# US 2023/0410366 A1 · Positioning Method, System and Apparatus for ADAS Calibration Device and Readable Storage Medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2023/0410366 A1 - Document ID: US20230410366A1 - Status: Published application - Kind: A1 - Application number: 18/027,630 - Filed: 2021-09-07 - Published: 2023-12-21 - Earliest claimed: 2020-09-25 - Assignees: Autel Intelligent Technology Corp., Ltd. - Applicants: Autel Intelligent Technology Corp., Ltd. - Inventors: Shaolin LIANG - Web page: https://patentgrep.com/patent/US20230410366A1 ## CPC - G01S 7/4026: {Antenna boresight} - G06T 7/80: Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration - G01B 21/042: {Calibration or calibration artifacts (G01B3/30, G01B9/02072 take precedence)} - G01B 21/047: {Accessories, e.g. for positioning, for tool-setting, for measuring probes} - G01S 7/4086: {in a calibrating environment, e.g. anechoic chamber} - G01S 13/931: of land vehicles - G06T 7/50: Depth or shape recovery - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - G01S 7/52004: {Means for monitoring or calibrating (short-range imaging G01S7/5205)} - G01S 15/931: of land vehicles - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract An ADAS calibration system includes an ADAS calibration device and a user equipment. The ADAS calibration device includes an image acquisition assembly. The user equipment is communicatively connected to the ADAS calibration device. The method includes: obtaining a relevant image of a vehicle acquired by the image acquisition assembly of the ADAS calibration device by the user equipment, determining position information of the ADAS calibration device relative to the vehicle according to the relevant image of the vehicle by the user equipment, and providing a position adjustment scheme for the ADAS calibration device relative to the vehicle according to the position information by the user equipment, so that a user positions the ADAS calibration device to a preset position relative to the vehicle according to the position adjustment scheme. The present disclosure streamlines a process and improves the efficiency of positioning the ADAS calibration device. ## Claims ### Claim 1 A positioning method for an ADAS calibration device, being applied to an ADAS calibration system, the ADAS calibration system comprising an ADAS calibration device and a user equipment, the ADAS calibration device comprising an image acquisition assembly, the user equipment being communicatively connected to the ADAS calibration device, the method comprising: obtaining a relevant image of a vehicle acquired by the image acquisition assembly of the ADAS calibration device by the user equipment; determining position information of the ADAS calibration device relative to the vehicle according to the relevant image of the vehicle by the user equipment; and providing a position adjustment scheme for the ADAS calibration device relative to the vehicle according to the position information by the user equipment, so that a user positions the ADAS calibration device to a preset position relative to the vehicle according to the position adjustment scheme. ### Claim 2 (depends on 1) The method according to claim 1, wherein determining position information of the ADAS calibration device relative to the vehicle according to the relevant image of the vehicle by the user equipment comprises: evaluating whether the relevant image of the vehicle comprises an image of a target attached to the vehicle by the user equipment; the relevant image of the vehicle doesn't comprise the image of the target attached to the vehicle, determining by the user equipment that the position information of the ADAS calibration device relative to the vehicle is not within a preset range. ### Claim 3 (depends on 2) The method according to claim 2, wherein a number of the target is at least two, and evaluating whether the relevant image of the vehicle comprises an image of a target attached to the vehicle by the user equipment comprises: evaluating whether the relevant image of the vehicle comprises a preset number of images of the target by the user equipment; If the relevant image of the vehicle doesn't comprise the preset number of images of the target, determining by the user equipment that the position information of the ADAS calibration device relative to the vehicle is not within the preset range. ### Claim 4 (depends on 2) The method according to claim 2, wherein the position adjustment scheme comprises prompting a user to move the ADAS calibration system into the preset range. ### Claim 5 (depends on 1) The method according to claim 1, wherein the relevant image of the vehicle comprises an image of a first target attached to a head or tail of the vehicle, and the image of the first target is acquired by a first camera in the image acquisition assembly; determining position information of the ADAS calibration device relative to the vehicle according to the relevant image of the vehicle by the user equipment comprises: determining a first distance from the ADAS calibration device to the head or tail of the vehicle according to the image of the first target by the user equipment, where the first distance is determined as a distance between the first target attached to the head or tail of the vehicle and the first camera. ### Claim 6 (depends on 5) The method according to claim 5, wherein providing a position adjustment scheme for the ADAS calibration device relative to the vehicle according to the position information by the user equipment comprises: providing position adjustment information of the ADAS calibration device relative to the vehicle according to the first distance and a preset first desired distance by the user equipment. ### Claim 7 (depends on 6) The method according to claim 6, further comprising: prompting the user to enable fine adjustment by the user equipment if the user equipment detects that the first distance is equal to the first desired distance. ### Claim 8 (depends on 1) The method according to claim 1, wherein the relevant image of the vehicle comprises an image of a second target attached to wheels on both sides of the vehicle, and the image of the second target is acquired by a second camera assembly of the image acquisition assembly, where the second camera assembly comprises two camera modules, and a field of view of the two camera modules respectively covers the second target of the wheels on both sides of the vehicle; determining position information of the ADAS calibration device relative to the vehicle according to the relevant image of the vehicle by the user equipment comprises: determining a thrust line of the vehicle according to the image of the second target by the user equipment; and determining an angle between a center line of the ADAS calibration device and the thrust line by the user equipment, where the center line of the ADAS calibration device refers to a straight line passing through the two camera modules. ### Claim 9 (depends on 8) The method according to claim 8, wherein providing a position adjustment scheme for the ADAS calibration device relative to the vehicle according to the position information by the user equipment comprises: providing the position adjustment scheme for the ADAS calibration device relative to the vehicle according to the angle and a preset desired angle by the user equipment. ### Claim 10 (depends on 1) The method according to claim 1, wherein the relevant image of the vehicle comprises an image of a second target attached to wheels on both sides of the vehicle, and the image of the second target is acquired by a second camera assembly of the image acquisition assembly, where the second camera assembly comprises two camera modules, and a field of view of the two camera modules respectively covers the second target of the wheels on both sides of the vehicle; determining position information of the ADAS calibration device relative to the vehicle according to the relevant image of the vehicle by the user equipment comprises: determining a thrust line of the vehicle according to the image of the second target by the user equipment; and determining a second distance from a center point of the ADAS calibration device to an intersection point of the thrust line and a center line of the ADAS calibration device by the user equipment, where the center point of the ADAS calibration device refers to a midpoint of a line connecting the two camera modules, and the center line of the ADAS calibration device refers to a straight line passing through the two camera modules. ### Claim 11 (depends on 10) The method according to claim 10, wherein providing a position adjustment scheme for the ADAS calibration device relative to the vehicle according to the position information by the user equipment comprises: providing the position adjustment scheme for the ADAS calibration device relative to the vehicle according to the second distance and a preset second desired distance by the user equipment. ### Claim 12 (depends on 1) The method according to claim 1, wherein the relevant image of the vehicle comprises an image of a third target placed in the plane of the vehicle, and the image of the third target is acquired by a third camera in the image acquisition assembly; determining position information of the ADAS calibration device relative to the vehicle according to the relevant image of the vehicle by the user equipment comprises: determining a height difference between the ADAS calibration device and the vehicle according to the image of the third target by the user equipment, where the height difference is determined as a height of the third target placed in the plane of the vehicle relative to the third camera. ### Claim 13 (depends on 12) The method according to claim 12, wherein providing a position adjustment scheme for the ADAS calibration device relative to the vehicle according to the position information by the user equipment comprises: providing the position adjustment scheme for the ADAS calibration device relative to the vehicle according to the height difference and a preset target height difference by the user equipment. ### Claim 14 (depends on 1) The method according to claim 1, further comprising: receiving a viewing instruction from a user by the user equipment and displaying the relevant image of the vehicle indicated by the viewing instruction. ### Claim 15 (depends on 1) The method according to claim 1, further comprising: displaying a user operation guide by the user equipment, thereby guiding a user in moving the ADAS calibration device. ### Claim 16 (depends on 1) An ADAS calibration system, comprising: an ADAS calibration device, comprising an image acquisition assembly; a user equipment communicatively connected to the ADAS calibration device and comprising a processor and a memory, where the memory stores a plurality of instructions, and the processor loads the instructions stored in the memory to perform the positioning method for an ADAS calibration device of claim 1. ### Claim 17 (canceled) ### Claim 18 (depends on 1) A computer-readable storage medium, wherein the computer-readable storage medium stores a plurality of instructions adapted to be loaded by a processor to perform the positioning method for an ADAS calibration device according to claim 1. ### Claim 19 (depends on 3) The method according to claim 3, wherein the position adjustment scheme comprises prompting a user to move the ADAS calibration system into the preset range.