Panoramic image calibration method, device, readable storage medium and calibration terminal

Abstract

The present invention discloses a panoramic image calibration method, which is applied to a calibration device. The calibration device is used in a specific calibration room. The calibration room at least includes a calibration station floor and a vehicle detection device. The method includes: when a vehicle enters the calibration station, establishing a communication connection with the vehicle and obtaining the configuration information of the vehicle; detecting the state of the vehicle and the surrounding environment of the vehicle, obtaining the detection result and judging whether the detection result meets the preset conditions; if so, sending an extended session mode entry request to the panoramic image module, and when the instruction sent by the panoramic image module according to the extended session mode entry request is an entry instruction, controlling the panoramic image module to enter the extended session mode; writing the configuration to the camera in the vehicle according to the configuration information; performing parameter detection on the camera, obtaining the parameter detection result of the camera, and judging that the calibration of the panoramic image module is completed when the camera parameter detection is successful.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a panoramic image calibration method, device, readable storage medium and calibration terminal. Background Art

[0002] With the continuous development of society, cars have entered thousands of households. As people's needs diversify, the functional requirements for vehicles are getting higher and higher. For example, in order to increase driving safety, most cars are equipped with panoramic surround view imaging systems.

[0003] The panoramic surround view imaging system mainly installs 4 to 8 wide-angle cameras around the car that can cover the entire field of view around the vehicle, and processes the multiple video images collected at the same time into a 360-degree overhead view of the vehicle's surroundings, and finally displays it on the screen of the center console, allowing the driver to clearly check whether there are obstacles around the vehicle and understand the relative position and distance of the obstacles, helping the driver to easily park the vehicle and avoid obstacles. Therefore, the imaging quality of the panoramic surround view imaging system directly affects driving safety.

[0004] In the prior art, during the production and assembly process of cameras and vehicles, deviations may occur from the design values. These deviations may affect the stitching effect of the panoramic image, thereby resulting in poor panoramic image effects. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a panoramic image calibration method, device, readable storage medium and calibration terminal, aiming to solve the problem of poor panoramic image effect in the prior art.

[0006] The embodiment of the present invention is implemented as follows: a panoramic image calibration method,

[0007] Applied to a calibration device, the calibration device is used in a specific calibration room, the calibration room at least includes a calibration station floor and a vehicle detection device, the method includes:

[0008] When the vehicle enters the calibration station, establishing a communication connection with the vehicle and acquiring configuration information of the vehicle;

[0009] Detecting the state of the vehicle and the surrounding environment of the vehicle, obtaining detection results and determining whether the detection results meet preset conditions;

[0010] If so, sending an extended session mode entry request to the panoramic imaging module, and when the instruction sent by the panoramic imaging module according to the extended session mode entry request is received as an entry instruction, controlling the panoramic imaging module to enter the extended session mode;

[0011] Writing configuration to the camera in the vehicle according to the configuration information;

[0012] Perform parameter detection on the camera to obtain the parameter detection result of the camera, and determine that the calibration of the panoramic image module is completed when the camera parameter detection is successful.

[0013] Furthermore, in the panoramic image calibration method, the step of sending an extended session mode entry request to the panoramic image module, and when the instruction sent by the panoramic image module according to the extended session mode entry request is an entry instruction, after the step of controlling the panoramic image module to enter the extended session mode, further comprises:

[0014] Requesting the panoramic imaging module to send a seed key; the seed key at least includes a random code and preset encryption data;

[0015] Calculating target encrypted data according to the acquired random code, and determining whether the target encrypted data matches the preset encrypted data;

[0016] If so, the step of writing configuration to the camera in the vehicle according to the configuration information is executed.

[0017] Furthermore, in the panoramic image calibration method, after the step of obtaining the configuration information of the vehicle and configuring the camera in the vehicle using the configuration information, the method further includes:

[0018] Acquire a calibration mark in the panoramic image module and clear the calibration mark in the panoramic image module.

[0019] Furthermore, in the panoramic image calibration method, the step of detecting the state of the vehicle and the surrounding environment of the vehicle, obtaining the detection result and judging whether the detection result meets the preset condition comprises:

[0020] The steering angle signal of the steering sensor is read, and it is determined whether the value of the steering angle signal is zero.

[0021] Furthermore, in the panoramic image calibration method, the step of detecting the state of the vehicle and the surrounding environment of the vehicle, obtaining the detection result and judging whether the detection result meets the preset condition comprises:

[0022] Obtain the status of the vehicle doors and lights, and determine whether the status of the vehicle doors and lights are both closed.

[0023] Furthermore, in the panoramic image calibration method, the step of detecting the state of the vehicle and the surrounding environment of the vehicle, obtaining the detection result and judging whether the detection result meets the preset condition comprises:

[0024] The cleanliness information of the camera is captured to determine whether the cleanliness of the camera reaches a preset level.

[0025] Furthermore, in the panoramic image calibration method, the step of detecting the state of the vehicle and the surrounding environment of the vehicle, obtaining the detection result and judging whether the detection result meets the preset condition comprises:

[0026] The light information detected by the light brightness sensor detection device in the calibration room is obtained, and whether the light in the calibration room is uniform is detected according to the light information.

[0027] Another object of the present invention is to provide a panoramic image calibration device, characterized in that the device comprises:

[0028] An establishing module, used for establishing a communication connection with the vehicle and obtaining configuration information of the vehicle when the vehicle enters the calibration station;

[0029] A detection module, used to detect the state of the vehicle and the surrounding environment of the vehicle, obtain the detection result and determine whether the detection result meets the preset conditions;

[0030] a sending module, configured to send an extended session mode entry request to the panoramic imaging module when it is determined that the detection result meets a preset condition, and control the panoramic imaging module to enter the extended session mode when the instruction sent by the panoramic imaging module according to the extended session mode entry request is an entry instruction;

[0031] A configuration module, used to write configuration to the camera in the vehicle according to the configuration information;

[0032] The determination module is used to perform parameter detection on the camera, obtain the parameter detection result of the camera, and determine that the calibration of the panoramic image module is completed when the camera parameter detection is successful.

[0033] Another object of an embodiment of the present invention is to provide a readable storage medium having a computer program stored thereon, wherein the program implements the steps of the above method when executed by a processor.

[0034] Another object of an embodiment of the present invention is to provide a calibration terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the program.

[0035] In summary, the panoramic image calibration method in the above embodiment of the present invention obtains the corresponding configuration information by establishing a communication connection with the vehicle, and after the vehicle status and the vehicle surrounding environment are detected, the configuration parameters of the camera in the panoramic image are written, and then the configured camera parameters are detected to calibrate the panoramic image, ensure the stitching effect of each camera in the vehicle, optimize the calibration configuration process strategy, improve the accuracy of panoramic image calibration, present a high-quality panoramic image display effect to the user, and solve the problem of poor panoramic image display effect in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a flow chart of a panoramic image calibration method according to a first embodiment of the present invention;

[0037] Figure 2 is a flow chart of a panoramic image calibration method according to a second embodiment of the present invention;

[0038] Figure 3 4 is a structural block diagram of a panoramic image calibration device in a third embodiment of the present invention.

[0039] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0040] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0041] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed types.

[0043] The following will explain in detail how to solve the problem of obvious speed fluctuation when the vehicle starts idling in combination with specific embodiments and drawings.

[0044] Embodiment 1

[0045] See also Figure 1 , shown is a panoramic image calibration method in the first embodiment of the present invention, which is applied to a calibration device. The calibration device is used in a specific calibration room. The calibration room at least includes a calibration station floor and a vehicle detection device. The method includes steps S10 to S14.

[0046] Step S10, when the vehicle enters the calibration station, a communication connection with the vehicle is established and configuration information of the vehicle is obtained.

[0047] Among them, the calibration equipment communicates with the vehicle through an external port. Specifically, after the vehicle enters the calibration room, the whole vehicle is controlled to start powering on, and the OBD interface in the calibration equipment is inserted into the whole vehicle to establish normal communication. The configuration information of the vehicle at least includes the configuration parameters for configuring the camera.

[0048] Step S11, detect the state of the vehicle and the surrounding environment of the vehicle, obtain the detection result and determine whether the detection result meets the preset conditions; if so, execute step S12.

[0049] In order to improve the vehicle detection effect, the vehicle status and the surrounding environment of the vehicle need to be detected before the camera configuration detection. The vehicle configuration will only be started when the detection results meet the preset conditions.

[0050] Specifically, detecting the state of the vehicle and the surrounding environment of the vehicle, obtaining the detection result and judging whether the detection result meets the preset conditions include but are not limited to the following:

[0051] The steering angle signal of the steering sensor is read, and it is determined whether the value of the steering angle signal is zero.

[0052] In addition, in some optional embodiments of the present invention, when it is determined that the value of the turning angle signal is not zero, the calibration device sends an instruction to return the steering wheel to the center position, and then re-enters the previous detection operation to determine whether the value of the turning angle signal is zero, and continue until the steering signal value detection result is zero.

[0053] Obtain the status of the vehicle doors and lights, and determine whether the status of the vehicle doors and lights are both closed.

[0054] Specifically, the status of the vehicle doors and lights is obtained by reading the signal of the vehicle body control module.

[0055] The cleanliness information of the camera is captured to determine whether the cleanliness of the camera reaches a preset level.

[0056] In addition, in some optional embodiments of the present invention, if the cleanliness does not reach a preset level, the calibration device will activate the cleaning equipment in the vehicle to clean and dry the camera on the vehicle until the cleanliness of the camera reaches a preset level.

[0057] The light information detected by the light brightness sensor detection device in the calibration room is obtained, and whether the light in the calibration room is uniform is detected according to the light information.

[0058] In addition, in some optional embodiments of the present invention, if uneven light is detected, the calibration device sends a command to restart all lights in the calibration room, and repeats the previous operation to detect the light uniformity until the test passes.

[0059] In addition, in some optional embodiments of the present invention, the position of the vehicle may be detected to ensure that the vehicle is in the correct position of the calibration station. Tire pressure information may also be detected.

[0060] Step S12, sending an extended session mode entry request to the panoramic imaging module, and when the instruction sent by the panoramic imaging module according to the extended session mode entry request is an entry instruction, controlling the panoramic imaging module to enter the extended session mode.

[0061] Among them, the panoramic imaging module can only start writing the configuration of the vehicle's panoramic image when it enters the extended mode. Specifically, by sending an extended session mode entry request to the panoramic imaging module, and when the panoramic imaging module replies to the entry instruction according to the extended session mode entry request, the panoramic imaging module is controlled to enter the extended session mode.

[0062] Step S13, writing configuration to the camera in the vehicle according to the configuration information.

[0063] Among them, after the panoramic imaging module enters the extended session mode, the configuration of the camera in the vehicle is written through the configuration parameters of the configuration information.

[0064] Step S14, performing parameter detection on the camera to obtain the parameter detection result of the camera, and determining that the calibration of the panoramic image module is completed when the camera parameter detection is successful.

[0065] After the configuration is completed, the camera with the configured parameters is tested to obtain the camera parameter test result, and when the camera parameter test is successful, it is determined that the panoramic image module is calibrated successfully.

[0066] Specifically, in some optional embodiments of the present invention, after determining that the calibration of the panoramic image module is completed, the calibration mark in the panoramic image module is obtained and the calibration mark in the panoramic image module is cleared. More specifically, the calibration mark is a fault code. A fault code is set in the panoramic image module. When the detection result is successful, the calibration device clears the fault code of the panoramic image module. The main purpose of setting the fault code is to facilitate the operator to detect whether the vehicle is in a calibrated state. If it is not calibrated, the corresponding fault code will be reported as a reminder when reading the fault code; after clearing the fault code, the calibration device will read the fault code in the panoramic image module. If the uncalibrated fault code of the panoramic image module is not displayed, it indicates that the vehicle has been calibrated successfully.

[0067] In summary, the panoramic image calibration method in the above embodiment of the present invention obtains the corresponding configuration information by establishing a communication connection with the vehicle, and after the vehicle status and the vehicle surrounding environment are detected, the configuration parameters of the camera in the panoramic image are written, and then the configured camera parameters are detected to calibrate the panoramic image, ensure the stitching effect of each camera in the vehicle, optimize the calibration configuration process strategy, improve the accuracy of panoramic image calibration, present a high-quality panoramic image display effect to the user, and solve the problem of poor panoramic image display effect in the prior art.

[0068] Embodiment 2

[0069] See also Figure 2 , shown is a panoramic image calibration method in the second embodiment of the present invention, which is applied to a calibration device. The calibration device is used in a specific calibration room. The calibration room at least includes a calibration station floor and a vehicle detection device. The method includes steps S20 to S26.

[0070] Step S20, when the vehicle enters the calibration station, establish a communication connection with the vehicle and obtain configuration information of the vehicle.

[0071] Step S21, detect the state of the vehicle and the surrounding environment of the vehicle, obtain the detection result and determine whether the detection result meets the preset conditions; if so, execute step S22.

[0072] Step S22, sending an entry request to the panoramic imaging module, and when the instruction sent by the panoramic imaging module according to the extended session mode entry request is an entry instruction, controlling the panoramic imaging module to enter the extended session mode.

[0073] Step S23, requesting the panoramic imaging module to send a seed key; the seed key at least includes a random code and preset encryption data;

[0074] Step S24, calculate the target encrypted data according to the acquired random code, and determine whether the target encrypted data matches the preset encrypted data; if so, execute step S25.

[0075] In order to improve the security of configuration writing, the panoramic imaging module needs to be securely authenticated after entering the extended session mode. Specifically, the calibration device requests the panoramic imaging module to send a seed key. The panoramic imaging module generates a set of random codes and encrypted data based on the seed key and sends them to the calibration device. The calibration device performs specific operations to generate encrypted data and matches it with the encrypted data received from the panoramic imaging module. After the match is successful, the authentication between the calibration device and the panoramic imaging module is successful.

[0076] In some optional embodiments of the present invention, if authentication fails during the authentication process, the calibration device will re-initiate authentication with the panoramic imaging module. If the preset number of consecutive authentications fails, the authentication will be terminated, where the preset number of times can be set to 3 times, 4 times, 5 times...

[0077] Step S25, writing configuration to the camera in the vehicle according to the configuration information.

[0078] Step S26, performing parameter detection on the camera, obtaining the parameter detection result of the camera, and determining that the calibration of the panoramic image module is completed when the camera parameter detection is successful.

[0079] In summary, the panoramic image calibration method in the above-mentioned embodiment of the present invention obtains the corresponding configuration information by establishing a communication connection with the vehicle, and after the vehicle status and the vehicle surrounding environment are detected, the configuration parameters of the camera in the panoramic image are written, and then the configured camera parameters are detected to calibrate the panoramic image, and security authentication is performed after the panoramic image module enters the extended session mode, thereby ensuring the stitching effect of each camera in the vehicle and improving the security of the panoramic image calibration.

[0080] Embodiment 3

[0081] See also Figure 3 , shown is a panoramic image calibration device proposed in the third embodiment of the present invention, which is applied to a calibration device, and the device includes:

[0082] Establishing module 100, used for establishing a communication connection with the vehicle and obtaining configuration information of the vehicle when the vehicle enters the calibration station;

[0083] The detection module 200 is used to detect the state of the vehicle and the surrounding environment of the vehicle, obtain the detection result and determine whether the detection result meets the preset conditions;

[0084] The sending module 300 is used to send an extended session mode entry request to the panoramic imaging module when it is determined that the detection result meets the preset condition, and control the panoramic imaging module to enter the extended session mode when the instruction sent by the panoramic imaging module according to the extended session mode entry request is an entry instruction;

[0085] A configuration module 400, configured to write configuration to a camera in the vehicle according to the configuration information;

[0086] The determination module 500 is used to perform parameter detection on the camera, obtain the parameter detection result of the camera, and determine that the calibration of the panoramic image module is completed when the camera parameter detection is successful.

[0087] Furthermore, in some optional embodiments of the present invention, the device further comprises:

[0088] A request module, used for requesting the panoramic imaging module to send a seed key; the seed key at least includes a random code and preset encryption data;

[0089] The judgment module is used to calculate the target encrypted data according to the acquired random code, and judge whether the target encrypted data matches the preset encrypted data.

[0090] Furthermore, in some optional embodiments of the present invention, the device further comprises:

[0091] The clearing module is used to obtain the calibration mark in the panoramic image module and clear the calibration mark in the panoramic image module.

[0092] Furthermore, in some optional embodiments of the present invention, the detection module is specifically used for:

[0093] The steering angle signal of the steering sensor is read, and it is determined whether the value of the steering angle signal is zero.

[0094] Furthermore, in some optional embodiments of the present invention, the detection module is specifically used for:

[0095] Obtain the status of the vehicle doors and lights, and determine whether the status of the vehicle doors and lights are both closed.

[0096] Furthermore, in some optional embodiments of the present invention, the detection module is specifically used for:

[0097] The cleanliness information of the camera is captured to determine whether the cleanliness of the camera reaches a preset level.

[0098] Furthermore, in some optional embodiments of the present invention, the detection module is specifically used for:

[0099] The light information detected by the light brightness sensor detection device in the calibration room is obtained, and whether the light in the calibration room is uniform is determined according to the light information.

[0100] The functions or operation steps implemented when the above modules are executed are substantially the same as those in the above method embodiments, and will not be repeated here.

[0101] Embodiment 4

[0102] Another aspect of the present invention further provides a readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the steps of the method described in any one of the above-mentioned embodiments 1 to 2 are implemented.

[0103] Embodiment 5

[0104] On the other hand, the present invention also provides a calibration terminal, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the program, the steps of the method described in any one of the above embodiments 1 to 2 are implemented.

[0105] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0107] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0108] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0109] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0110] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A panoramic image calibration method, characterized in that: Applied to a calibration device, the calibration device is used in a specific calibration room, the calibration room at least includes a calibration station floor and a vehicle detection device, the method includes: When a vehicle enters the calibration station, a communication connection is established with the vehicle and configuration information of the vehicle is obtained; Detecting the state of the vehicle and the surrounding environment of the vehicle, obtaining detection results and determining whether the detection results meet preset conditions; If so, sending an extended session mode entry request to the panoramic imaging module, and when the instruction sent by the panoramic imaging module according to the extended session mode entry request is received as an entry instruction, controlling the panoramic imaging module to enter the extended session mode; Writing configuration to the camera in the vehicle according to the configuration information; Performing parameter detection on the camera to obtain the parameter detection result of the camera, and determining that the calibration of the panoramic imaging module is completed when the camera parameter detection is successful; The step of sending the extended session mode entry request to the panoramic imaging module, and when the instruction sent by the panoramic imaging module according to the extended session mode entry request is an entry instruction, controlling the panoramic imaging module to enter the extended session mode also includes: Requesting the panoramic imaging module to send a seed key; the seed key at least includes a random code and preset encryption data; Calculating target encrypted data according to the acquired random code, and determining whether the target encrypted data matches the preset encrypted data; If so, the step of writing configuration to the camera in the vehicle according to the configuration information is executed.

2. The panoramic image calibration method according to claim 1, characterized in that: After the step of performing parameter detection on the camera, obtaining the parameter detection result of the camera, and determining that the calibration of the panoramic image module is completed when the camera parameter detection is successful, the method further includes: Acquire a calibration mark in the panoramic image module and clear the calibration mark in the panoramic image module.

3. The panoramic image calibration method according to claim 1, characterized in that: The step of detecting the state of the vehicle and the surrounding environment of the vehicle, obtaining the detection result and judging whether the detection result meets the preset condition comprises: The steering angle signal of the steering sensor is read, and it is determined whether the value of the steering angle signal is zero.

4. The panoramic image calibration method according to claim 1, characterized in that: The step of detecting the state of the vehicle and the surrounding environment of the vehicle, obtaining the detection result and judging whether the detection result meets the preset condition comprises: Obtain the status of the vehicle doors and lights, and determine whether the status of the vehicle doors and lights are both closed.

5. The panoramic image calibration method according to claim 1, characterized in that: The step of detecting the state of the vehicle and the surrounding environment of the vehicle, obtaining the detection result and judging whether the detection result meets the preset condition comprises: The cleanliness information of the camera is captured to determine whether the cleanliness of the camera reaches a preset level.

6. The panoramic image calibration method according to claim 1, characterized in that: The step of detecting the state of the vehicle and the surrounding environment of the vehicle, obtaining the detection result and judging whether the detection result meets the preset condition comprises: The light information detected by the light brightness sensor detection device in the calibration room is obtained, and whether the light in the calibration room is uniform is determined according to the light information.

7. A panoramic image calibration device, characterized in that: Used to implement the panoramic image calibration method according to any one of claims 1 to 6, the device comprises: An establishing module, used for establishing a communication connection with the vehicle and obtaining configuration information of the vehicle when the vehicle enters the calibration station; A detection module, used to detect the state of the vehicle and the surrounding environment of the vehicle, obtain the detection result and determine whether the detection result meets the preset conditions; a sending module, configured to send an extended session mode entry request to the panoramic imaging module when it is determined that the detection result meets a preset condition, and control the panoramic imaging module to enter the extended session mode when the instruction sent by the panoramic imaging module according to the extended session mode entry request is an entry instruction; A configuration module, used to write configuration to the camera in the vehicle according to the configuration information; The determination module is used to perform parameter detection on the camera, obtain the parameter detection result of the camera, and determine that the calibration of the panoramic image module is completed when the camera parameter detection is successful.

8. A readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A calibration terminal, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method according to any one of claims 1 to 6 are implemented.

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