A method, device, equipment and medium for calibrating a panoramic controller of an automobile

Abstract

The present invention discloses a method, device, equipment and medium for calibrating a panoramic controller for an automobile. The method comprises: receiving a calibration start instruction, triggering each camera of a target vehicle to collect sample images; calculating the image distance from each camera to the sample based on the sample image; determining calibration parameters based on the deviation between the image distance and the actual distance, and setting the calibration parameters, wherein the actual distance is determined based on the spatial distance between each camera of the target vehicle and the sample; splicing the sample images collected by each camera based on the calibration parameters and an internal splicing algorithm to obtain a panoramic image; determining the calibration result of the panoramic controller for an automobile based on the image quality of the panoramic image. Through the technical solution of the present invention, the calibration of the panoramic controller for an automobile can be realized efficiently and accurately, and the accuracy rate and efficiency of the calibration result of the panoramic controller for an automobile are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile intelligent driving assistance system design, and in particular to an automobile panoramic controller calibration method, device, equipment and medium. Background Art

[0002] With the rapid development of science and technology, people have higher requirements on the performance of automobile panoramic imaging systems, making it particularly important to calibrate the automobile panoramic controller before the car leaves the factory.

[0003] In the prior art, after the panoramic controller is installed on the vehicle, real-time imaging of the parking environment within a fixed distance around the vehicle body will be realized. The panoramic controller corrects the distortion of the real-time images picked up by four large-angle cameras and solves the color difference between adjacent images, and then splices them to complete the full-dimensional image of the real environment around the vehicle body.

[0004] However, there is no complete panoramic controller calibration solution in the prior art to solve the problems of low accuracy and low efficiency of the panoramic controller calibration results. Therefore, how to efficiently and accurately calibrate the panoramic controller of the car is a problem that needs to be solved urgently. Summary of the invention

[0005] The present invention provides a method, device, equipment and medium for calibrating a panoramic view controller for an automobile, which can solve the problems of low accuracy and low efficiency of calibration results of a panoramic view controller for an automobile.

[0006] According to one aspect of the present invention, a method for calibrating a panoramic controller of an automobile is provided, the method comprising:

[0007] Receive a calibration start command and trigger each camera of the target vehicle to collect sample images;

[0008] Calculating the image distance from each camera to the sample based on the sample image;

[0009] Determining calibration parameters according to the deviation between the image distance and the actual distance, and setting the calibration parameters, wherein the actual distance is determined based on the spatial distance between each camera of the target vehicle and the sample;

[0010] The sample images collected by each camera are stitched together according to the calibration parameters and the internal stitching algorithm to obtain a panoramic image;

[0011] A calibration result of the vehicle panoramic controller is determined according to the image quality of the panoramic image.

[0012] According to another aspect of the present invention, a vehicle panoramic controller calibration device is provided, the device comprising:

[0013] An image acquisition module is used to receive a calibration start instruction and trigger each camera of the target vehicle to acquire a sample image;

[0014] A distance calculation module, used to calculate the image distance from each camera to the sample based on the sample image;

[0015] A parameter setting module, used to determine calibration parameters according to the deviation between the image distance and the actual distance, and set the calibration parameters, wherein the actual distance is determined based on the spatial distance between each camera of the target vehicle and the sample;

[0016] An image stitching module, used to stitch the sample images collected by each camera according to the calibration parameters and an internal stitching algorithm to obtain a panoramic image;

[0017] The calibration completion module is used to determine the calibration result of the vehicle panoramic controller according to the image quality of the panoramic image.

[0018] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0019] at least one processor; and

[0020] a memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle panoramic controller calibration method described in any embodiment of the present invention.

[0022] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle panoramic controller calibration method described in any embodiment of the present invention when executed.

[0023] The technical solution of the embodiment of the present invention calculates the image distance from each camera to the sample based on the sample images collected by each camera of the target vehicle, determines the calibration parameters according to the deviation between the image distance and the actual distance, and sets the calibration parameters. Finally, the sample images collected by each camera are spliced ​​according to the calibration parameters and the internal stitching algorithm to obtain a panoramic image, and the calibration result of the automobile panoramic controller is determined according to the image quality of the panoramic image. This solves the problems of low accuracy and low efficiency of the calibration results of the automobile panoramic controller in the prior art, and can efficiently and accurately realize the calibration of the automobile panoramic controller.

[0024] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 is a flow chart of a method for calibrating a panoramic controller of an automobile provided according to the first embodiment of the present invention;

[0027] Figure 2a is a flow chart of a method for calibrating a panoramic vehicle controller according to a second embodiment of the present invention;

[0028] Figure 2b is a flow chart of a method for calibrating a panoramic vehicle controller according to a second embodiment of the present invention;

[0029] Figure 2c is a communication flow chart of a car panoramic controller calibration process provided according to the second embodiment of the present invention;

[0030] Figure 3 is a structural schematic diagram of a vehicle panoramic controller calibration device provided according to Embodiment 3 of the present invention;

[0031] Figure 4 The present invention is a schematic diagram of the structure of an electronic device for implementing the automobile panoramic controller calibration method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Embodiment 1

[0035] Figure 1 A flowchart of a vehicle panoramic controller calibration method is provided for the first embodiment of the present invention. This embodiment is applicable to the case of calibrating a vehicle panoramic controller. The method can be executed by a vehicle panoramic controller calibration device. The vehicle panoramic controller calibration device can be implemented in the form of hardware and / or software. The vehicle panoramic controller calibration device can be configured in an electronic device.

[0036] like Figure 1 As shown, the method includes:

[0037] S110, receiving a calibration start instruction, triggering each camera of the target vehicle to collect sample images.

[0038] Among them, the calibration start instruction may refer to an instruction for controlling the start of calibration. Usually, the camera will perform the image acquisition operation only after receiving the calibration start instruction. The target vehicle may refer to the vehicle to which the panoramic controller of the car to be calibrated belongs. Usually, the target vehicle contains four cameras, which are located in the front, back, left and right areas of the target vehicle to collect images around the target vehicle. The sample image may refer to the image presented after the camera takes the sample. The sample may refer to a standard picture pre-set in the calibration station where the target vehicle is parked. Optionally, the sample can be a black and white checkerboard picture pre-sprayed in the calibration station.

[0039] S120, calculating the image distance from each camera to the sample according to the sample image.

[0040] The image distance may refer to the distance from each camera to the sample calculated based on the sample images captured by each camera, that is, the image position information of the sample in the sample image.

[0041] S130. Determine a calibration parameter according to a deviation between the image distance and the actual distance, and set the calibration parameter, wherein the actual distance is determined based on a spatial distance between each camera of the target vehicle and a sample.

[0042] The actual distance may refer to the actual spatial distance between the sample and each camera. The calibration parameter may refer to the parameter for calibrating the position of the sample in each sample image.

[0043] Specifically, the camera of the target vehicle collects the corner points of the sample to obtain a sample image, calculates the image distance of the sample through the sample image, and compares the image distance with the actual distance. If there is a deviation between the image distance and the actual distance, the preset calibration parameters in the car panoramic controller are modified to the actual distance, so that the car panoramic controller can accurately locate the captured samples from the sample images taken by each camera.

[0044] S140 , stitching the sample images collected by each camera according to the calibration parameters and the internal stitching algorithm to obtain a panoramic image.

[0045] The internal stitching algorithm may refer to an algorithm for stitching sample images in sequence, for example, an algorithm for stitching sample images taken by adjacent cameras. A panoramic image may be an image obtained by stitching all sample images taken by adjacent cameras according to calibration parameters. Stitching may refer to the operation of stitching together sample parts of the same features in adjacent sample images according to the positions of the samples in the sample images.

[0046] Specifically, after the calibration parameters are calculated, the positions of the samples in the sample images are located based on the calibration parameters, and the samples in adjacent sample images are spliced ​​using an internal splicing algorithm to obtain a panoramic image around the target vehicle.

[0047] S150: Determine a calibration result of the vehicle panoramic controller according to the image quality of the panoramic image.

[0048] Among them, the image quality may refer to the stitching state of the panoramic image after stitching processing, such as the presence of stitching misalignment or the absence of stitching misalignment. The calibration result may refer to the result of whether the calibration of the car panoramic controller is successful, such as calibration completion or calibration failure. Optionally, determining the calibration result of the car panoramic controller according to the image quality of the panoramic image includes: determining the calibration result of the car panoramic controller according to the stitching state between adjacent sample images in the panoramic image. Specifically, the final calibration result of the car panoramic controller can be determined based on whether there is misalignment at the stitching of adjacent sample images in the panoramic image, so as to judge whether the calibration of the car panoramic controller can be completed.

[0049] The technical solution of the embodiment of the present invention calculates the image distance from each camera to the sample based on the sample images collected by each camera of the target vehicle, determines the calibration parameters according to the deviation between the image distance and the actual distance, and sets the calibration parameters. Finally, the sample images collected by each camera are spliced ​​according to the calibration parameters and the internal stitching algorithm to obtain a panoramic image, and the calibration result of the automobile panoramic controller is determined according to the image quality of the panoramic image. This solves the problems of low accuracy and low efficiency of the calibration results of the automobile panoramic controller in the prior art, and can efficiently and accurately realize the calibration of the automobile panoramic controller.

[0050] Embodiment 2

[0051] Figure 2a A flowchart of a car panoramic controller calibration method provided in Embodiment 2 of the present invention is provided. This embodiment is refined based on the above embodiment. In this embodiment, it is specifically added before receiving the calibration start instruction. Specifically, it may include: when the target vehicle drives to the calibration station, the position of the target station is obtained, and the target vehicle is controlled to be fixed to the target station to obtain the actual distance from each camera to the sample.

[0052] Furthermore, the additional calibration result of the automobile panoramic controller may specifically include: if the image quality of the panoramic image does not meet the set requirements, resetting the parameters of the panoramic controller according to the calibration parameters, and accumulating the value of the internal counter; sending a recalibration signal to the control device until the image quality of the panoramic image meets the set requirements, or the value of the internal counter reaches a preset threshold.

[0053] like Figure 2a As shown, the method includes:

[0054] S210: When the target vehicle drives to the calibration station, the position of the target station is obtained, and the target vehicle is controlled to be fixed to the target station to obtain the actual distance from each camera to the sample.

[0055] Among them, the target station can refer to the station where the target vehicle is parked in the calibration station. Since the actual distance between the target station and the sample is pre-set, the actual distance from each camera of the target vehicle to the sample can be obtained by fixing the target vehicle to the target station, which reduces the time spent on obtaining the actual distance from each camera to the sample and improves the calibration efficiency of the vehicle panoramic controller.

[0056] S220: Receive a request for opening an extended session layer sent by a control device, and send an approval response to the control device, wherein the approval response includes request confirmation information.

[0057] The control device may refer to a device that issues a calibration start instruction to the Around View Monitor (AVM), such as a computer device. The request to open the extended session layer may be a request to open the extended session layer 1003 for calibration start communication sent by the calibration device to the target vehicle. The consent response may refer to the start 5003 response fed back by the AVM to the calibration device.

[0058] It is worth noting that the control device can be placed around the calibration station and connected to the diagnostic interface of the target vehicle through a wireless diagnostic connector such as a Bluetooth device.

[0059] S230: Receive a security access seed request sent by the control device, and send a request response to the control device, wherein the request response includes a security access seed.

[0060] Among them, assuming that the control device requests to enter security level 01, the security access seed request sent by the control device may refer to the security access seed 2701 sent by the control device; the request response sent to the control device may refer to the feedback seed randomly generated by the AVM, such as 67 01 xx xx xx xx x.

[0061] S240, receiving a verification request including a first private key sent by the control device, calculating a second private key corresponding to the security access seed according to a set key protocol, and comparing the first private key and the second private key, wherein the first private key is calculated by the control device based on the set key protocol.

[0062] Among them, the first private key may refer to the secret key calculated by a specified device according to the request response and the secret key protocol, such as 27 02 xx xx xx xx xx; the second private key may refer to the secret key calculated by the AVM according to the security algorithm.

[0063] S250. If the private key comparison is consistent, a verification response is sent to the control device, wherein the verification response includes access permission information for the calibration instruction, and a calibration start instruction sent by the control device is obtained.

[0064] The access permission information may refer to information that allows the control device to send a calibration start instruction. Specifically, when the first private key matches the second private key, the AVM feeds back a response 6702 indicating that the secret key is correct to the control device. Then, the control device sends a request 3103E100 for a calibration instruction to the AVM. If the request is successful, the AVM feeds back 7103E100, and the control device sends a calibration start instruction 3101E101. After receiving the calibration start instruction sent by the control device, the vehicle panoramic controller is calibrated and a response 7101E101 is fed back.

[0065] S260: Trigger each camera of the target vehicle to collect sample images.

[0066] S270, calculating the image distance from each camera to the sample according to the sample image.

[0067] S280. Determine a calibration parameter according to a deviation between the image distance and the actual distance, and set the calibration parameter, wherein the actual distance is determined based on a spatial distance between each camera of the target vehicle and a sample.

[0068] S290 , calibrating the sample positions in the sample images according to the calibration parameters to obtain the calibrated positions in each sample image.

[0069] The calibrated position may refer to the actual position of the sample in the sample image.

[0070] Specifically, the samples in the sample images may be located according to the calibration parameters, thereby obtaining the positions of the samples in each sample image.

[0071] S2100 , performing distortion correction on the sample image according to a distortion correction algorithm to obtain a corrected target image.

[0072] The distortion correction may refer to stretching a curved sample contour in the sample image into a straight line, and the target image may refer to the sample image after the distortion correction.

[0073] S2110 , using the calibrated position to locate the samples in the target image, and using an internal stitching algorithm to stitch the target images together to obtain a panoramic image.

[0074] S2120: Determine a calibration result of the vehicle panoramic controller according to the image quality of the panoramic image.

[0075] It is worth noting that in the embodiment of the present invention, the calibration result can be fed back to the control device for display.

[0076] In an optional embodiment, if the image quality of the panoramic image does not meet the set requirements, the panoramic controller is reset according to the calibration parameters, and the value of the internal counter is accumulated; a recalibration signal is sent to the control device until the image quality of the panoramic image meets the set requirements, or the value of the internal counter reaches a preset threshold. Wherein, the set requirements may refer to the splicing state between adjacent sample images in the panoramic image without splicing misalignment. Parameter reset may refer to modifying the preset calibration parameters of the panoramic controller to the calibration parameters. Accumulation may refer to increasing the value of the internal counter by a set value each time, such as adding one each time. The preset threshold may refer to a value for evaluating the value of the internal counter, and the value of the preset threshold may be set according to actual application requirements, which is not limited in the embodiment of the present invention. Specifically, if the image quality of the panoramic image meets the set requirements, the result of the successful calibration may be fed back to the control device, so that the control device sends a signal to release the target vehicle, prompting the operator to drive the target vehicle away from the target station. If the image quality of the panoramic image does not meet the set requirements, the panoramic controller can be reset according to the obtained calibration parameters, and the value of the internal counter can be accumulated. After that, a recalibration signal is sent to the control device to calibrate the vehicle panoramic controller again until the image quality of the panoramic image meets the set requirements and the vehicle panoramic controller is calibrated successfully, or the value of the internal counter reaches the preset threshold, indicating that the target vehicle may have internal problems and the accuracy of the vehicle panoramic controller cannot be improved through calibration, and the staff needs to be notified to return the target vehicle for repair.

[0077] The technical solution of the embodiment of the present invention receives and verifies the request sent by the control device. When the control device passes the verification, the calibration start instruction sent by the control device is obtained to trigger each camera of the target vehicle to collect sample images, and then the calibration parameters are determined according to the deviation between the image distance and the actual distance. Further, the sample position in the sample image is calibrated according to the calibration parameters to obtain the calibration position in each sample image, and then the sample image is distortion corrected according to the distortion correction algorithm to obtain the corrected target image, and the sample in the target image is located by the calibration position and the internal stitching algorithm is used to stitch the target images to obtain a panoramic image. Finally, the calibration result of the automobile panoramic controller is determined according to the image quality of the panoramic image, which solves the problem of low accuracy and low efficiency of the calibration result of the automobile panoramic controller in the prior art, and can efficiently and accurately realize the calibration of the automobile panoramic controller.

[0078] Figure 2bA flow chart of a method for calibrating a panoramic car controller provided in an embodiment of the present invention; specifically, first, a target vehicle is controlled to be fixed to a target station to obtain the actual distance from each camera to a sample, and then, a connection is established between a control device and a diagnostic interface of the target vehicle, and a calibration start instruction issued by the control device is received in a timely manner. After receiving the calibration start instruction issued by the control device, the panoramic car controller of the target vehicle is calibrated until the panoramic car controller is calibrated successfully, and the result of the successful calibration is fed back to the control device, so that the control device sends a signal to release the target vehicle, prompting the operator to drive the target vehicle away from the target station.

[0079] Figure 2c A communication flow chart of a car panoramic controller calibration process provided by an embodiment of the present invention; specifically, a request for opening an extended session layer sent by a control device is received, and a consent response is sent to the control device, then a security access seed request sent by the control device is received, and a request response is sent to the control device, further, a verification request containing a first private key is received from the control device, a second private key corresponding to the security access seed is calculated according to a set secret key protocol, the first private key and the second private key are compared, and the secret key comparison result is fed back to the control device, then, a request for a calibration instruction is received from the control device, when the feedback request is successful, a calibration start instruction issued by the control device is received, and the calibration operation is started, when the calibration is completed, the calibration result is fed back to the control device, if the calibration is successful, the preset calibration parameters of the car panoramic controller are reset; if the calibration fails, the value of the internal counter is accumulated until the calibration is successful, or the value of the internal counter reaches a preset threshold.

[0080] Embodiment 3

[0081] Figure 3 This is a schematic diagram of the structure of a vehicle panoramic controller calibration device provided by the third embodiment of the present invention. Figure 3 As shown, the device includes: an image acquisition module 310, a distance calculation module 320, a parameter setting module 330, an image stitching module 340, and a calibration completion module 350;

[0082] The image acquisition module 310 is used to receive a calibration start instruction and trigger each camera of the target vehicle to acquire a sample image;

[0083] A distance calculation module 320, used to calculate the image distance from each camera to the sample according to the sample image;

[0084] A parameter setting module 330, for determining a calibration parameter according to a deviation between the image distance and the actual distance, and setting the calibration parameter, wherein the actual distance is determined based on a spatial distance between each camera of the target vehicle and a sample;

[0085] An image stitching module 340 is used to stitch the sample images collected by each camera according to the calibration parameters and an internal stitching algorithm to obtain a panoramic image;

[0086] The calibration completion module 350 is used to determine the calibration result of the vehicle panoramic controller according to the image quality of the panoramic image.

[0087] The technical solution of the embodiment of the present invention calculates the image distance from each camera to the sample based on the sample images collected by each camera of the target vehicle, determines the calibration parameters according to the deviation between the image distance and the actual distance, and sets the calibration parameters. Finally, the sample images collected by each camera are spliced ​​according to the calibration parameters and the internal stitching algorithm to obtain a panoramic image, and the calibration result of the automobile panoramic controller is determined according to the image quality of the panoramic image. This solves the problems of low accuracy and low efficiency of the calibration results of the automobile panoramic controller in the prior art, and can efficiently and accurately realize the calibration of the automobile panoramic controller.

[0088] Optionally, the automobile panoramic controller calibration device may further include a preparation module for obtaining the position of the target station when the target vehicle drives to the calibration station before receiving the calibration start instruction, and controlling the target vehicle to be fixed to the target station to obtain the actual distance from each camera to the sample.

[0089] Optionally, the image acquisition module 310 may be specifically configured to receive a request for opening an extended session layer sent by a control device, and send a consent response to the control device, wherein the consent response includes request confirmation information;

[0090] receiving a security access seed request sent by the control device, and sending a request response to the control device, wherein the request response includes a security access seed;

[0091] Receiving a verification request including a first private key sent by the control device, calculating a second private key corresponding to the secure access seed according to a set key protocol, and comparing the first private key with the second private key, wherein the first private key is calculated by the control device based on the set key protocol;

[0092] If the private keys are consistent, a verification response is sent to the control device, wherein the verification response includes access permission information for the calibration instruction, and the calibration start instruction sent by the control device is obtained.

[0093] Optionally, the calibration completion module 350 may be specifically configured to determine a calibration result of the vehicle panoramic controller according to a splicing state between adjacent sample images in the panoramic image.

[0094] Optionally, the automobile panoramic controller calibration device may further include a post-processing module, which is used to reset the panoramic controller according to the calibration parameters and accumulate the value of the internal counter if the image quality of the panoramic image does not meet the set requirements;

[0095] A recalibration signal is sent to the control device until the image quality of the panoramic image meets the set requirements or the value of the internal counter reaches a preset threshold.

[0096] Optionally, the image stitching module 340 may be specifically configured to calibrate the sample positions in the sample images according to the calibration parameters to obtain the calibrated positions in each sample image;

[0097] Performing distortion correction on the sample image according to the distortion correction algorithm to obtain a corrected target image;

[0098] The samples in the target image are located using the calibrated positions, and the target images are stitched together using an internal stitching algorithm to obtain a panoramic image.

[0099] Optionally, the sample is a black and white checkerboard image pre-sprayed in a calibration station.

[0100] The vehicle panoramic controller calibration device provided in the embodiment of the present invention can execute the vehicle panoramic controller calibration method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0101] Embodiment 4

[0102] Figure 4 A schematic diagram of an electronic device 410 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0103] like Figure 4As shown, the electronic device 410 includes at least one processor 420, and a memory connected to the at least one processor 420 in communication, such as a read-only memory (ROM) 430, a random access memory (RAM) 440, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 420 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 430 or the computer program loaded from the storage unit 490 to the random access memory (RAM) 440. In the RAM 440, various programs and data required for the operation of the electronic device 410 can also be stored. The processor 420, the ROM 430, and the RAM 440 are connected to each other via a bus 450. An input / output (I / O) interface 460 is also connected to the bus 450.

[0104] Multiple components in the electronic device 410 are connected to the I / O interface 460, including: an input unit 470, such as a keyboard, a mouse, etc.; an output unit 480, such as various types of displays, speakers, etc.; a storage unit 490, such as a disk, an optical disk, etc.; and a communication unit 4100, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 4100 allows the electronic device 410 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0105] The processor 420 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 420 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 420 performs the various methods and processes described above, such as a car panoramic controller calibration method.

[0106] The method includes:

[0107] Receive a calibration start command and trigger each camera of the target vehicle to collect sample images;

[0108] Calculating the image distance from each camera to the sample based on the sample image;

[0109] Determining calibration parameters according to the deviation between the image distance and the actual distance, and setting the calibration parameters, wherein the actual distance is determined based on the spatial distance between each camera of the target vehicle and the sample;

[0110] The sample images collected by each camera are stitched together according to the calibration parameters and the internal stitching algorithm to obtain a panoramic image;

[0111] A calibration result of the vehicle panoramic controller is determined according to the image quality of the panoramic image.

[0112] In some embodiments, the car panoramic controller calibration method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 490. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 410 via the ROM 430 and / or the communication unit 4100. When the computer program is loaded into the RAM 440 and executed by the processor 420, one or more steps of the car panoramic controller calibration method described above can be performed. Alternatively, in other embodiments, the processor 420 can be configured to perform the car panoramic controller calibration method in any other suitable manner (e.g., by means of firmware).

[0113] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0114] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0115] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0116] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0117] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0118] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0119] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0120] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for calibrating a panoramic controller of an automobile, characterized in that: include: Receive a calibration start command and trigger each camera of the target vehicle to collect sample images; Calculating the image distance from each camera to the sample based on the sample image; Determining calibration parameters according to the deviation between the image distance and the actual distance, and setting the calibration parameters, wherein the actual distance is determined based on the spatial distance between each camera of the target vehicle and the sample; The sample images collected by each camera are stitched together according to the calibration parameters and the internal stitching algorithm to obtain a panoramic image; Determining a calibration result of a vehicle panoramic controller according to the image quality of the panoramic image; If the image quality of the panoramic image does not meet the set requirements, the panoramic controller is reset according to the calibration parameters, and the value of the internal counter is accumulated; A recalibration signal is sent to the control device until the image quality of the panoramic image meets the set requirements or the value of the internal counter reaches a preset threshold.

2. The method according to claim 1, characterized in that: Before receiving the calibration start command, it also includes: When the target vehicle drives to the calibration station, the position of the target station is obtained, and the target vehicle is controlled to be fixed to the target station to obtain the actual distance from each camera to the sample.

3. The method according to claim 2, characterized in that The receiving of the calibration start instruction comprises: receiving a request for opening an extended session layer sent by a control device, and sending an approval response to the control device, wherein the approval response includes request confirmation information; receiving a security access seed request sent by the control device, and sending a request response to the control device, wherein the request response includes a security access seed; Receiving a verification request including a first private key sent by the control device, calculating a second private key corresponding to the secure access seed according to a set key protocol, and comparing the first private key with the second private key, wherein the first private key is calculated by the control device based on the set key protocol; If the private keys are consistent, a verification response is sent to the control device, wherein the verification response includes access permission information for the calibration instruction, and the calibration start instruction sent by the control device is obtained.

4. The method according to claim 1, characterized in that: Determining the calibration result of the vehicle panoramic controller according to the image quality of the panoramic image includes: The calibration result of the automobile panoramic controller is determined according to the splicing state between adjacent sample images in the panoramic image.

5. The method according to claim 1, characterized in that The step of stitching the sample images collected by each camera according to the calibration parameters and the internal stitching algorithm to obtain a panoramic image includes: Calibrate the sample positions in the sample images according to the calibration parameters to obtain the calibration positions in each sample image; Performing distortion correction on the sample image according to the distortion correction algorithm to obtain a corrected target image; The samples in the target image are located using the calibrated positions, and the target images are stitched together using an internal stitching algorithm to obtain a panoramic image.

6. The method according to claim 1, characterized in that The sample is a black and white checkerboard image that is pre-sprayed in the calibration station.

7. A vehicle panoramic controller calibration device, characterized in that: include: An image acquisition module is used to receive a calibration start instruction and trigger each camera of the target vehicle to acquire a sample image; A distance calculation module, used to calculate the image distance from each camera to the sample based on the sample image; A parameter setting module, used to determine calibration parameters according to the deviation between the image distance and the actual distance, and set the calibration parameters, wherein the actual distance is determined based on the spatial distance between each camera of the target vehicle and the sample; An image stitching module, used to stitch the sample images collected by each camera according to the calibration parameters and an internal stitching algorithm to obtain a panoramic image; A calibration completion module, used for determining a calibration result of the vehicle panoramic controller according to the image quality of the panoramic image; A calibration result inspection module, used for resetting the parameters of the panoramic controller according to the calibration parameters and accumulating the value of the internal counter if the image quality of the panoramic image does not meet the set requirements; The repeated calibration module is used to send a recalibration signal to the control device until the image quality of the panoramic image meets the set requirements or the value of the internal counter reaches a preset threshold.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle panoramic controller calibration method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the automobile panoramic controller calibration method according to any one of claims 1 to 6 when executed.

Images