CN113984342A - Automobile all-round looking system calibration device and method suitable for different wheelbase lengths - Google Patents
Automobile all-round looking system calibration device and method suitable for different wheelbase lengths Download PDFInfo
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Abstract
The invention relates to the technical field of calibration, and provides a calibration device of an automobile panoramic system suitable for different wheelbase lengths, which comprises: locate the preceding mark target in locomotive the place ahead, locate the left side mark target and the right side mark target of car both sides, locate the back mark target at rear of the vehicle for measure the laser rangefinder of the interval between left side mark target and the back mark target and the interval between right side mark target and the back mark target, and be used for acquireing the diagnosis appearance that rolls off the production line of the EOL of the data that laser rangefinder measured, preceding mark target, left side mark board and right side mark target are fixed mark target, the back mark target is portable mark target just the direction that the back mark target removed does the back mark target extremely the direction of preceding mark target. The invention also provides a calibration method of the automobile panoramic system suitable for different wheelbase lengths. The method can be suitable for calibrating automobile panoramic systems with different wheelbase lengths, and is strong in universality and high in efficiency.
Description
Technical Field
The invention relates to the technical field of calibration, in particular to a calibration device and a calibration method of an automobile look-around system suitable for different wheelbase lengths.
Background
Due to the fact that the dead zone of the commercial truck is large, the 360-degree all-round looking system is more and more popular in commercial vehicles. The types of vehicles produced by commercial vehicle factories are various, especially the vehicle wheelbase difference is large (the wheelbase difference is 6-7 m, even longer), if the target position corresponding to the rear camera is fixed, the cameras mounted on the vehicles with all wheelbases can not clearly shoot the corresponding calibration target. In response to this problem, it is now conventional to employ the following method.
The first method comprises the following steps: the target is moved to an effective area shot by the camera through manual movement of the target, and calibration is carried out. According to the method, the world coordinate information of the calibration matching feature points of the rear camera cannot be acquired by the look-around ECU installed on the vehicle before calibration. Coordinate information of the target after artificial measurement is needed, and then the coordinate information is manually written into the all-round ECU through an EOL offline diagnostic instrument, a display screen or other man-machine interaction auxiliary calibration tools so as to establish a world coordinate system of all calibration characteristic points and achieve the purpose of calibrating the camera. The method has low production efficiency due to the participation of artificial control, and the calibration result is often influenced by human factors.
And the second method comprises the following steps: aiming at vehicles with different wheelbases, automatic calibration sites with different specifications are built, and the method needs investment of factory construction with investment cost. And the calibration sites cannot be collinear.
Disclosure of Invention
The invention aims to provide a calibration device and a calibration method of an automobile look-around system suitable for different wheelbase lengths, which can at least solve part of defects in the prior art.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions: an automobile all-round looking system calibration device suitable for different wheelbase lengths comprises: a front target arranged in front of the vehicle head,
a left side target and a right side target which are arranged at the two sides of the vehicle,
a rear target arranged at the rear of the vehicle tail,
a laser ranging device for measuring the distance between the left target and the rear target and the distance between the right target and the rear target,
and an EOL off-line diagnostic instrument for acquiring data measured by the laser ranging device,
the front target, the left side target plate and the right side target are fixed targets, the rear target is a movable target, and the moving direction of the rear target is the direction from the rear target to the front target.
Further, the laser ranging device comprises a laser for emitting laser and a baffle capable of blocking a laser grating, and the baffle moves along with the movement of the rear target.
Furthermore, the back mark target has two, two the back mark target corresponds respectively the left side mark target with the right side mark target, laser range unit has two sets, one of them set of laser range unit is located between the left side mark target and the back mark target that corresponds with this left side mark target, another set of laser range unit is located between the back mark target that the right side mark target corresponds and this right side mark target.
Further, the left side target and the right side target each have three targets, and the three targets of the left side target are on a line and the three targets of the right side target are on a line.
The embodiment of the invention provides another technical scheme: a calibration method of an automobile panoramic system suitable for different wheelbase lengths comprises the following steps:
driving the vehicle to a calibration station according to the positions of the front target, the left target and the right target, and connecting the vehicle with an EOL offline diagnostic instrument;
adopting the EOL offline diagnosis to judge whether the vehicle type or the chassis type is a vehicle type which is not subjected to all-round calibration in the early stage, and performing corresponding calibration operation after judgment;
after the calibration operation is completed, the EOL offline diagnostic instrument automatically records whether the VIN vehicle successfully completes the look-around calibration operation, records the current calibration state of the vehicle, and manages and records the calibration state of each vehicle.
Further, if the vehicle is determined to be an uncalibrated vehicle type, the specific calibration operation is as follows:
the rear target is moved to the rear of the vehicle tail, then the distance between the left target and the rear target and the distance between the right target and the rear target are measured by adopting a laser ranging device,
after the rear target is moved, the EOL offline diagnostic instrument collects the distance measured by the current laser ranging device, calculates the relative position of the rear target and converts the relative position into the world coordinate of each calibration point;
the EOL offline diagnostic instrument sends the world coordinates of the calibration point of the camera at the tail of the vehicle to the look-around ECU;
before the all-round-looking ECU performs calibration operation, acquiring pixel coordinates of calibration characteristic points corresponding to all the all-round-looking cameras, and establishing a search range for restraining each characteristic point according to the image pixel coordinates as a center;
and the all-round ECU sends the pixel coordinates of the calibration characteristic points to an EOL offline diagnostic instrument through a can bus, the EOL offline diagnostic instrument updates the central pixel original points of the characteristic points of each camera of the all-round ECU corresponding to the vehicle type, and establishes a calibration mapping information corresponding table of the vehicle type.
Further, if the vehicle is determined to be a calibrated vehicle type, the vehicle type already establishes a corresponding calibration mapping table, and the specific calibration operation is as follows:
automatically adjusting the position of the target to the position of the initial learning according to a known calibration mapping table;
after the rear target moves to the corresponding position, the laser ranging device checks the position of the current calibration target;
the EOL offline diagnostic instrument compares the number of laser ranging measurements with a preset number;
when the difference value between the number measured by the laser ranging and the preset number is larger than the threshold value, prompting a worker to maintain the mobile target device in the calibration site; if the difference value between the measured number of the laser ranging and the preset number is smaller than the threshold value, the EOL controls the all-round ECU through the can bus, and the world coordinates of the calibration characteristic points of the rear camera sent by the EOL offline diagnostic device and the search center original points of the calibration characteristic points corresponding to all the all-round cameras of the vehicle type are updated;
the look-around ECU presets a characteristic point search area with a search center origin as a center, obtains pixel points with sudden change of gray values of adjacent areas, obtains a world coordinate system for calibrating characteristic points according to a mapping table of the vehicle type, and further completes self-calibration of the camera;
and after the look-around ECU completes self-calibration, sending a pixel coordinate method of the self-calibrated characteristic points searched by the calibration to the EOL offline diagnostic instrument, and correcting the search central points of the characteristic points by the EOL offline diagnostic instrument according to the result of the calibration.
Further, the establishing of the calibration mapping information table of the vehicle type by the primary learning comprises the following steps:
the information of the vehicle type and the chassis,
the world coordinates of the calibrated characteristic points of the rear camera of the vehicle type,
and the origin of the central pixel of the calibration characteristic point corresponding to each all look-around camera corresponding to the vehicle type.
Further, the weight correction method performs weight correction according to the following formula:
wherein Xn-1Therefore, the pixel coordinate search center corresponding to the EOL after the vehicle model n-1 successfully finishes calibration is used for searching the X-axis pixel coordinate. And X is the coordinate of the axis pixel of 1 and the coordinate of the axis pixel of the figure 2 of the searching central point of the characteristic point, which is returned by the ECU, according to the view of the X axis pixel coordinate of the characteristic point after the nth calibration of the vehicle type is finished.
Further, a harris corner extraction algorithm is adopted to search out pixel points with sudden gray value changes of adjacent domains, and the origin of the search center is obtained from the can bus and the EOL offline diagnostic instrument.
Compared with the prior art, the invention has the beneficial effects that: the method can be suitable for calibrating automobile look-around systems with different wheelbase lengths, and is strong in universality and high in efficiency.
Drawings
FIG. 1 is a top view of an exemplary embodiment of a calibration apparatus for an automotive surround view system with different wheelbase lengths;
FIG. 2 is a perspective view of an exemplary embodiment of a calibration apparatus for a vehicle surround view system with different wheelbase lengths;
in the reference symbols: 1-a first pre-target; 2-a second pre-target; 3-a first left target; 4-a second left target; 5-a third left target; 6-first right target; 7-a second right target; 8-third right target; 9-a second rear target; 10-a first rear target; 11-a laser; 12-a baffle plate; 13-a motor; 14-EOL off-line diagnostic apparatus.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and fig. 2, an embodiment of the present invention provides an apparatus for calibrating an automobile surround view system suitable for different wheelbase lengths, including: locate the preceding mark target in locomotive the place ahead, locate the left side mark target and the right side mark target of car both sides, locate the back mark target at rear of the vehicle for measure the laser rangefinder of the interval between left side mark target and the back mark target and the interval between right side mark target and the back mark target, and be used for acquireing diagnosis appearance 14 rolls off the production line of EOL of the data that laser rangefinder measured, preceding mark target, left side mark board and right side mark target are fixed mark target, back mark target is portable mark target just the direction that back mark target removed does the back mark target extremely the direction of preceding mark target. Preferably, the rear targets are two, the two rear targets respectively correspond to the left side target and the right side target, the laser ranging devices are provided with two sets, one set of the laser ranging device is positioned between the left side target and the rear target corresponding to the left side target, and the other set of the laser ranging device is positioned between the right side target and the rear target corresponding to the right side target. The left side target and the right side target each have three targets, and the three targets of the left side target are on a line and the three targets of the right side target are on a line. In this embodiment, through setting for fixed target and portable target, can adjust the interval between the target according to the wheel base of different cars. There are two front targets, a first front target 1 and a second front target 2, respectively, for the fixed targets, and three left targets and three right targets, respectively, for the fixed targets, which are defined as a first left target 3, a second left target 4, a third left target 5, a first right target 6, a second right target 7, and a third right target 8, respectively. There are also two rear targets for the movable targets, namely a first rear target 10 and a second rear target 9, wherein the first front target 1, the first left target 3, the second left target 4, the third left target 5 and the first rear target 10 are on the same side, and the second front target 2, the first right target 6, the second right target 7, the third right target 8 and the second rear target 9 are on the same side. One of the laser ranging devices is arranged between the third left target 5 and the first rear target 10, and the other laser ranging device is arranged between the third right target 8 and the second rear target 9. In addition, in this embodiment, an End of Line Testing Tool (EOL) offline diagnostic apparatus is electrically connected to the CAN network of the entire vehicle body through an OBD diagnostic interface. Therefore, the system CAN communicate with the all-round system host, and CAN be electrically connected with a CAN (controller area network) network of the whole vehicle body through an OBD (on-board self-diagnosis system) diagnosis interface. Thereby carrying out CAN communication with the host of the panoramic system.
Referring to fig. 1 and 2 as an optimized solution of the embodiment of the present invention, the laser distance measuring device includes a laser 11 emitting laser and a baffle 12 capable of blocking a laser grating, and the baffle 12 moves along with the movement of the rear target. In the present embodiment, the laser 11 is used to emit laser light, and then the distance is determined according to the transmission distance of the laser 11 by blocking the laser light with the shutter 12. Preferably, a motor 13 may be used to propel the shutter 12 and subsequently the target.
Referring to fig. 1 and fig. 2, an embodiment of the present invention provides a method for calibrating an automobile surround view system suitable for different wheelbase lengths, including the following steps: driving the vehicle to a calibration station according to the positions of the front target, the left target and the right target, and connecting the vehicle with the EOL offline diagnostic instrument 14; adopting the EOL offline diagnosis to judge whether the vehicle type or the chassis type is a vehicle type which is not subjected to all-round calibration in the early stage, and performing corresponding calibration operation after judgment; after the calibration operation is completed, the EOL offline diagnostic device 14 automatically records whether the vehicle of the VIN successfully completes the look-around calibration operation, records the calibration state of the current vehicle, and manages and records the calibration state of each vehicle. In this embodiment, the calibration method is based on the calibration system described above. And driving the vehicle into a panoramic calibration site, wherein the site is provided with a front wheel positioning device, and the vehicle is parked at a fixed position in the calibration site according to the positions of the front target, the left side target and the right side target. And connecting the EOL offline diagnostic instrument 14 with the CAN network of the whole automobile through an OBD interface, so that the EOL offline diagnostic instrument 14 is connected with the all-round ECU in a CAN mode. The EOL offline diagnostic apparatus 14 collects VIN information of the entire vehicle through the can interface (a method for collecting the VIN of the vehicle may also be obtained by scanning the VIN identifier attached to the vehicle through a code scanning gun connected to the EOL offline diagnostic apparatus 14). The EOL offline diagnostic device 14 analyzes the corresponding model and chassis model through the vehicle VIN number.
Referring to fig. 1 and fig. 2 as an optimization scheme of the embodiment of the present invention, if it is determined that the vehicle is an uncalibrated vehicle type, the specific calibration operation is: moving the rear target to the rear of the vehicle tail, measuring the distance between the left target and the rear target and the distance between the right target and the rear target by using a laser ranging device, after the rear target is moved, acquiring the distance measured by the current laser ranging device by using the EOL offline diagnostic device 14, measuring the relative position of the rear target, and converting the relative position into the world coordinate of each calibration point; the EOL offline diagnostic device 14 sends the world coordinates of the calibration point of the camera at the tail of the vehicle to the look-around ECU; before the all-round-looking ECU performs calibration operation, acquiring pixel coordinates of calibration characteristic points corresponding to all the all-round-looking cameras, and establishing a search range for restraining each characteristic point according to the image pixel coordinates as a center; the all-round ECU (electronic control unit) sends the pixel coordinates of the calibration feature points to the EOL offline diagnostic device 14 through the can bus, the EOL offline diagnostic device 14 updates the central pixel origin of each camera feature point of the all-round ECU corresponding to the vehicle type, and establishes a calibration mapping information corresponding table of the vehicle type. In this embodiment, if the EOL offline diagnostic device 14 determines that the vehicle is an uncalibrated vehicle model, the factory operator is reminded to control the movement of the rear target through the EOL, the target is moved to an area where the rear camera can clearly shoot, the area is 50cm to 100cm away from the rear cross beam of the commercial vehicle, and then the laser ranging device is used to measure the distance between the left target and the rear target and the distance between the right target and the rear target. After the rear target is set, the EOL offline diagnostic device 14 collects the distance measured by the current laser ranging device, calculates the relative position of the rear target, and converts the relative position into the world coordinate of each calibration point. And the EOL sends the world coordinate of the fixed point of the rear camera to the look-around ECU through the CAN bus. And before the panoramic ECU performs calibration operation, acquiring pixel coordinates of calibration characteristic points corresponding to all the panoramic cameras. And then establishing a search range for restraining each characteristic point according to the pixel coordinate of the image as a center. The all-round ECU sends the pixel coordinates of the calibration feature points to the EOL offline diagnostic instrument 14 through the can bus, the EOL offline diagnostic instrument 14 updates the center pixel original points of the camera feature points of the all-round ECU corresponding to the vehicle type, and a calibration mapping information corresponding table of the vehicle type is established.
As an optimization scheme of the embodiment of the present invention, please refer to fig. 1 and fig. 2, if it is determined that the vehicle is a calibrated vehicle type, the vehicle type already establishes a corresponding calibration mapping table, and the specific calibration operation is: automatically adjusting the position of the target to the position of the initial learning according to a known calibration mapping table; after the rear target moves to the corresponding position, the laser ranging device checks the position of the current calibration target; the EOL offline diagnostic instrument 14 compares the number of laser ranging measurements with a preset number; when the difference value between the number measured by the laser ranging and the preset number is larger than the threshold value, prompting a worker to maintain the mobile target device in the calibration site; if the difference value between the measured number of the laser ranging and the preset number is smaller than the threshold value, the EOL controls the all-round ECU through the can bus, and the world coordinates of the calibration feature points of the rear camera, which are sent by the EOL offline diagnostic device 14, and the original points of the search centers of the calibration feature points corresponding to all the all-round cameras of the vehicle type are updated; the look-around ECU presets a characteristic point search area with a search center origin as a center, obtains pixel points with sudden change of gray values of adjacent areas, obtains a world coordinate system for calibrating characteristic points according to a mapping table of the vehicle type, and further completes self-calibration of the camera; after the look-around ECU completes self-calibration, the pixel coordinate method of the self-calibrated characteristic points searched by the calibration is sent to the EOL offline diagnostic device 14, and the EOL offline diagnostic device 14 corrects the searching central points of the characteristic points according to the result of the calibration. In this embodiment, when the EOL determines that the corresponding calibration mapping table has been established for the vehicle type, the device control motor 13 drives the target to automatically move to the position for the first learning. And after the rear target moves to the corresponding position, the laser ranging device checks the position of the current calibration target. The EOL offline diagnostic 14 compares the number of laser ranging measurements to a preset number. And when the difference value between the measured number of the laser ranging and the preset number is greater than the threshold value, prompting a worker to maintain the mobile target device in the calibration site. And if the difference value between the measured number of the laser ranging and the preset number is smaller than the threshold value, the EOL controls the all-round ECU through the can bus, and updates the world coordinates of the calibration characteristic points of the rear camera sent by the EOL offline diagnostic device 14 and the original point of the search center of the calibration characteristic points corresponding to each all-round camera of the vehicle type. The difference of the installation heights of different chassis, vehicle types and cameras is large, so that the difference of pixel coordinates of target targets shot by the cameras arranged at the same angle in an image is large, the mode of adjusting the characteristic points to search the center origin in the form of a mapping table can save calibration time to the maximum extent, and meanwhile, the influence of similar interference points on calibration is reduced. The success rate of automatic calibration is ensured. And presetting a feature point search area with the original point of the search center as the center by the look-around ECU, searching pixel points with gray value mutation of adjacent domains by adopting a harris corner extraction algorithm, acquiring a world coordinate system for calibrating the feature points according to a mapping table of a generic vehicle type, and further completing self calibration of the camera. Where the search center origin is obtained from the can bus from the EOL offline diagnostic 14. After the look-around ECU completes self-calibration, the pixel coordinate method of the self-calibrated characteristic points searched by the calibration is sent to the EOL offline diagnostic device 14, and the EOL offline diagnostic device 14 corrects the searching central points of the characteristic points according to the result of the calibration.
Referring to fig. 1 and 2 as an optimization scheme of the embodiment of the present invention, establishing a calibration mapping information table of the vehicle type by initial learning includes: (1) the system comprises a vehicle type and chassis information, (2) world coordinates of calibration characteristic points of a rear camera of the vehicle type, and (3) origin points of central pixels of the calibration characteristic points corresponding to all look-around cameras corresponding to the vehicle type.
Referring to fig. 1 and 2 as an optimization scheme of the embodiment of the present invention, a weight correction method performs weight correction according to the following formula:
wherein Xn-1Therefore, the pixel coordinate search center corresponding to the EOL after the vehicle model n-1 successfully finishes calibration is used for searching the X-axis pixel coordinate. And X is the coordinate of the axis pixel of 1 and the coordinate of the axis pixel of the figure 2 of the searching central point of the characteristic point, which is returned by the ECU, according to the view of the X axis pixel coordinate of the characteristic point after the nth calibration of the vehicle type is finished. The method has the advantages that the original point of the search center for calibrating the feature points is corrected in a learning and correcting mode, so that the positioning precision of the feature point search range is further improved, and the calibration efficiency and the calibration success rate are improved.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A calibration device of an automobile panoramic system suitable for different wheelbase lengths is characterized in that,
the method comprises the following steps: a front target arranged in front of the vehicle head,
a left side target and a right side target which are arranged at the two sides of the vehicle,
a rear target arranged at the rear of the vehicle tail,
a laser ranging device for measuring the distance between the left target and the rear target and the distance between the right target and the rear target,
and an EOL off-line diagnostic instrument for acquiring data measured by the laser ranging device,
the front target, the left side target plate and the right side target are fixed targets, the rear target is a movable target, and the moving direction of the rear target is the direction from the rear target to the front target.
2. The calibrating device for the automobile looking around system suitable for different wheelbase lengths as claimed in claim 1, wherein: the laser ranging device comprises a laser for emitting laser and a baffle capable of blocking a laser grating, and the baffle moves along with the movement of the rear target.
3. The calibrating device for the automobile looking around system suitable for different wheelbase lengths as claimed in claim 1, wherein: the back mark target has two, two back mark target corresponds respectively the left side mark target with the right side mark target, laser range unit has two sets, one of them set of laser range unit is located between the back mark target that the left side mark target corresponds with this left side mark target, another set of laser range unit is located between the back mark target that the right side mark target corresponds and this right side mark target.
4. The calibrating device for the automobile looking around system suitable for different wheelbase lengths as claimed in claim 1, wherein: the left side target and the right side target each have three targets, and the three targets of the left side target are on a line and the three targets of the right side target are on a line.
5. A calibration method of an automobile panoramic system suitable for different wheelbase lengths is characterized by comprising the following steps:
driving the vehicle to a calibration station according to the positions of the front target, the left target and the right target, and connecting the vehicle with an EOL offline diagnostic instrument;
adopting the EOL offline diagnosis to judge whether the vehicle type or the chassis type is a vehicle type which is not subjected to all-round calibration in the early stage, and performing corresponding calibration operation after judgment;
after the calibration operation is completed, the EOL offline diagnostic instrument automatically records whether the VIN vehicle successfully completes the look-around calibration operation, records the current calibration state of the vehicle, and manages and records the calibration state of each vehicle.
6. The method for calibrating the automobile looking around system suitable for different wheelbase lengths as claimed in claim 5, wherein if the vehicle is determined to be an uncalibrated vehicle type, the specific calibration operation is as follows:
the rear target is moved to the rear of the vehicle tail, then the distance between the left target and the rear target and the distance between the right target and the rear target are measured by adopting a laser ranging device,
after the rear target is moved, the EOL offline diagnostic instrument collects the distance measured by the current laser ranging device, calculates the relative position of the rear target and converts the relative position into the world coordinate of each calibration point;
the EOL offline diagnostic instrument sends the world coordinates of the calibration point of the camera at the tail of the vehicle to the look-around ECU;
before the all-round-looking ECU performs calibration operation, acquiring pixel coordinates of calibration characteristic points corresponding to all the all-round-looking cameras, and establishing a search range for restraining each characteristic point according to the image pixel coordinates as a center;
and the all-round ECU sends the pixel coordinates of the calibration characteristic points to an EOL offline diagnostic instrument through a can bus, the EOL offline diagnostic instrument updates the central pixel original points of the characteristic points of each camera of the all-round ECU corresponding to the vehicle type, and establishes a calibration mapping information corresponding table of the vehicle type.
7. The method for calibrating the automobile look-around system suitable for different wheelbase lengths as claimed in claim 5, wherein: if the vehicle is judged to be the calibrated vehicle type, the vehicle type already establishes a corresponding calibration mapping table, and the specific calibration operation is as follows:
automatically adjusting the position of the target to the position of the initial learning according to a known calibration mapping table;
after the rear target moves to the corresponding position, the laser ranging device checks the position of the current calibration target;
the EOL offline diagnostic instrument compares the number of laser ranging measurements with a preset number;
when the difference value between the number measured by the laser ranging and the preset number is larger than the threshold value, prompting a worker to maintain the mobile target device in the calibration site; if the difference value between the measured number of the laser ranging and the preset number is smaller than the threshold value, the EOL controls the all-round ECU through the can bus, and the world coordinates of the calibration characteristic points of the rear camera sent by the EOL offline diagnostic device and the search center original points of the calibration characteristic points corresponding to all the all-round cameras of the vehicle type are updated;
the look-around ECU presets a characteristic point search area with a search center origin as a center, obtains pixel points with sudden change of gray values of adjacent areas, obtains a world coordinate system for calibrating characteristic points according to a mapping table of the vehicle type, and further completes self-calibration of the camera;
and after the look-around ECU completes self-calibration, sending a pixel coordinate method of the self-calibrated characteristic points searched by the calibration to the EOL offline diagnostic instrument, and correcting the search central points of the characteristic points by the EOL offline diagnostic instrument according to the result of the calibration.
8. The method as claimed in claim 7, wherein the step of establishing the calibration mapping information table for the vehicle type by the initial learning comprises:
the information of the vehicle type and the chassis,
the world coordinates of the calibrated characteristic points of the rear camera of the vehicle type,
and the origin of the central pixel of the calibration characteristic point corresponding to each all look-around camera corresponding to the vehicle type.
9. The method for calibrating the automobile looking around system suitable for different wheelbase lengths as claimed in claim 7, wherein the weight correction is carried out according to the following formula:
wherein Xn-1Therefore, the pixel coordinate search center corresponding to the EOL after the vehicle model n-1 successfully finishes calibration is used for searching the X-axis pixel coordinate. And X is the coordinate of the axis pixel of 1 and the coordinate of the axis pixel of the figure 2 of the searching central point of the characteristic point, which is returned by the ECU, according to the view of the X axis pixel coordinate of the characteristic point after the nth calibration of the vehicle type is finished.
10. The method for calibrating the automobile look-around system suitable for different wheelbase lengths as claimed in claim 7, wherein: and searching pixel points with sudden gray value changes of adjacent domains by adopting a harris corner extraction algorithm, wherein the origin of the search center is obtained from the can bus by the EOL offline diagnostic instrument.
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