CN114690133A - Vehicle sensor calibration method, device, medium and electronic equipment - Google Patents

Vehicle sensor calibration method, device, medium and electronic equipment Download PDF

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Publication number
CN114690133A
CN114690133A CN202011633534.XA CN202011633534A CN114690133A CN 114690133 A CN114690133 A CN 114690133A CN 202011633534 A CN202011633534 A CN 202011633534A CN 114690133 A CN114690133 A CN 114690133A
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Prior art keywords
parameter
vehicle
height
radar
looking camera
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Inventor
向海波
张铁胜
金大鹏
田俊涛
刘莲芳
赫连晓会
邵华
张金换
杨帅
刘路光
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Beiqi Foton Motor Co Ltd
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Beiqi Foton Motor Co Ltd
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Priority to CN202011633534.XA priority Critical patent/CN114690133A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)

Abstract

The disclosure relates to a vehicle sensor calibration method, a vehicle sensor calibration device, a vehicle sensor calibration medium and electronic equipment, wherein the method comprises the following steps: acquiring a first parameter required for calibrating a vehicle-mounted radar and a second parameter required for calibrating a forward-looking camera, wherein the first parameter comprises a radar mounting height, the second parameter comprises a forward-looking camera mounting height, and the radar mounting height and the forward-looking camera mounting height are both determined according to the height of an upper wing surface of a vehicle frame; the first parameter and the second parameter are sent to an EOL offline flashing server, so that the EOL offline flashing server flashes the first parameter into a vehicle-mounted radar and flashes the second parameter into a forward-looking camera, the vehicle-mounted radar is used for completing calibration of the vehicle-mounted radar when verification of the first parameter passes, and the forward-looking camera is used for completing calibration of the forward-looking camera when verification of the second parameter passes. Therefore, the accuracy of the mounting height of the obtained vehicle-mounted radar and the front-view camera is ensured, and the hardware material number management cost is reduced.

Description

Vehicle sensor calibration method, device, medium and electronic equipment
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a vehicle sensor calibration method, device, medium, and electronic device.
Background
The ADAS (Advanced Driving Assistance System) System sensor includes a vehicle-mounted radar and a forward-looking camera. The types of the commercial vehicles are more, the types of the commercial vehicles of the same type are more, for example, the vehicle width is different, the vehicle height is different, the tire specification is different, the load is different, and the like, so that the mounting parameters of the vehicle-mounted radar and the front-view camera in the commercial vehicle are greatly changed. In the related art, as long as the sensor installation parameters of the vehicle are different, different hardware material numbers are needed to identify the ADAS, so that the hardware material numbers of the ADAS are more, and the ADAS is inconvenient to manage.
In addition, for the commercial vehicle, the mounting height of the foresight camera and the mounting height of the radar cannot be measured by directly adopting an infrared measuring device like a passenger vehicle, the mounting heights of the foresight camera and the vehicle-mounted radar are influenced by parameters such as tires, suspensions, frames, plate springs and the like, and the difference of the commercial vehicles of different vehicle types is large, so that the mounting heights of the foresight camera and the vehicle-mounted radar of the commercial vehicle are difficult to directly obtain or the measuring results are usually not accurate enough, and the calibration accuracy of the foresight camera and the vehicle-mounted radar is not enough.
Disclosure of Invention
The invention aims to provide a vehicle sensor calibration method, a vehicle sensor calibration device, a vehicle sensor calibration medium and electronic equipment, which can ensure the accuracy of the mounting height of an obtained vehicle-mounted radar and a front-view camera and reduce the management cost of hardware material numbers.
In order to achieve the above object, in a first aspect, the present disclosure provides a vehicle sensor calibration method, including:
acquiring a first parameter required for calibrating a vehicle-mounted radar and a second parameter required for calibrating a forward-looking camera, wherein the first parameter comprises a radar mounting height, the second parameter comprises a forward-looking camera mounting height, and the radar mounting height and the forward-looking camera mounting height are both determined according to the height of an upper wing surface of a vehicle frame;
the first parameter and the second parameter are sent to an EOL offline flashing server, so that the EOL offline flashing server flashes the first parameter into the vehicle-mounted radar and flashes the second parameter into the forward-looking camera, the vehicle-mounted radar is used for completing calibration of the vehicle-mounted radar under the condition that the first parameter passes verification, and the forward-looking camera is used for completing calibration of the forward-looking camera under the condition that the second parameter passes verification.
Optionally, the radar mounting height is determined according to the height of the upper wing surface of the vehicle frame, the front anti-collision mounting point, the distance between the radar measuring point and the front anti-collision mounting point.
Optionally, the forward-looking camera mounting height is determined according to the height of the upper wing surface of the vehicle frame, the center point of a front axle and the distance between the forward-looking camera and the center point of the front axle.
Optionally, the frame upper airfoil height is determined by:
acquiring a part bill of materials of the vehicle, wherein the part bill of materials comprises model information of parts of the vehicle;
according to the part bill of materials, acquiring a third parameter for determining the height of the upper airfoil surface of the frame from a part parameter database in a data server, wherein the third parameter comprises the number of plate spring pieces, the thickness of the plate spring and the thickness of a plate spring base plate;
and determining the height of the upper wing surface of the frame according to the third parameter.
Optionally, the first parameter further includes: the longitudinal distance between the radar mounting position and the front axle and the transverse distance between the radar mounting position and the central axis of the vehicle;
the second parameter further includes: the distance between the mounting position of the front-view camera and the front axle and the transverse distance between the mounting position of the front-view camera and the middle axle of the vehicle;
and, the first parameter and the second parameter each further include: wheel base, width of the outer side of a front wheel, front overhang, steering transmission ratio of a steering wheel, vehicle body mass under no-load condition, vehicle body mass under full-load condition, transmission ratio of a gearbox, final reduction ratio, wheel reduction ratio, effective radius of a tire under no-load condition, and effective radius of the tire under full-load condition.
Optionally, the parameters of the first parameters except the radar installation height and the parameters of the second parameters except the front-view camera installation height are obtained from a vehicle function configuration information database in a data server and/or a corresponding relationship between vehicle component configuration information and vehicle parameters.
In a second aspect, the present disclosure provides a vehicle sensor mounting apparatus, the apparatus comprising:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a first parameter required for calibrating a vehicle-mounted radar and a second parameter required for calibrating a forward-looking camera, the first parameter comprises a radar mounting height, the second parameter comprises a forward-looking camera mounting height, and the radar mounting height and the forward-looking camera mounting height are both determined according to the height of an upper airfoil surface of a vehicle frame;
the sending module is used for sending the first parameter and the second parameter to an EOL offline flashing server so as to enable the EOL offline flashing server to flash the first parameter into the vehicle-mounted radar and flash the second parameter into the forward-looking camera, the vehicle-mounted radar is used for completing calibration of the vehicle-mounted radar under the condition that the first parameter passes verification, and the forward-looking camera is used for completing calibration of the forward-looking camera under the condition that the second parameter passes verification.
Optionally, the radar mounting height is determined according to the height of the upper wing surface of the vehicle frame, the front anti-collision mounting point, the distance between the radar measuring point and the front anti-collision mounting point.
Optionally, the forward-looking camera mounting height is determined according to the height of the upper wing surface of the vehicle frame, the center point of a front axle and the distance between the forward-looking camera and the center point of the front axle.
Optionally, the frame upper airfoil height is determined by:
the second acquisition module is used for acquiring a part bill of materials of the vehicle, and the part bill of materials comprises model information of parts of the vehicle;
a third obtaining module, configured to obtain a third parameter for determining the height of the upper airfoil of the frame from a component parameter database in a data server according to the component bill of materials, where the third parameter includes the number of leaf springs, the thickness of the leaf springs, and the thickness of a leaf spring base plate;
and the determining module is used for determining the height of the upper airfoil surface of the frame according to the third parameter.
Optionally, the first parameter further includes: the longitudinal distance between the radar mounting position and the front axle and the transverse distance between the radar mounting position and the central axis of the vehicle;
the second parameter further includes: the distance between the mounting position of the front-view camera and the front axle and the transverse distance between the mounting position of the front-view camera and the middle axle of the vehicle;
and, the first parameter and the second parameter each further include: wheel base, width of the outer side of a front wheel, front overhang, steering transmission ratio of a steering wheel, vehicle body mass under no-load condition, vehicle body mass under full-load condition, transmission ratio of a gearbox, final reduction ratio, wheel reduction ratio, effective radius of a tire under no-load condition, and effective radius of the tire under full-load condition.
Optionally, the parameters of the first parameters except for the radar installation height and the parameters of the second parameters except for the forward-looking camera installation height are obtained from a vehicle-finishing function configuration information database in a data server and/or a corresponding relationship between vehicle component configuration information and vehicle parameters.
In a third aspect, the present disclosure provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method provided by the first aspect of the present disclosure.
In a fourth aspect, the present disclosure provides an electronic device comprising: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the method provided by the first aspect of the present disclosure.
Through the technical scheme, the radar mounting height and the front-view camera mounting height can be accurately determined according to the height of the upper wing surface of the vehicle frame, so that the problem that the radar mounting height and the front-view camera mounting height are not easy to obtain is solved, the accuracy of the obtained radar mounting height and the front-view camera mounting height is ensured, and errors generated by manual measurement results are avoided. And a first parameter required for calibrating the vehicle-mounted radar and a second parameter required for calibrating the forward-looking camera can be sent to the EOL offline flashing server, and the EOL offline flashing server can flash the first parameter into the vehicle-mounted radar and flash the second parameter into the forward-looking camera. Therefore, the advanced driving assistance system can be identified by using the same hardware material number in advance, actual installation parameters of the sensor are written into the sensor through the EOL offline writing server, and the hardware material number management cost is greatly reduced.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method for vehicle sensor calibration, according to an exemplary embodiment.
Fig. 2 is a flow chart illustrating verification of a first parameter by a vehicle radar according to an exemplary embodiment.
FIG. 3 is a flow diagram illustrating a front-looking camera validating a second parameter in accordance with an exemplary embodiment.
FIG. 4 is a block diagram illustrating a vehicle sensor mounting arrangement according to an exemplary embodiment.
FIG. 5 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
FIG. 1 is a flow chart illustrating a method for vehicle sensor calibration according to an exemplary embodiment, which may be applied to an electronic device with processing capability, such as a terminal or a server. It should be noted that, in the following description, the vehicle sensor calibration method is explained by taking the application of the vehicle sensor calibration method to the sensor calibration server as an example, but the present disclosure is not limited to the embodiments of the present disclosure, and the present disclosure does not specifically limit the execution subject of the method. As shown in fig. 1, the method may include S101 and S102.
In S101, a first parameter required for calibrating the vehicle-mounted radar and a second parameter required for calibrating the forward-looking camera are acquired.
The first parameter comprises radar mounting height, the second parameter comprises forward-looking camera mounting height, and the radar mounting height and the forward-looking camera mounting height are determined according to the height of an upper wing surface of a vehicle frame of a vehicle.
In the present disclosure, the vehicle may be a commercial vehicle, such as a passenger car or a truck. The vehicle-mounted radar may be a millimeter wave radar, an electromagnetic wave radar, or the like. In order to solve the problem, the inventor finds through a large amount of researches that the radar mounting height and the front-view camera mounting height are both related to the wing surface height on the frame of the vehicle, and in order to obtain the accurate radar mounting height and the front-view camera mounting height, in the disclosure, the sensor calibration server can firstly determine the wing surface height on the frame of the vehicle, and then determines the radar mounting height and the front-view camera mounting height according to the wing surface height on the frame.
Wherein the radar mounting height can be determined according to the height of the upper wing surface of the frame, the distance between the front anti-collision mounting point, the radar measuring point and the front anti-collision mounting point, and the radar mounting height can be determined by the following formula:
the radar mounting height is the distance between the upper wing surface height of the frame, the front anti-collision mounting point, the radar measuring point and the front anti-collision mounting point
The mounting height of the front-looking camera can be determined according to the height of an upper wing surface of the vehicle frame, the center point of a front shaft and the distance between the front-looking camera and the center point of the front shaft, and can be determined by the following formula:
the mounting height of the front-looking camera is equal to the height of an upper wing surface of the frame, the center point of the front shaft and the distance between the front-looking camera and the center point of the front shaft
Therefore, the sensor calibration server can accurately determine the radar mounting height and the front-view camera mounting height of the vehicle according to the height of the upper wing surface of the vehicle frame, so that the problem that the radar mounting height and the front-view camera mounting height are not easy to obtain is solved, the accuracy of the obtained radar mounting height and the front-view camera mounting height is ensured, and errors generated by manual measurement results are avoided.
In S102, the first parameter and the second parameter are sent to the EOL offline flash server, so that the EOL offline flash server writes the first parameter into the vehicle-mounted radar and writes the second parameter into the forward-looking camera, the vehicle-mounted radar can be used for completing calibration of the vehicle-mounted radar when verification of the first parameter passes, and the forward-looking camera is used for completing calibration of the forward-looking camera when verification of the second parameter passes.
The sensor calibration server can send a first parameter required for calibrating the vehicle-mounted radar and a second parameter required for calibrating the forward-looking camera to an EOL (end of line) offline writing server. The EOL is a general name of a vehicle offline production operation process, and the EOL offline flashing server can be used for adjusting or flashing the data in the whole vehicle of a production line terminal.
The EOL offline flashing server can flash the first parameters into the vehicle-mounted radar and flash the second parameters into the forward-looking camera. Therefore, the installation parameters of the vehicle-mounted radar and the front-view camera do not need to be stored in advance in the ADAS system, or the installation parameters can be stored as preset fixed installation parameters in advance, so that the problem that the number of hardware materials of the ADAS system is more due to the fact that the installation parameters of different vehicle sensors are different is solved, the ADAS system can be identified by using the same hardware material number in advance, the actual installation parameters of the sensors are written into the sensors through the EOL offline writing server, and the management cost of the hardware material numbers is greatly reduced.
After the EOL offline flashing server flashes the first parameter required by the vehicle-mounted radar to the vehicle-mounted radar, the vehicle-mounted radar can be used for verifying the first parameter and completing the calibration of the vehicle-mounted radar under the condition that the verification is passed. The vehicle radar can verify according to the radar target parameters. Fig. 2 is a flow chart illustrating verification of a first parameter by a vehicle radar according to an exemplary embodiment. As shown in fig. 2, nrc (no Response code) indicates a negative Response code, dtc (diagnostic reliable code) indicates a fault diagnosis code, and the radar calibration trace information indicates history information of the vehicle radar calibration, which may include information about whether the vehicle radar has been calibrated before. It should be noted that the process shown in fig. 2 is only exemplary, and for example, the waiting time and the like therein are all exemplary embodiments and do not constitute a limitation to the embodiments of the present disclosure.
After the EOL offline flashing server flashes a second parameter required for calibrating the forward-looking camera to the forward-looking camera, the forward-looking camera can be used for verifying the second parameter, and calibration of the forward-looking camera is completed under the condition that verification is passed. The forward looking camera can be verified according to camera target parameters. FIG. 3 is a flow diagram illustrating a front-looking camera validating a second parameter in accordance with an exemplary embodiment. As shown in fig. 3, the camera calibration trace information represents history information of the forward looking camera calibration, and may include information about whether the forward looking camera has been calibrated before. The process illustrated in fig. 3 is also merely exemplary and is not to be construed as limiting the embodiments of the present disclosure.
Through the technical scheme, the radar mounting height and the front-view camera mounting height can be accurately determined according to the height of the upper wing surface of the vehicle frame, so that the problem that the radar mounting height and the front-view camera mounting height are not easy to obtain is solved, the accuracy of the obtained radar mounting height and the front-view camera mounting height is ensured, and errors generated by manual measurement results are avoided. And a first parameter required for calibrating the vehicle-mounted radar and a second parameter required for calibrating the forward-looking camera can be sent to the EOL offline flash server, and the EOL offline flash server can flash the first parameter into the vehicle-mounted radar and flash the second parameter into the forward-looking camera. Therefore, the advanced driving assistance system can be identified by using the same hardware material number in advance, actual installation parameters of the sensor are written into the sensor through the EOL offline writing server, and the hardware material number management cost is greatly reduced.
Alternatively, the sensor calibration server may determine the height of the upper airfoil of the vehicle frame by:
firstly, a sensor calibration server obtains a part bill of materials of a vehicle, wherein the part bill of materials comprises model information of parts of the vehicle. For example, model information of a steering wheel, model information of a transmission case, plate spring model information, and the like. And then, the sensor calibration server acquires a third parameter for determining the height of the upper airfoil of the frame from a part parameter database in the data server according to the part bill of materials, and then determines the height of the upper airfoil of the frame according to the third parameter.
The data server may be provided with a component parameter database, and the component parameter database may include a correspondence between component model information and component parameters, for example, according to model information of a steering wheel, a steering transmission ratio of the steering wheel may be determined from the component parameter database, and a leaf spring thickness may be determined according to leaf spring model information.
For example, the third parameters for determining the upper airfoil height of the vehicle frame may include the number of leaf spring pieces, the thickness of the leaf spring shim plate, and may also include the leaf spring free camber, the leaf spring clamping stiffness, the vehicle frame height, and the like. In one embodiment, the frame upper airfoil height may be determined by the following equation:
Figure BDA0002880640660000091
where H represents the upper airfoil height of the vehicle frame, H1 represents the free camber height of the leaf spring, m1 represents the service mass, a represents the front axle distribution coefficient, b represents the number of tires, m2 represents the tire mass, m3 represents the front axle weight, c represents the number of front axles, d represents the number of leaf springs, m4 represents the leaf spring mass, g represents the gravitational acceleration, e represents the single leaf spring tightening stiffness, f represents the number of front axles, i represents the number of leaf spring pieces, j represents the leaf spring thickness, k represents the leaf spring bolster thickness, m represents the front axle drop, n represents the tire rolling radius, and H2 represents the vehicle frame height.
In the disclosure, the first parameter required for calibrating the vehicle-mounted radar may further include a longitudinal distance from a radar mounting position to a front axle and a transverse distance from the radar mounting position to a central axis of the vehicle, in addition to the radar mounting height. The longitudinal distance between the radar installation position and the front axle can be used for predicting the running track of the vehicle during turning, and the transverse distance between the radar installation position and the central axis of the vehicle can be used for predicting the running track of the vehicle.
The second parameter for calibrating the front-view camera can also comprise the distance between the mounting position of the front-view camera and the front axle and the transverse distance between the mounting position of the front-view camera and the middle axle of the vehicle besides the mounting height of the front-view camera. The distance between the mounting position of the front-view camera and the front axle can be used for predicting the driving track of the vehicle during turning, and the transverse distance between the mounting position of the front-view camera and the middle axle of the vehicle can be used for predicting the driving track of the vehicle.
In addition, the first parameter and the second parameter may each further include: wheel base, width of the outer side of a front wheel, front overhang, steering transmission ratio of a steering wheel, vehicle body mass under no-load condition, vehicle body mass under full-load condition, transmission ratio of a gearbox, final reduction ratio, wheel reduction ratio, effective radius of a tire under no-load condition, and effective radius of the tire under full-load condition.
The wheel base can be used for establishing a track model of the vehicle and determining the center position of the vehicle and the width of a vehicle wide boundary; the width of the outer side of the front wheel can be used for calculating the range of the outer edge of the wheel offset lane; the front suspension can be used for predicting the running track of the vehicle when turning; the Steering wheel Steering transmission ratio can be used for ensuring the accuracy of the ADAS system in controlling EPS (Electronic Power Steering); and the vehicle body mass under the no-load condition and the vehicle body mass under the full-load condition, the transmission ratio of the gearbox, the main reduction ratio, the wheel reduction ratio, the effective radius of the tire under the no-load condition and the effective radius of the tire under the full-load condition are all used for acceleration and torque conversion calculation.
The parameters except the radar installation height in the first parameters and the parameters except the front-view camera installation height in the second parameters can be obtained by the sensor calibration server from a whole vehicle function configuration information database in the data server and/or the corresponding relation between the whole vehicle part configuration information and the vehicle parameters.
The radar mounting height and the front-view camera mounting height need to be determined by the sensor calibration server according to the height of the upper wing surface of the frame, and the sensor calibration server can acquire other parameters except the radar mounting height and the front-view camera mounting height from the database server. For example, the sensor calibration server may also first obtain a part bill of materials of the vehicle, and obtain the vehicle-related parameters from the database server according to the model information of the part. If the database server is provided with a vehicle function configuration information database of the vehicle, other parameters except the radar mounting height and the front-view camera mounting height can be obtained from the database. If the database server is provided with the corresponding relation between the configuration information of the parts of the whole vehicle and the parameters of the vehicle, the parameters except the radar mounting height and the mounting height of the front-view camera can be obtained from the corresponding relation. If the database server is provided with a database of vehicle function configuration information of the vehicle and a corresponding relationship between configuration information of vehicle components and vehicle parameters, a part of the parameters can be obtained from the database, such as wheel base and outer width of front wheels, and another part of the parameters can be obtained from the corresponding relationship, such as steering gear ratio of a steering wheel and transmission ratio of a gearbox related to the components.
By the technical scheme, the mounting height of the radar and the mounting height of the front-view camera can be accurately determined according to the height of the upper wing surface of the vehicle frame, the accuracy of the obtained mounting height of the radar and the mounting height of the front-view camera is ensured, and errors generated by manual measurement results are avoided. And the relevant parameters of the vehicle are obtained from the data server, so that errors caused by manual operation are reduced, and the accuracy of the obtained parameters is ensured.
Based on the same inventive concept, the present disclosure also provides a vehicle sensor mounting apparatus, and fig. 4 is a block diagram illustrating a vehicle sensor mounting apparatus according to an exemplary embodiment, and as shown in fig. 4, the apparatus 400 may include:
a first obtaining module 401, configured to obtain a first parameter required for calibrating a vehicle-mounted radar and a second parameter required for calibrating a forward-looking camera, where the first parameter includes a radar mounting height, the second parameter includes a forward-looking camera mounting height, and the radar mounting height and the forward-looking camera mounting height are both determined according to an upper airfoil surface of a frame of a vehicle;
a sending module 402, configured to send the first parameter and the second parameter to an EOL offline flash server, so that the EOL offline flash server flashes the first parameter into the vehicle-mounted radar and flashes the second parameter into the forward-looking camera, where the vehicle-mounted radar is configured to complete calibration of the vehicle-mounted radar when verification of the first parameter passes, and the forward-looking camera is configured to complete calibration of the forward-looking camera when verification of the second parameter passes.
Through the technical scheme, the radar mounting height and the front-view camera mounting height can be accurately determined according to the height of the upper wing surface of the vehicle frame, so that the problem that the radar mounting height and the front-view camera mounting height are not easy to obtain is solved, the accuracy of the obtained radar mounting height and the front-view camera mounting height is ensured, and errors generated by manual measurement results are avoided. And a first parameter required for calibrating the vehicle-mounted radar and a second parameter required for calibrating the forward-looking camera can be sent to the EOL offline flashing server, and the EOL offline flashing server can flash the first parameter into the vehicle-mounted radar and flash the second parameter into the forward-looking camera. Therefore, the advanced driving assistance system can be identified by using the same hardware material number in advance, actual installation parameters of the sensor are written into the sensor through the EOL offline writing server, and the hardware material number management cost is greatly reduced.
Optionally, the radar mounting height is determined according to the height of the upper wing surface of the vehicle frame, the front anti-collision mounting point, the distance between the radar measuring point and the front anti-collision mounting point.
Optionally, the forward-looking camera mounting height is determined according to the height of the upper wing surface of the vehicle frame, the center point of a front axle and the distance between the forward-looking camera and the center point of the front axle.
Optionally, the frame upper airfoil height is determined by:
the second acquisition module is used for acquiring a part bill of materials of the vehicle, and the part bill of materials comprises model information of parts of the vehicle;
a third obtaining module, configured to obtain a third parameter for determining the height of the upper airfoil of the frame from a component parameter database in a data server according to the component bill of materials, where the third parameter includes the number of leaf springs, the thickness of the leaf springs, and the thickness of a leaf spring base plate;
and the determining module is used for determining the height of the upper airfoil surface of the frame according to the third parameter.
Optionally, the first parameter further includes: the longitudinal distance between the radar mounting position and the front axle and the transverse distance between the radar mounting position and the central axis of the vehicle;
the second parameter further includes: the distance between the mounting position of the front-view camera and the front axle and the transverse distance between the mounting position of the front-view camera and the middle axle of the vehicle;
and, the first parameter and the second parameter each further include: wheel base, width of the outer side of a front wheel, front overhang, steering transmission ratio of a steering wheel, vehicle body mass under no-load condition, vehicle body mass under full-load condition, transmission ratio of a gearbox, final reduction ratio, wheel reduction ratio, effective radius of a tire under no-load condition, and effective radius of the tire under full-load condition.
Optionally, the parameters of the first parameters except for the radar installation height and the parameters of the second parameters except for the forward-looking camera installation height are obtained from a vehicle-finishing function configuration information database in a data server and/or a corresponding relationship between vehicle component configuration information and vehicle parameters.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 5 is a block diagram illustrating an electronic device 1900 according to an example embodiment. For example, the electronic device 1900 may be provided as a server. Referring to fig. 5, an electronic device 1900 includes a processor 1922, which may be one or more in number, and a memory 1932 for storing computer programs executable by the processor 1922. The computer program stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processor 1922 may be configured to execute the computer program to perform the vehicle sensor calibration method described above.
In addition, electronic device 1900 may also include a power component 1926 and a communication component 1950, the power supplyThe component 1926 may be configured to perform power management of the electronic device 1900, and the communication component 1950 may be configured to enable communication of the electronic device 1900, e.g., wired or wireless communication. In addition, the electronic device 1900 may also include input/output (I/O) interfaces 1958. The electronic device 1900 may operate based on an operating system, such as Windows Server, stored in memory 1932TM，Mac OS XTM，UnixTM，LinuxTMAnd so on.
In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the vehicle sensor calibration method described above is also provided. For example, the computer readable storage medium may be the memory 1932 described above that includes program instructions executable by the processor 1922 of the electronic device 1900 to perform the vehicle sensor calibration method described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the vehicle sensor calibration method described above when executed by the programmable apparatus.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (10)

1. A vehicle sensor calibration method, the method comprising:
acquiring a first parameter required for calibrating a vehicle-mounted radar and a second parameter required for calibrating a forward-looking camera, wherein the first parameter comprises a radar mounting height, the second parameter comprises a forward-looking camera mounting height, and the radar mounting height and the forward-looking camera mounting height are both determined according to the height of an upper wing surface of a vehicle frame;
the first parameter and the second parameter are sent to an EOL offline flashing server, so that the EOL offline flashing server flashes the first parameter into the vehicle-mounted radar and flashes the second parameter into the forward-looking camera, the vehicle-mounted radar is used for completing calibration of the vehicle-mounted radar under the condition that the first parameter passes verification, and the forward-looking camera is used for completing calibration of the forward-looking camera under the condition that the second parameter passes verification.
2. The method of claim 1, wherein the radar mounting height is determined based on a height of an upper airfoil surface of the frame, a front collision avoidance mounting point, a distance between a radar measurement point and the front collision avoidance mounting point.
3. The method of claim 1, wherein the forward looking camera mounting height is determined based on the carriage upper airfoil height, a forward axle center point, and a distance between the forward looking camera and the forward axle center point.
4. A method according to any one of claims 1-3, wherein the frame upper airfoil height is determined by:
acquiring a part bill of materials of the vehicle, wherein the part bill of materials comprises model information of parts of the vehicle;
according to the part bill of materials, acquiring a third parameter for determining the height of the upper airfoil surface of the frame from a part parameter database in a data server, wherein the third parameter comprises the number of plate spring pieces, the thickness of the plate spring and the thickness of a plate spring base plate;
and determining the height of the upper wing surface of the frame according to the third parameter.
5. The method of claim 1, wherein the first parameter further comprises: the longitudinal distance between the radar mounting position and the front axle and the transverse distance between the radar mounting position and the central axis of the vehicle;
the second parameter further includes: the distance between the mounting position of the front-view camera and the front axle and the transverse distance between the mounting position of the front-view camera and the middle axle of the vehicle;
and, the first parameter and the second parameter each further include: wheel base, width of the outer side of a front wheel, front overhang, steering transmission ratio of a steering wheel, vehicle body mass under no-load condition, vehicle body mass under full-load condition, transmission ratio of a gearbox, final reduction ratio, wheel reduction ratio, effective radius of a tire under no-load condition, and effective radius of the tire under full-load condition.
6. The method according to claim 5, wherein the parameters of the first parameters except the radar installation height and the parameters of the second parameters except the forward-looking camera installation height are obtained from a vehicle-finishing function configuration information database and/or a corresponding relationship between vehicle part configuration information and vehicle parameters in a data server.
7. A vehicle sensor calibration apparatus, said apparatus comprising:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a first parameter required for calibrating a vehicle-mounted radar and a second parameter required for calibrating a forward-looking camera, the first parameter comprises a radar mounting height, the second parameter comprises a forward-looking camera mounting height, and the radar mounting height and the forward-looking camera mounting height are both determined according to the height of an upper airfoil surface of a vehicle frame of a vehicle;
the sending module is used for sending the first parameter and the second parameter to an EOL offline flashing server so as to enable the EOL offline flashing server to flash the first parameter into the vehicle-mounted radar and flash the second parameter into the forward-looking camera, the vehicle-mounted radar is used for completing calibration of the vehicle-mounted radar under the condition that the first parameter passes verification, and the forward-looking camera is used for completing calibration of the forward-looking camera under the condition that the second parameter passes verification.
8. The apparatus of claim 7, wherein the frame upper airfoil height is determined by:
the second acquisition module is used for acquiring a part bill of materials of the vehicle, and the part bill of materials comprises model information of parts of the vehicle;
a third obtaining module, configured to obtain a third parameter for determining the height of the upper airfoil of the frame from a component parameter database in a data server according to the component bill of materials, where the third parameter includes the number of leaf springs, the thickness of the leaf springs, and the thickness of a leaf spring base plate;
and the determining module is used for determining the height of the airfoil surface on the vehicle frame according to the third parameter.
9. 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 according to any one of claims 1 to 6.
10. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 6.
CN202011633534.XA 2020-12-31 2020-12-31 Vehicle sensor calibration method, device, medium and electronic equipment Pending CN114690133A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011633534.XA CN114690133A (en) 2020-12-31 2020-12-31 Vehicle sensor calibration method, device, medium and electronic equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011633534.XA CN114690133A (en) 2020-12-31 2020-12-31 Vehicle sensor calibration method, device, medium and electronic equipment

Publications (1)

Publication Number Publication Date
CN114690133A true CN114690133A (en) 2022-07-01

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011633534.XA Pending CN114690133A (en) 2020-12-31 2020-12-31 Vehicle sensor calibration method, device, medium and electronic equipment

Country Status (1)

Country Link
CN (1) CN114690133A (en)

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