CN114966577A - Camera and radar controller calibration system for vehicle - Google Patents
Camera and radar controller calibration system for vehicle Download PDFInfo
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- CN114966577A CN114966577A CN202210555336.9A CN202210555336A CN114966577A CN 114966577 A CN114966577 A CN 114966577A CN 202210555336 A CN202210555336 A CN 202210555336A CN 114966577 A CN114966577 A CN 114966577A
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- 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
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- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- 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
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- 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
- G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
- G01S7/022—Road traffic radar detectors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a camera and radar controller calibration system for a vehicle, which mainly comprises a calibration industrial control system all-in-one machine, a movable target and a rotatable reflecting plate, wherein the calibration industrial control system all-in-one machine mainly comprises a can communication module, a network communication module and a PLC control module, and the network communication module is used for communicating the can communication module and a production data system; the can communication module is used for being in communication connection with a vehicle OBD port; the PLC control module is used for connecting the movable target and the rotatable reflecting plate in a communication mode. This system provides the demarcation of camera and radar on producing the line for the vehicle, and this set of system has high stability, and the demarcation of radar and camera is accomplished to discernment vehicle gesture and camera, radar mounted position that can be accurate, can provide the guarantee for vehicle realization ADAS's function.
Description
Technical Field
The invention belongs to the technical field of intelligent driving of commercial vehicles, and particularly relates to a camera and radar controller calibration system for a vehicle.
Background
With the application of software in the vehicle field, intelligent driving automobiles are more and more popular, including the application in the commercial vehicle field. The intelligent driving can simplify the driving skill, reduce the labor load of the driver and improve the driving safety performance. National regulation also constantly promotes intelligent driving function and falls to the ground at commercial car, especially the commercial car of operation, and the passenger train manned is in large quantity, and the loss that causes when taking place danger is big, and the commercial truck transportation time is long, and the driver is easy tired, and these all can have very big road potential safety hazard, and the development of intelligent driving is used and can be avoided the emergence of a lot of accidents on commercial car.
At present, the safety functions of an ADAS mainly comprise longitudinal control and transverse control functions of a vehicle, wherein the longitudinal control mainly comprises an AEBS automatic emergency braking system and an FCW front collision early warning system, the transverse control mainly comprises an LKA lane keeping auxiliary system and an LDW lane departure early warning system, the comfort of a driver can be improved by intelligent driving besides the above safety functions, the automatic driving safety system comprises an ACC self-adaptive cruise system, the functions are realized by a camera and a radar sensor which are installed on the vehicle to replace eyes and a brain of a human, accurate judgment can be made by accurately identifying objects which are identified by the camera and the radar and cannot be driven safely, but the commercial vehicles are multiple in variety, the weight and the size of the vehicle are large, and in the process of installing the camera and the radar on a production line, the manufacturing tolerance of an installing support, The manufacturing tolerance of the windshield and the installation position tolerance between the bracket and the windshield can cause the camera to deviate from the designed installation position, so that the camera and the radar of each vehicle need to be calibrated, the stability of the performance of the ADAS system is ensured, the traditional manual work is used for centering and manually calibrating each vehicle, the labor cost is wasted, a set of full-automatic system needs to be developed to carry out full-automatic identification and calibration according to vehicles with different configuration functions of different vehicles, and the production efficiency can be greatly improved.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a camera and a radar controller calibration system for a vehicle, so as to overcome the defects in the prior art.
In order to achieve the purpose, the invention provides a calibration system of a camera and a radar controller for a vehicle, which mainly comprises an integrated machine for calibrating an industrial control system, a movable target and a rotatable reflecting plate, and is characterized in that: the calibration industrial control system all-in-one machine mainly comprises a can communication module, a network communication module and a PLC control module, wherein the network communication module is used for communicating the can communication module with a production data system; the can communication module is used for being in communication connection with a vehicle OBD port; the PLC control module is used for connecting the movable target and the rotatable reflecting plate in a communication mode.
Preferably, in the above technical solution, the mobile terminal further comprises an output display module, and the output display module is communicated with the display, the printer and the alarm.
Preferably, in the above technical solution, during calibration, the vehicle camera, the radar controller, the centering unit, the rotatable reflecting plate, the movable target, the servo unit are in communication connection with the can communication module, the network communication module and the PLC control module.
A calibration method for a camera and a radar controller for a vehicle comprises the following steps:
acquiring parameters, namely acquiring vehicle information parameters of a vehicle from a production data system through a network by a network communication module of a calibration system, wherein the vehicle information parameters comprise the wheelbase, the wheel base and the mass center position of the vehicle required by a camera radar algorithm and the position coordinates of the camera and the radar on the vehicle, and the parameters are written into the camera and a radar controller;
the method comprises the steps that functional configuration is obtained, a VIN code of a vehicle is read by a CAN communication module through a code scanning, the vehicle is subjected to CAN communication interaction with a CAN communication module of a calibration system through an OBD port, the calibration system is combined with the VIN code to obtain the corresponding functional configuration of the VIN code vehicle in an EOL database system through a network communication module, the network communication module transmits the functional configuration and relevant parameters of the whole vehicle to a camera and a radar controller through the OBD port, the functional configuration comprises an AEBS automatic emergency braking system function, an LDW lane departure alarm system, an ACC self-adaptive cruise system and the like, the CAN communication module judges whether the AEBS configuration or the ACC configuration exists, and the calibration engineering system defaults to enter two processes of camera calibration and radar calibration,
calibrating a camera, starting a first PLC control module, driving a camera calibration target to move downwards to a camera coordinate position arranged in a vehicle and align to the center position of the camera by a motor, starting to calculate the direction angle of the camera, and successfully calibrating the camera;
the radar is calibrated, the second PLC control module is started, the motor drives the radar reflecting plate to rotate and be parallel to the front of the radar, the radar enters the guiding device and then aligns to the center position of the radar according to the coordinate value of the radar, the direction angle of the radar starts to be calculated, the calculation result is output and printed out, after the radar is calibrated successfully, the display screen can be used for successfully calibrating characters, and the alarm is green and passes through.
Preferably, in the above technical solution, in the camera calibration, the camera controller is calibrated by using a central point of a lens as a coordinate origin, and mainly, roll angles, pitch angles and yaw angles of the camera in X, Y, Z three directions are determined, so as to ensure that angular deviations of the camera mounted on a vehicle leaving a factory in the vehicle in the three directions do not exceed 3 degrees.
Preferably, in the above technical solution, in the camera calibration, the target is a rectangle, the geometric elements of the middle two black BLOBs of the target and the geometric elements of the other white BLOBs of the target form a strong color contrast, the distances from the white BLOBs at the four corners of the target to the middle two black BLOBs in the X direction and the Z direction are fixed values, the position of the target, the position of the camera, the size of the target, the size of the BLOB, the BLOB interval, the distance from the camera to the target, the internal parameters and the distortion coefficients of the camera are known, and the Yaw angle Yaw is calculated by geometric relationships, that is, a right triangle is formed by the difference between the actual position and the theoretical position of the white BLOB at the leftmost upper corner of the target in the X direction, and the actual position and the theoretical position difference between the white BLOB at the rightmost upper corner of the X direction, with respect to the middle black BLOB position, and the difference between the camera as the origin and the above feature elements BLOB at the target, in the calculation process, a theoretical formula Tan alpha is used, the left Tan alpha is equal to the right Tan alpha, and when the alpha is very small, the difference value between the actual position and the theoretical position is small; the actual position refers to the position obtained by shooting through a camera, and the theoretical position is the position theoretically calculated; the difference value between the actual position and the theoretical position of the BLOB at the uppermost corner and the lowermost corner in the upper Z direction can be calculated and obtained by the same method, and the Tan alpha is calculated to further obtain the pitch angle pitch; and calculating a rolling angle ROLL, calculating an average value alpha of deviation between all rows from the left side to the right side and a theoretical position according to the BLOB of the leftmost actual position and the BLOB of the rightmost actual position, calculating a rolling angle ROLL by utilizing Tan alpha, judging that the angles of the rolling angle, the pitch angle and the yaw angle of the camera in the vehicle do not exceed 3 degrees to be qualified, calibrating the camera to be not passed after exceeding 3 degrees, and rechecking the assembly or machining precision of the part.
Preferably, in the above technical solution, if the LDW lane departure warning system, only the camera calibration process is performed, and meanwhile, the calibration engineering system calculates the direction angle in the camera vehicle coordinate system by obtaining parameters of the entire vehicle (including wheel base, camera coordinate position, radar coordinate position, and the like), that is, the PICTH, YAW, and ROLL angle of the camera relative to the target can be calculated, if the installation angle is within the specified installation range, the calibration result can be written into the controller, and at the same time, the success of this calibration can be displayed, and the alarm is green.
Preferably, in the above technical solution, in the production line calibration mode, the vehicle is placed in front of the calibration plate, the four-wheel positioning is linked with the front radar target, and the front and rear automobile centering devices in the calibration site are used for correcting the parking position and angle of the vehicle during calibration, that is, the vehicle on the four-wheel positioning must be kept in a centering state during calibration; after the vehicle is centered, namely the running axis of the vehicle is parallel to the normal of the calibration plate, the system flow automatically confirms to start calibration, then the calibration plate moves downwards to the front corresponding to the camera, the height from the central point of the calibration plate to the ground can select a proper height according to different vehicle types, and the whole calibration plate is required to be ensured to be immovable in the visual field range of the camera in the calibration process.
Preferably, in the above technical solution, the calibration plate has a plurality of geometric elements, and the geometric elements are very strong in comparison with the rest of the calibration plate; the calibration plate is arranged at a certain reference position in front of the vehicle, the camera can acquire an image from the calibration plate, and then the position of a geometric element in the image is determined through image analysis; the software can determine the actual direction angle of the camera according to the position of the geometric element on the image and the known reference position of the calibration plate, and can also determine the actual height of the camera, and then the direction angle and the height of the camera are stored in the control unit; after the camera calibration is completed, the system automatically enters radar calibration according to configuration, a metal reflecting plate is installed in front of the radar, the reflector needs to be accurately adjusted in a direction perpendicular to a vehicle transmission vector, and speed values among different dot matrixes are calculated by utilizing the reflection principle of radar waves through the distance from multiple points of the radar to the reflecting plate and the time from sending to reflection and returning, so that the installation azimuth angle of the radar, namely PICH, YAW and ROLL angle values of the radar in a coordinate system, is obtained.
Preferably, in the above technical solution, the distance from the vehicle-end camera to the calibration board is controlled to be 3.2 meters plus or minus 0.05 meters.
The process of calibrating the camera and the radar is completed automatically, and the whole data in the calibration process can be acquired, displayed and output (transmitted), and the data can be downloaded and stored; when various measurements and operations are carried out in the whole process, if safety and fault problems occur, the system can be diagnosed in time and an alarm is prompted.
Compared with the prior art, the invention has the following beneficial effects:
this system provides the demarcation of camera and radar on producing the line for the vehicle, and this set of system has high stability, and the demarcation of radar and camera is accomplished to discernment vehicle gesture and camera, radar mounted position that can be accurate, can provide the guarantee for vehicle realization ADAS's function.
Drawings
FIG. 1 is a schematic diagram of an overall frame of a calibration system;
FIG. 2 is a full flow chart of vehicle camera and radar calibration;
FIG. 3 is a schematic view of a camera calibration software flow;
FIG. 4 is a view of the azimuth angle of the camera;
FIG. 5 is a schematic view of the installation of the swing unit and the gantry target;
FIG. 6 is a calibration target;
fig. 7 is a schematic diagram of camera radar calibration.
Detailed Description
The following detailed description of specific embodiments of the invention is provided, but it should be understood that the scope of the invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
The innovation point of the system is as follows: 1. the calibration system is stable and the algorithm is accurate, and whether the calibrated vehicle is qualified or not can be quickly judged. 2. The corresponding user configuration of the vehicle is obtained by combining the VIN code through the network communication module, the vehicle automatically enters the control module corresponding to the PLC to control the driving motor, the response speed is high, and manual identification errors or calibration omission is avoided. 3. The output display module can output the calibration process and the calibration result, and meanwhile, the output display module can provide an alarm for obvious prompt and human-computer interaction suggestion, the operation is simple, the requirement on the technical level of production line personnel is not high, the green representative of the alarm passes the calibration, and the red representative fails the calibration. 4. And by combining a production database, the calibration process and the log of the calibration result of each trolley can be recorded, so that data statistics and analysis and subsequent tracing are facilitated.
The calibration system CAN synchronize a production data system of a company, a network communication module of an industrial control system CAN acquire vehicle information parameters of a vehicle from an IT information system of the company through a network, the vehicle information parameters comprise a wheel base, a wheel base and a center of mass of the vehicle required by a camera radar algorithm and position coordinates of the camera and the radar on the vehicle, the parameters are written into the camera and a radar controller, a VIN code of the vehicle is read by the CAN communication module through a scanning code, the vehicle is in CAN communication interaction with the CAN communication module of the calibration system through an OBD port, the calibration system acquires a function configuration corresponding to the VIN code vehicle in an EOL database system through the network communication module in combination with the VIN code, the network communication module transmits the function configuration and related parameters of the vehicle to the camera and the radar controller, and the function configuration comprises an AEBS automatic emergency braking system function, an emergency braking system function and a radar controller, LDW lane departure warning system, ACC self-adaptation cruise system etc, CAN communication module judges if there is AEBS configuration or ACC configuration, calibration engineering system defaults to enter two processes of camera calibration and radar calibration, PLC control module 1 starts simultaneously, motor drive camera head target moves down to the camera coordinate position that sets up in the vehicle and aims at the camera central point, begin to calculate the direction angle of camera, after the camera calibration succeeds, begin to enter PLC control module 2 automatically, motor drive radar reflecting plate rotates and is on a parallel with the radar place ahead, after entering guider, according to the radar coordinate value, aim at the radar central point, begin to calculate the direction angle of radar, the calculated result is output and printed out, after the calibration succeeds, display screen has calibration success word, the alarm green passes through. If the LDW configuration is adopted, only the camera calibration process is started, meanwhile, the calibration engineering system calculates the direction angle in the camera vehicle coordinate system by acquiring the parameters (including the wheelbase, the camera coordinate position, the radar coordinate position and the like) of the whole vehicle, namely the PICTH, YAW and ROLL angles (shown in the following figures) of the camera relative to the target can be calculated, if the installation angle is in the specified installation range, the calibration result can be written into the controller, and meanwhile, the successful calibration can be displayed, and the alarm passes through in a green mode.
As shown in fig. 6, the central point of the lens is set as the origin of coordinates, and the camera controller is calibrated, namely roll angles, pitch angles and yaw angles of the camera in X, Y, Z three directions are determined, so that the angular deviation of the camera mounted on the vehicle from the factory in the three directions in the vehicle is ensured not to exceed 3 degrees.
The geometric elements of the middle two BLOB black of the target form strong color contrast with the geometric elements of the other white BLOBs of the target, the distances from the white BLOBs at the four corners to the X direction and the Z direction of the middle two black BLOBs are fixed by taking the middle two black BLOBs as the calculation reference, the position of the target, the position of the camera, the size of the target, the size of the BLOB, the BLOB interval, the distance from the camera to the target, and the internal parameters and distortion coefficients of the camera are known, the yaw angle can be calculated through the geometric relations, namely, a right triangle is formed by the difference between the actual position of the white BLOB at the leftmost upper corner of the target X direction and the theoretical position, and the difference between the actual position of the white BLOB at the rightmost upper corner of the X direction and the theoretical position of the white BLOB at the origin with respect to the middle black BLOB position, and the difference between the camera and the above characteristic elements BLOB at the origin, in the calculation process, with the theoretical formula Tan α, the theoretical values of left Tan α and right Tan α should be equal, and when α is very small, the difference between the actual position and the theoretical position is small. The actual position refers to the position obtained by shooting through a camera, and the theoretical position is a position calculated theoretically. The difference value between the actual position and the theoretical position of the BLOB at the uppermost corner and the lowermost corner in the upper Z direction can be calculated by the same method, and the Tan alpha is calculated to further obtain the pitch angle.
Calculating ROLL angle according to the BLOB of the leftmost actual position and the BLOB of the rightmost actual position, calculating the average value alpha of the deviation of all columns from the left to the right from the theoretical position, and calculating the ROLL angle by using Tan alpha. The angles of the rolling angle, the pitch angle and the yaw angle of the camera in the vehicle are not more than 3 degrees, the camera is qualified, the camera is calibrated to be not passed after exceeding 3 degrees, and the assembly precision or the machining precision of parts is rechecked.
The calibration of the camera and the radar controller for the vehicle needs to be connected with the centering and centering unit, the portal frame, the target and the servo unit to the industrial control display system, the PLC and the scanning and printing output unit. In a production line calibration mode, a vehicle is placed in front of a calibration plate, four-wheel positioning needs to be linked with a front radar target, and a front and rear automobile centering device in a calibration site is used for correcting the parking position and angle of the vehicle during calibration, namely the vehicle on the four-wheel positioning needs to be kept in a centering state during calibration. After the vehicle is centered, namely the running axis of the vehicle is parallel to the normal of the calibration plate, the system flow automatically confirms to start calibration, then the calibration plate moves downwards to the front corresponding to the camera, and the height from the central point of the calibration plate to the ground can select a proper height according to different vehicle types, but the whole calibration plate is required to be ensured to be in the visual field range of the camera, and the calibration plate can not move in the calibration process. The distance from the vehicle to the calibration plate is controlled at 3.2 meters. The calibration plate has a plurality of geometric elements thereon which are very strong in comparison with the rest of the calibration plate. The calibration plate is arranged at a certain reference position in front of the vehicle, the camera acquires an image from the calibration plate, and then the position of the geometric elements in the image can be determined through image analysis. The software can determine the actual direction angle of the camera according to the position of the geometric elements on the image and the known reference position of the calibration plate, and can also determine the actual height of the camera, and then the direction angle and the height of the camera are stored in the control unit. In a similar way, after the camera calibration is completed, the system automatically enters radar calibration according to configuration, a metal reflecting plate is installed in front of the radar, the reflector needs to be accurately adjusted in a direction perpendicular to a vehicle transmission vector, the reflection principle of radar waves is utilized, the speed values among different dot matrixes are calculated through the distance from multiple points of the radar to the reflecting plate and the time of sending the reflection return, and the installation azimuth angle of the radar, namely the PICH, YAW and ROLL angle values of the radar in a coordinate system is obtained. The process of calibrating the camera and the radar is completed automatically, and the whole data in the calibration process can be acquired, displayed and output (transmitted), and the data can be downloaded and stored; when various measurements and operations are carried out in the whole process, if safety and fault problems occur, the system can be diagnosed in time and an alarm is prompted.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (10)
1. The utility model provides a camera and radar controller calibration system for vehicle, mainly comprises demarcation industrial control system all-in-one and portable mark target, rotatable reflecting plate, its characterized in that: the calibration industrial control system all-in-one machine mainly comprises a can communication module, a network communication module and a PLC control module, wherein the network communication module is used for communicating the can communication module with a production data system; the can communication module is used for being in communication connection with a vehicle OBD port; the PLC control module is used for connecting the movable target and the rotatable reflecting plate in a communication mode.
2. The vehicle camera and radar controller calibration system according to claim 1, wherein: still include output display module, output display module intercommunication display, printer and alarm.
3. The vehicle camera and radar controller calibration system according to claim 1, wherein: during calibration, the vehicle camera, the radar controller, the centering and centering unit, the rotatable reflecting plate, the movable target and the servo unit are in communication connection with the can communication module, the network communication module and the PLC control module.
4. A calibration method for a camera and a radar controller for a vehicle is characterized by comprising the following steps: the method comprises the following steps:
acquiring parameters, namely acquiring the whole vehicle information parameters of the vehicle from a production data system through a network by a network communication module of a calibration system, and writing the information parameters into a camera and a radar controller;
the method comprises the steps that functional configuration is obtained, a VIN code of a vehicle is read by a CAN communication module through a code scanning, the vehicle is subjected to CAN communication interaction with a calibration system CAN communication module through an OBD port, the calibration system obtains the corresponding functional configuration of the VIN code vehicle in an EOL database system through a network communication module in combination with the VIN code, the network communication module transmits the functional configuration and relevant parameters of the whole vehicle to the CAN communication module, and the CAN communication module transmits the functional configuration and relevant parameters of the whole vehicle to a camera and a radar controller through the OBD port;
calibrating a camera, starting a first PLC control module, driving a camera calibration target to move downwards to a camera coordinate position arranged in a vehicle and align to the center position of the camera by a motor, starting to calculate the direction angle of the camera, and successfully calibrating the camera;
the radar is calibrated, the second PLC control module is started, the motor drives the radar reflecting plate to rotate and be parallel to the front of the radar, the radar enters the guiding device and then aligns to the center position of the radar according to the coordinate value of the radar, the direction angle of the radar starts to be calculated, the calculation result is output and printed out, after the radar is calibrated successfully, the display screen can be used for successfully calibrating characters, and the alarm is green and passes through.
5. The calibration method for the camera and the radar controller for the vehicle according to claim 4, wherein: if the vehicle only has an LDW lane departure alarm system, only entering a camera calibration process, simultaneously calculating a direction angle in a camera vehicle coordinate system by the calibration engineering system through acquiring parameters of the whole vehicle, namely calculating a ROLL ROLL angle, a PICTH pitch angle and a YAW YAW angle of the camera relative to a target, and if the installation angle is in a specified installation range, writing a calibration result into a controller, and simultaneously displaying that the calibration is successful and the alarm is green and passes.
6. The calibration method for the camera and the radar controller for the vehicle according to claim 4, wherein: in the camera calibration, the central point of a lens is set as a coordinate origin, a camera controller is calibrated, and the method mainly comprises the steps of determining roll angles, pitch angles and yaw angles of the camera in X, Y, Z three directions, and ensuring that the angle deviation of the camera mounted on a vehicle leaving a factory in the three directions in the vehicle is not more than 3 degrees.
7. The calibration method for the camera and the radar controller for the vehicle according to claim 6, wherein: the calibration plate has a plurality of geometric elements which are very strong in comparison with the rest of the calibration plate; the calibration plate is arranged at a certain reference position in front of the vehicle, the camera can acquire an image from the calibration plate, and then the position of a geometric element in the image is determined through image analysis; the software can determine the actual direction angle of the camera according to the position of the geometric element on the image and the known reference position of the calibration plate, and can also determine the actual height of the camera, and then the direction angle and the height of the camera are stored in the control unit; after the camera calibration is completed, the system automatically enters radar calibration according to configuration, a metal reflecting plate is installed in front of the radar, the reflector needs to be accurately adjusted in a direction perpendicular to a vehicle transmission vector, and speed values among different dot matrixes are calculated by utilizing the reflection principle of radar waves through the distance from multiple points of the radar to the reflecting plate and the time from sending to reflection and returning, so that the installation azimuth angle of the radar, namely PICH, YAW and ROLL angle values of the radar in a coordinate system, is obtained.
8. The method for calibrating a camera and a radar controller for a vehicle according to claim 4, wherein: in a production line calibration mode, a vehicle is placed in front of a calibration plate, four-wheel positioning is linked with a front radar target, and front and rear automobile centering devices in a calibration field are used for correcting the parking position and angle of the vehicle during calibration, namely the vehicle on the four-wheel positioning must be kept in a centering state during calibration; after the vehicle is centered, namely the running axis of the vehicle is parallel to the normal of the calibration plate, the system flow automatically confirms to start calibration, then the calibration plate moves downwards to the front corresponding to the camera, the height from the central point of the calibration plate to the ground can select a proper height according to different vehicle types, and the whole calibration plate is required to be ensured to be immovable in the visual field range of the camera in the calibration process.
9. The method for calibrating a camera and a radar controller for a vehicle according to claim 7, wherein: the specific calculation processes of the roll angle, the pitch angle and the yaw angle are as follows: the target is a rectangle, the geometric elements of the middle two BLOBs in the middle of the target and the geometric elements of the other white BLOBs on the target form strong color contrast, the distances from the white BLOBs in the four corners of the target to the middle two black BLOBs in the X direction and the Z direction are fixed values, the position of the target, the position of the camera, the size of the target, the size of the BLOBs, the interval between the BLOBs, the distance from the camera to the target, and the internal reference and distortion coefficient of the camera are known, the yaw angle is calculated through the geometric relationship, that is, a right triangle is formed by the difference between the actual position of the white BLOB in the leftmost upper corner in the X direction of the target and the theoretical position, and the difference between the actual position of the white BLOB in the rightmost upper corner in the X direction and the theoretical position of the white BLOB in the middle black BLOB position, with the camera as the origin and the above feature BLOBs on the target, in the calculation process, a theoretical formula Tan alpha is used, and the theoretical values of the left Tan alpha and the right Tan alpha are equal; the actual position refers to the position obtained by shooting through a camera, and the theoretical position is the position calculated theoretically; the difference value between the actual position and the theoretical position of the BLOB at the uppermost corner and the lowermost corner in the upper Z direction and the lower Z direction can be calculated by the same method, and the Tan alpha is calculated to further obtain the pitch angle of pitch; calculating ROLL angle according to BLOB of the leftmost actual position and BLOB of the rightmost actual position, calculating an average value alpha of deviation between all columns from the left side to the right side and a theoretical position, calculating a ROLL ROLL angle by utilizing Tan alpha, judging that the ROLL angle, the pitch angle and the yaw angle of the camera in the vehicle do not exceed 3 degrees, judging that the ROLL angle, the pitch angle and the yaw angle do not pass the calibration exceeding 3 degrees, and rechecking assembly or machining errors.
10. The calibration method for the camera and the radar controller for the vehicle according to claim 6, wherein: the distance between the vehicle camera and the calibration plate is controlled to be 3.2 meters plus or minus 0.05 meter; the distance between the radar of the vehicle and the calibration reflecting plate is controlled to be 0.8-2 meters.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116068538A (en) * | 2023-04-06 | 2023-05-05 | 中汽研（天津）汽车工程研究院有限公司 | Adjustable calibration system and method for batch type vehicle laser radar |
| CN116147686A (en) * | 2023-04-19 | 2023-05-23 | 江西鼎铁自动化科技有限公司 | Automobile ADAS calibration method, system, computer and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116068538A (en) * | 2023-04-06 | 2023-05-05 | 中汽研（天津）汽车工程研究院有限公司 | Adjustable calibration system and method for batch type vehicle laser radar |
| CN116147686A (en) * | 2023-04-19 | 2023-05-23 | 江西鼎铁自动化科技有限公司 | Automobile ADAS calibration method, system, computer and storage medium |
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