A method, device, electronic device and storage medium for generating a calibration table

Abstract

The present application is applicable to the field of data processing technology, and provides a method, device, electronic device and storage medium for generating a calibration table, the method comprising: generating a to-be-calibrated curve corresponding to each speed control operation according to the collected motion data of the target vehicle under different speed control operations; if there is a curve intersection between any two to-be-calibrated curves, adjusting the curve segment where the curve intersection is located in any two to-be-calibrated curves according to the curve intersection to obtain a primary correction curve; straightening the to-be-straightened curve corresponding to each speed control operation to obtain a secondary correction curve; the to-be-straightened curve is a primary correction curve or a to-be-calibrated curve; based on the secondary correction curve, generating a calibration table for the target vehicle. In the above method, while improving the generation efficiency of each calibration curve in the calibration table, the accuracy of the calibration curve can also be improved.

Description

Technical Field

[0001] The present application belongs to the field of data processing technology, and in particular, relates to a method, device, electronic device and storage medium for generating a calibration table. Background Art

[0002] With the increasing popularity of automobiles, self-driving has become the most common mode of travel. During the driving process, users can control the throttle and brake to adjust the vehicle speed, and the opening of the throttle and brake (i.e., the depth of pedaling) will directly determine the speed of vehicle speed control, that is, the acceleration of the vehicle during driving. In the process of user control of vehicle acceleration, from user control of the throttle or brake to the actual response of the car, it is necessary to go through the conversion of the throttle and brake pedal system-vehicle power system-acceleration, which is a relatively complex implementation process. Therefore, in order to improve the accuracy of the conversion between user operation and acceleration implementation, a calibration table can be configured to determine the acceleration corresponding to different vehicle speed control operations (i.e., controlling the opening of the throttle and brake).

[0003] The existing method for generating a calibration table mainly collects the corresponding motion data under different speed control operations during the driving process of the car, and marks the acceleration corresponding to each speed control operation through human experience. The above method relies on human experience, has low generation efficiency and cannot guarantee accuracy. Summary of the invention

[0004] The embodiments of the present application provide a method, device, electronic device and storage medium for generating a calibration table, which can solve the problems that the existing calibration table generation technology relies on manual experience, has low generation efficiency and cannot guarantee accuracy.

[0005] In a first aspect, an embodiment of the present application provides a method for generating a calibration table, which is applied to an encryption device, comprising:

[0006] Generate a calibration curve corresponding to each speed control operation according to the collected motion data of the target vehicle under different speed control operations; the calibration curve is used to represent the corresponding relationship between the speed and acceleration of the target vehicle under the speed control operation;

[0007] If there is a curve intersection point between any two curves to be calibrated, then adjusting the curve segment where the curve intersection point is located in the any two curves to be calibrated according to the curve intersection point to obtain a primary calibration curve;

[0008] Straightening the curves to be straightened corresponding to the vehicle speed control operations to obtain secondary correction curves; the curves to be straightened are the primary correction curves or the curves to be calibrated;

[0009] Based on the quadratic correction curve, a calibration table for the target vehicle is generated.

[0010] In a possible implementation manner of the first aspect, if there is a curve intersection point between any two curves to be calibrated, adjusting the curve segment where the curve intersection point is located in the any two curves to be calibrated according to the curve intersection point to obtain a primary calibration curve, including:

[0011] According to the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves, the curve segments not meeting the monotonic relationship are identified from the any two intersecting curves respectively; the intersecting curves are the curve to be calibrated or the Nth adjustment curve; the initial value of N is 0;

[0012] Based on the curve segment of any one of the two intersecting curves, adjusting the curve segment of the other one of the two intersecting curves to obtain an Nth adjusted curve;

[0013] If the curve intersection does not exist between the Nth adjustment curve and / or the to-be-calibrated curve of all vehicle speed control operations, the Nth adjustment curve is identified as the primary correction curve, and the operation of performing the straightening process on the to-be-straightened curves corresponding to the vehicle speed control operations to obtain the secondary correction curve is performed;

[0014] If the curve intersection exists between the curves corresponding to all vehicle speed control operations, the value of N is increased, and the method returns to execute the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves, and the curve segments that do not conform to the monotonic relationship are identified from the any two intersecting curves respectively; the curve corresponding to the vehicle speed control operation is the curve to be calibrated or the Nth adjustment curve.

[0015] In a possible implementation manner of the first aspect, if the curve intersection exists between the curves corresponding to all the vehicle speed control operations, increasing the value of N, and returning to execute the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves, and identifying the curve segments that do not meet the monotonic relationship from the any two intersecting curves, respectively, including:

[0016] If the curves corresponding to all the vehicle speed control operations have the curve intersection point, then increase the value of N;

[0017] If the value of N is greater than a preset cycle upper limit, then based on a preset adjustment threshold and the monotonic relationship, the curve segments in the arbitrary two intersecting curves are adjusted to obtain a primary calibration curve;

[0018] If the value of N is less than or equal to the loop upper limit, the method returns to executing the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves, and identifies the curve segments that do not meet the monotonic relationship from the any two intersecting curves.

[0019] In a possible implementation of the first aspect, the straightening of the to-be-straightened curves corresponding to the vehicle speed control operations to obtain a secondary correction curve includes:

[0020] calculating a root mean square of the curve to be straightened according to an acceleration extreme value in the curve to be straightened; the acceleration extreme value is in the same direction as the vehicle speed control direction of the vehicle speed control operation;

[0021] If the root mean square is greater than or equal to the preset floating threshold, the curve to be straightened is processed by a preset curve convergence algorithm until the root mean square of the processed curve is less than the floating threshold, thereby obtaining the secondary correction curve;

[0022] If the root mean square is less than the floating threshold, the curve to be flattened is identified as the secondary correction curve.

[0023] In a possible implementation of the first aspect, if the root mean square is greater than or equal to a preset floating threshold, the curve to be straightened is processed by a preset curve convergence algorithm until the root mean square of the processed curve is less than the floating threshold, to obtain the secondary correction curve, including:

[0024] The median between the actual acceleration corresponding to each speed point on the curve to be straightened and the acceleration extreme value is used as the correction acceleration of each speed point;

[0025] Based on the corrected accelerations of all the speed points, a straightened curve is obtained;

[0026] Calculating the root mean square of the straightened curve based on the acceleration extreme value;

[0027] If the root mean square of the straightened curve is greater than or equal to the floating threshold, the process returns to executing the step of using the median between the actual acceleration corresponding to each speed point on the curve to be straightened and the acceleration extreme value as the correction acceleration of each speed point until the root mean square of the straightened curve is less than the floating threshold.

[0028] In a possible implementation manner of the first aspect, generating a calibration table for the target vehicle based on the quadratic correction curve includes:

[0029] identifying redundant curves according to the degree of deviation between the respective secondary calibration curves;

[0030] Removing the redundant curve from all the secondary calibration curves to obtain a valid calibration curve;

[0031] A calibration table of the target vehicle is generated based on all valid calibration curves and the vehicle speed control operations corresponding to the valid calibration curves.

[0032] In a possible implementation manner of the first aspect, identifying redundant curves according to the deviations between the secondary correction curves includes:

[0033] taking a first average value of the acceleration deviation between the first curve of the upper limit acceleration operation and the second curve of the lower limit deceleration operation at each speed point as a limit deviation value of the target vehicle;

[0034] Calculating a second mean value of the acceleration deviation between any two quadratic correction curves at each speed point, and taking a ratio between the second mean value and the limit deviation as the deviation of the any two quadratic correction curves;

[0035] If the degree of deviation is less than a preset deviation threshold, one of the arbitrary two quadratic correction curves is identified as the redundant curve.

[0036] In a second aspect, an embodiment of the present application provides a device for generating a calibration table, including:

[0037] A motion data acquisition unit, used to generate a calibration curve corresponding to each speed control operation according to the acquired motion data of the target vehicle under different speed control operations; the calibration curve is used to represent the corresponding relationship between the speed and acceleration of the target vehicle under the speed control operation;

[0038] A primary correction unit, configured to adjust the curve segment where the curve intersection of any two curves to be calibrated is located according to the curve intersection if there is a curve intersection between any two curves to be calibrated, so as to obtain a primary correction curve;

[0039] A secondary correction unit, used for straightening the curves to be straightened corresponding to each of the vehicle speed control operations to obtain a secondary correction curve; the curve to be straightened is the primary correction curve or the curve to be calibrated;

[0040] A calibration table generating unit is used to generate a calibration table of the target vehicle based on the secondary correction curve.

[0041] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements a method as described in any one of the first aspects above when executing the computer program.

[0042] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any one of the first aspects above is implemented.

[0043] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a server, enables the server to execute any of the methods described in the first aspect.

[0044] Compared with the prior art, the embodiment of the present application has the following beneficial effects: by acquiring the motion data corresponding to the target vehicle under different vehicle speed control operations, the corresponding curves to be calibrated corresponding to the different speed control operations are generated. Under normal circumstances, the accelerations between the different vehicle speed control operations are in accordance with the monotonic relationship between each other, that is, the curves do not cross each other. Therefore, the electronic device can adjust the curve to be calibrated with the intersection of the curves to obtain a primary correction curve, and then use a preset straightening algorithm to straighten the curve to process the curve segment with sudden acceleration changes, so that the acceleration corresponding to the vehicle speed control operation at different speeds tends to be stable, and then generate the calibration table of the target vehicle according to all the secondary correction curves, so as to achieve the purpose of automatic generation of the calibration table. Compared with the existing calibration table generation technology, the calibration table in the embodiment of the present application can be automatically generated, and the parts of the acceleration in each calibration curve in the calibration table with monotonic abnormalities are adjusted, and the curve is straightened to achieve the correction of the curve, while improving the generation efficiency of each calibration curve in the calibration table, the accuracy of the calibration curve can also be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0046] Figure 1 It is a schematic diagram of an implementation method of a calibration table generation method provided in an embodiment of the present application;

[0047] Figure 2 is a schematic diagram of a curve to be calibrated provided in one embodiment of the present application;

[0048] Figure 3 is a schematic diagram of a flattening process provided by an embodiment of the present application;

[0049] Figure 4It is a schematic diagram of an implementation method of a calibration table generation method S102 provided in an embodiment of the present application;

[0050] Figure 5 is a schematic diagram of curve segment adjustment provided by an embodiment of the present application;

[0051] Figure 6 is a schematic diagram of cross correction provided by an embodiment of the present application;

[0052] Figure 7 This is a schematic diagram of an implementation method of S103 of a method for generating a calibration table provided in an embodiment of the present application;

[0053] Figure 8 is a schematic diagram of a curve straightening process provided by an embodiment of the present application;

[0054] Fig. 9 It is a schematic diagram of an implementation method of S104 of a method for generating a calibration table provided in an embodiment of the present application;

[0055] Fig.10 is a filtering schematic diagram of a calibration curve provided in an embodiment of the present application;

[0056] Fig.11 It is a structural schematic diagram of a device for generating a calibration table provided in an embodiment of the present application;

[0057] Fig.12 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0059] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0060] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0061] The method for generating a calibration table provided in the embodiment of the present application can be applied to electronic devices that can generate a calibration table for a target vehicle, such as smart phones, servers, tablet computers, laptops, ultra-mobile personal computers (UMPCs), netbooks, and servers. The embodiment of the present application does not impose any restrictions on the specific type of electronic devices.

[0062] See also Figure 1 , Figure 1 A schematic diagram of a method for generating a calibration table provided in an embodiment of the present application is shown, and the method comprises the following steps:

[0063] In S101, based on the collected motion data of the target vehicle under different speed control operations, a calibration curve corresponding to each speed control operation is generated; the calibration curve is used to represent the corresponding relationship between the speed and acceleration of the target vehicle under the speed control operation.

[0064] In this embodiment, the vehicle speed control operation is specifically an operation initiated by the user that will affect the driving speed of the target vehicle, including: controlling the vehicle's throttle (i.e., increasing the driving speed) and controlling the vehicle's brakes (i.e., reducing the driving speed). The opening of the throttle or brake can be changed according to the pressure applied by the user on the throttle or brake. If the throttle opening is larger, the corresponding positive acceleration is larger, that is, the driving speed increases faster; if the brake opening is larger, the corresponding negative acceleration is larger, that is, the driving speed decreases faster. Therefore, the opening of the throttle and the brake is different, and the corresponding acceleration values ​​during driving will also be different. In order to accurately respond to the vehicle speed control operation initiated by the user and control the target vehicle to travel at the acceleration corresponding to the vehicle speed control operation, it is necessary to set a calibration table so that the acceleration corresponding to different vehicle speed control operations at various speeds can be determined.

[0065] In this embodiment, before the target vehicle leaves the factory, a vehicle driving test can be carried out to obtain the acceleration values ​​corresponding to different driving speeds of the target vehicle under different speed control operations. For example, when the accelerator opening is at 5%, the corresponding acceleration at each vehicle speed is obtained, and the motion data corresponding to the accelerator opening at 5% is obtained; then, the corresponding acceleration at each vehicle speed when the accelerator opening is at 10% is obtained, and the motion data corresponding to the accelerator opening at 5% is obtained, and so on, to obtain the corresponding motion data under all speed control operations.

[0066] It should be noted that different speed control operations have corresponding speed control directions, and they also have fixed monotonic characteristics with each other. For example, all throttle control operations increase the vehicle speed, that is, the acceleration is positive, and the speed control direction is the positive direction of the speed; all brake control operations reduce the vehicle speed, that is, the acceleration is negative, and the speed control direction is the negative direction of the speed. That is, the speed control direction of the speed control operation is related to its operation type. On the other hand, there are also strict monotonic characteristics between different speed control operations. Among them, the larger the throttle opening, the larger the corresponding acceleration value. For example, the acceleration corresponding to the state of 10% throttle opening is greater than the acceleration corresponding to the state of 5% throttle opening; the negative acceleration corresponding to the state of 10% brake opening is also greater than the negative acceleration corresponding to the state of 5% brake opening. Of course, if some vehicles are not accelerated or decelerated by throttle or brake, such as increasing the running gear, the corresponding speed control direction and monotonic relationship can be determined according to the type of gear, which is not limited here.

[0067] In a possible implementation, the electronic device can determine multiple vehicle speed control operations that need to generate the calibration curve within the vehicle speed control operation range according to a preset interpolation number, wherein the number of vehicle speed control operations is determined according to the above interpolation number. If the interpolation number is 6, plus the vehicle speed control operations corresponding to the two boundary values ​​of the vehicle speed control operation range, the total number of calibration curves required to be generated is 8. For example, the state corresponding to the maximum throttle opening is defined as +100%, and the state corresponding to the maximum brake opening is positioned as -100%, then the data set of different vehicle speed control speeds to be collected is: {cmd} = {-100, -50, -25, -10, 10, 25, 50, 100}.

[0068] In this embodiment, the electronic device can classify various motion data according to different vehicle speed control operations, and then count the corresponding accelerations of the target vehicle at different speeds during the test under the same vehicle speed control operation, thereby generating a calibration curve corresponding to the speed control operation to determine the corresponding relationship between the speed and acceleration of the target vehicle under the speed control operation.

[0069] For example, Figure 2 FIG. 1 is a schematic diagram of a calibration curve provided by an embodiment of the present application. Figure 2 As shown in (a), the horizontal axis in the coordinate system is speed, and the vertical axis is acceleration. Different vehicle speed control operations correspond to different curves to be calibrated. For example, the vehicle speed control operation with a throttle opening of 10% corresponds to the curve to be calibrated 1, and the vehicle speed control operation with a throttle opening of 20% corresponds to the curve to be calibrated 2.

[0070] In S102, if there is a curve intersection point between any two curves to be calibrated, the curve segment where the curve intersection point is located in the any two curves to be calibrated is adjusted according to the curve intersection point to obtain a primary calibration curve.

[0071] In this embodiment, after generating the curves to be calibrated corresponding to different vehicle speed control operations, the electronic device can mark each curve to be calibrated in the same coordinate system, and determine whether there are overlapping curve intersections between each curve to be calibrated. Under normal circumstances, the monotonic relationship between the accelerations corresponding to different vehicle speed control operations is consistent with the monotonic relationship between the vehicle speed control operations. For example, under the same speed, the acceleration corresponding to the throttle opening of 10% should be greater than the acceleration corresponding to the throttle opening of 5%, that is, it is consistent with the monotonic relationship between the throttle opening of 10% and the throttle opening of 5%. In this case, the relationship curves between the acceleration and speed corresponding to different vehicle speed control operations should not have overlapping curve intersections. If there are curve intersections, it can be considered that the value of the corresponding area is abnormal, and the curve segment of the area needs to be adjusted.

[0072] For example, see Figure 2 In (a), curve 1 corresponds to a throttle opening of 10%, and curve 2 corresponds to a throttle opening of 20%. At the same speed, theoretically, the acceleration of a throttle opening of 10% should be less than the acceleration of a throttle opening of 20%, which is in line with the user's actual driving operation expectations. When the speed is a, the two curves to be calibrated intersect. In the interval before the speed is a, the acceleration of a throttle opening of 10% is greater than the acceleration of a throttle opening of 20%, which is inconsistent with the actual situation. Therefore, the curve segment where the speed is a (the curve segment with a speed in the interval of 0-a) can be identified as an abnormal curve segment, and the abnormal curve segment can be adjusted.

[0073] In one possible implementation, the electronic device may adjust the curve segments of the curve intersection on different curves to be calibrated by using the average of the accelerations corresponding to the coordinate points between the two curve segments as the correction values ​​corresponding to the coordinate points, and adjusting the coordinate points on the two curve segments based on the correction values ​​and the monotonic relationship between the two curves to be calibrated, thereby obtaining a correction curve.

[0074] Continue with Figure 2 Take this as an example to illustrate: Figure 2 The acceleration of curve 1 before the speed is a should be less than the acceleration of curve 2, that is, curve 1 is monotonically decreasing relative to curve 2, so the acceleration corresponding to each coordinate point in the curve segment can be reduced according to the correction value; while curve 2 is monotonically increasing relative to curve 1, so the acceleration corresponding to each coordinate point in the curve segment can be increased according to the correction value. The modified adjustment curve is as follows: Figure 2As shown in (b) in .

[0075] In a possible implementation, if there is no curve intersection between the to-be-calibrated curves corresponding to all vehicle speed control operations, the operation of S103 is performed.

[0076] In one possible implementation, after adjusting the curve according to the intersection point to obtain a correction curve, it can be determined again whether there is still a curve intersection. If so, continue to execute S102 until there is no curve intersection between the calibrated curves or the correction curves corresponding to all vehicle speed control operations, and then execute S103.

[0077] In S103, the curves to be straightened corresponding to the vehicle speed control operations are straightened to obtain secondary correction curves; the curves to be straightened are the primary correction curves or the curves to be calibrated.

[0078] In this embodiment, since there will be a certain response delay in the process of motion data collection, which will cause the motion data to be inconsistent with the actual vehicle speed control operation, in order to solve the curve jitter caused by the above-mentioned data collection delay, the electronic device can straighten the correction curve and the curve to be calibrated so that the acceleration of the vehicle speed control operation at different speeds tends to be stable and more in line with actual driving conditions.

[0079] For example, Figure 3 A schematic diagram of a flattening process provided by an embodiment of the present application is shown, see Figure 3 As shown in (a), the acceleration of the straightening curve fluctuates greatly at different speeds. The electronic device can process the straightening curve through the convergence algorithm. The processed secondary correction curve is as follows: Figure 3 As shown in (b) in .

[0080] In this embodiment, since there is no intersection between the curve of the partial vehicle speed control operation and other curves, no correction is performed. Therefore, the curve to be straightened in S103 can be a correction curve or a calibration curve, which is determined according to actual conditions.

[0081] In S104, a calibration table of the target vehicle is generated based on the secondary correction curve.

[0082] In this embodiment, the electronic device can use the secondary correction curve corresponding to each vehicle speed control operation as the calibration curve corresponding to the target vehicle under the vehicle speed control operation, and encapsulate the calibration curves of all vehicle speed control operations to obtain the calibration table of the target vehicle for each vehicle speed control operation to determine the corresponding acceleration at different speeds.

[0083] As can be seen from the above, a calibration table generation method provided in the embodiment of the present application generates a calibration curve corresponding to different speed control operations by acquiring the corresponding motion data of the target vehicle under different speed control operations. Under normal circumstances, the accelerations between different speed control operations are in a monotonic relationship with each other, that is, there is no intersection between the curves. Therefore, the electronic device can adjust the calibration curve with the intersection of the curves to obtain a primary correction curve, and then use a preset straightening algorithm to straighten the curve to process the curve segment with sudden acceleration changes, so that the acceleration corresponding to the speed control operation at different speeds tends to be stable, and then generate the calibration table of the target vehicle according to all the secondary correction curves, so as to achieve the purpose of automatic generation of the calibration table. Compared with the existing calibration table generation technology, the calibration table in the embodiment of the present application can be automatically generated, and the parts of the acceleration in each calibration curve in the calibration table with monotonic abnormalities are adjusted, and the curve is straightened to achieve the correction of the curve, while improving the generation efficiency of each calibration curve in the calibration table, the accuracy of the calibration curve can also be improved.

[0084] Figure 4 FIG. 1 shows a specific implementation flow chart of a method S102 for generating a calibration table provided in the second embodiment of the present invention. Figure 4 , relative to Figure 1 In the embodiment, in the method for generating a calibration table provided in this embodiment, S102 includes: S1021 to S1024, which are described in detail as follows:

[0085] Furthermore, if there is a curve intersection point between any two curves to be calibrated, then adjusting the curve segment where the curve intersection point is located in the any two curves to be calibrated according to the curve intersection point to obtain a primary calibration curve, including:

[0086] In S1021, if there is a curve intersection between any two curves to be calibrated, then according to the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves, the curve segments that do not conform to the monotonic relationship are identified from the any two intersecting curves respectively; the intersecting curve is the curve to be calibrated or the Nth adjustment curve; the initial value of N is 0;.

[0087] In this embodiment, the electronic device can determine the monotonic relationship between the two intersecting curves under normal circumstances based on the monotonic relationship between the vehicle speed control operations corresponding to the two curves with the curve intersection. Then, the electronic device can determine the curve segment that does not meet the monotonic relationship as the curve segment that needs to be adjusted within the area corresponding to the curve intersection based on the curve intersection. Figure 2In (a), if the curve segments of curve 1 and curve 2 within the speed range of (0-a] do not satisfy the monotonic relationship of the corresponding vehicle speed control operations, they are regarded as curve segments that need to be adjusted.

[0088] Among them, N is used to record the number of iterations in this cross adjustment process, and the initial number of iterations is 0.

[0089] In S1022, the value of N is increased, and based on the curve segment of any one of the arbitrary two intersecting curves, the curve segment of the other of the arbitrary two intersecting curves is adjusted to obtain an Nth adjusted curve.

[0090] In this embodiment, due to the existence of intersecting curves, an iteration is performed at this time, and the value of the iteration number N is increased. At the same time, the electronic device can adjust the curve segments in one of the curves according to the curve segments in the other curve, that is, the curve segments in the range of (0-a] in curve 2 are adjusted according to the curve segments in the range of (0-a] in curve 1, thereby obtaining the curve after the first adjustment, that is, the Nth adjustment curve.

[0091] In a possible implementation, the electronic device can use the acceleration value in the curve segment of any two intersecting curves as the acceleration value in the curve segment of the other of the two intersecting curves, that is, swap the acceleration values ​​in the two curve segments. Figure 5 FIG. 1 is a schematic diagram showing a curve segment adjustment provided by an embodiment of the present application. Figure 5 As shown in (a), curve 1 is the corresponding relationship curve between acceleration and speed when the throttle opening is 20% (that is, the curve to be calibrated or the Nth adjustment curve), and curve 2 is the corresponding relationship curve between acceleration and speed when the throttle opening is 50% (that is, the curve to be calibrated or the Nth adjustment curve). When the speed is v, the acceleration corresponding to curve 1 is a2, and the acceleration corresponding to curve 2 is a1. It can be seen that a2>a1, which does not conform to the monotonic relationship between the two vehicle speed adjustment operations. Therefore, the acceleration values ​​of the above two coordinate points are interchanged, that is, the acceleration corresponding to curve 1 when the speed is v is adjusted to a1, and the acceleration corresponding to curve 2 when the speed is v is adjusted to a2. Other coordinate points can also be set in the above manner.

[0092] In S1023, if there is no intersection between the curves corresponding to all vehicle speed control operations, the Nth adjustment curve is identified as the primary correction curve, and the operation of straightening the curves to be straightened corresponding to each vehicle speed control operation to obtain a secondary correction curve is performed; the curve corresponding to the vehicle speed control operation is the curve to be calibrated or the Nth adjustment curve.

[0093] In this embodiment, if after the adjustment in S1022, there is no intersection between the curves corresponding to all the vehicle speed adjustment operations, then the next operation can be executed, that is, the operation in S1023 can be executed.

[0094] In S1024, if there is a curve intersection between any two curves corresponding to the vehicle speed control operations, the process returns to execute the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves, and the curve segments that do not conform to the monotonic relationship are identified from the any two intersecting curves.

[0095] In this embodiment, if there are still overlapping cross curves after the adjustment in S1022, the process may return to the operation in S1021 to continue the adjustment.

[0096] In an embodiment of the present application, when there are intersecting curve segments, the value of one curve segment is adjusted according to the value of another curve segment, so that the adjustment of the curve segment that does not conform to monotonicity can be quickly achieved, the efficiency of curve adjustment is improved, and the difficulty of the algorithm is reduced.

[0097] Further, as another embodiment of the present application, the above S1024 may specifically include:

[0098] In S1024.1, if there is a curve intersection between the curves corresponding to any two vehicle speed control operations, it is determined whether the value of N is greater than a preset cycle upper limit value.

[0099] In S1024.2, if the value of N is greater than a preset cycle upper limit, the curve segments in the arbitrary two intersecting curves are adjusted based on a preset adjustment threshold and the monotonic relationship to obtain a primary calibration curve.

[0100] In S1024.3, if the value of N is less than or equal to the loop upper limit value, the process returns to executing the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves, and the curve segments that do not conform to the monotonic relationship are identified from the any two intersecting curves respectively.

[0101] In this embodiment, when the number of iterations N is less than or equal to the loop upper limit value, the process may return to S1021 to perform an adjustment by swapping the values ​​in the curve segments again; and when the number of iterations is greater than the loop upper limit value, the curve segments in the intersecting curves may be adjusted according to a preset adjustment threshold, wherein the direction of the adjustment is determined according to the monotonic relationship between the two intersecting curves. For example, see Figure 5As shown in (a), curve 1 is a corresponding relationship curve between acceleration and speed when the throttle opening is 20% (i.e., a curve to be calibrated or an Nth adjustment curve), and curve 2 is a corresponding relationship curve between acceleration and speed when the throttle opening is 50% (i.e., a curve to be calibrated or an Nth adjustment curve). The acceleration when the throttle opening is 50% will be greater than the acceleration when the throttle opening is 20%. Therefore, when the speed is v, the acceleration corresponding to the throttle opening of 50% can be increased according to the adjustment threshold, for example, adjusted to a1', and the acceleration corresponding to the throttle opening of 20% can be reduced according to the adjustment threshold, for example, adjusted to a2', as shown in FIG. Figure 5 As shown in (c) in .

[0102] For example, Figure 6 A schematic diagram of cross correction provided by an embodiment of the present application is shown, see Figure 6 As shown in (a) in FIG. 1 , different vehicle speed control operations correspond to different curves to be calibrated, such as the opening of the upper right corner is -50 (i.e. the brake opening is 50%), the opening is 70 (i.e. the throttle opening is 70%), etc. After the above embodiment is adjusted, the curve segment of the intersection is adjusted, and the result is Figure 6 The curve shown in (b) in FIG. 1 makes the monotonic relationship between the various curves at the same speed the same as the monotonic relationship of the vehicle speed control operation.

[0103] In an embodiment of the present application, by setting an upper limit value of iteration, the iteration is stopped when it is detected that the number of iterations exceeds the upper limit value, and the curves that still have intersections are adjusted based on a preset adjustment threshold, which can reduce unnecessary number of cycles and improve the efficiency of calibration table generation.

[0104] Figure 7 FIG. 5 shows a specific implementation flow chart of a method S103 for generating a calibration table provided in the third embodiment of the present invention. Figure 7 , relative to Figure 1 In the embodiment, a method S103 for generating a calibration table provided in the embodiment includes: S1031 to S1033, which are described in detail as follows:

[0105] Furthermore, the straightening process is performed on the to-be-straightened curves corresponding to the vehicle speed control operations to obtain a secondary correction curve, including:

[0106] In S1031, a root mean square of the curve to be straightened is calculated according to an acceleration extreme value in the curve to be straightened; the acceleration extreme value is in the same direction as the vehicle speed control direction of the vehicle speed control operation.

[0107] In this embodiment, the electronic device can determine the acceleration extreme value on the to-be-straightened curve corresponding to the vehicle speed control curve, and the acceleration extreme value is the same as the vehicle speed control direction. If the vehicle speed adjustment direction is the positive direction of the acceleration, the acceleration extreme value is the positive extreme value; conversely, if the vehicle speed adjustment direction is the negative direction of the acceleration, the acceleration extreme value is the negative extreme value.

[0108] In this embodiment, the electronic device can calculate the root mean square of the curve to be straightened according to the acceleration extreme value to determine whether the curve shape of the curve to be straightened is regionally stable. The calculation method of the root mean square can be specifically expressed as:

[0109]

[0110] Where M is the number of coordinate points included in the j-th vehicle speed control operation; cmd ji is the acceleration value of the i-th coordinate point; {cmd j} max is the acceleration extreme value corresponding to the jth vehicle speed control operation. The larger the RMS value is, the greater the degree of discreteness is. Therefore, the RMS value can be compared with the preset floating threshold value to determine whether a flattening process is required.

[0111] In S1032, if the RMS value is greater than or equal to a preset floating threshold, the curve to be straightened is processed by a preset curve convergence algorithm until the RMS value of the processed curve is less than the floating threshold, thereby obtaining the secondary correction curve.

[0112] In this embodiment, if the root mean square is greater than or equal to the floating threshold, it means that the curve is highly discrete and needs to be straightened. The convergence algorithm can be used to adjust the coordinate points in the straight curve so that the curve to be straightened converges with the acceleration extreme value as a reference until the root mean square of the processed curve is less than the floating threshold, that is, the curve after processing by the curve convergence algorithm is still greater than or equal to the above-mentioned floating threshold. The curve convergence algorithm can be used again for a second or multiple times until the root mean square of the processed curve is less than the floating threshold, and the processed curve corresponding to the time when it is less than the floating threshold is identified as a secondary correction curve, that is, the straightening process is completed.

[0113] It should be noted that the above-mentioned convergence algorithm may be any convergence algorithm that realizes the curve approaching a straight line, and the convergence algorithm is not limited here.

[0114] Further, as another embodiment of the present application, the above S1032 may specifically include:

[0115] In S1032.1, the median between the actual acceleration corresponding to each speed point on the curve to be straightened and the acceleration extreme value is used as the correction acceleration of each speed point.

[0116] In S1032.2, a straightened curve is obtained based on the corrected accelerations of all the speed points.

[0117] In S1032.3, based on the acceleration extreme value, the root mean square of the straightened curve is calculated.

[0118] In S1033.4, if the root mean square of the straightened curve is greater than or equal to the floating threshold, the process returns to execute the process of using the median between the actual acceleration corresponding to each speed point on the curve to be straightened and the acceleration extreme value as the correction acceleration of each speed point until the root mean square of the straightened curve is less than the floating threshold.

[0119] In this embodiment, the electronic device specifically uses a dichotomy method to perform straightening processing on the straight curve. The electronic device calculates the median between the actual acceleration corresponding to each coordinate point and the acceleration extreme value, uses the median as the correction acceleration corresponding to the coordinate point, and reconstructs the curve corresponding to the vehicle speed control operation based on the correction acceleration corresponding to all coordinate points, that is, the straightened curve, and calculates the root mean square of the straightened curve again according to the acceleration extreme value, and determines whether the discrete program is expected after this straightening process (that is, whether the root mean square is less than the floating threshold). If so, the straightened curve is identified as a secondary correction curve; otherwise, if the straightened curve is still greater than or equal to the floating threshold, the above method is continued to be processed until the root mean square of the straightened curve is less than the floating threshold.

[0120] In the embodiment of the present application, the straight curve is straightened by using the binary method. Since the binary method has a fast convergence speed and can quickly converge to an arbitrarily small threshold, the efficiency of the straightening process is improved.

[0121] In S1033, if the RMS value is smaller than the floating threshold value, the curve to be flattened is identified as the secondary correction curve.

[0122] In this embodiment, if the RMS value is smaller than the floating threshold, it means that the curve to be straightened is relatively flat and does not need to be adjusted, and can be directly identified as a secondary correction curve.

[0123] For example, Figure 8 FIG. 1 is a schematic diagram showing a curve straightening process provided by an embodiment of the present application. Figure 8As shown in (a), the curve to be straightened has large mutations at the positions with low speed and high speed, and the curve has obvious ups and downs, with a large degree of discreteness. After straightening, a quadratic correction curve with a small discreteness can be obtained, as shown in Figure 8 As shown in (b) in .

[0124] In the embodiment of the present application, by determining an acceleration threshold and calculating the root mean square of the curve to be straightened based on the acceleration threshold, the discreteness of the curve to be straightened can be determined, and the curve can be adjusted accordingly, thereby reducing the discreteness of the curve so that the acceleration of the same vehicle speed control operation at different speeds tends to be stable.

[0125] Fig. 9 FIG. 4 shows a specific implementation flow chart of a method S104 for generating a calibration table provided in the fourth embodiment of the present invention. Fig. 9 , relative to Figure 1-7 In any of the embodiments, a method S104 for generating a calibration table provided in this embodiment includes: S1041 to S1043, which are described in detail as follows:

[0126] In S1041, redundant curves are identified according to the deviations between the secondary calibration curves.

[0127] In this embodiment, in order to reduce unnecessary calibration curves, the electronic device can filter the redundant curves in the calibration table, and the electronic device can respectively calculate the deviation between each secondary correction curve. If the deviation between the two is smaller, it means that the two curves are closer, and one of them can be deleted, that is, one of them is used as a redundant curve.

[0128] In a possible implementation, the quadratic correction curves are arranged according to the monotonic relationship between the vehicle speed control operations, and the deviation between two adjacent quadratic correction curves is compared from top to bottom to see if it is greater than a preset deviation threshold. If it is greater than the deviation threshold, the two quadratic correction curves are identified as valid curves; otherwise, if it is less than or equal to the deviation threshold, one of the quadratic correction curves is retained, and the other correction curve is identified as a redundant curve (such as the quadratic correction curve located below by default), and so on, and the pairwise comparisons are continued until all adjacent quadratic correction curves are traversed and compared, and the redundant curve is identified. The above deviation threshold can be determined based on the average value of the error between the maximum throttle opening curve and the maximum brake opening curve at each speed point, or it can be determined based on the average value of the error between any other curves at each speed point, and the calculation method of the deviation threshold is not limited.

[0129] Further, as another embodiment of the present application, S1041 specifically includes:

[0130] In S1041.1, a first average value of the acceleration deviation between the first curve of the upper limit acceleration operation and the second curve of the lower limit deceleration operation at each speed point is used as the limit deviation value of the target vehicle.

[0131] In S1041.2, a second mean value of the acceleration deviation between any two quadratic correction curves at each speed point is calculated, and a ratio between the second mean value and the limit deviation degree is used as the deviation degree of the any two quadratic correction curves.

[0132] In S1041.3, if the degree of deviation is less than a preset deviation threshold, one of the arbitrary two quadratic calibration curves is identified as the redundant curve.

[0133] In this embodiment, the electronic device can calculate the deviation threshold value according to the acceleration deviation between the curves corresponding to the two extreme operations. Specifically, the above-mentioned extreme operations are the upper limit acceleration operation (i.e., the operation corresponding to the maximum throttle opening) and the lower limit deceleration operation (i.e., the operation corresponding to the maximum brake opening). The average value of the acceleration difference corresponding to the curves corresponding to the above-mentioned two operations at various speeds is used as the extreme deviation of the target vehicle, and the deviation degree corresponding to other curves is calculated based on this extreme deviation. If the deviation degree is greater than the preset deviation threshold, it is recognized that any two of the above-mentioned secondary correction curves are valid, that is, they are all valid curves; on the contrary, if the deviation degree between the above-mentioned two secondary correction curves is less than the preset deviation threshold, it is recognized that the two curves are too dense, and one of the secondary correction curves is identified as a redundant curve.

[0134] In S1042, the redundant curve is removed from all the secondary correction curves to obtain a valid calibration curve.

[0135] In S1043, a calibration table of the target vehicle is generated based on all valid calibration curves and the vehicle speed control operations corresponding to the valid calibration curves.

[0136] In this embodiment, the electronic device may remove redundant curves from all secondary correction curves and generate a calibration table for the target vehicle based on the remaining valid calibration curves.

[0137] For example, Fig.10 FIG. 1 shows a filtering schematic diagram of a calibration curve provided by an embodiment of the present application. Fig.10 As shown, the dashed curve is the identified redundant curve. The redundant curve is removed from the calibration table, and the calibration table of the target vehicle is generated based on the remaining valid curves.

[0138] In the embodiment of the present application, by deleting calibration curves with smaller differences, the redundancy of the calibration table can be reduced.

[0139] Fig.11 The structure block diagram of a calibration table generation device provided by an embodiment of the present invention is shown. The calibration table generation device includes various units for executing Figure 1 The steps implemented by the encryption device in the corresponding embodiment. Figure 1 and Figure 1 For the convenience of explanation, only the parts related to this embodiment are shown.

[0140] See also Fig.11 , the method and device for generating the calibration table includes:

[0141] The motion data acquisition unit 111 is used to generate a calibration curve corresponding to each speed control operation according to the acquired motion data of the target vehicle under different speed control operations; the calibration curve is used to represent the corresponding relationship between the speed and acceleration of the target vehicle under the speed control operation;

[0142] A primary correction unit 112, configured to adjust the curve segment where the curve intersection of any two curves to be calibrated is located according to the curve intersection, if there is a curve intersection between any two curves to be calibrated, to obtain a primary correction curve;

[0143] A secondary correction unit 113 is used to perform straightening processing on the to-be-straightened curves corresponding to the vehicle speed control operations to obtain secondary correction curves; the to-be-straightened curves are the primary correction curves or the to-be-calibrated curves;

[0144] The calibration table generating unit 114 is used to generate a calibration table of the target vehicle based on the quadratic correction curve.

[0145] Optionally, the primary correction unit 112 includes:

[0146] A curve segment identification unit, configured to identify the curve segments that do not conform to the monotonic relationship from any two intersecting curves if there is a curve intersection between any two curves to be calibrated, according to the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves; the intersecting curve is the curve to be calibrated or the Nth adjustment curve; the initial value of N is 0;

[0147] a curve segment adjustment unit, configured to increase the value of N and adjust the curve segment of the other curve of the arbitrary two intersecting curves based on the curve segment of any one of the arbitrary two intersecting curves to obtain an Nth adjusted curve;

[0148] an iteration completion unit, configured to identify the Nth adjustment curve as the primary correction curve if no curve intersection exists between the curves corresponding to all the vehicle speed control operations, and to perform the operation of straightening the curves to be straightened corresponding to the vehicle speed control operations to obtain a secondary correction curve; the curve corresponding to the vehicle speed control operation is the curve to be calibrated or the Nth adjustment curve;

[0149] The loop iteration unit is used to return to execute the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves if there is an intersection between the curves corresponding to any two of the vehicle speed control operations, and identify the curve segments that do not conform to the monotonic relationship from the any two intersecting curves.

[0150] Optionally, the iteration completion unit includes:

[0151] A cycle upper limit value comparison unit, used for judging whether the value of N is greater than a preset cycle upper limit value if there is a curve intersection point between the curves corresponding to any two vehicle speed control operations;

[0152] A cycle stopping unit, configured to adjust the curve segments in the arbitrary two intersecting curves based on a preset adjustment threshold and the monotonic relationship to obtain a primary correction curve if the value of N is greater than a preset cycle upper limit value;

[0153] The loop continuation unit is used to return to execute the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves if the value of N is less than or equal to the loop upper limit value, and identify the curve segments that do not conform to the monotonic relationship from the any two intersecting curves.

[0154] Optionally, the secondary correction unit 113 includes:

[0155] a root mean square calculation unit, configured to calculate the root mean square of the curve to be straightened according to an acceleration extreme value in the curve to be straightened; the acceleration extreme value is in the same direction as the vehicle speed control direction of the vehicle speed control operation;

[0156] A convergence trigger unit, configured to process the to-be-straightened curve by a preset curve convergence algorithm if the root mean square is greater than or equal to a preset floating threshold value, until the root mean square of the processed curve is less than the floating threshold value, thereby obtaining the secondary correction curve;

[0157] The curve flattening response unit is used to identify the curve to be flattened as the secondary correction curve if the root mean square is less than the floating threshold.

[0158] Optionally, the convergence triggering unit includes:

[0159] a median calculation unit, used for taking the median between the actual acceleration corresponding to each speed point on the curve to be straightened and the acceleration extreme value as the correction acceleration of each speed point;

[0160] A median replacement unit, used for obtaining a straightened curve based on the corrected accelerations of all the speed points;

[0161] A quadratic mean square calculation unit, used for calculating the root mean square of the straightened curve based on the acceleration extreme value;

[0162] A cyclic convergence unit is used to return to the step of using the median between the actual acceleration corresponding to each speed point on the curve to be straightened and the acceleration extreme value as the correction acceleration of each speed point if the root mean square of the straightened curve is greater than or equal to the floating threshold value, until the root mean square of the straightened curve is less than the floating threshold value.

[0163] Optionally, the calibration table generating unit 114 includes:

[0164] A redundant curve identification unit, used for identifying redundant curves according to the deviations between the respective secondary correction curves;

[0165] A redundant curve removing unit, used for removing the redundant curve from all the secondary correction curves to obtain a valid calibration curve;

[0166] The effective curve encapsulation unit is used to generate a calibration table of the target vehicle based on all effective calibration curves and the vehicle speed control operations corresponding to the effective calibration curves.

[0167] Optionally, the redundant curve identification unit includes:

[0168] a first mean value calculation unit, configured to use a first mean value of the acceleration deviation between the first curve of the upper limit acceleration operation and the second curve of the lower limit deceleration operation at each speed point as a limit deviation value of the target vehicle;

[0169] A second mean value calculation unit is used to calculate a second mean value of the acceleration deviation between any two quadratic correction curves at each speed point, and use the ratio between the second mean value and the limit deviation as the deviation of the any two quadratic correction curves;

[0170] The deviation comparison unit is configured to identify one of the two quadratic correction curves as the redundant curve if the deviation is less than a preset deviation threshold.

[0171] Therefore, the calibration table generation device provided in the embodiment of the present invention can also generate the calibration curves corresponding to the different speed control operations by acquiring the corresponding motion data of the target vehicle under different vehicle speed control operations. Under normal circumstances, the accelerations between different vehicle speed control operations are in accordance with the monotonic relationship between each other, that is, there is no intersection between the curves. Therefore, the electronic device can adjust the calibration curves with the intersection of the curves to obtain a primary correction curve, and then use a preset straightening algorithm to straighten the curves to process the curve segments with sudden acceleration changes, so that the acceleration corresponding to the vehicle speed control operation at different speeds tends to be stable, and then generate the calibration table of the target vehicle according to all the secondary correction curves, so as to achieve the purpose of automatic generation of the calibration table. Compared with the existing calibration table generation technology, the calibration table in the embodiment of the present application can be automatically generated, and the parts of the accelerations in each calibration curve in the calibration table with monotonic anomalies are adjusted, and the curves are straightened to achieve the correction of the curves. While improving the generation efficiency of each calibration curve in the calibration table, the accuracy of the calibration curve can also be improved.

[0172] It should be understood that Fig.11 In the structural block diagram of the calibration table generation method device shown, each module is used to execute Figures 1 to 10 The steps in the corresponding embodiments, and for Figures 1 to 10 Each step in the corresponding embodiment has been explained in detail in the above embodiment. Figures 1 to 10 as well as Figures 1 to 10 The relevant descriptions in the corresponding embodiments are not repeated here.

[0173] Fig.12 is a structural block diagram of an electronic device provided by another embodiment of the present application. Fig.12 As shown, the electronic device 1200 of this embodiment includes: a processor 1210, a memory 1220, and a computer program 1230 stored in the memory 1220 and executable by the processor 1210, such as a program for a method for generating a calibration table. When the processor 1210 executes the computer program 1230, the steps in each embodiment of the method for generating a calibration table are implemented, such as Figure 1 Alternatively, the processor 1210 implements the above when executing the computer program 1230 Figure 7 The functions of each module in the corresponding embodiment are, for example, Fig.11 For details on the functions of the units 111 to 114 shown, please refer to Fig.11 Related description in the corresponding embodiment.

[0174] Exemplarily, the computer program 1230 may be divided into one or more modules, one or more modules are stored in the memory 1220, and are executed by the processor 1210 to complete the present application. One or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 1230 in the electronic device 1200. For example, the computer program 1230 may be divided into various unit modules, and the specific functions of each module are as described above.

[0175] The electronic device 1200 may include, but is not limited to, a processor 1210 and a memory 1220. Those skilled in the art will appreciate that Fig.12 It is only an example of the electronic device 1200 and does not constitute a limitation of the electronic device 1200. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0176] The processor 1210 may be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0177] The memory 1220 may be an internal storage unit of the electronic device 1200, such as a hard disk or memory of the electronic device 1200. The memory 1220 may also be an external storage device of the electronic device 1200, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. equipped on the electronic device 1200. Furthermore, the memory 1220 may also include both an internal storage unit of the electronic device 1200 and an external storage device.

[0178] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for generating a calibration table, characterized in that: include: Generating a calibration curve corresponding to each of the vehicle speed control operations according to the collected motion data of the target vehicle under different vehicle speed control operations; The curve to be calibrated is used to represent the corresponding relationship between the speed and acceleration of the target vehicle under the vehicle speed control operation; If there is a curve intersection point between any two curves to be calibrated, then adjusting the curve segment where the curve intersection point is located in the any two curves to be calibrated according to the curve intersection point to obtain a primary calibration curve; Straightening the curves to be straightened corresponding to the vehicle speed control operations to obtain secondary correction curves; the curves to be straightened are the primary correction curves or the curves to be calibrated; Based on the secondary correction curve, generating a calibration table for the target vehicle; If there is a curve intersection point between any two curves to be calibrated, adjusting the curve segment where the curve intersection point is located in the any two curves to be calibrated according to the curve intersection point to obtain a primary calibration curve, including: If there is a curve intersection between any two curves to be calibrated, then according to the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves, the curve segments that do not conform to the monotonic relationship are respectively identified from the any two intersecting curves; the intersecting curve is the curve to be calibrated or the Nth adjustment curve; the initial value of N is 0; Increasing the value of N, and adjusting the curve segment of the other curve of the arbitrary two intersecting curves based on the curve segment of any one curve of the arbitrary two intersecting curves, to obtain an Nth adjusted curve; If the curve intersection does not exist between the curves corresponding to all the vehicle speed control operations, the Nth adjustment curve is identified as the primary correction curve, and the operation of performing the straightening process on the curves to be straightened corresponding to the vehicle speed control operations to obtain the secondary correction curve is performed; the curve corresponding to the vehicle speed control operation is the curve to be calibrated or the Nth adjustment curve; If there is a curve intersection between any two curves corresponding to the vehicle speed control operations, then return to execute the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves, and identify the curve segments that do not meet the monotonic relationship from the any two intersecting curves.

2. The generation method according to claim 1, characterized in that: If there is a curve intersection between any two curves corresponding to the vehicle speed control operations, returning to execute the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves, and identifying the curve segments that do not meet the monotonic relationship from the any two intersecting curves, respectively, includes: If there is a curve intersection point between any two curves corresponding to the vehicle speed control operations, determining whether the value of N is greater than a preset cycle upper limit value; If the value of N is greater than the cycle upper limit, the curve segments in the arbitrary two intersecting curves are adjusted based on a preset adjustment threshold and the monotonic relationship to obtain a primary calibration curve; If the value of N is less than or equal to the loop upper limit, the method returns to executing the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves, and identifies the curve segments that do not meet the monotonic relationship from the any two intersecting curves.

3. The generation method according to claim 1, characterized in that: The straightening process is performed on the to-be-straightened curves corresponding to the vehicle speed control operations to obtain a secondary correction curve, including: calculating a root mean square of the curve to be straightened according to an acceleration extreme value in the curve to be straightened; the acceleration extreme value is in the same direction as the vehicle speed control direction of the vehicle speed control operation; If the root mean square is greater than or equal to the preset floating threshold, the curve to be straightened is processed by a preset curve convergence algorithm until the root mean square of the processed curve is less than the floating threshold, thereby obtaining the secondary correction curve; If the root mean square is less than the floating threshold, the curve to be flattened is identified as the secondary correction curve.

4. The generation method according to claim 3, characterized in that: If the root mean square is greater than or equal to a preset floating threshold, the curve to be straightened is processed by a preset curve convergence algorithm until the root mean square of the processed curve is less than the floating threshold, thereby obtaining the secondary correction curve, including: The median between the actual acceleration corresponding to each speed point on the curve to be straightened and the acceleration extreme value is used as the correction acceleration of each speed point; Based on the corrected accelerations of all the speed points, a straightened curve is obtained; Calculating the root mean square of the straightened curve based on the acceleration extreme value; If the root mean square of the straightened curve is greater than or equal to the floating threshold, the process returns to executing the step of using the median between the actual acceleration corresponding to each speed point on the curve to be straightened and the acceleration extreme value as the correction acceleration of each speed point until the root mean square of the straightened curve is less than the floating threshold.

5. The generation method according to any one of claims 1 to 4, characterized in that: The step of generating a calibration table for the target vehicle based on the secondary correction curve comprises: identifying redundant curves according to the degree of deviation between the respective secondary calibration curves; Removing the redundant curve from all the secondary calibration curves to obtain a valid calibration curve; A calibration table of the target vehicle is generated based on all valid calibration curves and the vehicle speed control operations corresponding to the valid calibration curves.

6. The generation method according to any one of claim 5, characterized in that: The step of identifying redundant curves according to the deviations between the secondary correction curves comprises: taking a first average value of the acceleration deviation between the first curve of the upper limit acceleration operation and the second curve of the lower limit deceleration operation at each speed point as a limit deviation value of the target vehicle; Calculating a second mean value of the acceleration deviation between any two quadratic correction curves at each speed point, and taking a ratio between the second mean value and the limit deviation as the deviation of the any two quadratic correction curves; If the degree of deviation is less than a preset deviation threshold, one of the arbitrary two quadratic correction curves is identified as the redundant curve.

7. A device for generating a calibration table, characterized in that: include: A motion data acquisition unit, used to generate a calibration curve corresponding to each speed control operation according to the acquired motion data of the target vehicle under different speed control operations; the calibration curve is used to represent the corresponding relationship between the speed and acceleration of the target vehicle under the speed control operation; A primary correction unit, configured to adjust the curve segment where the curve intersection of any two curves to be calibrated is located according to the curve intersection if there is a curve intersection between any two curves to be calibrated, so as to obtain a primary correction curve; A secondary correction unit, used for straightening the curves to be straightened corresponding to each of the vehicle speed control operations to obtain a secondary correction curve; the curve to be straightened is the primary correction curve or the curve to be calibrated; A calibration table generating unit, configured to generate a calibration table of the target vehicle based on the secondary correction curve; The primary correction unit comprises: A curve segment identification unit, configured to identify the curve segments that do not conform to the monotonic relationship from any two intersecting curves if there is a curve intersection between any two curves to be calibrated, according to the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves; the intersecting curve is the curve to be calibrated or the Nth adjustment curve; the initial value of N is 0; a curve segment adjustment unit, configured to increase the value of N and adjust the curve segment of the other curve of the arbitrary two intersecting curves based on the curve segment of any one of the arbitrary two intersecting curves to obtain an Nth adjusted curve; an iteration completion unit, configured to identify the Nth adjustment curve as the primary correction curve if no curve intersection exists between the curves corresponding to all the vehicle speed control operations, and to perform the operation of straightening the curves to be straightened corresponding to the vehicle speed control operations to obtain a secondary correction curve; the curve corresponding to the vehicle speed control operation is the curve to be calibrated or the Nth adjustment curve; The loop iteration unit is used to return to execute the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves if there is an intersection between the curves corresponding to any two of the vehicle speed control operations, and identify the curve segments that do not conform to the monotonic relationship from the any two intersecting curves.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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