmetrical center plane, the camera to radar Z direction, the radar to the front shaft axis, the radar to the whole vehicle symmetrical center plane, the radar to the cross beam lower wing surface Z direction distance, the cross beam lower wing surface to the front shaft axis, the front overhang, the cab width, the camera model, the radar model and the OBD based on the identification information in a BOM table of the PDM system.

The second acquisition unit is used for searching the corresponding tire radius in the BOM of the ERP system connected with the PDM system based on the identification information and transmitting the information searched in the PDM system by using the ERP system;

and the third acquisition unit is used for collecting the information searched in the PDM system and the ERP system by using an MES (manufacturing execution system) connected with the ERP system to obtain the camera radar installation position information, the camera identification information, the radar identification information, the vehicle communication interface information and the cab width information of the target vehicle.

The camera radar installation position information comprises the X-direction distance from a camera to the axis of a front shaft, the distance from the camera to the symmetrical center plane of the whole vehicle, the Z-direction distance from the camera to a radar, the X-direction distance from the radar to the axis of the front shaft, the distance from the radar to the symmetrical center plane of the whole vehicle, the Z-direction distance from the radar to a lower wing surface of a cross beam, the Z-direction height from a lower wing surface of the cross beam to the axis of the front shaft and multiple types in a front suspension, the camera identification information comprises the camera model, the radar identification information comprises the radar model, the vehicle communication interface information comprises various pins of OBD, and the cab width information comprises cab width.

In one embodiment, the communication establishing module 405 comprises a pin determining unit and a pin communicating unit, wherein:

the pin determining unit is used for determining a target pin which is communicated with an ECU (electronic control unit) of the target vehicle in the searched pin definitions of the OBD;

and the pin communication unit is used for communicating the target pin with the ECU and establishing communication connection with the target vehicle.

In one embodiment, the apparatus further comprises a first acquisition module and a first design module, wherein:

and the first acquisition module is used for searching corresponding axle weight, axle distance and wheel distance in the MES based on the identification information.

The second design module is used for determining the material and the thickness of the centering device based on the searched axle weight; based on the searched wheelbase and wheel base, the length and width of the aligner are determined.

In one embodiment, the centering device is provided with two V-shaped rollers, and when the target vehicle is opposite to the front surface of the calibration bracket, two front wheels of the target vehicle are positioned in different V-shaped rollers. The apparatus further comprises a second acquisition module and a second design module, wherein:

and the second acquisition module is used for searching the corresponding minimum ground clearance in the MES based on the identification information.

And a second design module for designing a width and a depth of each V-roll based on the searched minimum ground clearance and the tire radius.

In one embodiment, the apparatus further comprises a deviation determination module and a deviation compensation module, wherein:

the deviation determining module is used for determining the installation deviation of the camera based on the calibration result of the camera; and determining the installation deviation of the radar based on the calibration result of the radar.

And the deviation compensation module is used for compensating in a driving assistance algorithm based on the installation deviation of the camera and the installation deviation of the radar.

For the specific definition of the driving assistance system calibration device, reference may be made to the above definition of the driving assistance system calibration method, which is not described herein again. The respective modules in the above-described driving assistance system calibration apparatus may be entirely or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing calibration parameters. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of calibrating a driving assistance system.

Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

receiving identification information of a target vehicle positioned on the centering device, wherein the target vehicle is provided with a camera to be calibrated and a radar;

controlling a centering device to apply a centering force to a target vehicle based on cab width information to enable the target vehicle to be opposite to the front of a calibration support, wherein a camera target and a radar target are installed on the calibration support;

adjusting the positions of a camera target and a radar target on a calibration support based on camera radar mounting position information to enable the camera target to be opposite to a camera and the radar target to be opposite to a radar;

establishing communication connection with a target vehicle based on the vehicle communication interface information;

calling a calibration program of the camera based on the camera identification information, communicating with a target vehicle according to the calibration program of the camera, and calibrating the camera;

In one embodiment, the processor, when executing the computer program, further performs the steps of: determining a target vehicle type corresponding to cab width information according to the corresponding relation between the cab width and the vehicle type; determining the aligning force corresponding to the type of the target vehicle according to the corresponding relationship between the type of the vehicle and the aligning force; and controlling the centering device to apply a centering force with a determined magnitude to the target vehicle so that the target vehicle is opposite to the front side of the calibration bracket.

In one embodiment, the processor, when executing the computer program, further performs the steps of: searching for multiple definitions of corresponding pins from a camera to the axis of a front shaft, the distance from the camera to the symmetrical center plane of the whole vehicle, the Z-direction distance from the camera to a radar, the X-direction distance from the radar to the axis of the front shaft, the distance from the radar to the symmetrical center plane of the whole vehicle, the Z-direction distance from the radar to a lower wing surface of a cross beam, the Z-direction height from the lower wing surface of the cross beam to the axis of the front shaft, a front overhang, a cab width, the camera model, the radar model and an OBD based on identification information in a BOM table of a PDM system; searching the corresponding tire radius in the BOM of the ERP system connected with the PDM system based on the identification information, and transmitting the information searched in the PDM system by using the ERP system; collecting information searched in the PDM system and the ERP system by using an MES (manufacturing execution system) connected with the ERP system to obtain camera radar installation position information, camera identification information, radar identification information, vehicle communication interface information and cab width information of a target vehicle; the camera radar installation position information comprises the X-direction distance from a camera to the axis of a front shaft, the distance from the camera to the symmetrical center plane of the whole vehicle, the Z-direction distance from the camera to a radar, the X-direction distance from the radar to the axis of the front shaft, the distance from the radar to the symmetrical center plane of the whole vehicle, the Z-direction distance from the radar to a lower wing surface of a cross beam, the Z-direction height from a lower wing surface of the cross beam to the axis of the front shaft and multiple types in a front suspension, the camera identification information comprises the camera model, the radar identification information comprises the radar model, the vehicle communication interface information comprises various pins of OBD, and the cab width information comprises cab width.

In one embodiment, the processor, when executing the computer program, further performs the steps of: determining a target pin for communicating with an ECU of a target vehicle in the searched OBD pin definitions; and communicating the target pin with the ECU, and establishing communication connection with the target vehicle.

In one embodiment, the processor, when executing the computer program, further performs the steps of: searching corresponding axle weight, axle distance and wheel distance in the MES based on the identification information; determining the material and thickness of the aligner based on the searched axle weight; based on the searched wheelbase and wheel base, the length and width of the aligner are determined.

In one embodiment, the processor, when executing the computer program, further performs the steps of: searching the corresponding minimum ground clearance in the MES based on the identification information; the width and depth of each V-roll are designed based on the searched minimum ground clearance and the tire radius.

In one embodiment, the processor, when executing the computer program, further performs the steps of: determining the installation deviation of the camera based on the calibration result of the camera; determining the installation deviation of the radar based on the calibration result of the radar; and compensating in a driving assistance algorithm based on the installation deviation of the camera and the installation deviation of the radar.

The computer device receives the identification information of the target vehicle on the centering device, and can acquire the calibration parameters corresponding to the target vehicle based on the identification information of the target vehicle. The calibration parameters comprise camera radar installation position information, camera identification information, radar identification information, vehicle communication interface information and cab width information. And controlling the centering device to apply a centering force to the target vehicle based on the cab width information so that the target vehicle is opposite to the front side of the calibration bracket, and the target vehicle is located at a known preset position. Based on the camera radar mounting location information, the location of the camera radar on the target vehicle may be determined, plus the target vehicle is located at a known predetermined location, at which point the locations of the camera and radar may be determined. Under the condition, the positions of the camera target and the radar target on the calibration support are adjusted, so that the camera target is opposite to the camera, and the radar target is opposite to the radar. Communication connection can be established with a target vehicle based on the vehicle communication interface information, and then a calibration program of the camera is called based on the camera identification information, so that the camera can be communicated with the target vehicle according to the calibration program of the camera to calibrate the camera; and calling a calibration program of the radar based on the radar identification information, namely communicating with the target vehicle according to the calibration program of the radar to calibrate the radar. In conclusion, the process is completely and automatically completed by computer equipment, the automatic calibration of the driving assistance system is realized, the calibration precision is improved, the calibration time is shortened, the calibration cost is reduced, the method can be applied to various vehicles, the production requirements of automobile enterprises are met, and the development trend of manufacturing intelligent large backgrounds is met.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of: determining a target vehicle type corresponding to cab width information according to the corresponding relation between the cab width and the vehicle type; determining the aligning force corresponding to the type of the target vehicle according to the corresponding relationship between the type of the vehicle and the aligning force; and controlling the centering device to apply a centering force with a determined magnitude to the target vehicle so that the target vehicle is opposite to the front side of the calibration bracket.

In one embodiment, the computer program when executed by the processor further performs the steps of: searching for multiple definitions of corresponding pins from a camera to the axis of a front shaft, the distance from the camera to the symmetrical center plane of the whole vehicle, the Z-direction distance from the camera to a radar, the X-direction distance from the radar to the axis of the front shaft, the distance from the radar to the symmetrical center plane of the whole vehicle, the Z-direction distance from the radar to a lower wing surface of a cross beam, the Z-direction height from the lower wing surface of the cross beam to the axis of the front shaft, a front overhang, a cab width, the camera model, the radar model and an OBD based on identification information in a BOM table of a PDM system; searching the corresponding tire radius in the BOM of the ERP system connected with the PDM system based on the identification information, and transmitting the information searched in the PDM system by using the ERP system; collecting information searched in the PDM system and the ERP system by using an MES (manufacturing execution system) connected with the ERP system to obtain camera radar installation position information, camera identification information, radar identification information, vehicle communication interface information and cab width information of a target vehicle; the camera radar installation position information comprises the X-direction distance from a camera to the axis of a front shaft, the distance from the camera to the symmetrical center plane of the whole vehicle, the Z-direction distance from the camera to a radar, the X-direction distance from the radar to the axis of the front shaft, the distance from the radar to the symmetrical center plane of the whole vehicle, the Z-direction distance from the radar to a lower wing surface of a cross beam, the Z-direction height from a lower wing surface of the cross beam to the axis of the front shaft and multiple types in a front suspension, the camera identification information comprises the camera model, the radar identification information comprises the radar model, the vehicle communication interface information comprises various pins of OBD, and the cab width information comprises cab width.

In one embodiment, the computer program when executed by the processor further performs the steps of: determining a target pin for communicating with an ECU of a target vehicle in the searched OBD pin definitions; and communicating the target pin with the ECU, and establishing communication connection with the target vehicle.

In one embodiment, the computer program when executed by the processor further performs the steps of: searching corresponding axle weight, axle distance and wheel distance in the MES based on the identification information; determining the material and thickness of the aligner based on the searched axle weight; based on the searched wheelbase and wheel base, the length and width of the aligner are determined.

In one embodiment, the computer program when executed by the processor further performs the steps of: searching the corresponding minimum ground clearance in the MES based on the identification information; the width and depth of each V-roll are designed based on the searched minimum ground clearance and the tire radius.

In one embodiment, the computer program when executed by the processor further performs the steps of: determining the installation deviation of the camera based on the calibration result of the camera; determining the installation deviation of the radar based on the calibration result of the radar; and compensating in a driving assistance algorithm based on the installation deviation of the camera and the installation deviation of the radar.

The storage medium receives the identification information of the target vehicle on the centering device, and can acquire the calibration parameters corresponding to the target vehicle based on the identification information of the target vehicle. The calibration parameters comprise camera radar installation position information, camera identification information, radar identification information, vehicle communication interface information and cab width information. And controlling the centering device to apply a centering force to the target vehicle based on the cab width information so that the target vehicle is opposite to the front side of the calibration bracket, and the target vehicle is located at a known preset position. Based on the camera radar mounting location information, the location of the camera radar on the target vehicle may be determined, plus the target vehicle is located at a known predetermined location, at which point the locations of the camera and radar may be determined. Under the condition, the positions of the camera target and the radar target on the calibration support are adjusted, so that the camera target is opposite to the camera, and the radar target is opposite to the radar. Communication connection can be established with a target vehicle based on the vehicle communication interface information, and then a calibration program of the camera is called based on the camera identification information, so that the camera can be communicated with the target vehicle according to the calibration program of the camera to calibrate the camera; and calling a calibration program of the radar based on the radar identification information, namely communicating with the target vehicle according to the calibration program of the radar to calibrate the radar. In conclusion, the process is completely and automatically completed by computer equipment, the automatic calibration of the driving assistance system is realized, the calibration precision is improved, the calibration time is shortened, the calibration cost is reduced, the method can be applied to various vehicles, the production requirements of automobile enterprises are met, and the development trend of manufacturing intelligent large backgrounds is met.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A method for calibrating a driving assistance system, the method comprising:

2. The method of claim 1, wherein said controlling the aligner to apply the aligning force to the target vehicle to align the target vehicle with a front side of a calibration bracket based on the cab width information comprises:

3. The method according to claim 1 or 2, wherein the obtaining calibration parameters of the target vehicle based on the identification information comprises:

4. The method of claim 3, wherein the establishing a communication connection with the target vehicle based on the vehicle communication interface information comprises:

5. The method of claim 3, further comprising:

6. The method of claim 3, wherein the aligner has two V-rollers, and wherein the two front wheels of the subject vehicle are located in different V-rollers when the subject vehicle is right side up on the calibration stand, the method further comprising:

7. The method according to claim 1 or 2, characterized in that the method further comprises:

8. A driving assistance system calibration device, characterized in that the device comprises:

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.