A visual projection scene calibrator and calibration method

Abstract

The present invention discloses a visual projection scene calibrator and a calibration method, which relate to the field of intelligent automobile testing technology. The calibrator comprises a support assembly, a laser generator and a light gate assembly. The laser generator is fixedly arranged in the support assembly, the light gate assembly is plugged into the support assembly, a light source outlet is provided on the support assembly, and the light gate assembly is located between the laser generator and the light source outlet and is used to adjust the width of the laser emitted by the laser generator. The present invention has a reasonable design and is a feasible solution for indoor driving visual scene calibration, which greatly facilitates the scene construction of the in-the-loop test of the ADAS system of the intelligent automobile. A convenient image calibrator is designed, which greatly facilitates the calibration of the visual scene. The support assembly can be replaced as needed, and the calibrator has the advantage of being easy to carry and transport.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent automobile testing, and more particularly to the technical field of visual projection scene calibrators and calibration methods. Background Art

[0002] Smart car testing typically involves field testing and simulation testing. Field testing requires a larger test site to construct various traffic scenarios. Existing patents disclose the following technologies:

[0003] The patent with publication number CN217111510U and patent name "Autonomous Driving Simulation Test Field" discloses the following content: An autonomous driving simulation test field, including a test road, guard plates are provided at the front and rear sides of the test road, an LED light is provided at the upper inner side of the guard plate, a monitoring speed measuring device is provided at the upper right side of the LED light, an interception test device is provided at the upper right side of the guard plate, the interception test device includes a fixed block, a rotating shaft, and an interception rod, a rotating shaft is provided at the inner middle position of the fixed block, and an interception rod is provided at the left front position of the rotating shaft, and an in-field track is provided at the inner lower position of the test road. When multiple vehicles are tested, it can prevent the simulated obstacles from being hooked when passing by, causing interference to subsequent vehicles. When the simulated obstacles are not in use, the unused simulated obstacles can be pushed into the deactivated track for storage to prevent them from blocking the vehicles.

[0004] Patent publication number CN208188326U, titled "An Indoor Test Site Structure for Automotive Radar," discloses the following: An indoor test site structure for automotive radar, comprising: an active signal transmitter; multiple short-range, high-angle corner reflectors; multiple long-range, low-angle corner reflectors; multiple forward-angle reflectors; and multiple forward-angle reflectors. This automotive radar test site structure places the active signal transmitter indoors, with multiple corner reflectors positioned directly in front of the active signal transmitter, at a 4-meter arc, and at a 60-meter arc. This allows for highly realistic detection of signals from actual automotive radars at various locations during testing, thereby improving test accuracy. The test site is located indoors, and millimeter-wave absorbing materials are installed on the walls. This effectively prevents interference from the external environment, ensuring test accuracy, while also improving work efficiency and reducing testing costs.

[0005] Currently, electromagnetic compatibility testing is mostly limited to component testing, or driving scenarios are directly injected into the vehicle for testing. For full-vehicle-in-the-loop (IVL) testing of intelligent vehicles, a scene simulation system must be constructed, typically using video projection. Currently, this is performed using a suspended screen coupled with projection, but hanging a screen is difficult to implement for scene projection within a darkroom. Existing technology uses a video darkroom for testing. This is not only complex and costly, but also often only suitable for component testing, failing to achieve full-vehicle testing. For existing projection systems, there is currently no convenient calibration equipment for visual scene calibration (scene size, relative vehicle position, etc.). The cumbersome and inaccurate calibration process for visual scene position and size severely hinders the development of IVL testing for intelligent vehicles. Summary of the Invention

[0006] The purpose of the present invention is to solve the technical problem that the projection system in the existing field test has no convenient calibration equipment for the visual scene of the scene size and relative vehicle position. The present invention provides a visual projection scene calibrator and calibration method.

[0007] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions:

[0008] One aspect of the present invention provides a visual projection scene calibrator, including a support assembly, a laser generator and a light gate assembly. The laser generator is fixedly arranged in the support assembly, the light gate assembly is inserted into the support assembly, a light source outlet is provided on the support assembly, and the light gate assembly is located between the laser generator and the light source outlet and is used to adjust the width of the laser emitted by the laser generator.

[0009] Specifically, the feasible solution for indoor driving visual scene calibration greatly facilitates the scene construction of in-the-loop testing of smart car ADAS systems. A convenient image calibrator is designed to greatly facilitate the calibration of visual scenes. The supporting components can be replaced as needed, and it has the advantage of being easy to carry and transport.

[0010] In one embodiment, the support assembly includes a shell with an upward opening and a top cover arranged at the shell opening. The top cover is provided with a plug interface for plugging in the optical gate assembly and a power button hole for turning on the power of the laser generator.

[0011] Specifically, a preferred structure of the support assembly is disclosed, which is a box structure with the advantages of simple structure, convenient processing and manufacturing, and low cost. The support assembly can also be other structures that can achieve the design purpose.

[0012] In one embodiment, a first partition and a second partition parallel to each other are provided in the shell. The first partition and the second partition divide the interior of the shell into a laser generating area, a transition area and a light gate placement area arranged in sequence. The laser generator is located in the laser generating area, and the light gate assembly is plugged into the light gate placement area through the plug interface. Both the first partition and the second partition are provided with light-transmitting holes.

[0013] Specifically, an optimized partition structure inside the shell is disclosed to facilitate the placement of the laser generator and the light gate assembly. The setting of the transition zone is, on the one hand, to increase the distance between the laser generator and the light gate assembly. If the distance between the two is too close, higher precision requirements are required for the light gate assembly, which may lead to inaccurate measurements; on the other hand, it is for the placement of the charging circuit board assembly for charging the device.

[0014] In one embodiment, the laser generator includes a laser body, a light source arranged on one side of the laser body, and a start-stop button arranged on the top of the laser body and passing through a power button hole. The light source is a cross laser source, and the light-transmitting holes on the first partition and the second partition are both "cross"-shaped through holes adapted to the shape of the cross laser source.

[0015] Specifically, a preferred structure for a laser generator is disclosed. This structure features a simple structure and a cross-shaped laser source, which facilitates adjustment and control and increases calibration accuracy. The cross-shaped through-holes on the first and second baffles are larger than the cross-shaped laser source, preventing laser obstruction.

[0016] In one embodiment, the thickness of the light gate assembly is adapted to the width of the light gate placement area.

[0017] Specifically, the thickness of the optical gate assembly is limited to match the width of the optical gate placement area. The gap between the optical gate assembly and the optical gate placement area is matched, and the gap is designed to be 1~3mm, which not only facilitates the insertion of the optical gate but also ensures the stability of the optical gate after insertion.

[0018] In one embodiment, the optical gate assembly includes a plug-in board and an adjustment hole provided on the plug-in board for adjusting the width of laser light emitted by the laser generator.

[0019] Specifically, a preferred structure of a light gate assembly is disclosed, which has the advantages of simple structure, convenient processing and low cost. Plug-in boards with different adjustment hole sizes can be selected as needed, and the plug-in form is to facilitate the replacement of different plug-in boards.

[0020] Furthermore, the adjustment hole can be in the form of a horizontal strip, a vertical strip, or a cross-shaped adjustment hole, preferably a cross-shaped adjustment hole corresponding to the cross-shaped laser source. The light gate assembly can also be a light gate capable of adjusting the size of the adjustment hole itself, so that the size of the adjustment hole can be adjusted according to actual needs during use without replacing other light gates.

[0021] In one embodiment, a portable hole is provided on the top of the plug board, and the center of the portable hole is collinear with the center line of the adjustment hole.

[0022] Specifically, the portable hole setting on the plug board can easily string different plug boards together, making it convenient for storage. The center of the portable hole and the center line of the adjustment hole are collinear, which is a selection position relationship. The portable hole can also be located at other positions on the plug board.

[0023] In one embodiment, a plug pin is further provided at the bottom of the plug board, the width of the plug pin is smaller than the width of the plug board, and the plug board and the plug pin have the same thickness and are integrally formed.

[0024] Specifically, the width design of the plug pin can facilitate the plug-in board to enter the light gate placement area of ​​the shell through the plug interface of the top cover, thereby increasing the plug-in efficiency. In addition, the bottom of the light gate placement area is provided with a positioning hole corresponding to the plug pin. The design of the plug pin can increase the positioning accuracy of the plug-in board.

[0025] In one embodiment, a light-transmitting plate is provided at the light source outlet, and the light-transmitting plate is located between the light source outlet and the light gate assembly.

[0026] Specifically, the light-transmitting plate ensures that the entire projection scene calibrator is a sealed enclosure, preventing external dust from entering the projection scene calibrator and causing dust accumulation inside, which could seriously affect the calibration effect. The light-transmitting plate can be made of acrylic, copolyester, polycarbonate, or other transparent materials that can achieve the desired design effect.

[0027] Another aspect of the present invention further provides a visual projection scene calibration method, which uses the above-mentioned visual projection scene calibrator and includes the following steps:

[0028] S01. Prepare the calibrator, screen, and projector. Place the screen between the calibrator and the projector, and use the projector to project the standard calibration scene.

[0029] S02. Before the test, the vehicle is placed behind the screen, the onboard camera is Xm away from the screen, and the calibrator is set up in front of the screen using a bracket at a distance of Xm from the screen;

[0030] S03, turning on the laser source on the calibrator in step S02, adjusting the projection width of the laser light source using the corresponding optical gate assembly according to the scene target distance, and adjusting the crosshair projected by the calibrator on the screen to compare with the standard calibration scene;

[0031] S04. Adjust the screen distance or projector with reference to the cross cursor of the calibrator so that the standard calibration scene coincides with the cross cursor to achieve scene calibration.

[0032] The beneficial effects of the present invention are as follows:

[0033] 1. The present invention has a reasonable design and a feasible solution for indoor driving visual scene calibration, which greatly facilitates the scene construction of in-the-loop testing of smart car ADAS systems. The convenient image calibrator is designed, which greatly facilitates the calibration of visual scenes. The supporting components can be replaced as needed, and it has the advantage of being easy to carry and transport.

[0034] 2. To facilitate the placement of the laser generator and the optical gate assembly, the transition zone is set up on the one hand to increase the distance between the laser generator and the optical gate assembly. If the distance between the two is too close, higher precision requirements are required for the optical gate assembly, which may lead to inaccurate measurements; on the other hand, it is for the placement of the charging circuit board assembly for charging the device.

[0035] 3. The adjustment hole can be in the form of a horizontal strip, a vertical strip, or a cross-shaped adjustment hole. A cross-shaped adjustment hole corresponding to the cross-shaped laser source is preferred. The light gate assembly can also be a light gate with adjustable adjustment hole size. During use, the adjustment hole size can be adjusted according to actual needs without replacing other light gates.

[0036] 4. The light-transmitting plate ensures that the entire projection scene calibrator is a sealed shell, preventing external dust from entering the projection scene calibrator and causing dust accumulation inside, which can seriously affect the calibration effect. The light-transmitting plate can be made of acrylic, copolyester, polycarbonate, or other transparent materials that can achieve the desired design effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of a visual projection scene calibrator of the present invention;

[0038] Figure 2 yes Figure 1 Schematic diagram of the structure without the top cover;

[0039] Figure 3 yes Figure 1 Schematic diagram of the structure without the light-transmitting plate;

[0040] Figure 4 It is a structural diagram of the shell;

[0041] Figure 5 It is a structural diagram of the laser generator;

[0042] Figure 6 It is a structural diagram of a structure of an optical gate assembly;

[0043] Figure 7 It is a structural diagram of another structure of the optical gate assembly;

[0044] Figure 8 It is a structural diagram of the light-transmitting plate;

[0045] Figure 9 It is a schematic diagram of a visual projection scene calibration method;

[0046] Figure markings: 1-shell, 11-light source outlet, 12-first partition, 13-second partition, 2-top cover, 21-power button hole, 3-light gate assembly, 31-portable hole, 32-plug board, 33-adjustment hole, 34-plug pin, 4-light-transmitting plate, 5-laser generator, 51-start / stop button, 52-laser body, 53-cross laser source. DETAILED DESCRIPTION

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0049] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. In addition, the terms "first," "second," etc. are used only to distinguish the descriptions and are not to be understood as indicating or implying relative importance.

[0050] In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0051] Example 1

[0052] like Figures 1 to 8As shown, this embodiment provides an aspect of the present invention, which provides a visual projection scene calibrator, including a support assembly, a laser generator 5 and a light gate assembly 3. The laser generator 5 is fixedly arranged in the support assembly, and the light gate assembly 3 is inserted in the support assembly. A light source outlet 11 is provided on the support assembly. The light gate assembly 3 is located between the laser generator 5 and the light source outlet 11, and is used to adjust the width of the laser emitted by the laser generator 5.

[0053] The support assembly includes a shell 1 with an upward opening and a top cover 2 arranged at the opening of the shell 1. The top cover 2 is provided with an insertion interface for plugging in the optical gate assembly 3 and a power button hole 21 for turning on the power of the laser generator 5.

[0054] Specifically, a preferred structure of the support assembly is disclosed, which is a box structure with the advantages of simple structure, convenient processing and manufacturing, and low cost. The support assembly can also be other structures that can achieve the design purpose.

[0055] Example 2

[0056] This embodiment is a further optimization based on the embodiment 1, specifically:

[0057] A first partition 12 and a second partition parallel to each other are provided in the shell 1. The first partition 12 and the second partition divide the interior of the shell 1 into a laser generating area, a transition area and a light gate placement area arranged in sequence. The laser generator 5 is located in the laser generating area, and the light gate assembly 3 is plugged into the light gate placement area through the plug interface. Both the first partition 12 and the second partition are provided with light-transmitting holes.

[0058] Specifically, an optimized partition structure inside the shell 1 is disclosed to facilitate the placement of the laser generator 5 and the optical gate assembly 3. The setting of the transition zone is, on the one hand, to increase the distance between the laser generator 5 and the optical gate assembly 3. If the distance between the two is too close, higher precision requirements are placed on the optical gate assembly 3, which may lead to inaccurate measurements; on the other hand, it is for the placement of a charging circuit board assembly for charging the device.

[0059] Example 3

[0060] This embodiment is a further optimization based on the second embodiment, specifically:

[0061] The laser generator 5 includes a laser body 52, a light source arranged on one side of the laser body 52, and a start-stop button 51 arranged on the top of the laser body 52 and passing through the power button hole 21. The light source is a cross laser source 53, and the light-transmitting holes on the first partition 12 and the second partition are both "cross"-shaped through holes adapted to the shape of the cross laser source 53.

[0062] Specifically, a preferred structure for the laser generator 5 is disclosed. This structure features a simple structure and a cross-shaped laser source 53, which facilitates adjustment and control, thereby increasing calibration accuracy. The cross-shaped through-holes in the first and second baffles 12 are larger than the cross-shaped laser source 53, preventing laser light from being obstructed.

[0063] The thickness of the light gate assembly 3 is adapted to the width of the light gate placement area.

[0064] Specifically, the thickness of the optical gate assembly 3 is limited to match the width of the optical gate placement area. The gap between the optical gate assembly 3 and the optical gate placement area is matched, and the gap is designed to be 1~3mm, which is convenient for plugging in the optical gate and ensures the stability of the optical gate after plugging in.

[0065] Example 4

[0066] This embodiment is further optimized based on embodiment 2 or 3, specifically:

[0067] The optical gate assembly 3 includes a plug-in board 32 and an adjustment hole 33 provided on the plug-in board 32 for adjusting the width of the laser emitted by the laser generator 5 .

[0068] Specifically, a preferred structure of the optical gate assembly 3 is disclosed, which has the advantages of simple structure, easy processing and low cost. The plug-in board 32 with different adjustment hole 33 sizes can be selected as needed, and the plug-in form is to facilitate the replacement of different plug-in boards 32.

[0069] In addition, the shape of the adjustment hole 33 can be a horizontal strip hole, a vertical strip hole, or a cross-shaped adjustment hole 33, preferably a cross-shaped adjustment hole 33 corresponding to the cross laser source 53. The light gate assembly 3 can also be a light gate that can adjust the size of the adjustment hole 33. During use, the size of the adjustment hole can be adjusted according to actual needs without replacing other light gates.

[0070] Example 5

[0071] This embodiment is a further optimization based on the embodiment 4, specifically:

[0072] A portable hole 31 is provided on the top of the plug board 32 , and the center of the portable hole 31 is collinear with the center line of the adjustment hole 33 .

[0073] Specifically, the portable hole 31 on the plug board 32 can be easily connected together to facilitate storage. The center of the portable hole 31 is collinear with the center line of the adjustment hole 33, which is a selected position relationship. The portable hole 31 can also be located at other positions on the plug board 32.

[0074] A plug pin 34 is further provided at the bottom of the plug board 32 . The width of the plug pin 34 is smaller than the width of the plug board 32 . The plug board 32 and the plug pin 34 have the same thickness and are integrally formed.

[0075] Specifically, the width design of the plug pin 34 can facilitate the plug-in board 32 to enter the light gate placement area of ​​the shell 1 through the plug interface of the top cover 2, thereby increasing the plug-in efficiency. In addition, a positioning hole corresponding to the plug pin 34 is provided at the bottom of the light gate placement area. The design of the plug pin 34 can increase the positioning accuracy of the plug-in board 32.

[0076] Example 6

[0077] This embodiment is a further optimization based on any one of Embodiments 1 to 5, specifically:

[0078] A light-transmitting plate 4 is provided at the light source outlet 11 , and the light-transmitting plate 4 is located between the light source outlet 11 and the light gate assembly 3 .

[0079] Specifically, the provision of the light-transmitting plate 4 enables the entire projection scene calibrator to be a sealed housing 1, preventing external dust from entering the projection scene calibrator and causing dust accumulation therein, which could seriously affect the calibration effect. The light-transmitting plate 4 can be made of acrylic, copolyester, polycarbonate, or other transparent materials that can achieve the desired design effect.

[0080] Example 7

[0081] like Figure 9 As shown, another aspect of the present invention also provides a visual projection scene calibration method, which uses the above-mentioned visual projection scene calibrator and includes the following steps:

[0082] S01. Prepare the calibrator, screen, and projector. Place the screen between the calibrator and the projector, and use the projector to project the standard calibration scene.

[0083] S02. Before the test, the vehicle is placed behind the screen, the onboard camera is Xm away from the screen, and the calibrator is set up in front of the screen using a bracket at a distance of Xm from the screen;

[0084] S03, turning on the laser source on the calibrator in step S02, adjusting the projection width of the laser light source using the corresponding optical gate assembly 3 according to the scene target distance, and adjusting the crosshair projected by the calibrator on the screen to compare with the standard calibration scene;

[0085] S04. Adjust the screen distance or projector with reference to the cross cursor of the calibrator so that the standard calibration scene coincides with the cross cursor to achieve scene calibration.

[0086] The solution disclosed in this example makes indoor driving visual scene calibration feasible, greatly facilitates the scene construction of in-the-loop testing of smart car ADAS systems, and designs a convenient image calibrator, which greatly facilitates the calibration of visual scenes.

Claims

1. A visual projection scene calibrator, characterized in that: The invention comprises a support assembly, a laser generator (5) and a light gate assembly (3), wherein the laser generator (5) is fixedly arranged in the support assembly, the light gate assembly (3) is plugged into the support assembly, a light source outlet (11) is provided on the support assembly, and the light gate assembly (3) is located between the laser generator (5) and the light source outlet (11) and is used to adjust the width of the laser light emitted by the laser generator (5); The support assembly comprises a housing (1) with an opening facing upward and a top cover (2) provided at the opening of the housing (1), wherein the top cover (2) is provided with a plug interface for plugging in the optical gate assembly (3) and a power button hole (21) for turning on the power of the laser generator (5); A first partition (12) and a second partition are provided in parallel with each other in the housing (1). The first partition (12) and the second partition divide the interior of the housing (1) into a laser generating area, a transition area and a light gate placement area which are arranged in sequence. The laser generator (5) is located in the laser generating area. The light gate assembly (3) is plugged into the light gate placement area through the plug interface. Both the first partition (12) and the second partition (13) are provided with light-transmitting holes. The optical gate assembly (3) comprises a plug-in board (32) and an adjustment hole (33) provided on the plug-in board (32) for adjusting the width of laser light emitted by the laser generator (5).

2. A visual projection scene calibrator according to claim 1, characterized in that: The laser generator (5) comprises a laser body (52), a light source arranged on one side of the laser body (52), and a start / stop button (51) arranged on the top of the laser body (52) and extending through the power button hole (21); the light source is a cross laser source (53); and the light-transmitting holes on the first partition (12) and the second partition (13) are both "cross"-shaped through holes that match the shape of the cross laser source (53).

3. The visual projection scene calibrator according to claim 1, characterized in that: The thickness of the light gate assembly (3) is adapted to the width of the light gate placement area.

4. The visual projection scene calibrator according to claim 1, characterized in that: A portable hole (31) is provided on the top of the plug board (32), and the center of the portable hole (31) is collinear with the center line of the adjustment hole (33).

5. The visual projection scene calibrator according to claim 4, characterized in that: A plug pin (34) is also provided at the bottom of the plug board (32); the width of the plug pin (34) is smaller than the width of the plug board (32); the plug board (32) and the plug pin (34) have the same thickness and are integrally formed.

6. The visual projection scene calibrator according to claim 1, characterized in that: A light-transmitting plate (4) is provided at the light source outlet (11), and the light-transmitting plate (4) is located between the light source outlet (11) and the light gate assembly (3).

7. A method for visual projection scene calibration, using a visual projection scene calibrator according to any one of claims 1 to 6, characterized in that: The steps include: S01, prepare a calibrator, a screen, and a projector, place the screen between the calibrator and the projector, and use the projector to project a standard calibration scene; S02. Before the test, the vehicle is placed behind the screen, the vehicle-mounted camera is Xm away from the screen, and the calibrator is set up in front of the screen at a distance of Xm using a bracket; S03, turning on the laser source on the calibrator in step S02, adjusting the projection width of the laser light source using the corresponding optical gate component (3) according to the scene target distance, and adjusting the cross cursor projected by the calibrator onto the screen to compare with the standard calibration scene; S04. Adjust the screen distance or projector with reference to the cross cursor of the calibrator so that the standard calibration scene coincides with the cross cursor to achieve scene calibration.

Images