WO2020000298A1 - 一种车辆高级辅助驾驶校准设备 - Google Patents

一种车辆高级辅助驾驶校准设备 Download PDF

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Publication number
WO2020000298A1
WO2020000298A1 PCT/CN2018/093307 CN2018093307W WO2020000298A1 WO 2020000298 A1 WO2020000298 A1 WO 2020000298A1 CN 2018093307 W CN2018093307 W CN 2018093307W WO 2020000298 A1 WO2020000298 A1 WO 2020000298A1
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WIPO (PCT)
Prior art keywords
vehicle
calibration
reflector
calibration device
laser
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PCT/CN2018/093307
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English (en)
French (fr)
Inventor
刘均
钟益斌
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深圳市元征科技股份有限公司
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Application filed by 深圳市元征科技股份有限公司 filed Critical 深圳市元征科技股份有限公司
Priority to PCT/CN2018/093307 priority Critical patent/WO2020000298A1/zh
Priority to ES18833818T priority patent/ES2912359T3/es
Priority to EP18833818.0A priority patent/EP3608687B1/en
Priority to CN201880075867.XA priority patent/CN111417868B/zh
Publication of WO2020000298A1 publication Critical patent/WO2020000298A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land 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
    • G01S7/02—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
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • 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
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
    • 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
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
    • 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
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • 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
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
    • G01S7/4086—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder in a calibrating environment, e.g. anechoic chamber
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles

Definitions

  • the present application relates to the technical field of vehicles, and more particularly, to a vehicle advanced assisted driving calibration device.
  • the adaptive cruise system and lane departure warning system are two subsystems of the advanced driving assistance system of the vehicle. They use radar sensors and cameras to identify and detect the external environment of the vehicle, and return the static or dynamic result data to the vehicle electronic control unit for calculation. Processing so that the driver can detect possible dangers at the fastest time, attract attention and improve safety.
  • FIG. 1 A laser wheel clamp 3 is provided on the left and right wheels of the vehicle, a laser 4 and a scale are provided on the laser wheel clamp 3, and a reflector on the target beam 1 is provided.
  • the 2 plane fits the vertical plane of the beam and is located above the beam.
  • the laser beam emitted by the laser 4 is irradiated to the scale of the target beam. At this time, the values of d1 and d2 will be generated.
  • the purpose of this application is to provide a vehicle advanced assisted driving calibration device, which improves the calibration accuracy of a camera and a radar sensor.
  • the present application provides a vehicle advanced driving assistance calibration device, including a target device, and further including:
  • a laser wheel clamp provided on one front wheel of a vehicle, and a ruler wheel clamp provided on another front wheel of the vehicle;
  • First reflectors and second reflectors symmetrically distributed on the target device along the center position of the cross beam of the target device;
  • the horizontal beam is provided with a horizontal scale; the angle between the first and second reflectors and the beam is 45 degrees, and the first and second reflectors The included angle is 90 degrees, so that the laser light enters the second reflector in the direction of the beam through the reflection of the first reflector.
  • the beam of the target device is horizontal
  • the distance between the first reflector and the second reflector is adapted to the width of the vehicle, so that the laser beam is irradiated to the scale wheel clamp through the reflection of the first reflector and the second reflector. And the distance between the incident point of the laser beam on the first reflector and the incident point of the laser beam on the second reflector is equal to the center position of the beam.
  • the method further includes:
  • a software calibration device for software calibration of a camera and a radar sensor of the vehicle
  • the vehicle is connected to the software calibration device through a diagnostic connector.
  • the software calibration device includes:
  • a memory storing an executable computer program
  • a processor coupled to the memory and configured to select a target computer program according to the type of the vehicle and execute the target computer program to perform software calibration of a camera and a radar sensor of the vehicle.
  • the software calibration device further includes:
  • the display unit is configured to display a calibration result of the camera and the radar sensor.
  • the processor is further configured to update the computer program according to the type of the vehicle.
  • the vehicle advanced driving assistance calibration device when the vehicle advanced driving assistance calibration device is in a camera calibration state in the software calibration state, the height of the target device is adapted to the type of the vehicle, and the crossbeam of the target device is fixed There are camera target patterns.
  • a radar laser is fixed on the target device, and the laser emitted by the radar laser is irradiated to the center of the radar sensor .
  • a vehicle advanced driving assistance calibration device includes a target device and further includes a laser wheel clamp provided on one front wheel of the vehicle and provided on the other front wheel of the vehicle.
  • the included angle between the first reflector and the second reflector and the beam is 45 degrees, and the included angle between the first reflector and the second reflector is 90 degrees, so that the laser light passes through the first reflector.
  • the reflection of a reflector enters the second reflector in the direction of the beam.
  • the laser beam is reflected by the first reflector into the second reflector in the direction of the beam, and is reflected by the second reflector.
  • Shoot into the ruler wheel clamp adjust the position of the target device so that the irradiation light point coincides with the reference line of the ruler wheel clamp, and the mirrors on both ends of the target beam are equal to the center of the target beam device.
  • the laser beam is reflected twice in the mirror.
  • FIG. 1 is a structural diagram of a vehicle advanced assisted driving calibration device in the prior art
  • FIG. 2 is a top view of a vehicle advanced driver assistance calibration device disclosed in an embodiment of the present application.
  • FIG. 3 is a three-dimensional structure diagram of a vehicle advanced assisted driving calibration device disclosed in an embodiment of the present application.
  • FIG. 4 is a front view of a target device disclosed in an embodiment of the present application.
  • FIG. 5 is a front view of a beam device of a target device disclosed in an embodiment of the present application.
  • FIG. 6 is a structural diagram of a laser wheel clamp and a ruler wheel clamp disclosed in the embodiment of the present application.
  • FIG. 7 is a flowchart of a specific application of a vehicle advanced assisted driving calibration device disclosed in an embodiment of the present application.
  • the embodiment of the present application discloses a vehicle advanced assisted driving calibration device, which improves the calibration accuracy of a camera and a radar sensor.
  • FIG. 2 is a top view of a vehicle advanced assisted driving calibration device disclosed in an embodiment of the present application
  • FIG. 3 is a perspective structural view of a vehicle advanced assisted driving calibration device disclosed in an embodiment of the present application, including Target device 100;
  • the target device 100 is shown in FIG. 4, which includes a target support, a lockable / height-adjustable movable support frame 101, and a multi-gear height-adjustable beam device 102 (as shown in FIG. 5). , Height adjustable target 103, target drawing 104, and spirit level.
  • the target includes a rack and pinion device and an operating handle. The height of the target is adjusted by controlling the rack and pinion device through the operating handle, and a level gauge is used to adjust the level of the target device.
  • the laser wheel clamp 200 is composed of a wheel claw, a laser, and a locking lever from top to bottom.
  • the height direction of the laser is adjustable, the emission direction is fixed horizontal, and the height direction is perpendicular to the clamping rod.
  • the ruler wheel clamp 300 is composed of a wheel claw, a ruler, and a locking lever from top to bottom.
  • the height direction of the ruler is adjustable, perpendicular to the positioning rod, and the scale is marked with a scale indicator and a reference line.
  • this embodiment does not limit which front wheel the laser wheel clamp 200 and the ruler wheel clamp 300 are on, that is, as long as a laser wheel clamp is provided on one front wheel of the vehicle, the other front wheel A ruler wheel clamp 300 provided on the wheel is all within the protection scope of this embodiment, and FIG. 2 and FIG. 3 are only a simple example of the foregoing case.
  • the structure of the laser wheel clamp 200 and the ruler wheel clamp 300 can be universal, that is, as shown in FIG. 6, it is composed of a wheel claw 601, a ruler plate fixing lever 602, a laser 603, and a locking lever 604 from top to bottom, as shown in FIG. 6. When the structure is used as the laser wheel clamp 200, the laser 603 is turned off.
  • a first reflector 400 and a second reflector 500 symmetrically distributed on the target device along the center position of the cross beam of the target device 100;
  • the horizontal beam is provided with a horizontal scale; the angle between the first and second reflectors and the beam is 45 degrees, and the first and second reflectors The included angle is 90 degrees, so that the laser light enters the second reflector in the direction of the beam through the reflection of the first reflector.
  • the beam device of the target device 100 includes a guide rail, two sliders, a first reflector 400 and a second reflector 500.
  • the two reflectors are vertically fixed on the slider, and the angle between the reflectors and the beam is 45 degrees, and symmetrically distributed along the center of the beam. Horizontal beam scales are also marked on the beam device.
  • the beam of the target device is horizontal, and the first reflector and the second reflector
  • the distance between the mirrors is adapted to the width of the vehicle.
  • the laser light enters the first reflector in the direction of the center axis of the vehicle, enters the second reflector in the direction of the beam through the reflection of the first reflector, and passes through the second reflector.
  • the reflection of the mirror is incident on the scale wheel clamp, and the position of the target device is adjusted so that the irradiation light point coincides with the reference line of the scale wheel clamp, and the incident point of the laser on the first reflector and the incident point of the laser on the second reflector are
  • the distance between the center positions of the beams is equal, that is, the reflectors at both ends of the target beam are equal to the center of the target beam device.
  • the laser beam enters the second mirror in the direction of the beam through the reflection of the first mirror, and passes through the second mirror.
  • the reflected light is incident into the ruler wheel clamp, and the position of the target device is adjusted so that the irradiation light point coincides with the reference line of the ruler wheel clamp, and the two end mirrors of the target beam are equal to the center of the target beam device.
  • the laser beam is reflected twice by the mirror.
  • the vehicle advanced driver assistance calibration device also has a software calibration state. Specifically, when the vehicle advanced driver assistance calibration device is in a software calibration state, the vehicle advanced driver assistance calibration device further includes:
  • a software calibration device for software calibration of a camera and a radar sensor of the vehicle
  • the vehicle is connected to the software calibration device through a diagnostic connector.
  • the diagnostic connector can be plugged into the OBD-II (Chinese full name: On-Board Diagnostic System, English full name: On-Board Diagnostic) interface.
  • the software calibration device can be connected to the diagnostic connector via Bluetooth, USB or other methods to establish a vehicle and software calibration device. communication. Run the calibration diagnostic software on the diagnostic instrument and send software calibration instructions to the ADAS (full Chinese name: Advanced Driver Assistance System, English full name: Advanced Driver Assistance Systems) electronic control unit.
  • ADAS full Chinese name: Advanced Driver Assistance System, English full name: Advanced Driver Assistance Systems
  • the software calibration device may include:
  • a memory storing an executable computer program
  • a processor coupled to the memory and configured to select a target computer program according to the type of the vehicle and execute the target computer program to perform software calibration of a camera and a radar sensor of the vehicle.
  • the software calibration apparatus further includes:
  • the display unit is configured to display a calibration result of the camera and the radar sensor.
  • the display unit can display not only the calibration results of the camera and the radar sensor, but also the accuracy of the hardware calibration.
  • the processor is further configured to update the computer program according to the type of the vehicle.
  • the calibration diagnostic software may be upgraded due to changes in the vehicle communication protocol or the software's own optimization.
  • the latest released version of the current calibration diagnostic software can be queried from the website background via the https protocol. If it is newer than the local version of the diagnostic instrument, the software can be downloaded to complete the upgrade.
  • the vehicle advanced driver assistance calibration device when the vehicle advanced driver assistance calibration device is in a camera calibration state in the software calibration state, the height of the target device and the type of the vehicle It is suitable, and a camera target pattern (that is, the pattern on the target drawing 104 in FIG. 4) is fixed on the beam of the target device.
  • the target height is adjusted to the height value required by the vehicle model, the camera target pattern corresponding to the vehicle model is closely attached to the target plane, and then a software calibration device is established to communicate with the car. Run the calibration diagnostic software on the diagnostic instrument, and send software calibration instructions to the ADAS electronic control unit of the vehicle to complete the vehicle LDW (full name in Chinese: lane departure warning system, full name in English: Lane warning system) calibration task.
  • LDW full name in Chinese: lane departure warning system, full name in English: Lane warning system
  • a radar laser is fixed on the target device, and the The laser emitted by the radar laser hits the center of the radar sensor.
  • the height of the beam device is adjusted to be as close as possible to the height of the radar sensor in front of the vehicle.
  • Hang the fixed part of the radar laser on the beam device attach the radar laser to the fixed part, and adjust the position of the radar laser so that the laser beam emitted by the radar laser hits the center of the radar sensor in front of the vehicle, and then establishes the same operation with the diagnostic instrument Vehicle communication, run the calibration diagnostic software, and follow the software operation prompts to execute the ACC (Chinese full name: adaptive cruise, English full name: Adaptive cruise control) calibration function, that is to complete the vehicle ACC calibration task.
  • ACC Choinese full name: adaptive cruise, English full name: Adaptive cruise control
  • FIG. 7 a flowchart of a specific application of a vehicle advanced assisted driving calibration device disclosed in an embodiment of the present application, as shown in FIG. 7, includes:
  • S701 control the level of the beam of the target device, and perform preliminary calibration on the height of the target device;
  • the target device is placed in a forward direction of the vehicle head at a required distance. Adjust the height position of the crossbeam device and perform a preliminary calibration of the height of the target device, even if its height is as close as possible to the height of the wheel center.
  • the crossbeam device is adjusted to keep it level by a spirit level and a movable support frame that can be adjusted in height. Control the wheels in the forward position and the tire pressure to reach the standard pressure.
  • S702 Determine the positions of the first reflector and the second reflector, so that the distance between the first reflector and the second reflector is adapted to the width of the vehicle;
  • the laser wheel clamp and the ruler wheel clamp are respectively fixed on the left and right front wheels of the vehicle, and the locking levers are adjusted to maintain the level.
  • the angle between the two mirrors and the beam and the distance between the two mirrors are determined, so that the laser light can enter the second mirror in the direction of the beam through the reflection of the first mirror.
  • S703 Determine the position of the target device, so that the laser light is irradiated onto the reference line of the scale wheel clamp by the reflection of the first reflector and the second reflector, and the laser light is on the first reflective light. The distance between the incident point on the mirror and the incident point of the laser light on the second reflector and the center position of the beam is equal;
  • the laser is turned on, and the position of the movable mirror slider on the guide rail of the beam device and the target device are adjusted so that the horizontally emitted laser beam passes through the secondary reflection of the mirror and irradiates the reference line of the scale wheel clamp .
  • the horizontal scale on the beam device measure the distance between the two mirror sliders from the center of the target beam device, that is, d1, d2. If d1 is not equal to d2, fine-tune the position of the mirror slider and the target device. Under the condition that the value of d1 + d2 is unchanged, make d1 and d2 equal, and the laser beam is still irradiated on the reference line of the scale wheel clamp.
  • S704 Software calibration of the camera and radar sensor of the vehicle by using a software calibration device.

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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)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

一种车辆高级辅助驾驶校准设备，包括标靶装置；设置于车辆的一前轮上的激光器轮夹，设置于车辆的另一前轮上的标尺轮夹；沿标靶装置的横梁的中心位置对称分布于标靶装置上的第一反光镜和第二反光镜；其中，横梁上设置有水平刻度尺；第一反光镜和第二反光镜与横梁的夹角为45度，且第一反光镜与第二反光镜的夹角为90度，以使激光经第一反光镜的反射沿横梁的方向射入第二反光镜。本申请提供的车辆高级辅助驾驶校准设备，在完成校准时，激光光束经两次镜面反射行进距离较长，校准精度较高。

Description

一种车辆高级辅助驾驶校准设备 技术领域
本申请涉及车辆技术领域，更具体地说，涉及一种车辆高级辅助驾驶校准设备。
背景技术
自适应巡航系统和车道偏离预警系统是车辆高级驾驶辅助系统的两个子系统，分别使用雷达传感器和摄像头来辨识及侦测车辆外部环境，将静态或动态结果数据传回给汽车电控单元进行计算处理，从而使驾驶员可以在最快时间察觉可能的危险，引起注意和提高安全性。
在实现雷达传感器和摄像头的校准时，首先进行标靶装置与车辆前轮轴线平行及标靶装置中心线与车辆行驶方向中轴线的重合调整操作，然后再使用自有诊断仪与车辆电控单元通讯，进行软件校准。现有技术中的重合调整操作如图1所示，在车辆的左、右轮上分别设有激光器轮夹3，激光器轮夹3上设有激光器4和标尺，标靶横梁1上的反射镜2平面贴合横梁的垂直平面，并位于横梁上方。激光器4发出激光束照射到标靶横梁的标尺，此时会产生d1、d2的数值，调整标靶装置1，使d1＝d2，再调节激光器发射角度，使激光束照射到反射镜2并反射光束到标尺，观测d3、d4数值，调整标靶装置1，使d3＝d4，同时d1＝d2。现有技术中车辆经平行重合调整操作后摄像头和雷达传感器的校准精度一般。
因此，如何提高摄像头和雷达传感器的校准精度是本领域技术人员需要解决的问题。
发明内容
本申请的目的在于提供一种车辆高级辅助驾驶校准设备，提高了摄像头和雷达传感器的校准精度。
为实现上述目的，本申请提供了一种车辆高级辅助驾驶校准设备，包 括标靶装置，还包括：
设置于车辆的一前轮上的激光器轮夹，设置于所述车辆的另一前轮上的标尺轮夹；
沿所述标靶装置的横梁的中心位置对称分布于所述标靶装置上的第一反光镜和第二反光镜；
其中，所述横梁上设置有水平刻度尺；所述第一反光镜和所述第二反光镜与所述横梁的夹角为45度，且所述第一反光镜与所述第二反光镜的夹角为90度，以使激光经所述第一反光镜的反射沿所述横梁的方向射入所述第二反光镜。
其中，当所述车辆高级辅助驾驶校准设备处于硬件校准状态时，所述标靶装置的横梁水平；
所述第一反光镜与所述第二反光镜之间的距离与所述车辆的宽度相适应，以使激光经所述第一反光镜和所述第二反光镜的反射照射至标尺轮夹的参考线上，且所述激光在所述第一反光镜上的入射点和所述激光在所述第二反光镜上的入射点与所述横梁中心位置的距离相等。
其中，当所述车辆高级辅助驾驶校准设备处于软件校准状态时，还包括：
用于对所述车辆的摄像头和雷达传感器进行软件校准的软件校准装置；
所述车辆通过诊断接头与所述软件校准装置相连。
其中，所述软件校准装置包括：
存储有可执行的计算机程序的存储器；
与所述存储器耦合，用于根据所述车辆的类型选择目标计算机程序，并执行所述目标计算机程序对所述车辆的摄像头和雷达传感器进行软件校准的处理器。
其中，所述软件校准装置，还包括：
显示单元，用于显示所述摄像头和所述雷达传感器的校准结果。
其中，所述处理器还用于根据所述车辆的类型对所述计算机程序进行更新。
其中，当所述车辆高级辅助驾驶校准设备处于所述软件校准状态中的摄像头校准状态时，所述标靶装置的高度与所述车辆的类型相适应，且所述标靶装置的横梁上固定有摄像头标靶图案。
其中，当所述车辆高级辅助驾驶校准设备处于软件校准状态中的雷达传感器校准状态时，所述标靶装置上固定有雷达激光器，且所述雷达激光器发出的激光照射至所述雷达传感器的中心。
通过以上方案可知，本申请提供的一种车辆高级辅助驾驶校准设备，包括标靶装置，还包括：设置于车辆的一前轮上的激光器轮夹，设置于所述车辆的另一前轮上的标尺轮夹；沿所述标靶装置的横梁的中心位置对称分布于所述标靶装置上的第一反光镜和第二反光镜；其中，所述横梁上设置有水平刻度尺；所述第一反光镜和所述第二反光镜与所述横梁的夹角为45度，且所述第一反光镜与所述第二反光镜的夹角为90度，以使激光经所述第一反光镜的反射沿所述横梁的方向射入所述第二反光镜。
本申请提供的车辆高级辅助驾驶校准设备，在完成标靶装置与车辆平行重合调整操作时，激光经第一反光镜的反射沿横梁的方向射入第二反光镜，经第二反光镜的反射射入标尺轮夹，调整标靶装置的位置使得照射光点与标尺轮夹参考线重合，且标靶横梁的两端反光镜距离标靶横梁装置中心相等，激光光束经两次镜面反射在较长距离行进时仍达成上述要求，校准精度较高。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为现有技术中的一种车辆高级辅助驾驶校准设备的结构图；
图2为本申请实施例公开的一种车辆高级辅助驾驶校准设备的俯视图；
图3为本申请实施例公开的一种车辆高级辅助驾驶校准设备的立体结 构图；
图4为本申请实施例公开的标靶装置的主视图；
图5为本申请实施例公开的标靶装置的横梁装置的主视图；
图6为本申请实施例公开的激光器轮夹和标尺轮夹的结构图；
图7为本申请实施例公开的一种车辆高级辅助驾驶校准设备具体应用的流程图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例公开了一种车辆高级辅助驾驶校准设备，提高了摄像头和雷达传感器的校准精度。
参见图2和图3，图2为本申请实施例公开的一种车辆高级辅助驾驶校准设备的俯视图，图3为本申请实施例公开的一种车辆高级辅助驾驶校准设备的立体结构图，包括标靶装置100；
在具体实施中，标靶装置100如图4所示，由标靶支架、可锁死/可高度微调的活动支撑架101、可多档位高度调节的横梁装置102(如图5所示)、可高度调节的标靶103、标靶图纸104及水平仪构成。标靶包括齿轮齿条装置、操作手柄，通过操作手柄控制齿轮齿条装置来调节标靶高度，水平仪用以调节标靶装置的水平度。
设置于车辆的一前轮上的激光器轮夹200，设置于所述车辆的另一前轮上的标尺轮夹300；
在具体实施中，激光器轮夹200从上到下由轮爪、激光器、卡位杆组成。激光器高度方向可调，发射方向固定水平，高度方向与卡位杆垂直。标尺轮夹300从上到下由轮爪、标尺、卡位杆组成。标尺高度方向可调、与卡位杆垂直，标尺上标有刻度指示及参考线。需要说明的是，根据光路可逆的 原则，本实施例不限定激光器轮夹200和标尺轮夹300具体在哪一前轮上，即只要车辆的一前轮上设有激光器轮夹，另一前轮上设有标尺轮夹300则均在本实施例的保护范围内，图2和图3只是上述一种情况的简单示例。另外，激光器轮夹200和标尺轮夹300的结构可通用，即如图6所示，从上到下由轮爪601、标尺板固定杆602、激光器603、卡位杆604组成，图6的结构作为激光器轮夹200使用时，关闭激光器603。
沿所述标靶装置100的横梁的中心位置对称分布于所述标靶装置上的第一反光镜400和第二反光镜500；
其中，所述横梁上设置有水平刻度尺；所述第一反光镜和所述第二反光镜与所述横梁的夹角为45度，且所述第一反光镜与所述第二反光镜的夹角为90度，以使激光经所述第一反光镜的反射沿所述横梁的方向射入所述第二反光镜。
在具体实施中，标靶装置100的横梁装置包括了导轨、两个滑块、第一反射镜400和第二反光镜500，两个反射镜垂直固定在滑块上，与横梁的夹角为45度，且沿横梁中心位置对称分布，横梁装置上同时标注了水平刻度尺。
在完成标靶装置与车辆平行重合调整操作时，即当所述车辆高级辅助驾驶校准设备处于硬件校准状态时，所述标靶装置的横梁水平，所述第一反光镜与所述第二反光镜之间的距离与所述车辆的宽度相适应，激光沿车辆的中轴线方向射入第一反光镜，经第一反光镜的反射沿横梁的方向射入第二反光镜，经第二反光镜的反射射入标尺轮夹，调整标靶装置的位置使得照射光点与标尺轮夹参考线重合，且激光在第一反光镜上的入射点和激光在第二反光镜上的入射点与横梁中心位置的距离相等，即标靶横梁的两端反光镜距离标靶横梁装置中心相等。
本申请实施例提供的车辆高级辅助驾驶校准设备，在完成标靶装置与车辆平行重合调整操作时，激光经第一反光镜的反射沿横梁的方向射入第二反光镜，经第二反光镜的反射射入标尺轮夹，调整标靶装置的位置使得照射光点与标尺轮夹参考线重合，且标靶横梁的两端反光镜距离标靶横梁装置中心相等，激光光束经两次镜面反射在较长距离行进时仍达成上述要 求，校准精度较高。
在上述实施例的基础上，作为一种优选实施方式，该车辆高级辅助驾驶校准设备还具有软件校准状态。具体的，当所述车辆高级辅助驾驶校准设备处于软件校准状态时，所述车辆高级辅助驾驶校准设备还包括：
用于对所述车辆的摄像头和雷达传感器进行软件校准的软件校准装置；
所述车辆通过诊断接头与所述软件校准装置相连。
在具体实施中，在完成标靶装置与车辆的水平重合调整操作后，还需对车辆的摄像头和雷达传感器进行软件校准。可以将诊断接头插入汽车OBD-II(中文全称：车载诊断系统，英文全称：On-Board Diagnostic)接口中，软件校准装置可以通过蓝牙、USB或其他方式连接诊断接头，建立车辆与软件校准装置的通讯。运行诊断仪上的校准诊断软件，向汽车ADAS(中文全称：高级驾驶辅助系统，英文全称：Advanced Driver Assistance Systems)电控单元发送软件校准指令。
所述软件校准装置可以包括：
存储有可执行的计算机程序的存储器；
与所述存储器耦合，用于根据所述车辆的类型选择目标计算机程序，并执行所述目标计算机程序对所述车辆的摄像头和雷达传感器进行软件校准的处理器。
在上述实施例的基础上，作为一种优选实施方式，所述软件校准装置，还包括：
显示单元，用于显示所述摄像头和所述雷达传感器的校准结果。
需要说明的是，显示单元不仅可以显示摄像头和雷达传感器的校准结果，还可以显示硬件校准的准确度。
在上述实施例的基础上，作为一种优选实施方式，所述处理器还用于根据所述车辆的类型对所述计算机程序进行更新。
可以理解的是，由于不同车型使用的校准诊断软件不同，即使同一车型，校准诊断软件也可能因车辆通讯协议的变化或软件自身优化进行升级。 可以通过https协议向网站后台查询当前校准诊断软件的最新发布版本，若比诊断仪本地的版本更新，则可进行软件下载，完成升级。
在上述实施例的基础上，作为一种优选实施方式，当所述车辆高级辅助驾驶校准设备处于所述软件校准状态中的摄像头校准状态时，所述标靶装置的高度与所述车辆的类型相适应，且所述标靶装置的横梁上固定有摄像头标靶图案(即图4中的标靶图纸104上的图案)。
在具体实施中，调节标靶高度至车辆车型要求的高度数值，将车型对应的摄像头标靶图案紧密贴挂在标靶平面上，然后建立软件校准装置与汽车的通讯。运行诊断仪上的校准诊断软件，向汽车ADAS电控单元发送软件校准指令，完成车辆LDW(中文全称：车道偏移报警系统，英文全称：Lane departure warning system)校准任务。
在上述实施例的基础上，作为一种优选实施方式，当所述车辆高级辅助驾驶校准设备处于软件校准状态中的雷达传感器校准状态时，所述标靶装置上固定有雷达激光器，且所述雷达激光器发出的激光照射至所述雷达传感器的中心。
在具体实施中，调节横梁装置高度，使其与车辆前方雷达传感器高度尽可能接近。将雷达激光器固定部件挂在横梁装置，雷达激光器吸附在固定部件上，并调节雷达激光器位置，使雷达激光器发出的激光束照射到车辆前方的雷达传感器中心，然后与上述同理操作诊断仪建立与车辆通讯，运行校准诊断软件，按照软件操作提示，执行ACC(中文全称：自适应巡航，英文全称：Adaptive cruise control)校准功能，即完成车辆ACC校准任务。
下面介绍车辆高级辅助驾驶校准设备具体应用方法，具体的：
参见图7，本申请实施例公开的一种车辆高级辅助驾驶校准设备具体应用的流程图，如图7所示，包括：
S701：控制标靶装置的横梁水平，对所述标靶装置的高度进行初步校准；
在具体实施中，将标靶装置按要求距离放置在车辆车头前方方向。调 节横梁装置高度位置，对标靶装置的高度进行初步校准，即使其高度与车轮轮心高度尽可能接近。通过水平仪和可高度微调的活动支撑架，调节横梁装置使其保持水平。控制车轮处于正向位置且轮胎气压达到标准气压。
需要说明的是，本说明书中的所有步骤并不限定其执行的具体主体，即可以手动完成，也可以通过编写计算机程序实现自动化控制。
S702：确定第一反光镜与第二反光镜的位置，使得所述第一反光镜与所述第二反光镜之间的距离与所述车辆的宽度相适应；
在具体实施中，将激光器轮夹、标尺轮夹分别固定在车辆左、右前轮上，并调整好卡位杆，保持水平。确定两个反光镜与横梁的角度和两个反光镜之间的距离，使得激光可以经第一反光镜的反射沿横梁的方向射入第二反光镜。
S703：确定所述标靶装置的位置，以使激光经所述第一反光镜和所述第二反光镜的反射照射至标尺轮夹的参考线上，且所述激光在所述第一反光镜上的入射点和所述激光在所述第二反光镜上的入射点与所述横梁中心位置的距离相等；
在具体实施中，开启激光器，并调节横梁装置导轨上的活动反射镜滑块位置，及标靶装置，使水平发出的激光束通过反射镜的二次反射，照射到标尺轮夹的参考线上。此时，根据横梁装置上的水平刻度，量测两个反射镜滑块距离标靶横梁装置中心的距离，即d1、d2，若d1不等于d2，则微调反射镜滑块位置及标靶装置，在d1+d2值不变条件下，使d1与d2相等，且激光束仍照射在标尺轮夹的参考线上。
S704：利用软件校准装置对车辆的摄像头和雷达传感器进行软件校准。
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本申请。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本申请的精神或范围的情况下，在其它实施例中实现。因此，本申请将不会被限制于本文所示的 这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。
说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的系统而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以对本申请进行若干改进和修饰，这些改进和修饰也落入本申请权利要求的保护范围内。
还需要说明的是，在本说明书中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。

Claims (8)

  1. 一种车辆高级辅助驾驶校准设备，包括标靶装置，其特征在于，还包括：
    设置于车辆的一前轮上的激光器轮夹，设置于所述车辆的另一前轮上的标尺轮夹；
    沿所述标靶装置的横梁的中心位置对称分布于所述标靶装置上的第一反光镜和第二反光镜；
    其中，所述横梁上设置有水平刻度尺；所述第一反光镜和所述第二反光镜与所述横梁的夹角为45度，且所述第一反光镜与所述第二反光镜的夹角为90度，以使激光经所述第一反光镜的反射沿所述横梁的方向射入所述第二反光镜。
  2. 根据权利要求1所述车辆高级辅助驾驶校准设备，其特征在于，当所述车辆高级辅助驾驶校准设备处于硬件校准状态时，所述标靶装置的横梁水平；
    所述第一反光镜与所述第二反光镜之间的距离与所述车辆的宽度相适应，以使激光经所述第一反光镜和所述第二反光镜的反射照射至标尺轮夹的参考线上，且所述激光在所述第一反光镜上的入射点和所述激光在所述第二反光镜上的入射点与所述横梁中心位置的距离相等。
  3. 根据权利要求1所述车辆高级辅助驾驶校准设备，其特征在于，当所述车辆高级辅助驾驶校准设备处于软件校准状态时，还包括：
    用于对所述车辆的摄像头和雷达传感器进行软件校准的软件校准装置；
    所述车辆通过诊断接头与所述软件校准装置相连。
  4. 根据权利要求3所述车辆高级辅助驾驶校准设备，其特征在于，所述软件校准装置包括：
    存储有可执行的计算机程序的存储器；
    与所述存储器耦合，用于根据所述车辆的类型选择目标计算机程序，并执行所述目标计算机程序对所述车辆的摄像头和雷达传感器进行软件校准的处理器。
  5. 根据权利要求4所述车辆高级辅助驾驶校准设备，其特征在于，所述软件校准装置，还包括：
    显示单元，用于显示所述摄像头和所述雷达传感器的校准结果。
  6. 根据权利要求4所述车辆高级辅助驾驶校准设备，其特征在于，所述处理器还用于根据所述车辆的类型对所述计算机程序进行更新。
  7. 根据权利要求3所述车辆高级辅助驾驶校准设备，其特征在于，当所述车辆高级辅助驾驶校准设备处于所述软件校准状态中的摄像头校准状态时，所述标靶装置的高度与所述车辆的类型相适应，且所述标靶装置的横梁上固定有摄像头标靶图案。
  8. 根据权利要求3所述车辆高级辅助驾驶校准设备，其特征在于，当所述车辆高级辅助驾驶校准设备处于软件校准状态中的雷达传感器校准状态时，所述标靶装置上固定有雷达激光器，且所述雷达激光器发出的激光照射至所述雷达传感器的中心。
PCT/CN2018/093307 2018-06-28 2018-06-28 一种车辆高级辅助驾驶校准设备 WO2020000298A1 (zh)

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