CN114115021A - Camera calibration system of automobile ADAS system - Google Patents
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Abstract
The invention discloses a camera calibration system of an automobile ADAS system, which relates to the technical field of automobile diagnosis equipment and solves the technical problems of inaccurate camera calibration and low efficiency caused by complex camera calibration process and large data processing capacity in the prior scheme; the calibration system is divided into four modules, modular design is adopted, different calibrations can share one module, and only module parameters are changed, so that the research and development cost is reduced, the research and development period is shortened, and the software applicability and expandability are enhanced; by utilizing the camera calibration algorithm, the plane target is easy to manufacture, the position and the angle of the target are not strictly required in the calibration process, and the calibration precision is higher; the data format introduction adopted by the data transmission packaging mode is simple, the communication efficiency is high, and the error rate is low; the XML language is adopted to compile the file type database, so that the data access speed is high, and the occupied resources are less; the calibration parameter method has high analysis speed and high calibration precision.
Description
Technical Field
The invention belongs to the technical field of automobile diagnosis equipment, and particularly relates to a camera calibration system of an automobile ADAS system.
Background
An Advanced Driving Assistance System (Advanced Driving Assistance System) collects surrounding environment data at any time during the Driving of an automobile by using various sensors (millimeter wave radar, laser radar, single/double-eye cameras and satellite navigation) installed on the automobile, identifies, detects and tracks static and dynamic objects, and performs systematic operation and analysis by combining navigation map data, thereby enabling drivers to perceive possible dangers in advance and effectively increasing the comfort and safety of automobile Driving.
The camera is one of the most important sensors of the ADAS system; in actual vehicle driving, the camera sensor is in a problem due to various conditions such as vehicle bumping, wading, collision accidents and the like, or the camera needs to be calibrated when a new camera is replaced, so that the camera sensor can reach the optimal working state.
The existing calibration process is to collect experimental data from an automobile sensor, write the experimental data into an automobile ECU after technical processing; because a large amount of test data needs to be processed in a calibration test, the traditional calibration method has numerous parameters and a complex calculation process; along with the improvement of the intelligent automobile fault diagnosis technology, how to continuously perfect the calibration function of the automobile camera is a technical problem to be solved.
Disclosure of Invention
The invention provides a camera calibration system of an automobile ADAS system, which is used for solving the technical problems of inaccurate camera calibration and low efficiency caused by complex camera calibration process and large data processing amount of the existing scheme.
The purpose of the invention is realized by the following technical scheme: a camera calibration system for an automotive ADAS system, comprising:
the data communication connection module: determining initialization parameters according to the protocol type, and completing communication connection between the automobile fault diagnosis instrument and an automobile ECU;
a diagnostic command analysis module: sending a data sampling instruction to an automobile ECU (electronic control Unit) through an automobile fault diagnosis instrument, carrying out data sampling on calibration command information, and acquiring a sampling file; extracting data in the sampling file, and making the extracted data into a calibration database;
a calibration function module: and compiling a calibration function according to the calibration database to finish the calibration function of the automobile fault diagnosis instrument.
Preferably, the vehicle fault diagnosis instrument and the vehicle ECU realize communication through a standard CAN protocol.
Preferably, the calibration function module is realized by developing a computer diagnostic program and comprises a calibration operation confirmation unit, a calibration information input unit, a calibration execution and result query unit and a fault code clearing unit;
the calibration operation confirming unit is used for sending a calibration operation instruction and prompting calibration information;
the calibration information input unit is used for sending a calibration information input instruction and writing calibration information;
the calibration execution and result query unit is used for sending a calibration execution instruction, judging the state of a control word in returned data and prompting a calibration result;
the fault code clearing unit is used for sending a fault code clearing instruction and clearing the fault code according to the calibration result.
Preferably, the calibration information includes camera target information, mileage and date.
Preferably, the calibration execution and result query unit performs calibration by a calibration parameter method.
A camera calibration method of a camera calibration system of an automobile ADAS system comprises the following steps:
the data communication connection module determines initialization parameters according to the protocol type to realize communication connection between the automobile fault diagnosis instrument and the automobile ECU; the communication between the automobile fault diagnosis instrument and the automobile ECU is realized by adopting a standard CAN protocol;
sending a data sampling command to an automobile ECU (electronic control Unit) through a diagnosis command analysis module, carrying out data sampling on calibration command information by combining an OBD (on-board diagnostics) bus, and recording sending and replying commands in a communication command form to obtain a sampling file;
extracting data in the sampling file according to the data structure and recording the data into an EXCEL document, and making command information in the EXCEL document into a calibration database in an XML file format through an XML language;
and the calibration function module writes a calibration function according to the calibration database and sets a calibration step to realize a calibration function.
Preferably, the recording of the communication command form means that an XML document is established in an UltraEdit text editor, a command of the mutual communication between the automobile ECU and the automobile fault diagnosis instrument is recorded in an XML language, and is stored in an UTF-8 encoding format.
Compared with the prior art, the invention has the beneficial effects that:
1. the calibration system is divided into four modules, the modular design is adopted, different calibrations can share one module, and only module parameters need to be changed, so that the research and development cost is reduced, the research and development period is shortened, and the applicability and the expandability of software are enhanced.
2. The camera calibration algorithm of the invention is easy to manufacture the plane target, has no strict requirements on the position and the angle of the target in the calibration process, and has higher calibration precision.
3. According to the invention, the automobile fault diagnosis instrument sends the command to the ECU, so that the communication between the automobile fault diagnosis instrument and the ECU can be realized, the calibration of the vehicle-mounted camera can be completed by the automobile fault diagnosis instrument, other special equipment is not needed, and the operation is simple and convenient.
4. The data format introduction adopted by the data transmission packaging mode is simple, the communication efficiency is high, and the error rate is low; the XML language is adopted to compile the file type database, so that the data access speed is high, and the CPU resource occupation is less; the calibration parameter method has high analysis speed and high calibration precision.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of the system of the present invention.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present application, 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 application.
The terminology used herein is for the purpose of describing embodiments and is not intended to be limiting and/or limiting of the present disclosure; it should be noted that the singular forms "a," "an," and "the" include the plural forms as well, unless the context clearly indicates otherwise; also, although the terms first, second, etc. may be used herein to describe various elements, the elements are not limited by these terms, which are only used to distinguish one element from another.
Referring to fig. 1, the present invention provides a camera calibration system of an ADAS system of an automobile, which includes a data communication connection module, a diagnostic command analysis module, and a calibration function module.
The calibration function module is realized by developing a computer diagnostic program and comprises a calibration operation confirming unit, a calibration information input unit, a calibration execution and result query unit and a fault code clearing unit.
The data communication connection module determines initialization parameters according to the protocol type, so that the automobile fault diagnosis instrument is connected with the automobile ECU and can be communicated with each other; the diagnosis command analysis module is connected with the automobile ECU through original factory equipment, sends commands to the ECU, obtains calibration command information by means of an OBD bus to perform data sampling, records sending and replying commands in a communication command form to obtain a sampling file, extracts data in the sampling file according to a data structure and records the data in an EXCEL document, and then makes the command information in the EXCEL document into a calibration database in an XML file format by utilizing XML language; the calibration function module is used for compiling a calibration function of C language according to an XML database obtained by protocol analysis, completing the setting of calibration steps and realizing the specific calibration function of the automobile fault diagnostic apparatus.
It should be noted that the recording in the form of a communication command means that an XML document is created in the UltraEdit text editor, a command for the vehicle ECU and the vehicle failure diagnostic apparatus to communicate with each other is recorded in an XML language, and is saved in an UTF-8 encoding format.
In the camera calibration system of the automobile ADAS system, the calibration operation confirmation unit is used for sending a calibration operation instruction and prompting calibration information; the calibration information input unit is used for sending a calibration information input instruction and manually inputting calibration information, and the calibration information comprises written camera header target information, input mileage and input date; the calibration execution and result query unit is used for sending a calibration execution instruction, judging the state of a control word in the returned data and prompting a calibration result; the fault code clearing unit sends a fault code clearing instruction and clears the fault code of the camera calibration system according to the calibration result.
In the embodiment of the present invention, a calibration operation confirming unit sends a calibration operation instruction and prompts calibration information, and performs program control by using a TYPE attribute of a function, and the specific steps are as follows:
1) sending a calibration operation instruction to the vehicle-mounted ECU through a MENU DISPLAY function MENU _ DISPLAY, wherein the TYPE attribute in the step is '02', the function is used for executing different functions, and the '02' attribute is used for jumping of nodes and entering a special function; the special functions comprise a Coding process, camera calibration, millimeter wave radar calibration and VIN writing;
2) and sending a calibration operation instruction to the vehicle-mounted ECU through an information prompt function DISP _ INFO to prompt whether to start camera calibration, and confirming and skipping to a calibration information input module, wherein the TYPE attribute of the step in the function is '02'.
In an embodiment of the present invention, the calibration information input unit is configured to send a calibration information input instruction and manually input calibration information, and includes:
1) sending a calibration operation instruction to the vehicle-mounted ECU through a SPECIAL FUNCTION SPECIAL _ FUNCTION, wherein the NAME TYPE attribute of the step in the FUNCTION is '00' and is used for initializing a window of a camera calibration FUNCTION;
2) performing information writing operation through a pro _ special _ function, wherein the MSG TYPE attribute in the function is '08' and is used for setting a dialog box display text information 'write camera header target information'; the TYPE attribute is '00' and is used for receiving and sending instructions, and the TYPE attribute is '02' and is used for node skipping and entering the next node;
3) sending a calibration operation instruction to the vehicle-mounted ECU through a SPECIAL FUNCTION SPECIAL _ FUNCTION, wherein the NAME TYPE attribute of the step in the FUNCTION is ' 01 ' for inserting text information ' input mileage (000000000-; the NAME TYPE attribute is '02' and is used for jumping to a WRITE PROGRAM node, wherein the MSG TYPE attribute is '00' and is used for receiving and sending instructions, the MSG TYPE attribute is '10' and is used for acquiring data in a data frame, modifying and sending a WRITE-in command and completing the operation of inputting mileage, and the MSG TYPE attribute is '02' and is used for jumping to the next node;
4) the date writing operation is the same as the mileage writing operation, except that in the date writing operation, the MAXLEN attribute of "06" indicates that the maximum number of words in the edit box is 6, for example, 210713, indicating 7/13/2021, and that the date writing operation is completed and the node jumps to the next node.
In the embodiment of the present invention, the calibration execution and result query unit is configured to send a calibration execution instruction, determine a state of a control word in returned data, and prompt a calibration result, and includes:
1) sending a calibration execution instruction to the vehicle-mounted ECU through a SPECIAL FUNCTION SPECIAL _ FUNCTION, starting camera calibration with an MSG TYPE attribute of '08', setting a TIME attribute of '10' to indicate that 10 seconds are needed in the reading process, wherein the calibration parameter method comprises the following steps:
the plane of the target is a plane with Z being 0 in the world coordinate system, so that the world coordinate of any corner point P of the checkerboard is (X)W,YW,ZW) The corresponding pixel coordinate is p (u, v), the rotation matrix R is expressed in the form of a column vector, and R is ═ R1 r2r3]According to the perspective projection model, the following relationship is obtained:
wherein A represents an internal reference matrix, gamma is a gradient factor, s is a scale factor, and Z is the coordinate system of the world under the assumption that the XY plane of the world coordinate system is coincident with the plane where the target is locatedWWhen 0, then equation (1) can be written as follows:
with m ═ u v 1]TRepresenting the secondary coordinates of a two-dimensional point p, with M ═ XW YW 1]TRepresenting the secondary coordinates of the corresponding point p on the calibration target, the above equation can be expressed as:
sm＝HM#(3)
where H is lambda A [ r ═ r1 r2 t]Defined as a homography matrix, λ is a constant; let H ═ H1 h2 h3]It is possible to obtain:
[h1 h2 h3]＝λA[r1 r2 t]#(4)
the value of H is calculated by using a random sampling consistency algorithm, and the rotation matrix has orthogonality, so that
And r1||＝||r2Combining equation (4), the following constraint equation can be obtained:
order to
From the expansion, it can be seen that B is symmetric, assuming B ═ B11,B12,B22,B13,B23,B33]TAnd the ith column vector in H is Hi＝[hi1 hi2 hi3]TFrom equation (5), the following relationship can be obtained:
wherein v isij＝[hi1hj1,hi1hj2+hi2hj1,hi2hj2,hi3hj1+hi1hj3,hi3hj2+hi2hj3,hi3hj3]T，
Then formula (7) can be arranged in the following form:
in an actual experiment, in order to obtain higher robustness, multiple pictures are generally obtained by shooting a planar calibration target from different angles for multiple times, multiple constraint equations are obtained, then a solution (8) can be solved through a Singular Value Decomposition (SVD) method, and after b is obtained, internal parameters of a camera are solved through a Cholesky matrix decomposition algorithm, as follows:
wherein u is0,v0Number of horizontal and vertical pixels respectively representing a phase difference between the center pixel coordinate and the image origin pixel coordinate, fx,fyRespectively representing the focal lengths in the directions of an x axis and a y axis in a pixel coordinate system, wherein gamma represents the deviation of the pixel point in the scales of the x direction and the y direction, the ideal condition is 0, and lambda is a scale factor; the calibration parameters are used for displaying the calibration result of the step 4) and the step 5);
2) sending a calibration execution instruction to a vehicle-mounted ECU through a SPECIAL FUNCTION SPECIAL _ FUNCTION, wherein the MSG TYPE attribute is ' 09 ', the COUNT attribute is ' 90 ', the number of times of circularly sending data streams is set to be 90, byte information of a fixed position X04 in data returned by the ECU is extracted, and the comparison of the byte information adopts a control word CMP which is ' 0102[ X04] whichis 03: 2; 0 'XTABLE ═ SPE _ FINC/FUNO 1/F0107' is executed, 01 'represents switching value calculation, 02' represents two switching values, [ X04] represents the position of a control word needing comparison, "X1" represents specific comparison content, and if the comparison result is false, returning to '0', the F0105 node position in the following step 3) is jumped to, and the calibration is failed; if the result is true, returning to '2' and jumping to the position of the F0107 node in the step 5) by using a SPECIAL _ FUNCTION FUNCTION, so as to indicate that the calibration is successful;
3) sending a calibration execution instruction to the vehicle-mounted ECU through a SPECIAL FUNCTION SPECIAL _ FUNCTION, wherein the NAME TYPE attribute is '01' and is used for inserting text information 'calibration failure', the NAME TYPE attribute is '02', jumping to a F0106 node in the following step 4), and reading a camera calibration result;
4) sending a calibration execution instruction to the vehicle-mounted ECU through a SPECIAL FUNCTION SPECIAL _ FUNCTION, wherein the MSG TYPE attribute is '0D' and is used for circularly and dynamically displaying data stream information, the MSG1 TYPE attribute is '00' and is used for sending a 224000 instruction, and extracting byte information of X03, X04 and X05 positions in data returned by the ECU to obtain different calibration results, which is specifically shown as follows:
no error for CMP 010B X03 ═ 00; vehicle speed is too fast [ X03] ═ 01; voltage is high when [ X03] ═ 02; (X03) 03, voltage too low; (X03) 04: bus error; x03 ═ 05, temperature too high; (X03) camera obscuration 06; [ X03] ═ 07 internal failures; [ X03] ═ 08: uncoording; (X03) vehicle speed fault 09; the ">00 universal error cause is undefined;
CMP is not defined as "0114[ X04] ═ 00; (1) [ X04] ═ 01: successful calibration; (X04) 02: calibration in progress; (ii) [ X04] ═ 10: the image is too bright; x04 ═ 11, image too dark; [ X04] 12: internal reference error; [ X04] ═ 13 for ginseng errors; x04 ═ 14, calibration panel parameter error; 15 [ [ X04] ] controller transmission error; x04 ═ 16, data retention error; x04 ═ 20, no calibration plate detected; (ix) [ X04] ═ 21, no left calibration plate; [ X04] ═ 22 for no medium designation plate; (xxxv 04) 23: no right calibration plate; x04 ═ 24, excess calibration plates detected; 30 [ [ X04] ] calibration cannot be optimized; [ X04] ═ 31: Rx overrun; (ix) [ X04] ═ 32: Ry transboundary; (ix) [ X04] ═ 33: Rz transboundary; the error reason of the >01EOL calibration is undefined;
CMP is "0117[ X05] ═ 01: undefined; (X05) 02, successful calibration; the detection is successful if [ X05] ═ 03; (iii) X05 ═ 04, detection underway; (iii) [ X05] ═ 05, static calibration in progress; (xxxviii) [ X05] ═ 06: dynamic calibration in progress; (ii) [ X05] ═ 10: the image is too bright; x05 ═ 11, image too dark; [ X05] 12: internal reference error; [ X05] ═ 13 for ginseng errors; x05 ═ 14, calibration panel parameter error; 15 [ [ X05] ] controller transmission error; x05 ═ 16, data retention error; x05 ═ 20, no calibration plate detected; (ix) [ X05] ═ 21: excess calibration plates were detected; (X05) 22, placing the calibration plate too close; 30 [ [ X05] ] calibration cannot be optimized; [ X05] ═ 31: Rx overrun; (ix) [ X05] ═ 32: Ry transboundary; (ix) [ X05] ═ 33: Rz transboundary; [ X05] ═ 34, scale plate height inconsistent; 35, dynamic calibration timeout; undefined >02 after-sale calibration result;
5) sending a calibration execution instruction to the vehicle-mounted ECU through a SPECIAL FUNCTION SPECIAL _ FUNCTION, wherein the MSG TYPE attribute is '0D' and is used for circularly and dynamically displaying data stream information, the MSG1 TYPE attribute is '00' and is used for sending a 224000 instruction, extracting byte information of X03, X04 and X05 positions in data returned by the ECU to obtain different calibration results, and the calibration execution instruction is consistent with the step 4); sending 222A 0D instruction to extract byte information of the positions of the data X04 and X08 returned by the ECU to obtain different calibration results, which are shown as follows:
CMP ═ 0103[ X04] & 01 ═ 00: not standardized; [ X04] & 01 to 01, calibrated; defining the calibration state of a camera with a camera mark of "> 00-foresight calibration;
CMP ═ 0103[ X04] & No calibration when 02 is 00; [ X04] & 02, calibrated; undefined ">01 camera calibration state-front-view post-sale calibration (static);
CMP ═ 0103[ X04] & 04 ═ 00: not calibrated; [ X04] & 04 being calibrated; undefined ">02 camera calibration state-front-view post-sale calibration (dynamic);
CMP ═ 0103[ X08] & 01 ═ 00: not standardized; [ X08] & 01 to 01, calibrated; the ">03 radar calibration state is undefined.
In the embodiment of the invention, the fault code clearing unit sends the fault code clearing instruction and clears the fault code of the camera calibration system according to the calibration result.
And sending a calibration execution command to the vehicle-mounted ECU through a SPECIAL FUNCTION SPECIAL _ FUNCTION, wherein the MSG TYPE attribute is 00 and is used for sending a fault code clearing command 14FF, and the MSG TYPE attribute is 01 and is used for inserting text information to prompt that the calibration is completed.
A calibration method of a camera calibration system of an automobile ADAS system comprises the following steps:
the data communication connection module determines initialization parameters according to the protocol type to realize communication connection between the automobile fault diagnosis instrument and the automobile ECU; the communication between the automobile fault diagnosis instrument and the automobile ECU is realized by adopting a standard CAN protocol;
sending a data sampling command to an automobile ECU (electronic control Unit) through a diagnosis command analysis module, carrying out data sampling on calibration command information by combining an OBD (on-board diagnostics) bus, and recording sending and replying commands in a communication command form to obtain a sampling file;
extracting data in the sampling file according to the data structure and recording the data into an EXCEL document, and making command information in the EXCEL document into a calibration database in an XML file format through an XML language;
and the calibration function module writes a calibration function according to the calibration database and sets a calibration step to realize a calibration function.
Next, taking a camera head of the ADAS system of the beiqifutian light bus model as an example, the technical scheme of the present invention is explained:
1. the data communication connection module: the lower computer and the diagnosis computer are in wireless connection through Bluetooth, and the lower computer and the vehicle-mounted ECU system adopt a standard CAN communication protocol. The invention adopts a mode of simulating the ECU by a computer to test the function.
2. A calibration operation confirmation module: sending a calibration operation instruction to the vehicle-mounted ECU through a MENU DISPLAY function MENU _ DISPLAY, wherein the TYPE attribute in the step is '02', the function is used for executing different functions, and the '02' attribute is used for jumping of nodes and entering a special function; and sending a calibration operation instruction to the vehicle-mounted ECU through an information prompt function DISP _ INFO to prompt whether to start camera calibration, and confirming and skipping to a calibration information input module.
3. A calibration information input module: the calibration information input instruction is sent and the calibration information is manually input, including writing in camera head target information, inputting mileage and inputting date.
1) Writing camera header target information: performing information writing operation through a special function, wherein the MSG TYPE attribute in the function is '08' and is used for setting a dialog box to display text information 'write camera header target information'; the TYPE attribute is '00' and is used for receiving and sending instructions, and the instructions are sent to 2E 2004451C C80091009100C 8000100 to complete the writing of the camera header target information; the partial communication command is as follows:
rece:a5 a5 00 18 30 00 00 07 a4 10 11 2e 20 04 45 1c c8 00 c8 00 91 00 91 00 c8 00 01 00bd
send:a5 a5 00 0d 30 00 00 07 ac 07 6e 01 02 03 04 05 06 85。
2) input mileage: writing information through a special function, wherein the MSG TYPE attribute is '00' and sending 222003 instruction, the MSG TYPE attribute is '10' and sending 2E 2003 instruction for acquiring data in the data frame, modifying and sending a writing-in command, and completing the operation of inputting mileage; the partial communication command is as follows:
rece:a5 a5 00 0d 30 00 00 07 a4 03 22 20 03 00 00 00 00 cf
send:a5 a5 00 17 30 00 00 07 ac 10 0f 62 20 03 00 ff 32 33 34 35 36 37 08 09 0a 0b 0c f5
rece:a5 a5 00 14 30 00 00 07 a4 10 0d 2e 20 03 c7 6b 9f 06 34 35 36 37 08 09 e4
send:a5 a5 00 0d 30 00 00 07 ac 07 6e 01 02 03 04 05 06 85。
3) inputting a date: writing information through a special function, wherein the MSG TYPE attribute is '00' and sending 222003 instruction, the MSG TYPE attribute is '10' and sending 2E 2003 instruction for acquiring data in the data frame, modifying and sending a writing-in command, and completing the operation of inputting mileage; the partial communication command is as follows:
rece:a5 a5 00 0d 30 00 00 07 a4 03 22 20 03 00 00 00 00 cf
send:a5 a5 00 17 30 00 00 07 ac 10 0f 62 20 03 00 ff 32 33 34 35 36 37 08 09 0a 0b 0c f5
rece:a5 a5 00 14 30 00 00 07 a4 10 0d 2e 20 03 00 ff 32 33 32 31 30 37 30 38 0c
send:a5 a5 00 0d 30 00 00 07 ac 07 6e 01 02 03 04 05 06 85。
4. and the calibration execution and result query module is used for sending the calibration execution instruction, judging the state of the control word in the returned data and prompting the calibration result.
1) Sending 3101E 080 instructions through special function functions, wherein the MSG TYP attribute is '00', starting camera calibration, and the part of communication commands are as follows:
rece:a5 a5 00 0d 30 00 00 07 a4 04 31 01 e0 80 00 00 00 81
send:a5 a5 00 0d 30 00 00 07 ac 07 71 01 e0 80 00 00 ff 37。
2) sending a 3103E 080 instruction through a special function, setting the MSG TYPE attribute to be 08, reading the result of camera calibration, setting the TIME attribute to be 10, indicating that the reading process needs 10 seconds, and extracting byte information of a fixed position X04 in data returned by an ECU (electronic control unit) by CMP (chemical mechanical polishing) (0102 [ X04 ]) (03: 2); and 0' comparison, if true, starting to read the camera calibration result, and if false, failing to calibrate:
rece:a5 a5 00 0d 30 00 00 07 a4 04 31 03 e0 80 00 00 00 7f
send:a5 a5 00 0d 30 00 00 07 ac 07 71 03 e0 01 03 00 ff b1
3) and sending an 224000 command to extract byte information of the position X04X05X06 in the data returned by the ECU through a special function loop to acquire the calibrated state, and sending a 222A 0D command to extract byte information of the position X04X08 in the data returned by the ECU to acquire the calibrated result. The part of the communication command is as follows (intercepting the data sent and received in the first two cycles):
rece:a5 a5 00 0d 30 00 00 07 a4 03 22 2a 0d 00 00 00 00 bb
send:a5 a5 00 17 30 00 00 07 ac 10 0f 62 2a 0d 00 ff 32 33 34 35 36 37 08 09 0a 0b 0c e1
rece:a5 a5 00 0d 30 00 00 07 a4 03 22 40 00 00 00 00 00 b2
send:a5 a5 00 17 30 00 00 07 ac 10 0f 62 40 00 00 ff 32 33 34 35 36 37 08 09 0a 0b 0c d8 rece:a5 a5 00 0d 30 00 00 07 a4 03 22 2a 0d 00 00 00 00 bb
send:a5 a5 00 17 30 00 00 07 ac 10 0f 62 2a 0d 00 ff 32 33 34 35 36 37 08 09 0a 0b 0c e1
rece:a5 a5 00 0d 30 00 00 07 a4 03 22 40 00 00 00 00 00 b2
send:a5 a5 00 17 30 00 00 07 ac 10 0f 62 40 00 00 ff 32 33 34 35 36 37 08 09 0a 0b 0c d8。
5. and the fault code clearing unit is used for sending a fault code clearing instruction and clearing the fault codes of the camera calibration system according to the calibration result.
Sending a calibration execution instruction to the vehicle-mounted ECU through a SPECIAL FUNCTION SPECIAL _ FUNCTION, wherein the MSG TYPE attribute is '00' and is used for sending a fault code clearing instruction 14FF, and the MSG TYPE attribute is '01' and is used for inserting text information to prompt that calibration is completed; the partial communication command is as follows:
rece:a5 a5 00 0d 30 00 00 07 a4 04 14 ff ff ff 00 00 00 02
send:a5 a5 00 0d 30 00 00 07 ac 07 54 ff ff ff ff ff ff ba。
the data in the above formulas are all calculated by removing dimensions and taking numerical values thereof, the formulas are obtained by acquiring a large amount of data and performing software simulation to obtain the formulas closest to the real conditions, and the preset parameters and the preset threshold values in the formulas are set by the technicians in the field according to the actual conditions or obtained by simulating a large amount of data.
The working principle of the invention is as follows:
the data communication connection module determines initialization parameters according to the protocol type to realize communication connection between the automobile fault diagnosis instrument and the automobile ECU; the communication between the automobile fault diagnosis instrument and the automobile ECU is realized by adopting a standard CAN protocol.
The method comprises the steps of sending a data sampling command to an automobile ECU through a diagnosis command analysis module, carrying out data sampling on calibration command information by combining an OBD bus, and recording sending and replying commands in a communication command mode to obtain a sampling file.
Extracting data in the sampling file according to the data structure and recording the data into an EXCEL document, and making command information in the EXCEL document into a calibration database in an XML file format through an XML language; and the calibration function module writes a calibration function according to the calibration database and sets a calibration step to realize a calibration function.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is merely exemplary and illustrative of the structure of the application and various modifications or additions may be made to the described embodiments by persons skilled in the art or may be substituted in a similar manner without departing from the structure or exceeding the scope of the claims as defined in the appended claims.
Claims (6)
1. The utility model provides a camera calibration system of car ADAS system which characterized in that includes:
the data communication connection module: determining initialization parameters according to the protocol type, and completing communication connection between the automobile fault diagnosis instrument and an automobile ECU;
a diagnostic command analysis module: sending a data sampling instruction to an automobile ECU (electronic control Unit) through an automobile fault diagnosis instrument, carrying out data sampling on calibration command information, and acquiring a sampling file; extracting data in the sampling file, and making the extracted data into a calibration database;
a calibration function module: and compiling a calibration function according to the calibration database to finish the calibration function of the automobile fault diagnosis instrument.
2. The system of claim 1, wherein the calibration function module is implemented by developing a computer diagnostic program, and comprises a calibration operation confirming unit, a calibration information input unit, a calibration execution and result query unit, and a fault code clearing unit;
the calibration operation confirming unit is used for sending a calibration operation instruction and prompting calibration information;
the calibration information input unit is used for sending a calibration information input instruction and writing calibration information;
the calibration execution and result query unit is used for sending a calibration execution instruction, judging the state of a control word in returned data and prompting a calibration result;
the fault code clearing unit is used for sending a fault code clearing instruction and clearing the fault code according to the calibration result.
3. The system of claim 2, wherein the calibration execution and result query unit performs calibration by a calibration parameter method; the calibration parameter method is realized by matrix operation and a perspective projection model.
4. A system for calibrating a camera of an ADAS system for a vehicle according to any one of claims 1 to 3, wherein the method for calibrating a camera of the system comprises:
the data communication connection module determines initialization parameters according to the protocol type to realize communication connection between the automobile fault diagnosis instrument and the automobile ECU;
sending a data sampling command to an automobile ECU (electronic control Unit) through a diagnosis command analysis module, carrying out data sampling on calibration command information, and recording sending and replying commands in a communication command form to obtain a sampling file;
extracting data in the sampling file according to the data structure and recording the data in a transfer document, and making command information in the transfer document into a calibration database in an XML file format through a programming language;
and the calibration function module writes a calibration function according to the calibration database and sets a calibration step to realize a calibration function.
5. The system of claim 4, wherein the recording of the communication command form means creating an XML document in an UltraEdit text editor, recording the command of the communication between the vehicle ECU and the vehicle failure diagnostic device in XML language, and storing the command in UTF-8 coding format.
6. The system for calibrating a camera of an automobile ADAS system as claimed in claim 4, wherein said transfer document is EXCEL document, and the programming language is XML language.
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