Panoramic image calibration全景影像标定
Static calibration calibration equipment requirements静态标定标定设备要求
| 1. | The supporting equipment used in the after-sales calibration site of the panoramic imaging system includes three parts: calibration chart template, calibration evaluation chart template, and calibration communication equipment.全景影像系统的售后标定场地所用配套设备包括标定图样板、标定评价图样板、标定通讯设备三大部分。 |
| 2. | The calibration diagram template and calibration evaluation diagram template should be arranged in the panoramic imaging system after-sales static calibration site as required. The vehicle should enter the calibration site in the center and park in the vehicle body distribution area.标定图样板与标定评价图样板应按要求布置于全景影像系统售后静态标定场地中，车辆应居中驶入标定场地并停放在车体分布区中。 |
| 3. | After the vehicle is parked, the calibration executive connects the calibration communication equipment to the vehicle and executes the after-sales static calibration routine of the panoramic imaging system through the calibration communication equipment; during the execution of the routine, the panoramic imaging system reads the calibration pattern template through the connected camera for calibration.待车辆停好后，标定执行人员为车辆连接标定通讯设备并通过标定通讯设备执行全景影像系统售后静态标定例程；例程执行过程中，全景影像系统通过其连接的摄像头读取标定图样板进行标定。 |
| 4. | After the calibration is completed, the calibration executive evaluates the calibration effect through the calibration evaluation chart template.待标定完成后，标定执行人员通过标定评价图样板评价标定效果。 |
Static calibration site requirements静态标定场地要求
Site layout requirements for calibration drawing templates and calibration evaluation drawing templates标定图样板及标定评价图样板摆放场地布置要求
| 1. | The place where the after-sales calibration pattern plate of the panoramic imaging system is placed (that is, the after-sales static calibration place of the panoramic imaging system) should include three parts: the calibration plate layout area, the evaluation pattern distribution area, and the vehicle body distribution area. The distribution relationship of each layout area is as follows:全景影像系统的售后标定图样板摆放场地(即全景影像系统售后静态标定场地)应包含标定板布置区、评价图样分布区和车体分布区等三部分，各布置区分布关系如下图： |
| 2. | The calibration board and evaluation pattern are divided into 10 pieces from left to right. They are all rectangular in shape and are fixedly distributed on the ground of the calibration site and at the same level as the ground of the vehicle body distribution area. An expansion area should be reserved outside the calibration plate.标定板及评价图样自左而右共分10块，形状均为矩形，固定分布在标定场地地面上，与车体分布区地面处于同一水平面。标定板的外部应预留扩展区域。 |
| 3. | The vehicle body distribution area uses yellow dividing lines attached to the ground square to form a rectangular area. The vehicle being calibrated should be parked centrally within the vehicle body distribution area.车体分布区采用黄色划分线贴附地面方框形成矩形区域。进行标定的车辆应居中停放在车体分布区内。 |
Calibration site size requirements标定场地尺寸要求
Calibration drawing template and calibration evaluation drawing template drawing requirements标定图样板及标定评价图样板图样要求
| 1. | The calibration board pattern adopts a square checkerboard pattern, with alternating black and white (the black part is collectively referred to as the "chessboard" hereafter). The checkerboard is rectangular. There are blank areas on the edges of the checkerboard and the calibration board. There are no other border patterns in the blank areas. The specific dimensions are as follows:标定板图样采用方形棋盘式图样，黑白相间(黑色部分以下统称为“棋格”)，棋格为矩形，棋盘边沿与标定板边沿存有留白区域，留白区域无其它边框图纹。具体尺寸如下图： |
Calibration site lighting requirements标定场地光照要求
It is required that under this illumination condition, there will be no obvious reflection spots when the light hits the surface of the chessboard. You can refer to 200lux as the light illumination standard. It is recommended to build a room or light shield around the calibration site to shield the light interference outside the work station.要求该照度条件下，光线照射到棋盘表面时无明显反射光斑，可参考以200lux作为光线照度标准。推荐在标定场地四周建设房体或遮光体以屏蔽工位以外的光线干扰。
Calibration site ground requirements标定场地地面要求
| 1. | The ground in the chessboard layout area should be kept level with the ground in the car body distribution area.棋盘布置区域地面应与车体分布区的地面保持水平。 |
| 2. | It is recommended to use red tape on the left and right front wheel axis positions in the vehicle body distribution area as front wheel markings. The distance between the horizontal central axis of the front wheel mark (that is, the position of the central axis of the vehicle's front wheel hub during actual calibration) and the bottom edge of the No. 2 calibration plate is 570mm, as shown in Figure 7. The value unit in the figure is mm. Positioning accuracy ±10mm.推荐在车体分布区的左右前轮轴线位置使用红色胶带作为前轮标识。前轮标识的水平中轴线（即实际进行标定时车辆前轮轮毂中轴线位置）与2号标定板底边间距为570mm，如图7所示，图中数值单位为mm。定位精度±10mm。 |
| 3. | It is recommended to use tape and other items in the vehicle body distribution area to mark the central axis to facilitate the driver to determine the parking position of the vehicle. The lateral distance error between the central axis mark and the CITIC axis should be controlled within 50mm. The smaller the identification error, the more ideal the calibration effect and the better the consistency.推荐在车体分布区使用胶带等物品，对中心轴线进行标识，方便驾驶员判断车辆停放的定位。中心轴线标识与中信轴线的横向距离误差应控制住50mm以内。标识误差越小，标定效果越理想，一致性越好。 |
| 4. | Schematic diagram of front wheel logo layout:前轮标识布置示意图： |
Calibration execution process requirements标定执行流程要求
Specific steps of the calibration process:标定流程具体步骤：
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steps步骤
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executor执行方
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process流程
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Remarks备注
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1
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Calibration executive标定执行人员
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The vehicle drives into the vehicle body distribution area in the center车辆居中驶入车体分布区
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2
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Determine whether the calibrated vehicle is centered based on the center axis mark of the vehicle body distribution area基于车体分布区中心轴线标识判断标定车辆是否对中
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If it is not centered, drive the vehicle out of the vehicle body distribution area and re-center it.若未对中则驾驶车辆退出车体分布区，重新对中
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3
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Check whether the central axis of the front wheel hub of the calibrated vehicle coincides with the horizontal axis of the front wheel mark检查标定车辆前轮轮毂中轴线与前轮标识水平轴线是否重合
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If they do not overlap, adjust the vehicle's position back and forth until they overlap.若未重合则前后调整车辆位置，直至重合
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4
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Connect calibration communication equipment连接标定通讯设备
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It is necessary to check whether the device connection is loose需检查设备连接是否存在松动
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5
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Start the panoramic image after-sales static calibration routine through calibration communication equipment通过标定通讯设备启动全景影像售后静态标定例程
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6
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（1）
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Calibrating communication equipment标定通讯设备
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Enter calibration routine进入标定例程
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If the process is interrupted during the execution of the routine, or no response is received, the calibration communication device will prompt "error of lost communication with ECU".例程执行过程中若流程被中断，或收不到响应，则标定通讯设备提示“与ECU丢失通讯的错误”。
If the calibration communication device receives a positive response, it will continue execution; if it receives a negative response, the process will be interrupted and the user will be prompted for the reason for the failure.标定通讯设备若收到肯定响应，则继续执行；若收到否定响应，则中断流程，并提示用户失败原因。
If the result of step (10) is unsuccessful, execute steps (11) and (12), analyze the error code read in step (12) according to the definition and prompt it to the calibration executor, and then skip steps (13)-(16) and execute steps ( 17)-(20), and prompt "Calibration failed" in step (20); if the result of step (10) is successful, steps (11), (12), (17), (18) will not be executed, and "calibration successful" will be prompted in step (20)步骤(10)若结果不成功，则执行步骤(11)、(12)，并将步骤(12)读取到的错误码按定义解析后提示给标定执行人员，而后跳过步骤(13)-(16)执行步骤(17)-(20)，并于步骤(20)提示“标定失败”；若步骤(10)结果为成功则不执行步骤(11)、(12)、(17)、(18)，并于步骤(20)提示“标定成功”
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（2）
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Tips for calibration precautions提示标定注意事项
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（3）
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Establish communication with ECU与ECU建立通信
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（4）
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through security algorithms通过安全算法
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（5）
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Enter calibration进入标定
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（6）
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Request access to calibration results请求进入标定结果
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（7）
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Calibration pre-check标定预检查
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（8）
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Request calibration pre-check results请求标定预检查结果
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（9）
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Send start calibration command发送开始标定指令
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（10）
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Request start calibration command result请求开始标定指令结果
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（11）
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Read calibration error code读取标定错误码
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（12）
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Request calibration error code results请求标定错误码结果
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（13）
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Start calibration check command发动标定检查指令
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（14）
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Request Calibration Check Instructions请求标定检查指令
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（15）
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Read historical fault codes读取历史故障码
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（16）
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Clear historical fault codes清除历史故障码
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（17）
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Based on the calibration error code analysis results, the reason for the calibration failure is prompted.根据标定错误码解析结果，提示标定失败原因
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（18）
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Prompt the calibration executor to check the cause of the failure and re-execute this routine.提示标定执行人员检查失败原因后重新执行本例程
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（19）
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Send panoramic imaging system reset command发送全景影像系统复位指令
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（20）
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Prompts that the calibration is completed and prompts the panoramic image after-sales static calibration routine execution results提示标定完成，并提示全景影像售后静态标定例程执行结果
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7
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Calibration executive标定执行人员
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Remove calibrated communications equipment移除标定通讯设备
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8
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Calibration personnel drive the calibration vehicle away from the calibration site标定人员将标定车辆驶离标定场地
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If step 6 fails to be executed multiple times (≥3 times), the calibrated vehicle will be driven to the maintenance area for inspection and repair to determine the cause of the failure.若步骤6多次执行失败(≥3次)，则将标定车辆驶至维修区针对失败原因进行检修
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