Vehicle sensor calibration system, method, electronic terminal and storage medium

Abstract

The embodiment of the present invention discloses a vehicle sensor calibration system, method, electronic terminal and storage medium, the system comprising: a measuring device for measuring the actual wheel center height and actual wheel brow height of each wheel in the target vehicle; a control device for transforming the stored theoretical coordinate system into the actual coordinate system of the target vehicle according to the actual wheel center height of each wheel; the theoretical coordinate system is established based on the theoretical wheel center height and preset position of the target wheel in the target vehicle; the first coordinate of the sensor in the target vehicle in the actual coordinate system is determined according to the actual wheel center height and actual wheel brow height of each wheel; the second coordinate of the target feature point in the actual coordinate system is determined according to the spatial position relationship between the stored target feature point and the preset position; and a calibration device for calibrating the sensor according to the first coordinate and the second coordinate. The difference in hardware conditions can be eliminated, the consistency of the calibration process can be ensured, and the credibility and accuracy of the calibration result can be improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to vehicle technology, and more particularly, to a calibration system, method, electronic terminal and storage medium for a vehicle sensor. Background Art

[0002] As the hardware parameters and software algorithms of vehicle sensors converge, the accuracy of their calibration has a very important impact on the reliable, safe and intelligent driving of the vehicle.

[0003] In the prior art, the calibration of vehicle sensors mainly focuses on the calibration algorithm of a single sensor and software algorithms such as post-fusion. The shortcomings of the prior art include at least the following: due to the differences in hardware conditions of each vehicle, the sensor calibration process of different vehicles is prone to poor consistency, resulting in low credibility and poor accuracy of the calibration results. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a vehicle sensor calibration system, method, electronic terminal and storage medium, which can eliminate differences in hardware conditions, ensure the consistency of the calibration process, and improve the credibility and accuracy of the calibration results.

[0005] In a first aspect, an embodiment of the present invention provides a vehicle sensor calibration system, including:

[0006] A measuring device, used to measure the actual wheel center height and the actual wheel brow height of each wheel in the target vehicle, and send the actual wheel center height and the actual wheel brow height of each wheel to the control device;

[0007] The control device is used to transform the stored theoretical coordinate system into the actual coordinate system of the target vehicle according to the received actual wheel center height of each wheel; wherein the theoretical coordinate system is established based on the theoretical wheel center height and the preset position of the target wheel in the target vehicle;

[0008] Determine a first coordinate of a sensor in the target vehicle in the actual coordinate system according to an actual wheel center height and an actual wheel arch height of each wheel;

[0009] Determining a second coordinate of the target feature point in the actual coordinate system according to the stored spatial position relationship between the target feature point and the preset position;

[0010] A calibration device is used to calibrate the sensor according to the first coordinate and the second coordinate.

[0011] In a second aspect, an embodiment of the present invention further provides a vehicle sensor calibration method, comprising:

[0012] Receive the actual wheel center height and actual wheel arch height of each wheel in the target vehicle;

[0013] According to the received actual wheel center heights of the wheels, the stored theoretical coordinate system is transformed into the actual coordinate system of the target vehicle; wherein the theoretical coordinate system is established based on the theoretical wheel center heights and preset positions of the target wheels in the target vehicle;

[0014] Determine a first coordinate of a sensor in the target vehicle in the actual coordinate system according to an actual wheel center height and an actual wheel arch height of each wheel;

[0015] Determining a second coordinate of the target feature point in the actual coordinate system according to the stored spatial position relationship between the target feature point and the preset position;

[0016] The sensor is calibrated according to the first coordinate and the second coordinate.

[0017] In a third aspect, an embodiment of the present invention further provides an electronic terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a vehicle sensor calibration method as provided in any embodiment of the present application is implemented.

[0018] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements a vehicle sensor calibration method as provided in any embodiment of the present application.

[0019] An embodiment of the present invention provides a vehicle sensor calibration system, method, electronic terminal and storage medium. The vehicle sensor calibration system includes: a measuring device, used to measure the actual wheel center height and actual wheel brow height of each wheel in a target vehicle, and send the actual wheel center height and actual wheel brow height of each wheel to a control device; a control device, used to transform a stored theoretical coordinate system into an actual coordinate system of the target vehicle according to the received actual wheel center height of each wheel; wherein the theoretical coordinate system is established based on the theoretical wheel center height and a preset position of a target wheel in the target vehicle; according to the actual wheel center height and the actual wheel brow height of each wheel, a first coordinate of the sensor in the target vehicle in the actual coordinate system is determined; according to the actual wheel center height and the actual wheel brow height of each wheel, a second coordinate of the target feature point in the actual coordinate system is determined; according to the spatial position relationship between the stored target feature point and the preset position, a calibration device is used to calibrate the sensor according to the first coordinate and the second coordinate.

[0020] When calibrating vehicle sensors, due to differences in hardware conditions such as tire pressure and counterweight of each vehicle, different vehicles will have position deviations in the vertical direction. If the positions of the sensors of each vehicle are calibrated based on the same vehicle coordinate system, the consistency of the calibration process cannot be guaranteed. In the technical solution of the embodiment of the present invention, before calibrating the sensor of the target vehicle, the actual wheel center height and the actual wheel brow height of each wheel can be measured first; according to the actual wheel center height of each wheel, the stored theoretical coordinate system is corrected and transformed to obtain the actual coordinate system of the target vehicle. Afterwards, the first coordinate of the sensor can be determined according to the actual wheel brow height in the actual coordinate system, and the second coordinate of the target feature point can be determined.

[0021] By calibrating the installation position of the sensor using the first coordinate and the second coordinate in the actual coordinate system of the target vehicle, the differences in hardware conditions such as tire pressure and counterweight can be eliminated, the consistency of the calibration process can be ensured, and the credibility and accuracy of the calibration results can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of a vehicle sensor calibration system provided in Embodiment 1 of the present invention;

[0023] Figure 2 is a structural schematic diagram of a vehicle sensor calibration system provided in Embodiment 3 of the present invention;

[0024] Figure 3 is a flow chart of a vehicle sensor calibration method provided by a fourth embodiment of the present invention;

[0025] Figure 4 It is a structural schematic diagram of an electronic terminal provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described through implementation methods with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In the following embodiments, each embodiment provides optional features and examples at the same time. The various features recorded in the embodiments can be combined to form multiple optional solutions. Each numbered embodiment should not be regarded as only one technical solution.

[0027] Embodiment 1

[0028] Figure 11 is a schematic diagram of the structure of a vehicle sensor calibration system provided in the first embodiment of the present invention. This embodiment can be applied to the case of calibrating vehicle sensors, such as the case of offline calibration of the installation position of the smart sensor of a smart driving car. The system can execute the vehicle sensor calibration method provided in the embodiment of the present invention, and the system can be implemented in software and / or hardware.

[0029] See also Figure 1 The vehicle sensor calibration system provided in this embodiment may include:

[0030] The measuring device 110 is used to measure the actual wheel center height and the actual wheel arch height of each wheel in the target vehicle, and send the actual wheel center height and the actual wheel arch height of each wheel to the control device 120 .

[0031] In the embodiment of the present invention, the measuring device may include at least one measuring module capable of performing distance measurement, and the measuring methods of the at least one measuring module may be the same or different. The measuring module may be, for example, a laser sensor or an infrared sensor that performs distance measurement based on a wave reflection method, or a camera that performs distance measurement based on an image analysis method. In addition, measuring modules that implement distance measurement based on other methods may also be applied here, and are not exhaustive here.

[0032] The target vehicle may be a vehicle that currently needs to calibrate the sensor. The actual wheel center height and actual wheel brow height of each wheel in the target vehicle may be the height of the wheel center of the target vehicle from the ground and the height of the wheel brow of the target vehicle from the ground, respectively.

[0033] In actual application scenarios, due to differences in hardware conditions such as tire pressure and counterweight of each vehicle, there will be position deviations in the vertical direction of the vehicle, and the consistency of the vehicle coordinate system cannot be guaranteed. If the relevant parameters of the wheel center height and wheel brow height of the target vehicle under ideal conditions are directly used to calibrate the vehicle sensor, the calibration result will be inaccurate. The measuring device of an embodiment of the present invention can measure the actual wheel center height and actual wheel brow height of each wheel in each target vehicle, and send the actual wheel center height and actual wheel brow height of each wheel to the control device, so that the control device establishes an actual coordinate system and performs subsequent calibration work, which can effectively improve the credibility and accuracy of the calibrated vehicle sensor.

[0034] The control device 120 is used to transform the stored theoretical coordinate system into the actual coordinate system of the target vehicle according to the received actual wheel center height of each wheel; wherein the theoretical coordinate system is established based on the theoretical wheel center height and the preset position of the target wheel in the target vehicle;

[0035] Determine the first coordinate of the sensor in the target vehicle in the actual coordinate system according to the actual wheel center height and the actual wheel arch height of each wheel;

[0036] According to the spatial position relationship between the stored target feature point and the preset position, the second coordinate of the target feature point in the actual coordinate system is determined.

[0037] In the embodiment of the present invention, the control device may be a device for receiving, storing and processing data. For example, before performing sensor calibration, the theoretical coordinate system of the target vehicle, the spatial position relationship of the target feature points and the preset position of the target vehicle may be received and stored in advance. Moreover, after receiving the actual wheel center height and the actual wheel arch height of each wheel sent by the measuring device, the theoretical coordinate system may be transformed into the actual coordinate system based on these data, and the coordinates of the sensor and the target feature points in the actual coordinate system may be determined.

[0038] Before calibrating the vehicle sensor, the correspondence between each vehicle model and the theoretical wheel center height of each wheel can be established in advance. In this way, after the target vehicle is determined, the theoretical wheel center height of the target wheel can be determined by querying the correspondence. In addition, the preset position of each wheel can be set in advance. In this way, before calibrating the target wheel, the position of each wheel of the target vehicle can be limited based on these preset positions, which is conducive to ensuring the position consistency of the vehicle to be calibrated.

[0039] In the process of pre-establishing the theoretical coordinate system, the target wheels in the target vehicle may be two vehicles on the front axle, or may be two wheels on the rear axle. Exemplarily, establishing the theoretical coordinate system according to the theoretical wheel center height and preset position of the two vehicles on the rear axle may include: determining the longitudinal position of the origin according to the theoretical wheel center height of the rear wheels of the target vehicle, determining the horizontal position of the origin according to the middle position of the preset positions of the two rear wheels, and establishing the theoretical coordinate system. In addition, the longitudinal axis in the theoretical coordinate system may be perpendicular to the horizontal plane, and the two axes on the horizontal plane may be parallel to the wheel axle and the vehicle body direction, respectively.

[0040] Among them, transforming the theoretical coordinate system into the actual coordinate system according to the actual wheel center height of each wheel can include adjusting the origin position of the theoretical coordinate system and the direction of each coordinate axis according to the actual wheel center height of each wheel, so as to transform and obtain the actual coordinate system under the tire pressure conditions of the target vehicle itself.

[0041] The sensor in the target vehicle may be a sensor that needs to be calibrated in the target vehicle, such as a laser radar, a millimeter wave radar, and a smart camera. In the embodiment of the present invention, the type of sensor that needs to be calibrated on the target vehicle is not specifically limited. Among them, determining the first coordinate of each sensor in the actual coordinate system may include: since the actual wheel arch height of each wheel can represent the position of the vehicle body, the coordinates of the target vehicle body in the actual coordinate system may be determined based on the height relationship between the actual wheel center height and the actual wheel arch height of each wheel; since the sensor has a specified theoretical installation position relative to the target vehicle body, the first coordinate of the sensor may be determined based on the theoretical installation position and the vehicle body coordinates as a reference.

[0042] In an embodiment of the present invention, the target may be a specific target of an intelligent sensor, which is placed in a calibration scene and is recognized by the sensor as a common point for coordinate conversion. The target may be in the form of a black and white checkerboard, a corner reflection, or a QR code. The color, material, and reflective requirements of the target may meet the specific requirements of each sensor. At the same time, the position of the target may be fixed or the position may be controllable, which may meet the consistency requirements of the target position. The target feature point may be an easily identifiable point such as a corner point on the target. The target feature point may be one or more. In an embodiment of the present invention, the type and quantity of the target are not specifically limited.

[0043] The spatial relationship between the target feature point and the preset position may include, but is not limited to, the spatial relationship between each target feature point and each preset position, such as the distance and relative orientation. These spatial position relationships may be determined by a pre-collected three-dimensional space cloud map. Determining the second coordinate of the target feature point in the actual coordinate system may include: since the preset position has a corresponding relationship with the theoretical coordinate system, the coordinate of the target feature point in the theoretical coordinate system may be determined according to the spatial position relationship between the target feature point and the preset position; and then the second coordinate of the target feature point in the actual coordinate system may be determined according to the transformation relationship between the theoretical coordinate system and the actual coordinate system corresponding to the target vehicle.

[0044] The calibration device 130 is used to calibrate the sensor according to the first coordinate and the second coordinate.

[0045] The actual coordinate system of the target vehicle can be considered as a world coordinate system. Since the first coordinate is determined based on the theoretical installation position of each sensor, the first coordinate can be considered as the theoretical coordinate of the sensor in the world coordinate system when the sensor is installed correctly. The second coordinate can also be considered as the standard coordinate of the target feature point in the above world coordinate system. Among them, the calibration of the sensor according to the first coordinate and the second coordinate can be understood as the calibration of the installation position of the sensor on the target vehicle.

[0046] Specifically, in an embodiment of the present invention, the calibration process of the sensor installation position may include: detecting the target feature point through the sensor on the target vehicle, and determining the third coordinate of the target feature point in the sensor's own coordinate system (which may be referred to as the sensor coordinate system); according to the transformation matrix from the sensor coordinate system to the world coordinate system, transforming the third coordinate matrix into the fourth coordinate in the actual coordinate system corresponding to the target vehicle; according to the deviation between the fourth coordinate of the target feature point and the second coordinate, the deviation between the actual installation position of the sensor and the theoretical installation position can be determined, that is, the deviation between the coordinate corresponding to the actual installation position of the sensor and the first coordinate is determined; according to the deviation between the coordinate corresponding to the actual installation position and the first coordinate, the installation position compensation can be performed, thereby completing the calibration of the sensor.

[0047] A vehicle sensor calibration system provided by an embodiment of the present invention can first measure the actual wheel center height and actual wheel arch height of each wheel before calibrating the sensor of the target vehicle; according to the actual wheel center height of each wheel, the stored theoretical coordinate system is corrected and transformed to obtain the actual coordinate system of the target vehicle. Afterwards, the first coordinate of the sensor can be determined according to the actual wheel arch height in the actual coordinate system, and the second coordinate of the target feature point can be determined. By calibrating the installation position of the sensor based on the first coordinate and the second coordinate in the actual coordinate system of the target vehicle, the differences in hardware conditions such as tire pressure and counterweight can be eliminated, the consistency of the calibration process can be ensured, and the credibility and accuracy of the calibration results can be improved.

[0048] Embodiment 2

[0049] The vehicle sensor calibration system provided in this embodiment can be combined with various optional solutions in the vehicle sensor calibration system provided in the above embodiments. The vehicle sensor calibration system provided in this embodiment describes in detail the steps of the control device transforming the stored theoretical coordinate system into the actual coordinate system of the target vehicle, and the steps of determining the first coordinate of the sensor in the actual coordinate system.

[0050] Optionally, the control device can be used to: determine the displacement of the theoretical coordinate system based on the offset between the actual wheel center height of the target wheel and the theoretical wheel center height; determine the rotation of the theoretical coordinate system based on the offset between the actual wheel center height of the front axle wheel and the actual wheel center height of the rear axle wheel; and transform the stored theoretical coordinate system into the actual coordinate system of the target vehicle based on the displacement and the rotation.

[0051] Wherein, determining the displacement of the theoretical coordinate system according to the offset between the actual wheel center height of the target wheel and the theoretical wheel center height may include: determining the vertical displacement of the origin of the theoretical coordinate system in the longitudinal direction according to the deviation between the actual wheel center height of the target vehicle and the theoretical wheel center height. Wherein, determining the rotation of the theoretical coordinate system according to the offset between the actual wheel center height of the front axle wheel and the actual wheel center height of the rear axle wheel may include: determining the actual pitch angle of the target vehicle according to the actual height deviation between the front and rear axles of the target vehicle, that is, determining the rotation of the pitch angle of the axis along the body direction of the target vehicle in the theoretical coordinate system.

[0052] Since there is a deviation between the actual and theoretical heights of the target wheel centers, the actual coordinate system of the target vehicle may have a deviation in height compared to the theoretical coordinate system. Since the actual wheel center height of the front axle wheel and the actual wheel center height of the rear axle wheel may deviate from the theoretical wheel center height of the front and rear wheels, the actual coordinate system of the target vehicle may have a deviation in pitch angle compared to the theoretical coordinate system. Therefore, when the control device transforms the stored theoretical coordinate system into the actual coordinate system of the target vehicle, the stored theoretical coordinate system can be transformed by displacement and rotation according to the displacement and rotation of the above theoretical coordinate system to obtain the actual coordinate system of the target vehicle.

[0053] In these optional implementations, by determining the displacement and rotation of the theoretical coordinate system, the transformation from the theoretical coordinate system to the actual coordinate system can be achieved, thereby eliminating the differences in hardware conditions of each vehicle, thereby further improving the reliability and accuracy of calibrating vehicle sensors.

[0054] Optionally, the control device may be used to determine a first coordinate of the sensor in the actual coordinate system according to a height difference between an actual wheel center height and an actual wheel arch height of each wheel and a stored theoretical installation position of the sensor relative to the wheel arch.

[0055] In an embodiment of the present invention, the theoretical installation position of the sensor relative to the body of the target vehicle can be represented by the theoretical installation position of the sensor relative to the wheel arch. The theoretical installation position of the sensor relative to the wheel arch can be understood as the installation orientation, distance, etc. of the sensor relative to the wheel arch under ideal conditions. Determining the first coordinate of the sensor in the actual coordinate system based on the height difference between the actual wheel center height and the actual wheel arch height of each wheel, and the stored theoretical installation position of the sensor relative to the wheel arch, can include: determining the coordinate of the sensor in the body coordinate system based on the theoretical installation position of the sensor relative to the wheel arch; based on the height difference between the actual wheel center height and the actual wheel arch height, the position coordinate of the sensor in the body coordinate system can be migrated to the actual coordinate system of the target vehicle to obtain the first coordinate.

[0056] In these optional implementations, the coordinates of the sensor in the vehicle body coordinate system are determined by the theoretical installation position of the sensor relative to the wheel arch; the transformation amount from the vehicle body coordinate system to the actual coordinate system is determined by the height difference between the actual wheel center height and the actual wheel arch height, so that the coordinates of the sensor in the actual coordinate system can be determined based on the transformation amount, laying the foundation for the subsequent sensor calibration process.

[0057] The embodiment of the present invention describes in detail the steps of the control device for transforming the stored theoretical coordinate system into the actual coordinate system of the target vehicle, and the steps for determining the first coordinate of the sensor in the actual coordinate system. By determining the displacement and rotation of the theoretical coordinate system, the transformation from the theoretical coordinate system to the actual coordinate system can be achieved, so that the differences in the hardware conditions of each vehicle can be eliminated, thereby further improving the credibility and accuracy of the calibrated vehicle sensor. The coordinates of the sensor in the vehicle body coordinate system are determined by the theoretical installation position of the sensor relative to the wheel arch; the transformation amount from the vehicle body coordinate system to the actual coordinate system is determined by the height difference between the actual wheel center height and the actual wheel arch height, so that the coordinates of the sensor in the actual coordinate system can be determined based on the transformation amount, which lays the foundation for the subsequent sensor calibration process.

[0058] In addition, the vehicle sensor calibration system provided in this embodiment and the vehicle sensor calibration system provided in the above embodiment belong to the same technical concept. The technical details not described in detail in this embodiment can be referred to the above embodiment, and the same technical features have the same beneficial effects in this embodiment and the above embodiment.

[0059] Embodiment 3

[0060] Figure 2 It is a structural diagram of a vehicle sensor calibration system provided in the third embodiment. The vehicle sensor calibration system provided in this embodiment can be combined with various optional schemes in the vehicle sensor calibration system provided in the above embodiments. The vehicle sensor calibration system provided in this embodiment enriches the vehicle sensor calibration system on the basis of the above embodiments, for example, it can also include at least one of a spatial position determination device, a vehicle limiting device, a target control device and an environmental parameter control device, which can further improve the accuracy of calibrating vehicle sensors.

[0061] See also Figure 2 The vehicle sensor calibration system provided in this embodiment, in addition to the measuring device 210, the control device 220 and the calibration device 230, may also include:

[0062] The spatial position determination device 240 can be used to scan the three-dimensional image of the calibration environment, determine the spatial position relationship between the target feature point and the preset position based on the three-dimensional image, and send the spatial position relationship to the control device so that the control device 220 stores the spatial position relationship.

[0063] The calibration environment can be understood as the environment in which the target vehicle's sensor is calibrated. The calibration environment can be a fixed space of a certain size that is pre-selected based on the requirements of the sensors that need to be calibrated, such as lidar, millimeter-wave radar, and smart camera, and an environment suitable for calibrating the vehicle sensor is established in the space (for example, setting various targets in the space, setting preset positions for various wheels, etc.).

[0064] The spatial position determination device can obtain a three-dimensional image (e.g., a three-dimensional spatial cloud image) of the calibration environment based on a three-dimensional spatial scanner. Furthermore, the spatial position relationship between the distance and relative orientation of each target feature point and the preset position of each wheel in the calibration environment can be identified based on the three-dimensional image. Afterwards, these spatial position relationships can be sent to the control device for storage, so that the control device can determine the second coordinates of each target feature point based on these spatial position relationships after determining the actual coordinate system of the vehicle.

[0065] Optionally, the spatial position determination device can also be used to rescan the spatial position relationship in the calibration environment when the spatial position in the calibration environment changes. For example, when the target position of the sensor changes or other important equipment in the calibration environment changes, the spatial position relationship in the calibration environment can be automatically rescanned and stored in the control device.

[0066] In the embodiment of the present invention, the spatial position determination device can determine the spatial relationship between each target feature point and each preset position in the calibration environment. Therefore, in the process of calibrating the target vehicle, the stored spatial position relationship of the calibration environment can be directly used, and there is no need to determine the spatial position relationship of the calibration environment again during each calibration.

[0067] The vehicle limiting device 250 is used to receive the first control instruction from the control device 220, and limit the horizontal position of each wheel of the target vehicle to a corresponding preset position according to the first control instruction.

[0068] The preset limiting device may include at least one limiting module, and each limiting module may be a limiting block, a limiting baffle or a limiting bracket. The preset position limited by each wheel may be a position of each wheel in the calibration space that is conducive to the calibration of each sensor. The first control instruction may be understood as an instruction issued by the control device to the vehicle limiting device for limiting the horizontal position of the wheel.

[0069] The preset limit device can limit the horizontal position of each wheel of the target vehicle parked in the calibration environment to a corresponding preset position according to the received first control instruction and the wheelbase and track corresponding to the type of the target vehicle. The preset limit device can limit the position of each wheel by electric, pneumatic, etc., and the method of limiting the vehicle position of the target vehicle in the embodiment of the present invention is not specifically limited.

[0070] After limiting the horizontal position of each wheel of the target vehicle, an ideal coordinate system can be established based on the preset position, and the spatial position relationship between each target feature point and each preset position can be determined. In addition, the ideal coordinate system model and the spatial position relationship between the target feature point and the preset position can be stored in the control device.

[0071] In some cases, in order to reduce the amount of calculation required to establish an ideal coordinate system and determine the spatial positional relationship between each target feature point and each preset position, the horizontal position of each wheel in each vehicle can be restricted to a unified standard. For example, the preset limit device can limit the position of each wheel so that the center line formed by the midpoints of the two wheels on the front axle and the midpoints of the wheels on the rear axle coincides with the center line parallel to the direction of the vehicle body in the calibration space. In this case, the preset limit device can be called a centering device. By restricting the vehicle to the spatial centerline position, it is not only beneficial to the calibration of the sensors around the vehicle body, but also the horizontal position of the origin in the theoretical coordinate system can be fixed, thereby reducing the amount of calculation required to establish an ideal coordinate system and determine the spatial positional relationship between each target feature point and each preset position to a certain extent.

[0072] In an embodiment of the present invention, each wheel of the target vehicle can be restricted to a preset position based on the vehicle limiting device, thereby ensuring the consistency of the lateral and longitudinal positions of the vehicle on the horizontal plane during the calibration process, eliminating differences in hardware conditions such as vehicle deflection, and improving the credibility and accuracy of the calibration results.

[0073] The target control device 260 is used to receive the second control instruction from the control device 220 and adjust the position of each target according to the second control instruction.

[0074] The second control instruction is an instruction sent by the control device to the target control device for controlling the target. In an embodiment of the present invention, if the position of the target is controllable, the target control device can be used to receive the second control instruction sent by the control device and adjust the position of each target according to the second control instruction. Optionally, the second control instruction can also be used to adjust the number, type, height and direction of the target.

[0075] During calibration, factors such as the relative position of the vehicle and the target, and the rationality of the target arrangement have a significant impact on the calibration results. By adjusting the target position, the embodiments of the present invention can ensure that the target feature points are suitable for a variety of vehicle conditions, thereby ensuring the consistency requirements of the target feature points and improving the accuracy of sensor calibration.

[0076] The environmental parameter control device 270 is used to receive the third control instruction of the control device 220 and adjust the environmental parameters according to the third control instruction; the environmental parameters include at least one of the following: light, temperature and humidity.

[0077] The third control instruction can be understood as an instruction issued by the control device to the environmental parameter control device for adjusting the environmental parameters. In the embodiment of the present invention, considering the influence of the calibration environment on the accuracy of sensor calibration, the environmental parameter control device is configured to adjust at least one environmental parameter of light, temperature and humidity according to the received third control instruction.

[0078] For example, the environmental parameter control device can adjust the calibration environment illumination by adjusting the opening of the calibration environment curtain or adjusting the brightness of the calibration environment light; can adjust the calibration environment temperature by adjusting the calibration environment air conditioning temperature; can adjust the calibration environment humidity by adjusting the calibration environment humidifier or dehumidifier. In the embodiment of the present invention, the method of adjusting the calibration environment parameters is not specifically limited.

[0079] In the embodiment of the present invention, the environmental parameter control device can eliminate the influence of the calibration environment on the accuracy of the target vehicle calibration, and can improve the credibility and accuracy of the calibration result.

[0080] The vehicle sensor calibration system provided in this embodiment enriches the vehicle sensor calibration system on the basis of the above-mentioned embodiments. For example, it may also include at least one of a spatial position determination device, a vehicle limiting device, a target control device and an environmental parameter control device, so as to achieve at least one effect of limiting the target vehicle, controlling the target and adjusting the calibration environmental parameters, and can minimize the influence of other factors on the calibration accuracy, thereby further improving the accuracy of calibrating vehicle sensors.

[0081] In addition, the vehicle sensor calibration system provided in this embodiment and the vehicle sensor calibration system provided in the above embodiment belong to the same technical concept. The technical details not described in detail in this embodiment can be referred to the above embodiment, and the same technical features have the same beneficial effects in this embodiment and the above embodiment.

[0082] Embodiment 4

[0083] Figure 31 is a flow chart of a vehicle sensor calibration method provided in the fourth embodiment of the present invention. This embodiment can be applied to the case of vehicle sensor calibration, such as offline calibration of the installation position of the smart sensor of a smart driving car. The method can be executed by the vehicle sensor calibration system provided in the embodiment of the present invention.

[0084] See also Figure 3 The vehicle sensor calibration method provided by the present invention may include:

[0085] S310: Receive the actual wheel center height and the actual wheel arch height of each wheel in the target vehicle.

[0086] S320. According to the received actual wheel center heights of each wheel, the stored theoretical coordinate system is transformed into the actual coordinate system of the target vehicle; wherein the theoretical coordinate system is established based on the theoretical wheel center heights and preset positions of the target wheels in the target vehicle.

[0087] Optionally, according to the received actual wheel center heights of each wheel, the stored theoretical coordinate system is transformed into the actual coordinate system of the target vehicle, including:

[0088] Determine the displacement of the theoretical coordinate system according to the offset between the actual wheel center height of the target wheel and the theoretical wheel center height;

[0089] Determine the rotation amount of the theoretical coordinate system according to the offset of the actual wheel center height of the front axle wheel and the actual wheel center height of the rear axle wheel;

[0090] According to the displacement and rotation, the stored theoretical coordinate system is transformed into the actual coordinate system of the target vehicle.

[0091] S330: Determine a first coordinate of a sensor in the target vehicle in an actual coordinate system according to an actual wheel center height and an actual wheel arch height of each wheel.

[0092] Optionally, the first coordinate of the sensor in the target vehicle in the actual coordinate system is determined according to the actual wheel center height and the actual wheel arch height of each wheel, including: determining the first coordinate of the sensor in the actual coordinate system according to the height difference between the actual wheel center height and the actual wheel arch height of each wheel, and the stored theoretical installation position of the sensor relative to the wheel arch.

[0093] S340: Determine a second coordinate of the target feature point in the actual coordinate system according to the stored spatial position relationship between the target feature point and the preset position.

[0094] S350: Calibrate the sensor according to the first coordinate and the second coordinate.

[0095] Optionally, the vehicle sensor calibration method provided by an embodiment of the present invention further includes: scanning a three-dimensional image of a calibration environment, determining a spatial position relationship between a target feature point and a preset position based on the three-dimensional image, and storing the spatial position relationship.

[0096] Optionally, before receiving the actual wheel center height and the actual wheel arch height of each wheel in the target vehicle, it also includes: receiving a first control instruction, and limiting the horizontal position of each wheel of the target vehicle to a corresponding preset position according to the first control instruction.

[0097] Optionally, before receiving the actual wheel center height and the actual wheel arch height of each wheel in the target vehicle, the method further includes: receiving a second control instruction, and adjusting the position of each target according to the second control instruction.

[0098] Optionally, before receiving the actual wheel center height and the actual wheel arch height of each wheel in the target vehicle, it also includes: receiving a third control instruction, and adjusting environmental parameters according to the third control instruction; the environmental parameters include at least one of the following: light, temperature and humidity.

[0099] The vehicle sensor calibration method provided in the embodiment of the present invention can be executed by the vehicle sensor calibration system provided in the embodiment of the present invention, and each device and module in the system can execute the corresponding steps in the calibration method and produce the same beneficial effects. For technical details not described in detail, please refer to the vehicle sensor calibration system provided in the embodiment of the present invention.

[0100] Embodiment 5

[0101] Figure 4 It is a structural schematic diagram of an electronic terminal provided in Embodiment 5 of the present invention. Figure 4 A block diagram of an exemplary electronic terminal 12 suitable for use in implementing embodiments of the present invention is shown. Figure 4 The electronic terminal 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention. The device 12 is typically an electronic terminal that performs the calibration function of the vehicle sensor.

[0102] like Figure 4 As shown, the electronic terminal 12 is in the form of a general purpose computing device. The components of the electronic terminal 12 may include, but are not limited to: one or more processors or processing units 16, a memory 28, and a bus 18 connecting different components (including the memory 28 and the processing unit 16).

[0103] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0104] The electronic terminal 12 typically includes a variety of computer readable media. These media can be any available media that can be accessed by the electronic terminal 12, including volatile and non-volatile media, removable and non-removable media.

[0105] The memory 28 may include computer-readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic terminal 12 may further include other removable / non-removable, volatile / non-volatile computer storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 4 not shown, usually called a "hard drive"). Although Figure 4 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a read-only optical disk (Compact Disc-Read Only Memory, CD-ROM), a digital video disk (Digital Video Disc-Read Only Memory, DVD-ROM) or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product 40, which has a set of program modules 42, which are configured to perform the functions of various embodiments of the present invention. The program product 40 may be stored in, for example, the memory 28, and such program modules 42 include, but are not limited to, one or more application programs, other program modules, and program data, each of which or some combination may include the implementation of a network environment. The program module 42 generally performs the functions and / or methods in the embodiments described in the present invention.

[0106] The electronic terminal 12 may also communicate with one or more external devices 14 (e.g., keyboard, mouse, camera, etc. and display), one or more devices that enable a user to interact with the electronic terminal 12, and / or any device that enables the electronic terminal 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed through an input / output (I / O) interface 22. In addition, the electronic terminal 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic terminal 12 through a bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic terminal 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk arrays (Redundant Arrays of Independent Disks, RAID) methods, tape drives, and data backup storage methods.

[0107] The processor 16 executes various functional applications and data processing by running the program stored in the memory 28, for example, implementing the vehicle sensor calibration method provided in the above embodiment of the present invention, including:

[0108] Receive the actual wheel center height and the actual wheel arch height of each wheel in the target vehicle; transform the stored theoretical coordinate system into the actual coordinate system of the target vehicle according to the received actual wheel center height of each wheel; wherein the theoretical coordinate system is established based on the theoretical wheel center height and the preset position of the target wheel in the target vehicle; determine the first coordinate of the sensor in the target vehicle in the actual coordinate system according to the actual wheel center height and the actual wheel arch height of each wheel; determine the second coordinate of the target feature point in the actual coordinate system according to the spatial position relationship between the stored target feature point and the preset position; calibrate the sensor according to the first coordinate and the second coordinate.

[0109] Of course, those skilled in the art can understand that the processor can also implement the technical solution of the vehicle sensor calibration system provided in the embodiment of the present invention.

[0110] Embodiment 6

[0111] Embodiment 6 of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the calibration method of the vehicle sensor provided in the embodiment of the present invention is implemented. The method includes:

[0112] Receive the actual wheel center height and the actual wheel arch height of each wheel in the target vehicle; transform the stored theoretical coordinate system into the actual coordinate system of the target vehicle according to the received actual wheel center height of each wheel; wherein the theoretical coordinate system is established based on the theoretical wheel center height and the preset position of the target wheel in the target vehicle; determine the first coordinate of the sensor in the target vehicle in the actual coordinate system according to the actual wheel center height and the actual wheel arch height of each wheel; determine the second coordinate of the target feature point in the actual coordinate system according to the spatial position relationship between the stored target feature point and the preset position; calibrate the sensor according to the first coordinate and the second coordinate.

[0113] Of course, the computer-readable storage medium provided by the embodiment of the present invention stores a computer program which is not limited to the above system operation, but can also execute the vehicle sensor calibration system provided by the embodiment of the present invention.

[0114] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor method, method or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, 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 above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution method, method or device.

[0115] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution method, method, or device.

[0116] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0117] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0118] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A vehicle sensor calibration system, characterized in that: include: A measuring device, used to measure the actual wheel center height and the actual wheel brow height of each wheel in the target vehicle, and send the actual wheel center height and the actual wheel brow height of each wheel to the control device; The control device is used to transform the stored theoretical coordinate system into the actual coordinate system of the target vehicle according to the received actual wheel center height of each wheel; wherein the theoretical coordinate system is established based on the theoretical wheel center height and the preset position of the target wheel in the target vehicle; According to the height relationship between the actual wheel center height and the actual wheel arch height of each wheel, the coordinates of the body of the target vehicle in the actual coordinate system are determined, and according to the sensor in the target vehicle having a specified theoretical installation position relative to the body of the target vehicle, the first coordinates of the sensor in the actual coordinate system are determined with reference to the body coordinates; Determine the coordinates of the target feature point in the theoretical coordinate system according to the stored spatial position relationship between the target feature point and the preset position, and determine the second coordinates of the target feature point in the actual coordinate system according to the transformation relationship between the theoretical coordinate system and the actual coordinate system and the coordinates of the target feature point in the theoretical coordinate system; A calibration device is used to determine the third coordinates of the target feature points in the sensor's own coordinate system based on the target feature points, transform the third coordinate matrix into a fourth coordinate in the actual coordinate system based on a transformation matrix from the own coordinate system to the actual coordinate system, determine the deviation between the coordinate corresponding to the actual installation position of the sensor and the first coordinate based on the deviation between the fourth coordinate and the second coordinate, and perform installation position compensation based on the deviation between the coordinate corresponding to the actual installation position and the first coordinate to complete the calibration of the sensor.

2. The system according to claim 1, characterized in that The control device is used for: Determining the displacement of the theoretical coordinate system according to the offset between the actual wheel center height of the target wheel and the theoretical wheel center height; Determining the rotation amount of the theoretical coordinate system according to the offset of the actual wheel center height of the front axle wheel and the actual wheel center height of the rear axle wheel; According to the displacement and rotation, the stored theoretical coordinate system is transformed into the actual coordinate system of the target vehicle.

3. The system according to claim 1, characterized in that The control device is used for: The first coordinate of the sensor in the actual coordinate system is determined according to the height difference between the actual wheel center height and the actual wheel arch height of each wheel and the stored theoretical installation position of the sensor relative to the wheel arch.

4. The system according to claim 1, characterized in that Also includes: The spatial position determination device is used to scan the three-dimensional image of the calibration environment, determine the spatial position relationship between the target feature point and the preset position according to the three-dimensional image, and send the spatial position relationship to the control device so that the control device stores the spatial position relationship.

5. The system according to claim 1, characterized in that Also includes: The vehicle limiting device is used to receive the first control instruction of the control device and limit the horizontal position of each wheel of the target vehicle to a corresponding preset position according to the first control instruction.

6. The system according to claim 1, characterized in that Also includes: The target control device is used to receive the second control instruction of the control device and adjust the position of each target according to the second control instruction.

7. The system according to claim 1, characterized in that Also includes: An environmental parameter control device, used to receive a third control instruction from the control device and adjust the environmental parameter according to the third control instruction; The environmental parameters include at least one of the following: light, temperature and humidity.

8. A method for calibrating a vehicle sensor, characterized in that: include: Receive the actual wheel center height and actual wheel arch height of each wheel in the target vehicle; According to the received actual wheel center heights of the wheels, the stored theoretical coordinate system is transformed into the actual coordinate system of the target vehicle; wherein the theoretical coordinate system is established based on the theoretical wheel center heights and preset positions of the target wheels in the target vehicle; According to the height relationship between the actual wheel center height and the actual wheel arch height of each wheel, the coordinates of the body of the target vehicle in the actual coordinate system are determined, and according to the sensor in the target vehicle having a specified theoretical installation position relative to the body of the target vehicle, the first coordinates of the sensor in the actual coordinate system are determined with reference to the body coordinates; Determine the coordinates of the target feature point in the theoretical coordinate system according to the stored spatial position relationship between the target feature point and the preset position, and determine the second coordinates of the target feature point in the actual coordinate system according to the transformation relationship between the theoretical coordinate system and the actual coordinate system and the coordinates of the target feature point in the theoretical coordinate system; According to the target feature point, the third coordinate of the target feature point in the sensor's own coordinate system is determined; according to the transformation matrix from the own coordinate system to the actual coordinate system, the third coordinate matrix is ​​transformed into a fourth coordinate in the actual coordinate system; according to the deviation between the fourth coordinate and the second coordinate, the deviation between the coordinate corresponding to the actual installation position of the sensor and the first coordinate is determined; according to the deviation between the coordinate corresponding to the actual installation position and the first coordinate, installation position compensation is performed to complete the calibration of the sensor.

9. An electronic terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the vehicle sensor calibration method as claimed in claim 8 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the vehicle sensor calibration method as claimed in claim 8 is implemented.

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