Adas camera clone calibration method and device, computer equipment and medium

Abstract

Embodiments of the present application provide an ADAS camera clone calibration method and device, computer equipment and medium, wherein the method comprises: obtaining the vehicle model of the vehicle to which the to-be-calibrated vehicle-mounted camera belongs; obtaining the camera mounting parameters and the camera calibration result corresponding to the vehicle model according to the pre-stored camera mounting parameters and camera calibration result corresponding to each vehicle model; importing the obtained camera mounting parameters and camera calibration result into the to-be-calibrated vehicle-mounted camera, and issuing a self-calibration instruction to the to-be-calibrated vehicle-mounted camera to trigger the to-be-calibrated vehicle-mounted camera to automatically complete calibration according to traffic signs during driving of the vehicle. This scheme can reduce the time and resource consumption of calibration, and can achieve convenient calibration.

Description

Technical Field

[0001] This invention relates to the field of parameter calibration technology, and in particular to an ADAS camera clone calibration method, apparatus, computer equipment, and medium. Background Technology

[0002] As a crucial sensor in ADAS (Advanced Driver Assistance Systems), cameras play a vital role in perceiving the surrounding environment. The accuracy of camera measurements directly impacts the control effectiveness of the backend decision-making system, indirectly affecting the driving comfort of the occupants. Typically, after ADAS cameras are installed and deployed in a vehicle, parameter compensation is performed based on each vehicle's parameters to optimize measurement accuracy. Therefore, camera calibration is of paramount importance to ADAS systems.

[0003] The most common first approach to existing ADAS camera calibration solutions is: automated calibration stations built by the vehicle OEM itself, such as... Figure 1 As shown, it includes (1) a vehicle towing device: responsible for moving the vehicle to be calibrated to the designated position on the calibration platform; (2) an automatic calibration target alignment device: using a robotic arm to align the fixed calibration target with the ADAS camera; and (3) a host computer for calibration: connected to the ADAS camera CAN line through the vehicle's reserved OBD port, and then completes the writing of parameters, starts calibration, reads the calibration results, and completes the calibration. This solution can improve the efficiency of calibration for mass-produced vehicles of OEMs and ensure the consistency of calibration results.

[0004] Another approach is an improvement upon the first automation approach described above, with the following topology diagram: Figure 2 As shown, the process involves manually moving the vehicle to the vehicle positioning area. Typically, a prominent stop line and lane lines for wheel positioning on both sides are drawn on the ground. Then, a laser device is used to align the calibration target and the vehicle's lateral center. Finally, a host computer is connected to the ADAS camera's CAN bus to write parameters, start calibration, read calibration results, and complete the calibration.

[0005] Existing camera calibration solutions typically require manual measurement of external parameters such as camera installation height, left and right side distances, and distance from the vehicle's front, before inputting this information into a calibration host computer. This process is time-consuming. Furthermore, it necessitates the construction of additional calibration stations and the development and manufacturing of specific calibration benches and equipment, requiring significant financial and human resources – a substantial drain on resources for automakers. For ADAS cameras added after mass production or replaced at after-sales service points, it becomes impossible to bring the vehicle to the factory's off-line calibration station for calibration, necessitating the development of new calibration solutions. Summary of the Invention

[0006] In view of this, the embodiment of the present application provides an ADAS camera clone calibration method to solve the technical problems of time-consuming, resource consumption and inability to calibrate after factory offline in the prior art. The method comprises:

[0007] Obtaining the vehicle model of the vehicle where the to-be-calibrated vehicle camera is located;

[0008] According to the pre-stored camera installation parameters and camera calibration results corresponding to each vehicle model, obtaining the camera installation parameters and camera calibration results corresponding to the vehicle model;

[0009] Importing the obtained camera installation parameters and camera calibration results into the to-be-calibrated vehicle camera, and issuing a self-calibration instruction to the to-be-calibrated vehicle camera to trigger the to-be-calibrated vehicle camera to automatically complete calibration according to traffic signs during driving of the vehicle.

[0010] The embodiment of the present application also provides an ADAS camera clone calibration device to solve the technical problems of time-consuming, resource consumption and inability to calibrate after factory offline in the prior art. The device comprises:

[0011] A vehicle model obtaining module for obtaining the vehicle model of the vehicle where the to-be-calibrated vehicle camera is located;

[0012] A parameter obtaining module for obtaining the camera installation parameters and camera calibration results corresponding to the vehicle model according to the pre-stored camera installation parameters and camera calibration results corresponding to each vehicle model;

[0013] A calibration module for importing the obtained camera installation parameters and camera calibration results into the to-be-calibrated vehicle camera, and issuing a self-calibration instruction to the to-be-calibrated vehicle camera to trigger the to-be-calibrated vehicle camera to automatically complete calibration according to traffic signs during driving of the vehicle.

[0014] The embodiment of the present application also provides a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the above ADAS camera clone calibration methods to solve the technical problems of time-consuming, resource consumption and inability to calibrate after factory offline in the prior art.

[0015] The embodiment of the present application also provides a computer-readable storage medium storing a computer program for executing any of the above ADAS camera clone calibration methods to solve the technical problems of time-consuming, resource consumption and inability to calibrate after factory offline in the prior art.

[0016] Compared with the prior art, the at least one technical scheme adopted by the embodiment of the present specification can achieve the beneficial effects at least including: the vehicle model of the vehicle to which the to-be-calibrated vehicle-mounted camera belongs is obtained; then, the camera mounting parameters and the camera calibration results corresponding to the vehicle model are obtained according to the pre-stored camera mounting parameters and the camera calibration results corresponding to each vehicle model; finally, the obtained camera mounting parameters and camera calibration results are imported into the to-be-calibrated vehicle-mounted camera, and a self-calibration instruction is issued to the to-be-calibrated vehicle-mounted camera to trigger the to-be-calibrated vehicle-mounted camera to automatically complete calibration according to traffic signs during vehicle driving. Based on the pre-stored camera mounting parameters and camera calibration results corresponding to each vehicle model, the camera mounting parameters of the vehicle-mounted camera of different vehicles of the same vehicle model can be directly imported and the self-calibration instruction can be issued according to the vehicle model, without the need to measure the installation parameters for each vehicle, which is beneficial to reduce the time consumption, and without the need to calibrate each vehicle based on a calibration station and calibration tools, which does not require additional construction of a calibration station and development of a specific calibration rack facility, which is beneficial to reduce the consumption of financial and human resources and is not restricted by the site; at the same time, for vehicles that have been mass-produced and have been replaced with a camera after leaving the factory or at a service point, convenient calibration can also be achieved. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0018] Figure 1 is a schematic diagram of a vehicle-mounted camera calibration scene provided by the prior art;

[0019] Figure 2 is a schematic diagram of another vehicle-mounted camera calibration scene provided by the prior art;

[0020] Figure 3 is a flowchart of an ADAS camera cloning calibration method provided by the embodiment of the present application;

[0021] Figure 4 is a flowchart of implementing the above-mentioned ADAS camera cloning calibration method provided by the embodiment of the present application;

[0022] Figure 5 is a structural block diagram of a computer device provided by the embodiment of the present application;

[0023] Figure 6 is a structural block diagram of an ADAS camera cloning calibration device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0024] The embodiments of the present application will be described in detail below with reference to the drawings.

[0025] The advantages and effects of the present application can be easily understood by those skilled in the art from the above description. It is obvious that the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied by other different specific embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0026] In the embodiments of the present application, an ADAS camera clone calibration method is provided, as shown in Figure 3 The method comprises the following steps:

[0027] Step S301: Obtain the vehicle model of the vehicle to which the to-be-calibrated vehicle-mounted camera belongs.

[0028] Step S302: Obtain the camera mounting parameters and the camera calibration results corresponding to the vehicle model according to the pre-stored camera mounting parameters and the camera calibration results corresponding to each vehicle model.

[0029] Step S303: Import the obtained camera mounting parameters and camera calibration results into the to-be-calibrated vehicle-mounted camera, and issue a self-calibration instruction to the to-be-calibrated vehicle-mounted camera to trigger the to-be-calibrated vehicle-mounted camera to automatically complete calibration according to traffic signs during driving of the vehicle.

[0030] The present application is described in detail below with reference to the accompanying drawings. Figure 3The flowchart shows that in the embodiment of the application, the vehicle model of the vehicle to which the to-be-calibrated vehicle-mounted camera belongs is obtained; then, the camera mounting parameters and the camera calibration results corresponding to the vehicle model are obtained according to the pre-stored camera mounting parameters and the camera calibration results corresponding to each vehicle model; finally, the obtained camera mounting parameters and camera calibration results are imported into the to-be-calibrated vehicle-mounted camera, and a self-calibration instruction is issued to the to-be-calibrated vehicle-mounted camera to trigger the to-be-calibrated vehicle-mounted camera to automatically complete calibration according to traffic signs during vehicle driving. Based on the pre-stored camera mounting parameters and camera calibration results corresponding to each vehicle model, the camera mounting parameters of the vehicle-mounted camera of the same vehicle model of different vehicles can be directly imported and the self-calibration instruction can be issued without the need to measure the mounting parameters for each vehicle, which is beneficial to reducing the time consumption and does not require calibration based on a calibration station and calibration tools for each vehicle, thereby reducing the consumption of financial resources and human resources and not being restricted by the site. At the same time, for vehicles that have been produced and shipped or have their cameras replaced at an after-sales service point, convenient calibration can also be achieved, which can save the financial resources and human resources required for ADAS camera calibration.

[0031] In specific implementation, for each vehicle of each vehicle model, the camera mounting parameters and the camera calibration results corresponding to each vehicle model can be obtained after the vehicle-mounted camera of one vehicle is calibrated, and then the camera mounting parameters and the camera calibration results of the first calibrated vehicle can be used to calibrate the vehicle-mounted cameras of other vehicles based on the above-mentioned ADAS camera cloning calibration method, for example, the camera mounting parameters and the camera calibration results of the first calibrated vehicle are directly written into the subsequent vehicles of the same vehicle model, and the subsequent vehicles can complete ADAS camera real vehicle calibration through dynamic and automatic calibration for a period of time, thereby avoiding the processes of repeated measurement of mounting parameters, construction of calibration stations, use of calibration targets and calibration tools for other vehicles, achieving cloning of camera calibration parameters of vehicles of the same vehicle model, and being beneficial to reducing the time consumption and resource consumption of calibration and not being restricted by the site, which is highly flexible.

[0032] In specific implementation, after the self-calibration instruction is issued to the to-be-calibrated vehicle-mounted camera, the vehicle to which the to-be-calibrated vehicle-mounted camera belongs can be dynamically and automatically calibrated in normal and actual use, for example, the vehicle can be driven to a road section with clear lane lines and traffic signs on an outdoor public road, and the vehicle can be uniformly driven along the lane center line and the traffic signs, and ADAS camera real vehicle calibration can be completed through dynamic and automatic calibration for a period of time, thereby saving the time of moving the vehicle and confirming the calibration environment, greatly shortening the camera calibration time, and not being restricted by the site.

[0033] In specific implementation, the vehicle model can be obtained by acquiring the model information of the vehicle, and the vehicle model (i.e., the type of the vehicle) can be identified according to the image of the vehicle.

[0034] In specific implementation, for each vehicle model, the calibration parameters of the first vehicle can be obtained by, for example,

[0035] For each vehicle model, the installation parameters of the vehicle-mounted camera of the vehicle of the vehicle model are obtained.

[0036] The installation parameters are imported into the vehicle-mounted camera of the vehicle of the vehicle model.

[0037] When the calibration target is parallel to the front of the vehicle of the vehicle model and the longitudinal axis of the calibration target coincides with the lateral center of the vehicle of the vehicle model, an instruction for calibration based on the calibration target is sent to the vehicle-mounted camera of the vehicle of the vehicle model, wherein the calibration target is arranged at a preset distance in front of the front of the vehicle of the vehicle model.

[0038] When the calibration of the vehicle-mounted camera of the vehicle of the vehicle model is completed, the calibration result of the vehicle-mounted camera of the vehicle of the vehicle model is obtained by reading the calibration result from the vehicle-mounted camera of the vehicle of the vehicle model.

[0039] Specifically, during the calibration of the vehicle-mounted camera of the first vehicle of the same vehicle model, only the calibration target needs to be arranged at a preset distance in front of the front of the vehicle of the vehicle model, the calibration target is parallel to the front of the vehicle of the vehicle model, and the longitudinal axis of the calibration target coincides with the lateral center of the vehicle of the vehicle model. The installation parameters of the vehicle-mounted camera are imported into the vehicle-mounted camera by the host computer and an instruction for calibration based on the calibration target is sent to the vehicle-mounted camera, so as to obtain the calibration result of the vehicle-mounted camera. This process only uses the calibration target and the host computer, so that the calibration operation of the vehicle-mounted camera is simple, an independent calibration station does not need to be additionally constructed, and only a flat open space and an ADAS camera calibration target are needed for operation. It can be operated indoors or outdoors and is not restricted by the site.

[0040] In specific implementation, the installation parameters of the vehicle-mounted camera can be conveniently and accurately obtained by different methods, for example, the installation parameters of the vehicle-mounted camera of the vehicle of the vehicle model can be derived from the whole vehicle design digital model of the vehicle of the vehicle model, and the installation parameters of the vehicle-mounted camera of the vehicle of the vehicle model can be obtained by measurement. The installation parameters of the vehicle-mounted camera can be measured by using a distance measuring sensor or an instrument.

[0041] In specific implementation, the installation parameters of the vehicle-mounted camera can include external parameters such as camera installation height, left margin, right margin, and front distance.

[0042] In specific implementation, the ADAS camera cloning calibration method can run on the host computer.

[0043] In particular implementation, the following will be introduced in detail in combination with Figure 4 the process of implementing the ADAS camera calibration method, which can include the following steps:

[0044] S1: For a vehicle of a certain vehicle model, measure the vehicle-mounted camera installation parameters (such as height, front distance, left distance, and right distance) of the first vehicle. If it is a mass-produced vehicle model, the installation parameters can be directly derived from the whole vehicle design model.

[0045] S2: Place the camera calibration target at a certain distance in front of the vehicle head as required, and ensure that the calibration target is parallel to the vehicle head and the longitudinal axis of the calibration target coincides with the lateral center of the vehicle.

[0046] S3: Connect the vehicle-mounted camera to the host computer through a USB line, then write the installation parameters into the vehicle-mounted camera through the host computer, and then issue a calibration instruction based on the calibration target to the vehicle-mounted camera.

[0047] S4: The host computer reads the calibration state from the vehicle-mounted camera:

[0048] (1) If the read calibration state is “calibrating…”, continue to wait and repeat the query after a period of time;

[0049] (2) If the read calibration state is “calibration failed”, end the calibration and prompt the calibration failure reason. After the failure reason is excluded, continue from step S3;

[0050] (3) If the read calibration state is “calibration successful”, save the calibration result.

[0051] S5: Export the calibration result and camera installation parameters through the host computer.

[0052] S6: For subsequent vehicles of the same vehicle model, use the host computer to import the calibration result and camera installation parameters of the first vehicle into the vehicle-mounted camera of the second, third, …, Nth vehicle.

[0053] S7: Issue a self-calibration instruction to the vehicle-mounted camera through the host computer.

[0054] S8: Drive the vehicle to a clear lane line section on an outdoor public road and drive along the center line at a constant speed.

[0055] S9: During the vehicle driving process, periodically query the vehicle-mounted camera calibration progress percentage through the host computer. If the progress does not reach 100%, continue to drive along the center line at a constant speed;

[0056] S10: If the progress reaches 100%, update the calibration result of the vehicle-mounted camera, and then end the calibration.

[0057] In the embodiment, a computer device is provided, which comprises a memory 501, a processor 502, and a computer program stored in the memory and capable of running on the processor, and the processor implements any of the above ADAS camera clone calibration methods when executing the computer program. Figure 5 As shown in the figure, the computer device comprises a memory 501, a processor 502, and a computer program stored in the memory and capable of running on the processor, and the processor implements any of the above ADAS camera clone calibration methods when executing the computer program.

[0058] Specifically, the computer device can be a computer terminal, a server, or a similar computing device.

[0059] In the embodiment, a computer readable storage medium is provided, which stores a computer program for implementing any of the above ADAS camera clone calibration methods.

[0060] Specifically, the computer readable storage medium includes permanent and non-permanent, removable and non-removable media, which can be implemented by any method or technology to store information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer readable storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. According to the definition in this paper, computer readable storage media does not include transitory computer readable media, such as modulated data signals and carriers.

[0061] Based on the same inventive concept, the embodiment of the present application also provides an ADAS camera clone calibration device, as described in the following embodiments. Since the principle of solving the problem of the ADAS camera clone calibration device is similar to that of the ADAS camera clone calibration method, the implementation of the ADAS camera clone calibration device can be referred to the implementation of the method, and the repeated parts will not be described here. The term "unit" or "module" used below can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware is also possible and contemplated.

[0062] Figure 6 is a structural block diagram of the ADAS camera clone calibration device of the embodiment of the present application, as Figure 6 shown, the device comprises:

[0063] The vehicle model obtaining module 601 is configured to obtain a vehicle model of a vehicle to which a to-be-calibrated vehicle camera belongs.

[0064] The parameter obtaining module 602 is configured to obtain camera installation parameters and camera calibration results corresponding to the vehicle model according to pre-stored camera installation parameters and camera calibration results corresponding to each vehicle model.

[0065] The calibration module 603 is configured to import the obtained camera installation parameters and camera calibration results into the to-be-calibrated vehicle camera, and send a self-calibration instruction to the to-be-calibrated vehicle camera, so as to trigger the to-be-calibrated vehicle camera to automatically complete calibration according to traffic signs during driving of the vehicle.

[0066] In an embodiment, the device described above further includes:

[0067] The installation parameter obtaining module is configured to obtain, for each vehicle model, installation parameters of a vehicle camera of a vehicle of the vehicle model.

[0068] The calibration module is further configured to import the installation parameters into the vehicle camera of the vehicle of the vehicle model, send an instruction for calibration based on the calibration target to the vehicle camera of the vehicle of the vehicle model when the calibration target is parallel to a front end of the vehicle of the vehicle model and a longitudinal axis of the calibration target coincides with a transverse center of the vehicle of the vehicle model, wherein the calibration target is arranged at a preset distance in front of the front end of the vehicle of the vehicle model, and read a calibration result from the vehicle camera of the vehicle of the vehicle model when the vehicle camera of the vehicle of the vehicle model completes calibration, to obtain camera calibration results of the vehicle of the vehicle model.

[0069] In an embodiment, the installation parameter obtaining module is configured to derive the installation parameters of the vehicle camera of the vehicle of the vehicle model from a whole-vehicle design digital model of the vehicle of the vehicle model.

[0070] In an embodiment, the installation parameter obtaining module is further configured to obtain the installation parameters of the vehicle camera of the vehicle of the vehicle model by measurement.

[0071] The embodiment of the present application realizes the following technical effects: the vehicle model of the vehicle where the to-be-calibrated vehicle-mounted camera is located is obtained; then, the camera mounting parameters and the camera calibration results corresponding to the vehicle model are obtained according to the pre-stored camera mounting parameters and the camera calibration results corresponding to each vehicle model; finally, the obtained camera mounting parameters and camera calibration results are imported into the to-be-calibrated vehicle-mounted camera, and a self-calibration instruction is issued to the to-be-calibrated vehicle-mounted camera to trigger the to-be-calibrated vehicle-mounted camera to automatically complete calibration according to traffic signs during vehicle driving. The camera mounting parameters and the camera calibration results corresponding to each vehicle model are realized based on pre-stored camera mounting parameters and camera calibration results, the vehicle-mounted camera of different vehicles of the same vehicle model can be directly imported with parameters and issued with a self-calibration instruction according to the vehicle model, it is not necessary to measure the installation parameters for each vehicle, which is beneficial to reduce the time consumption, and it is not necessary to calibrate each vehicle based on a calibration station and calibration tools, which does not need to construct a calibration station and develop and manufacture specific calibration rack facilities and equipment, and is beneficial to reduce the consumption of financial resources and human resources and is not restricted by the site; at the same time, for the camera replacement after the mass-produced vehicles are shipped offline or at the after-sales service point, convenient calibration can also be realized.

[0072] Obviously, those skilled in the art should understand that each module or each step of the above-mentioned embodiments of the present application can be realized by a general computing device, which can be concentrated on a single computing device or distributed on a network composed of multiple computing devices, and can be realized by program codes executable by the computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in different order, or they can be manufactured into each integrated circuit module, or multiple modules or steps can be manufactured into a single integrated circuit module. Therefore, the embodiments of the present application are not limited to any specific combination of hardware and software.

[0073] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the embodiments of the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for cloning and calibrating an ADAS camera, characterized in that, include: Obtain the vehicle model of the vehicle where the in-vehicle camera to be calibrated is located; Based on the pre-stored camera installation parameters and camera calibration results corresponding to each vehicle model, the camera installation parameters and camera calibration results corresponding to the vehicle model are obtained. The camera installation parameters and camera calibration results corresponding to the vehicle model are obtained by calibrating the on-board camera of one vehicle of the vehicle model. For other vehicles of the same model, the acquired camera installation parameters and camera calibration results are directly imported into the vehicle-mounted camera to be calibrated, and a self-calibration command is sent to the vehicle-mounted camera to be calibrated to trigger the vehicle-mounted camera to be calibrated to automatically complete the calibration according to traffic signs while the vehicle is in motion. For other vehicles of the same model, it is not necessary to measure the installation parameters for each vehicle, nor is it necessary to calibrate the vehicle-mounted camera for each vehicle based on the calibration station and calibration tools. Also includes: For each vehicle model, obtain the installation parameters of the vehicle-mounted camera for one vehicle of that model; Import the installation parameters into the onboard camera of a vehicle of this model; When the calibration target is parallel to the front of a vehicle of the same model and the longitudinal axis of the calibration target coincides with the lateral center of a vehicle of the same model, a calibration command based on the calibration target is sent to the vehicle-mounted camera of a vehicle of the same model. The calibration target is set at a preset distance directly in front of the front of a vehicle of the same model. When the onboard camera of a vehicle of this model is calibrated, the calibration result is read from the onboard camera of a vehicle of this model to obtain the calibration result of the camera of a vehicle of this model.

2. The ADAS camera clone calibration method as described in claim 1, characterized in that, Obtain the installation parameters of the vehicle's onboard camera for this model, including: The installation parameters of the vehicle's onboard camera are derived from the vehicle's overall design digital model.

3. The ADAS camera clone calibration method as described in claim 1, characterized in that, Obtain the installation parameters of the vehicle's onboard camera for this model, including: The installation parameters of the vehicle's onboard camera were obtained by measurement.

4. The ADAS camera cloning calibration method as described in any one of claims 1 to 3, characterized in that, Camera installation parameters include camera installation height, left side distance, right side distance, and distance from the front of the vehicle.

5. An ADAS camera cloning calibration device, characterized in that, include: The vehicle model acquisition module is used to acquire the vehicle model of the vehicle where the in-vehicle camera to be calibrated is located; The parameter acquisition module is used to acquire the camera installation parameters and camera calibration results corresponding to each vehicle model based on the pre-stored camera installation parameters and camera calibration results corresponding to each vehicle model. The camera installation parameters and camera calibration results corresponding to each vehicle model are acquired by calibrating the on-board camera of one vehicle of the vehicle model. The calibration module is used to directly import the acquired camera installation parameters and camera calibration results into the vehicle camera to be calibrated for other vehicles of the same model, and send a self-calibration command to the vehicle camera to be calibrated to trigger the vehicle camera to be calibrated to automatically complete the calibration according to traffic signs while the vehicle is in motion. For other vehicles of the same model, it is not necessary to measure the installation parameters for each vehicle, nor is it necessary to calibrate the vehicle camera for each vehicle based on the calibration station and calibration tools. Also includes; The installation parameter acquisition module is used to acquire the installation parameters of the vehicle camera of one vehicle of each vehicle model. The calibration module is further configured to import the installation parameters into the vehicle-mounted camera of a vehicle of the same model; when the calibration target is parallel to the front of a vehicle of the same model and the longitudinal axis of the calibration target coincides with the lateral center of a vehicle of the same model, a calibration command based on the calibration target is sent to the vehicle-mounted camera of a vehicle of the same model, wherein the calibration target is set at a preset distance directly in front of the front of a vehicle of the same model; when the vehicle-mounted camera of a vehicle of the same model completes calibration, the calibration result is read from the vehicle-mounted camera of the vehicle of the same model to obtain the camera calibration result of a vehicle of the same model.

6. The ADAS camera cloning calibration device as described in claim 5, characterized in that, The installation parameter acquisition module is used to export the installation parameters of the vehicle's onboard camera from the vehicle's overall design digital model.

7. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the ADAS camera cloning calibration method according to any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that performs the ADAS camera cloning calibration method according to any one of claims 1 to 4.

Images