Method and apparatus for assisting placement of calibration tool, device, and storage medium

Abstract

A method for assisting placement of a calibration tool, comprising: acquiring first image information collected by a vision module (300) (S201); on the basis of the first image information, determining a position of an independent support (200) relative to a vehicle (500) (S202); on the basis of the position of the independent support (200) relative to the vehicle (500) and a first preset position, providing a first position offset of the independent support (200) (S203); and after the independent support (200) is adjusted to the first preset position, providing operation guidance to assist in placing a calibration tool at a reference placement position (S204). The invention combines the vision module (300) with the independent support (200), first using the vision module (300) to assist in placing the independent support (200), and then using the independent support (200) placed at the first preset position to assist in placing a calibration tool, thereby achieving accurate placement of the calibration tool. Thus, it is possible to greatly improve the placement efficiency and placement accuracy of the calibration tool and effectively expand the placement range of the calibration tool, meeting a broader range of ADAS calibration scenarios. Further provided are an apparatus for assisting placement of a calibration tool, a device, and a storage medium.

Description

Method, device, equipment and storage medium for assisting in placing calibration tool

[0001] The present application claims priority to the Chinese patent application No. 2024110245367, filed on July 29, 2024, and entitled "Method, device, equipment and storage medium for assisting in placing calibration tool", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of vehicle calibration, in particular to a method, device, equipment and storage medium for assisting in placing calibration tool. BACKGROUND

[0003] With the development of the automobile industry and the progress of technology, people have higher requirements for the safety and comfort of automobile driving. Unmanned driving is an important direction of current automobile technology development, and the advanced driving assistance system (ADAS) is a necessary stage in the early stage of the development of unmanned driving technology. As more and more attention is paid to the safety of the vehicle, more and more vehicles are equipped with ADAS systems. The ADAS system mainly obtains road conditions or environmental information through cameras, radars and other sensors. When the ADAS system fails or abnormals, the ADAS system needs to be recalibrated so that it can be used normally and safely.

[0004] ADAS system calibration mainly calibrates cameras, radars and other sensors through some calibration tools (such as calibration canvas, angle sensor, etc.). In the calibration process, the placement of the calibration tool relative to the position of the vehicle is required. Under the premise of accurate placement of the calibration tool, the ADAS calibration can accurately calibrate the parameters of the cameras, radars and other sensors in the ADAS system.

[0005] In the traditional ADAS system calibration, the placement position is generally positioned by a tape measure, a laser and other tools, so as to realize the placement of the calibration tool. For example, in the Around View Monitor (AVM) calibration, the placement of the calibration pattern is realized by measuring with a tape measure and drawing a line on the ground. The calibration pattern is placed within a specified range from the vehicle. However, this method has the disadvantages of long time-consuming and low precision in placing the calibration tool, which leads to low efficiency and low precision in ADAS calibration. SUMMARY

[0006] The embodiments of the present application aim to provide a method, device, equipment and storage medium for assisting in placing calibration tool, so as to solve the technical problems of long time-consuming and low precision in placing the calibration tool in the prior art.

[0007] Embodiments of the present application adopt the following technical solutions to solve the technical problem:

[0008] In a first aspect, the embodiments of the present application provide a method for assisting in placing a calibration tool, applied to a calibration system, the calibration system comprising a vision module and a separate support, the separate support being pre-placed on one side of a vehicle, and the method comprising:

[0009] acquiring first image information collected by the vision module, the first image information being used to represent position and posture features of the vehicle and position and posture features of the separate support;

[0010] determining the position of the separate support relative to the vehicle according to the first image information;

[0011] providing a first position offset of the separate support according to the position of the separate support relative to the vehicle and a first preset position, wherein the first position offset is used to indicate adjustment of the separate support to the first preset position;

[0012] after the separate support is adjusted to the first preset position, providing operation guidance to assist in placing the calibration tool by using the separate support at the first preset position, so that the calibration tool is placed at a reference placement position.

[0013] In some embodiments, the first image information comprises first target images attached to each wheel of the vehicle and second target images attached to the separate support, and the determination of the position of the separate support relative to the vehicle according to the first image information comprises:

[0014] determining the position of the vehicle according to the first target images;

[0015] determining the position of the separate support according to the second target images;

[0016] determining the position of the separate support relative to the vehicle according to the position of the vehicle and the position of the separate support.

[0017] In some embodiments, the calibration system further comprises a calibration main support pre-placed on a longitudinal side of the vehicle, and the vision module is arranged on the calibration main support, and before the acquisition of the first image information collected by the vision module, the method further comprises:

[0018] acquiring second image information collected by the vision module, the second image information comprising first target images attached to the vehicle;

[0019] determining the position of the calibration main support relative to the vehicle according to the second image information;

[0020] According to the position of the calibration main frame relative to the vehicle and the second preset position, a second position offset of the calibration main frame is provided, wherein the second position offset is used to indicate adjustment of the calibration main frame to the second preset position.

[0021] In some embodiments, the vision module includes a first camera and a second camera, the calibration main frame includes a crossbeam, the first camera and the second camera are respectively arranged at opposite ends of the crossbeam, and when the independent support is pre-disposed on a lateral side of the vehicle, the first image information collected by the vision module is obtained, including:

[0022] The first target image collected by the first camera and the second camera is obtained.

[0023] The second target image collected by the first camera or the second camera is obtained.

[0024] In some embodiments, the vision module further includes a third camera, the third camera is arranged at the middle of the crossbeam, and when the independent support is pre-disposed on a longitudinal side of the vehicle, the first image information collected by the vision module is obtained, including:

[0025] The first target image collected by the first camera and the second camera is obtained.

[0026] The second target image collected by the third camera is obtained.

[0027] In some embodiments, the calibration tool is a calibration pattern, and the operation guide is provided to assist the calibration tool to be disposed at the reference disposition position, including:

[0028] A first operation guide is provided, the first operation guide is used to indicate that the second target is replaced by a laser, and the calibration pattern is disposed along the laser line projected on the ground, so that the calibration pattern can be disposed at the reference disposition position.

[0029] A second operation guide is provided, the second operation guide is used to indicate that the calibration pattern is disposed along the laser line projected on the ground, so that the calibration pattern can be disposed at the reference disposition position.

[0030] In some embodiments, the calibration tool is an angle reflector, and the operation guide is provided to assist the calibration tool to be disposed at the reference disposition position, including:

[0031] A third operation guide is provided, the third operation guide is used to indicate that the second target is replaced by an angle reflector, so that the angle reflector can be disposed at the reference disposition position.

[0032] In a second aspect, the embodiments of the present application provide a device for assisting in placing a calibration tool, applied to a calibration system, the calibration system comprising a vision module and a separate support, and the device comprising:

[0033] an acquisition module configured to acquire first image information collected by the vision module, the first image information being used to represent position and posture features of the vehicle and position and posture features of the separate support;

[0034] a determination module configured to determine a position of the separate support relative to the vehicle according to the first image information;

[0035] a providing module configured to provide a first position offset of the separate support according to the position of the separate support relative to the vehicle and a first preset position, wherein the first position offset is used to indicate adjustment of the separate support to the first preset position;

[0036] a guiding module configured to provide operation guidance for assisting in placing the calibration tool by using the separate support at the first preset position after the separate support is adjusted to the first preset position, so as to place the calibration tool at a reference placement position.

[0037] In a third aspect, the embodiments of the present application provide a control device, comprising a processor and a memory, the processor and the memory being connected to each other, wherein the memory is configured to store a computer program, the computer program comprising program instructions, and the processor is configured to invoke the program instructions to execute the method according to any one of the above embodiments.

[0038] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, the computer readable storage medium storing a computer program, the computer program comprising program instructions, and the program instructions, when executed by a processor, cause the processor to execute the method according to any one of the above embodiments.

[0039] Compared with the prior art, the embodiments of the present application provide a method, device, equipment and storage medium for assisting in placing a calibration tool, by combining the vision module with the separate support, the separate support is first placed accurately at a first preset position by using the vision module to identify the separate support and the vehicle, and then the calibration tool is placed accurately by using the placed separate support, in this way, the placement efficiency and accuracy of the calibration tool can be greatly improved, the placement range of the calibration tool can be effectively expanded, and more extensive ADAS calibration scenarios can be met. BRIEF DESCRIPTION OF DRAWINGS

[0040] One or more embodiments are illustrated by way of example in the drawings and are described herein in connection with the embodiments described. These embodiments are described in connection with the drawings so that it can be understood, and are not limiting of the disclosure. The description herein of a particular embodiment is not to be considered limiting, but rather a mode in which the disclosure can be practiced. The drawings are not necessarily to scale, emphasis being placed upon illustrating the principles of the disclosure.

[0041] Fig. 1 is a structural schematic diagram of a calibration system, a control device and a vehicle in an embodiment of the present application;

[0042] Fig. 2 is a flow schematic diagram of a method for assisting in placing a calibration tool in an embodiment of the present application;

[0043] Fig. 3 is a three-dimensional structural schematic diagram of a separate support in an embodiment of the present application;

[0044] Fig. 4 is a three-dimensional structural schematic diagram of an adjusting assembly in an embodiment of the present application;

[0045] Fig. 5 is a schematic diagram of the placement positions of a calibration main frame and a separate support when a calibration tool needs to be placed on one lateral side of a vehicle in an embodiment of the present application;

[0046] Fig. 6 is a schematic diagram of the placement positions of a calibration main frame and a separate support when a calibration tool needs to be placed on one longitudinal side of a vehicle in an embodiment of the present application;

[0047] Fig. 7 is a schematic diagram of the placement positions of a calibration main frame and a separate support when a calibration tool needs to be placed in front of a lateral side of a vehicle in an embodiment of the present application;

[0048] Fig. 8 is a schematic diagram of the removal of a second target from the separate support and the installation of a laser after the laser in Fig. 5;

[0049] Fig. 9 is a schematic diagram of the use of a laser line of the laser in Fig. 7 to assist in the completion of the placement of a calibration tool;

[0050] Fig. 10 is a schematic block diagram of a device for assisting in the placement of a calibration tool in an embodiment of the present application;

[0051] Fig. 11 is a circuit structural schematic diagram of a control device in an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor fall within the scope of protection of the present application.

[0053] The terms "first", "second", and the like in the description and in the claims of the present application and above drawings are used to distinguish different objects, and are not used to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0054] Reference herein to "embodiments" means that a particular feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of the application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive of other embodiments. It is explicitly and implicitly understood that the embodiments described herein can be combined with other embodiments.

[0055] When calibrating the ADAS system, the placement of the calibration tool is mainly realized by the following two ways. One is to use a ruler, a laser, a plumb line and other tools to position and place the position, so as to realize the placement of the calibration tool. The main disadvantage of this placement method is that the manual error is large, which affects the placement efficiency and placement accuracy. The other is to use the ADAS calibration main frame to place the calibration tool, which can reduce the placement time and improve the placement accuracy. Further, the ADAS camera system can be added to the ADAS calibration main frame to calculate the relative relationship between the ADAS calibration main frame and the vehicle position in real time, so as to further improve the placement efficiency.

[0056] However, due to the limited width of the ADAS calibration main frame, the use of the ADAS calibration main frame can only complete the placement of the calibration tool in the front and rear scenes of the vehicle. It is not suitable for placing the calibration tool on the left and right sides of the vehicle, the front and rear sides of the vehicle, and other calibration scenes. For example, when calibrating the panoramic image system (the calibration tool needs to be placed on both sides of the vehicle), the placement of the calibration tool cannot be completed.

[0057] In order to solve the above problems, the embodiment of the present application provides a tool for assisting calibration placement, device, equipment and storage medium, which aims to assist the placement of the calibration tool by cooperating the visual module with the independent support. Specifically, the independent support is first placed in the preset position of the vehicle by using the visual module, and then the calibration tool is placed by using the placed independent support, so as to realize the accurate and rapid placement of the calibration tool. Through the above-mentioned method, the placement accuracy and efficiency of the calibration tool can be guaranteed, and the placement range of the calibration tool can be expanded to meet the calibration needs of different ADAS systems.

[0058] Please refer to FIG. 1, which is a structural schematic diagram of a calibration system, a control device 400 and a vehicle 500 in an embodiment of the present application. The vehicle 500 can be a car as shown in FIG. 1, but is not limited to this. For example, the vehicle 500 can also be a bus, a truck, an electric vehicle, etc. The calibration system comprises a vision module 300 and a separate support 200, and the control device 400 is in communication connection with the vision module 300. The vision module 300 can comprise one or more cameras, and the images of the vehicle 500 and the separate support 200 are collected by the cameras. The control device 400 is in communication connection with each camera, so as to receive the images collected by the cameras. In the embodiment of the present application, the combination of the vision module 300 and the separate support 200 can assist in placing a calibration tool. The calibration tool is placed at a preset position relative to a sensor to be calibrated of the vehicle 500, so as to calibrate the sensor to be calibrated of the vehicle 500 by using the calibration tool. The sensors to be calibrated can be cameras, radars and other sensors arranged at different positions of the vehicle 500.

[0059] Further, the calibration system further comprises a calibration main support 100, which is used to carry the vision module 300. That is, the vision module 300 is installed on the calibration main support 100. The movement of the calibration main support 100 can drive the vision module 300 to move, thereby increasing the flexibility in the calibration process. It should be noted that the calibration main support 100 is used as a support carrier of the vision module 300 in the embodiment. In other embodiments, other support members can be used to install and place the vision module 300. In this case, the calibration main support 100 is not needed.

[0060] The vision module 300 is used to collect image data of the vehicle 500 and the separate support 200. The image data can comprise first target images attached to the vehicle 500 and second target images attached to the separate support 200, and the image data is transmitted to the control device 400. The control device 400 can be arranged on the calibration main support 100. The control device 400 can be a vehicle diagnosis device. The control device 400 comprises a processor, a memory and other components. In addition, the control device 400 can further comprise a power supply, a display screen and other components.

[0061] The processor in the control device 400 loads one or more executable files corresponding to the processes of one or more executable programs into the memory according to the following instructions, and runs the executable programs stored in the memory by the processor, so as to execute the method described in any embodiment of the present application.

[0062] Please refer to FIG. 2, which is a flowchart of a method for assisting in placing a calibration tool provided in an embodiment of the present application. Before the control device 400 executes the specific steps of the method, an operator needs to pre-place the separate support 200 on one side of the vehicle 500.

[0063] In this embodiment, one side of the vehicle 500 can be the front side, the rear side, the left side, the right side, the side front, the side rear, etc. of the vehicle 500, and the pre-disposing means that the operator only needs to dispose the independent support 200 at the approximate position of the vehicle 500. Specifically, for different vehicle models, the positions of the sensors to be calibrated attached to the vehicle 500 are different, and therefore the positions required for the calibration tool to be disposed are also different. Further, the positions required for the independent support 200 to assist in disposing the calibration tool are also different. The operator can pre-dispose the independent support 200 at one side of the vehicle 500 according to the calibration requirements. For example, in one calibration scenario, the independent support 200 needs to be pre-disposed at the front of the vehicle 500, in another calibration scenario, the independent support 200 needs to be disposed at the left side of the vehicle 500. In yet another calibration scenario, the independent support 200 needs to be pre-disposed at the side front of the vehicle 500, etc. That is, the independent support 200 can be pre-disposed at the front side, the rear side, the left side, the right side, the side front, the side rear, etc. of the vehicle 500 according to the calibration requirements, so as to satisfy the calibration of different ADAS systems and the sensors at different positions of the vehicle 500.

[0064] In some embodiments, the control device 400 can instruct the operator to complete the pre-disposition of the independent support 200 according to the ADAS scene to be calibrated, so that the independent support 200 is pre-disposed at one side of the vehicle 500.

[0065] After the independent support 200 is pre-disposed at one side of the vehicle 500, the control device 400 performs the following steps:

[0066] S201, the control device 400 acquires first image information collected by the vision module 300;

[0067] The vision module 300 can include a plurality of cameras, and the first image information can be collected by the plurality of cameras of the vision module 300. The vision module 300 is in communication connection with the control device 400, and the control device 400 can control the vision module 300 to collect the first image information. The vision module 300 sends the collected first image information to the control device 400.

[0068] The first image information can include images of the vehicle 500 and the independent support 200, and specifically, the images of the vehicle 500 and the independent support 200 can represent the position and attitude features of the vehicle 500 and the independent support 200, respectively, and the position and attitude features of the vehicle 500 and the independent support 200 can be obtained through an image recognition algorithm. The position and attitude features of the vehicle 500 can include the positions of the wheels of the vehicle 500, the position of the front or rear of the vehicle 500, or the position of the rearview mirror of the vehicle 500, the position of the radar of the vehicle 500, the centerline or thrust line of the vehicle 500, and the like, wherein the centerline of the vehicle 500 passes through the midpoint of the connecting line of the two front wheels and the midpoint of the connecting line of the two rear wheels, and the thrust line of the vehicle 500 passes through the midpoint of the connecting line of the two rear wheels and is perpendicular to the connecting line of the two rear wheels.

[0069] In some embodiments, a first target 501 is attached to the vehicle 500, and a second target 201 is attached to the independent support 200. The position and attitude features of the vehicle 500 are obtained by recognizing the first target image through the vision module 300, and the position and attitude features of the independent support 200 are obtained by recognizing the image of the second target 201 through the vision module 300.

[0070] Specifically, according to different calibration requirements, the first target 501 can be attached to the wheels of the vehicle 500 or the front or rear of the vehicle 500, and the first image information can include one or more first target images attached to the vehicle 500 and a second target image attached to the independent support 200. For example, the first image information includes first target images attached to the four wheels of the vehicle 500 and a second target image attached to the independent support 200. In the embodiments of the present application, the first target image and the second target image are provided with a preset pattern of high contrast and specific geometric shape, so as to be accurately recognized by the vision module 300, thereby accurately obtaining the position and attitude of the independent support 200 relative to the vehicle 500.

[0071] S202, the control device 400 determines the position of the independent support 200 relative to the vehicle 500 according to the first image information;

[0072] Specifically, the control device 400 can analyze the information in the first image information, calculate the three-dimensional position features of the vehicle 500 and the independent support 200 through a computer vision algorithm, and determine the relative position relationship between the two. By comparing the position features of the vehicle 500 and the independent support 200, the specific position of the independent support 200 relative to the vehicle 500 can be obtained.

[0073] In some embodiments, in the case that the first target image attached to each wheel of the vehicle 500 and the second target image attached to the independent support 200 are included in the first image information, the position of the independent support 200 relative to the vehicle 500 can be the position of the second target 201 on the independent support 200 relative to the vehicle 500.

[0074] The control device 400 uses the high-contrast, specific geometric pattern preset in the first target image and the second target image to recognize and locate the targets through image processing algorithms such as feature point matching, structured light technology, or triangulation method. The control device determines the position features of the vehicle 500 according to the first target image and determines the position features of the independent support 200 according to the second target image, and then determines the accurate position of the independent support 200 relative to the vehicle 500 by comparing the position features of the vehicle 500 and the independent support 200.

[0075] S203, the control device 400 provides a first position offset of the independent support 200 according to the position of the independent support 200 relative to the vehicle 500 and the first preset position, wherein the first position offset is used to indicate the adjustment of the independent support 200 to the first preset position.

[0076] The first preset position is an ideal placement position set based on the vehicle model to be calibrated, the ADAS system to be calibrated, and the position of the sensor on the vehicle 500. The first preset position can represent the ideal position required for the final placement of the second target 201 on the independent support 200. After the second target 201 on the independent support is adjusted to the first preset position, the positioning and placement of the independent support 200 are completed.

[0077] In some embodiments, the control device 400 can provide a selection interface of the vehicle model to be calibrated, the ADAS system to be calibrated, and the sensor to be calibrated. After the user selects the sensor to be calibrated, the control device determines the corresponding first preset position.

[0078] In this embodiment, after determining the position of the independent support 200 relative to the vehicle 500, the control device 400 compares the current position of the independent support 200 relative to the vehicle 500 with the first preset position to calculate a first position offset of six degrees of freedom. The first position offset represents the position deviation of the current position of the independent support 200 from the first preset position. It includes a front-rear distance offset (longitudinal deviation), a left-right distance offset (lateral deviation), a vertical distance offset (height deviation), a yaw angle offset (rotation deviation around the Z axis), a pitch angle offset (rotation deviation around the Y axis), and a roll angle offset (rotation deviation around the X axis). These offsets indicate the adjustment direction and amplitude of the independent support 200 from the current position to the first preset position.

[0079] After obtaining the first position offset, the second target 201 on the independent support 200 can be fine-tuned by manual adjustment by the operator or automatic control by the servo motor until the independent support 200 is accurately positioned at the first preset position, and the fine positioning is completed. The servo motor accurately controls the translation and rotation of the independent support according to the offset instruction issued by the control device, realizes automatic adjustment, and improves the efficiency and accuracy of the calibration process. In addition, for the system with automatic adjustment function, the servo motor and other mechanical components can automatically adjust the position and attitude of the independent support according to the position offset provided by the control device in real time.

[0080] In some embodiments, the operator can fine-tune the independent support 200 under the guidance of the control device 400 to gradually adjust it from the current position to the first preset position. The control device 400 can monitor and calculate the first position offset of the independent support 200 relative to the vehicle 500 in real time, provide dynamic adjustment instructions, and ensure that the operator can intuitively and accurately adjust the independent support 200 to the first preset position, avoiding over-adjustment or insufficient adjustment, and ensuring that the adjustment process is both efficient and accurate.

[0081] In some embodiments, the first position offset can also be displayed to the operator through the user interaction interface, so that the operator can quickly understand the adjustment direction and degree and easily complete the adjustment task.

[0082] In some embodiments, referring to FIGS. 3 and 4, in order to improve the placement efficiency of the independent support 200, a fine-tuning mechanism is provided on the independent support 200, and the second target 201 is mounted on the fine-tuning mechanism. By operating the fine-tuning mechanism, the operator can independently adjust the second target 201 on the independent support 200 in the six degrees of freedom directions of front and back, left and right, up and down, yaw, pitch and roll, avoiding mutual interference in the adjustment process. The structure of the fine-tuning mechanism will be introduced below in combination with FIGS. 3 and 4.

[0083] As shown in FIG. 3, the independent support 200 includes a column 210, a base 220 and a fine-tuning mechanism. The fine-tuning mechanism includes a fixed component 231 and an adjusting component 232. The fixed component 231 is used to fix the second target 201. The column 210 is fixedly connected with the base 220. The adjusting component 232 includes a displacement module 2320 and a rotation module 2321 connected with each other. One of the displacement module 2320 and the rotation module 2321 is connected with the column 210, and the other is connected with the fixed component 231. The displacement module 2320 is used to drive the fixed component 231 to move in at least one linear direction. The rotation module 2321 is used to drive the fixed component 231 to rotate around at least one axis.

[0084] The structural principle of the independent support 200 of the embodiment of the present application is that the base 220 and the column 210 are connected to form a structure capable of supporting the adjusting assembly 232 and the fixing assembly 231, the adjusting assembly 232 is connected with the column 210 through one of the displacement module 2320 and the rotating module 2321, and the other is connected with the fixing assembly 231, so that the fixing assembly 231 moves in at least one linear direction along the displacement module 2320 and rotates around at least one axis along the rotating module 2321, thereby adjusting the position of the second target 201 fixed by the fixing assembly 231 relative to the base 220 and the column 210.

[0085] The adjusting assembly 232 is connected with the fixing assembly 231 through the displacement module 2320 or the rotating module 2321, both of which can realize the movement of the fixing assembly 231 in at least one linear direction and the rotation of the fixing assembly 231 around at least one axis.

[0086] It can be understood that the adjusting assembly 232 of the independent support 200 of the embodiment of the present application adopts the displacement module 2320 and the rotating module 2321, so that the second target 201 can realize displacement and rotation, respectively, compared with the conventional independent support 200 which can only be adjusted in the height direction. The independent support 200 of the embodiment of the present application provides more degrees of freedom for the position adjustment of the second target 201, and the adjustment operation is more convenient.

[0087] As shown in FIG. 4, the rotating module 2321 is connected with the fixing assembly 231, and the displacement module 2320 includes a first displacement unit 23201, a second displacement unit 23202 and a third displacement unit 23203.

[0088] The first displacement unit 23201 is connected with the column 210 and can move in the height direction of the column 210. The second displacement unit 23202 is connected with the first displacement unit 23201 and is provided with a first moving part 23204, the first moving part 23204 can move in a first linear direction relative to the first displacement unit 23201, the first linear direction is perpendicular to the height direction of the column 210, and the second displacement unit 23202 is used for moving in the height direction of the column 210 along with the first displacement unit 23201. The third displacement unit 23203 is connected with the first moving part 23204 and is provided with a second moving part 23205, the second moving part 23205 is connected with the rotating module 2321 and can drive the rotating module 2321 to move in a second linear direction relative to the second displacement unit 23202, the second linear direction is perpendicular to the height direction of the column 210 and the first linear direction, respectively, and the third displacement unit 23203 is used for moving in the first linear direction along with the first moving part 23204.

[0089] It can be understood that the displacement module 2320 of the embodiment of the application is respectively provided with the first displacement unit 23201, the second displacement unit 23202 and the third displacement unit 23203, the first displacement unit 23201 drives the second displacement unit 23202 to move in the height direction of the column 210, the second displacement unit 23202 can drive the third displacement unit 23203 to move relative to the first displacement unit 23201 in the first linear direction, and the third displacement unit 23203 can drive the rotating module 2321 to move relative to the second displacement unit 23202 in the second linear direction, so as to realize the displacement adjustment of the second target 201 in three mutually perpendicular directions.

[0090] The rotating module 2321 includes the first rotating unit 23211, the second rotating unit 23212 and the third rotating unit 23213.

[0091] The first rotating unit 23211 is connected with the second moving part 23205, and the first rotating unit 23211 is provided with a first rotating part 23214, which can rotate relative to the second moving part 23205 about a first axis, and the first rotating unit 23211 is used to move in the second linear direction with the second moving part 23205. The second rotating unit 23212 is connected with the first rotating part 23214, and the second rotating unit 23212 is provided with a second rotating part 23215, which can rotate relative to the first rotating unit 23211 about a second axis, and the second axis is perpendicular to the first axis, and the second rotating unit 23212 is used to rotate about the first axis with the first rotating part 23214.

[0092] The third rotating unit 23213 is connected with the second rotating part 23215, and the third rotating unit 23213 is provided with a third rotating part, which is connected with the fixed assembly 231, and the third rotating part can drive the fixed assembly 231 to rotate relative to the second rotating unit 23212 about a third axis, and the third axis is perpendicular to the first axis and the second axis, and the third rotating unit 23213 is used to rotate about the second axis with the second moving part 23205.

[0093] It can be understood that the rotating module 2321 of the embodiment of the application is respectively provided with the first rotating unit 23211, the second rotating unit 23212 and the third rotating unit 23213, the first rotating unit 23211 can drive the second rotating unit 23212 to rotate about the first axis, the second rotating unit 23212 can drive the third rotating unit 23213 to rotate about the second axis, and the third rotating unit 23213 can drive the fixed assembly 231 to rotate about the third axis, so as to realize the rotating adjustment of the second target 201 in three mutually perpendicular rotating axes.

[0094] Through the above structure, the operator can correct these offsets by using the fine adjustment mechanism, including independent adjustment of six degrees of freedom of front and back, left and right, up and down, yaw, pitch and roll, avoiding mutual interference in the adjustment process. Make the second target 201 can be quickly and accurately adjusted to the first preset position, greatly reducing the placement time, and improving the accuracy of the placement.

[0095] S204, after the independent support 200 is adjusted to the first preset position, the control device 400 provides operation guidance to place the calibration tool with the aid of the independent support 200 in the first preset position, so that the calibration tool is placed in the reference placement position.

[0096] When the independent support 200 is adjusted to the first preset position, the placement position of the independent support 200 relative to the position of the vehicle 500 meets the placement requirements, and the independent support 200 provides a clear reference for placing the calibration tool. The operator can use the independent support 200 as a reference for placing the calibration tool, and under the guidance of the control device 400, the operator places the calibration tool in the reference placement position. Ensure that the calibration tool and the position of the sensor to be calibrated on the vehicle 500 meet the calibration requirements. Facilitate the accuracy of subsequent calibration of the ADAS system of the vehicle 500.

[0097] According to different calibration requirements, the calibration tool can be a calibration pattern or a corner reflector, etc. For example, in the panoramic image calibration scene, the calibration tool is a calibration pattern (such as AVM pattern), and the independent support 200 in the first preset position can be used to assist in placing the calibration pattern, so that the calibration pattern is accurately placed in the reference placement position. For example, in the adaptive cruise system (Adaptive Cruise Control, ACC) calibration scene, the calibration tool is a corner reflector, which is installed on the independent support 200 to ensure that its position meets the calibration requirements.

[0098] In this embodiment, by combining the visual module 300 with the independent support 200, the visual module 300 is first used to assist in placing the independent support 200, so that the independent support 200 is accurately placed in the first preset position on one side of the vehicle 500, and then the independent support 200 in the first preset position is used to assist in placing the calibration tool, so that the calibration tool is accurately placed. Through the above method, the placement efficiency and accuracy of the calibration tool can be greatly improved.

[0099] In addition, in this embodiment, the combination of the visual module 300 and the independent support 200 can place the calibration tool on the front side, rear side, left side, right side, side front, side rear, etc. of the vehicle 500, not just on the front and rear sides of the vehicle 500, effectively expanding the placement range of the calibration tool, and meeting the more extensive ADAS calibration tool placement requirements.

[0100] In some embodiments, the calibration system further comprises a calibration main frame 100, the calibration main frame 100 is pre-disposed on one longitudinal side of the vehicle 500, and the vision module 300 is arranged on the calibration main frame 100, thereby providing a stable and accurate calibration platform for the calibration process. Thus, the accurate placement of the calibration tool can be realized by combining the calibration main frame 100 and the independent support 200. Without the need to additionally arrange a dedicated vision module 300, the calibration cost is effectively saved.

[0101] Specifically, the calibration main frame 100 comprises a base, a vertical stand and a crossbeam 101, the vertical stand is vertically arranged and installed on the base, and the crossbeam 101 is installed on the vertical stand, and the crossbeam 101 is used to carry the vision module 300.

[0102] In the embodiment, pre-disposition means that the operator only needs to place the calibration main frame 100 in the approximate position of the vehicle 500, and specifically, the operator can place the independent support 200 at the front or rear of the vehicle 500 according to the calibration requirements.

[0103] Before the control device 400 acquires the first image information collected by the vision module 300, the control device 400 further performs the following steps:

[0104] A1, the control device 400 acquires second image information collected by the vision module 300;

[0105] After the independent support 200 is pre-disposed at the front or rear of the vehicle 500, the control device controls the vision module 300 to collect second image information, and sends the collected second image information to the control device 400.

[0106] The second image information comprises an image of the vehicle 500, and the position feature of the vehicle can be extracted through the second image information. Optionally, the image of the vehicle 500 comprises a first target image attached to each wheel of the vehicle 500, or a first target image attached to the front or rear of the vehicle 500, the control device 400 can control the vision module 300 to collect the first target image attached to the wheel, or control the vision module 300 to collect the first target image attached to the front or rear of the vehicle 500. The first target image can represent the position feature of the vehicle 500, and the position feature of the vehicle 500 can comprise the position of each wheel of the vehicle, the position of the front or rear of the vehicle 500, or the position of the rearview mirror of the vehicle 500, the position of the radar of the vehicle 500, the position of the center line or thrust line of the vehicle 500, etc.

[0107] A2, determining the position of the calibration main frame 100 relative to the vehicle 500 according to the second image information;

[0108] In the embodiment, the position of the calibration main frame 100 relative to the vehicle 500 is determined by determining the relative relationship between the position feature information of the calibration main frame 100 and the position feature information of the vehicle 500. For example, the position information of the vision module 300 on the calibration main frame 100 relative to the vehicle 500, or the position information of the center line or center point of the cross beam 101 relative to the vehicle 500.

[0109] In some embodiments, the vision module 300 includes a first camera 301 and a second camera 302, which are respectively arranged at the two ends of the cross beam 101. The first camera 301 and the second camera 302 at the two ends are used to collect first target images on both sides of the vehicle 500. By determining the relative position between the first camera 301 and the second camera 302 at the two ends of the cross beam 101, the position information of the center line or the center point of the cross beam 101 can be calculated as the position feature of the calibration main frame 100. The coordinate of the first camera 301 can be taken as the origin, and the coordinate of the second camera 302 relative to the origin can be determined. The center line of the cross beam 101 refers to a straight line passing through the coordinates of the first camera 301 and the second camera 302. Here, the coordinates can not include height data, i.e., the coordinates of the first camera 301 and the second camera 302 vertically projected on the same plane. The center point of the cross beam 101 refers to the center point of the coordinates. The center point of the cross beam 101 represents the center of the cross beam 101.

[0110] In other embodiments, a third camera 303 can also be arranged on the cross beam 101, and the third camera 303 is arranged at the middle part of the cross beam 101. The third camera 303 can be used to collect first target images placed at the front or rear of the vehicle. The position of the third camera 303 relative to the vehicle 500 can also be determined through the first target images, and the position of the center line or the center point of the cross beam 101 relative to the vehicle can be calculated.

[0111] In the above embodiments, the first camera 301, the second camera 302 and the third camera 303 can all communicate with the control device 400. The control device 400 can coordinate the simultaneous work of multiple cameras to collect the required image data. For example, the control device 400 can control the first camera 301 and the second camera 302 at the two ends of the cross beam 101 to simultaneously collect first target images on the wheels. Then, through image recognition algorithm, the first target features are extracted, combined with the internal and external parameter information of the cameras, and the three-dimensional position information of the calibration main frame and the vehicle is calculated using triangulation technology.

[0112] A3、The control device 400 determines a second position offset of the calibration main frame 100 according to the position of the calibration main frame 100 relative to the vehicle 500 and the second preset position, wherein the second position offset is used to indicate the adjustment of the calibration main frame 100 to the second preset position.

[0113] The second preset position represents an ideal position required for placing the calibration main frame 100, and is determined by factors such as the vehicle model, the ADAS system to be calibrated, and the position of the sensor on the vehicle. Specifically, based on different vehicle models, ADAS systems to be calibrated, and positions of the sensors on the vehicle, the second preset position for placing the calibration main frame 100 is different. For example, the second preset position can be a position in front of or behind the vehicle.

[0114] After the calibration main frame 100 is adjusted to the second preset position, the vision module 300 on the calibration main frame 100 can accurately recognize the first target image attached to the vehicle 500 and the second target image attached to the independent support 200. At this time, the control device 400 controls the vision module 300 to collect the first target image attached to the vehicle 500 and the second target image attached to the independent support 200, and performs steps S201-S204 as described above to ensure smooth calibration.

[0115] In some embodiments, the control device 400 can provide a selection interface for the vehicle model to be calibrated, the ADAS system to be calibrated, and the sensor to be calibrated. After the user determines the vehicle model to be calibrated, the ADAS system to be calibrated, and the sensor to be calibrated, the control device 400 can determine the second preset position corresponding to the calibration main frame 100.

[0116] In this embodiment, after the control device 400 obtains the position of the calibration main frame 100 relative to the vehicle 500, it compares the current position of the calibration main frame 100 relative to the vehicle 500 with the second preset position, and calculates a second position offset of the calibration main frame 100. The second position offset represents the positional deviation between the current position of the calibration main frame 100 and the second preset position. Specifically, the second position offset includes positional deviations in six aspects, i.e., front-rear distance offset, left-right distance offset, vertical distance offset, yaw angle offset, pitch angle offset, and roll angle offset, to represent the deviation between the current position of the calibration main frame 100 and the second preset position.

[0117] After obtaining the second position offset, the operator can move and adjust the placement position and angle of the calibration main frame 100 to adjust the calibration main frame 100 to the second preset position, ensuring that the vision module 300 on the calibration main frame 100 can recognize the first target image attached to the vehicle wheel and the second target image attached to the independent support 200. It is worth noting that the calibration main frame 100 does not need to be placed extremely accurately, but only needs to be roughly placed at the second preset position, so that the vision module 300 can recognize the first target 501 on the vehicle wheel and the second target 201 on the independent support 200, thereby improving the placement efficiency of the calibration main frame 100.

[0118] After the calibration main frame 100 is placed in the second preset position, the second target image can be recognized by the vision module 300 on the calibration main frame 100 to assist in placing the independent support 200. The process of assisting the independent support 200 in placing by the calibration main frame 100 will be described below through some embodiments and in combination with specific application scenarios.

[0119] Please refer to FIG. 5. In some embodiments, the independent support 200 is pre-placed on one lateral side of the vehicle 500. In the process of the control device 400 acquiring the first image information collected by the vision module 300, the steps of acquiring each first target image collected by the first camera 301 and the second camera 302, and acquiring the second target image collected by the first camera 301 or the second camera 302 are performed.

[0120] As shown in FIG. 5, the calibration main frame 100 is placed in the second preset position at the front of the vehicle 500, and the independent support 200 is placed on the right side of the vehicle 500. The first camera 301 and the second camera 302 can be used to collect the first target images on the left and right sides of the vehicle 500, respectively, and the second camera 302 can be used to collect the second target image on the right side of the vehicle 500. It can be understood that when the independent support 200 is placed on the left side of the vehicle 500, the second target image can be collected by the first camera 301. The first target 501 and the second target 201 are recognized by the first camera 301 and the second camera 302 on the crossbeam 101 to obtain the position of the vehicle 500 and the position of the independent support 200, so as to calculate the first position offset of the independent support 200. Then, the operator adjusts the second target 201 on the independent support 200 according to the real-time feedback of the control device 400, until the independent support 200 is accurately placed in the first preset position.

[0121] After the independent support 200 is placed, that is, the independent support 200 is accurately placed on the first preset position on the left and right sides of the vehicle 500, the calibration tool can be placed by the independent support 200, and the calibration tool on the left and right sides of the vehicle 500 can be placed.

[0122] Please refer to FIG. 6. In some embodiments, the calibration tool needs to be placed on one longitudinal side of the vehicle 500. At this time, the independent support 200 is pre-placed on one longitudinal side of the vehicle 500. In the process of the control device 400 acquiring the first image information collected by the vision module 300, the steps of acquiring each first target image collected by the first camera 301 and the second camera 302, and acquiring the second target image collected by the third camera 303 are performed.

[0123] As shown in FIG. 6, the calibration main frame 100 is placed at the second preset position in front of the vehicle 500, and the independent support 200 is placed between the vehicle 500 and the calibration main frame 100. At this time, the position of the vehicle 500 is obtained by recognizing the first target 501 through the first camera 301 and the second camera 302 on the cross beam 101, and the position of the independent support 200 is obtained by recognizing the second target 201 through the third camera 303 on the cross beam 101, so as to calculate the first position offset of the independent support 200. Then, the operator fine-tunes the second target 201 on the independent support 200 based on the first position offset, so as to adjust the independent support 200 to the first preset position.

[0124] After the independent support 200 is placed at the first preset position in front of the vehicle 500, the calibration tool can be placed with the assistance of the independent support 200, and the placement of the calibration tool in front of and behind the vehicle 500 can be realized.

[0125] As described above, in the embodiments of the present application, the calibration main frame 100 and the independent support 200 are matched, so as to place the calibration tool at the left and right sides of the vehicle 500 and at the front and rear of the vehicle, which expands the placement range of the calibration tool while ensuring the placement accuracy and efficiency.

[0126] In some calibration scenarios, for example, when the calibration tool needs to be placed at a far position on the left and right sides of the vehicle 500, or needs to be placed at a position in front of or behind the side of the vehicle 500, the calibration main frame 100 located on one longitudinal side of the vehicle 500 cannot recognize the second target 201 on the independent support 200 and cannot complete the placement of the independent support 200.

[0127] Please refer to FIG. 7. In some embodiments, in order to further expand the placement range of the calibration tool, meet the placement demand of the calibration tool, and realize the placement of the calibration tool at a position in front of or behind the side of the vehicle 500, the control device 400 further performs the following steps:

[0128] B1. After the calibration main frame 100 is placed on one longitudinal side of the vehicle 500, the control device 400 acquires each first target image on the wheel, and determines the mutual positional relationship of each first target 501.

[0129] In this step, the calibration main frame 100 only needs to be roughly placed at the front or rear of the vehicle 500, so as to ensure that the first camera 301 and the second camera 302 can recognize the first target 501 on the left and right sides of the vehicle 500, respectively. For example, the operator can place the independent support 200 at the front of the vehicle 500, so that the first camera 301 and the second camera 302 on the calibration main frame 100 can recognize the first target 501 on the left and right sides of the vehicle 500, respectively.

[0130] After the calibration main frame 100 is placed, the control device 400 controls the first camera 301 and the second camera 302 to respectively capture first target images of the left and right sides of the vehicle 500, and analyzes the first target images to determine the mutual positional relationship between the first targets 501. Specifically, the first target images can represent the position characteristics of the corresponding wheels, and the mutual positional relationship of the four targets can represent the mutual positional relationship of the four vehicles 500.

[0131] B2. After the calibration main frame 100 is placed in the preset placement orientation, the control device 400 acquires at least one first target image captured by one of the first camera 301 and the second camera 302, and acquires a second target image captured by the other of the first camera 301 and the second camera 302.

[0132] Specifically, the preset placement orientation represents an ideal position at which the calibration main frame 100 needs to be placed, wherein the preset placement orientation is related to the vehicle model, the ADAS system to be calibrated, and the position of the sensor to be calibrated on the vehicle 500. Depending on different calibration requirements, the preset placement orientation at which the calibration main frame 100 needs to be placed is different. For example, the preset placement orientation can be a position in the front or rear side of the vehicle 500.

[0133] When the control device 400 obtains the mutual positional relationship of the four first targets 501, the operator can be instructed to move the calibration main frame 100 to the preset placement orientation. For example, FIG. 7 shows a schematic diagram after the calibration main frame 100 is moved to the preset placement orientation. After the calibration main frame 100 is placed in the preset placement orientation, the first camera 301 on the left side of the calibration main frame 100 can capture at least one first target 501 image on the right side of the vehicle 500, and the second camera 302 on the right side of the calibration main frame 100 can capture a second target 201 image on the independent support 200.

[0134] B3. The control device 400 determines the position of the vehicle 500 according to the at least one first target image and the mutual positional relationship of the first targets 501, and determines the position of the independent support 200 according to the second target image.

[0135] The first target image can represent the position characteristics of the vehicle 500. When the control device 400 acquires the first target image and the mutual positional relationship of the first targets 501, the three-dimensional positions of the four wheels of the vehicle can be calculated using computer vision and geometric positioning techniques, and the position characteristics such as the center line or thrust line of the vehicle can be determined. The second target image can represent the position characteristics of the independent support 200. When the control device 400 acquires the second target image, the position characteristics of the independent support 200 can be determined.

[0136] Further, after the control device 400 obtains the position of the vehicle 500 and the position of the independent support 200, the first position offset of the independent support 200 can be calculated, and then the operator fine tunes the second target 201 on the independent support 200 based on the first position offset to adjust the independent support 200 to the first preset position.

[0137] In the embodiment, in the case that the first camera 301 and the second camera 302 on the calibration main support 100 cannot directly recognize the second target 201, the first targets 501 on the four wheels can be recognized by the first camera 301 and the second camera 302 and the mutual position relationship thereof is recorded, then the calibration main support 100 is moved to one side of the vehicle 500, for example, the side front or the side rear of the vehicle 500, one of the first camera 301 and the second camera 302 is used to recognize the first target 501 on the wheel at one side of the vehicle 500, and the position coordinates of the vehicle 500 are obtained in combination with the mutual position relationship of the four first targets 501, and the other of the first camera 301 and the second camera 302 is used to recognize the second target 201 on the independent support 200 to assist the accurate placement of the independent support 200. Through the above steps, the placement area of the independent support 200 is effectively expanded, and the placement range of the calibration tool is further expanded, which is suitable for the calibration tool to be placed at a position far away from the side of the vehicle 500 or a position such as the side front of the vehicle 500, and meets the needs of more extensive ADAS calibration scenes.

[0138] Please refer to FIG. 8 and FIG. 9, in some embodiments, the calibration tool is a calibration pattern 600, after the independent support 200 is adjusted to the first preset position, the control device 400 performs the following steps to provide operation guidance to assist the process of placing the calibration tool at the reference placement position:

[0139] C1, the control device 400 provides first operation guidance, the first operation guidance is used to instruct to replace the second target 201 with a laser 700.

[0140] After the control device 400 determines that the independent support 200 is accurately placed at the first preset position, the control device 400 can provide first operation guidance to the operator in the form of graphical interface, video, text or voice. Specifically, the operator removes the second target 201 from the fine tuning mechanism of the independent support 200 according to the first operation guidance, and then installs the laser 700 on the fine tuning mechanism.

[0141] After the independent support 200 is placed at the first preset position assisted by the visual module 300, the independent support 200 can be used as a placement reference of the calibration pattern 600, the operator can remove the second target 201 from the fine tuning mechanism of the independent support 200, and install the laser 700 on the fine tuning mechanism.

[0142] Since the position of the second target 201 on the fine adjustment mechanism is accurate, after the laser 700 is installed at the same position on the independent support 200, the accuracy of the installation position of the laser 700 can be ensured to meet the placement requirements of the calibration pattern.

[0143] C2, the control device 400 provides second operation instructions for indicating the placement of the calibration pattern along the laser line 701 projected by the laser 700 on the ground, so that the calibration pattern can be placed at the reference placement position.

[0144] After the control device 400 confirms that the laser 700 is installed in place, the control device 400 provides second operation instructions to guide the operator to place the calibration pattern according to the laser line 701 projected by the laser 700.

[0145] Alternatively, the laser 700 can be a cross laser 700, after the laser 700 is installed on the independent support 200, the operator starts the laser 700, and the laser 700 projects cross laser lines 701 to the ground, which provides intuitive and accurate guidance for placing the calibration pattern. The operator can quickly and accurately place the calibration pattern at the reference placement position according to the indication of the laser line 701, ensuring that the relative position and angle of the calibration pattern to the vehicle 500 fully meet the calibration standards. Thus, the efficiency and accuracy of placing the calibration pattern are significantly improved.

[0146] It can be understood that in other embodiments, the second target 201 can also not be disassembled, but only used as a positioning reference to assist in installing the calibration tool.

[0147] In addition, the laser 700 can also not be installed to assist in placing the calibration pattern, for example, in other embodiments, after the independent support 200 is placed at the target position, only one or two points on the ground are positioned as a reference based on the independent support 200, for example, two points on the ground can be positioned by a plumb line, and then the operator can assist in placing the calibration pattern based on the two points on the ground.

[0148] When the calibration pattern is accurately placed on the ground by the above-mentioned method, the AVM panoramic image system of the vehicle 500 can be calibrated using the calibration pattern to ensure calibration accuracy.

[0149] In some embodiments, the calibration tool is an angle reflector, and after the independent support 200 is adjusted to the first preset position, the control device 400 performs the following steps to assist in placing the calibration tool at the reference placement position:

[0150] D1, the control device 400 provides a third operation instruction, the third operation instruction is used to instruct to replace the second target 201 with a corner reflector, so that the corner reflector can be placed in the reference placement position.

[0151] In the embodiment, the calibration tool is a corner reflector, after the control device 400 determines that the independent support 200 is placed in the first preset position, the control device 400 provides a third operation instruction, specifically, the third operation instruction can be displayed to the operator in the form of a graphical interface, or provided to the operator in the form of video, text or voice, to guide the operator to place the corner reflector.

[0152] After the independent support 200 has been placed in the first preset position, the independent support 200 can serve as a placement reference for the corner reflector, the operator can remove the second target 201 from the fine adjustment mechanism of the independent support 200, and install the corner reflector on the fine adjustment mechanism. Since the position of the second target 201 on the fine adjustment mechanism is accurate, after the corner reflector is installed on the independent support 200, the accuracy of the installation position of the corner reflector can be ensured.

[0153] In some embodiments, after the control device 400 performs step D1, the following steps are further performed:

[0154] D2, the control device 400 provides a fourth operation instruction, the fourth operation instruction is used to instruct to remove the calibration main support 100, so that the distance between the calibration main support 100 and the independent support 200 is greater than a preset distance.

[0155] Specifically, the preset distance is a safe distance of the calibration main support 100 from the independent support 200, after the corner reflector is accurately installed on the independent support 200, the operator can move the calibration main support 100 to a position that does not interfere with the corner reflector, so that the distance between the calibration main support 100 and the independent support 200 is greater than the preset distance, to avoid the metal object on the calibration main support 100 from interfering with the calibration of the corner reflector. Thus, the accuracy of ADAS calibration is further improved.

[0156] When the corner reflector is installed on the independent support 200 and the calibration main support 100 is removed in the above-mentioned manner, the ACC (adaptive cruise control) system of the vehicle 500 can be calibrated using the corner reflector.

[0157] Those skilled in the art can understand that in the above-mentioned method of the specific embodiment, the writing order of each step does not mean a strict execution order and does not constitute any limitation on the implementation process, and the specific execution order of each step should be determined by its function and possible internal logic.

[0158] Referring to FIG. 10, the embodiment of the present application further provides a device for assisting in placing a calibration tool, which is used for executing the method in any of the above embodiments. Specifically, the device for assisting in placing a calibration tool in the embodiment of the present application comprises an acquisition module 801, a determination module 802, a providing module 803 and a guiding module 804, wherein:

[0159] The acquisition module 801 is configured to acquire first image information collected by a visual module, wherein the first image information is used for representing position and posture features of the vehicle and position and posture features of the independent support;

[0160] The determination module 802 is configured to determine the position of the independent support relative to the vehicle 500 according to the first image information.

[0161] The providing module 803 is configured to provide a first position offset of the independent support according to the position of the independent support relative to the vehicle and a first preset position, wherein the first position offset is used for indicating adjustment of the independent support to the first preset position.

[0162] The guiding module 804 is configured to provide operation guidance for placing the calibration tool at a reference placement position by using the independent support at the first preset position after the independent support is adjusted to the first preset position.

[0163] The device for assisting in placing a calibration tool provided by the embodiment of the present application has the functions or comprises the modules which can be used for executing the method described in the above method embodiment, and the specific implementation can refer to the description of the above method embodiment. For the sake of brevity, no longer description is made here.

[0164] Referring to FIG. 11, FIG. 11 is a structural schematic diagram of a control device 400 provided by the embodiment of the present application. The control device 400 can comprise a memory 401 and a processor 402, wherein, for example, the memory 401 is configured to store computer programs or instructions by using the control device 400, and the processor 402 is configured to execute the computer programs or instructions stored in the memory, so that the control device 400 implements the steps involved by the control device 400 in the method for assisting in placing a calibration tool provided by the embodiment of the present application.

[0165] The processor 401 and the memory 402 can be connected through a bus or other manners. In FIG. 11, the connection through the bus is taken as an example.

[0166] The memory 402, as a non-volatile computer readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as the program instructions / modules corresponding to the method of assisting in placing the calibration tool in the embodiments of the present application. The processor executes various function applications and data processing of the control device 400 by running the non-volatile software programs, instructions and modules stored in the memory, that is, realizes the functions of the method of assisting in placing the calibration tool provided by the above method embodiments and each module of the above system embodiments.

[0167] The memory 402 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory can include a memory remotely arranged with respect to the processor, and these remote memories can be connected to the processor through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0168] The program instructions / modules are stored in the memory, and when executed by the one or more processors, the method of assisting in placing the calibration tool in any of the above method embodiments is executed.

[0169] In addition, the control device 400 can also include a power supply for powering each component. Preferably, the power supply can be connected to the processor logic through a power management system, so as to realize the functions of managing charging, discharging and power consumption management through the power management system. The power supply can also include one or more direct current or alternating current power supplies, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator and any other components.

[0170] Further, the control device 400 can also include a display unit, which can be used to display data such as the first position offset of the independent support, the second position offset of the calibration main frame, etc.

[0171] The embodiments of the present application also provide a computer readable storage medium having some instructions stored thereon, which, when invoked, can cause the early warning device to execute the functions involved by the early warning device in the above method embodiments, any one of the possible designs of the method embodiments. In the embodiments of the present application, the readable storage medium is not limited, for example, it can be a RAM (random access memory), a ROM (read-only memory) and the like.

[0172] The device or equipment embodiments described above are merely illustrative, wherein the units shown as separate components can or can not be physically separate, and the components shown as unit modules can or can not be physical units, i.e., can be located in one place or distributed on multiple network module units. Part or all of the modules can be selected according to actual needs to achieve the purposes of the embodiments.

[0173] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; under the idea of the present application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above. In order to be brief, they are not provided in detail; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of assisting in the placement of a calibration tool, characterized by, The application is applied to a calibration system, the calibration system comprises a vision module and a separate support, the separate support is pre-placed on one side of a vehicle, and the method comprises the following steps: acquiring first image information collected by the vision module, the first image information is used to represent position and posture characteristics of the vehicle and position and posture characteristics of the separate support; determining the position of the separate support relative to the vehicle according to the first image information; providing a first position offset of the separate support according to the position of the separate support relative to the vehicle and a first preset position, wherein the first position offset is used to indicate that the separate support is adjusted to the first preset position; after the separate support is adjusted to the first preset position, providing operation guidance to assist in placing a calibration tool by using the separate support at the first preset position, so that the calibration tool is placed at a reference placement position.

2. The method of claim 1, wherein, The first image information comprises first target images attached to each wheel of the vehicle and second target images attached to the separate support, and the determination of the position of the separate support relative to the vehicle according to the first image information comprises the following steps: determining the position of the vehicle according to the first target images on each wheel; determining the position of the separate support according to the second target images; determining the position of the separate support relative to the vehicle according to the position of the vehicle and the position of the separate support.

3. The method of claim 2, wherein, The calibration system further comprises a calibration main support, the calibration main support is pre-placed on a longitudinal side of the vehicle, the vision module is arranged on the calibration main support, and before the acquisition of the first image information collected by the vision module, the method further comprises the following steps: acquiring second image information collected by the vision module, the second image information comprises first target images attached to the vehicle; determining the position of the calibration main support relative to the vehicle according to the second image information; providing a second position offset of the calibration main support according to the position of the calibration main support relative to the vehicle and a second preset position, wherein the second position offset is used to indicate that the calibration main support is adjusted to the second preset position.

4. The method of claim 3, wherein, The vision module comprises a first camera and a second camera, the calibration main support comprises a crossbeam, the first camera and the second camera are arranged at opposite ends of the crossbeam respectively, when the separate support is pre-placed on a transverse side of the vehicle, the acquisition of the first image information collected by the vision module comprises the following steps: acquiring each first target image collected by the first camera and the second camera; acquiring the second target image collected by the first camera or the second camera.

5. The method of claim 3, wherein, The vision module further comprises a third camera, the third camera is arranged at the middle part of the crossbeam, when the separate support is pre-placed on a longitudinal side of the vehicle, the acquisition of the first image information collected by the vision module comprises the following steps: acquiring each first target image collected by the first camera and the second camera; acquiring the second target image collected by the third camera.

6. The method of claim 2, wherein, The calibration tool is a calibration pattern, and the provision of the operation guidance to assist in placing the calibration tool at the reference placement position comprises the following steps: The first operation instruction is used to instruct to replace the second target with a laser; The second operation instruction is used to instruct to place the calibration pattern along a laser line projected on the ground by the laser, so that the calibration pattern can be placed in the reference placement position.

7. The method of claim 2, wherein, The calibration tool is an angle reflector, and the operation instruction is provided to assist the calibration tool to be placed in the reference placement position, and the operation instruction comprises: The third operation instruction is used to instruct to replace the second target with an angle reflector, so that the angle reflector can be placed in the reference placement position.

8. An apparatus for assisting in placing a calibration tool, applied to a calibration system, the calibration system comprising a vision module and a stand-alone support, the stand-alone support being pre-placed on one side of a vehicle, characterized in that, The device comprises: An acquisition module is configured to acquire first image information collected by the vision module, the first image information being used to represent position and posture characteristics of the vehicle and position and posture characteristics of the independent support; A determination module is configured to determine a position of the independent support relative to the vehicle according to the first image information; A providing module is configured to provide a first position offset of the independent support according to the position of the independent support relative to the vehicle and a first preset position, wherein the first position offset is used to instruct to adjust the independent support to the first preset position; An instruction module is configured to provide an operation instruction to assist in placing a calibration tool by using the independent support in the first preset position after the independent support is adjusted to the first preset position, so that the calibration tool is placed in a reference placement position.

9. A control device characterized by comprising: The computer readable storage medium stores a computer program, and the computer program comprises program instructions. When the program instructions are executed by a processor, the processor executes the method in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program comprises program instructions. When the program instructions are executed by a processor, the processor executes the method in any one of claims 1-7.

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