Unmanned vehicle calibration method and device

Abstract

The present disclosure discloses a method and device for calibrating unmanned vehicles, and relates to the technical field of computers. The method for calibrating unmanned vehicles comprises: determining at least one unmanned vehicle as a target vehicle according to a vehicle selection operation triggered by a user on an application page; in response to a device detection operation triggered by the user on the application page, sending a device detection instruction to the target vehicle to start a device detection process; and in the case that the device detection is confirmed to be successful based on a device detection result returned by the target vehicle, calibrating a vehicle-mounted sensor of the target vehicle. The present disclosure reduces the learning cost of the user for calibrating unmanned vehicles, has good usability, and can improve the calibration efficiency of the unmanned vehicle and the reliability of the calibration result.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of computers, and particularly relates to a method and device for calibrating unmanned vehicles. BACKGROUND

[0002] In many application scenarios, it is necessary to calibrate unmanned vehicles. An unmanned vehicle is usually equipped with multiple sensors, and calibration of the unmanned vehicle mainly refers to calibration of the sensors. Sensor calibration generally includes sensor internal parameter calibration and sensor external parameter calibration. The sensor internal parameter determines the mapping relationship inside the sensor, and the sensor external parameter determines the conversion relationship between the sensor and an external coordinate system.

[0003] In the related art, before calibrating an unmanned vehicle, a staff member needs to input an instruction code to start a calibration tool on the vehicle side, which has high requirements for the staff member and poor usability. Moreover, in the related art, the calibration tool can only calibrate one unmanned vehicle at a time, which is low in calibration efficiency and poor in accuracy of calibration results. SUMMARY

[0004] One technical problem to be solved by the present disclosure is to provide a solution that can reduce the learning cost of users in calibrating unmanned vehicles, has good usability, and can improve the calibration efficiency of unmanned vehicles and the reliability of calibration results.

[0005] According to one aspect of the present disclosure, a method for calibrating an unmanned vehicle is provided, applied to a user terminal, and includes: determining at least one unmanned vehicle as a target vehicle according to a vehicle selection operation triggered by a user on an application page; sending a device detection instruction to the target vehicle to start a device detection process in response to a device detection operation triggered by the user on the application page; and calibrating a vehicle-mounted sensor of the target vehicle in a case where it is confirmed that the device detection is successful based on a device detection result returned by the target vehicle.

[0006] In some embodiments, the method further includes: before calibrating the vehicle-mounted sensor of the target vehicle, obtaining vehicle-mounted sensor configuration information of the target vehicle and displaying the vehicle-mounted sensor configuration information, so that the user confirms that the vehicle-mounted sensor configuration information is set correctly based on the displayed content.

[0007] In some embodiments, the method further includes: in a case where the user confirms that the vehicle-mounted sensor configuration information is set incorrectly based on the displayed content, displaying modified vehicle-mounted sensor configuration information according to a configuration information modification operation triggered by the user on the application page; and saving the vehicle-mounted sensor configuration information displayed on the application page to the target vehicle in response to a configuration information saving operation triggered by the user on the application page.

[0008] In some embodiments, the vehicle-mounted sensor configuration information of the target vehicle comprises one or more of the following: a type of vehicle-mounted sensor, a number of each type of vehicle-mounted sensor, an image captured by the vehicle-mounted sensor, a serial number of the vehicle-mounted sensor, a shooting direction of the vehicle-mounted sensor.

[0009] In some embodiments, according to a configuration information modification operation triggered by the user on the application page, the modified vehicle-mounted sensor configuration information is displayed, comprising: according to a vehicle-mounted sensor serial number modification operation triggered by the user on the application page, displaying the modified vehicle-mounted sensor serial number; and / or, according to a vehicle-mounted sensor shooting direction modification operation triggered by the user on the application page, displaying the modified vehicle-mounted sensor shooting direction.

[0010] In some embodiments, in response to a configuration information saving operation triggered by the user on the application page, the vehicle-mounted sensor configuration information displayed on the application page is saved to the target vehicle, comprising: after the user triggers the configuration information saving operation on the application page, automatically verifying the vehicle-mounted sensor configuration information displayed on the application page; in the case that the automatic verification is passed, saving the vehicle-mounted sensor configuration information displayed on the application page to the target vehicle; in the case that the automatic verification is not passed, displaying a saving failure prompt information to the user.

[0011] In some embodiments, calibrating the vehicle-mounted sensor of the target vehicle comprises: after detecting a calibration type selection operation triggered by the user on the application page, displaying an interactive page corresponding to the calibration type; and controlling the calibration of the vehicle-mounted sensor of the target vehicle based on the interactive page corresponding to the calibration type.

[0012] In some embodiments, the calibration type comprises at least one of the following: camera and radar calibration, radar calibration.

[0013] In some embodiments, when the calibration type is camera and radar calibration, controlling the calibration of the vehicle-mounted sensor of the target vehicle based on the interactive page corresponding to the calibration type comprises: according to a camera and radar selection operation of the user, determining the camera and radar to be calibrated on the target vehicle; after receiving a photographing instruction of the user, controlling the camera and radar to be calibrated on the target vehicle to capture an image according to the photographing instruction; receiving the image captured by the camera and radar to be calibrated on the target vehicle; and according to an image registration operation of the user, registering the image captured by the camera and radar to be calibrated on the target vehicle, so as to obtain a calibration result of the camera and radar to be calibrated on the target vehicle based on the image registration result.

[0014] In some embodiments, when the calibration type is radar calibration, controlling vehicle-mounted sensor calibration of the target vehicle based on the interaction page of the corresponding calibration type comprises: determining the radar to be calibrated on the target vehicle according to a radar selection operation of the user; after receiving a calibration start instruction of the user, controlling the radar to be calibrated on the target vehicle to collect images, and then automatically calibrating the radar to be calibrated on the target vehicle based on the collected images.

[0015] According to another aspect of the present disclosure, an unmanned vehicle calibration apparatus is also provided, comprising: a determination module configured to determine at least one unmanned vehicle as a target vehicle according to a vehicle selection operation triggered by a user on an application page; a detection module configured to send a device detection instruction to the target vehicle to start a device detection process in response to a device detection operation triggered by the user on the application page; and a calibration module configured to calibrate vehicle-mounted sensors of the target vehicle if it is confirmed that the device detection is successful based on a device detection result returned by the target vehicle.

[0016] According to another aspect of the present disclosure, an unmanned vehicle calibration apparatus is also provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the unmanned vehicle calibration method as described above based on instructions stored in the memory.

[0017] According to another aspect of the present disclosure, a computer-readable storage medium having computer program instructions stored thereon is also provided, the instructions being executed by a processor to implement the unmanned vehicle calibration method as described above.

[0018] Compared with related technologies, in the present disclosure, at least one unmanned vehicle is determined as a target vehicle according to a vehicle selection operation triggered by a user on an application page, a device detection instruction is sent to the target vehicle in response to a device detection operation triggered by the user on the application page, and vehicle-mounted sensors of the target vehicle are calibrated if it is confirmed that the device detection is successful based on a device detection result returned by the target vehicle, so that the user can calibrate multiple unmanned vehicles based on simple page operations, the learning cost of the user for calibrating unmanned vehicles is reduced, and the calibration efficiency of the unmanned vehicles is improved. Moreover, the calibration is performed after the device detection of the target vehicle, which helps to improve the reliability of the calibration result of the unmanned vehicle.

[0019] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings, which constitute a part of this specification, illustrate embodiments of the present disclosure and serve to explain the principles of the present disclosure.

[0021] The present disclosure can be more fully understood from the following detailed description, taken in connection with the accompanying drawings, in which:

[0022] Figure 1 A flowchart of a method for calibrating an unmanned vehicle according to some embodiments of the present disclosure.

[0023] Figure 2 A flowchart of a method for calibrating an unmanned vehicle according to some other embodiments of the present disclosure.

[0024] Figure 3 A flowchart of a device detection method for a target vehicle according to some embodiments of the present disclosure.

[0025] Figure 4 A flowchart of a sensor information calibration method for a target vehicle according to some embodiments of the present disclosure.

[0026] Figure 5 A flowchart of a vehicle-mounted sensor calibration method for a target vehicle according to some embodiments of the present disclosure.

[0027] Figure 6 A structural diagram of a calibration device for an unmanned vehicle according to some embodiments of the present disclosure.

[0028] Figure 7 A structural diagram of a calibration device for an unmanned vehicle according to some other embodiments of the present disclosure.

[0029] Figure 8 A structural diagram of a computer system according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0030] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement, numerical expressions, and numerical values of the components and steps set forth in these embodiments are not limiting to the scope of the present disclosure unless otherwise specifically stated.

[0031] It should also be understood that the sizes of the various portions shown in the drawings are not necessarily drawn to scale.

[0032] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting to the scope of the disclosure and its applications or uses.

[0033] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, the techniques, methods, and devices should be considered part of the specification, if appropriate, unless otherwise expressly excluded.

[0034] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0035] It should be noted that like reference numerals and letters refer to like items throughout the attached drawings, and once an item is defined in one drawing, it is not necessary to discuss it further in subsequent drawings.

[0036] For the purpose of making the objects, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the embodiments and in conjunction with the drawings.

[0037] Figure 1 A flowchart of a method for calibrating unmanned vehicles according to some embodiments of the present disclosure. The method for calibrating unmanned vehicles of the present embodiment is applied to a user terminal, such as a smartphone, a tablet computer, or the like. As shown in FIG. 1, the method comprises the following steps. Figure 1

[0038] Step S120: determining at least one unmanned vehicle as a target vehicle according to a vehicle selection operation triggered by the user on the application page.

[0039] The user terminal is an electronic device used by the user. In some embodiments, the user terminal is a mobile device such as a smartphone or a tablet computer, so that the user can calibrate unmanned vehicles more conveniently.

[0040] The application page of the user terminal is provided with an interactive control for selecting a vehicle. After detecting that the user operates the interactive control, the user terminal determines a target vehicle according to the vehicle selection operation of the user. For example, if the user selects unmanned vehicle A, unmanned vehicle A is determined as the target vehicle; if the user selects unmanned vehicles B and C, unmanned vehicles B and C are determined as the target vehicles.

[0041] Step S140: sending a device detection instruction to the target vehicle to start a device detection process in response to a device detection operation triggered by the user on the application page.

[0042] The application page of the user terminal is provided with an interactive control for triggering device detection. After detecting that the user operates the interactive control, the user terminal sends a device detection instruction to the target vehicle. For example, when the target vehicle is one unmanned vehicle, the user terminal sends a device detection instruction to the unmanned vehicle after the user triggers a device detection operation for the unmanned vehicle; when the target vehicle is multiple unmanned vehicles, the user terminal sends a device detection instruction to the multiple unmanned vehicles after the user triggers a device detection operation for the multiple unmanned vehicles.

[0043] ​In some embodiments, the device detection procedure includes a device connectivity detection procedure. In the device connectivity detection procedure, mainly the connectivity detection items of one or more vehicle-mounted devices are detected. After receiving the device detection instruction of the user terminal, the target vehicle starts the device connectivity detection procedure.

[0044] Exemplarily, the connectivity detection procedure of the unmanned vehicle-mounted devices includes at least one of the connectivity detection items of the following devices: unmanned vehicle-mounted camera, unmanned vehicle-mounted radar, vehicle end control system, vehicle-mounted GPS sensor, vehicle-mounted inertial sensor. In specific implementation, the connectivity detection items can be flexibly adjusted according to different vehicle-mounted sensors to be calibrated on the unmanned vehicle.

[0045] Step S160: In the case where it is confirmed that the device detection is successful based on the device detection result returned by the target vehicle, the vehicle-mounted sensors of the target vehicle are calibrated.

[0046] In some embodiments, after completing the device detection procedure, the device detection result returned by the target vehicle to the user terminal includes the single-item detection result of each detection item in this detection. For example, the device detection result includes: top radar- connected (indicating that the single-item detection result of the top radar is “connected”), front push flow camera-connected, rear push flow camera-not connected, front blind filling radar-connected, rear blind filling radar-connected, front look-around camera-connected, rear look-around camera-not connected, left look-around camera-connected, and right look-around camera-not connected. In these embodiments, the user terminal displays the received device detection result to the user, and then the user can analyze the device detection result to determine whether the device detection is successful. After the user determines that the device detection is successful, the step of calibrating the vehicle-mounted sensors of the target vehicle can be triggered through page operation.

[0047] In other embodiments, after completing the device detection procedure, the device detection result returned by the target vehicle to the user terminal is the indication information of whether the device detection is successful or fails. For example, the device detection result is “target vehicle device connectivity detection is successful”, or “target vehicle device connectivity detection fails”. In these embodiments, the user terminal can directly perform the following operation according to the received device detection result: in the case where the device detection result indicates that this detection is successful, the user is shown prompt information of successful detection, and then the step of calibrating the vehicle-mounted sensors of the target vehicle can be triggered through page operation of the user; in the case where the device detection result indicates that this detection fails, the user is shown prompt information of failed detection.

[0048] The application page of the user terminal is provided with an interactive control for triggering the sensor calibration. After detecting the user operation on the interactive control, the calibration step for the vehicle-mounted sensors of the target vehicle is triggered.

[0049] In some embodiments, the user terminal supports multiple sensor calibration types. Exemplarily, the sensor calibration types supported by the user terminal include at least one of the following: camera and radar calibration, and radar calibration. The camera and radar calibration is to determine a transformation matrix between a camera coordinate system and a radar coordinate system; the radar calibration is to determine a transformation matrix between the radar coordinate system and another coordinate system, such as a transformation matrix between the radar coordinate system and a vehicle body coordinate system, or a transformation matrix between the radar coordinate system and a world coordinate system. In addition, in specific implementation, the sensor calibration types supported by the user terminal can also be extended according to actual needs.

[0050] In the embodiments of the present disclosure, a new unmanned vehicle calibration scheme is realized through the above process. The user only needs to perform simple page operations on the user terminal, and can calibrate multiple unmanned vehicles, thereby reducing the learning cost of the user to calibrate the unmanned vehicle and improving the calibration efficiency of the unmanned vehicle. Moreover, by performing device detection on the target vehicle before calibration, the situation that the calibration result is unreliable or even unavailable due to vehicle-mounted device failure and other factors can be avoided, which helps to improve the reliability of the calibration result of the unmanned vehicle.

[0051] Figure 2 A flowchart of an unmanned vehicle calibration method according to some other embodiments of the present disclosure is shown. The unmanned vehicle calibration method of the embodiments of the present disclosure is applied to a user terminal, as shown in the figure, and the calibration method includes: Figure 2

[0052] Step S220: According to the vehicle selection operation triggered by the user on the application page, at least one unmanned vehicle is determined as a target vehicle.

[0053] The application page of the user terminal is provided with an interactive control for selecting a vehicle. After detecting that the user operates the interactive control, the user terminal determines the target vehicle according to the vehicle selection operation of the user. For example, if the user selects unmanned vehicle A, unmanned vehicle A is taken as the target vehicle; if the user selects unmanned vehicles B and C, unmanned vehicles B and C are taken as the target vehicles.

[0054] Step S240: In response to the device detection operation triggered by the user on the application page, a device detection instruction is sent to the target vehicle to start a device detection process.

[0055] ​The application page of the user terminal is provided with an interactive control for triggering device detection. After detecting the user operation of the interactive control, the user terminal sends a device detection instruction to the target vehicle. For example, when the target vehicle is one unmanned vehicle, after the user triggers the device detection operation for the vehicle, the device detection instruction is sent to the vehicle; when the target vehicle is a plurality of unmanned vehicles, after the user triggers the device detection operation for the plurality of unmanned vehicles, the device detection instruction is sent to the plurality of unmanned vehicles.

[0056] In some embodiments, the device detection process includes a device connectivity detection process. In the device connectivity detection process, mainly the connectivity detection item of one or more vehicle-mounted devices is detected.

[0057] After receiving the device detection instruction of the user terminal, the target vehicle starts the device detection process. In some embodiments, after receiving the device detection instruction, the target vehicle obtains the vehicle model information of the target vehicle, and then queries the pre-set correspondence relationship between the vehicle model and the device detection process according to the vehicle model information of the target vehicle, to determine and start the corresponding device detection process.

[0058] In an optional implementation, the vehicle model information is carried in the device detection instruction, and the target vehicle obtains the vehicle model information of the target vehicle by analyzing the device detection instruction. In another optional implementation, the target vehicle obtains the vehicle model information of the target vehicle by querying a cloud server.

[0059] In the embodiments of the present disclosure, the above process can meet the device detection needs of users for different vehicle models, improve the applicability of unmanned vehicle calibration, and further improve the user experience.

[0060] Step S260: In the case of confirming the success of device detection based on the device detection result returned by the target vehicle, obtaining the vehicle-mounted sensor configuration information of the target vehicle and displaying it, so that the user confirms the correctness of the vehicle-mounted sensor configuration information setting based on the display content.

[0061] In some embodiments, the user terminal displays the received device detection result of the target vehicle. After the user confirms the success of device detection based on the display content, the step of "obtaining and displaying the vehicle-mounted sensor configuration information of the target vehicle" can be triggered by operating the interactive control provided on the application page.

[0062] In other embodiments, after receiving the device detection result of the target vehicle, the user terminal automatically determines whether the device detection is successful according to the device detection result. After the user terminal determines that the device detection is successful, the step of "obtaining and displaying the vehicle-mounted sensor configuration information of the target vehicle" is automatically executed.

[0063] In the embodiments of the present disclosure, by detecting the equipment of the vehicle-mounted device, checking whether the sensor configuration information is correct, and calibrating the vehicle-mounted sensor after confirming that the equipment detection is successful and the vehicle-mounted sensor configuration information is correctly set, the situation that the calibration result is unreliable or even cannot be obtained due to factors such as vehicle-mounted equipment failure and vehicle-mounted sensor configuration error can be avoided, and the reliability of the calibration result of the unmanned vehicle is further improved.

[0064] It should be noted that, in the flowchart shown in FIG. 7, the equipment detection step shown in step S240 is performed first, and then the sensor configuration information checking step shown in step S260 is performed. In some other embodiments of the present disclosure, the sensor configuration information checking step can be performed first, and then the equipment detection step is performed. Figure 2

[0065] Step S280: Calibrate the vehicle-mounted sensor of the target vehicle.

[0066] The application page of the user terminal is provided with an interactive control for triggering sensor calibration. After detecting that the user operates the interactive control, the calibration of the vehicle-mounted sensor of the target vehicle is started.

[0067] In some embodiments, the user terminal supports multiple sensor calibration types. For example, the calibration types supported by the user terminal include at least one of the following: camera and radar calibration, and radar calibration. In addition, in specific implementation, the calibration types supported by the user terminal can be extended according to actual needs.

[0068] In the embodiments of the present disclosure, a new unmanned vehicle calibration scheme is realized through the above flow. The user only needs to perform simple page operation on the user terminal to calibrate multiple unmanned vehicles, which reduces the learning cost of the user to calibrate the unmanned vehicle and improves the calibration efficiency of the unmanned vehicle. Moreover, by performing calibration after equipment detection and sensor configuration information checking of the target vehicle, the situation that the calibration result is unreliable or even cannot be obtained due to factors such as vehicle-mounted equipment failure can be avoided, which helps to improve the reliability of the calibration result of the unmanned vehicle.

[0069] Figure 3 FIG. 6 is a schematic diagram of an equipment detection flow of a target vehicle according to some embodiments of the present disclosure. Figure 3 FIG. 7 is a schematic diagram of an optional implementation of step S240. As shown in FIG. 7, the equipment detection flow of the target vehicle of the present embodiment includes the following steps. Figure 3

[0070] Step S241: Determine whether a network connection with the target vehicle has been established.

[0071] ​​The application page of the user terminal is provided with an interactive control for triggering device detection. After detecting that the user operates the interactive control, step S241 is performed.

[0072] If the result of step S241 is yes, step S244 is performed; if the result of step S241 is no, step S242 is performed.

[0073] Step S242: showing the user a network connection prompt.

[0074] Exemplarily, the user terminal shows a network connection prompt such as "not connected to the vehicle-side network" or "not connected to the vehicle with number XXX".

[0075] Step S243: establishing a network connection with the target vehicle.

[0076] In some embodiments, the user performs a network connection operation through the interactive control for connecting to the vehicle-side network provided on the application page under the prompt of the network connection prompt. For example, the network connection operation is that the user selects the vehicle-side wireless network of the target vehicle on the application page and inputs the corresponding password. After verifying that the password input by the user is correct, a network connection with the target vehicle is established.

[0077] In some embodiments, when showing each vehicle-side wireless network, not only the name of the vehicle-side wireless network is shown, but also the information of the corresponding vehicle, such as the license plate information in the form of text and / or the appearance information of the vehicle in the form of pictures, etc.

[0078] Step S244: sending a device detection instruction to the target vehicle.

[0079] After determining that a network connection with the target vehicle has been established, or after establishing a network connection with the target vehicle through steps S242 and S243, the user terminal sends a device detection instruction to the target vehicle. After receiving the device detection instruction, the target vehicle starts a device detection process and sends the device detection result to the user terminal.

[0080] In the embodiments of the present disclosure, the device detection step of the target vehicle in the unmanned vehicle calibration is realized through the above steps. By determining whether a network connection with the target vehicle has been established, if a network connection with the target vehicle has been established, a device detection instruction is directly sent to the target vehicle, without the need for further network connection operation, so as to reduce the resource consumption in the process of unmanned vehicle calibration.

[0081] Figure 4 A flowchart of a sensor information collation process for a target vehicle according to some embodiments of the present disclosure. Figure 4 is a schematic diagram of an optional implementation of step S260. As Figure 4As shown, the sensor information verification process of the target vehicle of the embodiments of the present disclosure includes:

[0082] Step S261: Obtain the vehicle-mounted sensor configuration information of the target vehicle and display it, so that the user can determine whether the vehicle-mounted sensor configuration information is set correctly based on the display content.

[0083] In some embodiments, the user terminal sends a configuration information query request to the target vehicle. The target vehicle sends the vehicle-mounted sensor configuration information corresponding to the query request to the user terminal, and the user terminal displays the received vehicle-mounted sensor configuration information of the target vehicle. Exemplarily, the sensor configuration information of the target vehicle includes at least one of the following: the type of vehicle-mounted sensor, the number of each type of vehicle-mounted sensor, the image captured by the vehicle-mounted sensor, the serial number of the vehicle-mounted sensor, and the shooting direction of the vehicle-mounted sensor.

[0084] In some embodiments, the user terminal classifies and displays the information of the vehicle-mounted sensor, for example, when the vehicle-mounted sensor of the target vehicle involves a traffic light camera, a surround view camera, and a blind spot radar, the information of the traffic light camera, the information of the surround view camera, and the information of the blind spot radar are displayed from top to bottom in turn.

[0085] In some embodiments, the determination by the user based on the display content whether the vehicle-mounted sensor configuration information is set correctly includes at least one of the following verification steps: verifying whether the number of configured sensors is consistent with the number of sensors actually equipped in the unmanned vehicle; verifying whether the image captured by the sensor is normal; verifying whether the serial number of the configured sensor is consistent with the actual serial number of the unmanned vehicle; verifying whether the shooting direction of the configured sensor is consistent with the actual shooting direction of the sensor on the unmanned vehicle; in the case where the determination results of the verification steps are all yes, confirming that the vehicle-mounted sensor configuration information of the target vehicle is set correctly; otherwise, confirming that the vehicle-mounted sensor configuration information of the target vehicle is set incorrectly.

[0086] In the case where the user confirms that the vehicle-mounted sensor configuration information is set correctly based on the display content, step S280 is entered; in the case where the user confirms that the vehicle-mounted sensor configuration information is set incorrectly based on the display content, step S262 is executed.

[0087] In some embodiments, before step S261 is executed, it further includes verifying whether the cloud server stores the vehicle information of the target vehicle such as the license plate number and the vehicle model; in the case where it is verified that the cloud server stores the vehicle information of the target vehicle, downloading the latest vehicle-mounted sensor configuration file from the cloud server and updating the vehicle-mounted sensor configuration file stored in the target vehicle based on the downloaded latest vehicle-mounted sensor configuration file. In addition, in the case where it is verified that the cloud server does not store the vehicle information of the target vehicle, the calibration process is ended, and the user can be prompted that the cloud does not maintain the information of the target vehicle.

[0088] Through the above steps, the subsequent configuration information checking can be based on the latest vehicle end sensor configuration file, which helps to improve the reliability of the sensor configuration information checking result, and further improves the reliability of the unmanned vehicle calibration result.

[0089] Step S262: According to the configuration information modification operation triggered by the user on the application page, the modified vehicle-mounted sensor configuration information is displayed.

[0090] The user terminal can support modification of one or more configuration items of the vehicle-mounted sensor. In some embodiments, the vehicle-mounted sensor configuration information displayed on the page includes: the type of vehicle-mounted sensor, the number of each type of vehicle-mounted sensor, the image captured by the vehicle-mounted sensor, the serial number of the vehicle-mounted sensor, and the shooting direction of the vehicle-mounted sensor. In these embodiments, step S262 includes: according to the vehicle-mounted sensor serial number modification operation triggered by the user on the application page, displaying the modified vehicle-mounted sensor serial number; and / or, according to the vehicle-mounted sensor shooting direction modification operation triggered by the user on the application page, displaying the modified vehicle-mounted sensor shooting direction.

[0091] Step S263: After the user triggers the configuration information save operation on the application page, the vehicle-mounted sensor configuration information displayed on the application page is automatically verified.

[0092] In some embodiments, automatically verifying the vehicle-mounted sensor configuration information displayed on the application page includes: determining whether the shooting direction of the vehicle-mounted sensor displayed on the application page is repeated; if the shooting direction is repeated, confirming that the automatic verification fails; if the shooting direction is not repeated, confirming that the automatic verification passes.

[0093] In other embodiments, automatically verifying the vehicle-mounted sensor configuration information displayed on the application page includes: determining whether the mandatory configuration items of the vehicle-mounted sensor displayed on the application page are empty; in the case that at least one mandatory configuration item is empty, confirming that the automatic verification fails; in the case that none of the mandatory configuration items is empty, confirming that the automatic verification passes.

[0094] In the case that the automatic verification passes, step S264 is performed; in the case that the automatic verification fails, step S265 is performed.

[0095] In the embodiments of the present disclosure, after the automatic verification of the vehicle-mounted sensor configuration information passes, the vehicle-mounted sensor configuration information is saved to the target vehicle, which can to some extent avoid the case that the configuration information is incorrect due to human modification, further improving the reliability of the sensor configuration information checking result, and further improving the reliability of the unmanned vehicle calibration result.

[0096] Step S264: save the vehicle-mounted sensor configuration information displayed on the application page to the target vehicle.

[0097] After step S264, go to step S280.

[0098] Step S265: show the user a save failure prompt information.

[0099] For example, show the user a save failure prompt information such as "there is a repetition in the surround view camera shooting direction", "there is a repetition in the surround view camera shooting direction, save failed".

[0100] In the embodiments of the present disclosure, the above steps are used to realize the vehicle-mounted sensor configuration information correction step of the target vehicle in the unmanned vehicle calibration. By supporting the modification of multiple vehicle-mounted sensor configuration items, the user can change the vehicle-mounted sensor configuration information in time when the vehicle-mounted sensor configuration information is incorrect, and then the subsequent vehicle-mounted sensor calibration step can be carried out smoothly; by automatically verifying the vehicle-mounted sensor configuration information before saving the vehicle-mounted sensor configuration information, the situation of human modification of incorrect configuration information can be avoided to a certain extent, and the reliability of the sensor configuration information checking result is further improved.

[0101] Figure 5 A target vehicle vehicle-mounted sensor calibration flowchart according to some embodiments of the present disclosure. Figure 5 is a schematic diagram of an optional implementation of step S280. As shown in Figure 5 the target vehicle vehicle-mounted sensor calibration flowchart of the embodiments of the present disclosure includes:

[0102] Step S281: after detecting that the user triggers a calibration type selection operation on the application page, show an interactive page corresponding to the calibration type.

[0103] The user terminal supports multiple sensor calibration types. In some embodiments, the user terminal supports the following calibration types: camera and radar calibration, and radar calibration. Among them, the camera and radar calibration is to determine the transformation matrix between the camera coordinate system and the radar coordinate system, and the radar calibration is to determine the transformation matrix between the radar coordinate system and other coordinate systems (such as vehicle coordinate system, world coordinate system). In specific implementation, the calibration types supported by the user terminal can also be extended according to needs.

[0104] The user terminal application page is provided with an interactive control for selecting a calibration type. After detecting a user operation on the interactive control, an interactive page corresponding to the calibration type is displayed. For example, the application page is provided with a "camera and radar calibration" button and a "radar calibration" button. After detecting a user click on the "camera and radar calibration" button, the interactive page corresponding to the camera and radar calibration type is switched to. After detecting a user click on the "radar calibration" button, the interactive page corresponding to the radar calibration type is switched to.

[0105] In some embodiments, step S281 comprises: after detecting a calibration type selection operation triggered by a user on the application page, loading information of the vehicle-mounted sensor under the calibration type; if the information of the vehicle-mounted sensor under the calibration type is loaded successfully, displaying the interactive page corresponding to the calibration type; otherwise, displaying a loading failure prompt information. For example, when the camera intrinsic parameter loading fails, a loading failure prompt information such as "camera intrinsic parameter acquisition fails, please contact administrator" is displayed.

[0106] Step S282: controlling the calibration of the vehicle-mounted sensor of the target vehicle based on the interactive page corresponding to the calibration type.

[0107] In some embodiments, when the calibration type selected by the user is camera and radar calibration, a manual calibration mode is adopted. In the manual calibration mode, step S282 comprises:

[0108] Step a1: determining the camera and radar to be calibrated on the target vehicle according to a camera and radar selection operation of the user.

[0109] In some embodiments, on the interactive page corresponding to the camera and radar calibration type, all camera and radar pairs available for the user to select are displayed. The user terminal can determine the camera and radar to be calibrated according to a selection operation of the user on the camera and radar pair.

[0110] For example, assuming that the target vehicle is equipped with a left end traffic light camera, a right end traffic light camera, a front end surround view camera, a rear end surround view camera, a left end surround view camera, a right end surround view camera, and a top radar, on the interactive page corresponding to the camera and radar calibration type, the following camera and radar pairs available for the user to select are displayed: left end traffic light camera-top radar, right end traffic light camera-top radar, front end surround view camera-top radar, rear end surround view camera-top radar, left end surround view camera-top radar, right end surround view camera-top radar. Exemplarily, after the user selects the left end traffic light camera-top radar, the left end traffic light camera-top radar is taken as the camera and radar to be calibrated.

[0111] Step a2: after receiving a photographing instruction of the user, controlling the camera and radar to be calibrated on the target vehicle to collect images according to the photographing instruction.

[0112] The interactive page corresponding to the camera and radar calibration type is provided with an interactive control for receiving a user's photographing instruction. After detecting that the user operates the interactive control, the radar and camera to be calibrated are controlled to capture images.

[0113] For example, the interactive page corresponding to the camera and radar calibration type is provided with a "shooting" button, and the user can issue a photographing instruction by clicking the button. Assuming that the camera and radar to be calibrated are the left red light camera and the top radar, after detecting that the user clicks the "shooting" button, the left red light camera and the top radar on the target vehicle are controlled to capture images, respectively.

[0114] Step a3: receiving images captured by the camera and radar to be calibrated on the target vehicle.

[0115] After receiving the images captured by the camera and radar to be calibrated on the target vehicle, the user terminal displays the images to the user. In some embodiments, the interactive page corresponding to the camera and radar calibration type is also provided with an interactive control for receiving a user's rephotographing instruction. If the user is not satisfied with the images captured this time, the user can also issue a rephotographing instruction by operating the interactive control. After receiving the user's rephotographing instruction, the radar and camera to be calibrated are controlled to capture images again.

[0116] Step a4: performing image registration on the images captured by the camera and radar to be calibrated on the target vehicle according to a user's image registration operation, to obtain a calibration result of the camera and radar to be calibrated on the target vehicle based on the image registration result.

[0117] In some embodiments, the interactive page corresponding to the camera and radar calibration type is provided with an interactive control for image registration operation. For example, the page is provided with an interactive control for operating a point cloud image captured by the radar, including: a moving step setting control, such as "fast", "medium", and "slow"; and a point cloud moving control, such as "clockwise rotation", "up", "counterclockwise rotation", "left", "down", and "right". The user can operate the above interactive controls to realize various operations on the image captured by the radar, so as to register the image captured by the radar with the image captured by the camera without moving the image captured by the camera. Next, the user terminal or the server can further determine a calibration result of the camera and radar to be calibrated on the target vehicle based on the image registration result.

[0118] In the embodiments of the present disclosure, manual calibration of the camera and radar to be calibrated is realized through steps a1 to a4, so as to meet the user's demand for manual calibration of the vehicle-mounted sensor and improve the user's experience of calibrating the unmanned vehicle.

[0119] In some embodiments, the automatic calibration mode is adopted when the calibration type is radar calibration. In the automatic calibration mode, step S282 comprises:

[0120] Step b1: determining the radar to be calibrated according to the radar selection operation of the user.

[0121] In some embodiments, all radars available for the user to select are displayed on the interactive page corresponding to the radar calibration type. The user terminal can determine the radar to be calibrated according to the selection operation of the user on the radar.

[0122] For example, assuming that the target vehicle is equipped with a top radar and blind-spot radars installed on the front, rear, left and right of the vehicle body, the following radars available for the user to select are displayed on the interactive page corresponding to the radar calibration type: top radar-vehicle body (this calibration type is to determine the transformation matrix between the radar coordinate system of the top radar and the vehicle body coordinate system), front blind-spot radar, rear blind-spot radar, left blind-spot radar, right blind-spot radar, and all blind-spot radars-ground (this calibration type is to determine the transformation matrix between the radar coordinate system of the blind-spot radar and the ground coordinate system). Exemplarily, after the user selects the front blind-spot radar, the front blind-spot radar is taken as the radar to be calibrated.

[0123] Step b2: after receiving the calibration start instruction of the user, controlling the radar to be calibrated on the target vehicle to collect images, and then automatically calibrating the radar to be calibrated on the target vehicle based on the collected images.

[0124] The interactive page corresponding to the radar calibration type is provided with an interactive control for receiving the calibration start instruction. After detecting that the user operates the interactive control, the radar to be calibrated is controlled to collect images and automatically calibrate.

[0125] For example, the interactive page corresponding to the radar calibration type is provided with a “shooting and calibration” button, and the user can issue the calibration start instruction by clicking the button. Assuming that the radar to be calibrated is the top radar-vehicle body, after detecting that the user clicks the “shooting and calibration” button, the top radar on the target vehicle is controlled to collect images and automatically calibrate.

[0126] In the embodiments of the present disclosure, the automatic calibration of the radar to be calibrated is realized through steps b1 to b2, so as to meet the demand of the user for automatic calibration of the vehicle-mounted sensor and improve the experience of the user in calibrating the unmanned vehicle.

[0127] In the embodiments of the present disclosure, the calibration of the vehicle-mounted sensor of the target vehicle is realized through the flow shown in Figure 5 The calibration steps of the vehicle-mounted sensor of the target vehicle are realized through the flow shown in

[0128] Figure 6 FIG. 1 is a structural schematic diagram of an unmanned vehicle calibration device according to some embodiments of the present disclosure. The unmanned vehicle calibration device of the embodiments of the present disclosure is arranged on a user terminal, such as a smartphone, as shown in FIG. 1. The user terminal is connected to a server via a network, and the server is connected to a plurality of unmanned vehicles via a network. Figure 6 The unmanned vehicle calibration device includes a determination module 610, a detection module 620, and a calibration module 630.

[0129] The determination module 610 is configured to determine at least one unmanned vehicle as a target vehicle according to a vehicle selection operation triggered by a user on an application page.

[0130] The user terminal is an electronic device used by a user. In some embodiments, the user terminal is a mobile device such as a smartphone or a tablet computer, so that the user can more conveniently calibrate the unmanned vehicle.

[0131] The unmanned vehicle calibration device is arranged on the user terminal, and the application page thereof is provided with an interactive control for selecting a vehicle. After detecting that the user operates the interactive control, the determination module 610 determines the target vehicle according to the vehicle selection operation of the user. For example, if the user selects unmanned vehicle A, unmanned vehicle A is determined as the target vehicle; if the user selects unmanned vehicles B and C, unmanned vehicles B and C are determined as the target vehicles.

[0132] The detection module 620 is configured to send a device detection instruction to the target vehicle to start a device detection process in response to a device detection operation triggered by the user on the application page.

[0133] The application page of the unmanned vehicle calibration device is provided with an interactive control for triggering the device detection. After detecting that the user operates the interactive control, the detection module 620 sends the device detection instruction to the target vehicle. For example, when the target vehicle is one unmanned vehicle, the detection module 620 sends the device detection instruction to the unmanned vehicle after the user triggers the device detection operation for the unmanned vehicle; when the target vehicle is a plurality of unmanned vehicles, the detection module 620 sends the device detection instruction to the plurality of unmanned vehicles after the user triggers the device detection operation for the plurality of unmanned vehicles.

[0134] In some embodiments, the device detection process includes a device connectivity detection process. In the device connectivity detection process, mainly the connectivity detection items of one or more vehicle-mounted devices are detected. The target vehicle starts the device connectivity detection process after receiving the device detection instruction from the user terminal.

[0135] Exemplarily, the connectivity detection process of the vehicle-mounted device of the unmanned vehicle includes at least one connectivity detection item of the following devices: an unmanned vehicle-mounted camera, an unmanned vehicle-mounted radar, a vehicle-end control system, a vehicle-mounted GPS sensor, and a vehicle-mounted inertial sensor. In specific implementation, the connectivity detection items can be flexibly adjusted according to different vehicle-mounted sensors to be calibrated on the unmanned vehicle.

[0136] The calibration module 630 is configured to calibrate the vehicle-mounted sensor of the target vehicle if it is determined that the device detection is successful based on the device detection result returned by the target vehicle.

[0137] In some embodiments, the unmanned vehicle calibration apparatus displays the device detection result of the target vehicle. After the user confirms that the device detection is successful based on the display content, the user can operate the interactive control provided on the application page to call the calibration module 630 to calibrate the vehicle-mounted sensor of the target vehicle.

[0138] In other embodiments, the unmanned vehicle calibration apparatus automatically determines whether the device detection is successful based on the device detection result after receiving the device detection result of the target vehicle. After the unmanned vehicle calibration apparatus determines that the device detection is successful, the calibration module 630 is automatically called to calibrate the vehicle-mounted sensor of the target vehicle.

[0139] In some embodiments, the calibration module 630 supports multiple types of sensor calibration. For example, the calibration module 630 supports at least one of the following calibration types: camera and radar calibration, radar calibration. In addition, the calibration types supported by the calibration module can be extended according to actual needs in specific implementations.

[0140] In some embodiments, the unmanned vehicle calibration apparatus further includes a configuration information verification module configured to obtain and display the configuration information of the vehicle-mounted sensor of the target vehicle before the calibration module 630 calibrates the vehicle-mounted sensor of the target vehicle, so that the user can confirm that the configuration information of the vehicle-mounted sensor is set correctly based on the display content.

[0141] In the embodiments of the present disclosure, a new unmanned vehicle calibration scheme is implemented by the above apparatus. The user only needs to perform simple page operations on the unmanned vehicle calibration apparatus to calibrate multiple unmanned vehicles, which reduces the learning cost of the user to calibrate the unmanned vehicles and improves the calibration efficiency of the unmanned vehicles. Moreover, by performing calibration after device detection and sensor configuration information verification of the target vehicle, the situation that the calibration result is unreliable or even unavailable due to vehicle-mounted device failure and other factors can be avoided, which helps to improve the reliability of the calibration result of the unmanned vehicle.

[0142] Figure 7 FIG. 4 is a block diagram illustrating an unmanned vehicle calibration apparatus according to some embodiments of the present disclosure.

[0143] As Figure 7As shown, the unmanned vehicle calibration device 700 includes a memory 710, and a processor 720 coupled to the memory 710. The memory 710 is configured to store instructions for implementing embodiments of the method for calibrating an unmanned vehicle. The processor 720 is configured to execute the method for calibrating an unmanned vehicle in any of the embodiments of the present disclosure based on the instructions stored in the memory 710.

[0144] Figure 8 is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure.

[0145] As Figure 8 shown, the computer system 800 can be in the form of a general-purpose computing device. The computer system 800 includes a memory 810, a processor 820, and a bus 830 connecting different system components.

[0146] The memory 810 may, for example, include system memory, non-volatile storage media, and the like. The system memory may, for example, store an operating system, application programs, a boot loader, and other programs. The system memory can include volatile storage media, such as random access memory (RAM) and / or cache memory. The non-volatile storage media may, for example, store instructions for implementing corresponding embodiments of at least one of the data repair methods. The non-volatile storage media includes, but is not limited to, magnetic disk storage media, optical storage media, flash memory, and the like.

[0147] The processor 820 can be implemented with a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, and the like discrete hardware components. Accordingly, each of the modules such as the determination module, the detection module, and the calibration module can be implemented by a central processing unit (CPU) running instructions stored in the memory for performing corresponding steps, or by a dedicated circuit for performing corresponding steps.

[0148] The bus 830 can use any of a variety of bus structures. For example, the bus structure includes, but is not limited to, an industry standard architecture (ISA) bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus.

[0149] The computer system 800 can also include an input / output interface 840, a network interface 850, a storage interface 860, and the like. These interfaces 840, 850, 860 and the memory 810 and the processor 820 can be connected through the bus 830. The input / output interface 840 can provide a connection interface for display, mouse, keyboard, and the like input / output devices. The network interface 850 provides a connection interface for various networking devices. The storage interface 860 provides a connection interface for external storage devices such as floppy disks, U disks, SD cards, and the like.

[0150] Here, various aspects of the disclosure are described with reference to flowcharts and / or block diagrams of methods, apparatuses and computer program products according to embodiments of the present disclosure. It should be understood that each block of the flowchart and / or block diagram, and combinations of blocks in the flowchart and / or block diagram, can be implemented by computer readable program instructions.

[0151] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart and / or block diagram block or blocks.

[0152] These computer readable program instructions can also be stored in a computer readable storage medium that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable storage medium produce an article of manufacture including instructions which implement the function specified in the flowchart and / or block diagram block or blocks.

[0153] The present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment containing both software and hardware aspects.

[0154] By means of the unmanned vehicle calibration method and device in the above embodiments, the learning cost of the user in calibrating the unmanned vehicle can be reduced, the ease of use is good, and the calibration efficiency of the unmanned vehicle and the reliability of the calibration result can be improved.

[0155] So far, the unmanned vehicle calibration method and device according to the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

Claims

1. An autonomous vehicle calibration method, applied to a user terminal, comprising: Based on the vehicle selection action triggered by the user on the application page, at least one driverless car is identified as the target vehicle; In response to a device detection operation triggered by a user on an application page, a device detection command is sent to the target vehicle to initiate a device detection process. The device detection process includes detecting the connectivity of at least one of the following onboard devices: unmanned vehicle onboard camera, unmanned vehicle onboard radar, vehicle-side control system, onboard GPS sensor, and onboard inertial sensor. The system acquires and displays the onboard sensor configuration information of the target vehicle, enabling users to determine whether the onboard sensor configuration information is set correctly based on the displayed content. If the device detection is confirmed to be successful based on the device detection results returned by the target vehicle, and the user confirms that the vehicle sensor configuration information is set correctly, the vehicle sensor of the target vehicle is calibrated.

2. The unmanned vehicle calibration method according to claim 1 further includes: If the user confirms that the vehicle sensor configuration information is set incorrectly based on the displayed content, the modified vehicle sensor configuration information will be displayed according to the configuration information modification operation triggered by the user on the application page. In response to a user's configuration information saving operation triggered on the application page, the vehicle sensor configuration information displayed on the application page is saved to the target vehicle.

3. The unmanned vehicle calibration method according to claim 2, wherein, The onboard sensor configuration information of the target vehicle includes one or more of the following: The types of vehicle sensors, the quantity of each type of vehicle sensor, the images captured by the vehicle sensors, the serial numbers of the vehicle sensors, and the shooting locations of the vehicle sensors.

4. The unmanned vehicle calibration method according to claim 3, wherein, Based on the configuration information modification operation triggered by the user on the application page, the modified vehicle sensor configuration information is displayed, including: Based on the user's action to modify the vehicle sensor serial number triggered on the application page, display the modified vehicle sensor serial number; and / or, Based on the user's action of modifying the vehicle sensor's shooting location on the application page, the modified vehicle sensor's shooting location is displayed.

5. The unmanned vehicle calibration method according to claim 2, wherein, In response to a user-triggered configuration information save operation on the application page, saving the vehicle sensor configuration information displayed on the application page to the target vehicle includes: After the user triggers the configuration information saving operation on the application page, the vehicle sensor configuration information displayed on the application page is automatically verified. If the automatic verification passes, the vehicle sensor configuration information displayed on the application page will be saved to the target vehicle. If the automatic verification fails, a save failure message will be displayed to the user.

6. The unmanned vehicle calibration method according to claim 1, wherein, The calibration of the onboard sensors of the target vehicle includes: After detecting a user's calibration type selection action on the application page, display the corresponding calibration type's interactive page; The calibration of the onboard sensors of the target vehicle is controlled based on the interactive page of the corresponding calibration type.

7. The unmanned vehicle calibration method according to claim 1, wherein, The calibration type includes at least one of the following: camera and radar calibration, radar calibration.

8. The unmanned vehicle calibration method according to claim 7, wherein, When the calibration type is camera and radar calibration, controlling the calibration of the target vehicle's onboard sensors based on the interactive page of the calibration type includes: Based on the user's camera and radar selection operation, determine the cameras and radars on the target vehicle to be calibrated; Upon receiving a user's photo-taking instruction, the camera and radar on the target vehicle to be calibrated are controlled to acquire images according to the photo-taking instruction; Receive images acquired by the camera and radar on the target vehicle to be calibrated; Based on the user's image registration operation, the images acquired by the camera and radar on the target vehicle to be calibrated are registered, so as to obtain the calibration results of the camera and radar on the target vehicle based on the image registration results.

9. The unmanned vehicle calibration method according to claim 7, wherein, When the calibration type is radar calibration, controlling the calibration of the target vehicle's onboard sensors based on the interactive page of the calibration type includes: The radar to be calibrated is determined based on the user's radar selection operation. Upon receiving the user's calibration start command, the system controls the radar on the target vehicle to acquire images, and then automatically calibrates the radar on the target vehicle based on the acquired images.

10. An unmanned vehicle calibration device, installed in a user terminal, comprising: The determination module is configured to identify at least one driverless vehicle as the target vehicle based on the vehicle selection operation triggered by the user on the application page; The detection module is configured to send a device detection command to the target vehicle in response to a device detection operation triggered by a user on the application page, thereby initiating a device detection process. The device detection process includes detecting the connectivity of at least one of the following onboard devices: unmanned vehicle onboard camera, unmanned vehicle onboard radar, vehicle-side control system, onboard GPS sensor, and onboard inertial sensor. The configuration information verification module is configured to acquire and display the on-board sensor configuration information of the target vehicle, so that the user can determine whether the on-board sensor configuration information is set correctly based on the displayed content. The calibration module is configured to calibrate the on-board sensors of the target vehicle when the device detection result returned by the target vehicle confirms successful device detection and the user confirms that the on-board sensor configuration information is set correctly.

11. An unmanned vehicle calibration device, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the autonomous vehicle calibration method as described in any one of claims 1 to 9 based on instructions stored in the memory.

12. A computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the unmanned vehicle calibration method according to any one of claims 1 to 9.

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