CN-122023343-A - Calibration method and device of vehicle-mounted projection equipment, electronic equipment and vehicle

CN122023343ACN 122023343 ACN122023343 ACN 122023343ACN-122023343-A

Abstract

The application discloses a calibration method and device of vehicle-mounted projection equipment, electronic equipment and a vehicle, wherein the method comprises the steps of obtaining coordinate values of a vehicle-mounted projection curtain at a calibrated qualified position; the method comprises the steps of controlling a vehicle-mounted projection light machine to project a light machine test pattern towards a vehicle-mounted projection curtain, obtaining coordinate values of the light machine test pattern, determining a first coordinate deviation value based on the coordinate values of the light machine test pattern and the coordinate values of the vehicle-mounted projection curtain, correcting the vehicle-mounted projection light machine based on the first coordinate deviation value, controlling the corrected vehicle-mounted projection light machine to project a calibration pattern towards the vehicle-mounted projection curtain, obtaining the coordinate values of the calibration pattern, calculating angular point distance values of the coordinate values of the calibration pattern and the coordinate values of the vehicle-mounted projection curtain, and if the angular point distance values are all within a preset angular point distance range value, calibrating the vehicle-mounted projection light machine successfully. By applying the technical scheme of the application, the calibration accuracy of the vehicle-mounted projection optical machine is improved.

Inventors

HUANG LING
XU ANLIANG
LIANG MINGYONG
GONG LONG
LI KUNMAO
ZHANG YUCHENG
YUE LI

Assignees

赛力斯汽车有限公司

Dates

Publication Date: 20260512
Application Date: 20260130

Claims (10)

1. The method for calibrating the vehicle-mounted projection equipment comprises a vehicle-mounted projection optical machine and a vehicle-mounted projection curtain, and is characterized by comprising the following steps: Acquiring coordinate values of the vehicle-mounted projection curtain at the calibrated qualified position; controlling the vehicle-mounted projection light machine to project a light machine test pattern towards the vehicle-mounted projection curtain, and acquiring coordinate values of the light machine test pattern; Determining a first coordinate deviation value based on the coordinate value of the optical machine test pattern and the coordinate value of the vehicle-mounted projection curtain, and correcting the vehicle-mounted projection optical machine based on the first coordinate deviation value; controlling the corrected vehicle-mounted projection light machine to project a calibration pattern towards the vehicle-mounted projection curtain, and acquiring coordinate values of the calibration pattern; And calculating angular point distance values of the coordinate values of the calibration pattern and the coordinate values of the vehicle-mounted projection curtain, and if the angular point distance values are all within a preset angular point distance range value, successful calibration of the vehicle-mounted projection optical machine is achieved.
2. The method of claim 1, wherein the method further comprises: Acquiring coordinate values of a plurality of standard points in the vehicle-mounted projection curtain; Determining a second coordinate deviation value based on the difference between coordinate values of adjacent calibration points in the vehicle-mounted projection curtain; If the second coordinate deviation value is located outside a preset coordinate range value, adjusting the position of the vehicle-mounted projection curtain until the second coordinate deviation value is located in the preset coordinate range value; And if the second coordinate deviation value is positioned in the preset coordinate range value, the vehicle-mounted projection curtain is positioned at the calibrated qualified position.
3. The method of claim 1, wherein the method further comprises: If the angular point distance value is outside the preset angular point distance range value, determining that the calibration of the vehicle-mounted projection optical machine is not qualified, and recording the times of the calibration failure; if the number of times of unqualified calibration is greater than a threshold value, determining that the calibration result of the vehicle-mounted projection optical machine is failure.
4. The method of claim 1, wherein the method further comprises: acquiring a wheel arch height value of a vehicle; determining a height compensation value and a pitch angle compensation value of the camera module based on the wheel arch height value; Determining a calibration position of the camera module based on the height compensation value and the pitch angle compensation value; And moving the camera module to the calibration position so as to be used for respectively acquiring the vehicle-mounted projection curtain image, the optical machine test pattern and the calibration pattern.
5. The method of claim 4, wherein the method further comprises: Controlling the vehicle-mounted projection light machine to project a camera test pattern towards the vehicle-mounted projection curtain; Acquiring actual pixel coordinate values of a plurality of standard points in the camera test pattern acquired by the camera module; determining a third coordinate deviation value based on differences between actual pixel coordinate values of a plurality of calibration points in the camera test pattern and corresponding theoretical pixel coordinate values; And if the third coordinate deviation value is within the preset coordinate range value, determining that the calibration of the camera module is completed.
6. The method of claim 4, wherein the wheel arch height values include a left wheel arch height value and a right wheel arch height value, and wherein the determining the height compensation value of the camera module based on the wheel arch height values comprises: determining an average value of the left wheel arch height value and the right wheel arch height value as a wheel arch average value; and determining the difference between the wheel arch average value and a preset height value as a height compensation value of the camera module.
7. The method of claim 6, wherein the wheel arch height values include a left front wheel arch height value, a right front wheel arch height value, a left rear wheel arch height value, and a right rear wheel arch height value, the step method of determining a pitch angle compensation value of the camera module based on the wheel arch height values comprising: Acquiring the wheelbase of the vehicle; Determining an average value of the left front wheel arch height value and the right front wheel arch height value as a front wheel arch average value, and determining an average value of the left rear wheel arch height value and the right rear wheel arch height value as a rear wheel arch average value; determining the difference value of the front wheel arch average value and the rear wheel arch average value as a wheel arch average difference value; And determining an arctangent function value of the ratio of the wheel arch average difference value to the wheel base as a pitch angle compensation value of the camera module.
8. A calibration device for a vehicle-mounted projection device, the calibration device comprising: the first acquisition module is used for acquiring coordinate values of the vehicle-mounted projection curtain at the calibrated qualified position; the second acquisition module is used for controlling the vehicle-mounted projection light machine to project a light machine test pattern towards the vehicle-mounted projection curtain and acquiring coordinate values of the light machine test pattern; the correction module is used for determining a first coordinate deviation value based on the coordinate value of the optical machine test pattern and the coordinate value of the vehicle-mounted projection curtain and correcting the vehicle-mounted projection optical machine based on the first coordinate deviation value; the third acquisition module is used for controlling the corrected vehicle-mounted projection light machine to project a calibration pattern towards the vehicle-mounted projection curtain and acquiring coordinate values of the calibration pattern; The calculation module is used for calculating angular point distance values of the coordinate values of the calibration pattern and the coordinate values of the vehicle-mounted projection curtain, and if the angular point distance values are all within a preset angular point distance range value, the vehicle-mounted projection optical machine calibration is successful.
9. An electronic device, comprising: A controller; A memory for storing one or more programs that, when executed by the controller, cause the controller to implement the calibration method of the in-vehicle projection apparatus of any one of claims 1 to 7.
10. A vehicle comprising an in-vehicle projection device and the electronic device of claim 9 for controlling the in-vehicle projection device.

Description

Calibration method and device of vehicle-mounted projection equipment, electronic equipment and vehicle Technical Field The application relates to the technical field of calibration of vehicle-mounted projection equipment, in particular to a calibration method and device of vehicle-mounted projection equipment, electronic equipment and a vehicle. Background At present, in the production process, a high-end vehicle type carrying the vehicle-mounted projection equipment can be used for manually assembling a vehicle-mounted projection light machine and a projection curtain of the vehicle-mounted projection equipment according to a vehicle design structure, and a projection function and a projection effect can be confirmed after the vehicle is off line. However, due to the influences of vehicle posture change, assembly tolerance of parts and the like, the calibration accuracy of the vehicle-mounted projection optical machine and the projection curtain is reduced. Content of the application In view of the above problems, the application provides a calibration method and device of a vehicle-mounted projection device, an electronic device and a vehicle, and improves the calibration accuracy of a vehicle-mounted projection optical machine. According to a first aspect of the embodiment of the application, a calibration method of a vehicle-mounted projection device is provided, the vehicle-mounted projection device comprises a vehicle-mounted projection light machine and a vehicle-mounted projection curtain, the method comprises the steps of obtaining coordinate values of the vehicle-mounted projection curtain at a calibrated qualified position, controlling the vehicle-mounted projection light machine to project a light machine test pattern towards the vehicle-mounted projection curtain and obtaining the coordinate values of the light machine test pattern, determining a first coordinate deviation value based on the coordinate values of the light machine test pattern and the coordinate values of the vehicle-mounted projection curtain, correcting the vehicle-mounted projection light machine based on the first coordinate deviation value, controlling the corrected vehicle-mounted projection light machine to project a calibration pattern towards the vehicle-mounted projection curtain and obtaining the coordinate values of the calibration pattern, and calculating the angular point distance values of the coordinate values of the calibration pattern and the coordinate values of the vehicle-mounted projection light machine if the angular point distance values are all within a preset distance range value. In an optional mode, the method further comprises the steps of obtaining coordinate values of a plurality of calibration points in the vehicle-mounted projection curtain, determining a second coordinate deviation value based on the difference of coordinate values of adjacent calibration points in the vehicle-mounted projection curtain, adjusting the position of the vehicle-mounted projection curtain to the position that the second coordinate deviation value is located in a preset coordinate range value if the second coordinate deviation value is located outside the preset coordinate range value, and locating the vehicle-mounted projection curtain at the calibration qualified position if the second coordinate deviation value is located in the preset coordinate range value. In an optional mode, the method further comprises the steps of determining that the calibration of the vehicle-mounted projection optical machine is failed if the angular point distance value is out of the preset angular point distance range value, recording the times of the calibration failure, and determining that the calibration result of the vehicle-mounted projection optical machine is failed if the times of the calibration failure are larger than a threshold value. In an optional mode, the method further comprises the steps of obtaining a wheel arch height value of a vehicle, determining a height compensation value and a pitch angle compensation value of a camera module based on the wheel arch height value, determining a calibration position of the camera module based on the height compensation value and the pitch angle compensation value, and moving the camera module to the calibration position to be used for respectively collecting the vehicle-mounted projection curtain image, the optical machine test pattern and the calibration pattern. In an optional mode, the method further comprises the steps of controlling the vehicle-mounted projection optical machine to project a camera test pattern towards the vehicle-mounted projection curtain, obtaining actual pixel coordinate values of a plurality of calibration points in the camera test pattern collected by the camera module, determining a third coordinate deviation value based on differences between the actual pixel coordinate values of the plurality of calibration points in the camera test pattern and c