Around view camera calibration method and device, equipment, storage medium and program product

Abstract

The invention discloses an all-around camera calibration method, device and equipment, a storage medium and a program product, and relates to the technical field of vehicle perception, the method is applied to an all-around camera control system, the system comprises a plurality of all-around cameras and a controller, and the method comprises the following steps: obtaining a calibration state of the all-around camera of a vehicle; when the calibration state is a completed state, the equipment type of to-be-replaced equipment of the vehicle in the to-be-calibrated process is detected; and on the basis of the equipment type, independently calibrating the to-be-replaced equipment according to a preset calibration strategy. According to the method and the device, the to-be-replaced equipment is independently calibrated according to the equipment type through the calibration state of the all-round camera, so that the conditions that the requirement on the surrounding environment is high and the workload is large in the traditional all-round camera calibration process after the vehicle is off the line are avoided, and the calibration efficiency is improved on the premise of not reducing the calibration precision. The dependence of the calibration process on the surrounding environment and equipment is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle perception technology, and in particular to a surround view camera calibration method, device, equipment, storage medium and program product. Background Art

[0002] Usually, drivers rely on the help of rearview mirrors or reversing images when starting or parking. However, due to obstructions such as the front of the car, windows, pillars, and the driver's limited field of vision, there are blind spots in the driver's field of vision, making it impossible to determine whether there are obstacles in the obstructed area and the distance between obstacles.

[0003] In order to avoid the impact of blind spots on vehicle driving safety, in recent years, visual assistance solutions that install multiple cameras around the vehicle body to form a surround view system have gradually been applied to many vehicle models. Its function is to display the overall picture of the vehicle's surroundings in real time, provide the driver with dynamic images without blind spots around the vehicle body, and improve driving safety.

[0004] However, after the vehicle rolls off the assembly line, the calibration of the surround-view camera requires placing targets around the vehicle in advance, and then stitching and calibrating the images collected by all the surround-view cameras. This calibration process has high requirements on the surrounding environment and a large workload, resulting in low efficiency. Summary of the invention

[0005] The main purpose of this application is to provide a surround-view camera calibration method, device, equipment, storage medium and program product, aiming to solve the technical problems that the traditional surround-view camera calibration process has high requirements on the surrounding environment and large workload, resulting in low efficiency.

[0006] To achieve the above object, the present application proposes a surround view camera calibration method, which is applied to a surround view camera control system, the system comprising a plurality of surround view cameras and a controller, and the method comprises:

[0007] Get the calibration status of the vehicle's surround view camera;

[0008] When the calibration state is in a completed state, detecting a device type of a device to be replaced of the vehicle in the process of being calibrated;

[0009] Based on the device type, the device to be replaced is individually calibrated according to a preset calibration strategy.

[0010] In one embodiment, the preset calibration strategy includes a first calibration strategy and a second calibration strategy, and the step of individually calibrating the device to be replaced according to the preset calibration strategy includes:

[0011] When the device to be replaced is a controller, reading the external parameters of the plurality of surround view cameras according to the first calibration strategy, and writing the external parameters into the new controller;

[0012] When the device to be replaced is a surround view camera, the new surround view camera is individually calibrated using a target according to the second calibration strategy.

[0013] In one embodiment, when the device to be replaced is a controller, the step of reading the external parameters of the plurality of surround view cameras according to the first calibration strategy and writing the external parameters into the new controller includes:

[0014] When the device to be replaced is a controller, generating a parameter reading instruction according to the first calibration strategy;

[0015] Reading the plurality of surround view cameras based on the parameter reading instruction to obtain external parameters of the plurality of surround view cameras;

[0016] Conduct safety certification on new controllers;

[0017] After the security authentication is passed, the external parameters are written into the new controller.

[0018] In one embodiment, after the step of writing the external parameter into the new controller after the security authentication is passed, the method further includes:

[0019] After the external parameter is written successfully, reading the fault code status of the multiple surround view cameras;

[0020] If the fault code state is a reading state, clearing the fault codes of the multiple surround view cameras;

[0021] After the fault code is cleared, calibration results of the multiple surround view cameras are read.

[0022] In one embodiment, when the device to be replaced is a surround view camera, the step of separately calibrating the new surround view camera by using a target according to the second calibration strategy includes:

[0023] When the device to be replaced is a surround view camera, reading the whole vehicle state of the vehicle according to the second calibration strategy;

[0024] If the vehicle state satisfies the preset calibration condition, a new surround view camera is started and a calibration routine instruction is generated;

[0025] Based on the calibration routine instruction, the new surround view camera is calibrated by a target, where the target is arranged at one side of the new surround view camera.

[0026] In one embodiment, the step of calibrating the new surround view camera by using a target based on the calibration routine instruction includes:

[0027] Based on the calibration routine instructions, the new surround view cameras are individually calibrated in sequence by using a target;

[0028] cyclically sending a read-back instruction to the new surround view camera according to a preset period until a calibration state of the new surround view camera is obtained;

[0029] When the calibration state is a normal end state, the calibration result of the new surround view camera is read.

[0030] In addition, to achieve the above-mentioned purpose, the present application also proposes a surround view camera calibration device, which is applied to a surround view camera control system, the system includes multiple surround view cameras and a controller, and the device includes:

[0031] A status acquisition module, used to acquire the calibration status of the vehicle's surround view camera;

[0032] A device replacement module, used for detecting a device type of a device to be replaced of the vehicle in the process of being calibrated when the calibration state is in the completed state;

[0033] The device calibration module is used to individually calibrate the device to be replaced based on the device type and according to a preset calibration strategy.

[0034] In addition, to achieve the above-mentioned purpose, the present application also proposes a surround-view camera calibration device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the surround-view camera calibration method described above.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the surround view camera calibration method described above are implemented.

[0036] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the surround view camera calibration method as described above.

[0037] One or more technical solutions proposed in this application have at least the following technical effects: This application proposes a surround-view camera calibration method, which is applied to a surround-view camera control system, and the system includes multiple surround-view cameras and a controller. First, the calibration status of the vehicle's surround-view camera is obtained; then, when the calibration status is in a completed state, the device type of the device to be replaced of the vehicle in the calibration process is detected; finally, based on the device type, the device to be replaced is individually calibrated according to a preset calibration strategy. Since this application uses the calibration status of the surround-view camera to individually calibrate the replacement device according to the device type, it avoids the high requirements on the surrounding environment and the large workload of the traditional surround-view camera calibration process after the vehicle is offline, thereby reducing the dependence of the calibration process on the surrounding environment and equipment without reducing the calibration accuracy, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0040] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the surround view camera calibration method of the present application;

[0041] Figure 2 A schematic diagram of the calibration state of a vehicle provided in Example 1;

[0042] Figure 3 A schematic diagram of a scene for calibrating a vehicle and a target arrangement provided in Example 1;

[0043] Figure 4 A schematic diagram of a flow chart provided for Embodiment 2 of the surround view camera calibration method of the present application;

[0044] Figure 5 A schematic diagram of the E / E architecture of a surround view camera control system provided in Example 2;

[0045] Figure 6 A flow chart of the migration of calibration parameters of a surround view camera provided in Example 2;

[0046] Figure 7 A diagram of a surround view camera calibration routine provided in Example 2;

[0047] Figure 8A calibration flow chart of a surround view camera provided in Example 2;

[0048] Fig. 9 This is a schematic diagram of the module structure of the surround view camera calibration device according to an embodiment of the present application;

[0049] Fig.10 Schematic diagram of the device structure of the hardware operating environment involved in the surround view camera calibration method in the embodiment of the present application.

[0050] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0052] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0053] In the prior art, the calibration of the vehicle-mounted surround view system is to collect video images around the vehicle through each camera, and then identify the features in the calibration process from the video images. Feature information is extracted from the features to process the video image, and the camera to be calibrated is determined to be the target camera. After the target camera is determined, the target camera is optimized and calibrated in real time to obtain the position of the target camera relative to the vehicle. The implementation of the above process is generally complicated, and it is necessary to drive the vehicle and use the vehicle's surround view camera to obtain the surrounding environment information in real time, such as lane lines and other features. Or it is necessary to place targets around the vehicle in advance, and then splice the images collected by all surround view cameras, which has high requirements for the surrounding environment. After the vehicle is offline, for the calibration of the surround view camera, the above method has high requirements for the surrounding environment and a large workload, resulting in low efficiency.

[0054] To solve the above problems, this application proposes a surround-view camera calibration method for the vehicle life cycle process. This method supports separate calibration of four cameras, front, rear, left and right, thereby reducing dependence on the surrounding environment and equipment, improving work efficiency, and reducing equipment costs. This method is particularly effective for vehicles after they roll off the factory line.

[0055] It should be noted that the execution subject of this embodiment can be a computer device with calibration state recognition and camera calibration functions, such as a vehicle-mounted computer, a vehicle-mounted server, etc., or an electronic device capable of realizing the above functions, a surround-view camera calibration device (hereinafter referred to as a calibration device) that executes the surround-view camera calibration method of this application, etc., and this embodiment does not limit this. The following takes the calibration device as an example to illustrate this embodiment and the following embodiments.

[0056] Based on this, the present application embodiment provides a surround view camera calibration method, referring to Figure 1 , Figure 1 A flowchart of the first embodiment of the surround view camera calibration method of the present application is provided.

[0057] In this embodiment, the method is applied to a surround view camera control system, the system includes multiple surround view cameras and a controller, and the surround view camera calibration method includes steps S10 to S30:

[0058] Step S10: Acquire the calibration status of the vehicle's surround view camera.

[0059] It should be noted that surround-view cameras are cameras installed around the vehicle to capture scenes from different angles around the vehicle. The images captured by the surround-view cameras can be processed to present a 360-degree panoramic view of the vehicle's surroundings on the in-vehicle display screen, helping the driver to better understand the environmental conditions around the vehicle, thereby improving driving safety and convenience.

[0060] It should be noted that the controller is a device used to control and manage the operation of the surround-view camera, such as adjusting the camera parameters, optimizing the image stitching, etc., to ensure that the surround-view camera system can work stably and efficiently.

[0061] It should be noted that the calibration state is the state in which the parameters of the surround view camera are calibrated and determined. Generally, after the surround view camera is installed, the images taken by the surround view camera may have certain deviations or inaccuracies due to factors such as manufacturing tolerances and installation positions. Through calibration, the camera's internal parameters (such as focal length, optical center position, etc.) and external parameters (such as installation angle, position, etc.) can be determined, so that the captured image can accurately reflect the geometric relationship of the actual scene.

[0062] Being in the calibration state means that the surround view camera has been correctly calibrated and can present the surrounding environment more accurately. If the calibration state is incomplete or the camera needs to be replaced, it means that the surround view camera needs to be recalibrated.

[0063] For easier understanding, refer to Figure 2 , Figure 2 A schematic diagram of the calibration status of a vehicle provided in Example 1. After the vehicle is offline, there are three situations in which the surround view camera needs to be recalibrated: one is when the calibration status is completed and only the controller is replaced; one is when the calibration status is completed but the camera needs to be replaced or disassembled; one is when the calibration data is wrong and the calibration status is incomplete. According to the above different calibration situations, different calibration strategies can be adopted to simplify the calibration process and improve efficiency.

[0064] Step S20: When the calibration state is in the completed state, detecting the device type of the device to be replaced of the vehicle during the calibration process.

[0065] It should be noted that the device to be replaced is the device that needs to be replaced during the calibration process, such as the controller or the surround view camera. Different calibration strategies can be used according to the device type of the device to be replaced to simplify the calibration process and improve efficiency.

[0066] Step S30: Based on the device type, the device to be replaced is individually calibrated according to a preset calibration strategy.

[0067] It should be noted that the preset calibration strategy is a strategy pre-set in the calibration device for different calibrations of different devices to be replaced. For example, when replacing the controller, the internal parameters (such as focal length, optical center position, etc.) and external parameters (such as installation angle, position, etc.) of the surround view camera have not changed, so only the controller needs to be calibrated. If one or more surround view cameras are replaced, the cameras to be replaced need to be calibrated separately to improve the calibration efficiency.

[0068] In this embodiment, the calibration device can first obtain the calibration status of the vehicle's surround view camera; then, when the calibration status is completed, detect the device type of the device to be replaced in the vehicle during the calibration process; finally, based on the device type, the device to be replaced is individually calibrated according to a preset calibration strategy. Therefore, different calibration strategies can be used according to the device type of the device to be replaced, simplifying the calibration process and improving efficiency.

[0069] In a feasible implementation, the preset calibration strategy includes a first calibration strategy and a second calibration strategy. Step S30 of this embodiment may include the following steps: when the device to be replaced is a controller, reading the external parameters of the multiple surround-view cameras according to the first calibration strategy, and writing the external parameters into the new controller; when the device to be replaced is a surround-view camera, calibrating the new surround-view camera separately through a target according to the second calibration strategy.

[0070] It should be noted that the external parameters are external parameters of the surround view camera, such as installation angle, position, etc., which are not limited in this embodiment.

[0071] It should be noted that the target is a specific reference object used to determine the camera parameters during the calibration process. The camera captures and analyzes the target to obtain relevant data, and then calculates the various parameters of the camera, thereby achieving accurate calibration.

[0072] In this embodiment, when the calibration status is completed and only the controller is replaced, it is not necessary to place the target, and the external parameters of each camera in the current controller can be read, and then the read parameters can be written into the new controller. When the calibration status is completed, but the camera is replaced or disassembled, or when the calibration status is not completed, only the target on the side of the camera to be calibrated needs to be placed.

[0073] For easier understanding, refer to Figure 3 , Figure 3 The following is a schematic diagram of the scene of the calibration vehicle and target arrangement provided in Example 1. Take the vehicle's surround view camera control system consisting of four front, rear, left, and right cameras and a control unit as an example. Figure 3 As shown in the figure, when replacing the right camera, the right camera can be calibrated alone; the camera to be calibrated is the camera in the same position after replacement or disassembly. When replacing multiple cameras, it is necessary to place the side targets of the replaced cameras in sequence for calibration, or place all the side targets of the replaced cameras at the same time for calibration in sequence. This can reduce the dependence on the target, improve the calibration efficiency and reduce the calibration cost without reducing the calibration accuracy.

[0074] This embodiment provides a method for calibrating a surround-view camera, in which the calibration device can first obtain the calibration status of the vehicle's surround-view camera; then, when the calibration status is completed, detect the device type of the device to be replaced of the vehicle in the calibration process; finally, based on the device type, the device to be replaced is individually calibrated according to a preset calibration strategy. Since this embodiment uses the calibration status of the surround-view camera to individually calibrate the replacement device according to the device type, it avoids the high requirements for the surrounding environment and the large workload of the traditional surround-view camera calibration process after the vehicle is offline, thereby reducing the dependence of the calibration process on the surrounding environment and equipment without reducing the calibration accuracy, simplifying the calibration process, and improving work efficiency.

[0075] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 4 , Figure 4 A flowchart diagram of the second embodiment of the surround view camera calibration method of the present application is provided.

[0076] The steps of this example, when the device to be replaced is a controller, reading the external parameters of the plurality of surround view cameras according to the first calibration strategy and writing the external parameters into the new controller, include steps S311 to S314:

[0077] Step S311: when the device to be replaced is a controller, a parameter reading instruction is generated according to the first calibration strategy.

[0078] Step S312: reading the multiple surround view cameras based on the parameter reading instruction to obtain external parameters of the multiple surround view cameras.

[0079] It should be noted that the parameter reading instruction is used to obtain specific parameter information in the surround view camera. When the controller is replaced, the internal parameters (such as focal length, optical center position, etc.) and external parameters (such as installation angle, position, etc.) of the surround view camera have not changed. At this time, only the parameters of multiple surround view cameras need to be read to replace the controller.

[0080] Step S313: Perform security authentication on the new controller.

[0081] Step S314: after the security authentication is passed, the external parameters are written into the new controller.

[0082] It should be noted that in order to ensure the data security of the replaced controller, a safety check must be performed first. Figure 5 , Figure 5 This is a schematic diagram of the E / E architecture of the surround view camera control system provided in Example 2. The GW (i.e., gateway) is connected to the DLC interface (i.e., data extraction interface) and the APS interface (i.e., data writing interface). When the calibration device is connected to the DLC interface, the legitimacy of the linked device needs to be verified; when connected to the APS interface, the legitimacy of the data written by the device needs to be verified before calibration or parameter reading and writing operations can be performed. This ensures the legitimacy of the device and improves data security.

[0083] In this embodiment, when the device to be replaced is a controller, the calibration device can generate a parameter reading instruction according to the first calibration strategy; then read the multiple surround view cameras based on the parameter reading instruction to obtain the external parameters of the multiple surround view cameras; then perform security authentication on the new controller; after the security authentication passes, write the external parameters into the new controller. This ensures the legitimacy of the device and improves data security.

[0084] In a feasible implementation manner, after step S314 of this embodiment, the following steps may be further included: after the external parameter is written successfully, reading the fault code status of the multiple surround-view cameras; if the fault code status is a reading status, clearing the fault codes of the multiple surround-view cameras; after the fault codes are cleared, reading the calibration results of the multiple surround-view cameras.

[0085] It should be noted that the fault code status is the status when the surround view camera fails or is abnormal. Among them, the diagnostic trouble code (DTC) is a specific code when the surround view camera fails or is abnormal. The fault code can be used to quickly locate and determine whether there is a problem with the surround view camera or whether the calibration is completed, so that the surround view camera can be calibrated more specifically.

[0086] In this embodiment, for ease of understanding, refer to Figure 6 , Figure 6 This is a flow chart of the calibration parameter migration of the surround view camera provided in Example 2. When the calibration status is completed and only the controller is replaced, the specific steps are as follows:

[0087] After the device is connected to the vehicle, the legitimacy of the device verification in step 1 is automatically completed. After the verification is successful, execute step 2 to read the calibration parameters; at this time, the calibration device sends instructions to read the external parameters of the four cameras in the front, back, left and right respectively, and generates a specific format file for storage. The four camera external parameters are stored using four data identifiers (Data Identifier, DID) respectively. The DID can be set to support both read and write operations. Then execute step 3 for data access security authentication. The calibration device sends a security access instruction and completes the security authentication. After completing the security authentication, execute step 4 to write the calibration parameters. After the write is successful, execute step 5 to clear or exclusive fault code DTC. At this time, the uncalibrated fault code of the surround view camera should not be read. Finally, execute step 6 to read the calibration result. At this time, the calibration status of the surround view camera should be calibration completed.

[0088] In another feasible implementation manner, the step of separately calibrating the new surround-view camera through a target according to the second calibration strategy when the device to be replaced is a surround-view camera described in this embodiment includes: when the device to be replaced is a surround-view camera, reading the whole vehicle status of the vehicle according to the second calibration strategy; if the whole vehicle status meets the preset calibration conditions, starting the new surround-view camera and generating a calibration routine instruction; based on the calibration routine instruction, calibrating the new surround-view camera through a target, and the target is arranged on one side of the new surround-view camera.

[0089] It should be noted that the vehicle status refers to the overall operating condition of the vehicle, such as door status, DTC, etc., which is not limited in this embodiment.

[0090] It should be noted that the preset calibration conditions are pre-set conditions for determining whether the overall operating condition of the vehicle is normal and calibration operations can be performed, such as conditions such as the door is closed and there is no DTC.

[0091] It should be noted that the calibration routine instruction is an instruction for calibrating the surround view camera.

[0092] For easier understanding, refer to Figure 7 , Figure 7 A diagram of the surround view camera calibration routine provided in Example 2. Figure 7 RID (Routine Identifier) ​​is the routine identifier for calibration startup, XX is the routine control option, and the data size is 1 byte, such as 01-04 represents four position cameras respectively. The routine identifier of the surround view camera is completed according to the calibration routine instruction.

[0093] In this embodiment, the calibration device can read the whole vehicle status of the vehicle according to the second calibration strategy when the device to be replaced is a surround-view camera; if the whole vehicle status meets the preset calibration conditions, the new surround-view camera is started and a calibration routine instruction is generated; finally, based on the calibration routine instruction, the surround-view camera is calibrated separately to simplify the calibration process and improve efficiency.

[0094] In another feasible implementation manner, the step of calibrating the new surround-view camera through a target based on the calibration routine instruction described in this embodiment includes: based on the calibration routine instruction, calibrating the new surround-view camera separately in turn through a target; sending a read-back instruction to the new surround-view camera in a preset cycle until the calibration status of the new surround-view camera is obtained; and when the calibration status is a normal end state, reading the calibration result of the new surround-view camera.

[0095] It should be noted that the readback instruction is an instruction for obtaining information on whether the new surround view camera has been calibrated successfully. The preset cycle is a preset cycle for sending the readback instruction.

[0096] In this embodiment, for ease of understanding, refer to Figure 8 , Figure 8 This is a flow chart of the calibration of the surround view camera provided in Example 2. When the calibration status is completed, but any one of the four cameras is replaced or disassembled, or when the calibration status is not completed, the implementation method is as follows Figure 8 As shown, the specific process is as follows:

[0097] Reference Figure 3 After completing the placement of the side targets of the camera to be calibrated, proceed to step 1 to verify the legitimacy of the device. Step 1 is the same as Figure 6 After the device legality verification is successful, execute step 2 to read the pre-calibration start conditions. At this time, the calibration device reads the vehicle status, such as door status, DTC, etc., to ensure that the vehicle status meets the calibration conditions. Then, execute step 3 Figure 6 After completing the safety certification, proceed to step 4 to start the surround view camera calibration. The surround view camera calibration routine instructions are as follows: Figure 7Processing, ensure that the four cameras can be calibrated separately. After the calibration is started, execute step 5 to read back the calibration status. At this time, send instructions to read back the calibration status in a fixed cycle. When the calibration status is normal, start calibrating the remaining cameras to be calibrated. When all calibrations are completed, execute step 6 to clear or read DTC. At this time, the uncalibrated fault code of the surround view camera should not be read. Finally, execute step 7 to read the calibration results. When all the cameras to be calibrated are completed, the calibration status of the surround view camera should be calibration completed.

[0098] This embodiment designs the above-mentioned new calibration method for the vehicle life cycle process, which supports separate calibration of the four cameras at the front, rear, left and right. It can reduce dependence on the surrounding environment and equipment, improve work efficiency, and reduce equipment costs. It is particularly effective for vehicles after they roll off the factory production line.

[0099] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the surround view camera calibration method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0100] This application also provides a surround view camera calibration device, please refer to Fig. 9 , Fig. 9 This is a schematic diagram of the module structure of a surround view camera calibration device according to an embodiment of the present application; the device is applied to a surround view camera control system, the system includes multiple surround view cameras and a controller, and the surround view camera calibration device includes:

[0101] The state acquisition module 901 is used to obtain the calibration state of the vehicle's surround view camera;

[0102] The device replacement module 902 is used to detect the device type of the device to be replaced of the vehicle in the process of being calibrated when the calibration state is in the completed state;

[0103] The device calibration module 903 is used to individually calibrate the device to be replaced based on the device type and according to a preset calibration strategy.

[0104] The surround-view camera calibration device provided by the present application adopts the surround-view camera calibration method in the above embodiment, which can solve the technical problems that the traditional surround-view camera calibration process has high requirements on the surrounding environment and large workload, resulting in low efficiency. Compared with the prior art, the beneficial effects of the surround-view camera calibration device provided by the present application are the same as the beneficial effects of the surround-view camera calibration method provided by the above embodiment, and the other technical features in the surround-view camera calibration device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0105] The present application provides a surround-view camera calibration device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the surround-view camera calibration method in the above-mentioned embodiment one.

[0106] Reference below Fig.10 , Fig.10 The device structure diagram of the hardware operating environment involved in the surround view camera calibration method in the embodiment of the present application shows a schematic diagram of the structure of the surround view camera calibration device suitable for implementing the embodiment of the present application. The surround view camera calibration device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig.10 The surround view camera calibration device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0107] like Fig.10As shown, the surround camera calibration device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the surround camera calibration device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the surround view camera calibration device to communicate with other devices wirelessly or by wire to exchange data. Although the surround view camera calibration device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0108] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0109] The surround-view camera calibration device provided by the present application adopts the surround-view camera calibration method in the above embodiment, which can solve the technical problems that the traditional surround-view camera calibration process has high requirements on the surrounding environment and large workload, resulting in low efficiency. Compared with the prior art, the beneficial effects of the surround-view camera calibration device provided by the present application are the same as the beneficial effects of the surround-view camera calibration method provided by the above embodiment, and the other technical features in the surround-view camera calibration device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0110] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0111] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0112] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the surround view camera calibration method in the above-mentioned embodiment.

[0113] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0114] The computer-readable storage medium may be included in the surround-view camera calibration device; or may exist independently without being assembled into the surround-view camera calibration device.

[0115] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the surround-view camera calibration device, the surround-view camera calibration device: obtains the calibration status of the vehicle's surround-view camera; when the calibration status is a completed state, detects the device type of the device to be replaced of the vehicle during the calibration process; based on the device type, individually calibrates the device to be replaced according to a preset calibration strategy.

[0116] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0117] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0118] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0119] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned surround view camera calibration method, and can solve the technical problems that the traditional surround view camera calibration process has high requirements on the surrounding environment and large workload, resulting in low efficiency. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the surround view camera calibration method provided in the above-mentioned embodiment, and will not be repeated here.

[0120] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned surround view camera calibration method when executed by a processor.

[0121] The computer program product provided by the present application can solve the technical problems that the conventional surround view camera calibration process has high requirements on the surrounding environment and large workload, resulting in low efficiency. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the surround view camera calibration method provided by the above embodiment, and will not be elaborated here.

[0122] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A surround view camera calibration method, characterized in that: The method is applied to a surround view camera control system, the system comprising a plurality of surround view cameras and a controller, the method comprising: Get the calibration status of the vehicle's surround view camera; When the calibration state is in a completed state, detecting a device type of a device to be replaced of the vehicle in the process of being calibrated; Based on the device type, the device to be replaced is individually calibrated according to a preset calibration strategy.

2. The method according to claim 1, characterized in that The preset calibration strategy includes a first calibration strategy and a second calibration strategy, and the step of individually calibrating the device to be replaced according to the preset calibration strategy includes: When the device to be replaced is a controller, reading the external parameters of the plurality of surround view cameras according to the first calibration strategy, and writing the external parameters into the new controller; When the device to be replaced is a surround view camera, the new surround view camera is individually calibrated using a target according to the second calibration strategy.

3. The method according to claim 2, characterized in that When the device to be replaced is a controller, the step of reading the external parameters of the plurality of surround view cameras according to the first calibration strategy and writing the external parameters into the new controller includes: When the device to be replaced is a controller, generating a parameter reading instruction according to the first calibration strategy; Reading the plurality of surround view cameras based on the parameter reading instruction to obtain external parameters of the plurality of surround view cameras; Conduct safety certification on new controllers; After the security authentication is passed, the external parameters are written into the new controller.

4. The method according to claim 3, characterized in that After the step of writing the external parameter into the new controller after the security authentication is passed, the method further includes: After the external parameter is written successfully, reading the fault code status of the multiple surround view cameras; If the fault code state is a reading state, clearing the fault codes of the multiple surround view cameras; After the fault code is cleared, calibration results of the multiple surround view cameras are read.

5. The method according to claim 2, characterized in that When the device to be replaced is a surround view camera, the step of separately calibrating the new surround view camera by using a target according to the second calibration strategy includes: When the device to be replaced is a surround view camera, reading the whole vehicle state of the vehicle according to the second calibration strategy; If the vehicle state satisfies the preset calibration condition, a new surround view camera is started and a calibration routine instruction is generated; Based on the calibration routine instruction, the new surround view camera is calibrated by a target, where the target is arranged at one side of the new surround view camera.

6. The method according to claim 5, characterized in that The step of calibrating the new surround view camera by using a target based on the calibration routine instruction includes: Based on the calibration routine instructions, the new surround view cameras are individually calibrated in sequence by using a target; cyclically sending a read-back instruction to the new surround view camera according to a preset period until a calibration state of the new surround view camera is obtained; When the calibration state is a normal end state, the calibration result of the new surround view camera is read.

7. A surround view camera calibration device, characterized in that: The device is applied to a surround view camera control system, the system includes a plurality of surround view cameras and a controller, and the device includes: A status acquisition module, used to acquire the calibration status of the vehicle's surround view camera; A device replacement module, used for detecting a device type of a device to be replaced of the vehicle in the process of being calibrated when the calibration state is in the completed state; The device calibration module is used to individually calibrate the device to be replaced based on the device type and according to a preset calibration strategy.

8. A surround view camera calibration device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the surround view camera calibration method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the surround view camera calibration method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the surround view camera calibration method according to any one of claims 1 to 6 are implemented.

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