阅读说明：本技术 一种用于定位adas标定目标板放置位置的装置和定位方法 (device and method for positioning placement position of ADAS calibration target plate ) 是由 毕远伟 孙海卫 马文明 胡潇琨 阎维青 李瑞旭 潘庆先 于 2019-06-12 设计创作，主要内容包括：本发明公开了一种用于定位ADAS标定目标板放置位置的装置和定位方法。所述装置具体为一种使用车轮定位仪辅助,扩展车轮定位仪的功能,利用车轮定位仪获取的车辆空间位置信息,按照规范标准将ADAS标定板放置在相对车辆准确的位置上辅助ADAS标定的装置。所述方法为使用上述装置获得相对相机的待标定车辆中心线的空间位置P<Sub>l1</Sub>、待标定车辆中心线平面的空间位置P<Sub>f2</Sub>、ADAS标定板的空间位置P<Sub>c111</Sub>以及ADAS标定设备支撑架横梁的空间位置P<Sub>l4</Sub>,即确定ADAS标定板111放置在相对待标定车辆的准确位置。该方法操作简单、标定方便、准确度高,而且提高了工作效率迅速便捷。(The invention discloses a device and a method for positioning the placing position of an ADAS calibration target plate. The device is specifically a device which uses a wheel alignment instrument for assistance, expands the functions of the wheel alignment instrument, uses the vehicle space position information obtained by the wheel alignment instrument, and places an ADAS calibration plate on a position which is accurate relative to a vehicle according to a standard to assist the ADAS calibration. The method is characterized in that the device is used for obtaining a spatial position Pl1 of a vehicle center line to be calibrated, a spatial position Pf2 of a vehicle center line plane to be calibrated, a spatial position Pc111 of an ADAS calibration plate and a spatial position Pl4 of a support frame cross beam of the ADAS calibration device relative to the camera, namely, the ADAS calibration plate 111 is placed at an accurate position relative to the vehicle to be calibrated. The method is simple to operate, convenient to calibrate and high in accuracy, and the working efficiency is improved, and the method is rapid and convenient.)

1. An auxiliary ADAS calibration device is characterized by comprising fixed terminals (101, 102), connecting rods (103, 104), positioning target plates (105, 106), an ADAS calibration plate (111), a supporting frame cross beam (112), cameras (126, 128) of a wheel aligner, target plates (141, 145, 146, 147) of the wheel aligner and a working host (120);

an ADAS calibration plate (111) is placed in front of the vehicle head,

The ADAS calibration plate (111) is fixed in the middle of the support frame beam (112), the placing position of the ADAS calibration plate (111) is adjusted by moving the support frame beam (112),

one ends of connecting rods (103, 104) are respectively fixedly connected with positioning target plates (105, 106), the other ends are respectively movably connected with the supporting frame cross beam (112) through fixed terminals (101, 102), moreover, the fixed terminals (101, 102) are horizontally and centrally symmetrically arranged on the supporting frame cross beam (112) relative to the ADAS calibration plate (111),

The alignment target plates (105, 106) are located in the field of view (132, 131) of the cameras (126, 128) of the wheel aligner,

target plates (141, 145, 146, 147) of a wheel aligner affixed to the wheel hub are in a field of view (132, 131) of a camera (126, 128) of the wheel aligner,

The working host (120) is connected with the wheel positioning instrument.

2. an auxiliary ADAS calibration device according to claim 1, characterized in that the connecting rods (103, 104) are adjustable in length.

3. an auxiliary ADAS calibration apparatus as defined in claim 1, wherein the positioning target boards (105, 106) are placed on the corresponding positioning target board support frames (107, 109), respectively, and the positioning target board support frames (107, 109) are movable and height-adjustable.

4. An auxiliary ADAS calibration device as claimed in claim 1, wherein a set of functional components, namely the fixed terminal (101), the connecting rod (103), the alignment target plate (105), and the camera (126) of the wheel aligner, are included.

5. a method for accurately placing an ADAS calibration plate, wherein the ADAS calibration plate (111) is positioned using the auxiliary ADAS calibration device, comprising the steps of:

Step 1, assisting the calibration of the ADAS calibration device:

1.1) fixing the terminal end (101), moving the positioning target plate (105), shooting images of the positioning target plate (105) at more than 3 different positions by a positioning camera, acquiring a plurality of groups of rotation matrixes R0 and R1, translation vectors T0 and T1 of the positioning target plate (105) relative to the camera (126) at different positions through a wheel positioning camera (126),

Since the relative position Pc101 of the fixed terminal 101 with respect to the photographing camera 126 is not changed in the plurality of photographed images, the relative spatial position Pb101 of the fixed terminal 101 with respect to the positioning target board 105 is converted into the relative position Pc101 with respect to the photographing camera,

P＝RP+T (1)

P＝RP+T (2)

where Pb101 is a relative spatial position of the positioning target board (105) to which the fixed terminal (101) is connected by the connecting rod (103), and Pc101 is a relative position of the fixed terminal (101) with respect to the photographing camera.

Obtaining a formula (3) through a formula (1) and a formula (2),

(R–R)P＝T-T (3)

Obtaining the relative spatial position Pb101 of the fixed terminal (101) through the positioning target plate (105) connected by the connecting rod (103) through the formula (3), and completing the self calibration of the fixed terminal (101);

1.2) calibrating the fixed terminal (102) by the same step as the self-calibration of the fixed terminal (101) to obtain Pb102, wherein the Pb102 is the relative spatial position of a positioning target plate (106) connected with the fixed terminal (102) through a connecting rod (104).

thus, spatial positions Pb101 and Pb102 of the fixed terminals 101 and 102 relative to the positioning target boards 105 and 106 are obtained, and self-calibration of the fixed terminals 101 and 102 is completed.

step 2, the wheel positioning instrument positions the wheels of the vehicle to be calibrated to obtain the position information of the wheels of the vehicle to be calibrated and the spatial position information of the center line plane of the center line (129) of the vehicle to be calibrated, and the method comprises the following steps:

2.1) simultaneously positioning the wheels by placing the target plates (141, 145, 146, 147) of the wheel alignment devices fixed on the wheels in the field of view (132, 131) of the cameras (126, 128) of the wheel alignment devices, and adjusting the wheel alignment parameters to be within the standard range according to the feedback information of the wheel alignment devices;

2.2) determining the spatial position Pl1 of the vehicle center line (129) to be calibrated,

the wheel aligner measures the spatial positions Pc11, Pc12, Pc13 and Pc14 of the wheel axle center of the vehicle wheel (142, 143, 148, 149) to be calibrated relative to the camera (126),

P＝(P+P)/2 (4)

Pc11 and Pc12 are substituted into formula (4) to determine the spatial position Ps1 of the center point of the front wheel,

P＝(P+P)/2 (5)

Pc13 and Pc14 are substituted into formula (5) to determine the spatial position Ps2 of the center point of the rear wheel,

ps1 and Ps2 determine the spatial position Pl1 of the vehicle centerline (129) to be calibrated;

2.3) Pc11 and Pc12 determine the spatial position Pl2 of the front wheel axle relative to the camera (126), Pc13 and Pc14 determine the spatial position Pl3 of the rear wheel axle relative to the camera (126), and two straight lines determine a plane so as to obtain the spatial position Pf1 of the plane where Pl2 and Pl3 of the relative camera (126) are located;

2.4) determining the spatial position Pl1 of the central line (129) of the vehicle to be calibrated through the step 2.2) and the spatial position Pf1 of the plane where the Pl2 and the Pl3 of the camera (126) are located in the step 2.3), namely determining the spatial position Pf2 which contains the central line (129) of the vehicle to be calibrated and is vertical to the central line plane of the Pl2 and the Pl3 relative to the camera (126), and when determining the arrangement position of the ADAS calibration plate (111), the central position of the ADAS calibration plate (111) needs to be superposed with the spatial position Pf2 of the central line plane;

step 3, determining the placing position of the ADAS calibration plate (111):

3.1) the alignment targets (105, 106) are respectively located in the field of view of the aligner cameras (126, 128), the wheel aligner respectively obtains a rotation matrix R101 and a translational displacement T101 of the target (105) relative to the camera (126), and a rotation matrix R102 and a translational displacement T102 of the target (106) relative to the camera (128),

The relative spatial position of the fixed terminal (101) with respect to the positioning target board (105) is converted into a relative position Pc101 with respect to the photographing camera (126),

P＝RP+T (6)

substituting R101 and T101 into formula (6) to obtain the relative position Pc101 of the fixed terminal (101) relative to the shooting camera (126),

3.2) converting the relative spatial position of the fixed terminal (102) with respect to the positioning target board (106) into a relative position P' c102 with respect to the photographing camera (126),

P’＝RP+T (7)

Substituting R102 and T102 into formula (7) to obtain the relative position P' c102 of the fixed terminal (102) relative to the shooting camera (128);

calibrating a locator multi-camera to obtain a rotation vector R21 and a translation vector T21 of the spatial position of a locator camera (128) relative to a camera (126);

the spatial position of the fixed terminal (102) with respect to the camera (128) is switched to a spatial position Pc102 with respect to the camera (126),

P＝RP’+T (8)

3.3) determining the horizontal centre position Pc111 of the ADAS calibration plate (111) relative to the camera (126)

the horizontal central space position Pc111 of the ADAS calibration plate (111) relative to the camera (126) can be determined at two points through the space position Pc101 of the fixed terminal (101) relative to the camera (126) in the step 3.1) and the space position Pc102 of the fixed terminal (102) relative to the camera (126) in the step 3.2,

P＝(P+P)/2 (9)

Meanwhile, the spatial positions Pc101 and Pc102 of the fixed terminals (101, 102) relative to the camera (126) can determine the spatial position Pl4 of the support frame beam (112) relative to the camera (126);

3.4) determining the spatial position Pl1 of the central line (129) of the vehicle to be calibrated in the step 2), moving the ADAS calibration plate (111) to ensure that the horizontal central position Pc111 of the ADAS calibration plate coincides with the spatial position Pf2 of the central line plane of the vehicle, and ensuring that the spatial position Pl4 of the supporting frame cross beam (112) relative to the camera (126) is perpendicular to the spatial position Pl1 of the central line, thus completing the accurate placement of the ADAS calibration plate (111).

6. the method as claimed in claim 5, wherein the rotational vector R21 and the translational vector T21 of the spatial position of the locator camera (128) relative to the camera (126) are determined by multi-camera calibration as disclosed in the patent "3D vehicle wheel locator multi-camera calibration system and multi-camera calibration method" and patent ZL 201410661374.8.

Technical Field

The invention relates to a device and a method for placing an ADAS calibration target plate at an accurate position relative to a vehicle, in particular to a device and a method for placing a calibration target plate used in the ADAS calibration at a proper position relative to the vehicle through real-time measurement of a wheel aligner.

Background

The Advanced Driver Assistance Systems (ADAS) in the prior art mainly use sensors such as a camera and a radar to acquire road condition information. It is therefore necessary to calibrate the ADAS during installation and use of the ADAS. This is related to whether the ADAS can provide the driver with the correct help. The ADAS calibration mainly comprises calibrating sensors such as a camera and a radar through an ADAS calibration board. During calibration, the position of the ADAS calibration plate relative to the vehicle is required. The parameters of sensors such as a camera in the ADAS can be accurately adjusted only by calibrating the ADAS on the premise of placing the standard. Meanwhile, before calibrating the ADAS, correct wheel alignment parameters are required to be ensured, and the driving direction of the vehicle is ensured. Therefore, the wheel alignment parameters are often checked before the ADAS calibration.

at present, there are two main types of methods for placing the ADAS calibration plate, one is a method directly provided by ADAS calibration equipment, and the other is a method provided by wheel alignment equipment:

The method directly provided by the ADAS calibration equipment has the main advantages that the method does not need to depend on a specific wheel positioning instrument and can be independently and completely placed, but the defects are obvious after the method is analyzed. The following are the main two ADAS calibration plate placement methods for this type of solution:

measuring tape measuring mode. The method is measured manually by means of a tape measure fixed in a fixed position on the ADAS calibration plate beam. After the vehicle is parked, the ADAS calibration device is placed at the approximate position in front of the vehicle, and then the position of the ADAS calibration plate is adjusted by means of the tape measure so that the distance from the vehicle is within a prescribed range, and the ADAS calibration plate is aligned with the center of the vehicle. The biggest disadvantage of this method is that the error is large, and since manual operation has many uncontrollable factors, accumulated error is generated, and calibration is affected finally.

an auxiliary device is arranged on the wheel. This kind of mode needs pass through anchor clamps installation extra auxiliary assembly on the wheel, for example laser instrument, camera etc. still need install scale or target plate etc. additional on ADAS calibration equipment crossbeam in addition, cooperates adjustment ADAS calibration board locating position through optical means. Although this method can eliminate some human errors to some extent, it has the following disadvantages: firstly, the operation is troublesome, a target plate of a wheel positioning instrument needs to be disassembled after the wheel positioning is finished, and then a new clamp and equipment are installed on the wheel; secondly, the wheel rim deformation or the mounting error of the clamp can bring measurement errors, and although the clamp mounting of the wheel positioning instrument cannot eliminate the errors, the measurement process is dynamically compensated, so that the factors can be corrected without influencing the measurement.

for the above reasons, manufacturers producing aligner equipment have also proposed their solutions, and it is a precondition to check and adjust wheel alignment parameters before calibrating ADAS, and the aligner can accurately measure the inclination angle and position of the wheel and determine the position of the vehicle, so that if support for placing the ADAS calibration plate is provided on this basis, the accuracy and work efficiency can be greatly improved. However, due to the spatial position limitations of the locator, the ADAS calibration board, and the vehicle to be calibrated, the locator camera cannot directly shoot the ADAS calibration board. Currently, the american real treasure (snap) company provides a method for assisting in placing an ADAS calibration plate in its jeunwan (john bean) brand locator, and specifically, a movable camera is added and respectively inserted at two ends of a beam of the ADAS calibration plate to shoot a target plate of the locator on a wheel, so that the position of the beam of the ADAS calibration plate relative to a vehicle is calculated, and the ADAS calibration plate is placed at a proper position. However, the cost of the camera is high, and the multiple cameras simultaneously acquire images, so that the data transmission and processing burden is increased, generally, only one additional camera is adopted and is alternately inserted at two ends of the beam of the ADAS calibration plate to be adjusted, the adjustment efficiency is not high enough, and on the other hand, the calibration of the relative position between the camera and the beam of the ADAS calibration plate is complex, the steps are complex, and the use is inconvenient.

Disclosure of Invention

in order to solve the above technical problems, the present invention provides a device and a method for positioning the position of the ADAS calibration target plate, that is, a device and a method for positioning the ADAS calibration target plate to an accurate position relative to the vehicle. The method is simple to operate, convenient to calibrate, high in accuracy and capable of improving working efficiency rapidly and conveniently.

the device and method of the present invention aim to place the ADAS calibration plate 111 on the ADAS calibration device in the exact position in front of the vehicle to be calibrated before ADAS calibration. The ADAS calibration plate 111 is only used for calibrating the ADAS camera subsequently after the ADAS calibration plate 111 is calibrated by the method of the present invention, and then the position, angle, etc. of the ADAS camera are adjusted by using the image information on the ADAS calibration plate 111, and the function of the ADAS calibration plate 111 is not the focus of the introduction of the present patent, and is not described in detail herein.

by way of further explanation, a person skilled in the art generally refers to the entirety of the support frame beam 112 and the ADAS calibration plate 111 fixed thereto as an ADAS calibration device, wherein the ADAS calibration plate 111 is used for calibrating the ADAS camera, such as adjusting the position and angle of the ADAS camera. The final purpose of the device and the positioning method of the invention is to determine the placement position of the ADAS calibration plate 111, that is, to position and determine the accurate position of the ADAS calibration plate 111 relative to the vehicle, the ADAS calibration plate 111 is generally fixed on the support frame cross beam 112 of the ADAS calibration device according to the setting of the actual use scene, and the ADAS calibration plate 111 is located at the center position of the support frame cross beam 112, therefore, the ADAS calibration plate 111 can be placed at the accurate position relative to the vehicle by moving the support frame cross beam 112 during calibration.

In order to achieve the purpose of the invention, the invention provides an auxiliary ADAS calibration device, which adopts the following technical scheme:

an auxiliary ADAS calibration device comprises fixed terminals 101 and 102, connecting rods 103 and 104, positioning target plates 105 and 106, an ADAS calibration plate 111, a supporting frame beam 112, cameras 126 and 128 of a wheel aligner, target plates 141, 145, 146 and 147 of the wheel aligner and a working host 120;

the ADAS calibration plate 111 is placed in front of the vehicle head,

the ADAS calibration plate 111 is fixed at the middle position of the support frame beam 112, and by adjusting the position of the ADAS calibration plate 111 to the support frame beam 112,

One ends of the connecting rods 103 and 104 are respectively fixedly connected with the positioning target plates 105 and 106, the other ends are respectively movably connected with the supporting frame beam 112 through the fixed terminals 101 and 102, moreover, the fixed terminals 101 and 102 are horizontally and centrally symmetrically arranged on the supporting frame beam 112 relative to the ADAS calibration plate 111,

the alignment target plates 105, 106 are positioned in the fields of view 132, 131 of the cameras 126, 128 of the wheel aligner,

the target plates 141,145, 146,147 of the wheel aligner that are affixed to the wheel are in the field of view 132,131 of the cameras 126,128 of the wheel aligner,

the work host 120 is connected with the wheel alignment instrument.

preferably, the length of the connecting rods 103, 104 is adjustable, that is, the length of the connecting rods 103, 104 is selectively adjusted according to different ADAS calibration equipment, but the calibration of the positioning target plates 105, 106 needs to be performed again after the length of the connecting rods 103, 104 is adjusted each time.

Preferably, the positioning target plates 105 and 106 are placed on the corresponding positioning target plate support frames 107 and 109, respectively, and the positioning target plate support frames 107 and 109 are used for placing and supporting the corresponding positioning target plates 105 and 106.

Moreover, two groups of functional components included in the auxiliary ADAS calibration apparatus described in this patent are reduced to one group, that is, one group of functional components includes the fixed terminal 101, the connecting rod 103, the positioning target plate 105, and the camera 126 of the wheel aligner, and it can be seen in embodiment 2 that a left-right time-sharing manner is adopted, a group of functional components is first installed on the left side (or the right side) of the ADAS calibration apparatus, the spatial position on the left side of the ADAS calibration apparatus is determined by the wheel aligner, and is adjusted accordingly, and then the group of functional components is detached and installed on the right side (or the left side) of the ADAS calibration apparatus, and the spatial position on the right side thereof can be determined and adjusted similarly.

In order to achieve the object of the present invention, a positioning method for positioning an ADAS target board by using the above-mentioned auxiliary ADAS calibration device is provided.

The positioning method for positioning the ADAS target plate by using the auxiliary ADAS calibration device comprises the following steps:

step 1, assisting the calibration of the ADAS calibration device:

1.1) fixing the terminal end 101, moving the positioning target plate 105, shooting more than 3 images of the positioning target plate 105 at different positions by the positioning camera, acquiring a plurality of groups of rotation matrixes R0 and R1, translation vectors T0 and T1 of the positioning target plate 105 at different positions relative to the camera 126 through the wheel positioning camera 126,

since the relative position Pc101 of the fixed terminal 101 with respect to the photographing camera 126 is not changed in the plurality of photographed images, the relative spatial position Pb101 of the fixed terminal 101 with respect to the positioning target board 105 is converted into the relative position Pc101 with respect to the photographing camera,

P＝RP+T (1)

P＝RP+T (2)

Where Pb101 is the relative spatial position of the positioning target board 105 to which the fixed terminal 101 is connected by the connecting rod 103, and Pc101 is the relative position of the fixed terminal 101 with respect to the photographing camera.

Obtaining a formula (3) through a formula (1) and a formula (2),

(R–R)P＝T-T (3)

obtaining the relative spatial position Pb101 of the positioning target plate 105 of the fixed terminal 101 connected through the connecting rod 103 by the formula (3), and completing self calibration of the fixed terminal 101;

1.2) calibrating the fixed terminal 102 by itself in the same step as the self-calibration of the fixed terminal 101 to obtain Pb102, wherein Pb102 is a relative spatial position of a positioning target plate 106 to which the fixed terminal 102 is connected by a connecting rod 104.

that is, the spatial positions Pb101 and Pb102 of the fixed terminals 101 and 102 with respect to the positioning target plates 105 and 106 are obtained, and the self-alignment of the fixed terminals 101 and 102 is completed.

step 2, the wheel alignment instrument aligns the wheels of the vehicle to be calibrated to obtain the position information of the wheels of the vehicle to be calibrated and the spatial position information of the center line plane of the center line 129 of the vehicle to be calibrated, and comprises the following steps:

2.1) simultaneously positioning the target plates 141, 145, 146, 147 of the wheel alignment instruments fixed on the wheels in the visual fields 132, 131 of the cameras 126, 128 of the wheel alignment instruments to position the wheels, and adjusting the wheel parameters to be in a standard range according to the feedback information of the wheel alignment instruments;

2.2) determining the spatial position Pl1 of the centre line 129 of the vehicle to be calibrated,

the wheel aligner measures the spatial positions Pc11, Pc12, Pc13 and Pc14 of the axle centers of the wheels 142, 143, 148 and 149 of the vehicle to be calibrated relative to the camera 126,

P＝(P+P)/2 (4)

Pc11 and Pc12 are substituted into formula (4) to determine the spatial position Ps1 of the center point of the front wheel,

P＝(P+P)/2 (5)

pc13 and Pc14 are substituted into formula (5) to determine the spatial position Ps2 of the center point of the rear wheel,

Ps1 and Ps2 determine the spatial position Pl1 of the centerline 129 of the vehicle to be calibrated;

2.3) Pc11 and Pc12 determine the spatial position Pl2 of the front wheel axle relative to the camera 126, Pc13 and Pc14 determine the spatial position Pl3 of the rear wheel axle relative to the camera 126, and two straight lines determine a plane so as to obtain the spatial position Pf1 of the plane where Pl2 and Pl3 of the camera 126 are located;

2.4) determining the spatial position Pf1 of the central line 129 of the vehicle to be calibrated through the step 2.2) and the spatial position Pf1 of the plane where the Pl2 and the Pl3 of the camera 126 are located in the step 2.3), namely determining the spatial position Pf2 which contains the central line 129 and is perpendicular to the central line plane of the Pl2 and the Pl3 relative to the camera 126, and when determining the placing position of the ADAS calibration plate 111, the central position of the ADAS calibration plate 111 needs to be superposed with the spatial position Pf2 of the central line plane;

Step 3, determining the placing position of the ADAS calibration plate 111:

3.1) the alignment targets 105, 106 are positioned in the fields of view 132, 131 of the aligner cameras 126, 128, respectively, the wheel aligner obtains the rotation matrix R101 and translational momentum T101 of the target 105 relative to the camera 126, and the rotation matrix R102 and translational momentum T102 of the target 106 relative to the camera 128,

The relative spatial position of the fixed terminal 101 with respect to the positioning target board 105 is converted into the relative position Pc101 with respect to the photographing camera 126,

P＝RP+T (6)

The relative position Pc101 of the fixed terminal 101 with respect to the camera 126 can be obtained by substituting R101 and T101 into equation (6),

3.2) the relative spatial position of the fixed terminal 102 with respect to the positioning target board 106 is converted into the relative position P' c102 with respect to the photographing camera 128,

P’＝RP+T (7)

Substituting R102 and T102 into equation (7) to obtain the relative position P' c102 of the fixed terminal 102 with respect to the camera 128;

calibrating a locator camera 128 to obtain a rotation matrix R21 and a translational vector T21 of the locator camera 128 in spatial position relative to a camera 126;

The spatial position of the fixed terminal 102 with respect to the camera 128 is shifted to the spatial position Pc102 with respect to the camera 126,

P＝RP’+T (8)

3.3) the horizontal center position Pc111 of the ADAS calibration plate 111 with respect to the camera 126.

It is determined that the spatial position Pc101 of the fixed terminal 101 with respect to the camera 126 and the spatial position P' c102 of the fixed terminal 102 with respect to the camera 128 are converted into the spatial position Pc102 with respect to the camera 126,

P＝(P+P)/2 (9)

The spatial position Pc111 of the horizontal center of the ADAS calibration plate 111 relative to the camera 126 can be determined at two points by determining the spatial position Pc101 of the fixed terminal 101 relative to the camera 126 in step 3.1) and determining the spatial position Pc102 of the fixed terminal 102 relative to the camera 126 in step 3.2),

meanwhile, the spatial positions Pc101 and Pc102 of the fixed terminals 101 and 102 relative to the camera 126 can determine the spatial position Pl4 of the support frame beam 112 relative to the camera 126;

3.4) determining the spatial position Pl1 of the center line 129 of the vehicle to be calibrated in step 2, moving the ADAS calibration plate 111 to make the horizontal center position Pc111 coincide with the vehicle center line plane spatial position Pf2, and making the support frame cross beam 112 perpendicular to the vehicle center line spatial position Pl1 relative to the camera 126 spatial position Pl4, thereby completing the accurate placement of the ADAS calibration plate 111.

The principle of positioning the ADAS target plate by using the auxiliary ADAS calibration device is that the positioning target plates 105 and 106 of the auxiliary ADAS calibration device and the target plates 141, 145, 146 and 147 mounted on the wheels in the wheel aligner are simultaneously positioned in the viewing areas 132 and 131 of the wheel aligner cameras 126 and 128, the wheel alignment needs to be completed in advance before the ADAS calibration plate 111 is aligned and placed, and the position information of the vehicle obtained by using the wheel aligner ensures that the vehicle can run in a normal direction, so as to accurately obtain the position of the vehicle wheels and the spatial position information Pl1 of the center line 129 of the vehicle to be aligned from the wheel aligner; because the auxiliary ADAS calibration device is fixed at two ends of the support frame cross beam 112 of the ADAS calibration device through the two fixing terminals 101, 102, the fixing terminals 101, 102 are distributed in bilateral symmetry with respect to the center of the ADAS calibration plate 111, and the two positioning target plates 105 and 106 at the left and right ends of the auxiliary ADAS calibration device are simultaneously located in the viewing areas 132 and 131 of the cameras 126 and 128, respectively, the spatial positions Pc101 and Pc102 of the two fixing terminals 101, 102 with respect to the camera 126 are obtained through the wheel aligner, the position Pc111 of the center of the ADAS calibration plate with respect to the camera 126 and the spatial position Pl4 of the support frame cross beam 112 of the ADAS calibration device can be further obtained, and finally, the ADAS calibration device is moved to make the spatial position Pl4 perpendicular to the spatial position Pl1 of the center line and the spatial position Pc111 of the center line coincide with the spatial position Pf2 of the center line plane.

this patent is for prior art's beneficial effect:

Firstly, the calibration error generated by the inaccuracy of the position of the calibration plate relative to the position of the vehicle to be calibrated during the calibration of the ADAS is effectively reduced by the auxiliary ADAS calibration device, so that the parameters such as the position of the ADAS camera are accurate after the calibration of the ADAS is finished.

secondly, this device easy operation, with the help of the supplementary ADAS of wheel alignment appearance demarcation need not install other auxiliary measurement equipment on the vehicle again, only need in current wheel alignment appearance increase relevant measurement function can, again, the part that this device increased is few, with low costs, equipment self demarcation process is simple.

Finally, the device has no special requirement on the ADAS calibration equipment, and has good compatibility, and as long as the ADAS calibration equipment is provided with the basic supporting frame cross beam 112 and the ADAS calibration plate 111, the device can be connected to the ADAS calibration equipment through the fixed terminal to assist the device in calibrating a vehicle to be calibrated.

Drawings

by way of illustration and not limitation, embodiments of ADAS camera calibration using an auxiliary ADAS calibration device based on two different wheel alignment instruments are depicted in the drawings. In different drawings, the same reference numbers indicate identical or functionally identical elements.

fig. 1 is a schematic diagram of an auxiliary ADAS calibration apparatus.

Fig. 2 is a schematic diagram of a connection between an auxiliary ADAS calibration apparatus and an ADAS calibration device in a coordinate system.

Fig. 3 is a schematic diagram of a self-calibration method using the auxiliary ADAS calibration apparatus.

Fig. 4 is a schematic diagram of a self-calibration method of an auxiliary ADAS calibration apparatus in a coordinate system.

Detailed Description

the present invention will now be described in more detail with reference to the accompanying drawings, in which preferred embodiments of the invention are shown, it being understood that one skilled in the art may modify the invention herein described while still achieving the beneficial results of the present invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the invention.

in the interest of clarity, not all features of an actual implementation are described. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. It will of course be appreciated that in the development of any such actual embodiment, numerous implementation-specific details must be set forth in order to achieve the developer's specific goals.

In order to make the objects and features of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. It is noted that the drawings are in greatly simplified form and that non-precision ratios are used for convenience and clarity in aiding in the description of the embodiments of the invention.