WO2020143573A1 - Method for aligning calibration apparatus with vehicle based on wheel aligner - Google Patents

Abstract

A method for aligning a calibration apparatus with a vehicle based on a wheel aligner. A wheel aligner (10) comprises a first image sensor (12) and a computer (15). A calibration apparatus (20) comprises a second image sensor (25). The method comprises: the computer (15) controlling the first image sensor (12) to image a vehicle-mounted target (320) on a vehicle (30), and processing an obtained image, so as to determine the position of the vehicle (30); the computer (15) controlling the first image sensor (12) and the second image sensor (25) to image a reference target (400), and processing an obtained image, so as to determine the position of the calibration apparatus (20), wherein the positions of the calibration apparatus (20) and the vehicle (30) are in the same coordinate system, a reference target (320) is placed near the vehicle (30), and the reference target (320) is in the field of view of the first image sensor (12) and the second image sensor (25); and the computer (15) determining, according to a positional relationship between the calibration apparatus (20) and the vehicle (30), a method for adjusting the calibration apparatus (20), such that the calibration apparatus (20) is aligned with the vehicle (30) according to an expected position or direction. By using the method, the calibration apparatus (20) can be conveniently and accurately aligned with the vehicle (30).

Description

Method for aligning calibration device to vehicle based on wheel locator

This application requires the priority of the Chinese patent application submitted to the China Patent Office on January 7, 2019, with the application number 201910012339.6 and the application titled "Method of aligning the calibration device with the vehicle based on the wheel locator", the entire content of which is cited by reference Incorporated in this application.

Technical field

The present application relates to the technical field of automobile calibration, in particular to a method for aligning a calibration device to a vehicle based on a wheel locator.

Background technique

The Advanced Driver Assistance System (ADAS) uses various sensors installed on the vehicle to collect environmental data inside and outside the vehicle at the first time to identify, detect, and track static and dynamic objects. Technical treatment, so that drivers can be aware of possible dangers in the fastest time, to attract attention and improve safety. Active safety technology. The sensors used by ADAS are mainly cameras, radar, lasers and ultrasonics, etc., which can detect light, heat, pressure or other variables used to monitor the state of the vehicle. They are usually located in the front and rear bumpers of the vehicle, side mirrors, inside the steering rod or the windshield On the glass.

During vehicle maintenance, the calibration equipment needs to be placed directly in front of or behind the vehicle, so that the calibration device is aligned with the vehicle, that is, the longitudinal centerline of the vehicle is perpendicular to the lateral axis of the calibration device, and the longitudinal centerline of the vehicle is calibrated The geometric center point of the device, or the longitudinal center line of the vehicle coincides with the longitudinal center line of the calibration device. After the calibration device is aligned with the vehicle, the calibration device can mount various types of calibration elements to calibrate sensors such as on-board cameras, radar, laser, or ultrasonic waves. However, at present, the alignment of the calibration device with the vehicle lacks auxiliary equipment, which makes the calibration operation inconvenient and has low accuracy.

Summary of the invention

In order to solve the above technical problems, embodiments of the present invention provide a method for aligning a calibration device to a vehicle based on a wheel locator, which can conveniently and accurately align the calibration device to the vehicle.

The embodiments of the present invention solve the technical problems and provide the following technical solutions:

A method for aligning a calibration device to a vehicle based on a wheel locator, wherein,

The wheel locator includes at least one first image sensor and computer;

The calibration device includes at least one second image sensor, the at least one first image sensor and the at least one second image sensor are respectively communicatively connected to the computer;

The method includes:

The computer controls the at least one first image sensor to image the vehicle-mounted target on the vehicle, and processes the obtained image to determine the position of the vehicle;

The computer controls the at least one first image sensor and the at least one second image sensor to image a reference target, and processes the obtained image to determine the position of the calibration device, wherein the calibration device The position of is in the same coordinate system as the position of the vehicle, the reference target is placed near the vehicle, and the reference target is within the field of view of the first image sensor and the second image sensor;

The computer determines the adjustment mode of the calibration device according to the positional relationship between the calibration device and the vehicle, so that the calibration device is aligned with the vehicle according to a desired position or direction.

Optionally, the computer controls the at least one first image sensor and the at least one second image sensor to image a reference target, and processes the obtained image to determine the position of the calibration device, including:

The computer controls the at least one first image sensor to image the reference target, and processes the obtained image to determine the position of the reference target relative to the at least one first image sensor;

The computer controls the at least one second image sensor to image the reference target, and processes the obtained image to determine the position of the calibration device relative to the reference target;

The computer determines the position of the calibration device relative to the at least one first image sensor based on the position of the calibration device relative to the reference target and the position of the reference target relative to the at least one first image sensor position.

Optionally, the calibration device includes a lateral support shaft, and the lateral support shaft is used to carry a calibration element;

The at least one second image sensor is mounted on the lateral support shaft, and is rotatable about the lateral axis of the lateral support shaft;

The computer controls the at least one second image sensor to image the reference target, processes the image obtained by the at least one second image sensor, and determines the position of the calibration device relative to the reference target, including:

The computer controls the at least one second image sensor to rotate about the lateral axis of the lateral support shaft to image the reference target in different positions respectively, and processes the obtained image to determine the at least one The reference point of the second image sensor and the position of the transverse axis relative to the reference target;

The computer combines the preset positional relationship between the reference point of the at least one second image sensor and the geometric center point of the lateral support shaft to determine the geometric center point of the lateral support shaft relative to the reference target For the position, a straight line passing through the geometric center point and perpendicular to the lateral axis is used as the longitudinal center line of the calibration device to determine the position of the longitudinal center line of the calibration device relative to the reference target.

Optionally, the calibration device includes a lateral support shaft, and the lateral support shaft is used to carry a calibration element;

The at least one second image sensor is mounted on the calibration device and can be rotated about a rotation axis to adjust to different position states, and the relative position of the rotation axis and the transverse axis of the transverse support shaft is preset ;

The computer controls the at least one second image sensor to image the reference target, processes the image obtained by the at least one second image sensor, and determines the position of the calibration device relative to the reference target, including:

The computer controls the at least one second image sensor to image the reference target at different positions and processes the obtained image to determine the reference point of the at least one second image sensor and the rotation axis relative to The position of the reference target;

The computer obtains the position of the transverse axis relative to the reference target according to the preset relative position of the rotation axis and the transverse axis;

Combining the preset positional relationship between the reference point of the second image sensor and the geometric center point of the lateral support shaft to determine the position of the geometric center point of the lateral support shaft relative to the reference target, A straight line passing through the geometric center point and perpendicular to the lateral axis is used as the longitudinal centerline of the calibration device to determine the position of the longitudinal centerline of the calibration device relative to the reference target.

Optionally, the position of the calibration device relative to the reference target includes: a position of a longitudinal center line of the calibration device relative to the reference target;

The computer determines the position of the calibration device relative to the at least one first image sensor based on the position of the calibration device relative to the reference target and the position of the reference target relative to the at least one first image sensor Location, including:

The computer determines the longitudinal centerline of the calibration device relative to the position of the longitudinal centerline of the calibration device relative to the reference target and the position of the reference target relative to the at least one first image sensor The location of the at least one first image sensor.

Optionally, the computer controls the at least one first image sensor to image the vehicle-mounted target on the vehicle, and processes the obtained image to determine the position of the vehicle, including:

The computer determines the position of the vehicle-mounted target relative to the at least one first image sensor according to the image of the vehicle-mounted target;

The computer determines the position of the vehicle relative to the at least one first image sensor based on the position of the vehicle-mounted target relative to the at least one first image sensor.

Optionally, the four vehicle-mounted targets are respectively located at four vertices of a rectangle, and the center axis of the rectangle coincides with the longitudinal centerline of the vehicle;

The computer determining the position of the vehicle relative to the at least one first image sensor based on the position of the vehicle-mounted target relative to the at least one first image sensor includes:

The computer determines the position of the rectangular central axis relative to the at least one first image sensor according to the positions of the four vehicle-mounted targets relative to the at least one first image sensor;

The computer uses the position of the rectangular central axis relative to the at least one first image sensor as the position of the longitudinal centerline of the vehicle relative to the at least one first image sensor.

Optionally, the computer determines the adjustment mode of the calibration device according to the positional relationship between the calibration device and the vehicle, so that the calibration device is aligned with the vehicle according to an expected position or direction, including:

The computer determines the adjustment method of the calibration device according to the position of the vehicle relative to the at least one first image sensor and the position of the calibration device relative to the at least one first image sensor, so that the The calibration device is aligned with the vehicle according to the expected position or direction.

Optionally, the position of the vehicle relative to the at least one first image sensor includes: a position of a longitudinal centerline of the vehicle relative to the at least one first image sensor;

The position of the calibration device relative to the at least one first image sensor includes: the position of the longitudinal center line of the calibration device relative to the at least one first image sensor;

The computer determines the adjustment method of the calibration device according to the position of the vehicle relative to the at least one first image sensor and the position of the calibration device relative to the at least one first image sensor, so that the The calibration device is aligned with the vehicle according to the expected position or direction, including:

The computer determines the calibration device based on the position of the longitudinal centerline of the vehicle relative to the at least one first image sensor and the position of the longitudinal centerline of the calibration device relative to the at least one first image sensor The adjustment method is such that the longitudinal centerline of the calibration device coincides with the longitudinal centerline of the vehicle.

Optionally, the computer takes the position of the first image sensor as the origin of the coordinate system;

The position of the longitudinal centerline of the vehicle relative to the at least one first image sensor is: the position of the longitudinal centerline of the vehicle in the coordinate system;

The position of the longitudinal center line of the calibration device relative to the at least one first image sensor is: the position of the longitudinal center line of the calibration device in the coordinate system.

Optionally, the wheel locator includes a bracket;

The two first image sensors are respectively disposed at two ends of the bracket;

One end of the lateral support shaft of the calibration device is provided with the second image sensor, and the second image sensor provided at one end of the lateral support shaft can rotate around the lateral axis of the lateral support shaft to adjust To a different position;

The lateral support shaft is used to carry the calibration element.

Optionally, the wheel locator includes a bracket;

One of the first image sensors is mounted on the bracket, and can slide along the bracket to different preset shooting points to image the vehicle-mounted target or the reference target;

One end of the lateral support shaft of the calibration device is provided with the second image sensor, and the second image sensor provided at one end of the lateral support shaft can rotate around the lateral axis of the lateral support shaft to adjust To a different position;

The lateral support shaft is used to carry the calibration element.

Compared with the prior art, in the method for aligning a calibration device to a vehicle based on a wheel locator provided in this embodiment, the position of the vehicle can be determined by means of the wheel locator, and the first image sensor of the wheel locator is used Imaging the reference target with the second image sensor of the calibration device to determine the position of the calibration device, the computer determines the adjustment method of the calibration device according to the position of the vehicle and the position of the calibration device, and can guide The operator conveniently and accurately aligns the calibration device to the vehicle according to the expected position or direction.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions of the embodiments of the present invention, the drawings required in the embodiments of the present invention will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For a person of ordinary skill in the art, without paying any creative work, other drawings can be obtained based on these drawings.

1 is a scene diagram of a method for aligning a calibration device to a vehicle based on a wheel locator provided by one embodiment of the present invention;

2 is a schematic structural diagram of a wheel locator provided by one embodiment of the present invention;

3 is a schematic structural view of the support assembly of the wheel locator shown in FIG. 2;

4 is a schematic structural diagram of a calibration device provided by one embodiment of the present invention;

FIG. 5 is a schematic flowchart of a method for aligning a calibration device with a vehicle based on a wheel locator according to an embodiment of the present invention.

detailed description

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

In addition, the technical features involved in different embodiments of the present invention described below can be combined as long as they do not conflict with each other.

FIG. 1 is a scene diagram of a method for aligning a calibration device to a vehicle based on a wheel locator provided by one embodiment of the present invention.

As shown in FIG. 1, the scene includes: a wheel locator 10, a calibration device 20 and a vehicle 30, the calibration device 20 is placed directly in front of the vehicle 30, and the calibration device 20 is located in the wheel locator 10 and the vehicle 30, the wheel locator 10 is used to align the calibration device 20 with the vehicle 30, so that the calibration element mounted on the calibration device 20 can be attached to the vehicle 30 Calibration of the onboard equipment.

The wheel locator 10 includes a support assembly 11, a first image sensor 12 and a computer 15. The first image sensor 12 is installed on the support assembly 11, and the computer 15 can be communicatively connected to the first image sensor 12.

Please refer to FIGS. 2 and 3 together. The support assembly 11 includes a post 110, a clamping member 112 and a bracket 114.

The upright column 110 can be fixed on the ground by four anchor screws. The post 110 may also be supported on other types of bases, as long as the post 110 can be fixed and can support the bracket 114.

The clamping member 112 is mounted on the upright 110, the clamping member 112 can move relative to the upright 110 along the upright 110, and the clamping member 112 can be fixed at a desired horizontal height, for example The clamping member 112 is sleeved on the column 110, and the clamping member 112 includes a screw 1120. The screw 1120 can bear against the column 110 so that the clamping member 112 is fixed to the column 110 The screw 1120 can be twisted to disengage the post 110, so that the clamping member 112 can move relative to the post 110 along the post 110.

The bracket 114 is mounted on the clamping member 112. The bracket 114 is a columnar structure, which is perpendicular to the upright 110.

In this embodiment, the bracket 114 is installed on the upright 110 through the clamping member 112, and the bracket 114 can move relative to the upright 110 through the clamping member 112, thereby facilitating adjustment of its level height. It can be understood that in some other embodiments, the clamping member 112 may be omitted, the bracket 114 is directly installed on the post 110, and the horizontal height of the post 110 may be adjusted to adjust the bracket 114 level.

The two first image sensors 12 are respectively installed at both ends of the bracket 114. The first image sensor 12 may be any suitable type of image sensor, such as a CCD or CMOS-based digital camera. In some embodiments, each of the first image sensors 12 may include a two-axis or three-axis gimbal, which can receive a control signal to adjust its shooting angle; or, each of the first image sensors 12 is directly fixedly mounted on the Alternatively, each of the first image sensors 12 may adjust its shooting angle to a specific shooting angle through a mechanical structure that cooperates with the bracket 114.

The computer 15 may be in communication with the first image sensor 12, for example, the computer 15 may be wired to the first image sensor 12 via a data cable, or the computer 15 may be wirelessly connected via WiFi, Bluetooth, etc. The first image sensor 12 is wirelessly connected to the first image sensor 12 through a communication method. The computer 15 may be a desktop computer, a notebook computer, a personal digital assistant (PDA), a server, a smart phone, and other electronic devices with computing functions. The computer 15 includes a display 150 and an input control device 152 (see FIG. 1 ). The input control device 152 is used to input user instructions, including a keyboard, a mouse, a touchpad, and the like.

The computer 15 is installed with graphics processing software, such as SLAM software, for processing the image information obtained from the first image sensor 12 to simulate a three-dimensional graphic, which is displayed on the display 150 to guide the operator to perform corresponding operating. Alternatively, the computer 15 will further analyze the processed image to determine the current position of the calibration device 20 according to the image, to compare the current position of the calibration device 20 with the expected position, and output adjustment suggestions based on the comparison result. Understandably, the image processing software in the embodiments of the present application may be an image processing software that the manufacturer has made to realize the above image processing function, or a commercially available image processing software. The embodiment of the present application does not limit the image processing software.

Referring to FIG. 4, the calibration device 20 includes a base bracket 21, a pole bracket 22, a bracket assembly 23, a slider 24 and a second image sensor 25.

One end of the pole bracket 22 is connected to the base bracket 21, and the base bracket 21 supports the pole bracket 22.

The bracket assembly 23 is mounted on the pole bracket 22 and can move relative to the pole bracket 22 in the vertical direction.

The slider 24 is mounted on the bracket assembly 23 and can move relative to the bracket assembly 23 in a horizontal direction.

The base bracket 21 includes a bracket body 210, a roller 212 and a height adjusting member 214. The bracket body 210 is a rectangular flat plate, which can be made of a metal material. In order to reduce weight, a plurality of hollow areas are formed. The bracket body 210 has a central axis A, which can serve as a longitudinal centerline of the calibration device 20.

The roller 212 is installed on the bottom surface of the bracket body 210 to facilitate moving the base bracket 21. In this embodiment, the roller 212 is a universally movable roller, so that the base bracket 21 can move arbitrarily forward, backward, left, and right. The number of the roller 212 is four, which are respectively installed at four corners of the bracket body 210 . It can be understood that, in some other embodiments, the shape of the bracket body 210 may vary according to actual needs, and is not limited to a rectangular shape, for example, the bracket body 210 may be circular; the number of the rollers 212 may be based on The actual demand increases or decreases as long as there are at least three.

The height adjusting member 214 is installed on the bottom surface of the bracket body 210 and is used to adjust the height of the bracket body 210. In this embodiment, the height adjusting member 214 is an adjusting hand wheel, and the number is three. The three adjustment handwheels are distributed in an isosceles triangle, and the two adjustment handwheels located at the bottom of the isosceles triangle are disposed on one side of the bracket body 210 and are symmetrically arranged with respect to the central axis A of the bracket body 210 Another adjustment handwheel is provided on the other side of the bracket body 210 and on the central axis A of the bracket body 210 (that is, at the vertex position of the apex angle of the isosceles triangle). The coordination of the three adjustment handwheels can adjust the overall horizontal angle of the bracket body 210, and the adjustment handwheel located on the central axis A of the bracket body 210 alone can adjust the pitch angle of the bracket body 210.

It can be understood that the height adjustment member 214 may be other height-adjustable devices; the number of the height adjustment members 214 may be increased according to actual needs, as long as there are at least three.

The pole bracket 22 is perpendicular to the plane where the bracket body 210 is located.

The bracket assembly 23 includes a lateral support shaft 230 and a mounting seat 232, the lateral support shaft 230 is mounted on the pole bracket 22, and the lateral support shaft 230 is horizontally disposed, and the mounting seat 232 is mounted on the lateral The support shaft 230 is used to install the calibration element.

The slider 24 is mounted on the lateral support shaft 230 and can move relative to the lateral support shaft 230 in the horizontal direction. In this embodiment, the sliding member 24 is movably mounted on the lateral support shaft 230 through a sliding bearing. The slider 24 includes several mounting points for mounting calibration elements.

It can be understood that there are many ways for the calibration element to be mounted on the lateral support shaft 230. In addition to the above-mentioned calibration element being slidingly mounted on the lateral support shaft 230, it can also be mounted on the lateral support shaft 230 by using a mounting member. In this embodiment of the present application, the manner in which the lateral support shaft 230 mounts the calibration element is not limited.

The second image sensor 25 is installed at one end of the lateral support shaft 230, and the second image sensor 25 can rotate around the central axis B of the lateral support shaft 230 to assume different positions. The second image sensor 25 may be in communication with the computer 15, for example, the computer 15 may be wired to the second image sensor 25 through a data cable, or the computer 15 may be wirelessly connected via WiFi, Bluetooth, etc. The second image sensor 25 is wirelessly connected to the second image sensor by a communication method. The second image sensor 25 may be any suitable type of image sensor, such as a CCD or CMOS-based digital camera. In some embodiments, the second image sensor 25 may include a two-axis or three-axis gimbal, which can receive a control signal to adjust its shooting angle; or, the second image sensor 15 is directly fixedly installed on the lateral support shaft 230; or, the second image sensor 25 can adjust its shooting angle to a specific shooting angle through a mechanical structure that cooperates with the lateral support shaft 230.

It can be understood that, in some other embodiments, the number of the second image sensors 25 may be increased according to actual needs, as long as it is at least one.

It can be understood that, in some other embodiments, the calibration device 20 in this embodiment of the present invention may include a universal bracket, a simple bracket, a special bracket, and the like. For example, the calibration device is a universal bracket, which can support calibration elements suitable for multiple vehicle models, such as radar calibration pieces and pattern plates. The simple stand can be easily moved and can support calibration elements for one or more systems or sensors in the auxiliary system. The special bracket is only used to support the calibration elements of specific car models.

Please refer back to FIG. 1. In the scenario, the calibration device 20 is placed between the wheel locator 10 and the vehicle 30. Before the calibration elements mounted on the calibration device 20 need to be used to calibrate the on-board equipment such as the camera, radar, etc. on the vehicle 30, the wheel locator 10 needs to be used to position the calibration device 20 on the vehicle 30 directly in front or behind, or other positions relative to the vehicle as indicated in the calibration manual.

At this time, four first targets 320 are respectively mounted on the four tires 310 of the vehicle 30, and the first targets 320 can be understood as vehicle-mounted targets. In one implementation, each first target 320 has a reference point, and the four reference points of the four first targets 320 are equidistant from the longitudinal centerline O of the vehicle 30, and are located on the two first The two reference points of the target 320 are symmetrical with respect to the longitudinal centerline O of the vehicle 30, and the two reference points of the two first targets 320 at the rear wheels are also symmetrical with respect to the longitudinal centerline O of the vehicle 30, so that four The four reference points of the first target 320 are respectively located at the four vertices of a rectangle, and the central axis of the rectangle coincides with the longitudinal center line O of the vehicle 30. Of course, each first target 320 in the embodiment of the present application may further include multiple reference points, which is not limited herein.

A second target 400 is placed in the vicinity of the vehicle 30, for example, on the ground in the left center or right center of the vehicle body, a second target 400 is placed, which can be understood as a reference target. In the embodiment of the present application, the placement position of the second target 400 may be within the common field of view of the first image sensor 12 and the second image sensor 25, that is, the first image sensor 12 and the second image sensor 25 can capture the first All or part of the second target 400 may be sufficient. For example, a plurality of reference points may be displayed on the second target 400, and the first image sensor 12 and the second image sensor 25 pair the multiple reference points on the second target 400. Part or all of the reference points may be imaged, so that the computer determines the position of the calibration device 20 relative to the wheel locator 10 based on the images captured by the first image sensor 12 and the second image sensor 25 on the second target 400, respectively. The placement position of the second target 400 may be one or more. When the placement position of the second target 400 is multiple, the first image sensor 12 and the second image sensor 25 may photograph multiple groups of the second target 400 Images, that is, the first image sensor 12 and the second image sensor 25 shoot the second target 400 at each position where the second target 400 is placed to form multiple sets of images, each of the multiple sets of images The images correspond to each placement position of the second target 400 to record reference targets at multiple angles, so that the computer processes multiple sets of images to accurately determine the position of the calibration device 20 relative to the wheel locator 10 . The placement position of the second target 400 may be arbitrary or relatively fixed. For example, when the operator places the second target 400, the second target 400 can be placed anywhere within the common field of view of the first image sensor 12 and the second image sensor 25, or the second target can be placed in accordance with the operation manual. The target 400 is placed at a designated position.

Since the field of view of the first image sensor 12 on the wheel locator 10 mainly covers the vehicle 30, the second target 400 may be disposed near the vehicle, and the second target 400 may be disposed on the wheel support surface of the vehicle 30. Alternatively, the second target 400 may be connected to the vehicle 30 through a mechanism, so that the second target 400 is disposed near the vehicle. The embodiment of the present application does not limit the relative positional relationship between the distance and the position of the second target 400 relative to the vehicle 30.

One of the first image sensors 12 is used for photographing the two first targets 320 on one side of the vehicle 30, and the other of the first image sensors 12 is used for photographing the two first targets 320 on the other side of the vehicle 30 For the other two first targets 320, the computer 15 is used to process the images captured by the two first image sensors 12 to determine the four targets 320 relative to the first image sensor 12 Position to obtain the position information of the vehicle 30. Specifically, the position information of the vehicle 30 may include the position of the reference point of the vehicle 30, for example, the position of each wheel center is calculated, and further, the overall position of the vehicle is also determined according to the positions of these reference points, for example, in the vehicle The position of the axis or the thrust line; or, the position information of the vehicle 30 may include the position of the center axis or the thrust line of the vehicle, and the position of the center axis or the thrust line of the vehicle may be directly calculated according to the position of the reference point on the first target 320 .

In this embodiment, the position information of the vehicle 30 includes position information of the longitudinal centerline O of the vehicle 30. The computer 15 uses the four first targets 320 as vehicle-mounted targets for imaging, and the computer 15 obtains the positions of the central axes of the four reference points of the four first targets 320 and uses the four references The position of the center axis of the point is taken as the position of the longitudinal center line O of the vehicle 30, and the position of the longitudinal center line O of the vehicle 30 relative to the first image sensor 12 is determined. The longitudinal centerline O of the vehicle 30 is located on the central axis of the vehicle 30 and is horizontally arranged. The central axis of the vehicle 30 is vertically arranged, and the vehicle 30 is symmetrically arranged with respect to the central axis.

In some embodiments, the position information of the vehicle 30 may further include the position information of the point 300 between the two front tires 310 of the vehicle 30.

The first image sensor 12 and the second image sensor 25 are respectively used to image the second target 400 and process the obtained image to determine the position of the calibration device 20, wherein the calibration The position of the device 20 and the position of the vehicle 30 are in the same coordinate system, and the second target 400 is within a field of view of the first image sensor 12 and the second image sensor 25.

In this embodiment, the position information of the calibration device 20 includes the position information of the longitudinal center line A of the calibration device 20. The longitudinal center line A of the calibration device 20 is located on the central axis of the calibration device 20 and is horizontally arranged. The calibration device 20 is symmetrical with respect to its axis.

The computer 15 controls one of the first image sensors 12 to image the second target 400 and processes the obtained image to determine the position of the second target 400 relative to the first image sensor 12.

The computer 15 controls the second image sensor 25 to rotate about the lateral axis B to image the second target 400 at different positions respectively, and obtains the second image sensor 25 at different positions Image processing to determine the position of the second image sensor 25 and the lateral axis B relative to the second target 400, combined with the reference point of the second image sensor 25 and the geometric center point of the lateral support shaft 230 The preset positional relationship between them can determine the position of the geometric center point of the lateral support shaft 230 relative to the second target 400, and a straight line passing through the geometric center point and perpendicular to the lateral axis B is used as the calibration The longitudinal centerline A of the device 20 can obtain the position of the longitudinal centerline A of the calibration device 20 relative to the second target 400.

It can be understood that, in some other embodiments, the second image sensor 25 may be disposed at any position of the calibration device 20, as long as the second image sensor 25 can rotate around a rotation axis, so that the first The two image sensors 25 can be adjusted to different position states, and the second target 400 can be located within the field of view of the second image sensor 25. The second target 400 is imaged, and the computer 15 processes the images obtained by the second image sensor 25 at different positions to determine the reference point of the second image sensor 25 and the position of the rotation axis relative to the second target 400. The relative position of the rotation axis and the transverse axis B can be preset, and the computer 15 calculates the transverse axis B relative to the second target according to the preset relative position of the rotation axis and the transverse axis B The position of 400, combined with the preset positional relationship between the position of the reference point of the second image sensor 25 and the geometric center point of the lateral support shaft 230, it can be determined that the geometric center point of the lateral support shaft 230 is relative to For the position of the second target 400, a straight line passing through the geometric center point and perpendicular to the transverse axis B is used as the longitudinal center line A of the calibration device 20, and the longitudinal center line A of the calibration device 20 can be obtained with respect to The position of the second target 400.

The computer 15 is used to determine the calibration according to the position of the longitudinal center line A of the calibration device 20 relative to the second target 400 and the position of the second target 400 relative to the first image sensor 12 The position of the longitudinal centerline A of the device 20 relative to the first image sensor 12.

The computer 15 is used to determine the position of the longitudinal centerline O of the vehicle 30 relative to the first image sensor 12 and the position of the longitudinal centerline A of the calibration device 20 relative to the first image sensor 12, The positional relationship between the longitudinal centerline A of the calibration device 20 and the longitudinal centerline O of the vehicle 30 is determined so that the longitudinal centerline A of the calibration device 20 coincides with the longitudinal centerline O of the vehicle 30.

In this embodiment, the computer 15 uses the position of the first image sensor 12 that images the second target 400 as a coordinate origin to construct a coordinate system. The position of the longitudinal centerline O of the vehicle 30 relative to the first image sensor 12 is: the position of the longitudinal centerline O of the vehicle 30 in the coordinate system. The position of the longitudinal center line A of the calibration device 20 relative to the first image sensor 12 is: the position of the longitudinal center line A of the calibration device 20 in the coordinate system.

In this embodiment, the horizontal distance between the longitudinal center line A and the longitudinal center line O is zero, that is, when the longitudinal center line A and the longitudinal center line O coincide, the calibration requirement is met, and the calibration device 20 is aligned with the vehicle 30 .

After the calibration device 20 is aligned with the vehicle 30, the calibration device 20 can mount calibration elements, such as radar calibration elements, pattern plates, mirrors, etc., according to actual needs to perform a driving assistance system for the vehicle 30 calibration.

It can be understood that, in some other embodiments, the second target 400 may be omitted, and the first image sensor 12 and the second image sensor 25 may be used to perform one of the first targets 320 respectively. Imaging and processing the obtained image to determine the position of the calibration device 20. At this time, the first target 320 serves as a reference target.

It can be understood that, in some other embodiments, the second target 400 may be placed at any position near the vehicle 30 as long as the second image sensor 25 and one of the first image sensor 12 Just within the field of vision.

In this embodiment, the computer 15 is installed with graphics processing software, such as SLAM software, which can simulate the three-dimensional images of the calibration device 20 and the vehicle 30 and display them on the display 150. According to the first target image and the second target image, the computer 15 controls the display 150 to display the longitudinal centerline A and the longitudinal centerline of the calibration device 20 in the three-dimensional images of the calibration device 20 and the vehicle 30 The longitudinal centerline O of the vehicle 30. At the same time, the display 150 displays the deviation value of the longitudinal centerline O of the vehicle 30 and the longitudinal centerline A of the calibration device 20 in the three-dimensional image of the calibration device 20 and the vehicle 30. In order to conveniently guide the operator to align the calibration device 20 with the vehicle 30, the computer 15 may display an error signal indicating the direction and the magnitude of the deviation in the three-dimensional image. The operator can move the calibration device 20 relative to the vehicle 30 according to the indicated direction to reduce or eliminate the deviation of the vehicle 30 from the calibration device 20. During the movement of the calibration device 20 relative to the vehicle 30, the first image sensor 12 and the second image sensor 25 continue to take new images, and the computer 15 repeatedly processes and analyzes the updated images And again indicate whether the indicated direction is expected or whether there is an error. The calibration device 20 is repeatedly moved as needed until the computer 15 calculates that the deviation between the vehicle 30 and the calibration device 20 is eliminated.

It can be understood that, in some other embodiments, the number of the first image sensors 12 may be changed according to actual needs, as long as there is at least one, for example, one of the first image sensors 12 is mounted on the bracket 114, and the first image sensor 12 can slide to different preset shooting points along the bracket 114, and when the first image sensor 12 slides to one side of the vehicle 30, it can be located on the vehicle Two of the first targets 320 on one side of the vehicle 30 are imaged. When the first image sensor 12 slides to the other side of the bracket 114, the other two targets on the other side of the vehicle 30 can be viewed. The first target 320 and the second target 400 are imaged.

FIG. 5 is a schematic flowchart of a method for aligning a calibration device with a vehicle based on a wheel locator according to an embodiment of the present invention. The scenario of the method is shown in FIG. 1, and the method will be described below in conjunction with FIG. The method includes:

510: The computer controls at least one first image sensor to image the vehicle-mounted target on the vehicle, and processes the obtained image to determine the position of the vehicle.

In the scenario shown in FIG. 1, when the calibration device 20 needs to be aligned with the vehicle 30, the vehicle 30 is driven into the rail platform 500. The rail platform 500 may be a rail platform in the prior art for adjusting the horizontal height of the vehicle 30, and at the same time, the four tires 310 of the vehicle 30 may be located on the same horizontal plane. A first target 320 is installed on each tire 310. Specifically, the mounting post of the first target 320 is mounted on the hub clamp on the tire 310, and the positions of the four first targets 320 are adjusted so that the four reference points of the four first targets 320 are respectively Equidistant from the longitudinal centerline O of the vehicle 30, the two reference points of the two first targets 320 on the front wheels are symmetrical with respect to the longitudinal centerline O of the vehicle 30, and the two first targets 320 on the rear wheels The two reference points are also symmetrical with respect to the longitudinal center line O of the vehicle 30, so that the four reference points of the four first targets 320 are respectively located at the four vertices of a rectangle, and the central axis of the rectangle is the longitudinal direction of the vehicle 30 The center line O coincides.

Moving the wheel locator 10 and the calibration device 20 to the front (or right) of the vehicle 30, the calibration device 20 is located between the wheel locator 10 and the vehicle 30, the Both the wheel locator 10 and the calibration device 20 are generally located in the center in front of the vehicle 30 and are generally perpendicular to the front of the vehicle 30. The target surface of the first target 320 faces the four-wheel locator 10.

The target surface of the second target 400 faces the second image sensor 25 and one of the first image sensors 12, and the target surface of the second target 400 is located on the second image sensor 25 and one The first image sensor 12 is within the field of view.

The wheel locator 10 and the calibration device 20 are separated by a preset distance, for example, 1.5 meters. The bracket 114 is horizontally arranged. The computer 15 adjusts the angle of the first image sensor 12 on the side of the vehicle 30 so that the first image sensor 12 is aligned with the two first targets 320 on the side of the vehicle 30 Similarly, the computer 15 adjusts the angle of the other first image sensor 12 on the other side of the vehicle 30 so that the first image sensor 12 is aligned on the other side of the vehicle 30 The other two target surfaces of the first target 320. The operator adjusts the height of the wheel locator 10 so that the two first image sensors 12 and the first target 320 are substantially on the same horizontal plane.

Start the two first image sensors 12, and use the computer 15 to control the two first image sensors 12 to respectively shoot the target surfaces of the four first targets 320 to obtain the first image information and Second image information.

In this embodiment, the first target 320 serves as a vehicle-mounted target, which can facilitate the computer 15 to accurately and quickly determine the position of the first target 320 according to the first target image. It can be understood that, in some other embodiments, other vehicle positioning targets that assist positioning may also be used.

The computer 15 processes the first image information and the second image information. For example, the computer 15 uses the SLAM algorithm to determine the four first images according to the first image information and the second image information. The positions of the four reference points of a target 320 in a coordinate system. The origin of the coordinate system may be any position. For example, the position of any one of the two first image sensors 12 is used as the origin of the coordinate system. In the scenario shown in FIG. 1, the computer 15 The position of the first image sensor 12 on the same side of the vehicle 30 as the second image sensor 25 in the coordinate system is used as the origin of the coordinate system.

The computer 15 determines the position of the first target 320 relative to the first image sensor 12 according to the image of the first target 320; the computer 15 determines the position of the first target 320 relative to the first target 320 The position of the first image sensor 12 determines the position of the vehicle 30 relative to the first image sensor 12.

Specifically, the position information of the vehicle 30 includes position information of the longitudinal centerline O of the vehicle 30. The computer 15 images the four first targets 320 as vehicle-mounted targets, each first target 320 has a reference point, and the computer 15 uses four references of the four first targets 320 The position of the point relative to the first image sensor 12 determines the position of the central axis of the rectangle relative to the first image sensor 12. The computer 15 uses the position of the rectangular central axis relative to the first image sensor 12 as the position of the longitudinal centerline O of the vehicle 30 relative to the first image sensor 12.

In this embodiment, the longitudinal centerline O of the vehicle 30 is located on the central axis of the vehicle 30 and is horizontally arranged. The central axis of the vehicle 30 is vertically arranged, and the vehicle 30 is symmetrically arranged with respect to the central axis.

The position information of the vehicle 30 may further include the position information of the point 300 between the two front tires 310 of the vehicle 30. The computer 15 can calculate the position of the point 300 according to the positions of the four reference points of the four first targets 320 in the coordinate system.

It can be understood that, in some embodiments, one of the first image sensors 12 is mounted on the bracket 114, and the first image sensor 12 may slide along the bracket 114 to different preset shooting points when the When the first image sensor 12 slides to a preset shooting point on the side of the vehicle 30, the two first targets 320 on the side of the vehicle 30 are imaged to obtain the first image information; When the first image sensor 12 slides to a preset shooting point on the other side of the vehicle 30, the other two first targets 320 on the other side of the vehicle 30 are imaged to obtain the second Image information.

520: The computer controls at least one first image sensor and at least one second image sensor to image the reference target, and processes the obtained image to determine the position of the calibration device.

The computer 15 controls the first image sensor 12 located on the same side of the vehicle 30 as the second image sensor 25 to image the second target 400, and processes the obtained image to determine the second target 400 is relative to the position of the first image sensor 12.

The computer 15 controls the second image sensor 25 to image the second target 400 and processes the obtained image to determine the position of the calibration device 20 relative to the second target 400.

The computer 15 determines the calibration device 20 relative to the first image according to the position of the calibration device 20 relative to the second target 400 and the position of the second target 400 relative to the first image sensor 12 The location of the sensor 12.

In this embodiment, the computer 15 uses the position of the first image sensor 12 located on the same side of the vehicle 30 as the second image sensor 25 as a coordinate origin to construct a coordinate system, and the position and location of the calibration device 20 The position of the vehicle 30 is in the same coordinate system, the second target 400 is placed near the vehicle 30, and the second target 400 is at the first image sensor 12 and the second image sensor 25 Within the field of vision.

In the scenario shown in FIG. 1, the second image sensor 25 is installed at one end of the lateral support shaft 230, and the second image sensor 25 can rotate around the central axis B of the lateral support shaft 230 to Presents different positions.

The computer 15 controls the second image sensor 25 to rotate about the lateral axis B to image the second target 400 at different positions respectively, and obtains the second image sensor 25 at different positions Image processing to determine the position of the second image sensor 25 and the lateral axis B relative to the second target 400, combined with the reference point of the second image sensor 25 and the geometric center point of the lateral support shaft 230 The preset positional relationship between them can determine the position of the geometric center point of the lateral support shaft 230 relative to the second target 400, and a straight line passing through the geometric center point and perpendicular to the lateral axis B is used as the calibration The longitudinal centerline A of the device 20 can obtain the position of the longitudinal centerline A of the calibration device 20 relative to the second target 400.

It can be understood that, in some other embodiments, the second image sensor 25 may be disposed at any position of the calibration device 20, as long as the second image sensor 25 can rotate around a rotation axis, so that the first The two image sensors 25 can be adjusted to different position states, and the second target 400 can be located within the field of view of the second image sensor 25. The second target 400 is imaged, and the computer 15 processes the images obtained by the second image sensor 25 at different positions to determine the reference point of the second image sensor 25 and the position of the rotation axis relative to the second target 400. The relative position of the rotation axis and the transverse axis B can be preset, and the computer 15 calculates the transverse axis B relative to the second target according to the preset relative position of the rotation axis and the transverse axis B The position of 400, combined with the preset positional relationship between the position of the reference point of the second image sensor 25 and the geometric center point of the lateral support shaft 230, it can be determined that the geometric center point of the lateral support shaft 230 is relative to For the position of the second target 400, a straight line passing through the geometric center point and perpendicular to the lateral axis B is used as the longitudinal center line A of the calibration device 20, the longitudinal center line A of the calibration device 20 can be obtained relative to The position of the second target 400.

The computer 15 determines the calibration device 20 according to the position of the longitudinal center line A of the calibration device 20 relative to the second target 400 and the position of the second target 400 relative to the first image sensor 12 The longitudinal centerline A is relative to the position of the first image sensor 12.

It can be understood that, in some other embodiments, the number of the second image sensors 25 may be increased according to actual needs, as long as it is at least one.

In this embodiment, the second target 400 is used as a reference target, which can facilitate the computer 15 to accurately and quickly determine the position of the second target 400 according to the second target image. It can be understood that, in some other embodiments, other reference targets for assisting positioning may also be used.

It can be understood that, in some other embodiments, the second target 400 may be omitted, and the first image sensor 12 and the second image sensor 25 may separately image one of the first targets 320, The processed image is processed to determine the position of the calibration device 20. At this time, the first target 320 is used as a reference target.

It can be understood that, in some other embodiments, the second target 400 may be placed at any position near the vehicle 30 as long as the second image sensor 25 and one of the first image sensor 12 Just within the field of vision.

530: The computer determines the adjustment mode of the calibration device according to the positional relationship between the calibration device and the vehicle, so that the calibration device is aligned with the vehicle according to the expected position or direction.

The computer 15 determines the adjustment method of the calibration device 20 according to the position of the vehicle 30 relative to the first image sensor 12 and the position of the calibration device 20 relative to the first image sensor 12, so that The calibration device 20 is aligned with the vehicle 30 according to a desired position or direction.

The position of the vehicle 30 relative to the first image sensor 12 includes the position of the longitudinal centerline O of the vehicle 30 relative to the first image sensor 12. The position of the calibration device 20 relative to the first image sensor 12 includes: the position of the longitudinal center line A of the calibration device 20 relative to the first image sensor 12.

The computer 15 determines the position based on the position of the longitudinal centerline O of the vehicle 30 relative to the first image sensor 12 and the position of the longitudinal centerline A of the calibration device 20 relative to the first image sensor 12 The adjustment method of the calibration device 20 is such that the longitudinal center line A of the calibration device 20 coincides with the longitudinal center line O of the vehicle 30.

The computer 15 compares the position of the longitudinal center line A of the calibration device 20 with the position of the longitudinal center line O of the vehicle 30 to obtain a deviation value, the deviation value includes the longitudinal center line A and the transverse direction of the longitudinal center line O The distance and the angle, the horizontal distance and the angle between the longitudinal center line A and the longitudinal center line O are all zero, that is, the longitudinal center line A and the longitudinal center line O coincide to meet the calibration requirements.

At this time, the calibration device 20 is aimed at the vehicle 30, and the operator may mount calibration elements such as radar calibration elements, pattern plates, mirrors, etc. on the calibration device 20 to calibrate the driving of the vehicle 30 Auxiliary systems, such as car radar, car camera, lane keeping system, etc.

In order to conveniently guide the operator to align the calibration device 20 to the vehicle 30, the computer 15 includes a display 150, and the computer 15 can control the display 150 to display the position deviation of the vehicle and the calibration device.

The computer 15 is installed with graphics processing software, such as SLAM software, which can simulate the three-dimensional images of the calibration device 20 and the vehicle 30 and display them on the display 150. Based on the first target image and the second target image, the display 150 displays the longitudinal centerline A of the calibration device 20 and the vehicle 30 in the three-dimensional image of the calibration device 20 and the vehicle 30 Longitudinal centerline O. At the same time, the display 150 displays the deviation value of the longitudinal centerline O of the vehicle 30 and the longitudinal centerline A of the calibration device 20 in the three-dimensional image of the calibration device 20 and the vehicle 30.

In order to conveniently guide the operator to align the calibration device 20 with the vehicle 30, the computer 15 may display an error signal indicating the direction and the magnitude of the deviation in the three-dimensional image. The operator can move the calibration device 20 relative to the vehicle 30 according to the indicated direction to eliminate the deviation of the vehicle 30 from the calibration device 20. During the movement of the calibration device 20 relative to the vehicle 30, the first image sensor 12 and the second image sensor 25 continue to take new images, and the computer 15 repeatedly processes and analyzes the updated images And again indicate whether the indicated direction is expected or whether there is an error. The calibration device 20 is repeatedly moved as needed until the computer 15 calculates that the deviation between the vehicle 30 and the calibration device 20 is eliminated.

After the calibration device 20 is aligned with the vehicle 30, the longitudinal center line O of the vehicle 30 coincides with the longitudinal center line A of the calibration device 20. In some cases, the calibration device 20 needs to be calibrated to The distance between the vehicles 30, for example, the calibration device 20 is a radar calibration device, and the radar calibration device needs to be spaced apart from the vehicle 30 by a preset calibration distance to calibrate the on-board radar of the vehicle 30. Therefore, in some other embodiments, the method further includes:

540: The computer calculates the distance between the calibration device and the vehicle along the longitudinal centerline of the vehicle, compares the distance between the calibration device and the vehicle with a preset calibration distance, and obtains a longitudinal distance deviation value; and

550: The computer determines the adjustment direction of the calibration device according to the longitudinal distance deviation value, so that the distance between the calibration device and the vehicle is a preset calibration distance.

In the scenario shown in FIG. 1, the distance L between the point 300 located between the two front tires 310 and the geometric center point of the lateral support shaft 230 can be used as the calibration along the longitudinal center line O of the vehicle 30 The distance between the device 20 and the vehicle 30. The computer 15 can calculate the position of the point 300 according to the positions of the four reference points of the four first targets 320 in the coordinate system, and according to the position of the point 300 and the lateral support axis The position of the geometric center point of 230 can be calculated to obtain the distance L between the geometric center point of the point 300 and the lateral support shaft 230. The preset calibration distance between the calibration device 20 and the vehicle 30 may be determined according to the specifications provided by the manufacturer of the calibration device. The computer 15 compares the preset calibration distance with the distance between the calibration device 20 and the vehicle 30 to obtain a longitudinal distance deviation value to guide the operator to move the longitudinal axis O of the vehicle 30 Calibrate the device 20.

It can be understood that, in some embodiments, after step 550 is completed, repeating steps 510 to 550 can make the calibration device 20 more accurately aim at the vehicle 30.

Compared with the prior art, in the method for aligning a calibration device to a vehicle based on a wheel locator provided in this embodiment, the position of the vehicle 30 can be determined by means of the wheel locator 10, using the first position of the wheel locator 10 An image sensor 12 and a second image sensor 25 of the calibration device 20 respectively image the second target 400 to determine the position of the calibration device 20. The computer 15 determines the position of the vehicle 30 according to the position of the vehicle 30 and the calibration device 20. The position and determining the adjustment method of the calibration device 20 can guide the operator to conveniently and accurately align the calibration device 20 with the vehicle 30 according to the expected position or direction.

Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention, rather than limiting them; under the idea of the present invention, the technical features in the above embodiments or different embodiments may also be combined, The steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above. For simplicity, they are not provided in the details; although the invention has been described in detail with reference to the foregoing embodiments, the ordinary The skilled person should understand that they can still modify the technical solutions described in the foregoing embodiments, or equivalently replace some of the technical features; and these modifications or replacements do not deviate from the essence of the corresponding technical solutions to the implementation of the present invention. Examples of technical solutions.

Claims (17)

1. A method for aligning a calibration device to a vehicle based on a wheel locator is characterized by:

   The wheel locator includes at least one first image sensor and computer;

   The calibration device includes at least one second image sensor, the at least one first image sensor and the at least one second image sensor are respectively communicatively connected to the computer;

   The method includes:

   The computer controls the at least one first image sensor to image the vehicle-mounted target on the vehicle, and processes the obtained image to determine the position of the vehicle;

   The computer controls the at least one first image sensor and the at least one second image sensor to image a reference target, and processes the obtained image to determine the position of the calibration device, wherein the calibration device And the position of the vehicle are in the same coordinate system, and the reference target is within the field of view of the first image sensor and the second image sensor;

   The computer determines the adjustment mode of the calibration device according to the positional relationship between the calibration device and the vehicle, so that the calibration device is aligned with the vehicle according to a desired position or direction.
2. The method according to claim 1, wherein the computer controls the at least one first image sensor and the at least one second image sensor to image a reference target, and processes the obtained image to determine The location of the calibration device includes:

   The computer controls the at least one first image sensor to image the reference target, and processes the obtained image to determine the position of the reference target relative to the at least one first image sensor;

   The computer controls the at least one second image sensor to image the reference target, and processes the obtained image to determine the position of the calibration device relative to the reference target;

   The computer determines the position of the calibration device relative to the at least one first image sensor based on the position of the calibration device relative to the reference target and the position of the reference target relative to the at least one first image sensor position.
3. The method according to claim 2, wherein the calibration device includes a lateral support shaft, the lateral support shaft is used to carry a calibration element;

   The at least one second image sensor is mounted on the lateral support shaft, and is rotatable about the lateral axis of the lateral support shaft;

   The computer controls the at least one second image sensor to image the reference target, processes the image obtained by the at least one second image sensor, and determines the position of the calibration device relative to the reference target, including:

   The computer controls the at least one second image sensor to rotate about the lateral axis of the lateral support shaft to image the reference target in different positions respectively, and processes the obtained image to determine the at least one The reference point of the second image sensor and the position of the transverse axis relative to the reference target;

   The computer combines the preset positional relationship between the reference point of the at least one second image sensor and the geometric center point of the lateral support shaft to determine the geometric center point of the lateral support shaft relative to the reference target For the position, a straight line passing through the geometric center point and perpendicular to the lateral axis is used as the longitudinal center line of the calibration device to determine the position of the longitudinal center line of the calibration device relative to the reference target.
4. The method according to claim 2, wherein the calibration device includes a lateral support shaft, the lateral support shaft is used to carry a calibration element;

   The at least one second image sensor is mounted on the calibration device and can be rotated about a rotation axis to adjust to different position states, and the relative position of the rotation axis and the transverse axis of the transverse support shaft is preset ;

   The computer controls the at least one second image sensor to image the reference target, processes the image obtained by the at least one second image sensor, and determines the position of the calibration device relative to the reference target, including:

   The computer controls the at least one second image sensor to image the reference target at different positions and processes the obtained image to determine the reference point of the at least one second image sensor and the rotation axis relative to The position of the reference target;

   The computer obtains the position of the transverse axis relative to the reference target according to the preset relative position of the rotation axis and the transverse axis;

   Combining the preset positional relationship between the reference point of the second image sensor and the geometric center point of the lateral support shaft to determine the position of the geometric center point of the lateral support shaft relative to the reference target, A straight line passing through the geometric center point and perpendicular to the lateral axis is used as the longitudinal centerline of the calibration device to determine the position of the longitudinal centerline of the calibration device relative to the reference target.
5. The method according to claim 3 or 4, wherein the position of the calibration device relative to the reference target comprises: a position of a longitudinal center line of the calibration device relative to the reference target;

   The computer determines the position of the calibration device relative to the at least one first image sensor based on the position of the calibration device relative to the reference target and the position of the reference target relative to the at least one first image sensor Location, including:

   The computer determines the longitudinal centerline of the calibration device relative to the position of the longitudinal centerline of the calibration device relative to the reference target and the position of the reference target relative to the at least one first image sensor The location of the at least one first image sensor.
6. The method according to claim 5, wherein the computer controls the at least one first image sensor to image the vehicle-mounted target on the vehicle, and processes the obtained image to determine the position of the vehicle, including:

   The computer determines the position of the vehicle-mounted target relative to the at least one first image sensor according to the image of the vehicle-mounted target;

   The computer determines the position of the vehicle relative to the at least one first image sensor based on the position of the vehicle-mounted target relative to the at least one first image sensor.
7. The method according to claim 6, wherein the four vehicle-mounted targets are respectively located at four vertices of a rectangle, and the center axis of the rectangle coincides with the longitudinal centerline of the vehicle;

   The computer determining the position of the vehicle relative to the at least one first image sensor based on the position of the vehicle-mounted target relative to the at least one first image sensor includes:

   The computer determines the position of the rectangular central axis relative to the at least one first image sensor according to the positions of the four vehicle-mounted targets relative to the at least one first image sensor;

   The computer uses the position of the rectangular central axis relative to the at least one first image sensor as the position of the longitudinal centerline of the vehicle relative to the at least one first image sensor.
8. The method according to claim 7, wherein the computer determines the adjustment method of the calibration device according to the positional relationship between the calibration device and the vehicle, so that the calibration device can be adjusted according to the expected position or direction The quasi-said vehicle includes:

   The computer determines the adjustment method of the calibration device according to the position of the vehicle relative to the at least one first image sensor and the position of the calibration device relative to the at least one first image sensor, so that the The calibration device is aligned with the vehicle according to the expected position or direction.
9. The method of claim 8, wherein the position of the vehicle relative to the at least one first image sensor comprises: a position of a longitudinal centerline of the vehicle relative to the at least one first image sensor ;

   The position of the calibration device relative to the at least one first image sensor includes: the position of the longitudinal center line of the calibration device relative to the at least one first image sensor;

   The computer determines the adjustment method of the calibration device according to the position of the vehicle relative to the at least one first image sensor and the position of the calibration device relative to the at least one first image sensor, so that the The calibration device is aligned with the vehicle according to the expected position or direction, including:

   The computer determines the calibration device based on the position of the longitudinal centerline of the vehicle relative to the at least one first image sensor and the position of the longitudinal centerline of the calibration device relative to the at least one first image sensor The adjustment method is such that the longitudinal centerline of the calibration device coincides with the longitudinal centerline of the vehicle.
10. The method according to claim 9, wherein the computer takes the position of the first image sensor as the origin of the coordinate system;

    The position of the longitudinal centerline of the vehicle relative to the at least one first image sensor is: the position of the longitudinal centerline of the vehicle in the coordinate system;

    The position of the longitudinal center line of the calibration device relative to the at least one first image sensor is: the position of the longitudinal center line of the calibration device in the coordinate system.
11. The method of claim 1, wherein the wheel locator includes a bracket;

    The two first image sensors are respectively disposed at two ends of the bracket;

    One end of the lateral support shaft of the calibration device is provided with the second image sensor, and the second image sensor provided at one end of the lateral support shaft can rotate around the lateral axis of the lateral support shaft to adjust To a different position;

    The lateral support shaft is used to carry the calibration element.
12. The method of claim 1, wherein the wheel locator includes a bracket;

    One of the first image sensors is mounted on the bracket, and can slide along the bracket to different preset shooting points to image the vehicle-mounted target or the reference target;

    One end of the lateral support shaft of the calibration device is provided with the second image sensor, and the second image sensor provided at one end of the lateral support shaft can rotate around the lateral axis of the lateral support shaft to adjust To a different position;

    The lateral support shaft is used to carry the calibration element.
13. The method according to claim 1, wherein the computer controls the at least one first image sensor and the at least one second image sensor to image part or all of the reference target.
14. The method according to claim 1, wherein the computer controls the at least one first image sensor and the at least one second image sensor to image reference targets placed in multiple positions to obtain multiple sets Images, each group of images in the plurality of groups of images corresponds one-to-one with each of the plurality of locations; and the plurality of groups of images are processed to determine the location of the calibration device.
15. The method according to claim 1, wherein the position of the reference target is indicated by an operation manual, or the position of the reference target is the field of view of the first image sensor and the second image sensor Anywhere in the range.
16. The method of claim 1, wherein the position of the reference target is near the vehicle.
17. The method according to claim 1, wherein the position of the reference target is at the center of the vehicle body or the right center of the vehicle body.

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