CN116560339B - Remote ADAS calibration method and system - Google Patents
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Abstract
The invention relates to the technical field of automobile diagnosis, in particular to a remote ADAS calibration method and a remote ADAS calibration system, comprising the following steps that S1, a central control module sequentially determines whether the operation parameters of each ranging sensor of a single vehicle accord with preset standards; step S2, judging whether to calibrate the sensor to be tested according to the obtained sensor evaluation value to be tested; step S3, the central control module determines whether the detection period of the vehicle is regulated or the sensor to be regulated is replaced according to the calibration times of the sensor to be regulated of the single vehicle in the historical data; step S4, judging whether the detection period is secondarily adjusted; and S5, determining whether to replace the corresponding parts of the vehicle, and effectively improving the ADAS calibration efficiency.
Description
Technical Field
The invention relates to the technical field of automobile diagnosis, in particular to a remote ADAS calibration method and system.
Background
An ADAS (advanced driving assistance system) is an active safety technique that uses various sensors mounted on a vehicle to collect environmental data inside and outside the vehicle at a first time and perform technical processes such as identification, detection and tracking of static and dynamic objects, so that a driver can perceive a possible danger at the fastest time to draw attention and improve safety.
Chinese patent publication No.: CN113448321B discloses a remote ADAS calibration method, device and computer equipment, which performs ADAS calibration by establishing remote connection with a user terminal and through a diagnostic device at the remote terminal; it follows that the prior art has the following problems: the comparison of the ranging sensor arranged in the area to be detected and the vehicle sensor arranged on the vehicle is not considered, so that whether the running conditions of a plurality of vehicle sensors arranged on the vehicle meet preset standards or not is primarily judged, and the efficiency of ADAS calibration is affected.
Disclosure of Invention
Therefore, the invention provides a remote ADAS calibration method and system, which are used for solving the problem that in the prior art, the comparison between a ranging sensor arranged in a to-be-detected area and a vehicle sensor arranged on a vehicle is not considered so as to preliminarily judge whether the running conditions of a plurality of vehicle sensors arranged on the vehicle accord with preset standards, and the ADAS calibration efficiency is affected.
To achieve the above object, the present invention provides a remote ADAS calibration method, including:
step S1, a central control module sequentially compares the distance measured by each vehicle ranging sensor arranged at the corresponding position of the vehicle with the distance measured by each fixed ranging sensor arranged at the corresponding position of the detection zone to sequentially determine whether the running condition of each ranging sensor of the vehicle meets a preset standard;
Step S2, when the central control module preliminarily judges that the operation parameters of a single vehicle ranging sensor in a vehicle do not meet preset standards, marking the vehicle ranging sensor as a sensor to be tested, calculating evaluation values of the sensor to be tested according to the distances measured by each vehicle ranging sensor and each fixed ranging sensor in the process that the vehicle runs along a preset path for a preset distance, and judging whether to calibrate the sensor to be tested according to the obtained evaluation values of the sensor to be tested by the central control module;
step S3, when the central control module judges that the running condition of a single vehicle ranging sensor does not meet the preset standard, marking the vehicle ranging sensor as a sensor to be adjusted, and determining whether the detection period of the vehicle is adjusted or the sensor to be adjusted is replaced according to the proportion of the calibration times of the sensor to be adjusted in the historical data of the vehicle to the total calibration times of all calibration parts of the vehicle in the historical data by the central control module;
step S4, when the central control module judges that the running conditions of all the ranging sensors arranged on the vehicle meet the preset standard, calculating an ADAS evaluation value according to the main vision detector arranged at the center position of the front windshield of the vehicle, the fixed vision detector arranged in the detection area, the vehicle ranging sensors and the corresponding parameters acquired by the fixed ranging sensors, and judging whether to secondarily adjust the detection period according to the obtained ADAS evaluation value;
And S5, after finishing the adjustment of the detection period, the central control module compares the adjusted detection period with a preset detection period to determine whether to replace the corresponding part of the vehicle.
Further, in the step S1, the central control module sequentially calculates an absolute value of a difference between a distance measured by a vehicle ranging sensor disposed at a corresponding position of the vehicle and a distance measured by a fixed ranging sensor disposed at a corresponding position of the detection area, and for an absolute value of a single difference, the central control module marks the absolute value as a distance difference, and the central control module determines whether the running condition of each vehicle ranging sensor meets a vehicle ranging sensor determination mode of a preset standard according to each obtained distance difference, wherein:
the first vehicle ranging sensor judging mode is that the central control module judges that the running condition of the vehicle ranging sensor accords with a preset standard, and the running parameters of the vehicle ranging sensor are not calibrated; the first vehicle ranging sensor judging mode meets the condition that the obtained distance difference value is smaller than or equal to a first preset distance difference value;
the second vehicle ranging sensor judging mode is that the central control module preliminarily judges that the running condition of the vehicle ranging sensor does not accord with a preset standard, the central control module marks the vehicle ranging sensor as a sensor to be measured, and calculates the evaluation value of the sensor to be measured according to the distances measured by each vehicle ranging sensor and the fixed sensor; the second vehicle ranging sensor judging mode meets the condition that the obtained distance difference value is smaller than or equal to a second preset distance difference value and larger than the first preset distance difference value, and the first preset distance difference value is smaller than the second preset distance difference value;
The third vehicle ranging sensor judging mode is that the central control module judges that the running condition of the vehicle ranging sensor does not accord with a preset standard, the central control module marks the vehicle ranging sensor as a sensor to be regulated, and the vehicle calibration adjusting mode is determined according to the proportion of the calibration times of the sensor to be regulated in the historical data of the vehicle to the total calibration times of all calibration parts of the vehicle in the historical data; the third vehicle ranging sensor judging mode meets the condition that the obtained distance difference value is larger than the second preset distance difference value.
Further, the central control module calculates the evaluation value P of the sensor to be measured according to the distance measured by each vehicle ranging sensor and each fixed ranging sensor in the process that the vehicle runs along the preset path for the preset distance in the second vehicle ranging sensor judging mode, and setsWherein L is mc For the measured distance L of the sensor to be measured mr For the measured distance L of the fixed sensor corresponding to the sensor to be measured rc L is the distance measured by a vehicle ranging sensor horizontally arranged with the sensor to be measured rr For the distance measured by the fixed ranging sensor corresponding to the vehicle ranging sensor.
Further, the central control module determines whether the running condition of the single sensor to be detected meets a secondary judgment mode of a preset standard according to the obtained sensor evaluation value to be detected under a first preset condition, wherein:
The first secondary judgment mode is that the central control module judges that the running condition of the sensor to be detected meets a preset standard and does not calibrate the sensor to be detected; the first secondary judgment mode meets the condition that the obtained evaluation value of the sensor to be detected is smaller than or equal to a preset evaluation value;
the second secondary judgment mode is that the central control module judges that the running condition of the sensor to be detected does not accord with a preset standard, and the sensor to be detected is calibrated; the second judging mode meets the condition that the obtained evaluation value of the sensor to be detected is larger than the preset evaluation value;
the first preset condition is that the central control module obtains an evaluation value of a sensor to be measured in the second vehicle ranging sensor judging mode.
Further, the central control module calculates the specific gravity of the acquired calibration times of a single sensor to be adjusted of the vehicle in the historical data in the third vehicle ranging sensor judging mode, which is the total calibration times of all calibration components of the vehicle in the historical data, and marks the specific gravity as the calibration specific gravity, and the central control module determines the calibration adjusting mode of the vehicle according to the acquired calibration specific gravity, wherein:
the first calibration and adjustment mode is that the central control module calibrates the sensor to be adjusted; the first calibration adjustment mode meets the requirement that the calibration specific gravity is smaller than or equal to a first preset calibration specific gravity;
The second calibration adjustment mode is that the central control module adjusts the detection period of the vehicle to a corresponding value according to the difference value between the second preset calibration specific gravity and the acquired calibration specific gravity, and calibrates the sensor to be adjusted; the second calibration regulation mode meets the conditions that the calibration specific gravity is smaller than or equal to a second preset calibration specific gravity and larger than the first preset calibration specific gravity, and the first preset calibration specific gravity is smaller than the second preset calibration specific gravity;
the third calibration and adjustment mode is that the central control module judges that the sensor to be adjusted has faults and controls the alarm module to send alarm information aiming at the faults of the sensor to be adjusted; the third calibration adjustment mode satisfies that the calibration specific gravity is greater than the second preset calibration specific gravity;
the historical data of the vehicle comprises vehicle codes, historical detection results, historical calibrated components and the calibration times of the components of the vehicle; the historically calibrated components include each vehicle ranging sensor, a primary vision detector, a secondary vision detector.
Further, the central control module calculates a difference between a second preset calibration specific gravity and the acquired calibration specific gravity in the second calibration adjustment mode, and marks the difference as a specific gravity difference, and the central control module determines a period adjustment mode of a detection period of the vehicle according to the obtained specific gravity difference, wherein:
The first period adjustment mode is that the central control module adjusts the detection period of the vehicle to a corresponding value by using a first preset period adjustment coefficient; the first period adjustment mode meets the condition that the specific gravity difference value is smaller than or equal to a first preset specific gravity difference value;
the second period adjustment mode is that the central control module adjusts the detection period of the vehicle to a corresponding value by using a second preset period adjustment coefficient; the second period adjustment mode meets the condition that the specific gravity difference is smaller than or equal to a second preset specific gravity difference and larger than the first preset specific gravity difference, and the first preset specific gravity difference is smaller than the second preset specific gravity difference;
the third period adjustment mode is that the central control module adjusts the detection period of the vehicle to a corresponding value by using a third preset period adjustment coefficient; the third periodic adjustment mode satisfies that the specific gravity difference is greater than the second preset specific gravity difference.
Further, the central control module calculates an evaluation value F of the ADAS according to the corresponding parameters acquired by the main vision detector arranged at the center position of the front windshield of the vehicle, the fixed vision detector arranged in the detection area, the vehicle ranging sensor and the fixed ranging sensor under a second preset condition, and sets Wherein X is a vertical distance from a preset point of a detection area acquired by the fixed vision detector to a central line of image information acquired by the main vision detector, mi is a difference value between a distance measured by an ith vehicle ranging sensor and a distance measured by a corresponding fixed sensor, i=1, 2, … … n, n is a total number of vehicle ranging sensors arranged on the vehicle, α is a first preset evaluation coefficient, and α=0.7 cm is set -1 Beta is a second preset evaluation coefficient, and beta=0.3 cm is set -1 ；
The second preset condition is that the central control module judges that the running conditions of all the ranging sensors arranged on the vehicle meet preset standards.
Further, the central control module determines whether the running state of the vehicle meets a vehicle judgment mode of a preset standard according to the obtained evaluation value of the ADAS system under the second preset condition, wherein:
the first vehicle judging mode is that the central control module judges that the running state of the vehicle meets a preset standard and does not calibrate the running parameters of the vehicle; the first vehicle judging mode meets the condition that the evaluation value of the ADAS system is smaller than or equal to a first preset evaluation value;
the second vehicle judging mode is that the central control module judges that the running state of the vehicle does not accord with a preset standard, and the ADAS system is calibrated according to the fault code acquired by the central control module; the second vehicle judgment mode meets the condition that the evaluation value of the ADAS system is smaller than or equal to a second preset evaluation value and larger than the first preset evaluation value, and the first preset evaluation value is smaller than the second preset evaluation value;
The third vehicle judging mode is that the central control module judges that the running state of the vehicle does not accord with a preset standard, the ADAS system is calibrated according to the fault code obtained by the central control module, and the central control module adjusts the detection period to a corresponding value according to the first preset period adjusting coefficient; and the third vehicle judging mode meets the condition that the evaluation value of the ADAS system is larger than the second preset evaluation value.
Further, the central control module compares the adjusted detection period with a preset detection period under a third preset condition to determine whether the running condition of the vehicle meets a vehicle secondary judgment mode of a preset standard, wherein:
the first vehicle secondary judgment mode is that the central control module judges that the running condition of the vehicle meets the preset standard and parts of the vehicle are not replaced; the second vehicle judging mode meets the condition that the adjusted detection period is larger than a preset detection period;
the second vehicle secondary judgment mode is that the central control module judges that the running condition of the vehicle does not accord with a preset standard, the central control module adjusts the detection period of the vehicle to the preset detection period, and acquires the component with the largest calibration times in the historical data of the vehicle, and the central control module controls the alarm module to send out replacement alarm information aiming at the component; the second vehicle secondary judgment mode meets the condition that the regulated detection period is smaller than or equal to the preset detection period;
And the third preset condition is that the central control module completes the adjustment of the detection period.
In another aspect, the present invention also provides a remote ADAS calibration system, including:
the ADAS module comprises a plurality of vehicle ranging sensors which are arranged at corresponding positions of the vehicle and used for acquiring the distance between the vehicle and the obstacle, a main vision detector which is arranged at the center position of a front windshield of the vehicle and used for acquiring the front image information of the vehicle, and an auxiliary vision detector which is arranged at the rear of the vehicle and used for acquiring the rear image information of the vehicle;
the detection module comprises a plurality of fixed ranging sensors which are arranged at corresponding positions of the detection area and used for acquiring the distance from the corresponding vehicle ranging sensor, and a fixed visual detector which is arranged in the detection area and used for acquiring the image information in the detection area;
the central control module is respectively connected with corresponding components in the ADAS module and the detection module, and is used for sequentially judging whether the operation condition of each vehicle ranging sensor accords with a preset standard according to the absolute value of the difference between the distance measured by the vehicle ranging sensor and the distance measured by the fixed ranging sensor, judging that the vehicle runs along a preset path by a preset distance when the operation condition of each vehicle ranging sensor of the vehicle is preliminarily judged to be not in accordance with the preset standard, calculating the evaluation value of the sensor to be detected according to the distance measured by each vehicle ranging sensor and each fixed ranging sensor, judging whether the sensor to be detected is calibrated according to the obtained evaluation value of the sensor to be detected, and determining whether the vision sensor is required to be adjusted according to the detection period of each vehicle after the detection period of each ranging sensor is judged to be in accordance with the preset standard, and the vision sensor is set up to be in the fixed window after the detection period is calculated according to the preset detection period of each ranging sensor, when the detection period of each ranging sensor is judged to be set up in the vehicle is judged to be in accordance with the preset standard, and when the calibration number of each calibration part of the vehicle in the historical data is occupied by the vehicle is judged to be in accordance with the preset calibration period of the preset standard, and the vision sensor is set up to be vision sensor is judged to be required to be in accordance with the detection period of each ranging sensor to be measured after the detection sensor is set up to be in accordance with the preset window;
And the alarm module is connected with the central control module and used for sending out corresponding alarm information according to the judging result of the central control module.
Compared with the prior art, the invention has the beneficial effects that the detection area is internally provided with a plurality of fixed ranging sensors, and the vehicle ranging sensors arranged on the vehicle are provided with the fixed ranging sensors matched and corresponding to the fixed ranging sensors; and driving the vehicle into the detection area, sequentially calculating the absolute value of the difference value between the distance measured by each vehicle ranging sensor arranged on the vehicle and the distance measured by the corresponding fixed ranging sensor arranged at the preset position in the detection area by the central control module so as to judge whether the running condition of each vehicle ranging sensor meets the preset standard, and further effectively improving the ADAS calibration efficiency while ensuring accurate screening of the failed vehicle ranging sensors.
Further, when the central control module preliminarily judges that the running condition of the single vehicle ranging sensor does not meet the preset standard, the central control module judges that the vehicle runs along the preset path to further judge whether the running condition of the vehicle ranging sensor meets the preset standard according to the preset formula, and the ADAS calibration efficiency is further effectively improved while the faulty vehicle ranging sensor is accurately and precisely screened.
Further, when the central control module judges that the running condition of the single vehicle ranging sensor does not meet the preset standard, the central control module calculates the specific gravity of the acquired single vehicle to-be-adjusted sensor in the historical data, which is the number of times of calibration of the single vehicle to-be-adjusted sensor, to the total number of times of calibration of each calibration part in the historical data, if the specific gravity is too large, the abnormality of the high frequency of the vehicle ranging sensor is proved, the fault of the vehicle ranging sensor is replaced, if the calibration specific gravity is smaller than or equal to the second preset calibration specific gravity and larger than the first preset calibration specific gravity, the central control module judges that the running condition of the vehicle does not meet the preset standard, and reduces the detection period of the vehicle to a corresponding value, so that the detection frequency of the vehicle is improved, the occurrence of traffic accidents caused by the fault of an ADAS system is avoided, and the ADAS calibration efficiency is further effectively improved.
Further, when the central control module judges that the running states of the vehicle sensors of all the vehicles meet the preset standard, the central control module judges whether the running states of the vehicles meet the preset standard according to the calculated evaluation value of the ADAS, and secondarily adjusts the detection period when the evaluation value of the ADAS is overlarge so as to improve the detection frequency of the vehicles, avoid traffic accidents caused by faults of an ADAS system, and further effectively improve the ADAS calibration efficiency.
Further, the central control module compares the adjusted detection period with a preset detection period after the detection period is adjusted, so that when the adjusted detection period is too low, the component with the largest calibration times in the historical data is timely acquired to replace the component, and the ADAS calibration efficiency is further effectively improved while the influence of frequent detection on the use of the vehicle is avoided.
Drawings
Fig. 1 is a flowchart illustrating steps of a remote ADAS calibration method according to an embodiment of the invention;
FIG. 2 is a block diagram of a remote ADAS calibration method according to an embodiment of the present invention;
FIG. 3 is a flowchart of a cycle adjustment mode in which the central control module determines a detection cycle of a single vehicle according to the obtained specific gravity difference.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, fig. 2, and fig. 3, which are respectively a step flowchart, a block diagram, and a cycle adjustment mode flowchart of determining a detection cycle of a single vehicle by a central control module according to the obtained specific gravity difference in the remote ADAS calibration method according to the embodiment of the present invention; the embodiment of the invention discloses a remote ADAS calibration method and a remote ADAS calibration system, comprising the following steps:
Step S1, a central control module sequentially compares the distance measured by each vehicle ranging sensor arranged at the corresponding position of the vehicle with the distance measured by each fixed ranging sensor arranged at the corresponding position of the detection zone to sequentially determine whether the running condition of each ranging sensor of the vehicle meets a preset standard;
step S2, when the central control module preliminarily judges that the operation parameters of a single vehicle ranging sensor in a vehicle do not meet preset standards, marking the vehicle ranging sensor as a sensor to be tested, calculating evaluation values of the sensor to be tested according to the distances measured by each vehicle ranging sensor and each fixed ranging sensor in the process that the vehicle runs along a preset path for a preset distance, and judging whether to calibrate the sensor to be tested according to the obtained evaluation values of the sensor to be tested by the central control module;
step S3, when the central control module judges that the running condition of a single vehicle ranging sensor does not meet the preset standard, marking the vehicle ranging sensor as a sensor to be adjusted, and determining whether the detection period of the vehicle is adjusted or the sensor to be adjusted is replaced according to the proportion of the calibration times of the sensor to be adjusted in the historical data of the vehicle to the total calibration times of all calibration parts of the vehicle in the historical data by the central control module;
Step S4, when the central control module judges that the running conditions of all the ranging sensors arranged on the vehicle meet the preset standard, calculating an ADAS evaluation value according to the main vision detector arranged at the center position of the front windshield of the vehicle, the fixed vision detector arranged in the detection area, the vehicle ranging sensors and the corresponding parameters acquired by the fixed ranging sensors, and judging whether to secondarily adjust the detection period according to the obtained ADAS evaluation value;
and S5, after finishing the adjustment of the detection period, the central control module compares the adjusted detection period with a preset detection period to determine whether to replace the corresponding part of the vehicle.
Specifically, in the step S1, the central control module sequentially calculates the absolute value of the difference between the distance measured by the vehicle ranging sensor disposed at the corresponding position of the vehicle and the distance measured by the fixed ranging sensor disposed at the corresponding position of the detection area, and for the absolute value of a single difference, the central control module marks the absolute value as a distance difference, and the central control module determines, according to each obtained distance difference, whether the operation condition of each vehicle ranging sensor meets the vehicle ranging sensor determination mode of the preset standard, where:
The first vehicle ranging sensor judging mode is that the central control module judges that the running condition of the vehicle ranging sensor accords with a preset standard, and the running parameters of the vehicle ranging sensor are not calibrated; the first vehicle ranging sensor judging mode meets the condition that the obtained distance difference value is smaller than or equal to a first preset distance difference value;
the second vehicle ranging sensor judging mode is that the central control module preliminarily judges that the running condition of the vehicle ranging sensor does not accord with a preset standard, the central control module marks the vehicle ranging sensor as a sensor to be measured, and calculates the evaluation value of the sensor to be measured according to the distances measured by each vehicle ranging sensor and the fixed sensor; the second vehicle ranging sensor judging mode meets the condition that the obtained distance difference value is smaller than or equal to a second preset distance difference value and larger than the first preset distance difference value, and the first preset distance difference value is smaller than the second preset distance difference value;
the third vehicle ranging sensor judging mode is that the central control module judges that the running condition of the vehicle ranging sensor does not accord with a preset standard, the central control module marks the vehicle ranging sensor as a sensor to be regulated, and the vehicle calibration adjusting mode is determined according to the proportion of the calibration times of the sensor to be regulated in the historical data of the vehicle to the total calibration times of all calibration parts of the vehicle in the historical data; the third vehicle ranging sensor judging mode meets the condition that the obtained distance difference value is larger than the second preset distance difference value;
Wherein the first preset distance difference is 0.3cm, and the second preset distance difference is 0.5cm.
Specifically, the central control module calculates the evaluation value P of the sensor to be measured according to the distance measured by each vehicle ranging sensor and each fixed ranging sensor in the process that the vehicle travels along the preset path for a preset distance in the second vehicle ranging sensor judging mode, and setsWherein L is mc For the measured distance L of the sensor to be measured mr For the measured distance L of the fixed sensor corresponding to the sensor to be measured rc L is the distance measured by a vehicle ranging sensor horizontally arranged with the sensor to be measured rr For the distance measured by the fixed ranging sensor corresponding to the vehicle ranging sensor.
Specifically, the central control module determines whether the running condition of the single sensor to be detected meets a secondary judgment mode of a preset standard according to the obtained sensor evaluation value to be detected under a first preset condition, wherein:
the first secondary judgment mode is that the central control module judges that the running condition of the sensor to be detected meets a preset standard and does not calibrate the sensor to be detected; the first secondary judgment mode meets the condition that the obtained evaluation value of the sensor to be detected is smaller than or equal to a preset evaluation value;
The second secondary judgment mode is that the central control module judges that the running condition of the sensor to be detected does not accord with a preset standard, and the sensor to be detected is calibrated; the second judging mode meets the condition that the obtained evaluation value of the sensor to be detected is larger than the preset evaluation value;
the first preset condition is that the central control module obtains an evaluation value of a sensor to be measured in the second vehicle ranging sensor judging mode;
wherein the preset evaluation value=0.1.
Specifically, the central control module calculates the specific gravity of the acquired calibration times of a single sensor to be adjusted of the vehicle in the historical data in the third vehicle ranging sensor judging mode, which is the total calibration times of all calibration components of the vehicle in the historical data, and marks the specific gravity as the calibration specific gravity, and the central control module determines the calibration adjusting mode of the vehicle according to the acquired calibration specific gravity, wherein:
the first calibration and adjustment mode is that the central control module calibrates the sensor to be adjusted; the first calibration adjustment mode meets the requirement that the calibration specific gravity is smaller than or equal to a first preset calibration specific gravity;
the second calibration adjustment mode is that the central control module adjusts the detection period of the vehicle to a corresponding value according to the difference value between the second preset calibration specific gravity and the acquired calibration specific gravity, and calibrates the sensor to be adjusted; the second calibration regulation mode meets the conditions that the calibration specific gravity is smaller than or equal to a second preset calibration specific gravity and larger than the first preset calibration specific gravity, and the first preset calibration specific gravity is smaller than the second preset calibration specific gravity;
The third calibration and adjustment mode is that the central control module judges that the sensor to be adjusted has faults and controls the alarm module to send alarm information aiming at the faults of the sensor to be adjusted; the third calibration adjustment mode satisfies that the calibration specific gravity is greater than the second preset calibration specific gravity;
the historical data of the vehicle comprises vehicle codes, historical detection results, historical calibrated components and the calibration times of the components of the vehicle; the history calibration component comprises a vehicle ranging sensor, a main vision detector and an auxiliary vision detector;
wherein, the first preset calibration specific gravity=0.1, and the second preset calibration specific gravity=0.3.
Specifically, the central control module calculates a difference between a second preset calibration specific gravity and the acquired calibration specific gravity in the second calibration adjustment mode, and marks the difference as a specific gravity difference, and the central control module determines a period adjustment mode of a detection period of the vehicle according to the obtained specific gravity difference, wherein:
the first period adjustment mode is that the central control module adjusts the detection period of the vehicle to a corresponding value by using a first preset period adjustment coefficient; the first period adjustment mode meets the condition that the specific gravity difference value is smaller than or equal to a first preset specific gravity difference value;
The second period adjustment mode is that the central control module adjusts the detection period of the vehicle to a corresponding value by using a second preset period adjustment coefficient; the second period adjustment mode meets the condition that the specific gravity difference is smaller than or equal to a second preset specific gravity difference and larger than the first preset specific gravity difference, and the first preset specific gravity difference is smaller than the second preset specific gravity difference;
the third period adjustment mode is that the central control module adjusts the detection period of the vehicle to a corresponding value by using a third preset period adjustment coefficient; the third period adjustment mode satisfies that the specific gravity difference is larger than the second preset specific gravity difference;
wherein, the first preset specific gravity difference value=0.08, the second preset specific gravity difference value=0.1, the first preset cycle adjustment coefficient=0.9, the second preset cycle adjustment coefficient=0.85, and the third preset cycle adjustment coefficient=0.8.
Specifically, the central control module calculates an evaluation value F of the ADAS according to corresponding parameters acquired by a main vision detector arranged at the center position of a front windshield of a single vehicle, a fixed vision detector arranged in a detection area, a vehicle ranging sensor and a fixed ranging sensor under a second preset condition, and setsWherein X is the vertical distance from the preset point of the detection area acquired by the fixed vision detector to the central line of the image information acquired by the main vision detector, mi is the difference between the distance measured by the ith vehicle ranging sensor and the corresponding fixed sensor, i=1, 2, … … n, n is the total number of vehicle ranging sensors arranged on a single vehicle, alpha is a first preset evaluation coefficient, and alpha=0.7 cm is set -1 Beta is a second preset evaluation coefficient, and beta=0.3 cm is set -1 ；
The second preset condition is that the central control module judges that the running conditions of all the ranging sensors arranged on the single vehicle meet preset standards.
Specifically, the central control module determines, according to the obtained evaluation value of the ADAS system, whether the running state of the single vehicle meets the vehicle determination mode of the preset standard under the second preset condition, where:
the first vehicle judging mode is that the central control module judges that the running state of the vehicle meets a preset standard and does not calibrate the running parameters of the vehicle; the first vehicle judging mode meets the condition that the evaluation value of the ADAS system is smaller than or equal to a first preset evaluation value;
the second vehicle judging mode is that the central control module judges that the running state of the vehicle does not accord with a preset standard, and the ADAS system is calibrated according to the fault code acquired by the central control module; the second vehicle judgment mode meets the condition that the evaluation value of the ADAS system is smaller than or equal to a second preset evaluation value and larger than the first preset evaluation value, and the first preset evaluation value is smaller than the second preset evaluation value;
the third vehicle judging mode is that the central control module judges that the running state of the vehicle does not accord with a preset standard, the ADAS system is calibrated according to the fault code obtained by the central control module, and the central control module adjusts the detection period to a corresponding value according to the first preset period adjusting coefficient; the third vehicle judging mode meets the condition that the evaluation value of the ADAS system is larger than the second preset evaluation value;
Wherein, the first preset evaluation value=2, and the second preset evaluation value=7.
Specifically, the central control module compares the adjusted detection period with a preset detection period under a third preset condition to determine whether the running condition of the vehicle meets a vehicle secondary judgment mode of a preset standard, wherein:
the first vehicle secondary judgment mode is that the central control module judges that the running condition of the vehicle meets the preset standard and parts of the vehicle are not replaced; the second vehicle judging mode meets the condition that the adjusted detection period is larger than a preset detection period;
the second vehicle secondary judgment mode is that the central control module judges that the running condition of the vehicle does not accord with a preset standard, the central control module adjusts the detection period of the vehicle to the preset detection period, and acquires the component with the largest calibration times in the historical data of the vehicle, and the central control module controls the alarm module to send out replacement alarm information aiming at the component; the second vehicle secondary judgment mode meets the condition that the regulated detection period is smaller than or equal to the preset detection period;
the third preset condition is that the central control module completes the adjustment of the detection period;
wherein preset detection period=1260h.
The embodiment of the invention also comprises a remote ADAS calibration system, which comprises:
the ADAS module comprises a plurality of vehicle ranging sensors which are arranged at corresponding positions of the vehicle and used for acquiring the distance between the vehicle and the obstacle, a main vision detector which is arranged at the center position of a front windshield of the vehicle and used for acquiring the front image information of the vehicle, and an auxiliary vision detector which is arranged at the rear of the vehicle and used for acquiring the rear image information of the vehicle;
the detection module comprises a plurality of fixed ranging sensors which are arranged at corresponding positions of the detection area and used for acquiring the distance from the corresponding vehicle ranging sensor, and a fixed visual detector which is arranged in the detection area and used for acquiring the image information in the detection area;
the central control module is respectively connected with corresponding components in the ADAS module and the detection module, and is used for sequentially judging whether the operation condition of each vehicle ranging sensor accords with a preset standard according to the absolute value of the difference between the distance measured by the vehicle ranging sensor and the distance measured by the fixed ranging sensor, judging that the vehicle runs along a preset path by a preset distance when the operation condition of each vehicle ranging sensor of the vehicle is preliminarily judged to be not in accordance with the preset standard, calculating the evaluation value of the sensor to be detected according to the distance measured by each vehicle ranging sensor and each fixed ranging sensor, judging whether the sensor to be detected is calibrated according to the obtained evaluation value of the sensor to be detected, and determining whether the vision sensor is required to be adjusted according to the detection period of each vehicle after the detection period of each ranging sensor is judged to be in accordance with the preset standard, and the vision sensor is set up to be in the fixed window after the detection period is calculated according to the preset detection period of each ranging sensor, when the detection period of each ranging sensor is judged to be set up in the vehicle is judged to be in accordance with the preset standard, and when the calibration number of each calibration part of the vehicle in the historical data is occupied by the vehicle is judged to be in accordance with the preset calibration period of the preset standard, and the vision sensor is set up to be vision sensor is judged to be required to be in accordance with the detection period of each ranging sensor to be measured after the detection sensor is set up to be in accordance with the preset window;
And the alarm module is connected with the central control module and used for sending out corresponding alarm information according to the judging result of the central control module.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A remote ADAS calibration method, comprising:
step S1, a central control module sequentially compares the distance measured by each vehicle ranging sensor arranged at the corresponding position of the vehicle with the distance measured by each fixed ranging sensor arranged at the corresponding position of the detection zone to sequentially determine whether the running condition of each ranging sensor of the vehicle meets a preset standard;
Step S2, when the central control module preliminarily judges that the operation parameters of a single vehicle ranging sensor in a vehicle do not meet preset standards, marking the vehicle ranging sensor as a sensor to be tested, calculating evaluation values of the sensor to be tested according to the distances measured by each vehicle ranging sensor and each fixed ranging sensor in the process that the vehicle runs along a preset path for a preset distance, and judging whether to calibrate the sensor to be tested according to the obtained evaluation values of the sensor to be tested by the central control module;
step S3, when the central control module judges that the running condition of a single vehicle ranging sensor does not meet the preset standard, marking the vehicle ranging sensor as a sensor to be adjusted, and determining whether the detection period of the vehicle is adjusted or the sensor to be adjusted is replaced according to the proportion of the calibration times of the sensor to be adjusted in the historical data of the vehicle to the total calibration times of all calibration parts of the vehicle in the historical data by the central control module;
step S4, when the central control module judges that the running conditions of all the ranging sensors arranged on the vehicle meet the preset standard, calculating an ADAS evaluation value according to the main vision detector arranged at the center position of the front windshield of the vehicle, the fixed vision detector arranged in the detection area, the vehicle ranging sensors and the corresponding parameters acquired by the fixed ranging sensors, and judging whether to secondarily adjust the detection period according to the obtained ADAS evaluation value;
Step S5, the central control module compares the adjusted detection period with a preset detection period after completing the adjustment of the detection period so as to determine whether to replace corresponding parts of the vehicle;
in the step S1, the central control module sequentially calculates the absolute value of the difference between the distance measured by the vehicle ranging sensor disposed at the corresponding position of the vehicle and the distance measured by the fixed ranging sensor disposed at the corresponding position of the detection area, and for the absolute value of a single difference, the central control module marks the absolute value as a distance difference, and the central control module determines whether the operation condition of each vehicle ranging sensor meets the vehicle ranging sensor determination mode of the preset standard according to each obtained distance difference, wherein:
the first vehicle ranging sensor judging mode is that the central control module judges that the running condition of the vehicle ranging sensor accords with a preset standard, and the running parameters of the vehicle ranging sensor are not calibrated; the first vehicle ranging sensor judging mode meets the condition that the obtained distance difference value is smaller than or equal to a first preset distance difference value;
the second vehicle ranging sensor judging mode is that the central control module preliminarily judges that the running condition of the vehicle ranging sensor does not accord with a preset standard, the central control module marks the vehicle ranging sensor as a sensor to be measured, and calculates the evaluation value of the sensor to be measured according to the distances measured by each vehicle ranging sensor and the fixed sensor; the second vehicle ranging sensor judging mode meets the condition that the obtained distance difference value is smaller than or equal to a second preset distance difference value and larger than the first preset distance difference value, and the first preset distance difference value is smaller than the second preset distance difference value;
The third vehicle ranging sensor judging mode is that the central control module judges that the running condition of the vehicle ranging sensor does not accord with a preset standard, the central control module marks the vehicle ranging sensor as a sensor to be regulated, and the vehicle calibration adjusting mode is determined according to the proportion of the calibration times of the sensor to be regulated in the historical data of the vehicle to the total calibration times of all calibration parts of the vehicle in the historical data; the third vehicle ranging sensor judging mode meets the condition that the obtained distance difference value is larger than the second preset distance difference value;
the central control module calculates the evaluation value P of the sensor to be measured according to the distance measured by each vehicle ranging sensor and each fixed ranging sensor in the process that the vehicle runs along the preset path for the preset distance in the second vehicle ranging sensor judging mode, and setsWherein L is mc For the measured distance L of the sensor to be measured mr For the measured distance L of the fixed sensor corresponding to the sensor to be measured rc L is the distance measured by a vehicle ranging sensor horizontally arranged with the sensor to be measured rr A distance measured by a fixed distance measuring sensor corresponding to the vehicle distance measuring sensor;
the central control module determines whether the running condition of a single sensor to be detected accords with a secondary judgment mode of a preset standard according to the obtained sensor evaluation value to be detected under a first preset condition, wherein:
The first secondary judgment mode is that the central control module judges that the running condition of the sensor to be detected meets a preset standard and does not calibrate the sensor to be detected; the first secondary judgment mode meets the condition that the obtained evaluation value of the sensor to be detected is smaller than or equal to a preset evaluation value;
the second secondary judgment mode is that the central control module judges that the running condition of the sensor to be detected does not accord with a preset standard, and the sensor to be detected is calibrated; the second judging mode meets the condition that the obtained evaluation value of the sensor to be detected is larger than the preset evaluation value;
the first preset condition is that the central control module obtains an evaluation value of a sensor to be measured in the second vehicle ranging sensor judging mode;
the central control module calculates an evaluation value F of the ADAS according to the corresponding parameters acquired by the main vision detector arranged at the center position of the front windshield of the vehicle, the fixed vision detector arranged in the detection area, the vehicle ranging sensor and the fixed ranging sensor under a second preset condition, and setsWherein X is a vertical distance from a preset point of a detection area acquired by the fixed vision detector to a central line of image information acquired by the main vision detector, mi is a difference value between a distance measured by an ith vehicle ranging sensor and a distance measured by a corresponding fixed sensor, i=1, 2, … … n, n is a total number of vehicle ranging sensors arranged on the vehicle, α is a first preset evaluation coefficient, and α=0.7 cm is set -1 Beta is a second preset evaluation coefficient, and beta=0.3 cm is set -1 ；
The second preset condition is that the central control module judges that the running conditions of all the ranging sensors arranged on the vehicle meet preset standards;
the central control module determines whether the running state of the vehicle meets a vehicle judgment mode of a preset standard according to the evaluated value of the ADAS system under the second preset condition, wherein:
the first vehicle judging mode is that the central control module judges that the running state of the vehicle meets a preset standard and does not calibrate the running parameters of the vehicle; the first vehicle judging mode meets the condition that the evaluation value of the ADAS system is smaller than or equal to a first preset evaluation value;
the second vehicle judging mode is that the central control module judges that the running state of the vehicle does not accord with a preset standard, and the ADAS system is calibrated according to the fault code acquired by the central control module; the second vehicle judgment mode meets the condition that the evaluation value of the ADAS system is smaller than or equal to a second preset evaluation value and larger than the first preset evaluation value, and the first preset evaluation value is smaller than the second preset evaluation value;
the third vehicle judging mode is that the central control module judges that the running state of the vehicle does not accord with a preset standard, the ADAS system is calibrated according to the fault code obtained by the central control module, and the central control module adjusts the detection period to a corresponding value according to the first preset period adjusting coefficient; and the third vehicle judging mode meets the condition that the evaluation value of the ADAS system is larger than the second preset evaluation value.
2. The remote ADAS calibration method according to claim 1, wherein the central control module calculates a specific gravity of the number of times of calibration of the single sensor to be adjusted of the acquired vehicle in the history data to the total number of times of calibration of each calibration component of the vehicle in the history data in the third vehicle ranging sensor determination mode, and marks the specific gravity as a calibration specific gravity, and the central control module determines the calibration adjustment mode of the vehicle according to the acquired calibration specific gravity, wherein:
the first calibration and adjustment mode is that the central control module calibrates the sensor to be adjusted; the first calibration adjustment mode meets the requirement that the calibration specific gravity is smaller than or equal to a first preset calibration specific gravity;
the second calibration adjustment mode is that the central control module adjusts the detection period of the vehicle to a corresponding value according to the difference value between the second preset calibration specific gravity and the acquired calibration specific gravity, and calibrates the sensor to be adjusted; the second calibration regulation mode meets the conditions that the calibration specific gravity is smaller than or equal to a second preset calibration specific gravity and larger than the first preset calibration specific gravity, and the first preset calibration specific gravity is smaller than the second preset calibration specific gravity;
the third calibration and adjustment mode is that the central control module judges that the sensor to be adjusted has faults and controls the alarm module to send alarm information aiming at the faults of the sensor to be adjusted; the third calibration adjustment mode satisfies that the calibration specific gravity is greater than the second preset calibration specific gravity;
The historical data of the vehicle comprises vehicle codes, historical detection results, historical calibrated components and the calibration times of the components of the vehicle; the historically calibrated components include each vehicle ranging sensor, a primary vision detector, a secondary vision detector.
3. The remote ADAS calibration method according to claim 2, wherein the central control module calculates a difference between a second preset calibration specific gravity and the acquired calibration specific gravity in the second calibration adjustment mode and marks it as a specific gravity difference, and the central control module determines a cycle adjustment mode of a detection cycle of the vehicle according to the calculated specific gravity difference, wherein:
the first period adjustment mode is that the central control module adjusts the detection period of the vehicle to a corresponding value by using a first preset period adjustment coefficient; the first period adjustment mode meets the condition that the specific gravity difference value is smaller than or equal to a first preset specific gravity difference value;
the second period adjustment mode is that the central control module adjusts the detection period of the vehicle to a corresponding value by using a second preset period adjustment coefficient; the second period adjustment mode meets the condition that the specific gravity difference is smaller than or equal to a second preset specific gravity difference and larger than the first preset specific gravity difference, and the first preset specific gravity difference is smaller than the second preset specific gravity difference;
The third period adjustment mode is that the central control module adjusts the detection period of the vehicle to a corresponding value by using a third preset period adjustment coefficient; the third periodic adjustment mode satisfies that the specific gravity difference is greater than the second preset specific gravity difference.
4. The remote ADAS calibration method of claim 3, wherein the central control module compares the adjusted detection period with a preset detection period under a third preset condition to determine whether the vehicle operating condition meets a vehicle secondary decision mode of a preset standard, wherein:
the first vehicle secondary judgment mode is that the central control module judges that the running condition of the vehicle meets the preset standard and parts of the vehicle are not replaced; the second vehicle judging mode meets the condition that the adjusted detection period is larger than a preset detection period;
the second vehicle secondary judgment mode is that the central control module judges that the running condition of the vehicle does not accord with a preset standard, the central control module adjusts the detection period of the vehicle to the preset detection period, and acquires the component with the largest calibration times in the historical data of the vehicle, and the central control module controls the alarm module to send out replacement alarm information aiming at the component; the second vehicle secondary judgment mode meets the condition that the regulated detection period is smaller than or equal to the preset detection period;
And the third preset condition is that the central control module completes the adjustment of the detection period.
5. A system using the remote ADAS calibration method of any of claims 1-4, comprising:
the ADAS module comprises a plurality of vehicle ranging sensors which are arranged at corresponding positions of the vehicle and used for acquiring the distance between the vehicle and the obstacle, a main vision detector which is arranged at the center position of a front windshield of the vehicle and used for acquiring the front image information of the vehicle, and an auxiliary vision detector which is arranged at the rear of the vehicle and used for acquiring the rear image information of the vehicle;
the detection module comprises a plurality of fixed ranging sensors which are arranged at corresponding positions of the detection area and used for acquiring the distance from the corresponding vehicle ranging sensor, and a fixed visual detector which is arranged in the detection area and used for acquiring the image information in the detection area;
the central control module is respectively connected with corresponding components in the ADAS module and the detection module, and is used for sequentially judging whether the operation condition of each vehicle ranging sensor accords with a preset standard according to the absolute value of the difference between the distance measured by the vehicle ranging sensor and the distance measured by the fixed ranging sensor, judging that the vehicle runs along a preset path by a preset distance when the operation condition of each vehicle ranging sensor of the vehicle is preliminarily judged to be not in accordance with the preset standard, calculating the evaluation value of the sensor to be detected according to the distance measured by each vehicle ranging sensor and each fixed ranging sensor, judging whether the sensor to be detected is calibrated according to the obtained evaluation value of the sensor to be detected, and determining whether the vision sensor is required to be adjusted according to the detection period of each vehicle after the detection period of each ranging sensor is judged to be in accordance with the preset standard, and the vision sensor is set up to be in the fixed window after the detection period is calculated according to the preset detection period of each ranging sensor, when the detection period of each ranging sensor is judged to be set up in the vehicle is judged to be in accordance with the preset standard, and when the calibration number of each calibration part of the vehicle in the historical data is occupied by the vehicle is judged to be in accordance with the preset calibration period of the preset standard, and the vision sensor is set up to be vision sensor is judged to be required to be in accordance with the detection period of each ranging sensor to be measured after the detection sensor is set up to be in accordance with the preset window;
And the alarm module is connected with the central control module and used for sending out corresponding alarm information according to the judging result of the central control module.
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