A target calibration method for an automobile driving assistance system detection device

Abstract

The application provides a target calibration method for a vehicle driving assistance system detection device, which comprises the following steps: measuring target plate parameters of a target, such as flatness, yaw angle, pitch angle, roll angle, target center point position and movement deviation, and judging whether the values of the parameters are within a preset threshold range; if the value of a certain parameter exceeds the threshold, the target to be calibrated is adjusted until the values of all the parameters are within the preset threshold range. Then, for the same vehicle, calibration detection of the driving assistance system is performed, and during the calibration detection, a reference target and the target to be calibrated are respectively used for calibration detection on the driving assistance system detection device. The calibration results obtained by using different targets are compared to ensure that the deviation of the calibration results is within the preset threshold range. The method can effectively avoid calibration deviation or even failure of the driving assistance system, and can early warn whether the target of the driving assistance detection device exceeds the standard requirement.

Description

Technical Field

[0001] This invention relates to the field of automotive driver assistance system testing technology, and more specifically to a target calibration method for automotive driver assistance system testing equipment. Background Technology

[0002] As cars become increasingly intelligent, driver assistance systems (ADAS) have become standard equipment, and the functionality and quality of these systems have become a key concern for users. ADAS primarily includes features such as adaptive cruise control and multi-function cameras. Due to installation deviations, ADAS systems require initial calibration; otherwise, the vehicle may deviate from its lane during actual driving. For example, for adaptive cruise control, based on a 100-meter vehicle distance calculation according to traffic laws, an installation deviation exceeding approximately 1.07 degrees will result in a deviation of 1.875 meters, roughly half the 3.75-meter calibration width on highways. Under extreme conditions, this could cause the vehicle to navigate into an adjacent lane. Therefore, ADAS calibration plays a decisive role in safety performance, and the characteristics (flatness and positional accuracy) of the calibration target directly determine the calibration accuracy of the ADAS. Current target calibration methods lack unified standards and are unsystematic, posing a risk of failure.

[0003] In view of the above problems, the inventors of this invention have finally obtained this invention after a long period of research and practice. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a target calibration method for a vehicle driving assistance system testing device. This method can quickly measure and verify whether the calibration target of the driving assistance system exceeds the accuracy requirements, and can also provide early warning of the target's over-limit status, thus preventing potential failure of driving assistance functions.

[0005] The technical solution adopted in this invention is as follows:

[0006] A target calibration method for an automotive driver assistance system testing device is provided, comprising: a precise calibration method, which includes the following steps:

[0007] Step 1: Establish a coordinate system based on the vehicle after it has been aligned on the static template;

[0008] Step 2: Within the coordinate system described above, measure the target plate parameters of the target to be verified: flatness, yaw angle, pitch angle, roll angle, target center point position, and movement deviation, and determine whether the values ​​of each parameter are within the preset threshold range; if all values ​​are within the threshold range, proceed to Step 3; if the value of a certain parameter exceeds the threshold, adjust the target to be verified until the values ​​of all parameters are within the preset threshold range, and then proceed to Step 3.

[0009] Step 3: For the same vehicle, perform calibration testing on the driver assistance system. During calibration testing, the driver assistance system testing equipment uses both a reference target and the target to be calibrated for calibration testing. Compare the calibration results using different targets. If the deviation of the calibration result is within the preset threshold range, then the target to be calibrated is qualified; otherwise, repeat steps 1 and 2. The reference target is a target with qualified accuracy.

[0010] Furthermore, this target verification method also includes a coarse verification method, which comprises the following steps:

[0011] Install X and Y level instruments with an accuracy of not less than 0.6 mm / m at the top and bottom of the target, and install a laser emitter on the static sample frame so that the laser emitter spot coincides with the positioning point on the target.

[0012] If the level deviation is no more than 0.05° and the deviation between the laser point and the target positioning point is no more than 1mm, the target is qualified; if the deviation exceeds the standard, the target shall be verified by the aforementioned precise verification method.

[0013] Furthermore, for the targets of the driving assistance system testing equipment, the frequency of calibration using the precise calibration method is once a year, and the frequency of calibration using the coarse calibration method is once a day.

[0014] Furthermore, in step one, the coordinate system uses the width direction of the vehicle as the Y-axis, the length direction of the vehicle as the X-axis, and the height direction of the vehicle as the Z-axis.

[0015] Furthermore, in step two,

[0016] The flatness parameter is the curvature deviation of the target plate;

[0017] The yaw angle parameter is the angle at which the target plate rotates around the Z-axis;

[0018] The pitch angle parameter is the angle by which the target plate rotates around the Y-axis;

[0019] The roll angle parameter is the angle at which the target plate rotates around the X-axis;

[0020] The target center point position parameter is the offset of the target plate's center point in the Y-axis direction;

[0021] The movement deviation parameters are the Y-axis and Z-axis deviations of the target plate after it has been raised and lowered.

[0022] Furthermore, the flatness parameter, yaw angle parameter, pitch angle parameter, and roll angle parameter are measured by selecting multiple reference points on the target plate and measuring the reference points; the movement deviation parameter is measured by selecting a reference point on the target plate, measuring the Y-axis and Z-axis deviations of the reference point after the target plate is raised and lowered, and repeating the raising and lowering and measurement at least 25 times.

[0023] Furthermore, the threshold range of the flatness parameter value is: curvature deviation not exceeding 3mm in the Y direction and not exceeding 1mm in the Z direction;

[0024] The threshold range for the yaw angle parameter is: the angle of rotation of the target plate around the Z-axis does not exceed ±0.05 degrees;

[0025] The threshold range for the pitch angle parameter is: the angle of rotation of the target plate around the Y-axis does not exceed ±0.05 degrees;

[0026] The threshold range for the roll angle parameter value is: the angle of rotation of the target plate around the X-axis does not exceed ±0.05 degrees;

[0027] The threshold range for the target center point position parameter is: the offset of the target plate center point in the Y-axis direction does not exceed ±1mm;

[0028] The threshold range of the movement deviation parameter value is: after each target plate rises and falls, the Y and Z deviations of the positioning point do not exceed ±0.5mm.

[0029] Furthermore, for the measurement reference points of the curvature deviation in the Y direction, three groups of three reference points are selected, with the Z-axis coordinate values ​​of the reference points in each group being the same; for the measurement reference points of the curvature deviation in the Z direction, three groups of three reference points are selected, with the Y-axis coordinate values ​​of the reference points in each group being the same.

[0030] The reference points for measuring the yaw angle parameter are selected in 3 groups, with 3 points in each group. The Z-axis coordinate values ​​of the reference points in each group are the same. The angle between the X-axis coordinate deviation and the Y-axis of each reference point is measured.

[0031] The reference points for measuring the pitch angle parameter are selected in 3 groups, with 3 points in each group. The Y-axis coordinate values ​​of the reference points in each group are the same. The angle between the X-axis coordinate deviation and the Z-axis of each reference point is measured.

[0032] Three sets of reference points were selected for measuring the roll angle parameter, with three points in each set. The Z-axis coordinate values ​​of the reference points in each set were the same, and the angle between the Z-axis coordinate deviation and the Y-axis of each reference point was measured.

[0033] Furthermore, in step three, the calibration results are the yaw angle, pitch angle, and roll angle of the driving assistance system.

[0034] Furthermore, in step three, the threshold range of the deviation of the calibration result is: the yaw angle deviation of the driving assistance system is less than 0.3°, the pitch angle deviation of the driving assistance system is less than 0.7°, and the roll angle deviation of the driving assistance system is less than 0.3°.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0036] This invention proposes a more precise and controllable calibration and verification method for the target calibration of driving assistance testing equipment, which can effectively avoid calibration deviations or even failures of driving assistance systems. By combining the annual precise calibration method with daily coarse calibration, it can provide early warnings of whether the target of the driving assistance testing equipment exceeds the standard requirements. Attached Figure Description

[0037] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 A schematic diagram of the target verification method according to an embodiment of the present invention is shown.

[0039] Figure 2 A schematic diagram of coordinate system construction in the target verification method according to an embodiment of the present invention is shown;

[0040] Figure 3 A schematic diagram of the coordinate system of the target plate according to an embodiment of the present invention is shown;

[0041] Figure 4a A schematic diagram showing the lateral (Y-direction) curvature deviation of the flatness parameter of the target plate according to an embodiment of the present invention is shown;

[0042] Figure 4b A schematic diagram of the longitudinal (Z-direction) curvature deviation of the flatness parameter of the target plate according to an embodiment of the present invention is shown. Detailed Implementation

[0043] The above-mentioned and other technical features and advantages of the present invention will be described in more detail below with reference to the accompanying drawings.

[0044] like Figure 1As shown in this embodiment, the target calibration method for the vehicle driving assistance system testing equipment includes: a precise calibration method (annual calibration) and a coarse calibration method (daily calibration). The precise calibration method is preferably performed once a year, and the coarse calibration method is preferably performed once a day. Combining annual calibration and daily calibration can provide early warning of whether the target of the driving assistance testing equipment exceeds the standard requirements.

[0045] In one specific embodiment,

[0046] I. For precise verification methods (annual calibration):

[0047] 1. Establish a coordinate system

[0048] A three-dimensional Cartesian coordinate system is established, using the parking plane of the vehicle's four wheels as the Z-zero point, the midpoint of the center line of the vehicle's front wheels as the x and y zero points, the width direction of the vehicle as the Y-axis, the length direction as the X-axis, and the height direction as the Z-axis. In practical operation, a reference plane can be established using the static template 200 positioning points of the driver assistance system testing equipment, such as... Figure 2 As shown, the static prototype 200 can be equipped with standard positioning points and X and Y level gauges to verify whether the flatness of the four-wheel alignment of the static prototype meets the requirements. This establishes a coordinate system that uses the actual vehicle driving conditions as the standard, maximizing consistency with actual driving.

[0049] 2. Measurement

[0050] refer to Figure 3 The following parameters of the target plate 100 were measured and calibrated:

[0051]

[0052] 3. Debugging and Verification

[0053] 3.1 If the above standards are not met, the target needs to be specifically adjusted and calibrated (adjusting the parameters that do not meet the standards) to ensure that all parameters meet the standard requirements.

[0054] 3.2 Repeatability test: After raising and lowering the target plate, repeat the measurement and calibration to ensure that all parameters meet the standard requirements. Raise and lower the target plate more than 3 times, that is, repeat the measurement and calibration more than 3 times.

[0055] 3.3 Real-vehicle Verification: For the same vehicle, calibration tests are performed on the driver assistance system. During calibration, a reference target and a target to be calibrated are used on the driver assistance system testing equipment. The calibration results using different targets are compared. The deviation of the calibration results should not exceed the following standards: Delta yaw < 0.3°, Delta pitch < 0.7°, Delta roll < 0.3°. If the deviation does not meet the requirements, the measurement and calibration should be repeated. The reference target is a target whose accuracy is deemed acceptable.

[0056] II. For coarse verification methods (routine verification):

[0057] Install X and Y level instruments with an accuracy of not less than 0.6 mm / m at the top and bottom of the target. Install a laser emitter on the static sample frame, aligning the laser emitter spot with the positioning point on the target. During calibration, check the deviation between the level instrument and the laser spot from the positioning point on the target. If the deviation of the level instrument does not exceed 0.05° and the deviation between the laser spot and the target positioning point does not exceed 1 mm, the target is qualified. If the deviation exceeds the standard, the target is calibrated using a precise calibration method.

[0058] The above are merely preferred embodiments of the present invention and are illustrative rather than restrictive. The structure and connection methods of the components in the present invention can be varied, and any equivalent transformations and improvements made based on the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. A target calibration method for an automotive driver assistance system testing device, characterized in that, include: The accurate verification method includes the following steps: Step 1: Establish a coordinate system based on the vehicle after it has been aligned on the static template; Step 2: Within the coordinate system described above, measure the target plate parameters of the target to be verified: flatness, yaw angle, pitch angle, roll angle, target center point position, and movement deviation, and determine whether the values ​​of each parameter are within the preset threshold range; if all values ​​are within the threshold range, proceed to Step 3; if the value of a certain parameter exceeds the threshold, adjust the target to be verified until the values ​​of all parameters are within the preset threshold range, and then proceed to Step 3. Step 3: For the same vehicle, perform calibration testing on the driver assistance system. During calibration testing, the driver assistance system testing equipment uses both a reference target and the target to be calibrated for calibration testing. Compare the calibration results using different targets. If the deviation of the calibration result is within the preset threshold range, then the target to be calibrated is qualified; otherwise, repeat steps 1 and 2. The reference target is a target with qualified accuracy.

2. The target calibration method for an automotive driver assistance system testing device as described in claim 1, characterized in that, It also includes a coarse validation method, which comprises the following steps: Install X and Y level instruments with an accuracy of not less than 0.6 mm / m at the top and bottom of the target, and install a laser emitter on the static sample frame so that the laser emitter spot coincides with the positioning point on the target. If the level deviation is no more than 0.05° and the deviation between the laser point and the target positioning point is no more than 1mm, the target is qualified; if the deviation exceeds the standard, the target shall be verified by the aforementioned precise verification method.

3. The target calibration method for an automotive driver assistance system testing device as described in claim 2, characterized in that, For the targets of the driving assistance system testing equipment, the frequency of calibration using the precise calibration method is once a year, and the frequency of calibration using the coarse calibration method is once a day.

4. The target calibration method for an automotive driver assistance system testing device as described in claim 1, characterized in that, In step one, the coordinate system uses the width direction of the vehicle as the Y-axis, the length direction of the vehicle as the X-axis, and the height direction of the vehicle as the Z-axis.

5. The target calibration method for an automotive driver assistance system testing device as described in claim 4, characterized in that, In step two, The flatness parameter is the curvature deviation of the target plate; The yaw angle parameter is the angle at which the target plate rotates around the Z-axis; The pitch angle parameter is the angle by which the target plate rotates around the Y-axis; The roll angle parameter is the angle at which the target plate rotates around the X-axis; The target center point position parameter is the offset of the target plate's center point in the Y-axis direction; The movement deviation parameters are the Y-axis and Z-axis deviations of the target plate after it has been raised and lowered.

6. The target calibration method for an automotive driving assistance system testing device as described in claim 5, characterized in that, The flatness parameter, yaw angle parameter, pitch angle parameter, and roll angle parameter are measured by selecting multiple reference points on the target plate and measuring the reference points. The movement deviation parameter is measured by selecting a reference point on the target plate, measuring the Y-axis and Z-axis deviations of the reference point after the target plate is raised and lowered, and repeating the raising and lowering and measurement at least 25 times.

7. The target calibration method for an automotive driving assistance system testing device as described in claim 6, characterized in that, The threshold range for the flatness parameter values ​​is: curvature deviation not exceeding 3mm in the Y direction and not exceeding 1mm in the Z direction; The threshold range for the yaw angle parameter is: the angle of rotation of the target plate around the Z-axis does not exceed ±0.05 degrees; The threshold range for the pitch angle parameter is: the angle of rotation of the target plate around the Y-axis does not exceed ±0.05 degrees; The threshold range for the roll angle parameter value is: the angle of rotation of the target plate around the X-axis does not exceed ±0.05 degrees; The threshold range for the target center point position parameter is: the offset of the target plate center point in the Y-axis direction does not exceed ±1mm; The threshold range of the movement deviation parameter value is: after each target plate is raised or lowered, the Y and Z deviations of the positioning point do not exceed ±0.5mm.

8. The target calibration method for an automotive driving assistance system testing device as described in claim 7, characterized in that, The reference points for measuring the curvature deviation in the Y direction are selected in 3 groups, with 3 points in each group, and the Z-axis coordinate values ​​of the reference points in each group are the same; the reference points for measuring the curvature deviation in the Z direction are selected in 3 groups, with 3 points in each group, and the Y-axis coordinate values ​​of the reference points in each group are the same. The reference points for measuring the yaw angle parameter are selected in 3 groups, with 3 points in each group. The Z-axis coordinate values ​​of the reference points in each group are the same. The angle between the X-axis coordinate deviation and the Y-axis of each reference point is measured. The reference points for measuring the pitch angle parameter are selected in 3 groups, with 3 points in each group. The Y-axis coordinate values ​​of the reference points in each group are the same. The angle between the X-axis coordinate deviation and the Z-axis of each reference point is measured. The roll angle parameter is measured using three sets of reference points, with three points in each set. The Z-axis coordinate values ​​of the reference points in each set are the same. The angle between the Z-axis coordinate deviation and the Y-axis of each reference point is measured.

9. The target calibration method for an automotive driving assistance system testing device as described in claim 1, characterized in that, In step three, the calibration results are the yaw angle, pitch angle, and roll angle of the driving assistance system.

10. The target calibration method for an automotive driving assistance system testing device as described in claim 9, characterized in that, In step three, the threshold range of the deviation of the calibration result is: the yaw angle deviation of the driving assistance system is less than 0.3°, the pitch angle deviation of the driving assistance system is less than 0.7°, and the roll angle deviation of the driving assistance system is less than 0.3°.

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