Reference tool installation device for installing a reference tool for calibrating a vehicle driving support device

Abstract

To facilitate installing a calibration reference tool of a vehicle driving support apparatus.SOLUTION: This invention includes: imaging means for acquiring a position of a vehicle or a marker on the vehicle; an arithmetic storage processing apparatus; and a display device for displaying a reference position for installing a calibration reference tool of a vehicle driving support apparatus of the vehicle on a floor surface. The arithmetic storage processing apparatus includes: a position calculation unit which calculates a position of a desired part of the vehicle or the marker from the vehicle image or the marker image captured by the imaging means; a reference position calculation unit which calculates a reference position displayed on the floor surface for installing the calibration reference tool, from the position of the desired part of the vehicle or the marker calculated by the position calculation unit; and a display control unit which controls the display device for displaying the calculated reference position on the floor surface.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a device for displaying, on a floor surface or the like, a vehicle center line that serves as a reference for installing a calibration reference tool such as a target plate or reflector for calibrating (adjusting) the mounting positions of vehicle driving assistance devices such as various sensors installed in a vehicle, the installation positions of the calibration reference tool, and information regarding the installation of the calibration reference tool. [Background technology]

[0002] In recent years, automatic braking systems and automatic driving systems have been increasingly introduced into vehicles in order to improve safety, and in order to control these automatic systems, vehicles are equipped with vehicle driving assistance devices such as cameras and various sensors, including distance sensors such as millimeter wave radar and ultrasonic radar.

[0003] Furthermore, when maintaining such advanced safety vehicles, it is necessary to install calibration reference tools such as target plates in positions specified by the vehicle manufacturer in order to check and calibrate (aiming) (adjust) whether the vehicle driving assistance devices such as various sensors are installed correctly.

[0004] The mounting positions of the driving support devices such as the various sensors are calibrated (adjusted) in accordance with the automobile manufacturer's specifications, for example by placing a calibration reference tool such as a target plate at a predetermined distance on the vehicle center line in the left-right direction, which extends in the front-to-rear direction of the vehicle, and using this reference tool to measure and adjust whether the driving support devices such as the various sensors are correctly attached.

[0005] Conventionally, this vehicle center line has been set by an operator lowering a plumb bob consisting of a string and an inverted cone-shaped weight from the left-right center of an emblem that serves as a guide for the center of the vehicle, which is attached to the front and rear of the vehicle, for example, the front and rear of the vehicle, and then positioning a plumb line below each of the front and rear weights and stretching it horizontally, and using the plumb line as the vehicle center line (Patent Document 1 Specification (0020)).

[0006] The reference device is then positioned at a desired position on the vehicle center line using a distance meter or the like, and the reference device is then installed by a specified means so that it accurately faces the front of the vehicle. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Application Publication No. 11-38140 Summary of the Invention [Problem to be solved by the invention]

[0008] However, the conventional method for determining the vehicle center line, which serves as the reference for installing the reference tool, is time-consuming.

[0009] In addition, the installation method and location of the calibration reference tool differ depending on the automobile manufacturer and model, so it was necessary to prepare special installation items and measure the installation location each time, which was a time-consuming process.

[0010] The present invention is intended to make it possible to easily display the vehicle center line on the floor surface.

[0011] Another object of the present invention is to provide a device that allows a calibration reference tool for a vehicle driving assistance device to be easily installed on a floor surface.

[0012] Another object of the present invention is to enable an operator to easily obtain information regarding a calibration reference tool. [Means for solving the problem]

[0013] The reference tool installation device for installing a reference tool for a vehicle driving support device of the present invention comprises an imaging means for acquiring the position of a vehicle or a marker installed on the vehicle, a calculation storage processing device, and a projection device installed above the center of the front, rear, left and right of the vehicle to display a reference position for installing a reference tool for a vehicle driving support device of the vehicle on a floor surface, or a monitor device that emits light on the floor surface itself, and the calculation storage processing device displays the reference position for installing a reference tool for a vehicle driving support device of the vehicle on a floor surface, the projection device being installed above the center of the front, rear, left and right of the vehicle, of Image or The above marker of The system is characterized by comprising a position calculation unit that calculates the position of a desired part or marker of the vehicle from an image, a reference position calculation unit that calculates a reference position that serves as a reference for installing the calibration reference tool, to be displayed on the floor surface from the position of the desired part or marker of the vehicle calculated by the position calculation unit, and a display control unit that controls the projection device or monitor device to display the calculated reference position on the floor surface.

[0014] The reference position is a center line position in the left-right direction of the vehicle.

[0015] The reference position is a position where the calibration reference tool is installed.

[0016] The reference position is characterized in that it is a center line position in the left-right direction of the vehicle and an installation position of the calibration reference tool.

[0017] The display control unit further comprises: Furthermore, On the floor surface, information regarding the installation of the calibration reference tool is displayed. Controlled It is characterized in that Effect of the Invention

[0018] According to the present invention, the vehicle center line can be easily displayed.

[0019] Furthermore, according to the present invention, the calibration reference tool can be easily marked on the floor.

[0020] Furthermore, according to the present invention, the operator can easily obtain information regarding the calibration reference tool. [Brief description of the drawings]

[0021] [Figure 1] 1 is an explanatory plan view of a display device for installing a calibration reference tool for a vehicle driving assistance device of the present invention; [Diagram 2] FIG. 2 is an explanatory perspective view of a display device for installing a calibration reference tool for the vehicle driving assistance device of the present invention. [Diagram 3] 1 is a diagram for explaining an arithmetic and memory processing device of a display device for installing a calibration reference tool for a vehicle driving assistance device of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. EXAMPLES

[0023] (1. Overall Description)

[0024] The display device for installing a calibration reference tool for a vehicle driving assistance device of the present invention, as shown in Figures 1 to 3, for example, comprises an imaging means 1 for acquiring the position of a vehicle or a marker (a mark whose position can be recognized by an imaging means such as a camera) provided on the vehicle, a calculation and storage processing device 2 for calculating reference positions required for installing a calibration reference tool for a vehicle driving assistance device, such as a vehicle center line position 10 and an installation position 11 of the calibration reference tool, which are displayed on the floor surface from an image (including video; the same applies below) obtained from the imaging means 1, and a display device 3 for displaying the calculated reference positions such as positions 10, 11 on the floor surface.

[0025] (1.1. Description of Imaging Means)

[0026] The imaging means 1 for acquiring position comprises, for example, two cameras 1a and 1b, a stereo camera, a three-dimensional laser scanner, or the like, which can capture images that can be calculated by the calculation processing device 2 to indicate the positions (three-dimensional positions or two-dimensional positions on the floor surface) of the vehicle 4 for which the vehicle driving assistance device such as the various sensors is calibrated, and markers attached to the vehicle 4.

[0027] For example, if it is possible to capture images of two different locations in the fore-and-aft direction, it is possible to calculate the reference position using one imaging means 1 consisting of a pair of cameras 1a, 1b. However, if it is difficult to capture images of two different locations using only one imaging means 1, such as desired locations in the front or rear of the vehicle (for example, the centers of the front and rear emblems), two imaging means 1 consisting of a pair of cameras 1a, 1b may be provided above the front and rear of the vehicle, respectively, and the reference position may be calculated.

[0028] (1.2. Description of the arithmetic and memory processing device)

[0029] Further, as shown in FIG. 3, the arithmetic and storage processing device 2 comprises an arithmetic and storage processing unit 2a, an input unit 2b such as a keyboard, and a monitor unit 2c, for example. The arithmetic and storage processing unit 2a comprises a memory unit 5 in which various information is stored, such as vehicle information such as model name information and vehicle dimension information of various vehicles, reference tool information such as vehicle driving assistance devices corresponding to each vehicle, reference tool type information corresponding to the driving assistance devices, and installation position information regarding the installation position of the reference tool, a position calculation unit 6 which calculates the overall (or partial) shape position of the vehicle, the position of a desired part of the vehicle (for example, the center of an emblem, the center of the tip of a bumper, etc.), and the position of a marker from the image obtained from the imaging means 1, a reference position calculation unit 7 which calculates a reference position to be displayed on the floor surface as a reference for installing the calibration reference tool, from the position information calculated by the position calculation unit 6, a display control unit 8 which controls the display device 3 in order to display the calculated reference position on the floor surface, and a central processing unit 9 which performs various processes.

[0030] The reference position may be, for example, a vehicle center line position in the left-right direction of the vehicle that is displayed on the floor surface and extends in the front-rear direction, or an installation position of the calibration reference tool.

[0031] In addition, since the center line position displayed on the floor surface and the installation position of the calibration reference tool do not require information regarding the height direction, the position calculation unit 6 may obtain only the two-dimensional position (front / back / left / right directions, omitting the height direction) on the floor surface without obtaining the three-dimensional position of the desired part of the vehicle or marker.

[0032] The shape of the installation position displayed on the floor surface may be, for example, a line, a cross, or the like other than a point, so that the calibration reference tool to be installed can be accurately installed (facing) on ​​the floor surface.

[0033] (1.2.1. Description of an example of the vehicle center line calculation unit 7a of the reference position calculation unit 7)

[0034] When the reference position calculation unit 7 calculates the vehicle center line position, the position calculation unit calculates two positions spaced apart in the front-rear direction of a desired part of the vehicle obtained from the captured image, for example, at the center in the left-right direction of the vehicle, or of a marker installed on that part, and then calculates the vehicle center line position from the two calculated positions.

[0035] The desired portion of the vehicle in the center in the left-right direction of the vehicle or the marker is determined by a recognition means such as image recognition software or marker recognition software.

[0036] Furthermore, even if the desired portion of the vehicle or a marker provided on that portion is not at the center of the vehicle in the left-right direction, the vehicle centerline position may be calculated based on position information of two separated points from each other from which the positions were calculated, vehicle dimensional information stored in the memory unit 5, and position information of the desired portion or marker relative to the vehicle.

[0037] (1.2.2. Description of an example of the calibration reference tool installation position calculation unit 7b of the reference position calculation unit 7)

[0038] In addition, when the reference position calculation unit 7 calculates the installation position of the calibration reference tool, the installation position of the reference tool is calculated, for example, from the calculated vehicle center line position, reference tool installation position information for the vehicle center line position stored in the memory unit 5, and reference tool installation position information for the vehicle stored in the memory unit, etc.

[0039] The reference tool installation position information with respect to the vehicle center line position may, for example, indicate that the reference tool is installed on the vehicle center line, or that the reference tool is installed at a desired distance from the center line in a direction perpendicular to the center line.

[0040] In addition, the reference tool installation position information for the vehicle may, for example, be such that the reference tool is installed a desired distance away from a marker (or a desired location) provided on the vehicle, or from the center of the tip of the vehicle's front bumper.

[0041] The desired distance from the center of the bumper tip is calculated, for example, from the distance between a marker (or the desired location) installed on the vehicle and the center of the bumper tip, which is pre-stored in the memory unit, or from image recognition software, etc. and vehicle dimension information, etc.

[0042] In addition, without determining the center line position, the installation position of the datum device may be calculated based on position information of two mutually separated points on the vehicle calculated from the image captured by the imaging means 1, the vehicle dimensional information stored in the memory unit, the position information of the above positions relative to the vehicle, and datum device installation information, etc.

[0043] In addition, in addition to displaying both the vehicle center line position and the reference tool installation position on the floor surface, only the vehicle center line position or only the reference tool installation position may be displayed.

[0044] When only the vehicle center line position is displayed, a reference tool may be set using a distance meter or the like.

[0045] (1.3. Description of the display device)

[0046] The display device 3 may be, for example, a projection device such as a projector that displays the calculated center line position and reference tool installation position on the floor surface, or a monitor device that makes the floor surface itself emit light.

[0047] The display device 3 is provided, for example, above the center of the front, rear, left and right of the vehicle.

[0048] (2. Description of the method of use and effects of the present invention)

[0049] Next, a method of using the display device for installing the calibration reference tool for the vehicle driving support device of the present invention and its effects will be described.

[0050] A vehicle whose vehicle driving assistance devices, such as various sensors, are to be calibrated (adjusted) is brought into the designated position in the maintenance stall.

[0051] Then, the operator inputs various information into the arithmetic and storage processing device 2, such as vehicle type information, information on the mounting positions of the markers on the vehicle, and information on the vehicle driving support device to be inspected.

[0052] Information on the mounting positions of the markers on the vehicle and the like may be stored in the storage unit 5 in advance.

[0053] In addition, instead of an operator inputting vehicle type information, an image recognition device may be used to automatically obtain the relevant vehicle type information from information previously stored in the memory unit, for example, from an image of the vehicle shape or a license plate image.

[0054] Next, the worker places image capture markers at two desired locations, spaced apart in the fore-and-aft direction, such as the center of the left-right direction of the vehicle, for example, at the centers of the left-right directions of emblems that serve as indicators for the center of the vehicle, located on the front and rear of the vehicle.

[0055] When vehicle dimension information and the attachment positions of the markers relative to the vehicle are known, the markers may be provided at two arbitrary different locations.

[0056] Then, the front and rear imaging markers are imaged by the imaging means 1, 1 provided at the front and rear, and the positions of the front and rear markers (three-dimensional positions or two-dimensional positions relative to the floor surface) are calculated from the captured images by the position calculation unit 6.

[0057] Then, the reference position calculation unit 7 calculates the position of the vehicle center line to be displayed on the floor surface from the calculated front and rear marker positions.

[0058] Then, the installation position of the reference tool is calculated from the center line position information, the reference tool installation position information for the vehicle center line position stored in the memory unit, and the reference tool installation position information for the vehicle stored in the memory unit, etc.

[0059] Specifically, for example, if the installation position information of the reference device specified by the manufacturer is a specified distance from the center of the bumper tip on the vehicle center line, and a marker is placed at the center of the emblem, the distance between the marker and the center of the bumper tip is calculated from the calculated marker position information and vehicle dimension information, and the installation position of the reference device is calculated from this distance, the specified distance, and the vehicle center line position.

[0060] Also, in cases where the installation position of the reference tool designated by the manufacturer is spaced a predetermined distance perpendicular to the vehicle center line, the reference position calculation unit 7 is made to perform calculations.

[0061] In addition, if the marker is provided at the center of the tip of the bumper, the calculation of the distance between the marker and the center of the tip of the bumper can be omitted.

[0062] Instead of providing markers, a desired portion such as front and rear emblems or the center of the front and rear ends of a bumper may be recognized by an image recognition device, and the position of the desired portion may be calculated.

[0063] Then, the display control unit 8 causes the display device 3 to display the calculated vehicle center line and installation position on the floor surface.

[0064] The shape of the reference tool to be displayed is, for example, a cross so that the reference tool can be accurately aligned with the vehicle.

[0065] In addition to the installation position of the installation tool, various text information, such as reference tool information such as the installation height of the target board, may be displayed on the floor surface.

[0066] In addition, only the reference tool installation position may be displayed without displaying the center line position. Also, only the center line position may be displayed without displaying the reference tool installation position.

[0067] In addition, without calculating the center line position, the installation position of the datum device may be calculated based on position information of two mutually spaced apart points on the vehicle, vehicle dimensional information stored in the memory unit, position information of the above positions relative to the vehicle, datum device installation information, etc.

[0068] Also, the installation position may not be calculated, and only the vehicle center line may be calculated and displayed on the floor surface. In such a case, a reference tool is installed using a distance meter or the like.

[0069] According to the present invention, the vehicle center line can be easily displayed.

[0070] Furthermore, according to the present invention, the reference tool can be easily marked on the floor.

[0071] Furthermore, according to the present invention, the operator can easily obtain information regarding the calibration reference tool. [Industrial Applicability]

[0072] The display device for installing a calibration reference tool for a vehicle driving assistance device of the present invention is used in any factory such as a vehicle inspection and maintenance shop or a vehicle maintenance factory. [Explanation of symbols]

[0073] 1. Imaging Method 2. Calculation and storage processing device 2a arithmetic and memory processing unit 2b Input section 2c Monitor section 3 Display device 4. Vehicles 5 Storage section 6 Position calculation section 7 Reference position calculation section 7a Vehicle centerline calculation unit 7b Installation position calculation section 8 Display control section 9 Central processing unit 10 Vehicle centerline position 11 Reference tool installation position

Claims

1. The present invention comprises an imaging means for acquiring the position of a vehicle or a marker provided on the vehicle, an arithmetic and memory processing device, and a projection device provided above the center of the front, rear, left and right of the vehicle for displaying on a floor surface a reference position for installing a calibration reference tool for a vehicle driving support device of the vehicle, The arithmetic and memory processing device includes: a position calculation unit that calculates a position of a desired part of the vehicle or a marker from an image of the vehicle or an image of the marker captured by the imaging means; a reference position calculation unit that calculates a reference position to be displayed on a floor surface and used as a reference for installing the calibration reference tool from the position of the desired part or marker of the vehicle calculated by the position calculation unit; and A reference tool installation device for installing a reference tool for calibrating a vehicle driving assistance device, characterized in that it comprises a display control unit that controls the projection device to display the calculated reference position on a floor surface.

2. The vehicle driving support device includes an imaging means for acquiring the position of a vehicle or a marker provided on the vehicle, a calculation and storage processing device, and a monitor device that illuminates a floor surface itself to display a reference position for installing a calibration reference tool for a vehicle driving support device of the vehicle on the floor surface, The arithmetic and memory processing device includes: a position calculation unit that calculates a position of a desired part of the vehicle or a marker from an image of the vehicle or an image of the marker captured by the imaging means; a reference position calculation unit that calculates a reference position to be displayed on a floor surface and used as a reference for installing the calibration reference tool from the position of the desired part or marker of the vehicle calculated by the position calculation unit; and A reference tool installation device for installing a reference tool for calibration of a vehicle driving assistance device, characterized in that it comprises a display control unit that controls the monitor device to display the calculated reference position on a floor surface.

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