Vehicle calibration system and method, electronic equipment and computer readable storage medium

Abstract

The invention is suitable for the technical field of vehicle calibration, and provides a vehicle calibration system and method, electronic equipment and a computer readable storage medium, and the system comprises a target adjusting device, a target display device which can be fixed on the target adjusting device, a calibration device which is in communication connection with the target display device, a calibration device, and a display device which is in communication connection with the calibration device. The distance measuring device can be fixed on the target adjusting device, and the target display device is used for displaying the vehicle calibration target corresponding to the vehicle sent by the calibration device; the distance measuring device is used for measuring the distance between the target display device and the calibration device; the target adjusting device is used for adjusting the height and / or angle of the target display device; and the calibration device is used for calibrating the auxiliary driving system of the vehicle according to the vehicle calibration target corresponding to the vehicle. The problem that the calibration efficiency of the auxiliary driving system of the vehicle is low can be solved.

Description

Technical Field

[0001] The present application belongs to the technical field of vehicle calibration, and in particular, relates to a vehicle calibration system, method, electronic device and computer-readable storage medium. Background Art

[0002] With the advancement of technology, vehicle assisted driving has developed rapidly. For example, Advanced Driver Assistance Systems (ADAS) can monitor the surrounding environment in real time during vehicle driving through various sensors (such as radars, cameras, etc.) installed on the vehicle, and perform calculations and analyses based on the collected environmental data, thereby achieving vehicle assisted driving (for example, road warning, automatic parking, etc.). In order to ensure the accuracy of the vehicle's ADAS system, it is usually calibrated with a vehicle calibration target before use.

[0003] However, due to the difference in vehicle models, different models of vehicles will correspond to different vehicle calibration targets. Therefore, when calibrating the vehicle through the vehicle calibration target, the required placement of the vehicle calibration target corresponding to different vehicles is also different. At present, the real physical target corresponding to the vehicle is mainly selected manually, and then the placement of the real physical target is determined according to the distance between the vehicle and the real physical target. Since there are many types of real physical targets, frequent replacement of real physical targets also leads to low calibration efficiency of the vehicle assisted driving system. Summary of the invention

[0004] Embodiments of the present application provide a vehicle calibration system, method, electronic device, and computer-readable storage medium, which can solve the problem of low efficiency in the calibration of a vehicle's auxiliary driving system.

[0005] In a first aspect, an embodiment of the present application provides a vehicle calibration system, comprising: a target adjustment device, a target display device that can be fixed on the target adjustment device, a calibration device that is communicatively connected to the target display device, a calibration device, and a distance measuring device that can be fixed on the target adjustment device, wherein:

[0006] The target display device is used to display the vehicle calibration target corresponding to the vehicle sent by the calibration device after being connected to the calibration device for communication;

[0007] The distance measuring device is used to measure the distance between the target display device and the calibration device when the calibration device is fixed at a preset position of the vehicle;

[0008] The target adjustment device is used to adjust the height and / or angle of the target display device when the distance between the target display device and the calibration device meets a preset distance threshold range;

[0009] The calibration device is used to calibrate the auxiliary driving system of the vehicle according to the vehicle calibration target corresponding to the vehicle when the height and / or angle of the target display device meets a preset threshold range.

[0010] In a second aspect, an embodiment of the present application provides a vehicle calibration method, which is applied to a vehicle calibration system, wherein the vehicle calibration system comprises: a target adjustment device, a target display device that can be fixed on the target adjustment device, a calibration device that is communicatively connected to the target display device, a calibration device, and a distance measuring device that can be fixed on the target adjustment device, wherein the method comprises:

[0011] When the calibration device is fixed at a preset position of the vehicle, the distance between the target display device and the calibration device is measured by the distance measuring device; wherein the target display device is used to display the vehicle calibration target corresponding to the vehicle sent by the calibration device after being connected to the calibration device for communication;

[0012] When the distance between the target display device and the calibration device satisfies a preset distance threshold range, adjusting the height and / or angle of the target display device by the target adjustment device;

[0013] When the height and / or angle of the target display device meets a preset threshold range, the assisted driving system of the vehicle is calibrated using the calibration device and the vehicle calibration target corresponding to the vehicle.

[0014] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the vehicle calibration method described in the second aspect when executing the computer program.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle calibration method described in the second aspect are implemented.

[0016] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the vehicle calibration method described in any one of the second aspects above.

[0017] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0018] In an embodiment of the present application, when the calibration device is fixed at a preset position of the vehicle and the distance between the target display device and the calibration device meets the preset distance threshold range, the height and / or angle of the target display device is adjusted by the target adjustment device. Since the above-mentioned calibration device can be fixed at a preset position of the vehicle, the distance from different preset positions of the vehicle to the target display device can be measured by the above-mentioned distance measuring device as the preset position is different, so as to more accurately determine the distance relationship between the vehicle and the above-mentioned target display device; at the same time, the height adjustment and / or angle adjustment of the above-mentioned target display device is performed when the distance between the target display device and the calibration device remains stable, so that the problem of inaccurate height adjustment and / or angle adjustment of the target display device caused by the distance adjustment between the target display device and the calibration device can be avoided, thereby improving the accuracy of the height adjustment and / or angle adjustment of the above-mentioned target display device. Therefore, through the above-mentioned calibration device and the above-mentioned target display device, the positional relationship between the vehicle and the target display device can be more accurately determined, and the calibration accuracy of the vehicle assisted driving system can be improved. In addition, after the above-mentioned target display device is communicatively connected with the calibration device, the target display device can directly display the vehicle calibration target corresponding to the vehicle sent by the calibration device, that is, the real physical target can be replaced by the vehicle calibration target displayed by the target display device, thereby avoiding frequent replacement of the real physical target and improving the calibration efficiency of the vehicle assisted driving system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 is a functional architecture diagram of a vehicle calibration system provided by an embodiment of the present application;

[0021] Figure 2 is a schematic structural diagram of a target adjustment device provided in one embodiment of the present application;

[0022] Figure 3 is a schematic diagram of horizontal alignment of a target display device and a vehicle provided by an embodiment of the present application;

[0023] Figure 4 is a schematic diagram of a method of using an expansion bracket provided in an embodiment of the present application;

[0024] Figure 5is a flow chart of a vehicle calibration method provided in an embodiment of the present application;

[0025] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0027] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0028] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0029] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0030] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0031] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0032] The vehicle's assisted driving system (such as ADAS system) collects data in real time through various sensors. During the use of the sensors, the sensors may deviate due to long-term use of the sensors or vehicle bumps, which makes the collected data inaccurate and seriously affects the accuracy of the vehicle's assisted driving system. In order to ensure the accuracy of the vehicle's assisted driving system (such as ADAS system), it needs to be calibrated frequently.

[0033] At present, the vehicle's assisted driving system is mainly calibrated through real physical targets, which specifically includes: first selecting a suitable real physical target based on vehicle information (such as vehicle brand, model, etc.), then fixing it on a fixed device, moving the fixed device to the front of the vehicle, and when the distance between the vehicle and the fixed device meets the requirements, calibrating the vehicle's assisted driving system based on the real physical target on the fixed device.

[0034] However, in the above method, it is often necessary to manually determine the placement of the real physical target. Since the positional relationship between the vehicle and the real physical target is difficult to accurately determine, the placement of the real physical target often deviates and cannot meet the calibration requirements, affecting the accuracy of the calibration of the vehicle assisted driving system. In addition, due to differences in vehicle models, different vehicle assisted driving systems correspond to different real physical targets. When calibrating different vehicles, the real physical targets need to be frequently replaced, resulting in low calibration efficiency.

[0035] In order to improve the accuracy and efficiency of the calibration of the vehicle assisted driving system, an embodiment of the present application provides a vehicle calibration system. In the system, it includes: when the calibration device is fixed at a preset position of the vehicle, the distance between the target display device and the calibration device is measured by a distance measuring device, wherein the target display device is used to display the vehicle calibration target corresponding to the vehicle sent by the calibration device after being connected to the calibration device for communication; then, when the distance between the target display device and the calibration device meets the preset distance threshold range, the height and / or angle of the target display device is adjusted by the target adjustment device; finally, when the height and / or angle of the target display device meets the preset threshold range, the vehicle assisted driving system is calibrated using the calibration device and the vehicle calibration target corresponding to the vehicle.

[0036] The following describes the nuclear power plant check valve sealing status detection system provided by the embodiment of the present application in conjunction with the accompanying drawings.

[0037] Figure 1 The functional architecture diagram of a vehicle calibration system provided by an embodiment of the present application is shown. In this embodiment, the vehicle calibration system 1 includes: a target adjustment device 11, a target display device 12 that can be fixed on the target adjustment device 11, a calibration device 13 that is communicatively connected to the target display device 12, a calibration device 14, and a distance measuring device 15 that can be fixed on the target adjustment device 11, which are described in detail as follows:

[0038] The target display device 12 is used to display the vehicle calibration target corresponding to the vehicle sent by the calibration device 13 after being communicatively connected with the calibration device 13 .

[0039] The target display device 12 may be an electronic screen for displaying images. The calibration device 13 may be a terminal device installed with vehicle assisted driving calibration software, and the terminal device may include a mobile phone, a computer, a tablet, a vehicle calibration dedicated terminal, etc. The vehicle calibration target refers to a target image used for vehicle calibration.

[0040] Specifically, the images of vehicle calibration targets of different types of vehicles can be pre-stored in the calibration device 13. When the vehicle needs to be calibrated, the target display device 12 can communicate with the calibration device 13 through a preset communication connection method. After the communication connection is completed, the target display device 12 can receive and display the image of the vehicle calibration target corresponding to the vehicle sent by the calibration device 13, so that the vehicle calibration target corresponding to the vehicle can be directly displayed through the target display device 12, avoiding frequent replacement of real physical targets. Optionally, the preset communication connection method can include one of a wired connection, a Bluetooth connection, a Wi-Fi connection, etc.

[0041] The distance measuring device 15 is used to measure the distance between the target display device 12 and the calibration device 14 when the calibration device 14 is fixed at a preset position of the vehicle.

[0042] The distance measuring device 15 may be a laser distance measuring device, an infrared distance measuring device, etc. The calibration device 14 may include at least one of a movable distance measuring panel, a distance measuring panel that can be fixed on the vehicle (e.g., a wheel clamp that can be fixed on the wheel of the vehicle), etc. The preset position of the vehicle may include at least one of the following: the front of the vehicle, the front wheel of the vehicle, the rear wheel of the vehicle, etc.

[0043] Specifically, assuming that the above-mentioned distance measuring device 15 is a laser rangefinder, and the above-mentioned calibration device 14 is a movable distance measuring panel, when measuring the distance from the front of the vehicle to the target display device 12, the distance measuring panel can be placed in front of the vehicle so that it is close to the front of the vehicle (or bumper) and parallel to the vehicle, and the above-mentioned laser rangefinder is installed on the above-mentioned target adjustment device 11. The laser rangefinder is turned on and the laser is irradiated on the distance measuring panel, and the distance between the front of the vehicle and the target display device 12 can be measured by the laser rangefinder.

[0044] In the embodiment of the present application, since the above-mentioned calibration device 14 can be placed at different preset positions, and the above-mentioned distance measuring device 15 can be fixed on the target adjustment device 11, the distance from different preset positions of the vehicle to the target display device 12 can be directly measured through the above-mentioned calibration device 14 and the above-mentioned distance measuring device 15.

[0045] The target adjustment device 11 is used to adjust the height and / or angle of the target display device 12 when the distance between the target display device 12 and the calibration device 14 meets a preset distance threshold range.

[0046] The target adjustment device 11 may be an adjustable bracket including a base, and the base includes moving wheels.

[0047] The target display device 12 and the calibration device 14 may be mounted on the adjustable bracket, and the height and / or angle of the target display device 12 and / or the calibration device 14 may be adjusted by the adjustable bracket.

[0048] Specifically, the distance between the target display device 12 and the calibration device 14 can be adjusted by the moving wheel of the target adjustment device 11. When the distance between the target display device 12 and the calibration device 14 meets the preset distance threshold range, the moving wheel is locked, and then the height and / or angle of the target display device 12 are adjusted by the adjustable bracket until the height and / or angle of the target display device 12 meets the preset threshold range. Optionally, the preset threshold range may include a height threshold range and / or an angle threshold range, and the height may be determined by a height measuring instrument to determine whether it meets the preset height threshold range, and the angle may be determined by a level (such as a level bubble, etc.) to determine whether it meets the preset angle threshold range.

[0049] The calibration device 13 is used to calibrate the auxiliary driving system of the vehicle according to the vehicle calibration target corresponding to the vehicle when the height and / or angle of the target display device 12 meets a preset threshold range.

[0050] The assisted driving system of the above-mentioned vehicle includes at least one of the following: Lane Departure Warning System (LDW), Adaptive Cruise Control (ACC), Berkeley Software Distribution (BSD), Lane Keeping Assist System (LKA), etc. Since the above-mentioned assisted driving system performs assisted driving through different sensors (such as cameras, radars, etc.), the above-mentioned vehicle calibration target may include at least one of the following corresponding to different assisted driving systems: a calibration target for calibrating a camera (such as an LDW target), a calibration target for calibrating a radar (such as an ACC radar target), etc.

[0051] Specifically, when the height and / or angle of the target display device 12 meets the preset threshold range, the calibration device 13 calibrates the vehicle's assisted driving system through the vehicle calibration target corresponding to the vehicle to obtain a calibration result, for example, the calibration result includes a successful calibration or a failed calibration. When the calibration result is a failed calibration, the calibration device 13 may prompt the user to readjust the distance, height, etc. of the target display device 12, or prompt the user to manually adjust the sensor position. In addition, the calibration device 13 may also generate and store a calibration report based on the calibration results, so that each calibration can be traced back to improve the accuracy of the calibration of the vehicle's assisted driving system.

[0052] In an embodiment of the present application, when the calibration device is fixed at a preset position of the vehicle and the distance between the target display device and the calibration device meets the preset distance threshold range, the height and / or angle of the target display device is adjusted by the target adjustment device. Since the above-mentioned calibration device can be fixed at a preset position of the vehicle, the distance from different preset positions of the vehicle to the target display device can be measured by the above-mentioned distance measuring device as the preset position is different, so as to more accurately determine the distance relationship between the vehicle and the above-mentioned target display device; at the same time, the height adjustment and / or angle adjustment of the above-mentioned target display device is performed when the distance between the target display device and the calibration device remains stable, so that the problem of inaccurate height adjustment and / or angle adjustment of the target display device caused by the distance adjustment between the target display device and the calibration device can be avoided, thereby improving the accuracy of the height adjustment and / or angle adjustment of the above-mentioned target display device. Therefore, through the above-mentioned calibration device and the above-mentioned target display device, the positional relationship between the vehicle and the target display device can be more accurately determined, and the calibration accuracy of the vehicle assisted driving system can be improved. In addition, after the above-mentioned target display device is communicatively connected with the calibration device, the target display device can directly display the vehicle calibration target corresponding to the vehicle sent by the calibration device, that is, the real physical target can be replaced by the vehicle calibration target displayed by the target display device, thereby avoiding frequent replacement of the real physical target and improving the calibration efficiency of the vehicle assisted driving system.

[0053] In some embodiments, the calibration device 13 further includes:

[0054] A vehicle connection module, used for establishing a communication connection with the above-mentioned vehicle;

[0055] a target determination module, for determining a vehicle calibration target corresponding to the vehicle when the vehicle connection module is in communication connection with the vehicle, and sending the determined vehicle calibration target to a target display device in communication connection with the calibration device;

[0056] The vehicle information display module is used to display the vehicle information of the above-mentioned vehicle and display the vehicle calibration result of the above-mentioned vehicle.

[0057] Specifically, when calibrating the vehicle's assisted driving system through the above-mentioned calibration device 13, the above-mentioned vehicle connection module can first be used to communicate with the vehicle's vehicle-mounted system. After the communication connection is completed, the vehicle information of the above-mentioned vehicle is displayed through the above-mentioned vehicle information display module, and then the above-mentioned target determination module can determine the vehicle calibration target corresponding to the vehicle based on the above-mentioned vehicle information and / or the instructions input by the user, and send the determined above-mentioned vehicle calibration target to the target display device 12 that is communicatively connected to the calibration device 13. After the calibration is completed, the above-mentioned vehicle information display module can display the vehicle calibration result of the vehicle.

[0058] The above vehicle information may include at least one of the following: manufacturer, vehicle model, sensor parameters, and auxiliary driving system included in the vehicle.

[0059] In the embodiment of the present application, the calibration device 13 can obtain the vehicle information of the vehicle by communicating with the vehicle, and then more accurately determine the vehicle calibration target corresponding to the vehicle according to the vehicle information and / or the instruction input by the user. In addition, the calibration device 13 can intuitively reflect the vehicle information and the vehicle calibration result, which can intuitively feedback the calibration process and improve the vehicle calibration experience.

[0060] In some embodiments, when determining the vehicle calibration target corresponding to the vehicle, the target determination module includes:

[0061] A first target determination submodule, configured to determine a vehicle calibration target corresponding to the vehicle according to an instruction input by a user; the instruction input by the user includes a target identifier of the vehicle calibration target;

[0062] or,

[0063] The second target determination submodule is used to determine the vehicle calibration target corresponding to the vehicle according to the vehicle information of the vehicle.

[0064] The target identifier is used to uniquely identify the vehicle calibration target.

[0065] Specifically, when the vehicle calibration is performed by the calibration device, the user can input an instruction to the calibration device through an input device (such as a keyboard, a mouse, a touch screen, etc.), and the instruction can include a target identifier, so as to quickly find the corresponding vehicle calibration target according to the target identifier. Alternatively, a target matching library of vehicle information and vehicle calibration targets can be pre-built, and the target matching library includes the corresponding relationship between vehicle information and vehicle calibration targets of different vehicles. After obtaining the vehicle information of the vehicle, the vehicle calibration target corresponding to the vehicle information is matched from the target matching library.

[0066] In the embodiment of the present application, the above-mentioned calibration device can determine the vehicle calibration target of the vehicle in different ways, thereby improving the accuracy and flexibility of determining the vehicle calibration target.

[0067] In some embodiments, in order to align the target adjustment device 11 with the center of the vehicle to improve the accuracy of vehicle calibration, the target adjustment device 11 includes a height adjustment bracket, a first center auxiliary device, a crossbeam, and an angle adjustment device, wherein:

[0068] The crossbeam is used to fix the distance measuring device through a slidable device, and when the crossbeam is horizontally mounted on the height adjustment bracket, the horizontal position of the distance measuring device is adjusted through the slidable device;

[0069] The height adjustment bracket is used to fix the target display device and the beam through a movable device, and to adjust the height of the beam and / or the target display device through the movable device;

[0070] The first center auxiliary device is used to align the target adjustment device and the center axis of the vehicle;

[0071] The angle adjustment device is used to adjust the angle of the target display device and / or the beam.

[0072] The first center auxiliary device may be a centrally mounted laser, infrared transmitter, etc. fixed on a height adjustment bracket or a crossbeam, and the central axis of the first center auxiliary device is aligned with the central axis of the height adjustment bracket and the crossbeam.

[0073] Specifically, assuming that the above-mentioned first center auxiliary device is a central laser and is installed on a height adjustment bracket, after the upper target display device and the crossbeam are installed on the above-mentioned height adjustment bracket, first turn on the central laser, place the target adjustment device to the front of the vehicle, and move the above-mentioned target adjustment device until the laser line of the central laser is irradiated on the center of the vehicle (or the center of the vehicle logo), so that the entire target adjustment device can be aligned with the center of the vehicle. Of course, the above-mentioned first center auxiliary device can also be installed at the center of the crossbeam, and the method of center alignment is similar to that of installing the first center auxiliary device on the height adjustment bracket, which will not be repeated here. At the same time, the above-mentioned crossbeam and / or the above-mentioned target are fixed to the height adjustment bracket by a movable device, so that the height of the crossbeam and / or the target can be easily adjusted. The above-mentioned distance measuring device is installed on the crossbeam by a sliding device, and the distance measuring device can also be moved to different horizontal positions by the sliding device.

[0074] It should also be noted that when any device such as the central laser, the target display device and the crossbeam is installed on the height adjustment bracket, a level (such as a bubble level) can be used to verify whether it is level, so as to ensure that each device can be horizontally aligned. In addition, when the angle of the target display device and / or the crossbeam is adjusted by the angle adjustment device, a level (such as a bubble level) can also be used to determine whether the angle adjustment meets the preset requirements.

[0075] In order to better illustrate the above target adjustment device, Figure 2 For explanation. Figure 2As shown, the first auxiliary center device, the target display device and the crossbeam are installed on the height adjustment bracket, and the central axes of the first auxiliary center device, the target display device and the crossbeam are aligned, wherein the first auxiliary center device is installed above the target display device, and the crossbeam is installed below the target display device, and the bottom of the height adjustment bracket includes a base and a moving wheel, and the base may include a plurality of angle adjustment devices, and the angle adjustment devices adjust the angle of the base by rotating. In addition, the angle adjustment device may be provided at the connection between the first auxiliary center device and the height adjustment bracket, the connection between the target display device and the height adjustment bracket, and the connection between the crossbeam and the height adjustment bracket.

[0076] In some embodiments, in order to improve the accuracy of distance measurement, the calibration device includes: a fixed calibration device and a mobile calibration device, wherein:

[0077] The mobile calibration device is used to be placed at the position to be measured on the vehicle; the position to be measured is a position that can be changed during calibration;

[0078] The above-mentioned fixed calibration device is used to be fixed at a specified position of the above-mentioned vehicle; the above-mentioned specified position is a position that cannot be changed during calibration.

[0079] The position to be measured is a position that the vehicle needs to measure, and the designated position is a position that assists in measuring the position to be measured.

[0080] Specifically, when the distance between the calibration device and the target display device is measured by the distance measuring device, if the target display device is not aligned with the vehicle (for example, horizontally aligned), the distance measurement may be inaccurate. Therefore, the calibration device may include a fixed calibration device and a mobile calibration device, wherein the mobile calibration device may be a movable distance measuring panel, which is used to be placed at the position to be measured or near the position to be measured of the vehicle. For example, the mobile calibration device may be placed at a position close to the bumper on the front side of the vehicle, near the center of the front wheel and perpendicular to the front wheel; the fixed calibration device may be a distance measuring panel that can be fixed at a specified position of the vehicle. For example, assuming that the specified position is the rear wheel, the fixed calibration device may be a wheel clamp including a distance measuring panel, and the wheel clamp is installed on the rear wheel.

[0081] In the embodiment of the present application, since the above-mentioned designated position is a position that cannot be changed during calibration, that is, the distance between the designated position and the target display device can be accurately determined, it means that when measuring the distance from the above-mentioned position to be measured to the target display device, the distance between the designated position and the target display device can be used as a reference benchmark to ensure the alignment of the target display device and the vehicle, thereby improving the accuracy of measuring the distance from the position to be measured to the target display device.

[0082] In some embodiments, the distance measuring device comprises: a first distance measuring device and a second distance measuring device, wherein:

[0083] The first distance measuring device is used to measure the distance between the mobile calibration device and the target display device;

[0084] The second distance measuring device is used to measure the distance between the fixed calibration device and the target display device.

[0085] The first distance measuring device corresponds to the mobile calibration device, and the second distance measuring device corresponds to the fixed calibration device. Exemplarily, the first distance measuring device and the second distance measuring device can be one of a laser rangefinder, an infrared rangefinder, and the like.

[0086] In some embodiments, in order to make the target adjustment device horizontally aligned with the vehicle, thereby improving the accuracy of the distance measurement between the target adjustment device and the vehicle, the fixed calibration device includes at least two fixed calibration modules, and the second distance measuring device includes at least two laser distance meters, wherein the at least two laser distance meters are installed on the crossbeam, and the fixed calibration modules correspond to the laser distance meters one by one. When measuring the distance between the target display device and the calibration device, the distance measuring device includes:

[0087] A first position measurement module, configured to measure the distance between the mobile calibration device and the target display device by using the first distance measuring device, while aligning the target adjustment device and the central axis of the vehicle by the first center auxiliary device, to obtain a first distance;

[0088] A second position measurement module is used to measure the distance from the fixed calibration module corresponding to any of the laser rangefinders to the target display device;

[0089] The third position measurement module is used to measure the distance between the mobile calibration device and the target display device using the first distance measuring device while keeping the distance measured by the laser rangefinder consistent, so as to obtain a second distance.

[0090] Among them, the above-mentioned fixed calibration module can be a wheel clamp.

[0091] Specifically, in the case where the target adjustment device and the center axis of the vehicle are aligned by the first center auxiliary device, assuming that the fixed calibration device includes two wheel clamps and the second distance measuring device includes two laser rangefinders, the two wheel clamps can be symmetrically installed on the two rear wheels of the vehicle, and the angles of the two wheel clamps can be adjusted by using a level meter, and the corresponding two laser rangefinders can be symmetrically installed on both sides of the crossbeam, so that the laser rays of the two laser rangefinders can be respectively irradiated on the panels of the corresponding wheel clamps; then the mobile calibration device (such as a distance measuring panel) is placed at the position to be measured on the vehicle, and the first position measurement module will use the first distance measuring device to measure the distance between the mobile calibration device and the target display device to obtain a first distance; the second position measurement module will use each laser rangefinder to measure the distance from the wheel clamp corresponding to the laser rangefinder to the target display device; finally, when the distances measured by the two laser rangefinders are consistent (the two distances are the same or the difference between the two distances is within a preset range), that is, when the target adjustment device and the vehicle are horizontally aligned at this time, the third position measurement module can measure the distance between the mobile calibration device and the target display device according to the first distance measuring device to obtain a second distance.

[0092] In some embodiments, the target adjustment device further includes:

[0093] The distance calibration module adjusts the target display device through the target adjustment device while keeping the distances measured by all the above-mentioned laser rangefinders consistent, until the second distance is consistent with the first distance, and determines that the distance between the target display device and the calibration device meets a preset distance threshold range.

[0094] Specifically, after the calibration device and the vehicle are communicatively connected, the calibration distance corresponding to the vehicle can be displayed. The calibration distance is the distance that the vehicle and the target display device need to meet during calibration. The above-mentioned preset distance threshold range is a numerical range determined according to the above-mentioned calibration distance. For example, assuming that the calibration distance is Lmm, the above-mentioned preset distance threshold range can be (L±1)mm. While keeping the central axis of the target adjustment device aligned with the central axis of the vehicle, the target adjustment bracket can be moved forward and backward to make the first distance measured by the first distance measuring device consistent with the calibration distance (the same or within a preset distance threshold range), and then the position of the target display device is fixed by locking the moving wheel, and the laser rangefinders on both sides of the beam are turned on and moved to irradiate the laser rays on the wheel clamp panel. The target adjustment bracket is adjusted to make the values ​​of the laser rangefinders on both sides consistent (the same or the difference is within a preset range), that is, the target display device and the vehicle are horizontally aligned, and it is checked whether the second distance measured by the first distance measuring device is consistent with the first distance. If they are consistent, it indicates that the distance between the target display device and the calibration device meets the preset distance threshold range. If they are inconsistent, the target display device can be adjusted by the target adjustment device while keeping the values ​​of the laser rangefinders on both sides consistent until the measured second distance is consistent with the first distance.

[0095] It should be noted that when the difference between the first distance and the second distance is small, the target adjustment device can be used to fine-tune the angle of the target display device and / or the distance between the target display device and the calibration device to make the second distance consistent with the above-mentioned first distance; and when the difference between the first distance and the second distance is large, in order to make the second distance consistent with the above-mentioned first distance, the moving wheel can be unlocked again to adjust the distance.

[0096] The calibration distance may include the distance between the front of the vehicle and the target display device, the distance between the front wheel and the target display device, the distance between the camera and the target display device, etc.

[0097] In the embodiment of the present application, while keeping the distances measured by all laser rangefinders consistent, the target display device and the vehicle can be horizontally aligned, and then by adjusting the second distance to be consistent with the above-mentioned first distance, the distance between the vehicle and the target display device can be more accurately adjusted to the distance that needs to be met during vehicle calibration.

[0098] In order to better illustrate the above distance calibration module, Figure 3 For explanation. Figure 3As shown, it is assumed that the calibration distance displayed by the calibration device is the distance between the front of the vehicle and the target display device, and the distance value of the calibration distance is 2000mm. The distance measuring panel (i.e., the mobile calibration device) is placed at the front side of the vehicle close to the center of the bumper, two wheel clamps (i.e., the fixed calibration device) are fixed to the two rear wheels, the laser rangefinder 1 (i.e., the first distance measuring device) is installed in the middle of the crossbeam, and the laser rangefinder 2 and the laser rangefinder 3 (i.e., the laser rangefinders corresponding to the wheel clamps) are installed on both sides of the crossbeam. When the central axis of the target display device, the target and the target adjustment device are aligned, the target adjustment device is moved until the distance measured by the laser rangefinder 1 is 2000mm, and then the position of the target display device is fixed by locking the moving wheel, and the laser rangefinder 2 and the laser rangefinder 3 on the crossbeam are turned on and moved so that their laser rays are irradiated on the corresponding wheel clamp panel. The target adjustment bracket is adjusted to make the values ​​of the laser rangefinders on both sides consistent (i.e., L1=L2 in the figure), and check whether the distance measured by the laser rangefinder 1 is 2000mm. If not, the target display device can be adjusted by the target adjustment device while keeping the values ​​of the laser rangefinders on both sides consistent (i.e., L1=L2 in the figure) until the second distance measured is 2000mm. In addition, when the calibration distance is the distance between the front wheel and the target display device, the distance between the camera and the target display device, etc., it is only necessary to move the laser rangefinder 1 (i.e., the first distance measuring device) to the position corresponding to the distance measuring panel, which will not be repeated here.

[0099] In some embodiments, since the radar of some vehicle models is installed at a low position, it may be difficult to accurately align the target display device with the radar, so the target adjustment device further includes: a mounting plate, a radar calibration target and a second center auxiliary device, and the mounting plate includes a laser transmitter, wherein:

[0100] The mounting plate is used to be mounted on the beam, and when the mounting plate moves on the beam, the laser beam emitted by the laser emitter included in the mounting plate aligns the position of the mounting plate and the radar to be tested;

[0101] The second center assist device is used to align the center axis of the mounting plate and the vehicle when the mounting plate is mounted on the cross beam;

[0102] The radar calibration target is used to be assembled on the mounting plate when the laser beam emitted by the laser emitter included in the mounting plate is aligned with the positions of the mounting plate and the radar to be tested, until the mounting plate is adjusted by the target adjustment device so that the laser beam can pass through the center of the radar to be tested or be reflected to the center position of the radar calibration target.

[0103] The mounting plate is provided with a laser transmitter for aligning the radar to be tested and the radar calibration target. The second center auxiliary device can also be a centrally mounted laser. The method for aligning the mounting plate and the central axis of the vehicle is similar to that of the first center auxiliary device, and will not be described in detail here.

[0104] Specifically, it is assumed that the second central auxiliary device is a centrally mounted laser, the radar calibration target is an ACC radar reflector, and the radar to be tested is a radar located at the lower left of the front of the vehicle (ie, a left radar). The mounting plate can be first mounted on the crossbeam so that its centering mark is aligned with the center of the crossbeam, and then the central laser can be mounted on the mounting plate. By turning on the central laser, the target adjustment device is placed in front of the vehicle, and the target adjustment device is moved until the laser line of the central laser is irradiated on the center of the vehicle (or the center of the vehicle logo), thereby aligning the entire target adjustment device with the central axis of the vehicle; then the target adjustment device is horizontally aligned with the vehicle, and the mounting plate is moved on the crossbeam until the laser beam emitted by the laser transmitter of the mounting plate passes through the left radar (for radars with mirrors, the laser beam can pass through the mirror corresponding to the radar, that is, the mirror is required to be used as a reference mark point), thereby aligning the positions of the mounting plate and the radar to be tested. At this time, the central laser can be removed, and the ACC radar transmitting board can be mounted on the mounting plate. The height and / or angle of the target can be adjusted by the target adjustment device so that the laser beam of the mounting plate can pass through the center of the radar to be tested, or, when the radar carries a mirror, the laser beam of the mounting plate can be reflected to the center position of the radar calibration target.

[0105] It should be noted that the method for aligning the target adjustment device with the vehicle horizontally can refer to the step of aligning the target display device with the vehicle horizontally in the above embodiment, which will not be repeated here. The above calibration device can also perform correction of the vehicle auxiliary driving system according to the above radar calibration target.

[0106] In an embodiment of the present application, by installing a mounting plate on a crossbeam and then assembling a radar calibration target on the mounting plate, the position of the radar calibration target can be adjusted through the crossbeam and the mounting plate to adapt to different radar calibration scenarios, thereby improving the flexibility and accuracy of the vehicle assisted driving system calibration.

[0107] In some embodiments, the mounting plate further comprises:

[0108] The target position adjustment device is used to adjust the angle of the above radar calibration target.

[0109] Specifically, the target position adjustment device may be a sliding adjustment device, wherein different positions of the sliding adjustment device may correspond to different angles. For example, assuming that the sliding adjustment device has three sliding positions: position 1, position 2, and position 3, position 1 corresponds to an angle that makes the radar calibration target point upward, position 2 corresponds to an angle that makes the radar calibration target point horizontal, and position 3 corresponds to an angle that makes the radar calibration target point downward.

[0110] In another optional embodiment of the present application, since the size of the vehicle calibration target corresponding to some vehicle models may be large, the target display device cannot fully display the vehicle calibration target. Therefore, the target adjustment device further includes: an expansion bracket, wherein:

[0111] The expansion bracket is used to be installed on the crossbeam and to fix the physical calibration target corresponding to the vehicle;

[0112] The crossbeam is used to fix the expansion bracket through a slidable device, and when the crossbeam is horizontally installed on the height adjustment bracket, the horizontal position of the expansion bracket is adjusted through the slidable device.

[0113] Specifically, one or more extension brackets can be fixed on the above-mentioned crossbeam through a slidable device, and then the physical calibration target corresponding to the above-mentioned vehicle can be fixed by combining one or more extension brackets. The above-mentioned physical calibration target can include at least one of the following real physical targets: a real physical target for calibrating a camera (such as an LDW target), a real physical target for calibrating a radar (such as an ACC radar target), etc. The position (such as height, horizontal position, angle, etc.) of the above-mentioned extension bracket can be adjusted according to the above-mentioned height adjustment bracket, crossbeam, etc. When the physical calibration target corresponding to the above-mentioned vehicle is fixed by the extension bracket and the position of the extension bracket is adjusted, the vehicle assisted driving system can also be corrected according to the above-mentioned calibration device and the physical calibration target corresponding to the above-mentioned vehicle.

[0114] In order to better explain the use of the expansion bracket, the following Figure 4 For explanation, refer to Figure 4 As shown, a larger physical calibration target can be fixed by combining the expansion bracket 1, the expansion bracket 2 and the expansion bracket 3, or a larger physical calibration target can be fixed by combining the expansion bracket 1 and the expansion bracket 3. In addition, when the position of the physical calibration target needs to be fixed on the right front side of the vehicle, the above-mentioned expansion bracket 2 and the expansion bracket 3 can be used to fix the physical calibration target.

[0115] In the embodiment of the present application, by expanding the physical calibration target through the above-mentioned expansion bracket, different vehicle calibration scenarios can be better adapted. At the same time, since the above-mentioned expansion bracket can be fixed on the crossbeam, there is no need to use other additional calibration equipment. All calibration processes can be implemented based on the above-mentioned vehicle calibration system, further improving the utilization efficiency of the above-mentioned vehicle calibration system.

[0116] Corresponding to the vehicle calibration system described in the above embodiment, Figure 5 A flow chart of a vehicle calibration method provided by an embodiment of the present application is shown, which is applied to a vehicle calibration system. The vehicle calibration system includes: a target adjustment device, a target display device that can be fixed on the target adjustment device, a calibration device that is communicatively connected to the target display device, a calibration device, and a distance measuring device that can be fixed on the target adjustment device. The method is described in detail as follows:

[0117] S51, when the calibration device is fixed at a preset position of the vehicle, the distance between the target display device and the calibration device is measured by the distance measuring device; wherein the target display device is used to display the vehicle calibration target corresponding to the vehicle sent by the calibration device after being connected to the calibration device for communication;

[0118] S52, when the distance between the target display device and the calibration device satisfies a preset distance threshold range, adjusting the height and / or angle of the target display device by means of the target adjustment device;

[0119] S53: When the height and / or angle of the target display device meets a preset threshold range, the auxiliary driving system of the vehicle is calibrated using the calibration device and the vehicle calibration target corresponding to the vehicle.

[0120] In an embodiment of the present application, when the calibration device is fixed at a preset position of the vehicle and the distance between the target display device and the calibration device meets the preset distance threshold range, the height and / or angle of the target display device is adjusted by the target adjustment device. Since the above-mentioned calibration device can be fixed at a preset position of the vehicle, the distance from different preset positions of the vehicle to the target display device can be measured by the above-mentioned distance measuring device as the preset position is different, so as to more accurately determine the distance relationship between the vehicle and the above-mentioned target display device; at the same time, the height adjustment and / or angle adjustment of the above-mentioned target display device is performed when the distance between the target display device and the calibration device remains stable, so that the problem of inaccurate height adjustment and / or angle adjustment of the target display device caused by the distance adjustment between the target display device and the calibration device can be avoided, thereby improving the accuracy of the height adjustment and / or angle adjustment of the above-mentioned target display device. Therefore, through the above-mentioned calibration device and the above-mentioned target display device, the positional relationship between the vehicle and the target display device can be more accurately determined, and the calibration accuracy of the vehicle assisted driving system can be improved. In addition, after the above-mentioned target display device is communicatively connected with the calibration device, the target display device can directly display the vehicle calibration target corresponding to the vehicle sent by the calibration device, that is, the real physical target can be replaced by the vehicle calibration target displayed by the target display device, thereby avoiding frequent replacement of the real physical target and improving the calibration efficiency of the vehicle assisted driving system.

[0121] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0122] Figure 6 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Figure 6 As shown, the electronic device 6 of this embodiment includes: at least one processor 60 ( Figure 6 Only one is shown in the figure), a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60. When the processor 60 executes the computer program 62, the steps in any of the method embodiments are implemented.

[0123] The electronic device 6 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The electronic device may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 6 It is only an example of the electronic device 6 and does not constitute a limitation of the electronic device 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include an input sending device, a network access device, a bus, etc.

[0124] The processor 60 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0125] In some embodiments, the memory 61 may be an internal storage unit of the electronic device 6, such as a hard disk or memory of the electronic device 6. The memory 61 may also be an external storage device of the electronic device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the electronic device 6. The memory 61 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been sent or is to be sent.

[0126] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the functional units and modules is used as an example. In practical applications, the function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0127] An embodiment of the present application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the method embodiments when executing the computer program.

[0128] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the various method embodiments can be implemented.

[0129] An embodiment of the present application provides a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the various method embodiments when executing the computer program product.

[0130] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / electronic device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0131] In the embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0132] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0133] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0134] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0135] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle calibration system, characterized in that: include: A target adjustment device, a target display device that can be fixed on the target adjustment device, a calibration device that is communicatively connected to the target display device, a calibration device, and a distance measuring device that can be fixed on the target adjustment device, wherein: The target display device is used to display the vehicle calibration target corresponding to the vehicle sent by the calibration device after being connected to the calibration device for communication; The distance measuring device is used to measure the distance between the target display device and the calibration device when the calibration device is fixed at a preset position of the vehicle; The target adjustment device is used to adjust the height and / or angle of the target display device when the distance between the target display device and the calibration device meets a preset distance threshold range; The calibration device is used to calibrate the auxiliary driving system of the vehicle according to the vehicle calibration target corresponding to the vehicle when the height and / or angle of the target display device meets a preset threshold range.

2. The vehicle calibration system according to claim 1, characterized in that The calibration device comprises: A vehicle connection module, used for establishing a communication connection with the vehicle; a target determination module, configured to determine a vehicle calibration target corresponding to the vehicle when the vehicle connection module is in communication connection with the vehicle, and send the determined vehicle calibration target to a target display device in communication connection with the calibration device; The vehicle information display module is used to display the vehicle information of the vehicle and the vehicle calibration result of the vehicle.

3. The vehicle calibration system according to claim 2, characterized in that: When determining the vehicle calibration target corresponding to the vehicle, the target determination module includes: A first target determination submodule, configured to determine a vehicle calibration target corresponding to the vehicle according to an instruction input by a user; the instruction input by the user includes a target identifier of the vehicle calibration target; or, The second target determination submodule is used to determine a vehicle calibration target corresponding to the vehicle according to the vehicle information of the vehicle.

4. The vehicle calibration system according to any one of claims 1 to 3, characterized in that: The target adjustment device includes a height adjustment bracket, a first center auxiliary device, a crossbeam, and an angle adjustment device, wherein: The crossbeam is used to fix the distance measuring device through a slidable device, and when the crossbeam is horizontally mounted on the height adjustment bracket, the horizontal position of the distance measuring device is adjusted through the slidable device; The height adjustment bracket is used to fix the target display device and the crossbeam through a movable device, and to adjust the height of the crossbeam and / or the target display device through the movable device; The first center auxiliary device is used to align the target adjustment device and the center axis of the vehicle; The angle adjustment device is used to adjust the angle of the target display device and / or the beam.

5. The vehicle calibration system according to claim 4, characterized in that: The calibration device comprises: a fixed calibration device and a mobile calibration device, wherein: The mobile calibration device is used to be placed at a position to be measured on the vehicle; the position to be measured is a position that can be changed during calibration; The fixed calibration device is used to be fixed at a specified position of the vehicle; the specified position is a position that cannot be changed during calibration.

6. The vehicle calibration system according to claim 5, characterized in that: The distance measuring device comprises: a first distance measuring device and a second distance measuring device, wherein: The first distance measuring device is used to measure the distance between the mobile calibration device and the target display device; The second distance measuring device is used to measure the distance between the fixed calibration device and the target display device.

7. The vehicle calibration system according to claim 6, characterized in that: The fixed calibration device includes at least two fixed calibration modules, and the second distance measuring device includes at least two laser distance measuring devices, wherein the at least two laser distance measuring devices are mounted on the crossbeam, and the fixed calibration modules correspond to the laser distance measuring devices one by one. When the distance measuring device measures the distance between the target display device and the calibration device, it includes: A first position measurement module, configured to measure the distance between the mobile calibration device and the target display device by using the first distance measuring device to obtain a first distance when the target adjustment device and the central axis of the vehicle are aligned by the first center auxiliary device; A second position measurement module is used to measure the distance from the fixed calibration module corresponding to any one of the laser rangefinders to the target display device; The third position measurement module is used to measure the distance between the mobile calibration device and the target display device using the first distance measuring device while keeping the distances measured by all laser rangefinders consistent, so as to obtain a second distance.

8. The vehicle calibration system according to any one of claims 5 to 7, characterized in that: The target adjustment device further comprises: a mounting plate, a radar calibration target and a second center auxiliary device, wherein the mounting plate comprises a laser transmitter, wherein: The mounting plate is used to be mounted on the crossbeam, and when moving on the crossbeam, the laser beam emitted by the laser emitter included in the mounting plate aligns the position of the mounting plate and the radar to be tested; The second centering auxiliary device is used to align the center axis of the mounting plate and the vehicle when the mounting plate is mounted on the crossbeam; The radar calibration target is used to be assembled on the mounting plate when the laser beam emitted by the laser transmitter included in the mounting plate is aligned with the positions of the mounting plate and the radar to be tested, until the mounting plate is adjusted by the target adjustment device so that the laser beam can pass through the center of the radar to be tested or be reflected to the center position of the radar calibration target.

9. The vehicle calibration system according to any one of claims 5 to 7, characterized in that: The target adjustment device further includes: an expansion bracket, wherein: The expansion bracket is used to be mounted on the crossbeam and to fix a physical calibration target corresponding to the vehicle; The crossbeam is used to fix the expansion bracket through a slidable device, and when the crossbeam is horizontally installed on the height adjustment bracket, the horizontal position of the expansion bracket is adjusted through the slidable device.

10. A vehicle calibration method, characterized in that: Applied to a vehicle calibration system, the vehicle calibration system comprises: a target adjustment device, a target display device that can be fixed on the target adjustment device, a calibration device that is communicatively connected to the target display device, a calibration device, and a distance measuring device that can be fixed on the target adjustment device, the method comprises: When the calibration device is fixed at a preset position of the vehicle, the distance between the target display device and the calibration device is measured by the distance measuring device; wherein the target display device is used to display the vehicle calibration target corresponding to the vehicle sent by the calibration device after being connected to the calibration device for communication; When the distance between the target display device and the calibration device satisfies a preset distance threshold range, adjusting the height and / or angle of the target display device by the target adjustment device; When the height and / or angle of the target display device meets a preset threshold range, the assisted driving system of the vehicle is calibrated using the calibration device and the vehicle calibration target corresponding to the vehicle.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to claim 10 is implemented.

12. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to claim 10 is implemented.

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