CN117054119A - Rapid risk assessment calibration method and system for key sensor of intelligent automobile - Google Patents
Rapid risk assessment calibration method and system for key sensor of intelligent automobile Download PDFInfo
- Publication number
- CN117054119A CN117054119A CN202311232907.6A CN202311232907A CN117054119A CN 117054119 A CN117054119 A CN 117054119A CN 202311232907 A CN202311232907 A CN 202311232907A CN 117054119 A CN117054119 A CN 117054119A
- Authority
- CN
- China
- Prior art keywords
- sensor
- laser
- dimensional space
- vehicle
- risk assessment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000012502 risk assessment Methods 0.000 title claims abstract description 17
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 claims description 6
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 claims description 6
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000007689 inspection Methods 0.000 abstract 1
- 230000002354 daily effect Effects 0.000 description 6
- 230000008447 perception Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Abstract
The technical scheme adopted is that the quick risk assessment calibration method and system for the intelligent automobile key sensor solve the technical problem of potential safety hazard of the automobile caused by inaccurate position of the automobile sensor, and the adopted technical scheme is that the calibration method comprises the following steps: a. setting a coordinate origin of the three-dimensional empty inspection, and coinciding the centroid of the vehicle with the coordinate origin; b. inputting the characteristic point data of each sensing sensor into a computer; c. the computer controls at least one laser emitter to detect according to the characteristic point position data; d. if the laser transmitter can detect the sensor, the current sensing sensor is calibrated, and if the laser transmitter can not detect the sensing sensor, alarm information is sent. The driver only needs to start the vehicle into the system of the invention, and the system can be used for full-automatic quick calibration.
Description
Technical Field
The invention belongs to the technical field of vehicle detection, relates to detection of an ADAS advanced driving auxiliary system and a perception sensor in an automatic driving automobile, and particularly relates to a rapid risk assessment calibration method and system of an intelligent automobile key sensor.
Background
AEB, FCW, LDW and other ADAS are popularized and applied in the industry, a large number of vehicle types are matched, and automatic driving vehicles are also applied in a large scale. The calibration condition of the sensor is perceived, and the function realization of the automatic driving automobile and the ADAS is directly influenced. The existing calibration technology is mainly mastered in the hands of a system provider or a whole vehicle enterprise, has long calibration period, is difficult to realize daily calibration, restricts ADAS to better exert accident prevention and control functions, and has potential safety hazard. According to industry needs, a rapid calibration technology and equipment of key sensors of the intelligent automobile are provided, a supporting and transportation enterprise efficiently performs daily calibration before going out, and the availability and the effectiveness of the intelligent automobile are guaranteed.
At present, in the road transportation industry, an advanced driving auxiliary system is basically marked, and the whole process is started, the position of a key sensor is inaccurate, so that inaccurate perception and even dangerous scenes or incorrect perception of dangerous targets cannot be perceived, misoperation or no action are caused, major traffic accidents are likely to occur in transportation, and huge road transportation safety production hidden danger exists. Jolt, loading and unloading collision, scratch collision slight accidents and the like in the vehicle transportation process easily cause loosening or displacement of the sensor. At present, many transportation enterprises either do not detect the sensors before going out, or only take the size and the quantity during detection, which is neither scientific nor accurate, and the transportation enterprises take time, especially when the vehicle types are different or the system suppliers are different, the positions of a plurality of sensors are not completely unified, and finally the vehicles can be calibrated once only in a long period, so that huge potential safety hazards exist.
Disclosure of Invention
In order to solve the problem of potential safety hazards of vehicles caused by inaccurate positions of sensing sensors, the invention designs a method and a system for calibrating the rapid risk assessment of key sensors of an intelligent automobile.
The technical scheme adopted by the invention is that the method for calibrating the rapid risk assessment of the key sensor of the intelligent automobile comprises the following steps of using a laser emitter to detect the position of a three-dimensional coordinate point of a perception sensor in a three-dimensional space, arranging the laser emitter on five surfaces except the bottom surface of the three-dimensional space, and a computer with management software, wherein the calibration method comprises the following steps:
a. the coordinate point of the vehicle is overlapped with the coordinate origin of the three-dimensional space, so that the coordinate system of the sensing sensor relative to the vehicle is overlapped with the coordinate system of the three-dimensional space;
b. inputting all characteristic point position data of each sensing sensor into a computer;
c. the computer converts the three-dimensional coordinates of the feature points into displacement or rotation angles of the laser transmitters, and controls at least one laser transmitter to detect all the feature points of the sensing sensor;
d. if the laser transmitter can detect all corresponding characteristic points, the current sensing sensor is calibrated, and if the laser transmitter fails to detect the corresponding characteristic points of the sensing sensor, the position of the sensing sensor is indicated to deviate, and alarm information is sent out.
In the step a, the origin of the coordinate system of the vehicle is overlapped with the set origin of the coordinate system, and the vehicle rack arranged on the bottom surface is adopted, so that the height coordinate of the vehicle rack is controlled.
In the step b, the feature point data of the sensing sensor is the three-dimensional coordinates of all feature points of the sensing sensor.
The sensing sensor comprises an ADAS and an automatic driving automobile vision sensor, a millimeter wave radar, an ultrasonic radar and a laser radar.
The laser transmitters arranged on the five surfaces of the three-dimensional space are in the form that each surface is provided with a laser transmitter which can perform two-axis movement with a fixed laser transmitting angle, and one laser transmitter on at least one surface is used for detecting according to the coordinate data of the characteristic points; or each surface is provided with at least two laser transmitters which can rotate the laser emission angle at fixed positions, and the laser line crossing points emitted by at least two laser transmitters on one surface are detected according to the characteristic point coordinate data.
The invention also relates to a rapid risk assessment calibration system of the intelligent automobile key sensor, which is used for the calibration method, and comprises a three-dimensional space, wherein laser transmitters are arranged on five surfaces except the bottom surface in the three-dimensional space, and a computer with management software.
The three-dimensional space is also provided with a vehicle rack, and the vehicle rack is of a lifting structure.
The laser transmitter forms a two-axis motion structure on the surface of the three-dimensional space through the base and the guide rail, or forms a rotation structure on the surface of the three-dimensional space through the base.
The system has the beneficial effects that a driver can fully automatically perform quick risk assessment calibration through the system only by driving the vehicle into the system. And when the sensors of different types of vehicles or different suppliers are calibrated, the specific vehicles can be calibrated only by replacing the sensors on the computer, and no staff is required to measure the specific vehicles by using a measuring scale. The invention can be used for daily calibration as the calibration is quick, and the calibration can be carried out before the vehicle is driven every day.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a rapid risk assessment calibration system of the present invention.
1. A laser emitter; 2. a vehicle rack; 3. a track.
Detailed Description
When the invention is implemented, because of different vehicle types and different perception sensor manufacturers, standard three-dimensional coordinate position data of all perception sensors of different vehicle types or different suppliers can be stored in a computer in advance so as to be used for selecting vehicles in calibration. The information acquisition work before the first calibration, including the first calibration, belongs to daily calibration.
1. The information acquisition process before the first calibration is as follows:
(1) setting a coordinate origin of a three-dimensional space, and overlapping a coordinate point of the vehicle, usually a vehicle centroid, with the coordinate origin to enable a reference coordinate system of the sensing sensor relative to the vehicle to overlap with the coordinate system of the three-dimensional space;
(2) selecting characteristic points of each sensor; the method specifically comprises the steps of selecting a plurality of characteristic points of each sensing sensor according to the characteristics of the position, the gesture, the shape and the like of each sensor, and marking the characteristic points;
(3) determining the position coordinates of all characteristic points of each sensor relative to a three-dimensional space; the specific method is that 1-2 laser transmitters are controlled manually until the laser reaches the characteristic point, and the three-dimensional coordinate position is calculated through the displacement or angle of the laser transmitters.
2. The daily calibration method comprises the following steps:
(1) the coordinate point of the vehicle is overlapped with the coordinate origin of the three-dimensional space, namely, the coordinate system of the sensing sensor relative to the vehicle is overlapped with the coordinate system of the three-dimensional space;
(2) inputting all characteristic point data of each sensing sensor into a computer;
(3) converting the three-dimensional coordinates of the characteristic points into displacement or rotation angles of the laser transmitters by the computer, and controlling at least one laser transmitter to detect all the characteristic points of the sensor by the computer;
(4) if the laser transmitter can detect all the corresponding characteristic points, the current sensor is calibrated, and if the laser transmitter fails to detect the corresponding characteristic points of the sensor, the position of the sensor is indicated to deviate, and alarm information is sent.
The foregoing is a theoretical approach to the invention, which is described in detail below with reference to the accompanying drawings.
Referring to fig. 1, a driver drives a vehicle into the present three-dimensional space, the thick line in fig. 1 represents the three-dimensional space, and the thin line represents the rail 3 for moving the laser emitter 1, and the laser emitter 1 can realize two-axis movement through the rail 3. Only three laser transmitters 1 are shown in fig. 1, the other two being equally arranged. In order to perform position calibration better, the computer sets an origin point for the three-dimensional space, and the vehicle is stopped at the origin point. In order to further improve the accuracy of detection by the laser transmitter 1, the origin is set in the air. At this time, a vehicle stand 2 is required, and the driver stops the vehicle on the vehicle stand 2, and lifts the vehicle to the origin by the vehicle stand 2.
When the vehicle gantry 2 is stopped, the computer starts to control all the laser transmitters 1 to operate. After the vehicle type is determined, the standard coordinate point position data of each sensor to be calibrated is determined, and the laser transmitter 1 transmits laser signals according to the standard coordinate point position data. Since the sensors at different positions are not necessarily scanned by all laser transmitters 1, if all detectable laser transmitters 1 detect the sensor to be calibrated, this indicates that the position of the sensor is not a problem. If all detectable laser transmitters 1 fail to detect the sensor to be calibrated, this is an indication of a positional deviation or absence of the sensor. After all the sensors are calibrated and detected, calibration result information such as ' the position of a certain sensor is lost ', please overhaul as soon as possible ' or ' all the sensors are calibrated and qualified ', and the vehicle can be taken out.
In order to position the laser transmitter 1 accurately, in a scheme employing a track bi-directional movement, a servo motor is used for control. If a fixed position mode is adopted, at least two laser transmitters are needed on each surface, and the point where two laser lines intersect is the coordinate position and the pitch angle of the sensor by adjusting the transmitting angle of each laser transmitter. In addition, when the position and the pitching angle of one sensor are detected, at least three characteristic position points are required to be positioned simultaneously, so that the position and the pitching angle of the sensor can be determined, and two lasers positioned at the same position can be of the same color, namely, the sensor can be realized by using 6 lasers of three colors.
Besides the freight industry, common household vehicles can be calibrated by the system and the method. For example, when the vehicle after-sales department is in vehicle repair or maintenance, the system can be used for calibrating the sensor, and particularly after the vehicle after-sales department is in daily slight collision, the whole vehicle is generally not returned to a manufacturer for maintenance, so that after the vehicle is repaired, the sensor also needs to be recalibrated, and potential safety hazards caused by inaccurate position of the sensor are avoided.
Claims (8)
1. The rapid risk assessment calibration method for the key sensor of the intelligent automobile is characterized by comprising the following steps of: the method is a process of detecting the position of a three-dimensional coordinate point of a sensor by using a laser emitter in a three-dimensional space, wherein the laser emitters and a computer with management software are arranged on five surfaces except the bottom surface of the three-dimensional space, and the calibration method comprises the following steps:
a. the coordinate point of the vehicle is overlapped with the coordinate origin of the three-dimensional space, so that the coordinate system of the sensing sensor relative to the vehicle is overlapped with the coordinate system of the three-dimensional space;
b. inputting all characteristic point position data of each sensing sensor into a computer;
c. the computer converts the three-dimensional coordinates of the feature points into displacement or rotation angles of the laser transmitters, and controls at least one laser transmitter to detect all the feature points of the sensing sensor;
d. if the laser transmitter can detect all corresponding characteristic points, the current sensing sensor is calibrated, and if the laser transmitter fails to detect the corresponding characteristic points of the sensing sensor, the position of the sensing sensor is indicated to deviate, and alarm information is sent out.
2. The method for calibrating the rapid risk assessment of the key sensor of the intelligent automobile according to claim 1, wherein the method comprises the following steps of: in the step a, the origin of the coordinate system of the vehicle is overlapped with the set origin of the coordinate system, and the vehicle rack arranged on the bottom surface is adopted, so that the height coordinate of the vehicle rack is controlled.
3. The method for calibrating the rapid risk assessment of the key sensor of the intelligent automobile according to claim 1, wherein the method comprises the following steps of: in the step b, the feature point position data of the sensing sensor is the three-dimensional coordinates of the feature point of the sensing sensor.
4. The method for calibrating the rapid risk assessment of the key sensor of the intelligent automobile according to claim 1, wherein the method comprises the following steps of: the sensing sensor comprises an ADAS and an automatic driving automobile vision sensor, a millimeter wave radar, an ultrasonic radar and a laser radar.
5. The method for calibrating the rapid risk assessment of the key sensor of the intelligent automobile according to claim 1, wherein the method comprises the following steps of: the laser transmitters arranged on the five surfaces of the three-dimensional space are in the form that each surface is provided with a laser transmitter which can perform two-axis movement with a fixed laser transmitting angle, and one laser transmitter on at least one surface is used for detecting according to the coordinate data of the characteristic points; or each surface is provided with at least two laser transmitters which can rotate the laser emission angle at fixed positions, and the laser line crossing points emitted by at least two laser transmitters on one surface are detected according to the characteristic point coordinate data.
6. A rapid risk assessment calibration system for an intelligent automobile key sensor, for use in the calibration method of claim 1, characterized in that: the system comprises a three-dimensional space, wherein laser transmitters are arranged on five surfaces except the bottom surface in the three-dimensional space, and a computer with management software.
7. The smart car key sensor rapid risk assessment calibration system of claim 6, wherein: the three-dimensional space is also provided with a vehicle rack, and the vehicle rack is of a lifting structure.
8. The smart car key sensor rapid risk assessment calibration system of claim 6, wherein: the laser transmitter forms a two-axis motion structure on the surface of the three-dimensional space through the base and the guide rail, or forms a rotation structure on the surface of the three-dimensional space through the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311232907.6A CN117054119A (en) | 2023-09-22 | 2023-09-22 | Rapid risk assessment calibration method and system for key sensor of intelligent automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311232907.6A CN117054119A (en) | 2023-09-22 | 2023-09-22 | Rapid risk assessment calibration method and system for key sensor of intelligent automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117054119A true CN117054119A (en) | 2023-11-14 |
Family
ID=88666531
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311232907.6A Pending CN117054119A (en) | 2023-09-22 | 2023-09-22 | Rapid risk assessment calibration method and system for key sensor of intelligent automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117054119A (en) |
-
2023
- 2023-09-22 CN CN202311232907.6A patent/CN117054119A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109323696B (en) | Indoor positioning navigation system and method for unmanned forklift | |
| US8972095B2 (en) | Automatic guided vehicle and method for drive control of the same | |
| CN101707890B (en) | Method for use with an optical aligner system for positioning a fixture relative to a vehicle | |
| US8918302B2 (en) | Machine sensor calibration system | |
| CN1237422C (en) | Method and device for detecting position of vehicle in given area | |
| CN105631616A (en) | Intelligent positioning system and positioning method for warehousing logistics | |
| CN104528531A (en) | Container wharf RTG and RMG lower container truck alignment guide system and method | |
| WO2021159913A1 (en) | Adas system calibration guiding method and apparatus, and vehicle diagnosis device | |
| CN104123630A (en) | Cargo dispatching system and method based on portal crane | |
| CN111613093B (en) | Optical projection auxiliary parking and warehousing system and implementation method | |
| CN112744750B (en) | Automatic addressing device and method for stacker | |
| CN117054119A (en) | Rapid risk assessment calibration method and system for key sensor of intelligent automobile | |
| US6571172B1 (en) | Method for determining the position of a vehicle in relation to a container crane | |
| CN208453013U (en) | Mobile detection robot carries the positioning system of 2D laser radar scanning axle | |
| CN105388035A (en) | Determining device for compartment sampling region | |
| CN109828569A (en) | A kind of intelligent AGV fork truck based on 2D-SLAM navigation | |
| CN110977968B (en) | Automatic addressing system, method, equipment and storage medium for robot intelligent processing | |
| CN111243010B (en) | System and method for controlling intelligent crown block to load steel coil based on image recognition | |
| CN203966183U (en) | A kind of goods dispatching system based on transfer gantry | |
| US20200408507A1 (en) | System for automated surveying of motor vehicles | |
| CN203306040U (en) | Rail truck overloading detecting system | |
| CN112731431A (en) | Positioning detection device and method for van truck | |
| JPS61102298A (en) | X-y plotter device | |
| CN112407106A (en) | Installation method and device of split type binocular camera | |
| US20230160700A1 (en) | Vehicle locating system and vehicle locating device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |