Adaptive Cruise Control System Remote Dynamic Calibration Method, Device and Computer Equipment

Abstract

The present application relates to the technical field of adaptive cruise control systems, and discloses a method, apparatus, and computer device for remote dynamic calibration of an adaptive cruise control system. By receiving a remote request connection sent by a vehicle terminal, a remote diagnostic device can directly obtain on-board data of the vehicle system through the vehicle terminal, and then perform fault diagnosis on the vehicle based on the on-board data. If a fault occurs in the adaptive cruise control system of the vehicle, the vehicle's surrounding environment data can be obtained through the on-board data to determine whether dynamic calibration is possible. If dynamic calibration is possible, a dynamic calibration instruction is sent to the vehicle terminal, and the vehicle terminal can transmit the dynamic calibration instruction to the adaptive cruise control system, thereby completing the remote dynamic calibration of the adaptive cruise control system. Dynamic calibration can be achieved by the user or the staff of the repair shop only through normal driving, which can shorten the calibration time of the dynamic calibration and reduce the user's maintenance cost and the operating cost of the repair shop.

Description

Technical Field

[0001] The present application relates to the technical field of adaptive cruise control systems, and in particular to a method, apparatus, and computer device for remote dynamic calibration of an adaptive cruise control system. Background Art

[0002] Adaptive cruise control is an intelligent, automatic control system developed based on pre-existing cruise control technology. While the vehicle is in motion, a distance sensor mounted on the front of the vehicle continuously scans the road ahead, while wheel speed sensors collect vehicle speed signals. If the distance to the vehicle ahead becomes too close, the adaptive cruise control system coordinates with the anti-lock braking system and the engine control system to apply appropriate braking to the wheels and reduce engine output to maintain a safe distance from the vehicle ahead.

[0003] Therefore, calibrating an adaptive cruise control system is particularly important. Prior art typically requires specialized maintenance personnel using ADAS calibration equipment and diagnostic equipment to calibrate a vehicle's adaptive cruise control system. Currently, static calibration is used, requiring the vehicle to be stationary. This results in each radar in the adaptive cruise control system requiring instrument calibration, which is time-consuming, expensive, and has significant limitations. Dynamic calibration methods are also available in the prior art, but these require the collaboration of at least two personnel: one driving the vehicle while the other uses diagnostic equipment. The driver must manually confirm that the vehicle's driving state is suitable for dynamic calibration before the diagnostic equipment can begin dynamic calibration. Furthermore, diagnostic equipment for dynamic calibration is typically tailored to a specific vehicle model. This not only increases calibration time, but also necessitates the purchase of multiple diagnostic equipment if a repair shop wishes to perform dynamic calibration on multiple vehicle models, significantly increasing operating costs. Summary of the Invention

[0004] The main purpose of this application is to provide a remote dynamic calibration method for an adaptive cruise control system, aiming to solve the technical problems in the prior art of static calibration and dynamic calibration of adaptive cruise control systems that are time-consuming and costly.

[0005] This application proposes a remote dynamic calibration method for an adaptive cruise control system, which is applied to a remote diagnostic device, including:

[0006] Receiving a remote connection request sent by a vehicle terminal to establish a remote communication connection with the vehicle terminal;

[0007] Acquire vehicle data, and perform fault diagnosis on all vehicle systems of the vehicle based on the vehicle data to obtain a diagnosis report;

[0008] determining whether a fault occurs in the adaptive cruise control system based on the diagnostic report;

[0009] If the adaptive cruise control system fails, obtaining data about the surrounding environment of the vehicle;

[0010] Determining whether the current vehicle meets dynamic calibration conditions based on the surrounding environment data;

[0011] If the current vehicle meets the dynamic calibration conditions, a dynamic calibration instruction is sent to the vehicle terminal to complete the remote dynamic calibration of the vehicle's adaptive cruise control system.

[0012] Preferably, the step of obtaining the surrounding environment data of the vehicle and determining whether the current vehicle meets the dynamic calibration condition based on the surrounding environment data includes:

[0013] Acquire a head image of the front end of the vehicle;

[0014] determining whether there is a moving vehicle in front of the vehicle based on the head image;

[0015] If there is a moving vehicle in front of the vehicle, obtaining a first distance between the front of the vehicle and the moving vehicle;

[0016] Determining whether the first distance is greater than a first preset distance;

[0017] If the first distance is greater than the first preset distance, obtaining a plurality of wheel alignment angles within a preset time period;

[0018] determining whether the vehicle is traveling in a straight line according to the plurality of wheel alignment angles;

[0019] If the vehicle is traveling in a straight line, it is determined that the current vehicle meets the dynamic calibration condition.

[0020] Preferably, the step of sending a dynamic calibration instruction to the vehicle terminal includes:

[0021] Obtaining a vehicle driving speed, and determining whether the vehicle driving speed is greater than a first preset driving speed and less than a second preset driving speed;

[0022] If the vehicle speed is greater than a first preset speed and less than a second preset speed, obtaining a deviation angle and an echo power of the radar sensor;

[0023] The dynamic calibration sine value is calculated according to the deviation angle and the echo power, wherein the calculation formula is:

[0024]

[0025] Wherein, sinα is the dynamic calibration sine value, P is the echo power, β1 is the vertical deviation angle value, and β2 is the horizontal vertical deviation angle value;

[0026] Calculating a dynamic calibration angle according to the dynamic calibration sine value, and generating a dynamic calibration instruction according to the dynamic calibration angle;

[0027] The dynamic calibration instruction is sent to the vehicle terminal.

[0028] Preferably, in the step of obtaining the deviation angle and echo power of the radar sensor, the step of obtaining the echo power includes:

[0029] Obtain the incident angle between the incident light and the normal of the radar sensor surface and the reflectivity of the radar sensor surface;

[0030] Obtain the radar sensor's transmission power and ranging distance;

[0031] The echo power is calculated according to the incident angle, the surface reflectivity, the transmission power, and the ranging distance, wherein the calculation formula is:

[0032]

[0033] Where W2 is the echo power, W1 is the transmission power, θ is the incident angle, and l is the ranging distance;

[0034] The echo power is obtained.

[0035] Preferably, after the step of sending the dynamic calibration instruction to the vehicle terminal, the method further includes:

[0036] Obtaining calibration data of the adaptive cruise control system;

[0037] determining a calibration state of the adaptive cruise control system according to the calibration data, wherein the calibration state includes a calibration operation state and a calibration abnormal state;

[0038] When the calibration state of the adaptive cruise system is a calibration running state, obtaining a first calibration byte;

[0039] Determining the calibration progress of the calibration running state according to the first calibration byte;

[0040] Determining whether the calibration progress reaches a preset progress within a preset time;

[0041] If the calibration progress reaches a preset progress, determining that the calibration of the adaptive cruise system is completed, and sending a calibration completion instruction to the vehicle terminal;

[0042] When the calibration state of the adaptive cruise system is a calibration abnormal state, obtaining a second calibration byte;

[0043] The cause of the calibration abnormality is determined according to the second calibration byte, and an adjustment instruction is generated according to the cause of the calibration abnormality, and the adjustment instruction is sent to the vehicle terminal.

[0044] Preferably, the step of determining the cause of the calibration abnormality according to the second calibration byte includes:

[0045] determining whether the second calibration byte is the first preset byte, and if the second calibration byte is the first preset byte, determining that the current calibration abnormality is caused by abnormal driving speed;

[0046] If the second calibration byte is not the first preset byte, determining whether the second calibration byte is the second preset byte;

[0047] If the second calibration byte is the second preset byte, it is determined that the current abnormality cause is abnormal yaw angular velocity.

[0048] Preferably, the step of sending a dynamic calibration instruction to the vehicle terminal further includes:

[0049] Obtaining byte information of an adjustment bolt in an adaptive cruise control system, wherein the adjustment bolt is movably connected to a radar sensor;

[0050] Determining whether the byte information satisfies the first byte information;

[0051] If the byte information satisfies the first byte information, a counterclockwise rotation calibration instruction is generated, and a first number of rotations is calculated according to the byte information, and the counterclockwise rotation calibration instruction and the first number of rotations are sent to the vehicle terminal:

[0052] If the byte information does not satisfy the first byte information, a clockwise rotation calibration instruction is generated, and a second number of rotations is calculated based on the byte information, and the clockwise rotation calibration instruction and the second number of rotations are sent to the vehicle terminal.

[0053] The present application also provides a remote dynamic calibration device for an adaptive cruise control system, comprising:

[0054] A receiving module, configured to receive a remote connection request sent by a vehicle terminal to establish a remote communication connection with the vehicle terminal;

[0055] A first acquisition module is used to acquire vehicle-mounted data and perform fault diagnosis on the entire vehicle system based on the vehicle-mounted data to obtain a diagnosis report;

[0056] a first judgment module, configured to judge whether a fault occurs in the adaptive cruise control system according to the diagnosis report;

[0057] a second acquisition module, configured to acquire surrounding environment data of the vehicle if the adaptive cruise control system fails;

[0058] A second judgment module is used to judge whether the current vehicle meets the dynamic calibration conditions based on the surrounding environment data;

[0059] The calibration module is used to send a dynamic calibration instruction to the vehicle terminal if the current vehicle meets the dynamic calibration conditions, so as to complete the remote dynamic calibration of the vehicle's adaptive cruise control system.

[0060] The present application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-mentioned steps of remote dynamic calibration of the adaptive cruise system when executing the computer program.

[0061] The present application also provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned steps of remote dynamic calibration of the adaptive cruise system when executed by a processor.

[0062] The beneficial effects of the present application are as follows: by receiving a remote connection request sent by a vehicle terminal, a remote communication connection is suggested with the vehicle terminal. The remote diagnostic device can directly obtain the on-board data of the vehicle system through the vehicle terminal, and then perform fault diagnosis on the vehicle based on the on-board data. If the vehicle's adaptive cruise system fails, the vehicle's surrounding environment data can be obtained through the on-board data to determine whether dynamic calibration is possible. If dynamic calibration is possible, a dynamic calibration instruction is sent to the vehicle terminal, and the vehicle terminal can transmit the dynamic calibration instruction to the adaptive cruise system, thereby completing the remote dynamic calibration of the adaptive cruise system. Compared with static calibration, it has higher calibration accuracy and takes less time. Compared with dynamic calibration in the prior art, users or repair shop staff can directly establish a connection with the remote diagnostic device through a mobile phone, tablet computer or diagnostic device while driving to achieve dynamic calibration of the adaptive cruise system. Dynamic calibration only requires the user or repair shop staff to drive normally, which can shorten the calibration time of dynamic calibration and reduce the user's maintenance costs and the repair shop's operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 Schematic diagram of the remote dynamic calibration process of the adaptive cruise control system according to an embodiment of the present application.

[0064] Figure 2 Schematic diagram of the structure of a remote dynamic calibration device for an adaptive cruise control system according to an embodiment of the present application.

[0065] Figure 3 This is a schematic diagram of the internal structure of a computer device according to an embodiment of the present application.

[0066] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0067] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0068] like Figure 1-Figure 3 As shown, the present application proposes a remote dynamic calibration method for an adaptive cruise control system, which is applied to a remote diagnostic device, comprising:

[0069] S1. Receive a remote connection request sent by a vehicle terminal to establish a remote communication connection with the vehicle terminal;

[0070] S2. Acquire vehicle-mounted data, and perform fault diagnosis on all vehicle systems based on the vehicle-mounted data to obtain a diagnosis report;

[0071] S3. Determining whether the adaptive cruise control system has a fault based on the diagnostic report;

[0072] S4. If the adaptive cruise control system fails, obtaining data about the surrounding environment of the vehicle;

[0073] S5. Determine whether the current vehicle meets dynamic calibration conditions based on the surrounding environment data;

[0074] S6. If the current vehicle meets the dynamic calibration conditions, a dynamic calibration instruction is sent to the vehicle terminal to complete the remote dynamic calibration of the vehicle's adaptive cruise control system.

[0075] As described in the above steps S1-S6, due to the limitation of site or equipment conditions, it is very expensive for the repair shop to use the radar calibration equipment and diagnostic equipment produced by the vehicle manufacturer to calibrate the vehicle's adaptive cruise system. Therefore, it is unrealistic for the repair shop to purchase the radar calibration equipment and diagnostic equipment produced by the manufacturer. The existing technology has introduced simplified and practical universal diagnostic equipment that can take into account a variety of vehicle models to meet market demand. However, this diagnostic equipment can only diagnose general faults. For more complex faults, it is still necessary to rely on professional diagnostic equipment or diagnostic equipment with more complete functions and higher prices for diagnosis. For example, in the existing technology, High-end vehicles are all equipped with advanced driver assistance systems, and the adaptive cruise control system is a subsystem of the advanced driver assistance system. The system can detect the relative distance and relative speed between the vehicle in front and the vehicle through radar sensors, and actively control the vehicle's speed to achieve the purpose of automatic cruise control or fixed speed cruise. Therefore, the calibration of its radar sensor is particularly important; however, when calibrating the radar sensor, static calibration is usually performed, which undoubtedly makes the calibration time too long and inefficient. There are also dynamic calibration methods in the existing technology, but this dynamic calibration requires at least two staff members to cooperate to complete, that is, one staff member needs to drive and the other staff member needs to use The diagnostic equipment is dynamically calibrated. The driving staff needs to manually determine that the driving state is in a state that can be dynamically calibrated before the staff using the diagnostic equipment can start dynamic calibration of the vehicle. The diagnostic equipment for dynamic calibration is usually only for a specific model. This not only makes the calibration time long, but also if the repair shop wants to dynamically calibrate multiple models, it needs to purchase multiple diagnostic equipment, which undoubtedly increases the operating cost. Based on this, the present application proposes a remote dynamic calibration method for an adaptive cruise system, which can receive a remote request connection sent by a vehicle terminal, thereby suggesting a remote communication connection with the vehicle terminal. The vehicle terminal can be any vehicle-mounted system connected to the vehicle. Communication connection, intelligent terminals with data transmission function, such as smart phones, tablet computers, vehicle diagnostic equipment, etc., after establishing a remote connection with the vehicle system, the remote diagnostic equipment can directly obtain the vehicle system's vehicle data through the vehicle terminal, and then diagnose the vehicle fault based on the vehicle data. If the vehicle's adaptive cruise system fails, the vehicle's surrounding environment data can be obtained through the vehicle data to determine whether dynamic calibration is possible. If dynamic calibration is possible, a dynamic calibration instruction is sent to the vehicle terminal, and the vehicle terminal can transmit the dynamic calibration instruction to the adaptive cruise system, thereby completing the remote dynamic calibration of the adaptive cruise system;Because dynamic calibration is performed while the vehicle is in motion, it better suits the application scenarios of the vehicle's adaptive cruise control system. This results in higher calibration accuracy and a shorter timeframe than static calibration. Furthermore, compared to conventional dynamic calibration, the remote diagnostic device can be connected to a remote diagnostic service center. Because this remote diagnostic service center specializes in remote diagnostic services and possesses diagnostic equipment suitable for various vehicle models, users or repair shop staff can directly connect to the remote diagnostic device while driving using a mobile phone, tablet, or diagnostic device to dynamically calibrate the adaptive cruise control system. This allows the user or repair shop staff to perform dynamic calibration while driving normally, shortening the calibration time and reducing both the user's maintenance costs and the repair shop's operating costs.

[0076] In one embodiment, the step S5 of acquiring the surrounding environment data of the vehicle and determining whether the current vehicle meets the dynamic calibration condition based on the surrounding environment data includes:

[0077] S51, acquiring a head image of the front end of the vehicle;

[0078] S52, determining whether there is a moving vehicle in front of the vehicle based on the head image;

[0079] S53: If there is a moving vehicle in front of the vehicle, obtain a first distance between the front of the vehicle and the moving vehicle;

[0080] S54: Determine whether the first distance is greater than a first preset distance;

[0081] S55: If the first distance is greater than the first preset distance, obtain multiple wheel alignment angles within a preset time period;

[0082] S56, determining whether the vehicle is traveling in a straight line based on the plurality of wheel alignment angles;

[0083] S57: If the vehicle is traveling in a straight line, determine that the current vehicle meets the dynamic calibration condition.

[0084] As described in steps S51-S57, the remote diagnostic device can determine the vehicle's driving information by acquiring a head image of the front of the vehicle. When a vehicle is traveling ahead of the vehicle, the remote diagnostic device can obtain a first distance from the vehicle using the head image or a distance measurement sensor and determine the first distance. If the first distance is greater than a first preset distance, it indicates that the distance between the current vehicle and the traveling vehicle is safe. In this case, multiple wheel alignment angles can be acquired within a preset time period to determine whether the vehicle is traveling in a straight line based on the wheel alignment angles. If the vehicle is traveling in a straight line, the vehicle is determined to meet dynamic calibration conditions. Because the adaptive cruise control system processes less data when the vehicle is traveling in a straight line, calibration can be performed while the vehicle is traveling in a straight line, thereby improving the accuracy of dynamic calibration. Preferably, during the dynamic calibration process, the remote diagnostic device continues to acquire wheel alignment angles, i.e., continuously determining whether the vehicle is traveling in a straight line. If the remote diagnostic device determines that the vehicle is not traveling in a straight line during the dynamic calibration process, dynamic calibration of the adaptive cruise control system is immediately stopped until it is determined that the vehicle is traveling in a straight line again, at which time dynamic calibration is resumed. This reduces errors in dynamic calibration of the adaptive cruise control system and improves calibration accuracy.

[0085] In one embodiment, the step S6 of sending a dynamic calibration instruction to the vehicle terminal includes:

[0086] S61. Obtaining a vehicle driving speed, and determining whether the vehicle driving speed is greater than a first preset driving speed and less than a second preset driving speed;

[0087] S62: If the vehicle speed is greater than the first preset speed and less than the second preset speed, obtain a deviation angle and an echo power of the radar sensor;

[0088] S63. Calculate a dynamic calibration sine value according to the deviation angle and the echo power, wherein the calculation formula is:

[0089]

[0090] Wherein, sinα is the dynamic calibration sine value, P is the echo power, β1 is the vertical deviation angle value, and β2 is the horizontal vertical deviation angle value;

[0091] S64, calculating a dynamic calibration angle according to the dynamic calibration sine value, and generating a dynamic calibration instruction according to the dynamic calibration angle;

[0092] S65: Send the dynamic calibration instruction to the vehicle terminal.

[0093] As described in the above steps S61-S65, the vehicle speed can be obtained first, and it is determined whether the vehicle speed is greater than the first preset speed and less than the second preset speed. If the vehicle speed meets the above conditions, the deviation angle and echo power of the radar sensor are obtained. In this way, a more accurate dynamic calibration angle can be calculated by the above formula, and a dynamic calibration instruction is generated based on the dynamic calibration angle, so that the vehicle is calibrated according to the dynamic calibration instruction.

[0094] In one embodiment, in the step S62 of obtaining the deviation angle and echo power of the radar sensor, the step of obtaining the echo power includes:

[0095] S621. Obtaining the incident angle between the incident light and the normal line of the radar sensor surface and the reflectivity of the radar sensor surface;

[0096] S622. Obtain the transmission power and ranging distance of the radar sensor;

[0097] S623: Calculate the echo power according to the incident angle, the surface reflectivity, the transmission power, and the ranging distance, wherein the calculation formula is:

[0098]

[0099] Where W2 is the echo power, W1 is the transmission power, θ is the incident angle, and l is the ranging distance;

[0100] S624: Acquire the echo power.

[0101] As described in steps S621-S624 above, the echo power can be calculated by obtaining the incident angle between the incident light and the normal of the radar sensor surface, the reflectivity of the radar sensor surface, the transmission power and the ranging distance. This allows for a more accurate understanding of the current working conditions of the radar sensor.

[0102] In one embodiment, after the step S6 of sending the dynamic calibration instruction to the vehicle terminal, the method further includes:

[0103] S601, obtaining calibration data of the adaptive cruise control system;

[0104] S602: Determine a calibration state of the adaptive cruise control system according to the calibration data, wherein the calibration state includes a calibration operation state and a calibration abnormal state;

[0105] S603: When the calibration state of the adaptive cruise control system is the calibration operation state, obtain a first calibration byte;

[0106] S604: Determine the calibration progress of the calibration running state according to the first calibration byte;

[0107] S605: Determine whether the calibration progress reaches a preset progress within a preset time;

[0108] S606: If the calibration progress reaches a preset progress, it is determined that the calibration of the adaptive cruise control system is completed, and a calibration completion instruction is sent to the vehicle terminal;

[0109] S607: When the calibration state of the adaptive cruise control system is a calibration abnormal state, obtain a second calibration byte;

[0110] S608: Determine the cause of the calibration abnormality according to the second calibration byte, generate an adjustment instruction according to the cause of the calibration abnormality, and send the adjustment instruction to the vehicle terminal.

[0111] As described in steps S601-S608 above, after the dynamic calibration is sent to the vehicle terminal, since the dynamic calibration cannot be completed in a short time (a few minutes), it generally takes 20 minutes. Therefore, the calibration data can be obtained. For example, the calibration data fed back by the adaptive cruise system is FF 40 07 71 03 03 00 00 00 00. The calibration status of the adaptive cruise system can be determined according to the calibration data. That is, the remote diagnostic device determines the eighth byte of the calibration number. When the eighth byte is 0*00, it indicates that the calibration status of the adaptive cruise system is the calibration running state. At this time, the first calibration byte can be obtained. For example, the first calibration byte is: FF 40 07 71 03 03 00 30 00 00, and the eighth byte 0*30 indicates that the current calibration progress is 90%. Assuming the preset progress is 100%, it is determined that the adaptive cruise system is not calibrated. The first calibration byte can be obtained after a while. When the standard progress is 100%, it is determined that the calibration of the adaptive cruise system is completed, and a calibration completion instruction can be sent to the vehicle terminal. For another example, the calibration data fed back by the adaptive cruise system is FF 40 07 71 0303 00 00 01 00. When the ninth byte is 0*01, it indicates that the calibration status of the adaptive cruise system is a calibration abnormality state. At this time, the second calibration byte can be obtained. For example, the second calibration byte is FF 40 21 00 00 00 00 00 00 00. The cause of the calibration abnormality can be determined according to the value of the tenth byte. Different bytes represent different causes of the abnormality. In this way, corresponding adjustment instructions can be generated according to different causes of the abnormality.

[0112] In one embodiment, step S608 of determining the cause of the calibration abnormality according to the second calibration byte includes:

[0113] S6081: Determine whether the second calibration byte is the first preset byte. If the second calibration byte is the first preset byte, determine that the cause of the current calibration abnormality is abnormal driving speed.

[0114] S6082: If the second calibration byte is not the first preset byte, determine whether the second calibration byte is the second preset byte.

[0115] S6083: If the second calibration byte is the second preset byte, determine that the current abnormality cause is abnormal yaw angular velocity.

[0116] As described in steps S6081-S6083 above, for example, if the second calibration byte is FE 40 04 2E 34 01 00 0000 AA and the first preset byte is FE 40 04 2E 34 01 00 00 00 AA, it is determined that the current calibration abnormality cause is abnormal driving speed; if the first preset byte is FE 40 04 2E 34 01 00 00 00 0B and the second calibration byte is FE40 04 2E 34 01 00 00 00 AA, it is determined that the current abnormality cause is abnormal yaw angular velocity.

[0117] In one embodiment, the step S6 of sending the dynamic calibration instruction to the vehicle terminal further includes:

[0118] S66. Acquire byte information of an adjustment bolt in the adaptive cruise control system, wherein the adjustment bolt is movably connected to the radar sensor;

[0119] S67, determining whether the byte information satisfies the first byte information;

[0120] S68. If the byte information satisfies the first byte information, a counterclockwise rotation calibration instruction is generated, a first number of rotations is calculated based on the byte information, and the counterclockwise rotation calibration instruction and the first number of rotations are sent to the vehicle terminal.

[0121] S69. If the byte information does not satisfy the first byte information, generate a clockwise rotation calibration instruction, calculate a second number of rotations based on the byte information, and send the clockwise rotation calibration instruction and the second number of rotations to the vehicle terminal.

[0122] As described in steps S66-S69 above, since the adjusting bolt is used to adjust the angle of the radar sensor, the purpose of dynamically calibrating the radar sensor can be achieved by adjusting the adjusting bolt. Specifically, the byte information of the adjusting bolt can be obtained. For example, if the byte information is: FF 40 07 67 01 11 22 00 00 00, and the first byte information is FF 4007 67 01 11 22 00 00 00, a counterclockwise rotation calibration instruction is generated, and the first number of rotations is calculated according to the byte information. Specifically, the first number of rotations is equal to (seventh byte*23.7) / 127; if the first byte information is not FF 40 0767 01 11 22 00 00 00, but FF 40 07 71 02 03 00 00 00 00, a clockwise rotation calibration instruction is generated, and the second number of rotations is calculated based on the byte information. Specifically, the second number of rotations is equal to [23.89-(seventh byte-23.7) *23.7] / 127. The numerical value in the calculation is obtained based on the characteristics of the adjusting bolt in this embodiment, so that the number of turns and rotation direction required for the adjusting bolt can be accurately calculated.

[0123] The present application also provides a remote dynamic calibration device for an adaptive cruise control system, comprising:

[0124] Receiving module 1, used for receiving a remote connection request sent by a vehicle terminal to establish a remote communication connection with the vehicle terminal;

[0125] The first acquisition module 2 is used to acquire vehicle-mounted data and perform fault diagnosis on the entire vehicle system based on the vehicle-mounted data to obtain a diagnosis report;

[0126] A first judgment module 3 is used to judge whether the adaptive cruise control system has a fault according to the diagnosis report;

[0127] A second acquisition module 4 is used to acquire the surrounding environment data of the vehicle if the adaptive cruise control system fails;

[0128] A second judgment module 5 is used to judge whether the current vehicle meets the dynamic calibration conditions based on the surrounding environment data;

[0129] The calibration module 6 is configured to send a dynamic calibration instruction to the vehicle terminal if the current vehicle meets the dynamic calibration conditions, so as to complete the remote dynamic calibration of the vehicle's adaptive cruise control system.

[0130] In one embodiment, the second judgment module 5 includes:

[0131] A first acquisition unit is used to acquire a head image of the front end of the vehicle;

[0132] a first judging unit, configured to judge whether there is a moving vehicle in front of the vehicle based on the head image;

[0133] a second acquiring unit, configured to acquire a first distance between the front end of the vehicle and the moving vehicle if there is a moving vehicle in front of the vehicle;

[0134] a second determining unit, configured to determine whether the first distance is greater than a first preset distance;

[0135] a third acquiring unit, configured to acquire a plurality of wheel alignment angles within a preset time period if the first distance is greater than the first preset distance;

[0136] a third judging unit, configured to judge whether the vehicle is traveling in a straight line according to the plurality of wheel alignment angles;

[0137] The first determination unit is configured to determine that the current vehicle meets a dynamic calibration condition if the vehicle is traveling in a straight line.

[0138] In one embodiment, the calibration module 6 includes:

[0139] a fourth acquiring unit, configured to acquire a vehicle driving speed and determine whether the vehicle driving speed is greater than a first preset driving speed and less than a second preset driving speed;

[0140] a fifth acquiring unit, configured to acquire a deviation angle and an echo power of the radar sensor if the vehicle travel speed is greater than the first preset travel speed and less than the second preset travel speed;

[0141] A first calculation unit is configured to calculate a dynamic calibration sine value according to the deviation angle and the echo power, wherein the calculation formula is:

[0142]

[0143] Wherein, sinα is the dynamic calibration sine value, P is the echo power, β1 is the vertical deviation angle value, and β2 is the horizontal vertical deviation angle value;

[0144] a second calculation unit, configured to calculate a dynamic calibration angle according to the dynamic calibration sine value, and generate a dynamic calibration instruction according to the dynamic calibration angle;

[0145] The first sending unit is configured to send the dynamic calibration instruction to the vehicle terminal.

[0146] In one embodiment, the fifth acquiring unit includes:

[0147] A first acquisition subunit is used to obtain the incident angle between the incident light and the normal line of the radar sensor surface and the reflectivity of the radar sensor surface;

[0148] The second acquisition subunit is used to obtain the transmission power and ranging distance of the radar sensor;

[0149] A first calculation subunit is configured to calculate the echo power according to the incident angle, the surface reflectivity, the transmission power, and the ranging distance, wherein the calculation formula is:

[0150]

[0151] Where W2 is the echo power, W1 is the transmission power, θ is the incident angle, and l is the ranging distance;

[0152] The third acquisition subunit is configured to acquire the echo power.

[0153] In one embodiment, the adaptive cruise system remote dynamic calibration device further includes:

[0154] a third acquisition module, configured to acquire calibration data of the adaptive cruise control system;

[0155] a third determination module, configured to determine a calibration state of the adaptive cruise control system according to the calibration data, wherein the calibration state includes a calibration running state and a calibration abnormal state;

[0156] a fourth acquisition module, configured to acquire a first calibration byte when the calibration state of the adaptive cruise system is a calibration running state;

[0157] a fourth determining module, configured to determine a calibration progress of a calibration running state according to the first calibration byte;

[0158] A fifth judgment module is used to judge whether the calibration progress reaches a preset progress within a preset time;

[0159] a first determination module, configured to determine that the calibration of the adaptive cruise control system is completed if the calibration progress reaches a preset progress, and send a calibration completion instruction to the vehicle terminal;

[0160] a fifth acquisition module, configured to acquire a second calibration byte when the calibration state of the adaptive cruise system is a calibration abnormal state;

[0161] The adjustment instruction generation module is used to determine the cause of the calibration abnormality according to the second calibration byte, generate an adjustment instruction according to the cause of the calibration abnormality, and send the adjustment instruction to the vehicle terminal.

[0162] In one embodiment, generating an adjustment instruction module includes:

[0163] a first judging subunit, configured to judge whether the second calibration byte is a first preset byte, and if the second calibration byte is the first preset byte, judge that the cause of the current calibration abnormality is an abnormal driving speed;

[0164] a second judging subunit, configured to judge whether the second calibration byte is a second preset byte if the second calibration byte is not the first preset byte;

[0165] The determination subunit is configured to determine that the current abnormality cause is abnormal yaw angular velocity if the second calibration byte is a second preset byte.

[0166] In one embodiment, the calibration module further includes:

[0167] a sixth acquiring unit, configured to acquire byte information of an adjustment bolt in the adaptive cruise control system, wherein the adjustment bolt is movably connected to the radar sensor;

[0168] a fourth judging unit, configured to judge whether the byte information satisfies the first byte information;

[0169] A counterclockwise rotation calibration instruction unit is configured to generate a counterclockwise rotation calibration instruction if the byte information satisfies the first byte information, calculate a first number of rotations based on the byte information, and send the counterclockwise rotation calibration instruction and the first number of rotations to the vehicle terminal.

[0170] The clockwise rotation calibration instruction unit is used to generate a clockwise rotation calibration instruction if the byte information does not meet the first byte information, calculate the second number of rotations based on the byte information, and send the clockwise rotation calibration instruction and the second number of rotations to the vehicle terminal.

[0171] like Figure 3 As shown, the present application also provides a computer device, which can be a server, and its internal structure can be as shown in FIG. Figure 3 As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. The processor of the computer design is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store all data required for the process of remote dynamic calibration of the adaptive cruise system. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the remote dynamic calibration of the adaptive cruise system is realized.

[0172] Those skilled in the art will understand that Figure 3 The structure shown in is merely a block diagram of a portion of the structure related to the present application solution and does not constitute a limitation on the computer device to which the present application solution is applied.

[0173] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, any one of the above-mentioned remote dynamic calibration of the adaptive cruise control system is implemented.

[0174] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct RAM bus dynamic RAM (DRDRAM), and RAM bus dynamic RAM (RDRAM).

[0175] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, apparatus, article, or method comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, apparatus, article, or method. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, apparatus, article, or method comprising the element.

[0176] The above description is only a preferred embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A remote dynamic calibration method for an adaptive cruise control system, applied to a remote diagnostic device, characterized in that: include: Receiving a remote connection request sent by a vehicle terminal to establish a remote communication connection with the vehicle terminal; Acquire vehicle data, and perform fault diagnosis on all vehicle systems of the vehicle based on the vehicle data to obtain a diagnosis report; determining whether a fault occurs in the adaptive cruise control system based on the diagnostic report; If the adaptive cruise control system fails, obtaining data about the surrounding environment of the vehicle; Determining whether the current vehicle meets dynamic calibration conditions based on the surrounding environment data; If the current vehicle meets the dynamic calibration conditions, a dynamic calibration instruction is sent to the vehicle terminal to complete the remote dynamic calibration of the vehicle's adaptive cruise control system; The step of sending a dynamic calibration instruction to the vehicle terminal includes: Obtaining a vehicle driving speed, and determining whether the vehicle driving speed is greater than a first preset driving speed and less than a second preset driving speed; If the vehicle speed is greater than a first preset speed and less than a second preset speed, obtaining a deviation angle and an echo power of the radar sensor; The dynamic calibration sine value is calculated according to the deviation angle and the echo power, wherein the calculation formula is: Wherein, sinα is the dynamic calibration sine value, P is the echo power, β1 is the vertical deviation angle value, and β2 is the horizontal vertical deviation angle value; Calculating a dynamic calibration angle according to the dynamic calibration sine value, and generating a dynamic calibration instruction according to the dynamic calibration angle; The dynamic calibration instruction is sent to the vehicle terminal.

2. The remote dynamic calibration method for an adaptive cruise control system according to claim 1, characterized in that: The step of obtaining the surrounding environment data of the vehicle and determining whether the current vehicle meets the dynamic calibration condition based on the surrounding environment data includes: Acquire a head image of the front end of the vehicle; determining whether there is a moving vehicle in front of the vehicle based on the head image; If there is a moving vehicle in front of the vehicle, obtaining a first distance between the front of the vehicle and the moving vehicle; Determining whether the first distance is greater than a first preset distance; If the first distance is greater than the first preset distance, obtaining a plurality of wheel alignment angles within a preset time period; determining whether the vehicle is traveling in a straight line according to the plurality of wheel alignment angles; If the vehicle is traveling in a straight line, it is determined that the current vehicle meets the dynamic calibration condition.

3. The remote dynamic calibration method for an adaptive cruise control system according to claim 1, characterized in that: In the step of obtaining the deviation angle and echo power of the radar sensor, the step of obtaining the echo power includes: Obtain the incident angle between the incident light and the normal of the radar sensor surface and the reflectivity of the radar sensor surface; Obtain the radar sensor's transmission power and ranging distance; The echo power is calculated according to the incident angle, the surface reflectivity, the transmission power, and the ranging distance, wherein the calculation formula is: Where W2 is the echo power, W1 is the transmission power, θ is the incident angle, and l is the ranging distance; The echo power is obtained.

4. The remote dynamic calibration method for an adaptive cruise control system according to claim 1, characterized in that: After the step of sending the dynamic calibration instruction to the vehicle terminal, the method further includes: Obtaining calibration data of the adaptive cruise control system; determining a calibration state of the adaptive cruise control system according to the calibration data, wherein the calibration state includes a calibration operation state and a calibration abnormal state; When the calibration state of the adaptive cruise system is a calibration running state, obtaining a first calibration byte; Determining the calibration progress of the calibration running state according to the first calibration byte; Determining whether the calibration progress reaches a preset progress within a preset time; If the calibration progress reaches a preset progress, determining that the calibration of the adaptive cruise system is completed, and sending a calibration completion instruction to the vehicle terminal; When the calibration state of the adaptive cruise system is a calibration abnormal state, obtaining a second calibration byte; The cause of the calibration abnormality is determined according to the second calibration byte, and an adjustment instruction is generated according to the cause of the calibration abnormality, and the adjustment instruction is sent to the vehicle terminal.

5. The remote dynamic calibration method for an adaptive cruise control system according to claim 4, characterized in that: The step of determining a cause of calibration abnormality according to the second calibration byte includes: determining whether the second calibration byte is the first preset byte, and if the second calibration byte is the first preset byte, determining that the current calibration abnormality is caused by abnormal driving speed; If the second calibration byte is not the first preset byte, determining whether the second calibration byte is the second preset byte; If the second calibration byte is the second preset byte, it is determined that the current abnormality cause is abnormal yaw angular velocity.

6. The remote dynamic calibration method of the adaptive cruise control system according to claim 1, characterized in that: The step of sending a dynamic calibration instruction to the vehicle terminal further includes: Obtaining byte information of an adjustment bolt in an adaptive cruise control system, wherein the adjustment bolt is movably connected to a radar sensor; Determining whether the byte information satisfies the first byte information; If the byte information satisfies the first byte information, a counterclockwise rotation calibration instruction is generated, and a first number of rotations is calculated according to the byte information, and the counterclockwise rotation calibration instruction and the first number of rotations are sent to the vehicle terminal: If the byte information does not satisfy the first byte information, a clockwise rotation calibration instruction is generated, and a second number of rotations is calculated based on the byte information, and the clockwise rotation calibration instruction and the second number of rotations are sent to the vehicle terminal.

7. A remote dynamic calibration device for an adaptive cruise control system, characterized in that: include: A receiving module, configured to receive a remote connection request sent by a vehicle terminal to establish a remote communication connection with the vehicle terminal; A first acquisition module is used to acquire vehicle-mounted data and perform fault diagnosis on the entire vehicle system based on the vehicle-mounted data to obtain a diagnosis report; a first judgment module, configured to judge whether a fault occurs in the adaptive cruise control system according to the diagnosis report; a second acquisition module, configured to acquire surrounding environment data of the vehicle if the adaptive cruise control system fails; A second judgment module is used to judge whether the current vehicle meets the dynamic calibration conditions based on the surrounding environment data; A calibration module, configured to send a dynamic calibration instruction to the vehicle terminal if the current vehicle meets the dynamic calibration conditions, so as to complete remote dynamic calibration of the vehicle's adaptive cruise control system; The calibration module comprises: a fourth acquiring unit, configured to acquire a vehicle speed and determine whether the vehicle speed is greater than a first preset speed and less than a second preset speed; a fifth acquiring unit, configured to acquire a deviation angle and an echo power of the radar sensor if the vehicle travel speed is greater than the first preset travel speed and less than the second preset travel speed; A first calculation unit is configured to calculate a dynamic calibration sine value according to the deviation angle and the echo power, wherein the calculation formula is: Wherein, sinα is the dynamic calibration sine value, P is the echo power, β1 is the vertical deviation angle value, and β2 is the horizontal vertical deviation angle value; a second calculation unit, configured to calculate a dynamic calibration angle according to the dynamic calibration sine value, and generate a dynamic calibration instruction according to the dynamic calibration angle; The first sending unit is configured to send the dynamic calibration instruction to the vehicle terminal.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of remote dynamic calibration of the adaptive cruise system according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of remote dynamic calibration of the adaptive cruise system according to any one of claims 1 to 6 are implemented.

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