Panoramic Road Calibration Method, Terminal, Vehicle, and Computer-Readable Storage Medium

Abstract

The present invention belongs to the technical field of vehicles and relates to a panoramic road calibration method, an in-vehicle terminal, a vehicle, and a computer-readable storage medium. Among them, the panoramic road calibration method includes the following steps: identifying a first identifier in a road image, and performing calibration based on the first identifier to obtain first external parameters; identifying a second identifier in the road image, and performing calibration based on the first external parameters and the second identifier to obtain second external parameters. Therefore, the present invention can achieve calibration of the vehicle only relying on the identifiers in the existing road, without the need to lay a specific calibration cloth, realizing the convenience of calibration; at the same time, multiple calibrations are performed through different identifiers, thereby improving the accuracy of calibration.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicles, and particularly relates to a panoramic road calibration method, an in-vehicle terminal, a vehicle, and a computer-readable storage medium. Background Art

[0002] Currently, the in-vehicle 360 panoramic stitching system needs to calibrate the 4 cameras installed on the front, rear, left, and right of the vehicle body respectively, and calibrate the external parameters of each camera (the installation position and installation angle of the camera relative to the vehicle body coordinate system), and then rely on the external parameters for stitching. Usually, a calibration process needs to be added when the vehicle leaves the factory in the vehicle factory to complete the calibration work. The calibration site also needs to be calibrated using a checkerboard icon, and there are also calibration patterns of other shapes of grids. Although the patterns are different, the principles are basically the same, and special design and construction of the site are required. Even if the site does not need to be built, a calibration cloth needs to be laid for calibration. In this way, after the vehicle is sold and delivered to the customer, once the camera needs to be replaced, the 4S store needs to have a site or lay a calibration cloth for calibration. However, some 4S stores do not have the conditions to build a site. Laying a calibration cloth is particularly time-consuming and laborious because the size needs to be particularly accurate. Therefore, the existing similar technologies generally use lane lines for calibration. When the vehicle is driving on a lane with lane lines on both sides, the lane line information collected on both sides is used for calibration.

[0003] However, the existing technology only uses the points on a single lane line. The lane line only occupies a few pixels in the stitched image. The points used for calibration are all distributed on these two lane lines, and the distribution is too single to cover many areas of the stitching. Many areas are in the blank area. In this way, the calibrated result can only take care of the stitching effect of the lane line, but the stitching effect in the areas not covered by the lane line is relatively poor. Therefore, how to use more references for calibration to improve the calibration accuracy is an urgent problem to be solved by those skilled in the art.

[0004] In view of the above problems, those skilled in the art have been seeking solutions.

[0005] The foregoing description is provided to give general background information and does not necessarily constitute prior art. Summary of the Invention

[0006] The technical problem solved by the present invention is that existing calibration either requires a dedicated site to lay calibration cloth, or only relies on the points of a single lane line in the road for calibration. The calibration of the prior art is either too complex or not accurate enough. Therefore, a panoramic road calibration method, a vehicle-mounted terminal, a vehicle and a computer-readable storage medium are provided, which can enable the vehicle to perform calibration only relying on the signs in the existing road, without the need to lay a specific calibration cloth, realizing the convenience of calibration; at the same time, multiple calibrations are performed through different signs, thereby improving the accuracy of calibration.

[0007] The present invention solves its technical problems by adopting the following technical solutions:

[0008] The present invention provides a panoramic road calibration method, including the following steps: identifying a first sign in a road image, and performing calibration according to the first sign to obtain a first external parameter; identifying a second sign in the road image, and performing calibration according to the first external parameter and the second sign to obtain a second external parameter.

[0009] Further, the above-mentioned first sign is a lane line, and / or the above-mentioned second sign is a zebra crossing.

[0010] Further, before the step of identifying the first sign in the road image, it includes: triggering the calibration function through user operation to obtain a road image for calibration; and / or, obtaining maintenance information, and triggering the calibration function when the maintenance information meets the calibration requirement; and / or, obtaining a calibration error, and triggering the calibration function when the calibration error is greater than an error threshold.

[0011] Further, in the step of identifying the first sign and performing calibration according to the first sign to obtain a first external parameter, it includes: obtaining an initial external parameter, establishing a space coordinate system according to the initial external parameter and a standard camera device; establishing a real coordinate system according to the first sign captured by a plurality of vehicle-mounted camera devices; obtaining a parallelism error through the real coordinate system and the space coordinate system, and obtaining the first external parameter according to the parallelism error.

[0012] Further, in the step of obtaining the parallelism error through the real coordinate system and the space coordinate system and obtaining the first external parameter according to the parallelism error, it includes: adjusting the initial external parameter, and repeating the iteration to obtain the parallelism error; determining the first external parameter according to the minimum parallelism error.

[0013] Further, after the step of identifying the first sign and performing calibration according to the first sign to obtain a first external parameter, it includes: calibrating the remaining vehicle-mounted camera devices except the standard camera device among the plurality of vehicle-mounted devices according to the first external parameter.

[0014] Further, in the step of identifying the second identifier, calibrating according to the first external parameter and the second identifier, and obtaining the second external parameter, it includes: obtaining the actual parameter of the second identifier within the range of the first identifier of the vehicle; calibrating according to the first external parameter and the actual parameter to determine the second external parameter.

[0015] The present invention also provides an in-vehicle terminal, including a processor and a memory: the processor is configured to execute the computer program stored in the memory to implement the steps of the panoramic road calibration method as described above.

[0016] The present invention also provides a vehicle, including the aforementioned in-vehicle terminal.

[0017] The present invention also provides a computer-readable storage medium, storing a computer program, which when executed by a processor, implements the steps of the panoramic road calibration method as described above.

[0018] The present invention also provides a panoramic road calibration method, an in-vehicle terminal, a vehicle, and a computer-readable storage medium. Among them, the panoramic road calibration method includes the following steps: identifying a first identifier in a road image, and calibrating according to the first identifier to obtain a first external parameter; identifying a second identifier in the road image, and calibrating according to the first external parameter and the second identifier to obtain a second external parameter. Therefore, the present invention can realize the calibration of the vehicle only relying on the identifiers in the existing road, without the need to lay a specific calibration cloth, realizing the convenience of calibration; at the same time, through multiple calibrations with different identifiers, the accuracy of calibration is improved. In addition, further, the panoramic road calibration method provided by an embodiment of the present invention can also use the lane line as the first identifier for rough initial calibration, and then use the zebra crossing as the second identifier, and use the characteristics of the more diverse and wider distribution of zebra crossing line segments to perform further secondary calibration, so as to achieve more accurate calibration. And it can trigger the calibration function in a variety of ways, so as to always ensure the accuracy of the panoramic camera. At the same time, during the calibration process, only relying on the calibration of one camera can complete the calibration work of the remaining cameras, reducing the user's operation, increasing the user's convenience, and improving the user's experience.

[0019] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of the present invention more obvious and understandable, the following specifically gives preferred embodiments and, in conjunction with the drawings, details are described. Description of the Drawings

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 A schematic diagram of a panoramic road calibration method flow chart provided in the first embodiment of the present invention;

[0022] Figure 2 A schematic diagram of a calibration scene for the prior art;

[0023] Figure 3 A diagram showing an application scenario of the panoramic road calibration method provided in the first embodiment of the present invention;

[0024] Figure 4 This is a schematic structural diagram of a vehicle-mounted terminal provided in the second embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0026] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0027] First embodiment

[0028] Figure 1 FIG. 1 is a flow chart of a panoramic road calibration method according to a first embodiment of the present invention. In order to clearly describe the panoramic road calibration method provided by the first embodiment of the present invention, please refer to FIG. Figures 1 to 3 .

[0029] In the prior art, calibration is usually performed by setting up calibration cloth in a 4S shop. For specific usage scenarios, please refer to Figure 2 As shown in the figure, a calibration cloth with black squares as the schematic diagram is laid around the center of the vehicle. It can be seen that this calibration method has strict requirements and is very inconvenient. For this reason, a panoramic road calibration method provided by the present invention is proposed, which includes the following steps:

[0030] Step S1: Identify a first mark in a road image, and perform calibration according to the first mark to obtain a first external parameter.

[0031] In one embodiment, the road image is a panoramic image captured by a vehicle-mounted camera. After the calibration function is triggered, the first mark around the vehicle in the road image can be identified, thereby starting the first step of calibration. Furthermore, in the panoramic road calibration method provided by the present invention, the vehicle does not need to remain stationary. Even if the vehicle is driving on the road, calibration can also be performed. Therefore, for the road image, it can be a static picture or a captured video, and there is no specific restriction on this. Specifically, the first mark is preferably the lane lines on both sides of the vehicle, wherein the lane line information is obtained, for example, the distance between the vehicle, especially the vehicle-mounted camera device, and the lane line. For the acquisition process, it can include but is not limited to acquisition through an image analysis scheme, and it can also be estimated in combination with the vehicle speed to determine the lane line information. It can be understood that the above acquisition process of the first mark is a description of the technology, not a limitation. It should be clear that calibration is the process of determining external parameters, wherein the external parameters can include specific information such as the installation position and installation angle of the vehicle-mounted camera, that is, calibration is the process of determining the specific installation position and installation angle of the vehicle-mounted camera device.

[0032] In one embodiment, before step S1: identifying the first identification in the road image, it includes: triggering a calibration function through user operation to obtain a road image for calibration; and / or, obtaining maintenance information, triggering the calibration function when the maintenance information meets the calibration requirements; and / or, obtaining a calibration error, triggering the calibration function when the calibration error is greater than an error threshold.

[0033] In one embodiment, it is understood that the calibration function needs to be triggered first, which can be divided into two categories. The first is manual triggering, that is, the calibration function is triggered according to user operation; the second is automatic triggering. The automatic triggering situation is divided into two categories. The first is for vehicles after maintenance. Due to the vibration caused by the maintenance work, the installation position and installation angle of the vehicle camera will be more or less affected. Therefore, it is necessary to calibrate after some maintenance is completed; and it is understandable that not all maintenance requires recalibration. For example, after the vehicle is only scrubbed and other ordinary maintenance, it is not necessary to recalibrate. That is to say, it is necessary to evaluate and determine whether calibration is required according to the specific type of vehicle maintenance. Specifically, it can be calibrated by obtaining maintenance information when the maintenance information meets the calibration requirements. The second is the situation where the vehicle needs to be calibrated due to the impact of the vehicle's own vibration on the vehicle camera due to normal driving. Then the vehicle can evaluate the calibration error by itself. When the error is greater than the preset error threshold, the calibration function needs to be triggered for adjustment.

[0034] In one embodiment, in step S1: identifying a first identifier in a road image and performing calibration based on the first identifier to obtain first external parameters, it includes: obtaining initial external parameters, establishing a spatial coordinate system according to the initial external parameters and a standard camera device; establishing a real coordinate system according to the first identifier captured by a plurality of vehicle-mounted camera devices; obtaining a parallelism error through the real coordinate system and the spatial coordinate system, and obtaining the first external parameters according to the parallelism error.

[0035] In one embodiment, in the step of obtaining the parallelism error through the real coordinate system and the spatial coordinate system and obtaining the first external parameters according to the parallelism error, it includes: adjusting the initial external parameters, repeating the iteration to obtain the parallelism error; determining the first external parameters according to the minimum parallelism error.

[0036] In one embodiment, it can be understood that vehicle-mounted panoramic camera devices are usually arranged around the vehicle body, capturing road images and stitching them to obtain a panoramic image. For the panoramic road calibration method provided by the present invention, there are no specific restrictions on the installation position and the number of installed camera devices, and the differences in camera devices do not constitute a limitation to this embodiment. And as described above, the first identifier in this embodiment is a lane line, preferably the lane lines on both sides of the vehicle.

[0037] In one embodiment, through the process of lane line calibration, any one of the vehicle-mounted camera devices can be selected as the standard camera device, and an image coordinate system is established with it as the standard and the initial external parameters, and a mathematical expression of the first identifier in the image coordinate system is made. It can be understood that since the installation position of the vehicle-mounted camera device is relatively fixed, with a roughly determined position and angle, this is also the initial external parameter.

[0038] According to the first mark in the road image, a real coordinate system is established, and the first mark is mathematically expressed in the real coordinate system. Then the real coordinate system and the image coordinate system are mapped into a bird's-eye view. It can be understood that if it is accurately calibrated, the two lane lines in the real coordinate system and the image coordinate system are parallel to each other, and the real coordinate system and the image coordinate system are mutually overlapped. Therefore, the parallel relationship between the two lane lines can be used to calculate the parallelism error of the two lane lines mapped to the real coordinate system in the image coordinate system. Since the lane lines are parallel, that is, they do not intersect at infinity, if the lane lines intersect, then this error is the parallelism error, where the larger the angle between the two lines, the larger the error. After that, the initial external parameters can be repeatedly adjusted, for example, they can be repeatedly adjusted with a fixed length, and the parallelism error is repeatedly calculated. Repeated iteration until the adjusted initial external parameters exceed the preset range. Among the several obtained parallelism errors, the initial external parameters corresponding to the minimum parallelism value are taken as the external parameters of the standard camera device, thereby determining the first external parameters. This parameter is then used to map the lane lines of the standard camera device to the real coordinate system, and an accurate mathematical expression of the corresponding two lane lines in the real coordinate system is obtained.

[0039] In other embodiments, the execution of this embodiment can refer to Figure 3 , Figure 3 A diagram of an application scenario of a panoramic road calibration method provided in the first embodiment of the present invention. It includes a vehicle, a lane line marked as a first mark, and a zebra crossing marked as a second mark. The lane line is drawn as a double dashed line, which is mainly used to indicate that the lane line itself also has the value of being calibrated as a reference. For example, the distance between the vehicle and the lane line is calibrated, that is, the area range shown in a1 in the figure is used as a standard for calibration, so as to determine the external parameters. Lane lines can also be used, such as the lane line gap of a double solid lane line, the solid line width of the lane line, etc. If it is a double dashed lane line shown in the figure, it can also be calibrated by the parallel gap between the two dashed lines. It can be understood that whether it is calibrated by the parallel relationship of the lane lines or by the distance of the lane lines, and finally mapped to the real coordinate system, the distance between the vehicle, especially the standard camera device, and the lane line is the most accurate parameter, and the corresponding range, that is, the shaded part on the way, is the most accurate, which will play an important role in the second calibration later.

[0040] In one embodiment, after step S1: identifying a first mark in a road image and calibrating according to the first mark to obtain a first external parameter, the method further includes: calibrating the remaining vehicle-mounted camera devices among a plurality of vehicle-mounted devices except a standard camera device according to the first external parameter.

[0041] In one embodiment, since the first external parameters of the standard camera device and the mathematical expression of the lane line in the real coordinate system are determined, the external parameters of the remaining vehicle-mounted camera devices other than the standard camera device in the multiple vehicle-mounted devices can be calibrated in the same manner. For example, the lane lines and the first external parameters detected by each of them are calibrated, and the external parameters of the remaining camera devices can be solved by using the PnP solution (Perspective-N-Point, multiple pairs of 3D and 2D matching points) method. Correspondingly, the respective external parameters can be stored for further precise calibration through the second identification later.

[0042] Step S2: Identify the second mark in the road image, calibrate according to the first external parameter and the second mark, and obtain the second external parameter.

[0043] In one embodiment, similar to the recognition of the first mark, the second mark is also recognized by the road image captured by the vehicle-mounted camera device. Furthermore, the second mark is preferably a zebra crossing, and the solid line width and gap width of the zebra crossing are used as a reference for more accurate calibration to obtain the second external parameter.

[0044] In one embodiment, in step S2: identifying the second marker in the road image, calibrating according to the first external parameter and the second marker, the step of obtaining the second external parameter includes: obtaining the actual parameters of the second marker within the range of the vehicle and the first marker; calibrating according to the first external parameter and the actual parameter to determine the second external parameter.

[0045] In one embodiment, in this embodiment, reference Figure 3 , and from the above description, it can be seen that after the calibration based on the first identifier is completed, Figure 3 The area drawn in the shaded part is the most accurate parameter, especially the distance a1 between the vehicle and the lane line, which is the most accurate parameter and can be used as a reference for the second calibration.

[0046] In one embodiment, when a zebra crossing is identified in the road image, the actual parameters of the vehicle, the first identification range, and the second identification are obtained. Specifically, the vehicle and the first identification range are Figure 3The range of the shaded part in the figure, and the zebra crossing contained therein, is the second mark required for reference in the second calibration. The actual parameters of the zebra crossing are obtained, which may include the gap width (b1) and solid line width (b2) of the zebra crossing. The specific value of this actual parameter can be estimated and calculated through the first external parameter. If all the identified zebra crossings are equidistant and equal in width, the mathematical expression of all zebra crossings in the real coordinate system can be estimated. By using the mathematical expression of all zebra crossings in two coordinate systems and using the PnP method for joint estimation, more accurate external parameters, that is, the second external parameters, can be solved, thereby completing a more accurate calibration. In addition, after completing the calibration of the second external parameters, the second external parameters can also be used to complete the calibration of all camera devices.

[0047] The panoramic road calibration method provided by the first embodiment of the present invention includes the following steps: step S1: identifying a first mark in a road image, and calibrating according to the first mark to obtain a first external parameter; step S2: identifying a second mark in the road image, and calibrating according to the first external parameter and the second mark to obtain a second external parameter. Therefore, the panoramic road calibration method provided by the first embodiment of the present invention can realize the calibration of the vehicle only by relying on the marks in the existing road, without laying a specific calibration cloth, and realize the convenience of calibration; at the same time, multiple calibrations are performed through different marks, thereby improving the accuracy of calibration. In addition, further, the panoramic road calibration method provided by an embodiment of the present invention can also use the lane line as the first mark to perform a rough initial calibration, and then use the zebra crossing as the second mark, and use the characteristics of the zebra crossing line segment distribution being more diverse and wider to perform further secondary calibration, so as to achieve more accurate calibration. And the trigger calibration function can be started in a variety of ways, so as to ensure the accuracy of the panoramic camera at all times. At the same time, during the calibration process, the calibration of the remaining cameras can be completed by calibrating only one camera, which reduces the user's operation, increases the user's convenience, and improves the user's experience.

[0048] Second embodiment

[0049] Figure 4 1 is a schematic diagram of the first structure of the vehicle-mounted terminal provided by the second embodiment of the present invention. In order to clearly describe the vehicle-mounted terminal 110 provided by the second embodiment of the present invention, please refer to Figure 1 , Figure 4 .

[0050] The vehicle terminal 110 provided in the second embodiment of the present invention includes: a processor A101 and a memory A201, wherein the processor A101 is used to execute a computer program A6 stored in the memory A201 to implement the steps of the panoramic road calibration method described in the first embodiment.

[0051] In one embodiment, the vehicle-mounted terminal 110 provided in this embodiment includes at least one processor A101 and at least one memory A201. Among them, the at least one processor A101 can be referred to as the processing unit A1, and the at least one memory A201 can be referred to as the storage unit A2. Specifically, the storage unit A2 stores a computer program A6. When the computer program A6 is executed by the processing unit A1, the vehicle-mounted terminal 110 provided in this embodiment implements the steps of the panoramic road calibration method described in the first embodiment, the second embodiment, and the second embodiment. For example, Figure 1 Step S1 shown in: identify the first identifier in the road image, and perform calibration according to the first identifier to obtain the first external parameter; Step S2: identify the second identifier in the road image, and perform calibration according to the first external parameter and the second identifier to obtain the second external parameter.

[0052] In one embodiment, the vehicle-mounted terminal 110 provided in this embodiment may include multiple memories A201 (abbreviated as storage unit A2).

[0053] Among them, the storage unit A2 can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM, Read Only Memory), a programmable read-only memory (PROM, Programmable Read-Only Memory), an erasable programmable read-only memory (EPROM, Erasable Programmable Read-Only Memory), an electrically erasable programmable read-only memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), a ferromagnetic random access memory (FRAM, ferromagnetic random access memory), a flash memory (Flash Memory), a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM, Compact Disc Read-Only Memory); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM, Random Access Memory), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as a static random access memory (SRAM, Static Random Access Memory), a synchronous static random access memory (SSRAM, Synchronous Static Random Access Memory), a dynamic random access memory (DRAM, Dynamic Random Access Memory), a synchronous dynamic random access memory (SDRAM, Synchronous Dynamic Random Access Memory), a double data rate synchronous dynamic random access memory (DDR SDRAM, Double Data Rate Synchronous Dynamic Random Access Memory), an enhanced synchronous dynamic random access memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), a sync link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and a direct rambus random access memory (DRRAM, Direct Rambus Random Access Memory).The storage unit A2 described in the embodiments of the present invention is intended to include but not limited to these and any other suitable types of memories.

[0054] In one embodiment, the vehicle-mounted terminal 110 further includes a bus connecting different components (such as the processor A101, the memory A201, the display device A3, etc.). Among them, the display device A3 is preferably a touch display, which can display the panoramic image captured by the vehicle, so that the user can determine whether to trigger the calibration function. At the same time, as a touch display, it can obtain the user's operation to trigger the calibration function. And it can display during the calibration, so that the user can clearly understand that the in-vehicle computer is performing the calibration function, so as to prompt the user to drive smoothly.

[0055] In one embodiment, the vehicle-mounted terminal 110 in this embodiment may further include a communication interface (such as the I / O interface A4), and this communication interface can be used to communicate with external devices.

[0056] In one embodiment, the vehicle-mounted terminal 110 provided in this embodiment may further include a communication device A5.

[0057] In one embodiment, it can be understood that in the panoramic road calibration method described in the first embodiment of the present invention, there is an expression of automatically triggering the calibration function, such as obtaining maintenance information, etc., then for this, the in-vehicle computer needs to be able to obtain relevant data and information externally, so as to judge and determine whether the vehicle needs to trigger the calibration function. Among them, the participation of the I / O interface A4 and / or the communication device A5 is required to achieve this.

[0058] The vehicle-mounted terminal 110 provided in the second embodiment of the present invention includes a memory A101 and a processor A201, and the processor A201 is used to execute the computer program A6 stored in the memory A201 to implement the steps of the panoramic road calibration method described in the first embodiment. Therefore, the vehicle-mounted terminal 110 provided in this embodiment can enable the vehicle to achieve calibration only relying on the signs in the existing road, without the need to lay a specific calibration cloth, realizing the convenience of calibration; at the same time, through different signs for multiple calibrations, the accuracy of calibration can be improved. In addition, further, the panoramic road calibration method provided in an embodiment of the present invention can also use the lane line as the first sign for rough initial calibration, and then use the zebra crossing as the second sign, and utilize the characteristics of the more diverse and wider distribution of the zebra crossing line segments to perform further secondary calibration, so as to achieve more accurate calibration. And it can trigger the calibration function in a variety of ways, so as to always ensure the accuracy of the panoramic camera. At the same time, during the calibration process, only by calibrating one camera can the calibration work of the remaining cameras be completed, reducing the user's operation, increasing the user's convenience, and improving the user's experience.

[0059] The second embodiment of the present invention also provides a vehicle, which is installed with the vehicle-mounted terminal 110 as described in this embodiment. It can be understood that the vehicle-mounted terminal 110 installed in the vehicle provided by the second embodiment of the present invention, or the devices included in the vehicle-mounted terminal 110 do not constitute a limitation to the embodiments of the present invention. That is, the number and types of devices of the vehicle-mounted terminal 110 included in the scenario of the method, or the number and types of devices included in each device, do not affect the overall implementation of the technical solution in the embodiments of the present invention, and can all be regarded as equivalent replacements or derivatives of the technical solutions claimed in the embodiments of the present invention.

[0060] The second embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program A6. When the computer program A6 is executed by a processor A101, it implements the steps of the panoramic road calibration method as described in the first embodiment.

[0061] In one implementation manner, the computer-readable storage medium provided in this embodiment may include any entity or device, recording medium that can carry computer program code, for example, ROM, RAM, disk, optical disc, flash memory, etc.

[0062] The technical effects that can be achieved when the computer program A6 stored in the computer-readable storage medium provided by the second embodiment of the present invention is executed by the processor A101 have been described in detail above. Specifically, reference can be made to the foregoing, and details will not be repeated here.

[0063] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope described in this specification.

[0064] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, the element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined according to their explanations in the specific embodiments or further in combination with the context of the specific embodiments. In this article, unless otherwise specified, the meanings of "a plurality" and "several" are two or more.

[0065] It should be understood that although the steps in the flowcharts in the embodiments of the present application are shown sequentially according to the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and they can be executed in other orders. Moreover, at least a part of the steps in the figure may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0066] Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments. The foregoing storage media include: various media such as ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0067] As described above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A panoramic road calibration method, characterized in that, it includes the following steps: Identify the first identifier in the road image, and perform calibration based on the first identifier to obtain the first external parameter; Identify the second identifier in the road image, and perform calibration based on the first external parameter and the second identifier to obtain the second external parameter; In the step of identifying the first identifier and performing calibration based on the first identifier to obtain the first external parameter, it includes: Obtain the initial external parameter, and establish a space coordinate system based on the initial external parameter and the standard camera device; Establish a real coordinate system based on the first identifier captured by multiple vehicle-mounted camera devices; Obtain the parallelism error through the real coordinate system and the space coordinate system, and obtain the first external parameter according to the parallelism error.

2. The panoramic road calibration method according to claim 1, including: The first identifier is a lane line, and / or the second identifier is a zebra crossing.

3. Before the step of identifying the first identifier in the road image in the panoramic road calibration method according to claim 1, including: Trigger the calibration function through user operation to obtain the road image for calibration; and / or, Obtain maintenance information, and trigger the calibration function when the maintenance information meets the calibration required situation; and / or, Obtain the calibration error, and trigger the calibration function when the calibration error is greater than the error threshold.

4. In the step of obtaining the parallelism error through the real coordinate system and the space coordinate system and obtaining the first external parameter according to the parallelism error in the panoramic road calibration method according to claim 1, including: Adjust the initial external parameter, and repeat the iteration to obtain the parallelism error; Determine the first external parameter according to the minimum parallelism error.

5. After the step of identifying the first identifier and performing calibration based on the first identifier to obtain the first external parameter in the panoramic road calibration method according to claim 1, including: Calibrate the remaining vehicle-mounted camera devices except the standard camera device among the multiple vehicle-mounted camera devices according to the first external parameter.

6. In the step of identifying the second identifier, performing calibration based on the first external parameter and the second identifier, and obtaining the second external parameter in the panoramic road calibration method according to claim 1, including: Obtain the real parameters of the second identifier within the range of the vehicle and the first identifier; Perform calibration according to the first external parameter and the real parameters to determine the second external parameter.

7. A vehicle-mounted terminal, characterized in that, it includes a processor and a memory: The processor is used to execute the computer program stored in the memory to implement the steps of the panoramic road calibration method according to any one of claims 1 to 6.

8. A vehicle, characterized in that, it includes the vehicle-mounted terminal according to claim 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the steps of the panoramic road calibration method according to any one of claims 1 to 6.

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