WO2022062893A1 - Adas标定设备的定位方法、系统、装置及可读存储介质 - Google Patents

Adas标定设备的定位方法、系统、装置及可读存储介质 Download PDF

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Publication number
WO2022062893A1
WO2022062893A1 PCT/CN2021/116936 CN2021116936W WO2022062893A1 WO 2022062893 A1 WO2022062893 A1 WO 2022062893A1 CN 2021116936 W CN2021116936 W CN 2021116936W WO 2022062893 A1 WO2022062893 A1 WO 2022062893A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
calibration device
adas calibration
user equipment
adas
Prior art date
Application number
PCT/CN2021/116936
Other languages
English (en)
French (fr)
Inventor
梁少林
Original Assignee
深圳市道通科技股份有限公司
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Application filed by 深圳市道通科技股份有限公司 filed Critical 深圳市道通科技股份有限公司
Priority to EP21871265.1A priority Critical patent/EP4198565A4/en
Priority to US18/027,630 priority patent/US20230410366A1/en
Publication of WO2022062893A1 publication Critical patent/WO2022062893A1/zh

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Classifications

    • 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
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/042—Calibration or calibration artifacts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/047—Accessories, e.g. for positioning, for tool-setting, for measuring probes
    • 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
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S7/4052—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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar 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
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30268—Vehicle interior

Definitions

  • the present application relates to the field of positioning of ADAS calibration equipment, in particular to a positioning method, system, device and computer-readable storage medium for ADAS calibration equipment.
  • ADAS Advanced Driving Assistance System
  • the driver assistance system is the early stage of the development of driverless technology, and it is also a necessary stage.
  • ADAS system will become the standard configuration of all cars.
  • ADAS system fails or abnormal, it needs to The ADAS system can be used normally and safely only after the ADAS system is calibrated. Before calibrating the ADAS system, the ADAS calibration equipment needs to be positioned.
  • the existing positioning system of ADAS calibration equipment requires trained professionals to calculate the distance and angle to be calibrated, and then perform multiple positioning.
  • the process is complicated, the process is cumbersome, the learning is difficult, and the positioning efficiency is relatively low.
  • Embodiments of the present application provide a positioning method, system, device, and computer-readable storage medium for ADAS calibration equipment, which aim to reduce the positioning steps of ADAS calibration equipment and improve the positioning efficiency of ADAS calibration equipment.
  • An embodiment of the present application provides a positioning method for an ADAS calibration device, including:
  • the user equipment determines the position information of the ADAS calibration device relative to the vehicle according to the relevant image of the vehicle;
  • the user equipment provides a position adjustment scheme of the ADAS calibration device relative to the vehicle according to the position information, so that the user can position the ADAS calibration device to a predetermined position relative to the vehicle according to the position adjustment scheme. set location.
  • an embodiment of the present application also provides a positioning system for an ADAS calibration device, which is characterized by comprising: an ADAS calibration device, including an image acquisition component; a user equipment, which is communicatively connected to the ADAS calibration device; the user system includes a processing A processor and a memory; the memory mass stores a plurality of instructions, and the processor loads the instructions stored in the memory to execute the steps in any ADAS calibration device positioning method provided by the embodiments of the present application.
  • an ADAS main frame calibration device including:
  • an acquisition unit used for the user equipment to acquire the relevant images of the vehicle acquired by the image acquisition component of the ADAS calibration device
  • a determining unit for the user equipment to determine the position information of the ADAS calibration device relative to the vehicle according to the relevant image of the vehicle;
  • a providing unit is used for the user equipment to provide a position adjustment scheme of the ADAS calibration device relative to the vehicle according to the position information, so that the user can position the ADAS calibration device relative to the vehicle according to the position adjustment scheme. the preset position of the vehicle.
  • the determining unit includes:
  • a judging subunit used by the user equipment to judge whether the relevant image of the vehicle includes an image of a target attached to the vehicle
  • the first determination subunit is configured to, if no, determine, by the user equipment, that the position information of the ADAS calibration device relative to the vehicle is not within a preset range.
  • the judging subunit includes:
  • a judgment module used by the user equipment to judge whether the relevant images of the vehicle include a preset number of images of the target
  • a determination module configured to, if not, determine by the user equipment that the position information of the ADAS calibration device relative to the vehicle is not within a preset range.
  • the position adjustment scheme includes prompting the user to move the ADAS calibration system within the preset range.
  • the determining unit further includes:
  • a second determination subunit configured for the user equipment to determine, according to the first target image, a first distance of the ADAS calibration device relative to the front or rear of the vehicle, wherein the first distance A distance is determined according to the distance between the first target attached to the front or the rear of the vehicle and the first camera.
  • the providing unit includes:
  • the first providing subunit is used for the user equipment to provide the position adjustment information of the ADAS calibration device relative to the vehicle according to the first distance and the preset first target distance.
  • the providing unit further includes:
  • a prompting subunit configured to prompt the user to start a fine-tuning operation if the user equipment detects that the first distance is the same as the first target distance.
  • the determining unit further includes:
  • a third determination subunit used by the user equipment to determine the thrust line of the vehicle according to the second target image
  • the fourth determination subunit is used for the user equipment to determine the angle of the center line of the ADAS calibration device relative to the thrust line, where the center line of the ADAS calibration device refers to a straight line passing through the two camera modules .
  • the providing unit further includes:
  • the second providing subunit is used for the user equipment to provide a position adjustment solution of the ADAS calibration device relative to the vehicle according to the angle and the preset target angle.
  • the determining unit further includes:
  • a fifth determination subunit used by the user equipment to determine the thrust line of the vehicle according to the second target image
  • the sixth determination subunit is used for the user equipment to determine the second distance of the center point of the ADAS calibration device relative to the intersection of the thrust line and the center line of the ADAS calibration device, and the center of the ADAS calibration device
  • the point refers to the midpoint of the line connecting the two camera modules
  • the center line of the ADAS calibration device refers to the straight line passing through the two camera modules.
  • the providing unit further includes:
  • a third providing subunit is used for the user equipment to provide a position adjustment solution of the ADAS calibration device relative to the vehicle according to the second distance and the preset second target distance.
  • the determining unit further includes:
  • a seventh determination subunit for the user equipment to determine a height difference value of the ADAS calibration device relative to the vehicle according to the third target image, wherein the height difference value is The height between the third target on the same plane of the vehicle and the third camera is determined.
  • the providing unit further includes:
  • a fourth providing subunit is used for the user equipment to provide a position adjustment solution of the ADAS calibration device relative to the vehicle according to the height difference value and a preset target height difference value.
  • the positioning device of the ADAS calibration equipment further includes:
  • the first display unit is used for the user equipment to receive a viewing instruction from the user, and display a relevant image of the vehicle indicated by the viewing instruction.
  • the positioning device of the ADAS calibration equipment further includes:
  • the second display unit is used for the user equipment to display a user operation step guide, so as to guide the user to move the ADAS calibration equipment.
  • the embodiments of the present application further provide a computer-readable storage medium, where the computer-readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute any one of the instructions provided by the embodiments of the present application. Steps in a positioning method for an ADAS calibration device.
  • the relevant image of the vehicle collected by the image acquisition component of the ADAS calibration device is acquired by the user equipment; the user equipment determines the position of the ADAS calibration device relative to the vehicle according to the relevant image of the vehicle information; the user equipment provides a position adjustment scheme of the ADAS calibration device relative to the vehicle according to the position information, so that the user can position the ADAS calibration device relative to the vehicle according to the position adjustment scheme preset position.
  • the user only needs the adjustment scheme provided by the user equipment to locate the ADAS calibration equipment to the preset position, and does not need to manually calculate the specific positioning parameters, and there will be errors when the user calculates the positioning parameters by himself, and the user calculates the positioning by himself.
  • Fig. 1 is the scene schematic diagram of the positioning system of ADAS calibration equipment provided by the embodiment of the present application;
  • FIG. 2 is a schematic structural diagram of a user equipment provided by an embodiment of the present application.
  • FIG. 3 is a schematic flowchart of a positioning method for an ADAS calibration device provided by an embodiment of the present application
  • 4a is a schematic diagram of the position information of the ADAS calibration device relative to the vehicle including the distance information of the ADAS calibration device relative to the front of the vehicle when the relevant image of the vehicle provided by the embodiment of the present application is a target image attached to the front of the vehicle;
  • 4b is a schematic diagram of the position information of the ADAS calibration device relative to the vehicle including the distance information of the ADAS calibration device relative to the rear wheel of the vehicle when the relevant image of the vehicle provided by the embodiment of the present application is a target image attached to the rear wheel;
  • 4c is a schematic diagram of the position information of the ADAS calibration device relative to the vehicle including the distance information of the ADAS calibration device relative to the front wheel of the vehicle when the relevant image of the vehicle provided by the embodiment of the present application is a target image attached to the front wheel;
  • Fig. 4d shows that when the relevant image of the vehicle provided by the embodiment of the present application is a target image on the same plane as the front radar set on the front of the vehicle, the distance information of the ADAS calibration device relative to the front radar of the vehicle is the same plane as the front radar of the vehicle.
  • Fig. 4e shows that when the relevant image of the vehicle provided by the embodiment of the present application is the target image attached to the rearview mirror, the distance information of the ADAS calibration device relative to the rearview mirror of the vehicle is the ADAS calibration of the target distance attached to the rearview mirror
  • Fig. 4g is the position information relative to the vehicle of the ADAS calibration device provided by the embodiment of the present application, including the distance D of the ADAS calibration device relative to the head of the vehicle, the included angle between the center line of the ADAS calibration device and the thrust line or the center line of the vehicle (90°- ⁇ ), a schematic diagram of the vertical distance L between the center of the ADAS calibration device and the thrust line or center line of the vehicle;
  • 4h is a schematic diagram of a first interface interaction for adjustment of an ADAS calibration device provided by an embodiment of the present application
  • Fig. 4i is the second interface interaction schematic diagram of ADAS calibration equipment adjustment provided by the embodiment of the present application.
  • Fig. 4j is the third interface interaction schematic diagram of ADAS calibration equipment adjustment provided by the embodiment of the present application.
  • 4k is a schematic diagram of a fourth interface interaction for adjustment of an ADAS calibration device provided by an embodiment of the present application.
  • Fig. 41 is the fifth interface interaction schematic diagram of ADAS calibration equipment adjustment provided by the embodiment of the present application.
  • Fig. 4m is the sixth interface interaction schematic diagram of ADAS calibration equipment adjustment provided by the embodiment of the present application.
  • Fig. 4n is the seventh interface interaction schematic diagram of ADAS calibration equipment adjustment provided by the embodiment of the present application.
  • 5a is a schematic diagram of a first interface interaction for viewing a target image provided by an embodiment of the present application
  • FIG. 5b is a schematic diagram of a second interface interaction for viewing a target image provided by an embodiment of the present application.
  • 5c is a schematic diagram of a third interface interaction for viewing a target image provided by an embodiment of the present application.
  • 5d is a schematic flowchart of a positioning method for an ADAS calibration device provided by an embodiment of the present application
  • FIG. 6 is a schematic structural diagram of an ADAS main frame calibration device provided by an embodiment of the present application.
  • Embodiments of the present invention provide a positioning method, system, and device for an ADAS calibration device.
  • the image acquisition component of the ADAS calibration device can collect relevant images of the vehicle, and the user equipment determines the ADAS calibration according to the relevant images of the vehicle collected by the ADAS calibration device.
  • the position information of the device relative to the vehicle; the user equipment provides a position adjustment scheme of the ADAS calibration device relative to the vehicle according to the position information, so that the user can position the ADAS calibration device to a preset position relative to the vehicle according to the position adjustment scheme, so that the user can According to the position adjustment scheme, the positioning of the ADAS calibration equipment can be completed, and users do not need to learn and query other information, which reduces the steps and time for positioning the ADAS calibration equipment, improves the positioning efficiency of the ADAS calibration equipment, and improves the user experience.
  • FIG. 1 shows a schematic structural diagram of the ADAS calibration system involved in the embodiment of the present application, specifically:
  • the ADAS calibration system 100 includes a user equipment 101 and an ADAS calibration device 102 , and the user equipment is connected in communication with the ADAS calibration device.
  • the ADAS calibration device is used to calibrate the advanced assisted driving system of the vehicle.
  • the ADAS calibration device is provided with calibration elements, and the calibration elements may include calibration patterns, radar reflectors and other elements used to calibrate image sensors or radar sensors.
  • the ADAS calibration equipment can be used to position the calibration element at a preset position relative to the sensor to be calibrated. In order to position the calibration element accurately, the ADAS calibration equipment needs to be accurately positioned.
  • the ADAS calibration equipment is usually placed on the vehicle near the sensor to be calibrated. , such as the front or rear of the vehicle, the preset position of the ADAS calibration device relative to the vehicle is different for different types of vehicles to be tested.
  • the ADAS calibration device further includes an image acquisition component and a main frame, which are used to acquire relevant images of the vehicle 103 and can transmit the images to the user equipment.
  • User equipment may include a processor, memory, power supply, and display unit, among others.
  • relevant images of the target 104 in the vehicle 103 are collected by the image collection component of the ADAS calibration device 102 , and the target 104 is specifically installed on the center of the wheel of the vehicle 103 .
  • the user equipment may include a processor 201 of one or more processing cores, a memory 202 of one or more computer-readable storage media, a power supply 203 and a display unit 204 and other components.
  • a processor 201 of one or more processing cores the user equipment may include a processor 201 of one or more processing cores, a memory 202 of one or more computer-readable storage media, a power supply 203 and a display unit 204 and other components.
  • a processor 201 of one or more processing cores the structure of the user equipment shown in FIG. 2 does not constitute a limitation on the user equipment, and may include more or less components than the one shown, or combine some components, or arrange different components. in:
  • the processor 201 is the control center of the user equipment, uses various interfaces and lines to connect various parts of the entire user equipment, runs or executes the software programs and/or modules stored in the memory 202, and invokes the software programs stored in the memory 202. Data, perform various functions of the user equipment and process data, so as to monitor the user equipment as a whole.
  • the processor 201 may include one or more processing cores; preferably, the processor 201 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, etc. , the modem processor mainly deals with wireless communication. It can be understood that, the above-mentioned modulation and demodulation processor may not be integrated into the processor 201.
  • the memory 202 can be used to store software programs and modules, and the processor 201 executes various functional applications and data processing by running the software programs and modules stored in the memory 202 .
  • the memory 202 may mainly include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program (such as a sound playback function, an image playback function, etc.) required for at least one function, and the like; Data created by the use of the server, etc.
  • memory 202 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, memory 202 may also include a memory controller to provide processor 201 access to memory 202 .
  • the user equipment also includes a power supply 203 for supplying power to various components.
  • the power supply 203 can be logically connected to the processor 201 through a power management system, so that functions such as charging, discharging, and power consumption management are implemented through the power management system.
  • the power source 203 may also include one or more DC or AC power sources, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and any other components.
  • the user equipment may further include a display unit 204, and the display unit 204 may be used to display data such as a position adjustment scheme of the ADAS calibration device relative to the vehicle.
  • the processor 201 in the user equipment loads the executable files corresponding to the processes of one or more executable programs into the memory 202 according to the following instructions, and the processor 201 runs and stores the executable files.
  • the executable program in the memory 202 implements the method described in any embodiment of the present application, for example, the user equipment acquires the relevant images of the vehicle collected by the image acquisition component of the ADAS calibration device; the user equipment The position information of the ADAS calibration device relative to the vehicle is determined according to the relevant image of the vehicle; the user equipment provides a position adjustment scheme of the ADAS calibration device relative to the vehicle according to the position information, so as to make The user positions the ADAS calibration device to a preset position relative to the vehicle according to the position adjustment scheme.
  • the user can complete the positioning of the ADAS calibration equipment according to the position adjustment scheme, without the need for the user to learn and query other data, reduce the steps and time of the ADAS calibration equipment positioning, improve the positioning efficiency of the ADAS calibration equipment, and improve the user experience.
  • FIG. 3 is a flowchart of a positioning method for an ADAS calibration device provided by an embodiment of the present invention, and the method can be applied to an ADAS calibration system.
  • the specific process of the positioning method of the ADAS calibration equipment may be as follows:
  • the user equipment acquires a relevant image of the vehicle acquired by the image acquisition component of the ADAS calibration device.
  • the relevant images of the vehicle are collected by the image collection component of the ADAS calibration device. Then, the user equipment acquires the relevant images of the vehicle transmitted by the ADAS calibration device, wherein the user equipment is communicatively connected with the ADAS calibration device, so as to transmit information such as the relevant images of the vehicle.
  • the relevant images of the vehicle include target images attached to the body of the vehicle, such as target images attached to the vicinity of the rearview mirror of the vehicle or attached to the extended surface of the radar installed on the front of the vehicle, and images of targets attached to the wheels of the vehicle.
  • Target images silhouette images of vehicles, etc.
  • the target described in the embodiments of the present application is provided with a preset pattern, and the preset pattern is used by the user equipment to determine the positional relationship of the vehicle relative to the image acquisition component.
  • the target attached to the body of the vehicle may be attached to the front or rear of the vehicle, or both sides of the vehicle. Further, the target may be attached to the center of the front or rear of the vehicle, such as the location of the vehicle logo.
  • an identification pattern carried by the vehicle body such as a car logo
  • the targets attached to the wheels of the vehicle may be attached to the two rear wheels of the vehicle, or to the two front wheels of the vehicle, or to the front and rear wheels on the same side of the vehicle, or to all four wheels of the vehicle.
  • the contour image of the vehicle may be the contour image of the entire vehicle, or the contour image of the front half of the vehicle including the front of the vehicle, the contour image of the rear half of the vehicle including the parking space, and the image of the vehicle including one side of the vehicle.
  • the relevant images of the vehicle at the location can characterize the characteristics of the vehicle, such as the position of the front or rear of the vehicle, the position of the front or rear wheels of the vehicle, the position of the rearview mirror of the vehicle, the position of the radar installed on the front of the vehicle, the center of the vehicle line or thrust line, etc.
  • the center line of the vehicle passes through the midpoint of the connection line of the two front wheels and the midpoint of the connection line of the two rear wheels; the thrust line of the vehicle passes through the midpoint of the connection line of the two rear wheels and is perpendicular to the connection line of the two rear wheels.
  • the acquisition of the relevant image of the vehicle is based on the requirement of the calculation program in the user equipment for the position of the ADAS calibration device relative to the vehicle or is controlled by the user's instruction to the user equipment.
  • the position of the image acquisition components included in the ADAS calibration device on the ADAS calibration device and the number of the image acquisition components can be set according to the relevant image acquisition requirements for the vehicle.
  • the number of image acquisition components is three
  • two image acquisition components are located at both ends of the ADAS calibration device, and are used to collect target images attached to the wheels of the vehicle, and one image acquisition component is roughly placed in the ADAS.
  • the center of the calibration device is used to capture images of targets attached to the front or rear of the vehicle.
  • the user equipment can control one or more image acquisition components in the ADAS calibration equipment to acquire images. For example, control two image acquisition components located at both ends of the ADAS calibration device to simultaneously acquire wheel target images, or control the image acquisition component roughly placed in the center of the ADAS calibration device to acquire the front or rear target images.
  • the user equipment determines the position information of the ADAS calibration device relative to the vehicle according to the relevant image of the vehicle.
  • the user equipment calculates the characteristic information of the vehicle according to the relevant images of the vehicle, such as the front or rear of the vehicle, the center line of the front wheel of the vehicle, the center line of the rear wheel of the vehicle, the center line of the rearview mirror of the vehicle, the extension surface of the front radar, or the vehicle Determine the relative positional relationship between the image acquisition component and the vehicle in the ADAS calibration device, and determine the position information of the ADAS calibration device relative to the vehicle according to the relative positional relationship between the image acquisition component and the ADAS calibration device.
  • the relevant images of the vehicle such as the front or rear of the vehicle, the center line of the front wheel of the vehicle, the center line of the rear wheel of the vehicle, the center line of the rearview mirror of the vehicle, the extension surface of the front radar, or the vehicle Determine the relative positional relationship between the image acquisition component and the vehicle in the ADAS calibration device, and determine the position information of the ADAS calibration device relative to the vehicle according to the relative positional relationship between the image acquisition component and the ADAS calibration device.
  • the positioning of the image acquisition component relative to the ADAS calibration device may determine characteristic information of the ADAS calibration device.
  • An ADAS calibration device is exemplarily described below, and the characteristic information of the ADAS calibration device is described in conjunction with the ADAS calibration device.
  • the ADAS calibration equipment includes a bracket assembly and a beam.
  • the bracket assembly includes a base frame and a vertical frame.
  • the vertical frame is installed on the base frame and is arranged approximately vertically.
  • the beam is installed on the vertical frame.
  • the beam is used to carry the calibration element. It is mounted on different positions of the beam to be suitable for the calibration of different models or different sensors.
  • the beam can also be moved in the vertical direction relative to the stand, so as to adjust the height of the beam, and further, the height of the calibration element can be adjusted.
  • both ends of the beam are respectively provided with an image acquisition component, and the image acquisition components at both ends are used to acquire target images on both sides of the vehicle.
  • the relative positional relationship between the image acquisition components at both ends can be known.
  • one of the two image acquisition components includes a positioning camera, and the other includes a positioning target.
  • the positioning camera collects images of the positioning target, and then determines the images at both ends according to the images. Capture the relative position of the component.
  • the characteristic information of the ADAS calibration device can be determined as the center line of the beam or the center point of the beam and other information according to the relative positions between the image acquisition components at both ends.
  • the coordinates of one of the image acquisition components at both ends are taken as the origin, and then the coordinates of the other image acquisition component relative to the origin are determined, and the center line of the beam refers to a straight line passing through the coordinates of the image acquisition components at both ends. Therefore, the coordinates do not include height data, that is, the coordinates of the image acquisition components at both ends projected vertically on the same plane.
  • the center point of the beam refers to the center point of the coordinates of the image acquisition components at both ends.
  • the center point of the beam represents the center of the beam.
  • the beam is further provided with a third image acquisition component
  • the image acquisition component is disposed between the two ends of the beam
  • the setting position of the image acquisition component can be adjusted by the target image to be acquired. For example, it is arranged in the middle of the beam, or is closer to one of the image acquisition components at both ends, and so on.
  • the image acquisition component is used to acquire images of targets placed at the front or rear of the vehicle.
  • the position of the image acquisition component relative to the vehicle is the position of the ADAS calibration device relative to the vehicle.
  • the position of the image acquisition component relative to the vehicle may not consider the height, that is, the positional relationship between the coordinates of the image acquisition component and the vehicle projected on the same plane.
  • the above three image acquisition components can communicate with the user equipment, send the collected images to the user equipment, and the user equipment realizes the image recognition and the calculation of the position information, or, the image acquisition component realizes the image recognition and the calculation of the position information before sending. to the user device.
  • the position information of the ADAS calibration device relative to the vehicle may be the position information of the ADAS feature relative to the vehicle feature, or the position information of the image acquisition component on the ADAS calibration device relative to the vehicle feature.
  • the position information of the features of the ADAS calibration device relative to the features of the vehicle may include: the centerline of the ADAS (ie, the centerline of the cross member) relative to the front or rear of the vehicle, the front or rear wheels, the rear-view mirror, or the radar of the front of the vehicle.
  • the position information of the image acquisition component on the ADAS calibration device relative to the characteristics of the vehicle may include: the vertical distance of the image acquisition component relative to the front or rear of the vehicle, the front or rear wheels, and the rearview mirror.
  • the position information of the ADAS calibration device relative to the vehicle may include relative height information, and the relative height information may be acquired by an image acquisition component on the ADAS calibration device, or, by other sensors that can measure relative heights, as measured by the distance sensor.
  • the relative height information may include a height comparison between the ADAS calibration device and the vehicle, eg, the vehicle is higher than the ADAS calibration device, or the relative height information may include the height difference of the ADAS calibration device relative to the vehicle.
  • the relative height between the ADAS calibration device and the vehicle may refer to the height between the supporting surface of the ADAS calibration device and the supporting surface of the vehicle.
  • the supporting surface of the ADAS calibration device is the ground of the calibration space
  • the supporting surface of the vehicle is The plane on the lift that supports the wheels.
  • the relative height between the ADAS calibration device and the vehicle refers to the relative height of the calibration element on the ADAS calibration device and the sensor to be calibrated on the vehicle.
  • the relevant image of the vehicle is the target image attached to the front of the vehicle.
  • the target image of the head of the vehicle can be collected by the image acquisition component placed on the beam of the ADAS calibration equipment.
  • the position information of the ADAS calibration device relative to the vehicle includes distance information of the ADAS calibration device relative to the front of the vehicle.
  • the distance information of the ADAS calibration device relative to the head of the vehicle is determined by the positional relationship between the head target and the image acquisition component; or, it is determined by the positional relationship between the head target and the image acquisition component, and the The positional relationship of the center line of the ADAS calibration equipment is determined.
  • the relevant image of the vehicle is the image of the target attached to the rear wheel.
  • a target is attached to each of the rear wheels on both sides, and the target images of the rear wheels on both sides can be collected by the image acquisition components at both ends of the beam of the ADAS equipment, and the ADAS calibration equipment is placed near the rear of the vehicle.
  • the position information of the ADAS calibration device relative to the vehicle includes distance information of the ADAS calibration device relative to the rear wheels of the vehicle.
  • the distance information of the ADAS calibration device relative to the rear wheels of the vehicle is the vertical distance between the center points of the two rear wheels and the center line of the ADAS calibration device.
  • the two rear wheel targets are obtained.
  • the position relationship of the center point of the rear wheel relative to the center line of the ADAS calibration device is obtained, and the position relationship of the center line of the ADAS calibration device is determined by the relative position relationship of the two image acquisition components.
  • the relevant image of the vehicle is the image of the target attached to the front wheel.
  • the target attached to the front wheel may be arranged only on one side of the vehicle, or may be arranged on both sides of the vehicle.
  • the target images attached to the front wheels are acquired by one or both of the image acquisition components at both ends of the beam of the ADAS calibration equipment.
  • the position information of the ADAS calibration device relative to the vehicle includes distance information of the ADAS calibration device relative to the front wheels of the vehicle.
  • the distance information of the ADAS calibration device relative to the front wheels of the vehicle is the vertical distance between the front wheel target of the vehicle and the center line of the ADAS calibration device, or the vertical distance between the center points of the two front wheels and the center line of the ADAS calibration device.
  • the image related to the vehicle is the target image on the same plane as the front radar set on the front of the vehicle.
  • the targets attached to the same plane of the front radar can be arranged only on one side of the vehicle, or can be arranged on both sides of the vehicle.
  • the target images attached to the same plane of the front radar are acquired by one or two of the image acquisition components at both ends of the beam of the ADAS calibration equipment.
  • the position information of the ADAS calibration device relative to the vehicle includes distance information of the ADAS calibration device relative to the front radar of the vehicle.
  • the distance information of the ADAS calibration device relative to the front radar of the vehicle is the vertical distance from the target on the same plane of the front radar of the vehicle to the center line of the ADAS calibration device.
  • the vehicle-related image is an image of a target attached to the rear-view mirror.
  • the target attached to the rearview mirror may be arranged only on one side of the vehicle, or may be arranged on both sides of the vehicle.
  • the target image attached to the rearview mirror is acquired by one or two of the image acquisition components at both ends of the beam of the ADAS calibration device.
  • the position information of the ADAS calibration device relative to the vehicle includes distance information of the ADAS calibration device relative to the rearview mirror of the vehicle.
  • the distance information of the ADAS calibration device relative to the rearview mirror of the vehicle is the vertical distance between the target attached to the rearview mirror and the center line of the ADAS calibration device, or the vertical distance between the center point of the two rearview mirrors and the center line of the ADAS calibration device .
  • the vehicle-related image is the target image in the same plane as the front of the vehicle.
  • the target image on the same plane as the front of the vehicle is collected by one of the image acquisition components at both ends of the beam of the ADAS calibration device, and the ADAS calibration device is placed at the rear of the vehicle.
  • the position information of the ADAS calibration device relative to the vehicle includes the distance information of the ADAS calibration device relative to the front of the vehicle when the ADAS calibration device is at the rear of the vehicle.
  • the distance information of the ADAS calibration equipment relative to the head of the vehicle is the vertical distance of the target on the same plane at the head of the vehicle relative to the center line of the ADAS calibration equipment.
  • the position information of the ADAS calibration device relative to the vehicle including the distance information from the vehicle, is described separately.
  • the position information of the ADAS calibration device relative to the vehicle further includes the distance between the center point of the ADAS calibration device and the center line or thrust line of the vehicle, or, the center line of the ADAS calibration device and the center line of the vehicle or Angle between thrust lines.
  • the position information of the ADAS calibration device relative to the vehicle includes the distance D of the ADAS calibration device relative to the front of the vehicle, the included angle (90°- ⁇ ) between the center line of the ADAS calibration device and the thrust line or center line of the vehicle, ADAS calibration The vertical distance L between the center point of the equipment and the thrust line or center line of the vehicle, or the vertical distance L between the center axis of the ADAS calibration equipment and the thrust line or center line of the vehicle.
  • the central axis of the ADAS calibration device refers to a straight line perpendicular to the center line of the ADAS calibration device, or, the central axis of the ADAS calibration device refers to a straight line passing through the center point of the ADAS calibration device and parallel to the thrust line or the center line of the vehicle .
  • the distance D in Figure 4g the distance between the ADAS calibration device and the head of the vehicle is used as an example.
  • the above angle and distance can be combined to apply to the position described in Figure 4g. information.
  • the location information may also include relative altitude information.
  • the user equipment provides a position adjustment scheme of the ADAS calibration device relative to the vehicle according to the position information, so that the user positions the ADAS calibration device relative to the vehicle according to the position adjustment scheme. preset position.
  • the user equipment determines the adjustment scheme of the ADAS calibration device by comparing the difference between the current position of the ADAS calibration device relative to the vehicle and the preset position according to the position information determined in step 302.
  • the preset position is related to the vehicle type or the position of the system or sensor to be calibrated on the vehicle.
  • the user equipment may provide a selection interface of the vehicle model to be tested or the sensor to be tested, so that the user can select the vehicle model to be tested or the sensor to be tested according to the options provided in the interface.
  • the sensor to be tested determines its corresponding preset position, and then compares it with the position information determined in step 302 to determine an adjustment scheme.
  • the position adjustment scheme provided by the user equipment is dynamic, that is, the user equipment determines the position information of the ADAS calibration device relative to the vehicle in real time according to step 302, and the user equipment determines the adjustment scheme in real time and displays it to the user in real time.
  • the user can timely adjust the positioning method according to the dynamic position adjustment scheme.
  • the position adjustment scheme provided by the user equipment is non-dynamic, that is, the position adjustment scheme is only provided once, the user positions the ADAS calibration device according to the position adjustment scheme, and after the adjustment, a confirmation positioning process can be triggered to determine the ADAS Whether the positioning of the calibration equipment is completed; if it is not completed, the position adjustment plan will be provided again according to the above method until the positioning confirmation of the ADAS calibration equipment is completed.
  • the position adjustment scheme includes height adjustment of the ADAS calibration device, such as adjusting the height of the base of the ADAS calibration device, or adjusting the height of the beam of the ADAS calibration device relative to the stand assembly; or, adjusting the height of the ADAS calibration device
  • the relative height of the calibration device and the vehicle is used as a compensation parameter to determine the position adjustment scheme of the ADAS calibration device.
  • the position adjustment solution provided by the user equipment may be displayed to the user by displaying the user interface.
  • the display position adjustment solution on the user interaction interface reference may be made to the descriptions in the following embodiments.
  • the method described in the embodiment of the present application further includes:
  • the user equipment receives a viewing instruction from the user, and displays a relevant image of the vehicle indicated by the viewing instruction.
  • the user can trigger the viewing instruction by clicking, touching the user equipment, etc.
  • the user equipment displays the relevant image of the vehicle indicated by the viewing instruction.
  • step A1 will be exemplarily described below with reference to FIG. 5a to FIG. 5c.
  • the user can click to view the camera in the interface of 5a. After the user clicks to view the camera, the user can jump to the camera image preview in FIG. 5b. The user can further click each camera on the left to select a specific camera image, thereby obtaining images from each camera.
  • the user can click the displayed image frame in the interface of FIG. 5a, and after the user clicks the displayed image frame, the user can jump to the specific image of FIG. 5c, thereby obtaining the images of each camera.
  • step A1 may be in the process of providing the position adjustment solution by the user equipment, so that the user can conveniently view the relevant images of the vehicle, so as to assist the position adjustment of the ADAS calibration equipment.
  • the method described in the embodiments of the present application further includes:
  • the user equipment displays a user operation step guide to guide the user to move the ADAS calibration equipment.
  • the user operation step guide displayed by the user equipment can guide the operations required by the user during the positioning process of the ADAS calibration device, so as to facilitate the user to move the ADAS calibration device and provide precautions in the moving process.
  • ADAS calibration equipment For different stages of the positioning process of the ADAS calibration equipment, different user operation steps can be prompted to guide the user's operations at different stages. For different stages, the specific components of the ADAS calibration equipment that may be adjusted are different.
  • the present application obtains the relevant image of the vehicle collected by the image acquisition component of the ADAS calibration device through the user equipment; the user equipment determines the position information of the ADAS calibration device relative to the vehicle according to the relevant image of the vehicle; The user equipment provides a position adjustment scheme of the ADAS calibration device relative to the vehicle according to the position information, so that the user can position the ADAS calibration device to a predetermined position relative to the vehicle according to the position adjustment scheme. set location.
  • the user only needs the adjustment scheme provided by the user equipment to locate the ADAS calibration device to the preset position, without the need to manually calculate the specific positioning parameters, and when the user calculates the positioning parameters by himself, there will still be errors, and the user calculates the positioning by himself.
  • steps S301 to S303 may be repeatedly implemented. Steps S301 to S303 are also applicable to different stages of positioning the ADAS calibration equipment. The application of steps S301 to S303 in the positioning process of the ADAS calibration device will be described below with reference to the accompanying drawings.
  • the position information of the ADAS calibration device relative to the vehicle can be determined first according to the target image. Specifically, the user equipment determines whether the relevant image of the vehicle includes the image of the target attached to the vehicle. If not, it is determined that the ADAS calibration device is relative to the vehicle. The location information of the vehicle is not within the preset range.
  • the user equipment identifies the relevant images of the vehicle through image recognition, identifies the number of targets included in the relevant images of the vehicle, and determines whether the number of targets included in the relevant images of the vehicle reaches the preset number. If the number is set, it is determined that the position information of the ADAS calibration device relative to the vehicle is not within the preset range. If so, it is determined that the position information of the ADAS calibration device relative to the vehicle is within a preset range.
  • the preset range refers to the range within which the vehicle target image can be collected, which may be in front of the vehicle or behind the vehicle.
  • the user equipment when the user equipment obtains a relevant image of the vehicle through a click to view operation, it identifies whether the relevant image includes a rear wheel target image, and when it is determined that the relevant image does not include a rear wheel target image, or the included target image
  • the position adjustment scheme is: the user device prompts the user to move the ADAS calibration device so that the target is within the recognition range.
  • Image acquisition component that is, within the recognition range of the camera.
  • the user can also remind the user to pay attention to the precautions that the target and the camera need to meet, which can include: ensuring that the target is installed correctly; ensuring that there is no obstruction within the recognition range of the camera; ensuring that the target dot pattern is clean and free water mist and no other damage. If the camera or the target does not meet the conditions, the user can make corresponding adjustments. For example, if the target is not installed correctly, the user can reinstall the target. When both the camera and the target meet the conditions, the user can move the ADAS calibration device so that the target is within the recognition range of the camera.
  • the targets in this embodiment may include rear-wheel targets, front-wheel targets, and targets attached to the front or rear of the vehicle, and the like.
  • the ADAS calibration device needs to be positioned at a preset distance relative to the vehicle.
  • the relevant image of the vehicle includes the image of the first target attached to the front or rear of the vehicle, or the image of the first target as described in any one of Figs.
  • the user equipment determines the first distance of the ADAS calibration device relative to the front or rear of the vehicle according to the first target image, wherein the first distance is based on the first distance attached to the front or rear of the vehicle. The distance between a target and the first camera is determined.
  • the user equipment determines the first distance of the ADAS calibration device relative to the front or rear of the vehicle according to the first target image.
  • ADAS calibration The first distance of the device relative to the vehicle is the distance D of the ADAS calibration device relative to the head of the vehicle in Figure 4g
  • the user equipment provides the position adjustment information of the ADAS calibration device relative to the vehicle according to the distance D and the preset first target distance.
  • the provided position adjustment information includes the first to-be-adjusted distance calculated according to the distance D and the preset first target distance, and the operation step guide for the user to adjust the first to-be-adjusted distance.
  • the specific providing methods may include voice providing, text providing And the combination of text and images is provided.
  • Figure 4h for the specific way of providing.
  • the right side provides the target image, the distance between the main frame of the ADAS calibration device and the vehicle, the position adjustment data, that is, the distance to be adjusted, the main frame pitch map of the ADAS calibration device, and the left side provides user operation guidance, So that the user can intuitively know the position adjustment scheme, after the position adjustment scheme is provided, the user can adjust the distance of the ADAS calibration equipment according to the position adjustment scheme.
  • the specific distance that the ADAS calibration device is adjusted relative to the distance of the vehicle if it is detected that the distance that the user adjusts the distance of the ADAS calibration device relative to the vehicle is equal to the distance to be adjusted, that is, when the adjusted distance is equal to the target value, it can be provided in the The page is updated in real time to remind the user that the coarse adjustment of the first distance has been completed.
  • the display mode of prompting the user to complete the coarse adjustment of the first distance can refer to Figure 4i, and then provide information that prompts the user to perform the fine adjustment of the first distance, For the specific prompting method, refer to FIG. 4j, so that the user knows that the coarse adjustment of the first distance has been completed, and can perform the fine-tuning operation.
  • the ADAS calibration device needs to be positioned at a preset angle relative to the vehicle.
  • the relevant image of the vehicle includes the image of the second target attached to the wheels on both sides of the vehicle
  • the image of the second target is acquired by the second camera component in the image acquisition component, and the second camera component Including two camera modules, the field of view of the two camera modules respectively covers the second targets of the wheels on both sides of the vehicle
  • the user equipment determines the thrust line of the vehicle according to the second target image; the user equipment determines the center of the ADAS calibration device
  • the angle of the line relative to the thrust line, the center line of the ADAS calibration device refers to the straight line passing through the two camera modules.
  • the user equipment determines the thrust line of the vehicle according to the second target image; further determines the angle of the center line of the ADAS calibration device relative to the thrust line, see Fig. 4g, the angle between the center line of the ADAS calibration device and the thrust line is the angle (90°- ⁇ ) between the center line of the ADAS calibration device and the thrust line or center line of the vehicle in Fig. 4g, according to the angle and the preset target angle, calculate the angle to be adjusted, and provide a position adjustment plan of the ADAS calibration device relative to the vehicle according to the angle to be adjusted.
  • the position adjustment plan may include the angle to be adjusted and the corresponding user operation guide for angle adjustment.
  • the adjustment of the angle may be performed before the first distance adjustment is completed, or after the first distance adjustment, which is not limited herein.
  • the adjustment of the angle is completed after the first distance adjustment is completed, reference may be made to FIG. 4k for the specific manner of providing the position adjustment solution regarding the angle.
  • the user can adjust the angle of the ADAS calibration device according to the position adjustment plan.
  • the user can adjust the angle of the ADAS calibration device relative to the vehicle in real time.
  • the display mode prompting the user to complete the angle may refer to FIG. 41 , so that the user knows that the angle adjustment has been completed and can proceed to the next step.
  • the center of the ADAS calibration device needs to be aligned with the centerline or thrust line of the vehicle.
  • the relevant image of the vehicle includes the image of the second target attached to the wheels on both sides of the vehicle
  • the image of the second target is acquired by the second camera component in the image acquisition component.
  • the user equipment determines the thrust line of the vehicle according to the second target image; the user equipment determines the center of the ADAS calibration device The second distance of the point relative to the intersection of the thrust line and the center line of the ADAS calibration device, where the center line of the ADAS calibration device refers to a straight line passing through the two camera modules.
  • the user equipment determines the difference between the center point of the ADAS calibration device relative to the thrust line and the center line of the ADAS calibration device according to the second target image
  • the vertical distance L of the intersection point is the second distance, referring to Fig. 4g, the second distance of the center point of the ADAS calibration device relative to the intersection of the thrust line and the center line of the ADAS calibration device is the ADAS calibration device in Fig. 4g.
  • the vertical distance L of the center point relative to the intersection of the thrust line and the center line of the ADAS calibration device the user equipment provides the position adjustment of the ADAS calibration device relative to the vehicle according to the second distance and the preset second target distance plan.
  • the adjustment of the second distance may be performed before the angle adjustment is completed or after the angle adjustment, which is not limited herein.
  • the adjustment of the second distance is completed after the angle adjustment is completed, reference may be made to FIG. 4m for a specific manner of providing a position adjustment solution for the second distance.
  • the user can adjust the second distance of the ADAS calibration device according to the position adjustment information.
  • the user's relative position to the ADAS calibration device can be detected in real time.
  • the specific distance adjusted according to the second distance of the vehicle if it is detected that the distance that the user adjusts the second distance of the ADAS calibration device relative to the vehicle is equal to the distance to be adjusted, that is, when the adjusted distance is equal to the target value, it can be provided in the The page is updated in real time to remind the user that the adjustment of the second distance has been completed.
  • the display mode of prompting the user to complete the second distance so that the user can know that the adjustment of the second distance has been completed and can proceed to the next step.
  • the relevant image of the vehicle includes an image of a third target placed on the same plane as the vehicle, and the image of the third target is captured by a third camera in the image capturing assembly.
  • the user equipment obtains the relative height information of the ADAS calibration device relative to the vehicle according to the third target image.
  • the relative height information may include a height comparison between the ADAS calibration device and the vehicle, eg, the vehicle is higher than the ADAS calibration device, or the relative height information may include the height difference of the ADAS calibration device relative to the vehicle.
  • the relative height between the ADAS calibration device and the vehicle may refer to the height between the supporting surface of the ADAS calibration device and the supporting surface of the vehicle.
  • the supporting surface of the ADAS calibration device is the ground of the calibration space
  • the supporting surface of the vehicle is The plane on the lift that supports the wheels.
  • the relative height between the ADAS calibration device and the vehicle refers to the relative height of the calibration element on the ADAS calibration device and the sensor to be calibrated on the vehicle.
  • the user equipment provides the position adjustment scheme of the ADAS calibration device relative to the vehicle according to the relative height information.
  • the user can detect the specific height of the ADAS calibration device relative to the vehicle in real time. If it is detected that the height that the user adjusts the height of the ADAS calibration device relative to the vehicle is equal to the distance to be adjusted in the relative height information, that is, when the adjusted height is equal to the target value, the provided page can be updated in real time to remind the user that he has The height adjustment is completed, so that the user knows that the height adjustment has been completed and can proceed to the next step.
  • the following introduces a specific implementation process for adjusting the position of an ADAS calibration device by using an embodiment of the present application.
  • Fig. 5d is a specific implementation flow chart of adjusting the ADAS calibration equipment according to the embodiment of the application, which specifically includes:
  • the ADAS calibration device is placed within a preset range, so that the image acquisition component of the ADAS calibration device can collect relevant images of the vehicle.
  • the user equipment acquires a relevant image of the vehicle acquired by the image acquisition component of the ADAS calibration device.
  • the relevant images of the vehicle are collected by the image collection components of the ADAS calibration device, wherein the image collection components may include multiple, and the relevant images of the vehicle may include images of various orientations of the vehicle captured by each image collection component .
  • the user equipment acquires the relevant images of the vehicle transmitted by the ADAS calibration device, wherein the user equipment is connected in communication with the ADAS calibration device, so as to transmit information such as the relevant images of the vehicle.
  • the relevant image of the vehicle is the target image attached to the front of the vehicle.
  • the target image of the head of the vehicle can be collected by the image acquisition component placed on the beam of the ADAS calibration equipment.
  • the relevant image of the vehicle is the image of the target attached to the rear wheel.
  • a target is attached to each of the rear wheels on both sides, and the target images of the rear wheels on both sides can be collected by the image acquisition components at both ends of the beam of the ADAS equipment, and the ADAS calibration equipment is placed near the rear of the vehicle.
  • the relevant image of the vehicle is the image of the target attached to the front wheel.
  • the target attached to the front wheel may be arranged only on one side of the vehicle, or may be arranged on both sides of the vehicle.
  • the target images attached to the front wheels are acquired by one or both of the image acquisition components at both ends of the beam of the ADAS calibration equipment.
  • the image related to the vehicle is the target image on the same plane as the front radar set on the front of the vehicle.
  • the targets attached to the same plane of the front radar can be arranged only on one side of the vehicle, or can be arranged on both sides of the vehicle.
  • the target images attached to the same plane of the front radar are acquired by one or two of the image acquisition components at both ends of the beam of the ADAS calibration equipment.
  • the vehicle-related image is an image of a target attached to the rear-view mirror.
  • the target attached to the rearview mirror may be arranged only on one side of the vehicle, or may be arranged on both sides of the vehicle.
  • the target image attached to the rearview mirror is acquired by one or two of the image acquisition components at both ends of the beam of the ADAS calibration device.
  • the vehicle-related image is the target image in the same plane as the front of the vehicle. Among them, the target image on the same plane as the front of the vehicle is collected by one of the image acquisition components at both ends of the beam of the ADAS calibration device, and the ADAS calibration device is placed at the rear of the vehicle.
  • the user equipment determines, according to the first target image in the related image, a first distance of the ADAS calibration device relative to the front or rear of the vehicle, where the first distance It is determined according to the distance between the first target attached to the front or the rear of the vehicle and the first camera.
  • the first target image is the image of the target attached to the front or the rear of the vehicle.
  • the user equipment determines the position of the ADAS calibration device relative to the vehicle according to the first target image.
  • the first distance of the front or the rear of the vehicle refer to FIG. 4a, wherein the first distance is based on the distance between the first target attached to the front or the rear of the vehicle and the first camera
  • the distance is determined, that is, the position information of the ADAS calibration device relative to the vehicle includes the distance information of the ADAS calibration device relative to the head of the vehicle. Or, it is determined by the positional relationship between the vehicle head target and the image acquisition component, and the positional relationship between the image acquisition component and the center line of the ADAS calibration device.
  • the user equipment provides position adjustment information of the ADAS calibration device relative to the vehicle according to the first distance and a preset first target distance.
  • the user equipment If the user equipment detects that the first distance is the same as the first target distance, the user equipment prompts the user to start a fine-tuning operation.
  • the first distance of the ADAS calibration device relative to the vehicle is the distance D of the ADAS calibration device relative to the head of the vehicle in Figure 4g
  • the user equipment provides the ADAS calibration device according to the distance D and the preset first target distance.
  • the position adjustment information of the vehicle is described, and the provided position adjustment information includes the first to-be-adjusted distance calculated according to the distance D and the preset first target distance, and the operation step guide for the user to adjust the first to-be-adjusted distance.
  • the specific provision method can be Including voice provision, text provision and provision of text and images combined. When it is provided by a combination of text and images, reference may be made to Figure 4h for the specific way of providing.
  • the user can adjust the distance of the ADAS calibration device according to the position adjustment plan.
  • the user can adjust the distance of the ADAS calibration device relative to the vehicle in real time.
  • the display mode prompting the user to complete the coarse adjustment of the first distance can refer to Figure 4i, and then provide information to prompt the user to perform the fine adjustment of the first distance, and the specific prompting method can refer to Figure 4j, so that The user learns that the coarse adjustment of the first distance has been completed, and can perform a fine adjustment operation.
  • the user equipment determines the thrust line of the vehicle according to the second target image in the related image.
  • the user equipment determines an angle of the center line of the ADAS calibration device relative to the thrust line, where the center line of the ADAS calibration device refers to a straight line passing through the two camera modules.
  • the second target image is the image of the second target attached to the wheels on both sides of the vehicle
  • the user equipment determines the thrust line of the vehicle according to the second target image, and determines that the center line of the ADAS calibration device is relative to the The angle of the thrust line, the center line of the ADAS calibration device refers to a straight line passing through the two camera modules.
  • the user equipment provides a position adjustment solution of the ADAS calibration device relative to the vehicle according to the angle and the preset target angle.
  • the user equipment calculates the to-be-adjusted angle of the ADAS calibration device relative to the vehicle according to the angle of the centerline of the ADAS calibration device relative to the thrust line and the preset target angle, and provides the to-be-adjusted angle as a position adjustment scheme.
  • the position adjustment scheme may also include an operation step guide for adjusting the angle by the user, so as to guide the user to adjust the ADAS calibration device. Referring to Fig. 4g, the angle between the center line of the ADAS calibration device and the thrust line is the angle (90°- ⁇ ) between the center line of the ADAS calibration device and the thrust line or center line of the vehicle in Fig.
  • the target angle is calculated, the angle to be adjusted is calculated, and the position adjustment plan of the ADAS calibration device relative to the vehicle is provided according to the angle to be adjusted.
  • the position adjustment plan may include the angle to be adjusted and the corresponding user operation guide for angle adjustment.
  • the adjustment of the angle may be performed before the first distance adjustment is completed, or after the first distance adjustment, which is not limited herein.
  • FIG. 4k When the adjustment of the angle is completed after the first distance adjustment is completed, reference may be made to FIG. 4k for the specific manner of providing the position adjustment solution regarding the angle.
  • the user can adjust the angle of the ADAS calibration device according to the position adjustment plan.
  • the user can adjust the angle of the ADAS calibration device relative to the vehicle in real time. If it is detected that the angle at which the user adjusts the angle of the ADAS calibration device relative to the vehicle is equal to the angle to be adjusted, that is, when the adjusted angle is equal to the target value, it can be updated in real time on the provided page to remind the user that the For the angle adjustment, the display mode prompting the user to complete the angle may refer to FIG. 41 , so that the user knows that the angle adjustment has been completed and can proceed to the next step.
  • the user equipment determines the second distance of the center point of the ADAS calibration device relative to the intersection of the thrust line and the center line of the ADAS calibration device, where the center point of the ADAS calibration device refers to the two The midpoint of the line connecting the two camera modules, the center line of the ADAS calibration device refers to a straight line passing through the two camera modules.
  • the second distance of the center point of the ADAS calibration device relative to the intersection of the thrust line and the center line of the ADAS calibration device, and the center point of the ADAS calibration device refers to the connection between the two camera modules.
  • the midpoint of the line, the center line of the ADAS calibration device refers to a straight line passing through the two camera modules.
  • the user equipment provides a position adjustment solution of the ADAS calibration device relative to the vehicle according to the second distance and the preset second target distance.
  • the user equipment After the user equipment determines the second distance of the center point of the ADAS calibration device relative to the intersection of the thrust line and the center line of the ADAS calibration device, it compares the second distance with the preset second target distance to obtain the relative relationship between the ADAS calibration device and the center line of the ADAS calibration device.
  • the second to-be-adjusted distance of the vehicle is provided, and the second to-be-adjusted distance is provided as a position adjustment solution.
  • the position adjustment scheme may also include an operation step guide for the user to adjust the distance, so as to guide the user to adjust the ADAS calibration device.
  • the second distance of the center point of the ADAS calibration device relative to the intersection of the thrust line and the center line of the ADAS calibration device is that the center point of the ADAS calibration device in Fig. 4g is relative to the thrust line and the center point.
  • the vertical distance L of the intersection of the center lines of the ADAS calibration device, the user equipment provides a solution for adjusting the position of the ADAS calibration device relative to the vehicle according to the second distance and the preset second target distance.
  • the adjustment of the second distance may be performed before the angle adjustment is completed or after the angle adjustment, which is not limited herein.
  • the user can adjust the second distance of the ADAS calibration device according to the position adjustment information.
  • the user's relative position to the ADAS calibration device can be detected in real time.
  • the specific distance adjusted according to the second distance of the vehicle if it is detected that the distance that the user adjusts the second distance of the ADAS calibration device relative to the vehicle is equal to the distance to be adjusted, that is, when the adjusted distance is equal to the target value, it can be provided in the
  • the page is updated in real time to remind the user that the adjustment of the second distance has been completed. Refer to Figure 4n for the display mode of prompting the user to complete the second distance, so that the user can know that the adjustment of the second distance has been completed and can proceed to the next step.
  • the user equipment determines a height difference value of the ADAS calibration device relative to the vehicle according to the third target image in the related image, wherein the height difference value is determined according to the height difference value placed at the same location as the vehicle.
  • the height between the flat third target and the third camera is determined.
  • the user equipment determines the height difference value of the ADAS calibration device relative to the vehicle according to the third target image, wherein the height difference value is determined according to the height between the third target placed on the same plane as the vehicle and the third camera .
  • the user equipment provides a position adjustment solution of the ADAS calibration device relative to the vehicle according to the height difference value and a preset target height difference value.
  • the user equipment determines the height difference value of the ADAS calibration device relative to the vehicle according to the third target image, and the user equipment calculates the to-be-adjusted height difference value of the ADAS calibration device relative to the vehicle according to the height difference value and the preset target height difference value, and
  • the height to be adjusted is offered as a position adjustment solution.
  • the position adjustment scheme may also include an operation step guide for adjusting the height by the user, so as to guide the user in adjusting the ADAS calibration device.
  • Steps 508 and 509 may be implemented before steps 506 and 507 .
  • steps 510 and 511 may be omitted.
  • an embodiment of the present application may further provide a positioning device for an ADAS calibration device.
  • the positioning device of the ADAS calibration device may include an acquiring unit 601, a determining unit 602 and a providing unit 603, as follows:
  • the acquiring unit 601 is used for the user equipment to acquire the relevant images of the vehicle acquired by the image acquisition component of the ADAS calibration device.
  • the relevant images of the vehicle are collected by the image collection components of the ADAS calibration device, wherein the image collection components may include multiple, and the relevant images of the vehicle may include images of various orientations of the vehicle captured by each image collection component .
  • the user equipment acquires the relevant images of the vehicle transmitted by the ADAS calibration device, wherein the user equipment is communicatively connected with the ADAS calibration device, so as to transmit information such as the relevant images of the vehicle.
  • the determining unit 602 is used for the user equipment to determine the position information of the ADAS calibration device relative to the vehicle according to the relevant image of the vehicle.
  • the user equipment may determine the position information of the ADAS calibration device relative to the vehicle according to the relevant image of the vehicle.
  • a providing unit 603 is used for the user equipment to provide a position adjustment scheme of the ADAS calibration device relative to the vehicle according to the position information, so that the user can position the ADAS calibration device to a relative position according to the position adjustment scheme. at the preset position of the vehicle.
  • the user equipment After calculating the position information, the user equipment provides a position adjustment scheme of the ADAS calibration device relative to the vehicle according to the position information, so that the user can position the ADAS calibration device to a preset position relative to the vehicle according to the position adjustment scheme.
  • providing a solution for adjusting the position of the ADAS calibration device relative to the vehicle may include prompting the user of the required moving distance and moving angle of the ADAS calibration device relative to the vehicle, or prompting the user to adjust the height of the ADAS calibration device itself.
  • the specific adjustment provision method can be broadcast by voice, or displayed in the form of text, or displayed in the form of a combination of text and images.
  • the positioning device of the ADAS calibration device of the present embodiment obtains the relevant images of the vehicle collected by the image acquisition component of the ADAS calibration device through the acquisition unit 601 of the user equipment;
  • the relevant image of the vehicle determines the position information of the ADAS calibration device relative to the vehicle;
  • the user equipment provides a position adjustment scheme of the ADAS calibration device relative to the vehicle through the providing unit 603 according to the position information , so that the user can position the ADAS calibration device to a preset position relative to the vehicle according to the position adjustment scheme.
  • the user can complete the positioning of the ADAS calibration equipment according to the position adjustment scheme, without the need for the user to learn and query other data, reduce the steps and time of the ADAS calibration equipment positioning, improve the positioning efficiency of the ADAS calibration equipment, and improve the user experience.
  • the embodiments of the present application provide a computer-readable storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by a processor to execute any ADAS calibration device positioning method provided by the embodiments of the present application. steps in .
  • the instruction can perform the following steps:
  • the user equipment determines the position information of the ADAS calibration device relative to the vehicle according to the relevant image of the vehicle;
  • the user equipment provides a position adjustment scheme of the ADAS calibration device relative to the vehicle according to the position information, so that the user can position the ADAS calibration device to a predetermined position relative to the vehicle according to the position adjustment scheme. set location.
  • the computer-readable storage medium may include: a read-only memory (ROM, Read Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and the like.
  • any ADAS provided by the embodiments of the present application can be implemented.
  • any beneficial effects that can be achieved by the positioning method of the calibration device refer to the foregoing embodiments for details, which will not be repeated here.

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Abstract

一种ADAS标定设备的定位方法，应用于ADAS标定系统，ADAS标定系统包括ADAS标定设备（102）以及用户设备（101），ADAS标定设备（102）包括图像采集组件，用户设备（101）与ADAS标定设备（102）通信连接，方法包括：用户设备获取ADAS标定设备（102）的图像采集组件采集的车辆（103）的相关图像（S301）；用户设备（101）根据车辆（103）的相关图像确定ADAS标定设备（102）相对于车辆（103）的位置信息（S302）；用户设备（101）根据位置信息，提供ADAS标定设备（102）相对于车辆（103）的位置调整方案，以使用户根据位置调整方案将ADAS标定设备（102）定位至相对于车辆（103）的预设位置（S303）。一种ADAS标定系统，ADAS标定设备的定位装置以及计算机可读存储介质，实现减少ADAS标定设备定位步骤，提高ADAS标定设备定位效率。

Description

ADAS标定设备的定位方法、系统、装置及可读存储介质
本申请要求于2020年9月25日提交中国专利局、申请号为202011023209.1、申请名称为“ADAS标定设备的定位方法、系统、装置及可读存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及ADAS标定设备的定位领域，具体涉及一种ADAS标定设备的定位方法、系统、装置及计算机可读存储介质。
背景技术
目前，随着汽车行业的发展和科技的进步，人们对汽车驾驶的安全性和舒适性有了更高的要求，无人驾驶是当前汽车技术发展的重要方向，ADAS(Advanced Driving Assistance System)高级驾驶辅助系统是无人驾驶技术发展的前期阶段，也是必经阶段。由于对汽车安全性越来越重视，越来越多的车辆上都装配了ADAS系统，在不久的将来，ADAS系统将会成为所有汽车上的标准配置，当ADAS系统出现故障或异常，就需要对ADAS系统进行校准，ADAS系统才能正常安全使用。而在对ADAS系统进行校准之前，需要对ADAS标定设备进行定位。
但目前已有的ADAS标定设备的定位系统需要经过培训的专业人士，自行计算需要校准的距离和角度，然后进行多次定位，流程复杂，过程繁琐，学习难度大，定位的效率比较低。
发明内容
本申请实施例提供一种ADAS标定设备的定位方法、系统、装置及计算机可读存储介质，旨在减少ADAS标定设备定位步骤，提高ADAS标定设备定位效率。
本申请实施例提供一种ADAS标定设备的定位方法，包括：
所述用户设备获取所述ADAS标定设备的所述图像采集组件采集的车辆的相关图像；
所述用户设备根据所述车辆的相关图像确定所述ADAS标定设备相对于所述车辆的位置信息；
所述用户设备根据所述位置信息，提供所述ADAS标定设备相对于所述车辆的位置调整方案，以使用户根据所述位置调整方案将所述ADAS标定设备定位至相对于所述车辆的预设位置。
此外，本申请实施例还提供一种ADAS标定设备的定位系统，其特征在于，包括：ADAS标定设备，包括图像采集组件；用户设备，与所述ADAS标定设备 通信连接；所述用户系统包括处理器和存储器；所述存储器质存储有多条指令，所述处理器加载所述存储器存储的指令以执行本申请实施例所提供的任一种ADAS标定设备的定位方法中的步骤。
相应的，本申请实施例还提供一种ADAS主架校准装置，包括：
获取单元，用于所述用户设备获取所述ADAS标定设备的所述图像采集组件采集的车辆的相关图像；
确定单元，用于所述用户设备根据所述车辆的相关图像确定所述ADAS标定设备相对于所述车辆的位置信息；
提供单元，用于所述用户设备根据所述位置信息，提供所述ADAS标定设备相对于所述车辆的位置调整方案，以使用户根据所述位置调整方案将所述ADAS标定设备定位至相对于所述车辆的预设位置。
可选的，在一些实施例中，所述确定单元，包括：
判断子单元，用于所述用户设备判断所述车辆的相关图像中是否包括附设于所述车辆的标靶的图像；
第一确定子单元，用于若为否，则所述用户设备确定所述ADAS标定设备相对于所述车辆的位置信息未在预设范围内。
可选的，在一些实施例中，所述判断子单元，包括：
判断模块，用于所述用户设备判断所述车辆的相关图像中是否包括预设数量的所述标靶的图像；
确定模块，用于若为否，则所述用户设备确定所述ADAS标定设备相对于所述车辆的位置信息未在预设范围内。
可选的，在一些实施例中，所述位置调整方案包括提示用户将所述ADAS标定系统移动至所述预设范围内。
可选的，在一些实施例中，所述确定单元，还包括：
第二确定子单元，用于所述用户设备根据所述第一标靶图像确定所述ADAS标定设备相对于所述车辆的所述车头或所述车尾的第一距离，其中，所述第一距离是根据附设于所述车头或所述车尾的所述第一标靶与所述第一相机之间的距离确定的。
可选的，在一些实施例中，所述提供单元，包括：
第一提供子单元，用于所述用户设备根据所述第一距离和预设的第一目标距离，提供所述ADAS标定设备相对于所述车辆的位置调整信息。
可选的，在一些实施例中，所述提供单元，还包括：
提示子单元，用于若所述用户设备检测到所述第一距离与所述第一目标距离相同时，所述用户设备提示用户启动微调操作。
可选的，在一些实施例中，所述确定单元，还包括：
第三确定子单元，用于所述用户设备根据所述第二标靶图像确定所述车辆的推力线；
第四确定子单元，用于所述用户设备确定所述ADAS标定设备的中心线相 对于所述推力线的角度，所述ADAS标定设备的中心线是指经过所述两个相机模组的直线。
可选的，在一些实施例中，所述提供单元，还包括：
第二提供子单元，用于所述用户设备根据所述角度和预设的目标角度，提供所述ADAS标定设备相对于所述车辆的位置调整方案。
可选的，在一些实施例中，所述确定单元，还包括：
第五确定子单元，用于所述用户设备根据所述第二标靶图像确定所述车辆的推力线；
第六确定子单元，用于所述用户设备确定所述ADAS标定设备的中心点相对于所述推力线与所述ADAS标定设备的中心线的交点的第二距离，所述ADAS标定设备的中心点是指所述两个相机模组之间连线的中点，所述ADAS标定设备的中心线是指经过所述两个相机模组的直线。
可选的，在一些实施例中，所述提供单元，还包括：
第三提供子单元，用于所述用户设备根据所述第二距离和预设的第二目标距离，提供所述ADAS标定设备相对于所述车辆的位置调整方案。
可选的，在一些实施例中，所述确定单元，还包括：
第七确定子单元，用于所述用户设备根据所述第三标靶图像确定所述ADAS标定设备相对于所述车辆的高度差值，其中，所述高度差值是根据放置于与所述车辆同一平面的第三标靶与所述第三相机之间的高度确定的。
可选的，在一些实施例中，所述提供单元，还包括：
第四提供子单元，用于所述用户设备根据所述高度差值和预设的目标高度差值，提供所述ADAS标定设备相对于所述车辆的位置调整方案。
可选的，在一些实施例中，所述ADAS标定设备的定位装置，还包括：
第一显示单元，用于所述用户设备接收用户的查看指令，显示所述查看指令所指示的所述车辆的相关图像。
可选的，在一些实施例中，所述ADAS标定设备的定位装置，还包括：
第二显示单元，用于所述用户设备显示用户操作步骤指引，以引导用户对所述ADAS标定设备的移动操作。
此外，本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质存储有多条指令，所述指令适于处理器进行加载，以执行本申请实施例所提供的任一种ADAS标定设备的定位方法中的步骤。
本申请实施例通过用户设备获取所述ADAS标定设备的所述图像采集组件采集的车辆的相关图像；所述用户设备根据所述车辆的相关图像确定所述ADAS标定设备相对于所述车辆的位置信息；所述用户设备根据所述位置信息，提供所述ADAS标定设备相对于所述车辆的位置调整方案，以使用户根据所述位置调整方案将所述ADAS标定设备定位至相对于所述车辆的预设位置。用户只需要用户设备提供的调整方案将ADAS标定设备定位至预设位置即可，不需要人工计算具体的定位参数，并且用户自己进行计算定位参数时，还会存在误 差，并且用户自己进行计算定位参数时，还需要自己判断具体调整的方向，导致定位的准确性不高，从而导致需要进行多次反复定位。通过本申请的定位方案，减少了ADAS标定设备定位步骤，提高ADAS标定设备定位效率与校准精度。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例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是本申请实施例提供的ADAS标定设备的定位系统的场景示意图；
图2是本申请实施例提供的用户设备的结构示意图；
图3是本申请实施例提供的ADAS标定设备的定位方法的一流程示意图；
图4a是本申请实施例提供的车辆的相关图像为附设于车头的标靶图像时，ADAS标定设备相对于车辆的位置信息包括ADAS标定设备相对于车辆的车头的距离信息的示意图；
图4b是本申请实施例提供的车辆的相关图像为附设于后车轮的标靶图像时，ADAS标定设备相对于车辆的位置信息包括ADAS标定设备相对于车辆的车后轮的距离信息的示意图；
图4c是本申请实施例提供的车辆的相关图像为附设于前车轮的标靶图像时，ADAS标定设备相对于车辆的位置信息包括ADAS标定设备相对于车辆的前车轮的距离信息的示意图；
图4d是本申请实施例提供的车辆的相关图像为车辆上设置于车头的前雷达同一平面的标靶图像时，ADAS标定设备相对于车辆的前雷达的距离信息为车辆的前雷达同一平面的标靶距离ADAS标定设备中心线的垂直距离的示意图；
图4e是本申请实施例提供的车辆的相关图像为附设于后视镜的标靶图像时，ADAS标定设备相对于车辆的后视镜的距离信息为附设于后视镜的标靶距离ADAS标定设备中心线的垂直距离的示意图；
图4f是本申请实施例提供的车辆的相关图像为与车头同一平面的标靶图像时，ADAS标定设备相对于车头的距离信息为车头同一平面标靶相对于ADAS标定设备中心线的垂直距离的示意图；
图4g是本申请实施例提供的ADAS标定设备相对于车辆的位置信息包括ADAS标定设备相对于车头的距离D，ADAS标定设备的中心线与车辆的推力线或中心线的夹角(90°-θ)，ADAS标定设备的中心与车辆的推力线或中心线的垂直距离L时的示意图；
图4h是本申请实施例提供的ADAS标定设备调节的第一界面交互示意图；
图4i是本申请实施例提供的ADAS标定设备调节的第二界面交互示意图；
图4j是本申请实施例提供的ADAS标定设备调节的第三界面交互示意图；
图4k是本申请实施例提供的ADAS标定设备调节的第四界面交互示意图；
图4l是本申请实施例提供的ADAS标定设备调节的第五界面交互示意图；
图4m是本申请实施例提供的ADAS标定设备调节的第六界面交互示意图；
图4n是本申请实施例提供的ADAS标定设备调节的第七界面交互示意图；
图5a是本申请实施例提供的查看标靶图像的第一界面交互示意图；
图5b是本申请实施例提供的查看标靶图像的第二界面交互示意图；
图5c是本申请实施例提供的查看标靶图像的第三界面交互示意图；
图5d是本申请实施例提供的ADAS标定设备的定位方法的一流程示意图；
图6是本申请实施例提供的ADAS主架校准装置结构示意图。
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。
本发明实施例提供了一ADAS标定设备的定位方法、系统及装置，可以通过ADAS标定设备的图像采集组件进行车辆的相关图像采集，用户设备根据ADAS标定设备采集到的车辆的相关图像确定ADAS标定设备相对于车辆的位置信息；用户设备根据位置信息，提供ADAS标定设备相对于车辆的位置调整方案，以使用户根据位置调整方案将ADAS标定设备定位至相对于车辆的预设位置，从而使得用户根据位置调整方案即可完成对ADAS标定设备定位，不需要用户学习和查询其他资料，减少了ADAS标定设备定位步骤以及时间，提高了ADAS标定设备定位效率，提升了用户体验。
本申请实施例提供一种ADAS标定系统，如图1所示，其示出了本申请实施例所涉及的ADAS标定系统的结构示意图，具体来讲：
其中，在一些实施例中，请参照图1，该ADAS标定系统100包括用户设备101以及ADAS标定设备102，用户设备与所述ADAS标定设备通信连接。ADAS标定设备用于对车辆的高级辅助驾驶系统进行标定，ADAS标定设备设置有标定元件，标定元件可以包括标定图案、雷达反射器等用于标定图像传感器或雷达传感器的元件。利用ADAS标定设备可以将标定元件定位在相对于待标定传感器的预设位置上，为了使标定元件定位准确，需要对ADAS标定设备进行准确定位，ADAS标定设备通常置于车辆上待标定的传感器附近，例如车前或车尾，ADAS标定设备相对于车辆的预设位置针对不同类型的待测车辆有所不同。
具体地，ADAS标定设备还包括图像采集组件以及主架，用于采集车辆103的相关图像，并能够将图像传输给用户设备。用户设备可包括处理器、存储器、电源和显示单元等。具体地，通过ADAS标定设备102的图像采集组件对车辆103中的标靶104的相关图像进行采集，标靶104具体安装在车辆103的车轮中心上。
进一步参考图2，用户设备可以包括一个或者一个以上处理核心的处理器201、一个或一个以上计算机可读存储介质的存储器202、电源203和显示单元204等部件。本领域技术人员可以理解，图2中示出的用户设备结构并不构成对用户设备的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。其中：
处理器201是该用户设备的控制中心，利用各种接口和线路连接整个用户设备的各个部分，通过运行或执行存储在存储器202内的软件程序和/或模块，以及调用存储在存储器202内的数据，执行用户设备的各种功能和处理数据，从而对用户设备进行整体监控。可选的，处理器201可包括一个或多个处理核心；优选的，处理器201可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统、用户界面和应用程序等，调制解调处理器主要处理无线通信。可以理解的是，上述调制解调处理器也可以不集成到处理器201中。
存储器202可用于存储软件程序以及模块，处理器201通过运行存储在存储器202的软件程序以及模块，从而执行各种功能应用以及数据处理。存储器202可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序(比如声音播放功能、图像播放功能等)等；存储数据区可存储根据服务器的使用所创建的数据等。此外，存储器202可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。相应地，存储器202还可以包括存储器控制器，以提供处理器201对存储器202的访问。
用户设备还包括给各个部件供电的电源203，优选的，电源203可以通过电源管理系统与处理器201逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。电源203还可以包括一个或一个以上的直流或交流电源、再充电系统、电源故障检测电路、电源转换器或者逆变器、电源状态指示器等任意组件。
该用户设备还可包括显示单元204，该显示单元204可用于显示ADAS标定设备相对于车辆的位置调整方案等数据。
具体在本实施例中，用户设备中的处理器201会按照如下的指令，将一个或一个以上的可执行程序的进程对应的可执行文件加载到存储器202中，并由处理器201来运行存储在存储器202中的可执行程序，从而实现本申请任一实施例所述的方法，例如所述用户设备获取所述ADAS标定设备的所述图像采集组件采集的车辆的相关图像；所述用户设备根据所述车辆的相关图像确定所述ADAS标定设备相对于所述车辆的位置信息；所述用户设备根据所述位置信息，提供所述ADAS标定设备相对于所述车辆的位置调整方案，以使用户根据所述位置调整方案将所述ADAS标定设备定位至相对于所述车辆的预设位置。从而使得用户根据位置调整方案即可完成对ADAS标定设备定位，不需要用户学习和查询其他资料，减少了ADAS标定设备定位步骤以及时间，提高了ADAS标定设备定位效率，提升了用户体验。
以下分别进行详细说明。需说明的是，以下实施例的描述顺序不作为对实施例优选顺序的限定。
具体地，可参考图3，图3为本发明实施例提供的一种ADAS标定设备的定位方法的流程图，该方法可以应用于ADAS标定系统中。
该ADAS标定设备的定位方法的具体流程可以如下：
301，所述用户设备获取所述ADAS标定设备的所述图像采集组件采集的车辆的相关图像。
具体地，在本实施例中，通过ADAS标定设备的图像采集组件对车辆的相关图像进行采集。然后用户设备获取ADAS标定设备传输的车辆的相关图像，其中用户设备与ADAS标定设备通信连接，以便进行车辆的相关图像等信息的传输。
其中，车辆的相关图像包括附着于车辆的车身的标靶图像，如附着于车辆后视镜附近或者附着于车辆的车头上安装的雷达的延长面上的标靶图像、附着于车辆的车轮的标靶图像、车辆的轮廓图像等。本申请实施例中所述的标靶设置有预设图案，该预设图案用于用户设备确定车辆相对于图像采集组件的位置关系。其中，附着于车辆的车身的标靶可以附着在车头或车尾，或者车身两侧，进一步地，标靶可以附着在车头或车尾的中心位置，例如车标所在位置等。在一些实施例中，可以利用车标等车身自携带的标识图案作为标靶。附着于车辆的车轮的标靶可以附着在车辆的两个后轮，或者附着于车辆的两个前轮，或者附着于车辆同一侧的前后轮，或者附着于车辆的四个车轮上。车辆的轮廓图像可以为车辆整体的轮廓图像，或者车辆包括车头的前半车身的轮廓图像、车辆包括车位的后半车身的轮廓图像、车辆包括一侧车身的图像等。
所在位置车辆的相关图像可以表征车辆的特征，如表征车辆的车头或车尾位置，车辆前轮或后轮的位置，车辆后视镜的位置，车辆安装于车头的雷达的位置，车辆的中心线或推力线等。车辆的中心线经过两前轮的连线中点和两后轮的连线中点；车辆的推力线经过两后轮的连线中点且与两后轮的连线垂直。车辆的相关图像的获取依据用户设备中的对ADAS标定设备相对于车辆的位置的计算程序的需求或者受控于用户对用户设备的指令。
ADAS标定设备包括的图像采集组件在ADAS标定设备上的位置以及图像采集组件的数量可以依据对车辆的相关图像采集需求设置。一种实现方式中，图像采集组件的数量为三个，两个图像采集组件分设于ADAS标定设备的两端，用于采集附着于车辆的车轮的标靶图像，一个图像采集组件大致置于ADAS标定设备的中心，用于采集附着于车头或车尾的标靶图像。用户设备可以控制ADAS标定设备中的一个或多个图像采集组件采集图像。例如，控制两个分设于ADAS标定设备两端的图像采集组件同时采集车轮标靶图像，或者控制大致置于ADAS标定设备中心的图像采集组件采集车头或车尾的标靶图像。
302，所述用户设备根据所述车辆的相关图像确定所述ADAS标定设备相对于所述车辆的位置信息。
具体地，用户设备根据车辆的相关图像计算出车辆的特征信息，如车头或车尾，车辆前轮中心线，车辆后轮中心线，车辆后视镜中心线，车头雷达的延长面，或者车辆的中轴线或者推力线等信息，确定ADAS标定设备中图像采集组件与车辆的相对位置关系，并根据图像采集组件与ADAS标定设备的相对位置关系，确定ADAS标定设备相对于车辆的位置信息。
在一些实施例中，图像采集组件相对于ADAS标定设备的定位，可以确定ADAS标定设备的特征信息。
下面示例性地描述一种ADAS标定设备，并结合该ADAS标定设备说明ADAS标定设备的特征信息。
ADAS标定设备包括支架组件和横梁，支架组件包括底架与立架，立架安装于底架上，大致竖直设置，横梁安装于立架上，横梁用于承载标定元件，标定元件可拆卸地搭载于横梁的不同位置上，以适用于不同车型或者不同传感器的标定。可选地，横梁还可以相对于立架沿竖直方向移动，以调整横梁的高度，进一步地，可以调整标定元件的高度。
在一些实施例中，横梁两端分别设置有一个图像采集组件，两端的图像采集组件用于采集车辆两侧的标靶图像。两端的图像采集组件之间的相对位置关系可获知，例如，两个图像采集组件中的一个包括定位相机，另一个包括定位目标，定位相机采集定位目标的图像，进而根据其图像确定两端的图像采集组件的相对位置。可以根据两端的图像采集组件之间的相对位置，确定ADAS标定设备的特征信息为横梁的中心线或横梁的中心点等信息。其中，以两端的图像采集组件中的一个图像采集组件的坐标为原点，进而确定另一个图像采集组件相对于原点的坐标，横梁的中心线是指经过两端的图像采集组件的坐标的直线，在此，坐标不包括高度数据，即是指两端的图像采集组件垂直投射于同一平面上的坐标。横梁的中心点是指两端的图像采集组件的坐标的中心点。横梁的中心点即代表横梁的中心。
在一些实施例中，横梁上还设置有第三个图像采集组件，该图像采集组件设置于横梁的两端之间，其设置位置可由需要采集的标靶图像调整。例如，其设置于横梁的中部，或者距离两端的图像采集组件中的一个较近等。该图像采集组件用于采集置于车头或车尾的标靶图像。其中，该图像采集组件相对于车辆的位置，即是ADAS标定设备相对于车辆的位置。在此，图像采集组件相对于车辆的位置也可不考虑高度，即是图像采集组件与车辆的坐标投射在同一平面上的位置关系。上述三个图像采集组件可与用户设备实现通信，将采集的图像发送至用户设备，由用户设备实现图像识别以及位置信息的计算，或者，由图像采集组件实现图像识别以及位置信息的计算后发送至用户设备。
由此得知，ADAS标定设备相对于车辆的位置信息可以是ADAS的特征相对于车辆的特征的位置信息，或者ADAS标定设备上图像采集组件相对于车辆的特征的位置信息。
其中，ADAS标定设备的特征相对于车辆的特征的位置信息可以包括：ADAS 的中心线(即横梁中心线)相对于车辆的车头或车尾，前轮或后轮、后视镜或者车头的雷达的垂直距离，ADAS的中心线相对于车辆的中心线或者推力线的角度，ADAS的中心点相对于车辆的中心线或者推力线的距离。ADAS标定设备上的图像采集组件相对于车辆的特征的位置信息可以包括：图像采集组件相对于车头或车尾，前轮或后轮，后视镜的垂直距离。
在一些实施例中，ADAS标定设备相对于车辆的位置信息可以包括相对高度信息，其相对高度信息可以是由ADAS标定设备上的图像采集组件获取的，或者，由其他可测相对高度的传感器，如距离传感器测得。相对高度信息可以包括ADAS标定设备与车辆的高低比较，例如，车辆相较于ADAS标定设备高等，或者，相对高度信息可以包括ADAS标定设备相对于车辆的高度差。其中，ADAS标定设备与车辆之间的相对高度可以是指ADAS标定设备的支撑面与车辆的支撑面之间的高度，例如，ADAS标定设备的支撑面为标定空间的地面，车辆的支撑面为举升机上支撑车轮的平面。或者，ADAS标定设备与车辆之间的相对高度是指ADAS标定设备上标定元件与车辆上待标定传感器的相对高度。
下面结合附图举例说明用户设备根据所述车辆的相关图像确定所述ADAS标定设备相对于所述车辆的位置信息的示例性实现方式。
参见图4a，车辆的相关图像为附设于车头的标靶图像。其中，车头的标靶图像可由置于ADAS标定设备的横梁上的图像采集组件采集。ADAS标定设备相对于车辆的位置信息包括ADAS标定设备相对于车辆的车头的距离信息。ADAS标定设备相对于车辆的车头的距离信息是由车头标靶与图像采集组件之间的位置关系确定的；或者，是由车头标靶与图像采集组件之间的位置关系，以及图像采集组件与ADAS标定设备的中心线的位置关系确定的。
参见图4b，车辆的相关图像为附设于后车轮的标靶图像。其中，两侧后车轮各附设一个标靶，两侧后车轮的标靶图像可以分别由ADAS设备的横梁两端的图像采集组件采集，ADAS标定设备置于车尾附近。ADAS标定设备相对于车辆的位置信息包括ADAS标定设备相对于车辆的车后轮的距离信息。ADAS标定设备相对于车辆的车后轮的距离信息为两后车轮中心点与ADAS标定设备中心线的垂直距离。具体地，根据两个图像采集组件分别采集的两个后轮标靶图像确定的后轮标靶与图像采集组件的位置关系，以及两个图像采集组件的位置关系，获知两个后轮标靶的位置关系，进而获知后轮中心点相对于ADAS标定设备中心线的位置关系，ADAS标定设备中心线的位置关系是由两个图像采集组件的相对位置关系确定的。
参见图4c，车辆的相关图像为附设于前车轮的标靶图像。其中，附设于前车轮的标靶可仅设置于车辆的一侧，或者设置于车辆的两侧。附设于前车轮的标靶图像由ADAS标定设备的横梁两端的图像采集组件中的一个或两个采集的。ADAS标定设备相对于车辆的位置信息包括ADAS标定设备相对于车辆的前车轮的距离信息。ADAS标定设备相对于车辆的前车轮的距离信息为车辆的前车轮标靶距离ADAS标定设备中心线的垂直距离，或者为两前车轮的中心点与 ADAS标定设备中心线的垂直距离。
参见图4d，车辆相关的图像为与车辆上设置于车头的前雷达同一平面的标靶图像。其中，附设于前雷达同一平面的标靶可仅设置于车辆的一侧，或者设置于车辆的两侧。附设于前雷达同一平面的标靶图像是由ADAS标定设备的横梁两端的图像采集组件中的一个或两个采集的。ADAS标定设备相对于车辆的位置信息包括ADAS标定设备相对于车辆的前雷达的距离信息。ADAS标定设备相对于车辆的前雷达的距离信息为车辆的前雷达同一平面的标靶距离ADAS标定设备中心线的垂直距离。
参见图4e，车辆相关的图像为与附设于后视镜的标靶图像。其中，附设于后视镜的标靶可仅设置于车辆的一侧，或者设置于车辆的两侧。附设于后视镜的标靶图像由ADAS标定设备的横梁两端的图像采集组件中的一个或两个采集的。ADAS标定设备相对于车辆的位置信息包括ADAS标定设备相对于车辆的后视镜的距离信息。ADAS标定设备相对于车辆的后视镜的距离信息为附设于后视镜的标靶距离ADAS标定设备中心线的垂直距离，或者为两后视镜的中心点与ADAS标定设备中心线的垂直距离。
参见4f，车辆相关的图像为与车头同一平面的标靶图像。其中，与车头同一平面的标靶图像由ADAS标定设备的横梁两端的图像采集组件中的一个采集，ADAS标定设备置于车尾。ADAS标定设备相对于车辆的位置信息包括ADAS标定设备在车尾时相对于车头的距离信息。ADAS标定设备相对于车头的距离信息为车头同一平面标靶相对于ADAS标定设备中心线的垂直距离。
结合图4a至图4f，分述了ADAS标定设备相对于车辆的位置信息包括与车辆之间的距离信息。本申请实施例中，ADAS标定设备相对于车辆的位置信息还包括ADAS标定设备的中心点与车辆的中心线或者推力线之间的距离，或者，ADAS标定设备的中心线与车辆的中心线或者推力线之间的角度。
参见图4g，ADAS标定设备相对于车辆的位置信息包括ADAS标定设备相对于车头的距离D，ADAS标定设备的中心线与车辆的推力线或中心线的夹角(90°-θ)，ADAS标定设备的中心点与车辆的推力线或中心线的垂直距离L，或者ADAS标定设备的中轴线与车辆的推力线或中心线之间的垂直距离L。其中，ADAS标定设备的中轴线是指与ADAS标定设备的中心线垂直的直线，或者，ADAS标定设备的中轴线是指经过ADAS标定设备的中心点且与车辆的推力线或中心线平行的直线。对于图4g中距离D以ADAS标定设备相对于车头的距离为例说明，对于图4b至图4f中的任意一种距离说明，均可结合上述夹角与距离适用于如图4g所描述的位置信息中。进一步地，位置信息还可以包括相对高度信息。
303，所述用户设备根据所述位置信息，提供所述ADAS标定设备相对于所述车辆的位置调整方案，以使用户根据所述位置调整方案将所述ADAS标定设备定位至相对于所述车辆的预设位置。
在一些实施例中，用户设备根据步骤302确定的位置信息，通过比较当前 ADAS标定设备相对于车辆的位置与预设位置之间的差距，确定ADAS标定设备的调整方案。其中，预设位置与车型或者待标定的系统或传感器在车辆上的位置相关。
在一些实施例中，用户设备可以提供待测车型或者待测传感器的选择界面，以供用户根据界面中提供的选项选择待测车型或者待测传感器，用户设备可以根据所选择的待测车型或者待测传感器确定其对应的预设位置，进而与步骤302中确定的位置信息进行对比，确定调整方案。
在一些实施例中，用户设备提供的位置调整方案是动态的，即用户设备根据步骤302实时确定ADAS标定设备相对于车辆的位置信息，用户设备实时确定调整方案并实时显示给用户，此种方式下，能够使用户在调整ADAS标定设备的定位的过程中，根据动态的位置调整方案及时调整定位方式。
在一些实施例中，用户设备提供的位置调整方案是非动态的，即仅提供一次位置调整方案，用户根据该位置调整方案对ADAS标定设备进行定位，在调整后可以触发确认定位流程，以确定ADAS标定设备是否定位完成；如未完成，则根据上述方式再次提供位置调整方案，直至ADAS标定设备的定位确认完成。
在一些实施例中，位置调整方案包括对ADAS标定设备的高度调整，如对ADAS标定设备的底座所在高度的调整，或者对ADAS标定设备的横梁相对于立架组件的高度调整；或者，将ADAS标定设备与车辆的相对高度作为补偿参数以确定ADAS标定设备的位置调整方案。
用户设备所提供的位置调整方案可以通过显示用户交互界面显示给用户。对于用户交互界面上显示位置调整方案的具体实现方式，可以参见下述实施例中的描述。
可选地，本申请实施例中所描述的方法还包括：
A1、所述用户设备接收用户的查看指令，显示所述查看指令所指示的所述车辆的相关图像。
具体地，用户可通过点击、触摸用户设备等方式触发查看指令，用户设备在接收到查看指令之后，对查看指令所指示的车辆的相关图像进行显示。
下面结合图5a至图5c，示例性地对步骤A1的实现方式进行说明。
具体地，用户可通过点击5a界面内的查看相机，在用户点击查看相机之后，即可跳转至图5b的相机图像预览，用户可进一步点击左边的各个相机，进行选取具体相机图像，从而获得各相机的图像。
或者，用户可通过点击图5a界面内中的显示图像框，在用户点击显示图像框之后，即可跳转至图5c的具体图像，从而获得各相机的图像。
步骤A1的实现可以在用户设备提供位置调整方案的过程中，以便用户能够便捷查看车辆的相关图像，以辅助对ADAS标定设备的位置调节。
可选地，本申请实施例中所描述的方法还包括：
B1、所述用户设备显示用户操作步骤指引，以引导用户对所述ADAS标定设备的移动操作。
在一些实施例中，用户设备所显示的用户操作步骤指引可以引导ADAS标定设备定位过程中用户所需的操作，便于用户对ADAS标定设备的移动规范以及提供移动过程中的注意事项。
对于对ADAS标定设备的定位过程的不同阶段，可以提示不同的用户操作步骤指引，以引导用户不同阶段的操作。对于不同阶段，有可能调整的ADAS标定设备的具体部件不同。
对于用户操作步骤指引在用户交互界面上的实现，可以参见下述实施例中的描述。
本申请通过用户设备获取所述ADAS标定设备的所述图像采集组件采集的车辆的相关图像；所述用户设备根据所述车辆的相关图像确定所述ADAS标定设备相对于所述车辆的位置信息；所述用户设备根据所述位置信息，提供所述ADAS标定设备相对于所述车辆的位置调整方案，以使用户根据所述位置调整方案将所述ADAS标定设备定位至相对于所述车辆的预设位置。用户只需要用户设备提供的调整方案将ADAS标定设备定位至预设位置即可，不需要人工计算具体的定位参数，并且用户自己进行计算定位参数时，还会存在误差，并且用户自己进行计算定位参数时，还需要自己判断具体调整的方向，导致定位的准确性不高，从而导致需要进行多次反复定位。通过本申请的定位方案，减少了ADAS标定设备定位步骤，提高ADAS标定设备定位效率与校准精度。
在对ADAS标定设备进行定位的过程中，可以重复实施步骤S301至步骤S303。步骤S301至步骤S303也可适用于对ADAS标定设备定位的不同阶段。下面结合附图对步骤S301至步骤S303在ADAS标定设备定位过程中的应用进行说明。
一种情形下，ADAS标定设备需要移动到车辆的附近，进而进行定位时，即当ADAS标定设备离车辆较远时，可能存在ADAS标定设备的图像采集组件采集不到车辆标靶图像，或没有采集到的附设于车辆上的全部标靶的情况。因此可首先根据标靶图像确定ADAS标定设备相对于车辆的位置信息，具体地，用户设备判断车辆的相关图像中是否包括附设于车辆的标靶的图像，若不包括，则确定ADAS标定设备相对于车辆的位置信息未在预设范围内。若包括，用户设备通过图像识别对车辆的相关图像进行识别，识别车辆的相关图像中包含的标靶的数量，判断车辆的相关图像中包括的标靶数量是否达到预设数量，若没有达到预设数量，则确定ADAS标定设备相对于车辆的位置信息未在预设范围内。若达到，则确定ADAS标定设备相对于车辆的位置信息在预设范围内。其中，预设范围是指能够采集到车辆标靶图像的范围内，其可在车辆前或车辆后等。
下面结合图5a对此种情形下用户设备的实施方式进行进一步说明。
在本实施例中，当用户设备通过点击查看操作获得车辆的相关图像时，识别相关图像中是否包含后轮标靶图像，当确定相关图像中不包含后轮标靶图像 时，或者包含的标靶数量达不到预设数量时，确定用户需要移动ADAS标定设备，以使标靶在相机的识别范围内，此时位置调整方案为：用户设备提示用户移动ADAS标定设备，以使标靶在图像采集组件，即相机的识别范围内。在提示用户移动ADAS标定设备时，可同时提醒用户注意标靶和相机需满足的注意事项，可包括：确保标靶已安装正确；确保相机识别范围内无遮挡；确保标靶圆点图案洁净无水雾，且没有其他损坏。若相机或标靶不满足条件，用户可进行对应的调整，比如，若标靶没有正确安装，用户可重新安装标靶。在相机和标靶都满足条件时，用户可移动ADAS标定设备，以使标靶在相机的识别范围内。其中，本实施例中的标靶可包括后轮标靶、前轮标靶以及附设于车头或车尾的标靶等。
另一种情形下，ADAS标定设备需要被定位相对于车辆的预设距离。此种情况下，车辆的相关图像包括附设于车头或车尾，或者如图4a至图4f任意一种情形下描述的第一标靶的图像时，第一标靶的图像可通过图像采集组件中的第一相机采集得到，此时用户设备根据第一标靶图像确定ADAS标定设备相对于车辆的车头或车尾的第一距离，其中，第一距离是根据附设于车头或车尾的第一标靶与第一相机之间的距离确定的。
在本实施例中，当车辆的相关图像包含第一标靶图像时，用户设备根据第一标靶图像确定ADAS标定设备相对于车辆的车头或车尾的第一距离，参见图4g，ADAS标定设备相对于车辆的第一距离即为图4g中ADAS标定设备相对于车头的距离D，用户设备根据距离D和预设的第一目标距离，提供ADAS标定设备相对于所述车辆的位置调整信息，提供的位置调整信息包括根据距离D和预设的第一目标距离计算得到的第一待调整距离，以及用户调整第一待调整距离的操作步骤指引，具体提供方式可包括语音提供，文字提供以及文字与图像结合的方式提供。当以文字与图像的结合提供时，具体提供方式可参考图4h。其中，图4h中，右边依次提供标靶图像，ADAS标定设备的主架与车辆的距离，位置调整数据，即待调整距离，ADAS标定设备的主架俯仰图，以及在左边提供用户操作指引，以便用户可以直观地获知位置调整方案，在提供位置调整方案之后，此时用户可根据位置调整方案对ADAS标定设备进行距离调整，在用户对ADAS标定设备进行距离调整过程中，可实时检测用户对ADAS标定设备相对于车辆的距离进行调整的具体距离，若检测到用户对ADAS标定设备相对于车辆的距离进行调整的距离与待调整距离相等，即调整的距离与目标值相等时，可在提供的页面实时更新，以提示用户已完成第一距离的粗调，此时，提示用户完成第一距离的粗调的显示方式可参照图4i，然后提供提示用户进行第一距离的微调的信息，具体提示方式可参照图4j，从而使得用户获知第一距离的粗调已完成，可以进行微调的操作。
再一种情形下，ADAS标定设备需要被定位至相对于车辆的预设角度。此种情况下，车辆的相关图像包括附设于车辆的两侧车轮的第二标靶的图像时，第二标靶的图像是由图像采集组件中的第二相机组件采集得到，第二相机组件 包括两个相机模组，两个相机模组的视野范围分别覆盖车辆的两侧车轮的第二标靶，用户设备根据第二标靶图像确定车辆的推力线；用户设备确定ADAS标定设备的中心线相对于所述推力线的角度，ADAS标定设备的中心线是指经过两个相机模组的直线。
在本实施例中，当车辆的相关图像包含第二标靶图像时，用户设备根据第二标靶图像确定车辆的推力线；进一步确定ADAS标定设备的中心线相对于推力线的角度，参见图4g，ADAS标定设备的中心线相对于推力线的角度即为图4g中ADAS标定设备的中心线与车辆的推力线或中心线的夹角(90°-θ)，根据角度和预设的目标角度，计算待调整角度，并根据待调整角度提供ADAS标定设备相对于车辆的位置调整方案，位置调整方案可包括待调整角度以及对应的角度调整的用户操作指引。其中，对角度的调整可在完成第一距离调整之前，也可以在第一距离调整之后，在此不做限制。当对角度的调整在第一距离调整完成之后时，具体提供关于角度的位置调整方案的方式可参考图4k。在提供位置调整方案之后，此时用户可根据位置调整方案对ADAS标定设备进行角度调整，在用户对ADAS标定设备进行角度调整过程中，可实时检测用户对ADAS标定设备相对于车辆的角度进行调整的具体角度，若检测到用户对ADAS标定设备相对于车辆的角度进行调整的角度与待调整角度相等，即调整的角度与目标值相等时，可在提供的页面实时更新，以提示用户已完成角度的调整，提示用户完成角度的显示方式可参照图4l，从而使得用户获知角度的调整已完成，可以进行下一步的操作。
有一种情形下，ADAS标定设备的中心需要对准车辆的中心线或者推力线。此种情形下，车辆的相关图像包括附设于车辆的两侧车轮的第二标靶的图像时，第二标靶的图像是由图像采集组件中的第二相机组件采集得到，第二相机组件包括两个相机模组，两个相机模组的视野范围分别覆盖车辆的两侧车轮的第二标靶，用户设备根据第二标靶图像确定车辆的推力线；用户设备确定ADAS标定设备的中心点相对于所述推力线与所述ADAS标定设备的中心线的交点的第二距离，ADAS标定设备的中心线是指经过两个相机模组的直线。
在本实施例中，当车辆的相关图像包含第二标靶图像时，用户设备根据第二标靶图像确定ADAS标定设备的中心点相对于所述推力线与所述ADAS标定设备的中心线的交点的垂直距离L，即第二距离，参见图4g，ADAS标定设备的中心点相对于所述推力线与所述ADAS标定设备的中心线的交点的第二距离即为图4g中ADAS标定设备的中心点相对于所述推力线与所述ADAS标定设备的中心线的交点的垂直距离L，用户设备根据第二距离和预设的第二目标距离，提供ADAS标定设备相对于车辆的位置调整方案。其中，对第二距离的调整可在完成角度调整之前，也可以在角度调整之后，在此不做限制。当对第二距离的调整在角度调整完成之后时，具体提供关于第二距离的位置调整方案的方式可参考图4m。在提供位置调整信息之后，此时用户可根据位置调整信息对ADAS标定设备进行第二距离的调整，在用户对ADAS标定设备进行第二距离的调整 过程中，可实时检测用户对ADAS标定设备相对于车辆的第二距离进行调整的具体距离，若检测到用户对ADAS标定设备相对于车辆的第二距离进行调整的距离与待调整距离相等，即调整的距离与目标值相等时，可在提供的页面实时更新，以提示用户已完成第二距离的调整，提示用户完成第二距离的显示方式可参照图4n，从而使得用户获知第二距离的调整已完成，可以进行下一步的操作。
有一种情形下，ADAS标定设备的高度需要对准车辆的高度。此种情形下，车辆的相关图像包括放置于与车辆同一平面的第三标靶的图像，所述第三标靶的图像是由所述图像采集组件中的第三相机采集的。
在本实施例中，在车辆的相关图像包括第三标靶图像时，用户设备根据第三标靶图像获得ADAS标定设备相对于车辆的相对高度信息。相对高度信息可以包括ADAS标定设备与车辆的高低比较，例如，车辆相较于ADAS标定设备高等，或者，相对高度信息可以包括ADAS标定设备相对于车辆的高度差。其中，ADAS标定设备与车辆之间的相对高度可以是指ADAS标定设备的支撑面与车辆的支撑面之间的高度，例如，ADAS标定设备的支撑面为标定空间的地面，车辆的支撑面为举升机上支撑车轮的平面。或者，ADAS标定设备与车辆之间的相对高度是指ADAS标定设备上标定元件与车辆上待标定传感器的相对高度。
用户设备根据相对高度信息提供ADAS标定设备相对于车辆的位置调整方案，在用户对ADAS标定设备进行高度的调整过程中，可实时检测用户对ADAS标定设备相对于车辆的高度进行调整的具体高度，若检测到用户对ADAS标定设备相对于车辆的高度进行调整的高度与相对高度信息中的待调整距离相等，即调整的高度与目标值相等时，可在提供的页面实时更新，以提示用户已完成高度的调整，从而使得用户获知高度的调整已完成，可以进行下一步的操作。
需要说明的是，上述各种情形下不存在前后实现顺序，仅用于说明本申请实施例中描述的方案在ADAS标定设备进行定位过程中的几种情形下的应用方式，各情形下实施的方法是独立的。
下面介绍一种利用本申请实施例对ADAS标定设备进行位置调节的具体实现过程。
参考图5d，图5d为本申请实施例对ADAS标定设备进行调节的具体实现流程图，具体包括：
501，将ADAS标定设备放置于预设范围内。
在本实施例中，将ADAS标定设备放置在预设范围内，以便ADAS标定设备的图像采集组件对车辆的相关图像进行采集。
502，用户设备获取所述ADAS标定设备的所述图像采集组件采集的车辆的相关图像。
在本实施例中，通过ADAS标定设备的图像采集组件对车辆的相关图像进行采集，其中，图像采集组件可包括多个，车辆的相关图像可包括各个图像采集组件拍摄得到的车辆各个方位的图像。然后用户设备获取ADAS标定设备传 输的车辆的相关图像，其中用户设备与ADAS标定设备通信连接，以便进行车辆的相关图像等信息的传输。
比如，参见图4a，车辆的相关图像为附设于车头的标靶图像。其中，车头的标靶图像可由置于ADAS标定设备的横梁上的图像采集组件采集。参见图4b，车辆的相关图像为附设于后车轮的标靶图像。其中，两侧后车轮各附设一个标靶，两侧后车轮的标靶图像可以分别由ADAS设备的横梁两端的图像采集组件采集，ADAS标定设备置于车尾附近。参见图4c，车辆的相关图像为附设于前车轮的标靶图像。其中，附设于前车轮的标靶可仅设置于车辆的一侧，或者设置于车辆的两侧。附设于前车轮的标靶图像由ADAS标定设备的横梁两端的图像采集组件中的一个或两个采集的。参见图4d，车辆相关的图像为与车辆上设置于车头的前雷达同一平面的标靶图像。其中，附设于前雷达同一平面的标靶可仅设置于车辆的一侧，或者设置于车辆的两侧。附设于前雷达同一平面的标靶图像是由ADAS标定设备的横梁两端的图像采集组件中的一个或两个采集的。参见图4e，车辆相关的图像为与附设于后视镜的标靶图像。其中，附设于后视镜的标靶可仅设置于车辆的一侧，或者设置于车辆的两侧。附设于后视镜的标靶图像由ADAS标定设备的横梁两端的图像采集组件中的一个或两个采集的。参见4f，车辆相关的图像为与车头同一平面的标靶图像。其中，与车头同一平面的标靶图像由ADAS标定设备的横梁两端的图像采集组件中的一个采集，ADAS标定设备置于车尾。
503，所述用户设备根据所述相关图像中的第一标靶图像确定所述ADAS标定设备相对于所述车辆的所述车头或所述车尾的第一距离，其中，所述第一距离是根据附设于所述车头或所述车尾的所述第一标靶与所述第一相机之间的距离确定的。
其中第一标靶图像即为附设于车辆的所述车头或所述车尾的标靶的图像，此时用户设备根据第一标靶图像确定所述ADAS标定设备相对于所述车辆的所述车头或所述车尾的第一距离，参照图4a，其中，所述第一距离是根据附设于所述车头或所述车尾的所述第一标靶与所述第一相机之间的距离确定的，即ADAS标定设备相对于车辆的位置信息包括ADAS标定设备相对于车辆的车头的距离信息。或者，是由车头标靶与图像采集组件之间的位置关系，以及图像采集组件与ADAS标定设备的中心线的位置关系确定的。
504、所述用户设备根据所述第一距离和预设的第一目标距离，提供所述ADAS标定设备相对于所述车辆的位置调整信息。
505、若所述用户设备检测到所述第一距离与所述第一目标距离相同时，所述用户设备提示用户启动微调操作。
参见图4g，ADAS标定设备相对于车辆的第一距离即为图4g中ADAS标定设备相对于车头的距离D，用户设备根据距离D和预设的第一目标距离，提供ADAS标定设备相对于所述车辆的位置调整信息，提供的位置调整信息包括根据距离D和预设的第一目标距离计算得到的第一待调整距离，以及用户调整第 一待调整距离的操作步骤指引，具体提供方式可包括语音提供，文字提供以及文字与图像结合的方式提供。当以文字与图像的结合提供时，具体提供方式可参考图4h。在提供位置调整方案之后，此时用户可根据位置调整方案对ADAS标定设备进行距离调整，在用户对ADAS标定设备进行距离调整过程中，可实时检测用户对ADAS标定设备相对于车辆的距离进行调整的具体距离，若检测到用户对ADAS标定设备相对于车辆的距离进行调整的距离与待调整距离相等，即调整的距离与目标值相等时，可在提供的页面实时更新，以提示用户已完成第一距离的粗调，此时，提示用户完成第一距离的粗调的显示方式可参照图4i，然后提供提示用户进行第一距离的微调的信息，具体提示方式可参照图4j，从而使得用户获知第一距离的粗调已完成，可以进行微调的操作。
506，所述用户设备根据所述相关图像中的第二标靶图像确定所述车辆的推力线。所述用户设备确定所述ADAS标定设备的中心线相对于所述推力线的角度，所述ADAS标定设备的中心线是指经过所述两个相机模组的直线。
其中，第二标靶图像为附设于车辆的两侧车轮的第二标靶的图像，用户设备根据第二标靶图像确定所述车辆的推力线，以及确定ADAS标定设备的中心线相对于所述推力线的角度，所述ADAS标定设备的中心线是指经过所述两个相机模组的直线。
507，所述用户设备根据所述角度和预设的目标角度，提供所述ADAS标定设备相对于所述车辆的位置调整方案。
用户设备根据ADAS标定设备的中心线相对于所述推力线的角度和预设的目标角度，计算ADAS标定设备相对于车辆的待调整角度，并将待调整角度作为位置调整方案进行提供。进一步地，位置调整方案除了包含待调整角度，还可以包含用户调整角度的操作步骤指引，以引导用户对ADAS标定设备的调整操作。参见图4g，ADAS标定设备的中心线相对于推力线的角度即为图4g中ADAS标定设备的中心线与车辆的推力线或中心线的夹角(90°-θ)，根据角度和预设的目标角度，计算待调整角度，并根据待调整角度提供ADAS标定设备相对于车辆的位置调整方案，位置调整方案可包括待调整角度以及对应的角度调整的用户操作指引。其中，对角度的调整可在完成第一距离调整之前，也可以在第一距离调整之后，在此不做限制。当对角度的调整在第一距离调整完成之后时，具体提供关于角度的位置调整方案的方式可参考图4k。在提供位置调整方案之后，此时用户可根据位置调整方案对ADAS标定设备进行角度调整，在用户对ADAS标定设备进行角度调整过程中，可实时检测用户对ADAS标定设备相对于车辆的角度进行调整的具体角度，若检测到用户对ADAS标定设备相对于车辆的角度进行调整的角度与待调整角度相等，即调整的角度与目标值相等时，可在提供的页面实时更新，以提示用户已完成角度的调整，提示用户完成角度的显示方式可参照图4l，从而使得用户获知角度的调整已完成，可以进行下一步的操作。
508，所述用户设备确定所述ADAS标定设备的中心点相对于所述推力线与 所述ADAS标定设备的中心线的交点的第二距离，所述ADAS标定设备的中心点是指所述两个相机模组之间连线的中点，所述ADAS标定设备的中心线是指经过所述两个相机模组的直线。
进一步确定ADAS标定设备的中心点相对于所述推力线与所述ADAS标定设备的中心线的交点的第二距离，所述ADAS标定设备的中心点是指所述两个相机模组之间连线的中点，所述ADAS标定设备的中心线是指经过所述两个相机模组的直线。
509，所述用户设备根据所述第二距离和预设的第二目标距离，提供所述ADAS标定设备相对于所述车辆的位置调整方案。
用户设备确定ADAS标定设备的中心点相对于推力线与ADAS标定设备的中心线的交点的第二距离之后，将第二距离和预设的第二目标距离进行对比，获得ADAS标定设备相对于所述车辆的第二待调整距离，并将第二待调整距离作为位置调整方案进行提供。进一步地，位置调整方案除了包含第二待调整距离，还可以包含用户调整距离的操作步骤指引，以引导用户对ADAS标定设备的调整操作。
参见图4g，ADAS标定设备的中心点相对于所述推力线与所述ADAS标定设备的中心线的交点的第二距离即为图4g中ADAS标定设备的中心点相对于所述推力线与所述ADAS标定设备的中心线的交点的垂直距离L，用户设备根据第二距离和预设的第二目标距离，提供ADAS标定设备相对于车辆的位置调整方案。其中，对第二距离的调整可在完成角度调整之前，也可以在角度调整之后，在此不做限制。当对第二距离的调整在角度调整完成之后时，具体提供关于第二距离的位置调整方案的方式可参考图4m。在提供位置调整信息之后，此时用户可根据位置调整信息对ADAS标定设备进行第二距离的调整，在用户对ADAS标定设备进行第二距离的调整过程中，可实时检测用户对ADAS标定设备相对于车辆的第二距离进行调整的具体距离，若检测到用户对ADAS标定设备相对于车辆的第二距离进行调整的距离与待调整距离相等，即调整的距离与目标值相等时，可在提供的页面实时更新，以提示用户已完成第二距离的调整，提示用户完成第二距离的显示方式可参照图4n，从而使得用户获知第二距离的调整已完成，可以进行下一步的操作。
510，所述用户设备根据所述相关图像中的第三标靶图像确定所述ADAS标定设备相对于所述车辆的高度差值，其中，所述高度差值是根据放置于与所述车辆同一平面的第三标靶与所述第三相机之间的高度确定的。
用户设备根据第三标靶图像确定ADAS标定设备相对于车辆的高度差值，其中，高度差值是根据放置于与车辆同一平面的第三标靶与所述第三相机之间的高度确定的。
511、所述用户设备根据所述高度差值和预设的目标高度差值，提供所述ADAS标定设备相对于所述车辆的位置调整方案。
用户设备根据第三标靶图像确定ADAS标定设备相对于车辆的高度差值， 用户设备根据高度差值和预设的目标高度差值，计算ADAS标定设备相对于车辆的待调整高度差值，并将待调整高度作为位置调整方案进行提供。进一步地，位置调整方案除了包含待调整高度，还可以包含用户调整高度的操作步骤指引，以引导用户对ADAS标定设备的调整操作。
需要说明的是，对于上述步骤，还可以通过其他组合方式分别对ADAS标定设备的位置进行调整，本方案中的流程方法仅为示例说明。例如，其他组合方式还包括：步骤508和509可以先于步骤506和507实施。在一些实施例中，步骤510和步骤511可省略。
为了更好地实施以上方法，本申请实施例还可以提供一种ADAS标定设备的定位装置。
例如，如图6所示，该ADAS标定设备的定位装置可以包括获取单元601、确定单元602和提供单元603，如下：
(1)获取单元601；
获取单元601，用于所述用户设备获取所述ADAS标定设备的所述图像采集组件采集的车辆的相关图像。
在本实施例中，通过ADAS标定设备的图像采集组件对车辆的相关图像进行采集，其中，图像采集组件可包括多个，车辆的相关图像可包括各个图像采集组件拍摄得到的车辆各个方位的图像。然后用户设备获取ADAS标定设备传输的车辆的相关图像，其中用户设备与ADAS标定设备通信连接，以便进行车辆的相关图像等信息的传输。
(2)确定单元602；
确定单元602，用于所述用户设备根据所述车辆的相关图像确定所述ADAS标定设备相对于所述车辆的位置信息。
在获取车辆的相关图像之后，用户设备可根据车辆的相关图像确定ADAS标定设备相对于所述车辆的位置信息。
(3)提供单元603；
提供单元603，用于所述用户设备根据所述位置信息，提供所述ADAS标定设备相对于所述车辆的位置调整方案，以使用户根据所述位置调整方案将所述ADAS标定设备定位至相对于所述车辆的预设位置。
在计算得到位置信息之后，用户设备根据位置信息，提供ADAS标定设备相对于车辆的位置调整方案，以使用户根据位置调整方案将ADAS标定设备定位至相对于所述车辆的预设位置。其中，提供ADAS标定设备相对于车辆的位置调整方案可包括提示用户ADAS标定设备相对于车辆的所需移动距离、移动的角度，或者提示用户对ADAS标定设备本身的高度进行调整等。具体的调整提供方式可通过语音播报，或者以文字的方式进行显示，或者以文字与图像结合的方式进行显示等。
由上可知，本实施例的ADAS标定设备的定位装置，通过用户设备的获取单元601获取所述ADAS标定设备的所述图像采集组件采集的车辆的相关图像； 所述用户设备通过确定单元502根据所述车辆的相关图像确定所述ADAS标定设备相对于所述车辆的位置信息；所述用户设备根据所述位置信息，通过提供单元603提供所述ADAS标定设备相对于所述车辆的位置调整方案，以使用户根据所述位置调整方案将所述ADAS标定设备定位至相对于所述车辆的预设位置。从而使得用户根据位置调整方案即可完成对ADAS标定设备定位，不需要用户学习和查询其他资料，减少了ADAS标定设备定位步骤以及时间，提高了ADAS标定设备定位效率，提升了用户体验。
本领域普通技术人员可以理解，上述实施例的各种方法中的全部或部分步骤可以通过指令来完成，或通过指令控制相关的硬件来完成，该指令可以存储于一计算机可读存储介质中，并由处理器进行加载和执行。
为此，本申请实施例提供一种计算机可读存储介质，其中存储有多条指令，该指令能够被处理器进行加载，以执行本申请实施例所提供的任一种ADAS标定设备的定位方法中的步骤。例如，该指令可以执行如下步骤：
所述用户设备获取所述ADAS标定设备的所述图像采集组件采集的车辆的相关图像；
所述用户设备根据所述车辆的相关图像确定所述ADAS标定设备相对于所述车辆的位置信息；
所述用户设备根据所述位置信息，提供所述ADAS标定设备相对于所述车辆的位置调整方案，以使用户根据所述位置调整方案将所述ADAS标定设备定位至相对于所述车辆的预设位置。
以上各个操作的具体实施可参见前面的实施例，在此不再赘述。
其中，该计算机可读存储介质可以包括：只读存储器(ROM，Read Only Memory)、随机存取记忆体(RAM，Random Access Memory)、磁盘或光盘等。
由于该计算机可读存储介质中所存储的指令，可以执行本申请实施例所提供的任一种ADAS标定设备的定位方法中的步骤，因此，可以实现本申请实施例所提供的任一种ADAS标定设备的定位方法所能实现的有益效果，详见前面的实施例，在此不再赘述。
以上对本申请实施例所提供的一种ADAS标定设备的定位方法、系统、装置及计算机可读存储介质进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上，本说明书内容不应理解为对本申请的限制。

Claims (18)

  1. 一种ADAS标定设备的定位方法，其特征在于，应用于ADAS标定系统，所述ADAS标定系统包括ADAS标定设备以及用户设备，所述ADAS标定设备包括图像采集组件，所述用户设备与所述ADAS标定设备通信连接，所述方法包括：
    所述用户设备获取所述ADAS标定设备的所述图像采集组件采集的车辆的相关图像；
    所述用户设备根据所述车辆的相关图像确定所述ADAS标定设备相对于所述车辆的位置信息；
    所述用户设备根据所述位置信息，提供所述ADAS标定设备相对于所述车辆的位置调整方案，以使用户根据所述位置调整方案将所述ADAS标定设备定位至相对于所述车辆的预设位置。
  2. 根据权利要求1所述的方法，其特征在于，所述用户设备根据所述车辆的相关图像确定所述ADAS标定设备相对于所述车辆的位置信息，包括：
    所述用户设备判断所述车辆的相关图像中是否包括附设于所述车辆的标靶的图像；
    若为否，则所述用户设备确定所述ADAS标定设备相对于所述车辆的位置信息未在预设范围内。
  3. 根据权利要求2所述的方法，其特征在于，所述标靶的数量为至少两个，所述用户设备判断所述车辆的相关图像中是否包括附设于所述车辆的标靶的图像，包括：
    所述用户设备判断所述车辆的相关图像中是否包括预设数量的所述标靶的图像；
    若为否，则所述用户设备确定所述ADAS标定设备相对于所述车辆的位置信息未在预设范围内。
  4. 根据权利要求2或3所述的方法，其特征在于，所述位置调整方案包括提示用户将所述ADAS标定系统移动至所述预设范围内。
  5. 根据权利要求1所述的方法，其特征在于，所述车辆的相关图像包括附设于车头或车尾的第一标靶的图像，所述第一标靶的图像是由所述图像采集组件中的第一相机采集的，所述用户设备根据所述车辆的相关图像确定所述ADAS标定设备相对于所述车辆的位置信息，包括：
    所述用户设备根据所述第一标靶图像确定所述ADAS标定设备相对于所述车辆的所述车头或所述车尾的第一距离，其中，所述第一距离是根据附设于所述车头或所述车尾的所述第一标靶与所述第一相机之间的距离确定的。
  6. 根据权利要求5所述的方法，其特征在于，所述用户设备根据所述位置信息，提供所述ADAS标定设备相对于所述车辆的位置调整方案，包括：
    所述用户设备根据所述第一距离和预设的第一目标距离，提供所述ADAS 标定设备相对于所述车辆的位置调整信息。
  7. 根据权利要求6所述的方法，其特征在于，所述方法还包括：
    若所述用户设备检测到所述第一距离与所述第一目标距离相同时，所述用户设备提示用户启动微调操作。
  8. 根据权利要求1所述的方法，其特征在于，所述车辆的相关图像包括附设于所述车辆的两侧车轮的第二标靶的图像，所述第二标靶的图像是由所述图像采集组件中的第二相机组件采集的，所述第二相机组件包括两个相机模组，所述两个相机模组的视野范围分别覆盖所述车辆的两侧车轮的所述第二标靶，所述用户设备根据所述车辆相关图像确定所述ADAS标定设备相对于所述车辆的位置信息，包括：
    所述用户设备根据所述第二标靶图像确定所述车辆的推力线；
    所述用户设备确定所述ADAS标定设备的中心线相对于所述推力线的角度，所述ADAS标定设备的中心线是指经过所述两个相机模组的直线。
  9. 根据权利要求8所述的方法，其特征在于，所述用户设备根据所述位置信息，提供所述ADAS标定设备相对于所述车辆的位置调整方案，包括：
    所述用户设备根据所述角度和预设的目标角度，提供所述ADAS标定设备相对于所述车辆的位置调整方案。
  10. 根据权利要求1所述的方法，其特征在于，所述车辆的相关图像包括附设于所述车辆的两侧车轮的第二标靶的图像，所述第二标靶的图像是由所述图像采集组件中的第二相机组件采集的，所述第二相机组件包括两个相机模组，所述两个相机模组的视野范围分别覆盖所述车辆的两侧车轮的所述第二标靶，所述用户设备根据所述车辆相关图像确定所述ADAS标定设备相对于所述车辆的位置信息，包括：
    所述用户设备根据所述第二标靶图像确定所述车辆的推力线；
    所述用户设备确定所述ADAS标定设备的中心点相对于所述推力线与所述ADAS标定设备的中心线的交点的第二距离，所述ADAS标定设备的中心点是指所述两个相机模组之间连线的中点，所述ADAS标定设备的中心线是指经过所述两个相机模组的直线。
  11. 根据权利要求10所述的方法，其特征在于，所述用户设备根据所述位置信息，提供所述ADAS标定设备相对于所述车辆的位置调整方案，包括：
    所述用户设备根据所述第二距离和预设的第二目标距离，提供所述ADAS标定设备相对于所述车辆的位置调整方案。
  12. 根据权利要求1所述的方法，其特征在于，所述车辆的相关图像包括放置于与车辆同一平面的第三标靶的图像，所述第三标靶的图像是由所述图像采集组件中的第三相机采集的，所述用户设备根据所述车辆的相关图像确定所述ADAS标定设备相对于所述车辆的位置信息，包括：
    所述用户设备根据所述第三标靶图像确定所述ADAS标定设备相对于所述车辆的高度差值，其中，所述高度差值是根据放置于与所述车辆同一平面的第 三标靶与所述第三相机之间的高度确定的。
  13. 根据权利要求12所述的方法，其特征在于，所述用户设备根据所述位置信息，提供所述ADAS标定设备相对于所述车辆的位置调整方案，包括：
    所述用户设备根据所述高度差值和预设的目标高度差值，提供所述ADAS标定设备相对于所述车辆的位置调整方案。
  14. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述用户设备接收用户的查看指令，显示所述查看指令所指示的所述车辆的相关图像。
  15. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述用户设备显示用户操作步骤指引，以引导用户对所述ADAS标定设备的移动操作。
  16. 一种ADAS标定系统，其特征在于，包括：
    ADAS标定设备，包括图像采集组件；
    用户设备，与所述ADAS标定设备通信连接，所述用户设备包括处理器和存储器；所述存储器质存储有多条指令，所述处理器加载所述存储器存储的指令以执行权利要求1-15任一项所述的ADAS标定设备的定位方法。
  17. 一种ADAS标定设备的定位装置，其特征在于，包括：
    获取单元，用于所述用户设备获取所述ADAS标定设备的所述图像采集组件采集的车辆的相关图像；
    确定单元，用于所述用户设备根据所述车辆的相关图像确定所述ADAS标定设备相对于所述车辆的位置信息；
    提供单元，用于所述用户设备根据所述位置信息，提供所述ADAS标定设备相对于所述车辆的位置调整方案，以使用户根据所述位置调整方案将所述ADAS标定设备定位至相对于所述车辆的预设位置。
  18. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有多条指令，所述指令适于处理器进行加载，以执行权利要求1至15任一项所述的ADAS标定设备的定位方法。
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