Visual aeb calibration system and method based on two-dimensional coordinate image model

Abstract

The application discloses a visual AEB calibration system and method based on a two-dimensional coordinate image model, comprising a hardware device and PC host computer software system, the hardware device has a CAN bus analyzer and an MCU camera module, wherein the MCU camera module is used for collecting data information and transmitting the data information to the PC host computer software system through a CAN private protocol, and the PC host computer software system is used for two-dimensional image curve updating display; the PC host computer software system comprises a parameter configuration module, a parameter operation module and an image updating module, wherein the parameter configuration module is provided with configuration files A and B, and the parameter operation module is provided with parameter reading, parameter synchronization, parameter uploading, parameter importing and image exporting buttons. The application realizes a visual AEB calibration method based on a two-dimensional image curve model, and the system and method can intuitively simulate feedback to calibration personnel in an actual signal sending process in real vehicle calibration, so as to serve as an auxiliary reference and improve calibration efficiency.

Description

Technical Field

[0001] This invention relates to the field of automotive auxiliary control, specifically to a visualization AEB calibration system and method based on a two-dimensional coordinate image model. Background Technology

[0002] In recent years, the national automobile production has increased significantly. In this era of rapid technological development, people's requirements for automobile performance are also gradually increasing, and they are continuously raising more and higher demands in terms of functionality. In order to improve vehicle driving safety, among many functions, it is particularly necessary to calibrate the vehicle's Automatic Emergency Braking (AEB) to improve the accuracy of AEB in assisting the driver to control the vehicle and to achieve effective braking within a safe distance.

[0003] AEB (Advanced Emergency Braking) uses sensors to detect other road users and estimate their predicted trajectories, combining this with the estimated trajectory of the vehicle to assess collision risk. When necessary, it takes over the vehicle's braking system, applying emergency braking to prevent or mitigate a potential collision. Due to differences in vehicle actuators and varying functional requirements from OEMs, AEB has a series of configurable values. These combinations can alter the final execution effect of AEB, adapting to different vehicle models and meeting OEM customization needs. Each parameter adjustment requires testing to verify its effectiveness. To improve efficiency, this invention designs a protocol and tool that uses a proprietary protocol on the CAN bus to modify the configurable values ​​(calibrated values) of the AEB algorithm. Summary of the Invention

[0004] The purpose of this invention is to provide a visual AEB calibration system and method based on a two-dimensional coordinate image model to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a visualization AEB calibration system based on a two-dimensional coordinate image model, comprising hardware devices and a PC host computer software system. The hardware devices include a CAN bus analyzer and an MCU camera module. The MCU camera module is used to collect data information and transmit it to the PC host computer software system via the CAN private protocol. The PC host computer software system updates and displays the two-dimensional image curves. The PC host computer software system includes a parameter configuration module, a parameter operation module, and an image update module. The parameter configuration module has preset configuration files A and B. The parameter operation module provides buttons for parameter reading, parameter synchronization, parameter upload, parameter import, and image export, which are used to implement the parameter reading, synchronization, upload, import, and image export functions, respectively.

[0006] A visualization-based AEB calibration method based on a two-dimensional coordinate image model includes the following steps:

[0007] S1: The PC host computer software reads the local default calibration parameter configuration file and displays the parameter curves L1 and L2 before and after calibration according to the default parameters in the configuration file. Then, click the "Parameter Reading" button on the UI interface to obtain the calibration parameters from the camera. The PC host computer software updates and displays the parameter curve before calibration according to the parameters, that is, the graph line L1.

[0008] S2: Click the "Parameter Synchronization" button on the UI interface. The PC host computer software will overwrite the parameter values on the interface with the parameters read from the camera and synchronously update the parameter curve after calibration, that is, the graph line L2.

[0009] S3: Click the "Parameter Upload" button on the UI interface, that is, download the parameter values of the current UI interface to the MCU camera module.

[0010] S4: Click the "Parameter Export" button on the UI interface to export the calibrated parameters of the software interface to a specified directory for storage.

[0011] S5: Click the "Parameter Import" button on the UI interface, select the parameter file stored after the previous calibration in the specified directory, and then import it to complete the calibration process.

[0012] Preferably, the specific steps in S1 include:

[0013] S101: The host computer reads the local default calibration parameter configuration file.

[0014] S102: Click the "Parameter Reading" button to obtain the calibration data from the MCU camera module.

[0015] S103: Calculate the parameter coordinates, and then update and display the image coordinate curve according to the TeeChart control interface.

[0016] Preferably, the specific steps in S2 include: The PC host computer software first writes the parameters read from the MCU camera module to the configuration file A, then synchronously overwrites the parameters of the configuration file B with the parameters of the configuration file A, and finally updates the display of the parameter values on the software interface and the curve L2, that is, making the L1 and L2 parameter curves coincide.

[0017] Preferably, in S3, the PC host computer software first downloads all the calibration parameters that meet the calibration results on the interface to the MCU camera module through the protocol, then updates all the calibrated parameters to the parameter configuration file B, and finally updates the software interface curve L2.

[0018] Preferably, in S4, the calibrator clicks the "Parameter Export" button, and the software pops up a dialog box for selecting the export directory. The calibrator selects the directory where the parameter file is to be exported according to his own needs. The naming format of the exported file is xxxx year xx month xx day xx hour xx minute xx second.xml.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] This invention implements a visualized AEB calibration method based on a two-dimensional image curve model. The system and method, targeting different stages of AEB triggering, send relevant calibration parameters to the MCU (camera module) via a PC software UI interface, and then combine this with the real-time update display of the two-dimensional image curve model on the software UI. This provides intuitive simulation feedback to calibration personnel during actual vehicle calibration, serving as an auxiliary reference and improving calibration efficiency. Attached Figure Description

[0021] Figure 1 This is a system architecture diagram of the present invention;

[0022] Figure 2 This is a software module architecture diagram of the present invention;

[0023] Figure 3 This is a flowchart of the calibration method of the present invention;

[0024] Figure 4 This is a diagram of the main graph curve model based on the calibration method of this invention. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] In the description of this invention, it should be noted that the terms "vertical," "upper," "lower," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0027] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0028] Please see Figure 1-2 A visualization AEB calibration system based on a two-dimensional coordinate image model includes hardware devices and a PC host computer software system. The hardware devices include a CAN bus analyzer and an MCU camera module. The MCU camera module is used to collect data information and transmit it to the PC host computer software system via the CAN private protocol. The PC host computer software system updates and displays the two-dimensional image curves. The PC host computer software system includes a parameter configuration module, a parameter operation module, and an image update module. The parameter configuration module has preset configuration files A and B. The parameter operation module provides buttons for parameter reading, parameter synchronization, parameter upload, parameter import, and image export, which are used to implement the parameter reading, synchronization, upload, import, and image export functions, respectively.

[0029] Please see Figure 3 A visualization-based AEB calibration method based on a two-dimensional coordinate image model includes the following steps:

[0030] S1: The PC host computer software reads the local default calibration parameter configuration file and displays the parameter curves L1 and L2 before and after calibration according to the default parameters in the configuration file; then click the "Parameter Reading" button on the UI interface to obtain the calibration parameters from the camera. The PC host computer software updates and displays the parameter curve before calibration according to the parameters, i.e., the graph L1.

[0031] S101: The host computer reads the local default calibration parameter configuration file;

[0032] S102: Click the "Parameter Reading" button to obtain calibration data from the MCU camera module;

[0033] S103: Calculate the parameter coordinates, and then update the displayed image coordinate curve according to the TeeChart control interface;

[0034] S2: Click the "Parameter Synchronization" button on the UI interface. The PC host computer software will display the parameter values ​​on the interface with the parameters read from the camera and synchronously update the calibrated parameter curve, i.e., line L2.

[0035] S3: Click the "Parameter Upload" button on the UI interface to download the current parameter values ​​from the UI interface to the MCU camera module;

[0036] S4: Click the "Export Parameters" button on the UI interface to export and save the parameters calibrated in this software interface to the specified directory;

[0037] S5: Click the "Parameter Import" button on the UI interface, select the parameter file that was previously calibrated and stored in the specified directory, and then import it to complete the calibration process.

[0038] In this embodiment, S2 specifically includes: the PC host computer software first writes the parameters read from the MCU camera module to configuration file A, then synchronously overwrites the parameters of configuration file B with the parameters of configuration file A, and finally updates the parameter value display on the software interface and curve L2, that is, making the parameter curves of L1 and L2 coincide.

[0039] In this embodiment, in S3, the PC host computer software first downloads all the calibration parameters that meet the calibration results on the interface to the MCU camera module through the protocol, then updates all the calibrated parameters to parameter configuration file B, and finally updates the software interface curve L2.

[0040] In this embodiment, in S4, the calibration personnel clicks the "Parameter Export" button, and the software pops up a dialog box for selecting the export directory. The calibration personnel selects the directory where the parameter file is to be exported according to their own needs. The naming format of the exported file is xxxx year xx month xx day xx hour xx minute xx second.xml.

[0041] In this embodiment, in S5, the calibration personnel clicks the "Parameter Import" button, and the software pops up a file import dialog box, and overwrites and updates the original parameter content in configuration file B with the content in the parameter file with the correct format selected by the calibration personnel. And a pop-up window will remind before overwriting: "The parameter import operation will overwrite the calibration parameter values on the current interface. Please confirm whether to continue."

[0042] Calibration principle: AEB triggering is divided into four stages: Prefill, lowBrake, highBrake, fullBrake;

[0043]

[0044]

[0045] In the entire calibration process of this embodiment, the motion calculations involved are all based on the uniform or uniformly decelerated motion model. The triggering targets are divided into stationary targets and moving targets. The speeds mentioned in the following operations, except for the direct limitation of the vehicle speed in the fullBrake stage, are all the relative speeds to the target.

[0046] Prefill stage:

[0047] No deceleration is generated in the Prefill stage, so the triggering distance is only the product of the duration and the speed (x1), x1 = v0 * Δt; and there is no triggering distance limit. Therefore, the quantifiable value in the lowBrake stage is the time Δt required to establish the deceleration. That is, the parameter k_AEB_PrefillTrigStatDuration

[0048] The lowBrake phase: The trigger distance in the lowBrake phase consists of two parts: the distance required to establish deceleration (x1) + the trigger distance of highBrake (x2). Establish the deceleration a and the required time Δt.

[0049] That is, k_AEB_FullBrakingLvMov_mps, k_AEB_PrefillTrigStatDuration.

[0050] The highBrake phase: The trigger distance for the highBrake phase consists of three parts: the distance required for the deceleration phase (x1) + the distance required to establish deceleration (x2) + the trigger distance for the fullBrake (x3). (Where v0 represents the vehicle speed entering the fullBrake phase, and a_fullBrake phase deceleration are both quantifiable inputs. The associated host computer UI parameters for v0 and a are k_AEB_HeavyFullSpdTrhd and k_AEB_HiBrakingLvMov_mps, respectively. The distance required to establish deceleration.) (Where Δt represents the time required to establish the deceleration, which is a quantifiable quantity, and Δt is associated with the host computer UI parameter k_AEB_TTBAvgBkDelay.)

[0051] FullBrake Phase: The trigger distance for the fullBrake phase consists of three parts: the distance required for deceleration (x1) + the distance required to establish deceleration (x2) + the target stopping distance (x3). x1 and x2 are calculated in the same way as in the highBrake phase. Target stopping distance x3 = x constant +x offset (where x) offset This represents the increased braking distance during debugging to avoid collisions; it is a quantifiable quantity. x offset The associated host computer UI parameter name is k_AEB_RangeOffset.

[0052] Please see Figure 2-4 The table below contains formulas for point coordinate transformation.

[0053]

[0054] The following table shows the meanings of the parameter names:

[0055]

[0056]

[0057] In this embodiment, the above mainly reflects the relationship between the time t required by the system to decelerate the moving target and the stationary target at different stages during the calibration process.

[0058] Calibration personnel modify calibration parameters on the PC software interface, which are then updated in real-time using the UI parameter curve (L2). This provides them with intuitive feedback on the system's calibration results at different stages and under different target conditions, specifically reflected in the updated coordinates of points B, C, D, E, and F on the main image. For example:

[0059] 1. When the calibration personnel modify the parameters at point B, i.e. the requested deceleration of the moving / stationary vehicle target in the lowBrake stage, the host computer updates the coordinate position of point B on the (red) image curve L2 in real time and compares it with the coordinate position of point B on the (green) original image curve L1. This allows for quick analysis and intuitive comparison of the effect of the current calibration parameters, enabling users to more intuitively see the actual deceleration a of the vehicle body and the change in time t at different stages.

[0060] 2. In the current calibration parameter curve, an inflection point appears after point F in the full Brake stage, instead of smoothing out before returning to the prefill stage. Comparing this to the original curve model clearly shows an anomaly in this calibration signal segment. Based on the feedback from these two examples, calibration personnel can visually observe whether the vehicle's deceleration calibration at a certain stage is abnormal using the two-dimensional curve model on the host computer software. This allows for rapid problem location and analysis, significantly improving calibration efficiency.

[0061] In summary, this invention, through the overall trend model of the main graph parameter curve, can intuitively simulate and provide feedback to calibration personnel on the actual signal transmission model during the real vehicle calibration process. This improves testing efficiency, reduces labor costs, and provides better support for AEB calibration data analysis. Calibration personnel can modify relevant calibration parameters on the host computer software UI interface. The software UI updates the interface in real time, providing a direct comparison between the red graphical curve and the green curve. When calibration personnel find that a point on the red curve is more prominent or less prominent than a point on the green curve at a certain stage, they can more intuitively and quickly analyze and adjust the range of the next calibration parameter values ​​based on the curve change model. This better simulates the actual vehicle signal transmission process.

[0062] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A visualization-based AEB calibration method using a two-dimensional coordinate image model, employing a visualization-based AEB calibration system based on a two-dimensional coordinate image model, including hardware devices and a PC-based host computer software system. The hardware devices include a CAN bus analyzer and an MCU camera module. The MCU camera module is used to collect data information and transmit it to the PC-based host computer software system via a private CAN protocol. The PC-based host computer software system updates and displays the two-dimensional image curves. The PC-based host computer software system includes a parameter configuration module, a parameter operation module, and an image update module. The parameter configuration module has preset configuration files A and B. The parameter operation module provides buttons for parameter reading, parameter synchronization, parameter upload, parameter import, and image export, which are used to implement the parameter reading, synchronization, upload, import, and image export functions, including the following steps: S1: The PC host computer software reads the local default calibration parameter configuration file and displays the parameter curves L1 and L2 before and after calibration according to the default parameters in the configuration file; Click the "Parameter Reading" button on the UI interface to obtain the calibration parameters from the camera. The PC host computer software updates and displays the parameter curve before calibration, i.e., curve L1, based on the parameters. S2: Click the "Parameter Synchronization" button on the UI interface. The PC host computer software will display the parameter values ​​on the interface with the parameters read from the camera and synchronously update the calibrated parameter curve, i.e., line L2. S3: Click the "Parameter Upload" button on the UI interface to download the current parameter values ​​from the UI interface to the MCU camera module; S4: Click the "Export Parameters" button on the UI interface to export and save the parameters calibrated in this software interface to the specified directory; S5: Click the "Parameter Import" button on the UI interface, select the parameter file that was previously calibrated and stored in the specified directory, and then import it to complete the calibration process.

2. The visualization AEB calibration method based on a two-dimensional coordinate image model according to claim 1, characterized in that, The specific steps in S1 include: S101: The host computer reads the local default calibration parameter configuration file; S102: Click the "Parameter Reading" button to obtain calibration data from the MCU camera module; S103: Calculate the parameter coordinates, and then update the displayed image coordinate curve according to the TeeChart control interface.

3. The visualization AEB calibration method based on a two-dimensional coordinate image model according to claim 1, characterized in that, Specifically, S2 includes: the PC host computer software first writes the parameters read from the MCU camera module to configuration file A, then synchronously overwrites the parameters in configuration file B with the parameters in configuration file A, and finally updates the parameter value display and curve L2 on the software interface, that is, the L1 and L2 parameter curves coincide.

4. The visualization AEB calibration method based on a two-dimensional coordinate image model according to claim 1, characterized in that, In S3, the PC host computer software first downloads all calibration parameters that conform to the calibration results to the MCU camera module via the protocol, then updates all the calibrated parameters to the parameter configuration file B, and finally updates the software interface curve L2.

5. The visualization AEB calibration method based on a two-dimensional coordinate image model according to claim 1, characterized in that, In S4, the calibration personnel click the "Parameter Export" button, and the software pops up a dialog box to select the export directory. The calibration personnel select the directory to export the parameter file according to their needs.

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