阅读说明：本技术 一种用于l2级驾驶辅助系统的标定系统及标定方法 (Calibration system and calibration method for L2-level driving assistance system ) 是由 周庸 于 2020-04-29 设计创作，主要内容包括：本发明公开了一种用于L2级驾驶辅助系统的标定系统及标定方法,属于高级驾驶员辅助功能技术领域,能够兼容各类L2级驾驶辅助系统传感器的初始化标定,能够实现流水线式批量校准。本发明采用了标定系统发送指令控制可编程逻辑控制器系统同时又能与车辆控制器建立通讯,无需操作人员手动操作标靶系统,降低操作工时；本发明的平台可兼容多种车型的标定,在诊断仪与控制器通讯内容不变的前提下,标靶系统运动行程范围内标定位置可灵活调整,满足大批量生产。(The invention discloses a calibration system and a calibration method for an L2-grade driving auxiliary system, belongs to the technical field of advanced driver auxiliary functions, can be compatible with the initialization calibration of various L2-grade driving auxiliary system sensors, and can realize pipelined batch calibration. The calibration system is adopted to send the instruction to control the programmable logic controller system and establish communication with the vehicle controller, so that an operator does not need to manually operate the target system, and the operation time is reduced; the platform of the invention can be compatible with the calibration of various vehicle types, and the standard position in the motion stroke range of the target system can be flexibly adjusted on the premise of not changing the communication content of the diagnostic instrument and the controller, thereby meeting the requirement of mass production.)

1. A calibration system for an L2-level driving assistance system is characterized by comprising a whole vehicle parking platform, a vehicle speed sensor and a vehicle speed sensor, wherein the whole vehicle parking platform is used for righting the position of a vehicle body and realizing stable centering of the vehicle;

the target system is used for providing an initialization calibration environment for front and rear millimeter wave radars and an intelligent forward-looking camera of the driving assistance system;

the programmable logic controller system is used for controlling the movement of the target system and the movement of the whole vehicle parking platform;

the communication diagnostic instrument is used for communicating with the vehicle controller, communicating with the programmable logic controller system and communicating with the factory data storage server;

the communication diagnostic instrument sends a calibration starting instruction to the programmable logic controller system, the programmable logic controller system controls the target system to move to a calibration position, the programmable logic controller system returns the target system in-place information and keeps the target system in place, the communication diagnostic instrument starts to calibrate the position of the sensor, after the sensor is calibrated to be qualified, the communication diagnostic instrument sends a calibration ending instruction to the programmable logic controller system, the programmable logic controller system controls the target system to return to the original position, the vehicle runs out of a finished vehicle parking platform, and calibration is finished.

2. The calibration system for the driver assistance system of the L2 level as claimed in claim 1, wherein the whole vehicle parking platform is composed of a parking platform and a guiding device, a V-shaped positioning slot and a centering and centering device thereon, the guiding device is located at the middle position of the parking platform, is arranged in parallel, and is used for assisting the driver to drive into the vehicle; the V-shaped positioning groove is positioned at the front end of the guide device, oppositely fixed on two sides of the guide device and used for positioning the vehicle in the X-axis direction; the centering and centering device is located between the guide devices and located at the front end and the rear end of the guide devices, and the centering and centering device is of an inward expanding type and is driven by compressed air.

3. The system of claim 1, wherein the target system comprises a target and a target driving device, the target driving device is used for controlling the target to move, after the vehicle is in place and swing, the target system is controlled by the communication diagnostic device through the programmable logic control system, the target moves to the calibration position along axis Z, Y, the programmable logic control system returns the target in place signal, and the communication diagnostic device starts to communicate with the vehicle for calibration.

4. A calibration system for a driver assistance system at level L2 as set forth in claim 1 wherein said programmable logic controller system comprises a power supply, a programmable logic controller and a drive actuator; the power supply comprises two forms of 380V and 24V and supplies power for the programmable logic controller and the driving actuator; and the programmable logic controller controls the driving actuator according to the instruction of the communication diagnostic instrument to move the target of the target system to the calibration position.

5. The calibration system for the driver assistance system at level L2 as set forth in claim 1, wherein said communication diagnostic device comprises a power module, a human-computer interaction module, a host computer module and a communication interface module; the power supply module is respectively connected with the human-computer interaction module, the upper computer module and the communication interface module; the human-computer interaction module is in bidirectional communication connection with the upper computer module, the upper computer module is in bidirectional communication connection with the communication interface module, and the communication interface module is in bidirectional communication connection with the automobile diagnostic instrument interface.

6. A method of calibrating a calibration system for a class L2 driver assistance system as claimed in claim 1,

the method comprises the following specific steps:

the first step is as follows: after the vehicle drives into the V-shaped positioning groove of the whole vehicle parking platform to be in place, the vehicle is in a neutral position, powered on and parking brake released state;

the second step is that: an operator connects the communication diagnostic instrument with an OBD interface of the vehicle, the communication diagnostic instrument is communicated with the programmable logic controller system, the whole vehicle parking platform is controlled to correct the position of the vehicle body, the vehicle is stably centered, the target system is controlled to move to a calibration position, and corresponding target positioning information is returned;

the third step: the diagnostic device is communicated with the vehicle ECU and is used for calibrating the front millimeter wave radar, the rear millimeter wave radar and the intelligent forward-looking camera;

the fourth step: after the calibration is finished, all the targets return to the original positions, the diagnostic instrument displays the calibration result, and the operator drives the vehicle out of the whole vehicle parking platform.

Technical Field

The invention belongs to the technical field of advanced driver assistance functions, and particularly relates to a calibration system and a calibration method for an L2-level driving assistance system.

Background

An Advanced Driver Assistance System (ADAS) is an active safety technology that collects environmental data inside and outside a vehicle at the first time by using various sensors mounted on the vehicle, and performs technical processing such as identification, detection, tracking and the like of static and dynamic objects, so that a Driver can perceive a possible danger at the fastest time to draw attention and improve safety. The ADAS uses sensors, such as cameras, radars, lasers, and ultrasonic waves, which detect light, heat, pressure, or other variables used to monitor the state of the vehicle, and are usually located in the front and rear bumpers, side-view mirrors, and the inside of the steering column or on the windshield of the vehicle. In the use process of a vehicle, the physical installation state of the sensor can be changed due to vibration, collision, environment temperature and humidity and the like, so that irregular calibration or calibration is required.

The driving auxiliary system senses the surrounding environment at any time in the driving process of the automobile by using various sensors installed on the automobile, collects data, identifies, detects and tracks static and dynamic objects, and performs systematic operation and analysis by combining with map data of a navigator, so that a driver can be made to perceive possible dangers in advance, and the comfort and the safety of automobile driving are effectively improved.

Because the sensors are mostly manually assembled, and the accuracy of the installation position cannot meet the requirement of the driving assistance function, the initialization calibration work needs to be performed on the relevant sensors before the vehicle is off-line. The L2 class driver assistance system generally requires calibration of several sensors: a multifunctional forward-looking camera, a millimeter wave front radar and a millimeter wave rear radar. Because the sensors adopted by each host factory are different, the calibration modes of the sensors are different, the requirements of the calibration environment are different, the batch calibration of the vehicle sensors is difficult to realize, and the production takt of the host factory cannot be met.

Disclosure of Invention

Aiming at the problems of difficult mass production of host factory sensor calibration and the like in the prior art, the invention provides a calibration system and a calibration method for an L2-grade driving auxiliary system, which can be compatible with the initialization calibration of various L2-grade driving auxiliary system sensors and can realize the pipeline type mass calibration.

The invention is realized by the following technical scheme:

a calibration system for an L2-level driving assistance system comprises

The whole vehicle parking platform is used for righting the position of a vehicle body and realizing stable centering of the vehicle;

the target system is used for providing an initialization calibration environment for front and rear millimeter wave radars and an intelligent forward-looking camera of the driving assistance system;

the programmable logic controller system is used for controlling the movement of the target system and the movement of the whole vehicle parking platform;

the communication diagnostic instrument is used for communicating with the vehicle controller, communicating with the programmable logic controller system and communicating with the factory data storage server;

the communication diagnostic instrument sends a calibration starting instruction to the programmable logic controller system, the programmable logic controller system controls the target system to move to a calibration position, the programmable logic controller system returns the target system in-place information and keeps the target system in place, the communication diagnostic instrument starts to calibrate the position of the sensor, after the sensor is calibrated to be qualified, the communication diagnostic instrument sends a calibration ending instruction to the programmable logic controller system, the programmable logic controller system controls the target system to return to the original position, the vehicle runs out of a finished vehicle parking platform, and calibration is finished.

Furthermore, the whole vehicle parking platform consists of a parking platform, a guide device, a V-shaped positioning groove and a centering and aligning device, wherein the guide device, the V-shaped positioning groove and the centering and aligning device are positioned on the parking platform; the V-shaped positioning groove is positioned at the front end of the guide device, oppositely fixed on two sides of the guide device and used for positioning the vehicle in the X-axis direction; the centering and centering device is located between the guide devices and located at the front end and the rear end of the guide devices, and the centering and centering device is of an inward expanding type and is driven by compressed air.

Further, the target system is composed of a target 5 and a target driving device 6, the target driving device 6 is used for controlling the target 5 to move, after the vehicle is in place and is in a correct position, the target system is controlled by the communication diagnostic instrument through the programmable logic control system, the target moves to a calibration position along the Z, Y axis, the programmable logic control system returns a target in place signal, and the communication diagnostic instrument and the vehicle start communication calibration.

Furthermore, the programmable logic controller system comprises a power supply, a programmable logic controller and a driving actuator; the power supply comprises two forms of 380V and 24V and supplies power for the programmable logic controller and the driving actuator; and the programmable logic controller controls the driving actuator according to the instruction of the communication diagnostic instrument to move the target of the target system to the calibration position.

Furthermore, the communication diagnostic apparatus comprises a power module, a man-machine interaction module, an upper computer module and a communication interface module; the power supply module is respectively connected with the human-computer interaction module, the upper computer module and the communication interface module; the human-computer interaction module is in bidirectional communication connection with the upper computer module, the upper computer module is in bidirectional communication connection with the communication interface module, and the communication interface module is in bidirectional communication connection with the automobile diagnostic instrument interface.

A calibration method of a calibration system for an L2-grade driving assistance system comprises the following specific steps:

the first step is as follows: after the vehicle drives into the V-shaped positioning groove of the whole vehicle parking platform to be in place, the vehicle is in a neutral position, powered on and parking brake released state;

the second step is that: an operator connects the communication diagnostic instrument with an OBD interface of the vehicle, the communication diagnostic instrument is communicated with the programmable logic controller system, the whole vehicle parking platform is controlled to correct the position of the vehicle body, the vehicle is stably centered, the target system is controlled to move to a calibration position, and corresponding target positioning information is returned;

the third step: the diagnostic device is communicated with the vehicle ECU and is used for calibrating the front millimeter wave radar, the rear millimeter wave radar and the intelligent forward-looking camera;

the fourth step: after the calibration is finished, all the targets return to the original positions, the diagnostic instrument displays the calibration result, and the operator drives the vehicle out of the whole vehicle parking platform.

Compared with the prior art, the invention has the following advantages:

1. the calibration system is adopted to send the instruction to control the programmable logic controller system and establish communication with the vehicle controller, so that an operator does not need to manually operate the target system, and the operation time is reduced;

2. the platform of the invention can be compatible with the calibration of various vehicle types, and the standard position in the motion stroke range of the target system can be flexibly adjusted on the premise of not changing the communication content of the diagnostic instrument and the controller, thereby meeting the requirement of mass production.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a schematic diagram of a calibration system for a class L2 driver assistance system according to the present invention;

FIG. 2 is a schematic circuit diagram of a programmable logic controller system of a calibration system for a class L2 driver assistance system in accordance with the present invention;

FIG. 3 is a schematic illustration of a full vehicle parking platform for a calibration system for a class L2 driver assistance system;

FIG. 4 is a schematic illustration of a targeting system for a calibration system for a class L2 driver assistance system;

in the figure: the device comprises a parking platform 1, a guide device 2, a V-shaped positioning groove 3, a centering and centering device 4, a target 5 and a target driving device 6.

Detailed Description

The following embodiments are only used for illustrating the technical solutions of the present invention more clearly, and therefore, the following embodiments are only used as examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.