Vehicle-mounted sensor device calibration detection method and device, vehicle, and storage medium
By detecting the unique identifier of the vehicle-mounted sensor, the system identifies and warns of missing camera calibration, thus resolving the security risks caused by missing vehicle camera calibration and improving security.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHERY AUTOMOBILE CO LTD
- Filing Date
- 2023-12-25
- Publication Date
- 2026-07-10
AI Technical Summary
In existing technologies, damaged vehicle cameras cannot accurately identify calibration deficiencies, leading to incompatibility of ADAS functions and posing safety risks.
By detecting the unique identifier of the vehicle-mounted sensor, its actual calibration status is determined. If it is not calibrated, it is prohibited from participating in assisted driving work, and a calibration prompt is generated.
It identifies potential calibration deficiencies, ensures driving safety, has simple and easy-to-implement logic, low cost, and avoids traffic safety problems.
Smart Images
Figure CN117775009B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle technology, and in particular to a detection method, device, vehicle, and storage medium for calibrating vehicle-mounted sensing equipment. Background Technology
[0002] With the development of intelligent vehicles, more and more cars are equipped with onboard sensing devices, such as camera modules. The purpose of camera modules is to provide image information to ADAS (Advanced Driver Assistance System) domain controllers to identify elements in the surrounding scene, thereby realizing various ADAS functions for controlling the vehicle.
[0003] During routine vehicle use, if a collision damages the camera, users typically take it to a vehicle repair shop for replacement. However, repair shops often cannot perform the correct after-sales camera calibration procedure, resulting in missing camera calibration. If users do not carefully read or ignore the calibration-related reminders in the user manual, this missing calibration will directly affect the previously stored camera calibration parameters in the ADAS domain controller, making them unsuitable for the position and angle of the replaced camera in the vehicle's coordinate system, posing a certain safety risk. Summary of the Invention
[0004] This application provides a detection method, device, vehicle, and storage medium for calibrating vehicle-mounted sensing devices, in order to solve the problems of inaccurate identification of vehicle-mounted sensing device calibration and poor security in related technologies.
[0005] The first aspect of this application provides a detection method for calibrating an in-vehicle sensor device, comprising the following steps: detecting a unique identifier of the in-vehicle sensor device; determining the actual calibration status of the in-vehicle sensor device based on the unique identifier; if the actual calibration status is an uncalibrated status, prohibiting the in-vehicle sensor device from participating in assisted driving related work, and generating a calibration prompt for the in-vehicle sensor device.
[0006] Optionally, in one embodiment of this application, determining the actual calibration status of the vehicle-mounted sensing device based on the unique identifier includes: obtaining a calibration list of the vehicle; querying the calibration list, and if the unique identifier is found, determining that the actual status is a calibrated status, otherwise determining that the actual status is a calibration status.
[0007] Optionally, in one embodiment of this application, before obtaining the vehicle calibration list, the process includes: obtaining the unique identifier of the successfully calibrated vehicle-mounted sensor; and updating the calibration list based on the unique identifier of the successfully calibrated vehicle-mounted sensor.
[0008] Optionally, in one embodiment of this application, prohibiting the vehicle-mounted sensing device from participating in assisted driving-related work includes: identifying the target signal bit of the vehicle-mounted sensing device; and setting the valid state of the target signal bit to an invalid state.
[0009] Optionally, in one embodiment of this application, the vehicle-mounted sensing device includes one or more of a camera, millimeter-wave radar, ultrasonic radar, and lidar.
[0010] A second aspect of this application provides a detection device for calibrating an in-vehicle sensor device, comprising: a detection module for detecting a unique identifier of the in-vehicle sensor device; a determination module for determining the actual calibration state of the in-vehicle sensor device based on the unique identifier; and a processing module for prohibiting the in-vehicle sensor device from participating in assisted driving-related work when the actual calibration state is an uncalibrated state, and generating a calibration prompt for the in-vehicle sensor device.
[0011] Optionally, in one embodiment of this application, the determining module is further configured to: obtain a calibration list of the vehicle; query the calibration list, and if the unique identifier is found, determine that the actual state is a calibrated state; otherwise, determine that the actual state is a calibrated state.
[0012] Optionally, in one embodiment of this application, the vehicle-mounted sensor calibration detection device further includes: an acquisition module, configured to acquire a unique identifier of a successfully calibrated vehicle-mounted sensor before acquiring a vehicle calibration list; and an update module, configured to update the calibration list based on the unique identifier of the successfully calibrated vehicle-mounted sensor.
[0013] Optionally, in one embodiment of this application, the processing module is further configured to identify the target signal bit of the vehicle-mounted sensing device and set the valid state of the target signal bit to an invalid state.
[0014] Optionally, in one embodiment of this application, the vehicle-mounted sensing device includes one or more of a camera, millimeter-wave radar, ultrasonic radar, and lidar.
[0015] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform a detection method for calibrating an on-board sensing device as described in the above embodiments.
[0016] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to perform the detection method for calibrating an on-board sensing device as described in the above embodiments.
[0017] Therefore, this application has at least the following beneficial effects:
[0018] This application embodiment can identify the risk of missing vehicle sensor calibration by verifying and monitoring the unique identifier of the vehicle sensor, thus ensuring driving safety. It can also eliminate the risk through early warning prompts. The logic is simple and easy to implement, and the cost is low. Therefore, it solves the problems of inaccurate identification of missing vehicle sensor calibration and poor security in related technologies.
[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description
[0020] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:
[0021] Figure 1 This is a flowchart of a detection method for calibrating an on-board sensor device according to an embodiment of this application;
[0022] Figure 2 This is a flowchart of a camera calibration detection process according to one embodiment of this application;
[0023] Figure 3 This is an example diagram illustrating the detection of an in-vehicle sensing device calibrated according to an embodiment of this application;
[0024] Figure 4 This is a block diagram of a detection device for calibrating an on-board sensing device according to an embodiment of this application;
[0025] Figure 5 This is a structural schematic diagram of the vehicle provided in an embodiment of this application. Detailed Implementation
[0026] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.
[0027] The following description, with reference to the accompanying drawings, outlines a method, apparatus, vehicle, and storage medium for detecting the calibration of vehicle-mounted sensors according to embodiments of this application. Addressing the problems mentioned in the background section, this application provides a method for detecting the calibration of vehicle-mounted sensors. This method, by verifying and monitoring the unique identifier of the vehicle-mounted sensor, can identify the risk of potential calibration deficiencies, preventing traffic safety issues. Furthermore, it eliminates the risk through early warning prompts. The method is simple to implement, low in cost, and thus solves the problems of inaccurate identification of calibration deficiencies and poor security in related technologies.
[0028] Specifically, Figure 1 This is a schematic flowchart of a detection method for calibrating an in-vehicle sensing device provided in an embodiment of this application.
[0029] like Figure 1 As shown, the detection method for calibrating this vehicle-mounted sensor includes the following steps:
[0030] In step S101, the unique identifier of the vehicle-mounted sensing device is detected.
[0031] The vehicle-mounted sensing devices can include cameras, millimeter-wave radar, ultrasonic radar, and lidar, etc.; the unique identifier can be a serial number ID.
[0032] Understandably, every time the vehicle is powered on, the ADAS software needs to check the serial number ID of the vehicle's sensors to obtain their unique identifier.
[0033] In step S102, the actual calibration status of the vehicle-mounted sensing device is determined based on the unique identifier.
[0034] In one embodiment of this application, determining the actual calibration status of the vehicle-mounted sensing device based on a unique identifier includes: obtaining a calibration list of the vehicle; querying the calibration list, and if a unique identifier is found, determining that the actual status is a calibrated status; otherwise, determining that the actual status is a calibrated status.
[0035] For ease of understanding, the embodiments of this application can be described in detail using a vehicle-mounted camera as an example.
[0036] like Figure 2 As shown, when the EOL calibration (offline calibration) and after-sales calibration of the vehicle camera are successful, the ADAS domain controller will save the unique identifier of the vehicle camera received in the memory, such as the serial number ID "B", and update the serial number ID "B" of the successfully calibrated vehicle camera to the calibration list.
[0037] Furthermore, whenever the vehicle is powered on and the ADAS domain controller starts, the ADAS domain controller will detect the unique identifier of the current vehicle camera. For example, if the detected unique identifier of the vehicle camera is serial number ID "A", this embodiment can compare the detected serial number ID "A" with the vehicle sensor serial number ID "B" previously stored in the memory. If A equals B, it means that the actual state of the vehicle camera in this embodiment is calibrated; if A does not equal B, it means that the actual state of the vehicle camera in this embodiment is uncalibrated.
[0038] Therefore, by verifying and monitoring the camera serial number ID, human error in the after-sales calibration process of the camera can be identified. The logic is simple and easy to implement, with low cost and wide application, and it can be applied to all models with cameras.
[0039] In step S103, if the actual calibration status is uncalibrated, the vehicle-mounted sensing device is prohibited from participating in the related work of assisted driving, and a calibration prompt for the vehicle-mounted sensing device is generated.
[0040] Based on the above embodiments, the current actual state of the vehicle camera is uncalibrated, which means that there is a problem of missing after-sales calibration of the camera. The embodiments of this application can suppress the output commands of related ADAS functions, such as acceleration / deceleration / turning angle / torque, etc. In actual execution, the embodiments of this application can identify the target signal position of the vehicle sensor device. When it is determined that there is a problem of camera after-sales calibration, the target signal position of acceleration, deceleration, turning angle or torque request can be set to an invalid state.
[0041] Furthermore, when the detection logic is triggered and causes the ADAS function to be suppressed / unactivated, the embodiments of this application can prompt the user through the human-machine interface that there is a camera after-sales calibration fault and that it needs to be handled at an official repair shop, which can avoid abnormal operation of the assisted driving function, such as the false triggering of automatic emergency braking.
[0042] The detection method for calibrating vehicle-mounted sensing devices according to embodiments of this application will be described in detail below with reference to specific scenarios, such as... Figure 3 As shown, there are two main scenarios: production line EOL / after-sales calibration scenario and normal vehicle power-on and start-up scenario.
[0043] Scenario 1: After-sales calibration scenario
[0044] In the production line EOL / after-sales calibration scenario, the SWC (Software Component) vision calibration in the ADAS domain controller obtains the camera intrinsic parameter data from the camera module and performs the corresponding EOL / after-sales calibration. If the calibration is successful, the calibration success status is sent to the vision configuration of the software component. After receiving the calibration success status, the vision configuration stores the successfully calibrated camera serial number ID B in non-volatile memory.
[0045] Scenario 2: Normal vehicle power-on scenario
[0046] In a normal vehicle power-on and start-up scenario, the visual configuration of the software components in the ADAS domain controller obtains the current camera serial number ID "A" from the camera module, and then performs a comparison between A and the previously stored "B". If A and B are inconsistent, it is determined that there is a problem with the camera after-sales calibration, and the valid bit signals for acceleration, deceleration, steering angle or torque requests are set to invalid.
[0047] The detection method for vehicle-mounted sensor calibration proposed in this application can identify potential risks of missing vehicle-mounted sensor calibration by verifying and monitoring the unique identifier of the vehicle-mounted sensor, thus avoiding traffic safety problems. The method also eliminates risks through early warning prompts. The logic is simple and easy to implement, and the cost is low. Therefore, it solves the problems of inaccurate identification of missing vehicle-mounted sensor calibration and poor security in related technologies.
[0048] Next, referring to the accompanying drawings, a detection device for calibrating an on-board sensing device according to an embodiment of this application is described.
[0049] Figure 4 This is a block diagram of a detection device for calibrating an on-board sensor according to an embodiment of this application.
[0050] like Figure 4 As shown, the detection device 10 calibrated by the vehicle-mounted sensing equipment includes: a detection module 100, a determination module 200, and a processing module 300.
[0051] The detection module 100 is used to detect the unique identifier of the vehicle-mounted sensor; the determination module 200 is used to determine the actual calibration status of the vehicle-mounted sensor based on the unique identifier; and the processing module 300 is used to prohibit the vehicle-mounted sensor from participating in the relevant work of assisted driving when the actual calibration status is uncalibrated, and to generate a calibration prompt for the vehicle-mounted sensor.
[0052] In one embodiment of this application, the determining module 200 is further configured to: obtain a calibration list of the vehicle; query the calibration list, and if a unique identifier is found, determine that the actual state is a calibrated state; otherwise, determine that the actual state is a calibrated state.
[0053] In one embodiment of this application, the detection device 10 for vehicle-mounted sensing device calibration further includes an acquisition module and an update module.
[0054] The acquisition module is used to acquire the unique identifier of the successfully calibrated vehicle-mounted sensor before acquiring the vehicle calibration list; the update module is used to update the calibration list based on the unique identifier of the successfully calibrated vehicle-mounted sensor.
[0055] In one embodiment of this application, the processing module 300 is further configured to identify the target signal bit of the vehicle-mounted sensing device and set the valid state of the target signal bit to an invalid state.
[0056] In one embodiment of this application, the vehicle-mounted sensing device includes one or more of a camera, millimeter-wave radar, ultrasonic radar, and lidar.
[0057] It should be noted that the explanation of the aforementioned detection method embodiment for vehicle-mounted sensor calibration also applies to the detection device for vehicle-mounted sensor calibration in this embodiment, and will not be repeated here.
[0058] The vehicle-mounted sensor calibration detection device proposed in the embodiments of this application can identify the risk of potential vehicle-mounted sensor calibration defects by verifying and monitoring the unique identifier of the vehicle-mounted sensor, thus avoiding traffic safety problems. It can also eliminate risks through early warning prompts. The logic is simple and easy to implement, and the cost is low. Therefore, it solves the problems of inaccurate identification of vehicle-mounted sensor calibration defects and poor security in related technologies.
[0059] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:
[0060] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.
[0061] When the processor 502 executes the program, it implements the detection method for calibrating the vehicle-mounted sensing device provided in the above embodiments.
[0062] Furthermore, the vehicle also includes:
[0063] Communication interface 503 is used for communication between memory 501 and processor 502.
[0064] The memory 501 is used to store computer programs that can run on the processor 502.
[0065] The memory 501 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.
[0066] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.
[0067] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.
[0068] Processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.
[0069] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described detection method for calibrating vehicle-mounted sensing devices.
[0070] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0071] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0072] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.
[0073] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.
[0074] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
Claims
1. A detection method for calibrating vehicle-mounted sensing devices, characterized in that, Includes the following steps: A unique identifier for detecting vehicle-mounted sensors; The actual status of the vehicle-mounted sensing device is determined based on the unique identifier; If the actual state is uncalibrated, the vehicle-mounted sensing device is prohibited from participating in the work related to assisted driving, and a calibration prompt for the vehicle-mounted sensing device is generated. Determining the actual state of the vehicle-mounted sensing device based on the unique identifier includes: obtaining a calibration list of the vehicle; If the unique identifier is found in the calibration list, the actual state is determined to be a calibration state; otherwise, the actual state is determined to be an uncalibrated state.
2. The detection method for calibrating vehicle-mounted sensing devices according to claim 1, characterized in that, Before obtaining the vehicle calibration list, the following is included: Obtain a unique identifier for successfully calibrated vehicle-mounted sensors; The calibration list is updated based on the unique identifier of the successfully calibrated vehicle-mounted sensor.
3. The detection method for calibrating vehicle-mounted sensing devices according to claim 1, characterized in that, The prohibition of the vehicle-mounted sensing device from participating in assisted driving related work includes: Identify the target signal position of the vehicle-mounted sensing device; Set the valid state of the target signal bit to an invalid state.
4. The detection method for calibrating vehicle-mounted sensing devices according to any one of claims 1-3, characterized in that, The vehicle-mounted sensing device includes one or more of a camera, millimeter-wave radar, ultrasonic radar, and lidar.
5. A detection device for calibrating vehicle-mounted sensing equipment, characterized in that, include: The detection module is used to detect the unique identifier of the vehicle-mounted sensing device; The determination module is used to determine the actual state of the vehicle-mounted sensing device based on the unique identifier; The processing module is used to prohibit the vehicle-mounted sensing device from participating in the work related to assisted driving when the actual state is uncalibrated, and to generate a calibration prompt for the vehicle-mounted sensing device. The determining module is further configured to: obtain a calibration list of the vehicle; query the calibration list, and if the unique identifier is found, determine that the actual state is a calibration state; otherwise, determine that the actual state is an uncalibrated state.
6. The detection device for calibrating vehicle-mounted sensing equipment according to claim 5, characterized in that, Also includes: The acquisition module is used to obtain the unique identifier of the successfully calibrated on-board sensor before obtaining the vehicle calibration list; An update module is used to update the calibration list based on the unique identifier of the successfully calibrated vehicle-mounted sensing device.
7. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the detection method for calibrating an on-board sensing device as described in any one of claims 1-4.
8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the detection method for calibrating the vehicle-mounted sensing device as described in any one of claims 1-4.