Calibration board frame and ICP multi-camera video acquisition system

Abstract

This application discloses a calibration plate holder and an ICP multi-camera video acquisition system, belonging to the field of autonomous driving technology. The calibration plate holder includes: a first connector, one end of which is fixedly connected to a pre-existing hole on the inner side of a B-pillar of the vehicle; a first crossbar, one end of which is fixedly connected to the other end of the first connector; and a second connector, one end of which is fixedly connected to the other end of the first crossbar, and the other end of which is fixedly connected to a pre-existing hole on the inner side of another B-pillar of the vehicle. Multiple calibration plates are disposed on the first crossbar for calibrating cameras inside the vehicle. This application utilizes the existing structure of the vehicle's B-pillar, setting a crossbar behind the driver's seat and mounting multiple calibration plates on the crossbar for calibrating and verifying the cameras, ensuring the accuracy of captured images. Simultaneously, the crossbar is fixed by the connector, ensuring the stability of the calibration plates and preventing them from being affected by vehicle movement.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a calibration board and ICP multi-camera video acquisition system. Background Technology

[0002] In the field of autonomous driving, to ensure safety, real-time monitoring of the driver's state is necessary during autonomous driving. This monitoring includes checking whether the driver is observing the road ahead, whether their driving posture is dangerous, and whether they are smoking. When driver errors are detected, timely alerts are issued to ensure safety during the autonomous driving process. However, during vehicle movement, bumps and jolting can cause the driver and camera to shake, potentially leading to inaccurate or unrealistic images captured. Therefore, camera calibration is necessary to ensure accurate image capture. Existing methods simply involve attaching calibration strips to the seat, but this method is susceptible to changes in seat position, affecting the calibration strips, and is also easily affected by vehicle vibrations, resulting in inaccurate images. Summary of the Invention

[0003] In view of the problem that in the prior art, when monitoring the driver's driving status by camera, the image captured by the camera is easily affected by vehicle shaking, resulting in inaccurate image capture, this application proposes a calibration board and ICP multi-camera video acquisition system.

[0004] In one technical solution of this application, a calibration plate frame is provided, comprising: a first connector, one end of which is fixedly connected to a fixed hole on the inner side of a B-pillar of a vehicle; a first crossbar, one end of which is fixedly connected to the other end of the first connector; and a second connector, one end of which is fixedly connected to the other end of the first crossbar and the other end of which is fixedly connected to a fixed hole on the inner side of another B-pillar of the vehicle, wherein a plurality of calibration plates are disposed on the first crossbar for calibrating cameras inside the vehicle.

[0005] Optionally, a guide rail is provided on the first crossbar, and the calibration plate can be moved along the guide rail.

[0006] Optionally, a length scale is provided on the first crossbar to mark the position of the calibration plate.

[0007] Optionally, the first connector and the second connector are fixedly connected to the corresponding vehicle B-pillar through preset holes on the vehicle B-pillar.

[0008] Optionally, it also includes: at least one vertical bar, one end of which is fixedly connected to the first horizontal bar, and the other end extends downward to between the driver's seat and the front passenger seat, wherein a calibration plate is disposed on at least one vertical bar for calibrating the camera inside the vehicle.

[0009] Optionally, it also includes: at least one second horizontal bar, which is disposed on at least one vertical bar and fixedly connected to at least one vertical bar, wherein a calibration plate is disposed on at least one second horizontal bar for calibrating the camera inside the vehicle, and the distance between at least one vertical bar and at least one second horizontal bar and the driver's seat and the front passenger seat, respectively, is greater than a preset threshold.

[0010] Optionally, guide rails are provided on at least one vertical bar and / or at least one second horizontal bar, and the calibration plate can be moved along the guide rails.

[0011] Optionally, length markings are provided on at least one vertical bar and / or at least one second horizontal bar to mark the position of the calibration plate.

[0012] One technical solution of this application provides an ICP multi-camera video acquisition system, comprising: a first connector, one end of which is fixedly connected to a fixed hole on the inner side of a B-pillar of a vehicle; a first crossbar, one end of which is fixedly connected to the other end of the first connector; a second connector, one end of which is fixedly connected to the other end of the first crossbar, and the other end of which is fixedly connected to a fixed hole on the inner side of another B-pillar of the vehicle; multiple camera mounting points, which are set in the driver's forward and lateral directions and fixedly connected to the vehicle body; multiple cameras, which are set on the camera mounting points for recording the driver's driving state; and a calibration plate, which is set on the first crossbar for calibrating the cameras.

[0013] Optionally, it also includes: at least one vertical bar, one end of which is fixedly connected to the first horizontal bar, and the other end of which extends downward to the space between the driver's seat and the passenger seat; at least one second horizontal bar, which is disposed on the at least one vertical bar and fixedly connected to the at least one vertical bar, wherein a calibration plate is disposed on the at least one vertical bar and the at least one second horizontal bar for calibrating the camera.

[0014] The beneficial effects of this application are: This application utilizes the existing structure of the vehicle's B-pillar, sets a crossbar behind the driver's seat, and sets multiple calibration plates on the crossbar for calibrating and verifying the camera, ensuring the accuracy of the captured images. At the same time, the crossbar is fixed by connecting parts to ensure the stability of the calibration plates and prevent them from being affected by vehicle shaking. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic diagram of one embodiment of the calibration plate frame of this application is shown;

[0017] Figure 2 A schematic diagram of an example of the calibration plate frame of this application is shown;

[0018] Figure 3 A schematic diagram of an example of the calibration plate frame of this application is shown;

[0019] Figure 4 A schematic diagram of an example of the calibration plate frame of this application is shown;

[0020] Figure 5 A schematic diagram of an example of the ICP multi-camera video acquisition system of this application is shown.

[0021] Figure descriptions: 101 First connector, 102 First horizontal bar, 103 Second connector, 104 Vertical bar, 105 Second horizontal bar, 201 Calibration plate, A Calibration plate frame, B Camera fixing point and camera.

[0022] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a product or device comprising a series of steps or units is not necessarily limited to those units explicitly listed, but may include other units not explicitly listed or inherent to such products or devices.

[0025] In the field of autonomous driving, to ensure safety, real-time monitoring of the driver's state is necessary during autonomous driving. This monitoring includes checking whether the driver is observing the road ahead, whether their driving posture is dangerous, and whether they are smoking. When driver errors are detected, timely alerts are issued to ensure safety during the autonomous driving process. However, during vehicle movement, bumps and jolting can cause the driver and camera to shake, potentially leading to inaccurate or unrealistic images captured. Therefore, camera calibration is necessary to ensure accurate image capture. Existing methods simply involve attaching calibration strips to the seat, but this method is susceptible to changes in seat position, affecting the calibration strips, and is also easily affected by vehicle vibrations, resulting in inaccurate images.

[0026] To address the aforementioned issues, this application proposes a calibration board frame and an ICP multi-camera video acquisition system. The calibration board frame includes: a first connector, one end of which is fixedly connected to a pre-existing hole on the inner side of a B-pillar of a vehicle; a first crossbar, one end of which is fixedly connected to the other end of the first connector; and a second connector, one end of which is fixedly connected to the other end of the first crossbar, and the other end of which is fixedly connected to a pre-existing hole on the inner side of another B-pillar of the vehicle. Multiple calibration boards are disposed on the first crossbar for calibrating cameras inside the vehicle.

[0027] The calibration plate frame of this application utilizes the existing structure of the vehicle's B-pillar and sets up a first crossbar through fixing with connectors. A calibration plate is fixedly mounted on the first crossbar, thereby calibrating and verifying the camera inside the vehicle that captures the driver's driving status. This improves the accuracy of the camera's captured images and avoids the problem of camera shake caused by vehicle movement, resulting in unrealistic and inaccurate images. Furthermore, using the vehicle's own structure to set up the calibration plate is simple and convenient. Simultaneously, the first crossbar is fixed through the connectors, ensuring the stability of the first crossbar and the calibration plate during vehicle movement.

[0028] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0029] Figure 1 A schematic diagram of one embodiment of the calibration plate frame of this application is shown.

[0030] exist Figure 1 In the embodiment shown, the calibration plate frame of this application includes: a first connector 101, one end of which is fixedly connected to an inherent hole on the inner side of a B-pillar of the vehicle.

[0031] In this embodiment, the first connector can be fixedly connected to the vehicle by bolts using the existing holes in the vehicle's B-pillar. Figure 2 An example of the calibration plate frame of this application is shown. The connection relationship between the first connector and the second connector and the vehicle B-pillar is as follows: Figure 2 As shown.

[0032] Specifically, the position and hole locations of the B-pillar vary depending on the vehicle model. The first connector structure is adjusted accordingly based on the different B-pillar structures of different models. In order to ensure the stability of the connector, the first connector needs to maintain a certain thickness and strength so that when the vehicle is driving on bumpy roads, the first connector can remain integrated with the vehicle itself and will not loosen or break.

[0033] exist Figure 1 In the embodiment shown, the calibration plate frame of this application includes: a first crossbar 102, one end of which is fixedly connected to the other end of a first connecting member; and a second connecting member 103, one end of which is fixedly connected to the other end of the first crossbar, and the other end of which is fixedly connected to a pre-existing hole on the inner side of another B-pillar of the vehicle.

[0034] In this embodiment, the first connecting member and the second connecting member have the same structure. The first crossbar is fixed to the vehicle through the first and second connecting members to ensure the stability of the first crossbar when the vehicle shakes. A calibration plate can be installed on the first crossbar, and the calibration plate is fixedly connected to the first crossbar. Therefore, even when the vehicle shakes, the consistency between the calibration plate and the vehicle can be ensured. The calibration plate in this structure is used to calibrate and verify the camera, ensuring the accuracy of the photos taken by the camera. The first crossbar is used to fix the calibration plate 201, and the calibration plate is set as follows... Figure 1 Example from the Chinese text.

[0035] Figure 3An example of the calibration plate frame of this application is shown. The specific connection relationships between the first and second connecting members and the first crossbar are as follows: Figure 3 As shown. The first crossbar is fixedly connected to the first connecting piece and the second connecting piece, specifically by bolts, which facilitates easy assembly and disassembly.

[0036] Optionally, a guide rail is provided on the first crossbar, and the calibration plate can be moved along the guide rail.

[0037] In this optional embodiment, a slide rail is provided on the calibration plate to facilitate its placement on the first crossbar. The position of the calibration plate can be changed by sliding it along the slide rail, thus meeting the calibration requirements for cameras at different positions. This adapts to the calibration needs of cameras in different vehicle models and positions.

[0038] Specifically, the calibration plate can be fixedly connected to the guide rail using T-bolts, with the bolts and nuts working together to secure the calibration plate. However, other fixing methods can be used depending on the actual situation; this application does not impose specific limitations.

[0039] Optionally, a length scale is provided on the first crossbar to mark the position of the calibration plate.

[0040] In this optional embodiment, to enable quantitative setting and recording of the calibration plate's position, a length scale is provided on the first crossbar. The calibration plate's position is determined based on the length scale, which also facilitates recording. If the calibration plate is unsuitable and requires adjustment, its position can be adjusted according to the recorded length scale readings, resulting in greater accuracy. By setting the length scale, the qualitative to quantitative considerations of the calibration plate are achieved, facilitating recording and subsequent data analysis.

[0041] Optionally, the calibration plate frame of this application further includes: at least one vertical rod 104, one end of which is fixedly connected to the first horizontal rod, and the other end extends downward to the space between the driver's seat and the passenger seat, wherein the calibration plate is mounted on at least one vertical rod for calibrating the camera inside the vehicle.

[0042] In this optional embodiment, the addition of more calibration plates further ensures the accuracy of camera calibration. Therefore, at least one vertical rod is provided, with one end fixedly connected to the first horizontal rod and the other end extending downwards between the driver's and passenger's seats, without interfering with the driver's driving and minimizing the space occupied inside the vehicle. Calibration plates are mounted on at least one vertical rod for camera calibration. By adding new vertical rods in conjunction with the existing first horizontal rod to install calibration plates, the number of calibration plates increases, thereby increasing the number of calibration plates in the camera's field of view and improving the accuracy of camera calibration.

[0043] Optionally, the calibration plate frame of this application further includes: at least one second horizontal bar 105, which is disposed on at least one vertical bar and fixedly connected to at least one vertical bar, wherein the calibration plate is disposed on at least one second horizontal bar for calibrating the camera inside the vehicle, and the distance between at least one vertical bar and at least one second horizontal bar and the driver's seat and the front passenger seat, respectively, is greater than a preset threshold.

[0044] In this optional embodiment, at least one second horizontal bar is provided on at least one vertical bar, wherein the second horizontal bar is fixedly mounted on the vertical bar. The second horizontal bar is used to fix the calibration plate. By setting the second horizontal bar, the number of calibration plates is increased, thereby increasing the number of calibration plates in the camera's field of view and improving the accuracy of camera calibration. Simultaneously, to avoid interfering with normal driving behavior, the distance between at least one vertical bar and at least one second horizontal bar and the driver's seat or passenger seat must be greater than a preset threshold. This ensures that seat adjustments are not affected.

[0045] Figure 4 An example of the calibration plate holder of this application is shown. For example... Figure 4 As shown, the calibration plate frame is equipped with two vertical bars 104 and three second horizontal bars 105. Calibration plates are installed on the first and second horizontal bars respectively. The specific arrangement of the vertical bars and second horizontal bars can be reasonably set according to the actual vehicle space and the number of calibration plates required, and this application does not impose specific restrictions.

[0046] Specifically, the preset threshold can be set to 3-5 cm. The specific preset threshold can be reasonably selected based on the actual situation, and this application does not impose specific restrictions.

[0047] Optionally, at least one vertical bar and / or at least one second horizontal bar are provided with guide rails, and the calibration plate can be moved along the guide rails.

[0048] In this optional embodiment, guide rails are provided on at least one vertical rod and, or at least one second horizontal rod. The guide rails allow the calibration plate to slide along them on the vertical and second horizontal rods, changing its position to meet the calibration requirements of cameras at different locations. This adapts to the calibration needs of cameras in different vehicle models and positions.

[0049] Optionally, at least one vertical bar and, or at least one second horizontal bar, are provided with length markings to indicate the position of the calibration plate.

[0050] In this optional embodiment, length graduations are set on the vertical and second horizontal bars to quantitatively record the position of the calibration plate. Determining the calibration plate position based on the length graduations also facilitates recording. If the calibration plate is unsuitable and needs adjustment, its position can be adjusted according to the recorded length graduations, resulting in greater accuracy. The length graduations allow for a shift from qualitative to quantitative considerations in the calibration plate measurement, facilitating recording and subsequent data analysis.

[0051] Specifically, fasteners can be used to secure the first horizontal bar, the vertical bar, and the second horizontal bar to ensure the stability of the entire structure.

[0052] This application's calibration plate frame utilizes the existing structure of the vehicle's B-pillar. A crossbar is installed behind the driver's seat, and multiple calibration plates are mounted on this crossbar for camera calibration and verification, ensuring the accuracy of captured images. The crossbar is secured via connectors to ensure the stability of the calibration plates, preventing them from being affected by vehicle movement. Length graduations are also included to quantify and record the calibration positions, making adjustments to the calibration plate positions more accurate. The guide rails allow for easy adjustment of the calibration plate positions to accommodate different vehicle models and camera settings, meeting various calibration requirements and ultimately ensuring the accuracy of the camera's captured images.

[0053] In one embodiment of this application, an ICP multi-camera video acquisition system is proposed, comprising: a calibration plate frame, including a first connector, one end of which is fixedly connected to a pre-existing hole on the inner side of a B-pillar of a vehicle; a first crossbar, one end of which is fixedly connected to the other end of the first connector; a second connector, one end of which is fixedly connected to the other end of the first crossbar, and the other end of which is fixedly connected to a pre-existing hole on the inner side of another B-pillar of the vehicle; multiple camera mounting points, which are located in front of and to the side of the driver and fixedly connected to the vehicle body; multiple cameras, which are mounted on the camera mounting points for recording the driver's driving state; and a calibration plate, which is mounted on the first crossbar for calibrating the cameras.

[0054] Optionally, the ICP multi-camera video acquisition system of this application further includes: at least one vertical rod, one end of which is fixedly connected to the first horizontal rod, and the other end of which extends downward to the space between the driver's seat and the passenger seat; at least one second horizontal rod, which is disposed on the at least one vertical rod and fixedly connected to the at least one vertical rod, wherein a calibration plate is disposed on the at least one vertical rod and the at least one second horizontal rod for calibrating the camera.

[0055] Figure 5 A schematic diagram of an example of the ICP multi-camera video acquisition system of this application is shown. Figure 5As shown, the location of the calibration plate bracket is indicated by symbol B, on which a calibration plate for calibrating the camera is mounted. The camera mounting points and camera positions are indicated by symbol A. The system is designed to be installed around the driver inside the vehicle to monitor and record the driver's driving status. The arrangement of the ICP multi-camera video acquisition system inside the vehicle is as follows: Figure 5 As shown. The actual layout can be changed depending on the vehicle model, such as the determination of the camera mounting points, the camera angle, and the number of calibration plates.

[0056] This application's ICP multi-camera video acquisition system utilizes the existing structure of the vehicle's B-pillar. A crossbar is installed behind the driver's seat, and multiple calibration plates are mounted on this crossbar for camera calibration and verification, ensuring the accuracy of captured images. The crossbar is secured via connectors to ensure the stability of the calibration plates, preventing them from being affected by vehicle movement. Length scales are set to quantify and record the calibration positions, making adjustments to the calibration plate positions more accurate. The guide rail design allows for easy adjustment of the calibration plate positions to accommodate different vehicle models and camera settings, meeting various calibration requirements and ultimately ensuring the accuracy of the images captured by the cameras.

[0057] In the embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0058] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0059] The above are merely embodiments of this application and do not limit the scope of this patent application. Any equivalent structural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A calibration plate holder, characterized in that, include: The first connector has one end fixedly connected to a pre-existing hole on the inside of the B-pillar of the vehicle. The first crossbar has one end fixedly connected to the other end of the first connector; The second connector has one end fixedly connected to the other end of the first crossbar, and the other end fixedly connected to a pre-existing hole on the inner side of the other B-pillar of the vehicle. Multiple calibration plates are mounted on the first crossbar for calibrating the cameras inside the vehicle. A guide rail is provided on the first crossbar, and the calibration plates can be moved along the guide rail. At least one vertical rod, one end of which is fixedly connected to the first horizontal rod, and the other end extends downward to the space between the driver's seat and the front passenger seat, wherein the calibration plate is disposed on the at least one vertical rod for calibrating the camera inside the vehicle; At least one second horizontal bar is disposed on the at least one vertical bar and fixedly connected to the at least one vertical bar. The calibration plate is disposed on the at least one second horizontal bar for calibrating the camera inside the vehicle. The distances between the at least one vertical bar and the at least one second horizontal bar and the driver's seat and the front passenger seat, respectively, are both greater than a preset threshold.

2. The calibration plate holder according to claim 1, characterized in that, A length scale is provided on the first crossbar, and the position of the calibration plate is marked by the length scale.

3. The calibration plate holder according to claim 1, characterized in that, The first connector and the second connector are respectively fixedly connected to the corresponding B-pillar of the vehicle through preset holes on the B-pillar.

4. The calibration plate holder according to claim 1, characterized in that, A guide rail is provided on the at least one vertical bar and / or the at least one second horizontal bar, and the calibration plate can be moved along the guide rail.

5. The calibration plate holder according to claim 1 or 4, characterized in that, Length markings are provided on at least one vertical bar and / or at least one second horizontal bar to mark the position of the calibration plate.

6. An ICP multi-camera video acquisition system, characterized in that, include: The calibration plate frame includes: The first connector has one end fixedly connected to a pre-existing hole on the inside of the B-pillar of the vehicle. The first crossbar has one end fixedly connected to the other end of the first connector; The second connector has one end fixedly connected to the other end of the first crossbar, and the other end fixedly connected to a fixed hole on the inner side of the other B-pillar of the vehicle. Multiple camera mounting points are set in front of and to the side of the driver and are fixedly connected to the vehicle body; Multiple cameras are mounted at fixed points on the cameras to record the driver's driving status; A calibration plate is mounted on the calibration plate frame to calibrate the camera. A guide rail is provided on the first crossbar, and the calibration plate can change position along the guide rail. At least one vertical bar, one end of which is fixedly connected to the first horizontal bar, and the other end extends downward to the space between the driver's seat and the front passenger seat; At least one second horizontal bar is disposed on the at least one vertical bar and fixedly connected to the at least one vertical bar, wherein the calibration plate is disposed on the at least one vertical bar and the at least one second horizontal bar for calibrating the camera.

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