Precision verification method, device and equipment for rudder wheel and radar zero offset calibration, and medium

Abstract

The application belongs to the technical field of rudder wheel and radar zero offset calibration, and discloses a precision verification method, device, equipment and medium for rudder wheel and radar zero offset calibration, which comprises the following steps: fitting an actual driving track equation of an AGV; determining a reference longitudinal coordinate of the AGV based on a global transverse coordinate of the AGV and the actual driving track equation; determining whether the zero offset calibration of the rudder wheel meets a first preset precision after determining a longitudinal coordinate offset variance and a longitudinal coordinate offset extreme difference according to the reference longitudinal coordinate and a global longitudinal coordinate; if the first preset precision is met, determining whether the zero offset calibration of the radar meets a second preset precision after determining a heading angle offset variance and a heading angle offset extreme difference based on a global heading angle of the AGV and a slope of the actual driving track equation; and if the second preset precision is met, determining that the zero offset calibration of the rudder wheel and the radar is accurate. The application does not need manual intervention, and the calibration precision verification process is efficient.

Description

Technical Field

[0001] The present invention relates to the technical field of steering wheel and radar zero bias calibration, and in particular to an accuracy verification method, device, equipment and medium for steering wheel and radar zero bias calibration. Background Art

[0002] Currently, there are two main testing methods for AGV steering wheel and radar zero-bias calibration accuracy: software algorithms and hardware tools. Using hardware tools to verify calibration accuracy requires manual intervention, making the process inflexible, cumbersome, and time-consuming, resulting in very low efficiency. Summary of the Invention

[0003] The main purpose of the present invention is to provide a method, device, equipment and medium for accuracy verification of steering wheel and radar zero bias calibration, aiming to solve the technical problem that the existing technology uses hardware tools to perform calibration accuracy verification, which requires manual intervention and leads to low efficiency.

[0004] To achieve the above object, the present invention provides a method for verifying the accuracy of steering wheel and radar zero bias calibration, the method comprising the following steps:

[0005] Fitting the actual driving trajectory equation of AGV;

[0006] Determining a reference ordinate of the AGV based on the global abscissa of the AGV and the actual driving trajectory equation;

[0007] Determining a vertical coordinate offset variance and a vertical coordinate offset range according to the reference vertical coordinate and the global vertical coordinate;

[0008] Determining whether the zero bias calibration of the steering wheel meets a first preset accuracy based on the longitudinal coordinate offset variance and the longitudinal coordinate offset range;

[0009] If the first preset accuracy is met, determining the heading angle offset variance and the heading angle offset range based on the global heading angle of the AGV and the slope of the actual driving trajectory equation;

[0010] Determining whether a zero bias calibration of the radar meets a second preset accuracy based on the heading angle offset variance and the heading angle offset range;

[0011] If the second preset accuracy is met, it is determined that the zero bias calibration of the steering wheel and the radar is accurate, and the accuracy verification result is output.

[0012] Optionally, the actual driving trajectory equation of the AGV is fitted, including:

[0013] After receiving the calibration verification start instruction, the industrial computer records the global pose data of multiple reference points of the AGV during the straight-line process to obtain a pose data set, wherein the global pose data includes the global horizontal coordinate, the global vertical coordinate and the global heading angle;

[0014] According to the posture data set, the actual driving trajectory equation of the AGV is fitted.

[0015] Optionally, judging whether the zero bias calibration of the steering wheel meets a first preset accuracy based on the longitudinal coordinate offset variance and the longitudinal coordinate offset range includes:

[0016] Determining global pose data of the first five reference points in the pose data set;

[0017] Determine a starting direction slope based on the global pose data of the first five reference points, wherein the starting direction slope is the slope of a fitted straight line of the AGV starting direction;

[0018] Based on the longitudinal coordinate offset variance, the longitudinal coordinate offset range, the slope of the actual driving trajectory equation and the starting direction slope, it is determined whether the zero bias calibration of the steering wheel meets the first preset accuracy.

[0019] Optionally, determining the starting direction slope based on the global pose data of the first five reference points includes:

[0020] Establishing a least squares function of the AGV starting direction based on the global pose data of the first five reference points and the fitting straight line of the AGV starting direction;

[0021] Based on the least squares function, a starting direction slope is determined.

[0022] Optionally, judging whether the zero bias calibration of the steering wheel meets a first preset accuracy based on the ordinate offset variance, the ordinate offset range, and the starting direction slope includes:

[0023] Based on the vertical coordinate offset variance, determining whether the vertical coordinate offset variance is less than an upper limit value of the vertical coordinate offset variance in a first preset accuracy;

[0024] Based on the vertical coordinate offset range, determining whether the vertical coordinate offset range is less than the vertical coordinate offset range upper limit value in the first preset accuracy;

[0025] Based on the starting direction slope, determining whether an absolute value of a difference between a slope of the actual driving trajectory equation and the starting direction slope is less than a deviation range of the starting direction slope in a first preset accuracy;

[0026] If the vertical coordinate offset variance is less than the vertical coordinate offset variance upper limit value, the vertical coordinate offset range is less than the vertical coordinate offset range upper limit value, and the absolute value of the difference between the slope of the actual driving trajectory equation and the starting direction slope is less than the deviation range, it is judged that the zero bias calibration of the steering wheel meets the first preset accuracy.

[0027] Optionally, before judging whether the zero bias calibration of the steering wheel meets a first preset accuracy based on the ordinate offset variance, the ordinate offset range, and the starting direction slope, the method further includes:

[0028] Determining a straight-line travel distance of the AGV from the pose dataset;

[0029] A deviation range of the starting direction slope within a first preset accuracy is determined based on the straight-line driving distance.

[0030] Optionally, fitting the actual driving trajectory equation of the AGV according to the posture data set includes:

[0031] Establishing a least squares function of the actual driving trajectory of the AGV based on the posture data set and the fitting straight line of the actual driving trajectory of the AGV;

[0032] Based on the least squares function of the actual driving trajectory of the AGV, the slope and intercept of the fitting line of the actual driving trajectory of the AGV are determined, thereby fitting the actual driving trajectory equation of the AGV.

[0033] In addition, to achieve the above-mentioned purpose, the present invention further proposes an accuracy verification device for steering wheel and radar zero bias calibration, the accuracy verification device for steering wheel and radar zero bias calibration comprising:

[0034] Fitting module, used to fit the actual driving trajectory equation of AGV;

[0035] A determination module, configured to determine a reference vertical coordinate of the AGV based on the global horizontal coordinate of the AGV and the actual driving trajectory equation;

[0036] The determining module is used to determine the vertical coordinate offset variance and the vertical coordinate offset range according to the reference vertical coordinate and the global vertical coordinate;

[0037] a judgment module, configured to judge whether the zero bias calibration of the steering wheel meets a first preset accuracy based on the longitudinal coordinate offset variance and the longitudinal coordinate offset range;

[0038] The judgment module is further configured to determine the heading angle offset variance and the heading angle offset range based on the global heading angle of the AGV and the slope of the actual driving trajectory equation when the zero bias calibration of the steering wheel meets a first preset accuracy;

[0039] The judging module is further configured to judge whether a second preset accuracy is satisfied based on the heading angle offset variance and the heading angle offset range;

[0040] The judgment module is further configured to determine that the zero bias calibration of the steering wheel and the radar is accurate if the zero bias calibration of the radar meets a second preset accuracy, and output an accuracy verification result.

[0041] In addition, to achieve the above-mentioned purpose, the present invention also proposes an accuracy verification device for steering wheel and radar zero bias calibration, and the accuracy verification device for steering wheel and radar zero bias calibration includes: a memory, a processor, and an accuracy verification program for steering wheel and radar zero bias calibration stored in the memory and runnable on the processor, and the accuracy verification program for steering wheel and radar zero bias calibration is configured to implement the steps of the accuracy verification method for steering wheel and radar zero bias calibration as described above.

[0042] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which is stored an accuracy verification program for the steering wheel and radar zero bias calibration. When the accuracy verification program for the steering wheel and radar zero bias calibration is executed by the processor, the steps of the accuracy verification method for the steering wheel and radar zero bias calibration as described above are implemented.

[0043] The present invention fits the actual driving trajectory equation of the AGV; determines the reference ordinate of the AGV based on the global horizontal coordinate of the AGV and the actual driving trajectory equation; and determines whether the zero-bias calibration of the steering wheel meets a first preset accuracy after determining the ordinate offset variance and the ordinate offset range based on the reference ordinate and the global ordinate; if the first preset accuracy is met, then determines whether the zero-bias calibration of the radar meets a second preset accuracy after determining the heading angle offset variance and the heading angle offset range based on the global heading angle of the AGV and the slope of the actual driving trajectory equation; if the second preset accuracy is met, the zero-bias calibration of the steering wheel and the radar is determined to be accurate. The present invention can simultaneously automatically verify the zero-bias calibration accuracy of the steering wheel and the radar of the AGV, without requiring human intervention during the automatic verification process, and is simple to operate and easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a structural diagram of an accuracy verification device for steering wheel and radar zero bias calibration in a hardware operating environment involved in an embodiment of the present invention;

[0045] Figure 2 Schematic diagram of the flow chart of the first embodiment of the accuracy verification method for steering wheel and radar zero bias calibration according to the present invention;

[0046] Figure 3 This is a flow chart of the implementation of the accuracy verification method for steering wheel and radar zero bias calibration of the present invention;

[0047] Figure 4 This is a schematic diagram of the accuracy verification principle of the steering wheel zero bias calibration in the accuracy verification method of the steering wheel and radar zero bias calibration of the present invention;

[0048] Figure 5 This is a schematic diagram of the radar zero bias calibration accuracy verification principle in the steering wheel and radar zero bias calibration accuracy verification method of the present invention;

[0049] Figure 6 Schematic diagram of the flow chart of the second embodiment of the accuracy verification method for steering wheel and radar zero bias calibration according to the present invention;

[0050] Figure 7 This is a structural block diagram of the first embodiment of the accuracy verification device for steering wheel and radar zero bias calibration of the present invention.

[0051] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0052] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0053] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of the accuracy verification equipment for the steering wheel and radar zero bias calibration in the hardware operating environment involved in the embodiment of the present invention.

[0054] like Figure 1 As shown, the accuracy verification device for the steering wheel and radar zero bias calibration may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0055] Those skilled in the art will understand that Figure 1The structure shown in the figure does not constitute a limitation on the accuracy verification equipment for steering wheel and radar zero bias calibration, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0056] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and an accuracy verification program for steering wheel and radar zero bias calibration.

[0057] exist Figure 1 In the accuracy verification device for steering wheel and radar zero bias calibration shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the accuracy verification device for steering wheel and radar zero bias calibration of the present invention can be set in the accuracy verification device for steering wheel and radar zero bias calibration, and the accuracy verification device for steering wheel and radar zero bias calibration calls the accuracy verification program for steering wheel and radar zero bias calibration stored in the memory 1005 through the processor 1001, and executes the accuracy verification method for steering wheel and radar zero bias calibration provided by the embodiment of the present invention.

[0058] The embodiment of the present invention provides a method for verifying the accuracy of the zero bias calibration of the steering wheel and the radar, referring to Figure 2 , Figure 2 The figure is a flow chart of a first embodiment of a method for verifying the accuracy of steering wheel and radar zero bias calibration according to the present invention.

[0059] In this embodiment, the accuracy verification method of the steering wheel and radar zero bias calibration includes the following steps:

[0060] Step S10: Fitting the actual driving trajectory equation of the AGV.

[0061] It should be noted that the execution subject of this embodiment can be a computer service device with data processing, network communication and program running functions, such as a tablet, personal computer, mobile phone, etc., or an electronic device that can realize the above functions, etc.

[0062] In one embodiment, after receiving a calibration verification start instruction, the global pose data of multiple reference points of the AGV during straight travel are recorded by an industrial computer to obtain a pose data set, wherein the global pose data includes a global horizontal coordinate, a global vertical coordinate, and a global heading angle;

[0063] According to the posture data set, the actual driving trajectory equation of the AGV is fitted.

[0064] It should be noted that the AGV mentioned in this invention is an AGV that has completed the zero-bias calibration of the steering wheel and radar. The zero-bias calibration of the steering wheel can be understood as the process of revising the theoretical steering wheel parameters based on the deviation between the actual measured steering wheel parameters and the theoretical steering wheel parameters when the AGV is controlled to move straight. The zero-bias calibration of the radar can be understood as the process of revising the theoretical radar parameters based on the deviation between the actual measured radar parameters and the theoretical radar parameters when the AGV is controlled to move straight. The above two deviations determine the accuracy of the zero-bias calibration of the steering wheel and the zero-bias calibration of the radar, respectively.

[0065] In the specific implementation, Figure 3 As shown, after the steering wheel and radar zero-bias calibration is completed, the AGV is controlled to move straight. After receiving the calibration verification start command, the industrial computer installed on the AGV can record the AGV's global pose data during the straight-line movement. Global pose data is the AGV's pose data actually monitored. That is, the industrial computer records the AGV's pose data during the straight-line movement. Because the AGV's pose data changes constantly during the straight-line movement, if the industrial computer records all the AGV's pose data during the straight-line movement, it will not only waste storage space but also increase unnecessary workload. In order to effectively reduce the workload and to be able to complete the fitting of the actual driving trajectory equation of the AGV better and faster, multiple reference points in the straight-line process of the AGV can be predetermined. The first reference point can be the position of the AGV at the current moment when the calibration verification instruction is received. After that, the global horizontal coordinate of each reference point is relative to the global horizontal coordinate of the previous reference point. The preset length can be predetermined. For example, the global horizontal coordinate of the first reference point is a, the global horizontal coordinate of the second reference point is b, and the global horizontal coordinate of the third reference point is c, and the preset length is h, then |ba|=|cb|=h. The global posture data of each reference point includes the global horizontal coordinate, global vertical coordinate and global heading angle of the AGV, among which the global vertical coordinate and the global horizontal coordinate adopt the global coordinate system XOY, that is, the earth coordinate system. The global horizontal coordinate, global vertical coordinate and global heading angle here all refer to the posture data recorded by the industrial computer, that is, the data obtained by actual measurement. For example, (x i ,y i) represents the pose data of the i-th reference point in the global coordinate system, i.e., the global horizontal and vertical coordinates. The number of reference points can also be predetermined, and the global pose data of these reference points can be recorded by an industrial computer. Each reference point corresponds to a set of global pose data. The global pose data recorded by the industrial computer are integrated to obtain a pose data set. Based on the pose data set, the actual driving trajectory equation of the AGV is fitted. For example, the least squares method, gradient descent method, or Gauss-Newton method can be used to fit the actual driving trajectory equation of the AGV.

[0066] In one embodiment, fitting the actual driving trajectory equation of the AGV based on the posture data set includes:

[0067] According to the posture data set and the fitting straight line of the actual driving trajectory of the AGV, a least squares function of the actual driving trajectory of the AGV is established; based on the least squares function of the actual driving trajectory of the AGV, the slope and intercept in the fitting straight line of the actual driving trajectory of the AGV are determined, thereby fitting the actual driving trajectory equation of the AGV.

[0068] Specifically, if Figure 4 As shown, the fitting straight line of the actual driving trajectory of AGV can be used to f :y=k f x+b f To express it, the least squares problem of the actual driving trajectory of AGV is established as Among them, is used to represent the i-th reference point, n is used to represent the number of reference points, and then the Ceres-Solver solver is used based on the pose data set to solve the line l f The slope k f and intercept b f , thereby fitting the actual driving trajectory equation of AGV.

[0069] Step S20: determining a reference vertical coordinate of the AGV based on the global horizontal coordinate of the AGV and the actual driving trajectory equation.

[0070] It should be noted that the global horizontal coordinate of the AGV mentioned here is the global horizontal coordinate of all reference points recorded by the industrial computer. The reference vertical coordinate of the AGV mentioned here is the reference vertical coordinate corresponding to the global horizontal coordinate of all reference points. The reference vertical coordinate of each reference point is the y value obtained by substituting the global horizontal coordinate into the actual driving trajectory equation. For example, the global horizontal coordinate is expressed as x. i Indicates that the reference ordinate is Said, then there is

[0071] Step S30: determining the vertical coordinate offset variance and the vertical coordinate offset range according to the reference vertical coordinate and the global vertical coordinate.

[0072] It should be noted that each reference point of the AGV corresponds to a global horizontal coordinate, a global vertical coordinate, and a reference vertical coordinate. The difference between the global horizontal coordinate and the global vertical coordinate at each reference point, i.e., the offset difference, is determined, and then the vertical coordinate offset variance and the vertical coordinate offset range are determined.

[0073] In the specific implementation, the vertical coordinate offset difference of the i-th reference point is Among them, y i Used to represent the global ordinate of the i-th reference point, Used to represent the reference ordinate of the i-th reference point, Used to represent the vertical coordinate offset difference of the i-th reference point.

[0074] In a specific implementation, the average vertical coordinate offset difference is determined based on the vertical coordinate offset difference of each reference point. Where n represents the number of reference points, i represents the i-th reference point, Used to represent the vertical coordinate offset difference of the i-th reference point.

[0075] In the specific implementation, the vertical coordinate offset variance is Among them D y represents the vertical coordinate offset variance, n represents the number of reference points, i represents the i-th reference point, Used to represent the vertical coordinate offset difference of the i-th reference point, Used to express the average vertical coordinate offset difference.

[0076] In a specific implementation, the vertical coordinate offset range represents the maximum vertical coordinate offset difference. The larger the vertical coordinate offset range, the higher the degree of deviation of the AGV from the reference position, that is, the actual driving trajectory of the AGV is not a strict straight line. For example, the vertical coordinate offset range is:

[0077]

[0078] Step S40: judging whether the zero bias calibration of the steering wheel meets a first preset accuracy based on the longitudinal coordinate offset variance and the longitudinal coordinate offset range.

[0079] It should be noted that after the AGV completes the zero-bias calibration of the steering wheel and radar, the AGV's straight-ahead state is determined based on the AGV's longitudinal offset. Furthermore, a first preset accuracy is pre-set based on the AGV's straight-ahead state and the actual accuracy requirements of the steering wheel zero-bias calibration. The first preset accuracy may include, but is not limited to, an upper limit value for the longitudinal offset variance and an upper limit value for the longitudinal offset range. When the longitudinal offset variance is less than or equal to the upper limit value for the longitudinal offset variance and the longitudinal offset range is less than or equal to the upper limit value for the longitudinal offset range, the steering wheel zero-bias calibration can be determined to meet the first preset accuracy.

[0080] In the specific implementation, R y Indicates the deviation range of the ordinate, δ y Indicates the upper limit of the vertical axis deviation range, D y represents the vertical axis deviation variance, Indicates the upper limit of the vertical coordinate deviation variance, then R is needed y ≤δ y as well as Only when the zero bias calibration of the steering wheel meets the first preset accuracy can it be determined that y ≤δ y as well as It is determined that the zero bias calibration of the steering wheel cannot meet the first preset accuracy, that is, the zero bias calibration of the steering wheel is inaccurate, and a calibration accuracy verification result indicating that the zero bias calibration of the steering wheel of the AGV is inaccurate is output.

[0081] In this embodiment, when the AGV is moving straight, only the influence of a single variable factor of the steering wheel zero offset calibration is retained, which greatly improves the accuracy of verifying the calibration precision.

[0082] Step S50: If the first preset accuracy is met, determining the heading angle offset variance and the heading angle offset range based on the global heading angle of the AGV and the slope of the actual driving trajectory equation.

[0083] It should be noted that the global heading angle of each reference point is recorded by the industrial computer.

[0084] Specifically, if Figure 5 As shown, the global heading angle of the i-th reference point is θ i Indicates that the heading angle corresponding to the slope of the actual driving trajectory equation is θ f =arctan(k f ), which represents the angle between the actual driving trajectory equation and the positive direction of the x-axis.

[0085] In a specific implementation, the heading angle offset difference of each reference point is first determined based on the global heading angle of the AGV and the slope of the actual driving trajectory equation.

[0086]

[0087] Among them, θ i represents the global heading angle of the i-th reference point, k f Represents the slope of the actual driving trajectory equation.

[0088] In a specific implementation, the average heading angle deviation is determined based on the heading angle deviation of each reference point. Where n represents the number of reference points, i represents the i-th reference point, Used to represent the heading angle deviation difference of the i-th reference point.

[0089] In the specific implementation, the heading angle offset variance is Among them D θ represents the heading angle deviation variance, n represents the number of reference points, i represents the i-th reference point, Used to represent the heading angle deviation difference of the i-th reference point, Used to represent the average heading angle deviation difference.

[0090] In a specific implementation, the vertical coordinate offset range represents the maximum vertical coordinate offset difference. The larger the vertical coordinate offset range, the higher the degree of deviation of the AGV from the reference position, that is, the actual driving trajectory of the AGV is not a strict straight line. For example, the heading angle offset range is:

[0091]

[0092] Step S60: judging whether the zero bias calibration of the radar meets a second preset accuracy based on the heading angle offset variance and the heading angle offset range.

[0093] It should be noted that after the AGV completes the zero-bias calibration of the steering wheel and radar, the AGV's straight-ahead state is determined based on the AGV's heading angle offset, and a second preset accuracy is pre-set based on the AGV's straight-ahead state and the actual accuracy requirements of the radar zero-bias calibration. The second preset accuracy may include, but is not limited to, an upper limit value for the heading angle offset variance and an upper limit value for the heading angle offset range. When the heading angle offset variance is less than or equal to the upper limit value for the heading angle offset variance and the heading angle offset range is less than or equal to the upper limit value for the heading angle offset range, it can be determined that the radar zero-bias calibration meets the second preset accuracy.

[0094] In the specific implementation, R θ Indicates the extreme deviation of heading angle, δ θ Indicates the upper limit of the heading angle deviation, D θ represents the heading angle deviation variance, Indicates the upper limit of the heading angle deviation variance, then R is needed θ ≤δ θ as well as Only when the radar zero bias calibration meets the second preset accuracy can it be determined that θ ≤δ θ as well as It is determined that the zero bias calibration of the radar cannot meet the second preset accuracy, that is, the zero bias calibration of the radar is inaccurate, and a calibration accuracy verification result indicating that the zero bias calibration of the AGV radar is inaccurate is output.

[0095] In this embodiment, when the AGV is moving straight, only the influence of a single variable factor of the radar zero bias calibration is retained, which greatly improves the accuracy of verifying the calibration precision.

[0096] Step S70: If the second preset accuracy is met, it is determined that the zero bias calibration of the steering wheel and the radar is accurate, and the accuracy verification result is output.

[0097] It should be noted that only when the first preset accuracy and the second preset accuracy are met at the same time can the zero bias calibration of the steering wheel and radar be determined to be accurate, and the accuracy verification result of the zero bias calibration of the steering wheel and radar of the AGV can be output.

[0098] The embodiment of the present invention fits the actual driving trajectory equation of the AGV; determines the reference ordinate of the AGV based on the global horizontal coordinate of the AGV and the actual driving trajectory equation; determines whether the zero bias calibration of the steering wheel meets a first preset accuracy after determining the ordinate offset variance and the ordinate offset range based on the reference ordinate and the global ordinate; if the first preset accuracy is met, determines whether the zero bias calibration of the radar meets a second preset accuracy after determining the heading angle offset variance and the heading angle offset range based on the global heading angle of the AGV and the slope of the actual driving trajectory equation; if the second preset accuracy is met, determines that the zero bias calibration of the steering wheel and the radar is accurate. The invention can automatically verify the zero bias calibration accuracy of the steering wheel and the radar of the AGV simultaneously, without human intervention in the automatic verification process, is simple to operate and easy to implement, and can also automatically analyze data according to the specific zero bias calibration accuracy requirements and output verification results.

[0099] refer to Figure 6 , Figure 6 The figure is a flow chart of a second embodiment of a method for verifying the accuracy of steering wheel and radar zero bias calibration according to the present invention.

[0100] Based on the first embodiment described above, the accuracy verification method for the steering wheel and radar zero bias calibration in this embodiment determines whether the steering wheel zero bias calibration meets the first preset accuracy based on the longitudinal coordinate offset variance and the longitudinal coordinate offset range, including:

[0101] Step S401: Determine the global pose data of the first five reference points in the pose data set.

[0102] It is certain that the number of reference points included in the pose dataset is much greater than 5. Each reference point is numbered in ascending order according to the global horizontal coordinate corresponding to the reference point.

[0103] Step S402: Determine a starting direction slope based on the global pose data of the first five reference points, wherein the starting direction slope is the slope of the fitting line of the AGV starting direction.

[0104] In one embodiment, determining the starting direction slope based on the global pose data of the first five reference points includes:

[0105] Based on the global pose data of the first five reference points and the fitting straight line of the AGV starting direction, a least square function of the AGV starting direction is established; based on the least square function, the starting direction slope is determined.

[0106] Specifically, if Figure 4 As shown, the fitting straight line of the AGV starting direction can be used to calculate the straight line l r :y=k r x+b r It is expressed that the least squares problem of the AGV starting direction is established as Among them, i is used to represent the i-th reference point, and then the Ceres-Solver solver is used based on the pose data set to solve the line l r The slope k r and intercept b r , and then determine the starting direction slope k r .

[0107] Step S403: judging whether the zero bias calibration of the steering wheel meets a first preset accuracy based on the vertical coordinate offset variance, the vertical coordinate offset range, the slope of the actual driving trajectory equation, and the starting direction slope.

[0108] In one embodiment, the determining whether the zero bias calibration of the steering wheel meets a first preset accuracy based on the ordinate offset variance, the ordinate offset range, and the starting direction slope includes:

[0109] Based on the ordinate offset variance, determine whether the ordinate offset variance is less than the upper limit value of the ordinate offset variance in the first preset accuracy; based on the ordinate offset range, determine whether the ordinate offset range is less than the upper limit value of the ordinate offset range in the first preset accuracy; based on the starting direction slope, determine whether the absolute value of the difference between the slope of the actual driving trajectory equation and the starting direction slope is less than the deviation range of the starting direction slope in the first preset accuracy; if the ordinate offset variance is less than the upper limit value of the ordinate offset variance, the ordinate offset range is less than the upper limit value of the ordinate offset range, and the absolute value of the difference between the slope of the actual driving trajectory equation and the starting direction slope is less than the deviation range, then it is judged that the zero bias calibration of the steering wheel meets the first preset accuracy.

[0110] In a specific implementation, the absolute value of the difference between the slope of the actual driving trajectory equation and the slope of the starting direction can be expressed as |k f -k r | to indicate.

[0111] In one embodiment, before determining whether the zero bias calibration of the steering wheel meets a first preset accuracy based on the ordinate offset variance, the ordinate offset range, and the starting direction slope, the method further includes:

[0112] Determine the straight-line travel distance of the AGV from the posture data set; and determine the deviation range of the starting direction slope within a first preset accuracy based on the straight-line travel distance.

[0113] In the specific implementation, the AGV steering wheel zero bias calibration accuracy requirement is that when the AGV moves straight βm, the upper limit of the vertical coordinate offset range does not exceed δ y m, the deviation range of the initial direction slope in the first preset accuracy is

[0114] In the specific implementation, R y Indicates the vertical coordinate deviation range, δ y Indicates the upper limit of the vertical axis deviation range, D y represents the vertical coordinate offset variance, Indicates the upper limit of the vertical coordinate offset variance, Indicates the deviation range, then R is needed y ≤δ y 、 as well as Only when the zero bias calibration of the steering wheel meets the first preset accuracy can it be determined that y ≤δ y 、 as well as It is determined that the zero bias calibration of the steering wheel cannot meet the first preset accuracy, that is, the zero bias calibration of the steering wheel is inaccurate, and a calibration accuracy verification result indicating that the zero bias calibration of the steering wheel of the AGV is inaccurate is output.

[0115] This embodiment also adds a judgment condition of the deviation range when judging whether the zero bias calibration of the steering wheel meets the first preset accuracy, so as to improve the accuracy of judging the zero bias calibration of the steering wheel, and further improve the accuracy verification of the AGV steering wheel and radar zero bias calibration.

[0116] In addition, an embodiment of the present invention also proposes a storage medium, on which is stored an accuracy verification program for the steering wheel and radar zero bias calibration. When the accuracy verification program for the steering wheel and radar zero bias calibration is executed by a processor, the steps of the accuracy verification method for the steering wheel and radar zero bias calibration as described above are implemented.

[0117] Reference Figure 7 , Figure 7 This is a structural block diagram of the first embodiment of the accuracy verification device for steering wheel and radar zero bias calibration of the present invention.

[0118] like Figure 7As shown, the accuracy verification device for steering wheel and radar zero bias calibration proposed in an embodiment of the present invention includes:

[0119] The fitting module 10 is used to fit the actual driving trajectory equation of the AGV;

[0120] A determination module 20 is configured to determine a reference vertical coordinate of the AGV based on the global horizontal coordinate of the AGV and the actual driving trajectory equation;

[0121] The determining module 20 is configured to determine the vertical coordinate offset variance and the vertical coordinate offset range based on the reference vertical coordinate and the global vertical coordinate;

[0122] A judgment module 30 is configured to judge whether the zero bias calibration of the steering wheel meets a first preset accuracy based on the longitudinal coordinate offset variance and the longitudinal coordinate offset range;

[0123] The judgment module 30 is further configured to determine a heading angle offset variance and a heading angle offset range based on the global heading angle of the AGV and the slope of the actual driving trajectory equation when the zero bias calibration of the steering wheel meets a first preset accuracy;

[0124] The judging module 30 is further configured to judge whether a second preset accuracy is satisfied based on the heading angle offset variance and the heading angle offset range;

[0125] The judgment module 30 is further configured to determine that the zero bias calibration of the steering wheel and the radar is accurate if the zero bias calibration of the radar meets a second preset accuracy, and output an accuracy verification result.

[0126] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any limitation on this.

[0127] This embodiment fits the actual driving trajectory equation of the AGV; determines the reference ordinate of the AGV based on the global horizontal coordinate of the AGV and the actual driving trajectory equation; determines whether the zero bias calibration of the steering wheel meets a first preset accuracy after determining the ordinate offset variance and the ordinate offset range based on the reference ordinate and the global ordinate; if the first preset accuracy is met, determines whether the zero bias calibration of the radar meets a second preset accuracy after determining the heading angle offset variance and the heading angle offset range based on the global heading angle of the AGV and the slope of the actual driving trajectory equation; if the second preset accuracy is met, determines that the zero bias calibration of the steering wheel and the radar is accurate. The zero bias calibration accuracy of the steering wheel and the radar of the AGV can be automatically verified simultaneously, without human intervention during the automatic verification process, and is simple to operate and easy to implement. In addition, automatic data analysis can be performed according to the specific zero bias calibration accuracy requirements, and verification results can be output.

[0128] In one embodiment, the fitting module 10 is further configured to:

[0129] After receiving the calibration verification start instruction, the industrial computer records the global pose data of multiple reference points of the AGV during the straight-line process to obtain a pose data set, wherein the global pose data includes the global horizontal coordinate, the global vertical coordinate and the global heading angle;

[0130] According to the posture data set, the actual driving trajectory equation of the AGV is fitted.

[0131] In one embodiment, the fitting module 10 is further configured to:

[0132] Determining global pose data of the first five reference points in the pose data set;

[0133] Determine a starting direction slope based on the global pose data of the first five reference points, wherein the starting direction slope is the slope of a fitted straight line of the AGV starting direction;

[0134] Based on the longitudinal coordinate offset variance, the longitudinal coordinate offset range, the slope of the actual driving trajectory equation and the starting direction slope, it is determined whether the zero bias calibration of the steering wheel meets the first preset accuracy.

[0135] In one embodiment, the fitting module 10 is further configured to:

[0136] Establishing a least squares function of the AGV starting direction based on the global pose data of the first five reference points and the fitting straight line of the AGV starting direction;

[0137] Based on the least squares function, a starting direction slope is determined.

[0138] In one embodiment, the fitting module 10 is further configured to:

[0139] Establishing a least squares function of the actual driving trajectory of the AGV based on the posture data set and the fitting straight line of the actual driving trajectory of the AGV;

[0140] Based on the least squares function of the actual driving trajectory of the AGV, the slope and intercept of the fitting line of the actual driving trajectory of the AGV are determined, thereby fitting the actual driving trajectory equation of the AGV.

[0141] In one embodiment, the judgment module 30 is further configured to:

[0142] Based on the vertical coordinate offset variance, determining whether the vertical coordinate offset variance is less than an upper limit value of the vertical coordinate offset variance in a first preset accuracy;

[0143] Based on the vertical coordinate offset range, determining whether the vertical coordinate offset range is less than the vertical coordinate offset range upper limit value in the first preset accuracy;

[0144] Based on the starting direction slope, determining whether an absolute value of a difference between a slope of the actual driving trajectory equation and the starting direction slope is less than a deviation range of the starting direction slope in a first preset accuracy;

[0145] If the vertical coordinate offset variance is less than the vertical coordinate offset variance upper limit value, the vertical coordinate offset range is less than the vertical coordinate offset range upper limit value, and the absolute value of the difference between the slope of the actual driving trajectory equation and the starting direction slope is less than the deviation range, it is judged that the zero bias calibration of the steering wheel meets the first preset accuracy.

[0146] In one embodiment, the judgment module 30 is further configured to:

[0147] Determining a straight-line travel distance of the AGV from the pose dataset;

[0148] A deviation range of the starting direction slope within a first preset accuracy is determined based on the straight-line driving distance.

[0149] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of the embodiment scheme, and no limitation is made here.

[0150] In addition, for technical details not fully described in this embodiment, please refer to the accuracy verification method of steering wheel and radar zero bias calibration provided in any embodiment of the present invention, and will not be repeated here.

[0151] In addition, it should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0152] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0153] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, or of course by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0154] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for verifying the accuracy of steering wheel and radar zero bias calibration, characterized in that: include: Fitting the actual driving trajectory equation of AGV; Determining a reference ordinate of the AGV based on the global abscissa of the AGV and the actual driving trajectory equation; Determining a vertical coordinate offset variance and a vertical coordinate offset range according to the reference vertical coordinate and the global vertical coordinate; Determining whether the zero bias calibration of the steering wheel meets a first preset accuracy based on the longitudinal coordinate offset variance and the longitudinal coordinate offset range; If the first preset accuracy is met, determining the heading angle offset variance and the heading angle offset range based on the global heading angle of the AGV and the slope of the actual driving trajectory equation; Determining whether a zero bias calibration of the radar meets a second preset accuracy based on the heading angle offset variance and the heading angle offset range; If the second preset accuracy is met, it is determined that the zero bias calibration of the steering wheel and the radar is accurate, and an accuracy verification result is output; The determining whether the zero bias calibration of the steering wheel meets a first preset accuracy based on the longitudinal coordinate offset variance and the longitudinal coordinate offset range includes: Determine the global pose data of the first five reference points in the pose dataset; Determine a starting direction slope based on the global pose data of the first five reference points, wherein the starting direction slope is the slope of a fitted straight line of the AGV starting direction; Based on the longitudinal coordinate offset variance, the longitudinal coordinate offset range, the slope of the actual driving trajectory equation and the starting direction slope, it is determined whether the zero bias calibration of the steering wheel meets the first preset accuracy.

2. The method according to claim 1, wherein The actual driving trajectory equation of the AGV is fitted, including: After receiving the calibration verification start instruction, the industrial computer records the global pose data of multiple reference points of the AGV during the straight-line process to obtain a pose data set, wherein the global pose data includes the global horizontal coordinate, the global vertical coordinate and the global heading angle; According to the posture data set, the actual driving trajectory equation of the AGV is fitted.

3. The method according to claim 1, wherein The determining of the starting direction slope based on the global pose data of the first five reference points includes: Establishing a least squares function of the AGV starting direction based on the global pose data of the first five reference points and the fitting straight line of the AGV starting direction; Based on the least squares function, a starting direction slope is determined.

4. The method according to claim 3, wherein The determining whether the zero bias calibration of the steering wheel meets a first preset accuracy based on the longitudinal coordinate offset variance, the longitudinal coordinate offset range, and the starting direction slope includes: Based on the vertical coordinate offset variance, determining whether the vertical coordinate offset variance is less than an upper limit value of the vertical coordinate offset variance in a first preset accuracy; Based on the vertical coordinate offset range, determining whether the vertical coordinate offset range is less than the vertical coordinate offset range upper limit value in the first preset accuracy; Based on the starting direction slope, determining whether an absolute value of a difference between a slope of the actual driving trajectory equation and the starting direction slope is less than a deviation range of the starting direction slope in a first preset accuracy; If the vertical coordinate offset variance is less than the vertical coordinate offset variance upper limit value, the vertical coordinate offset range is less than the vertical coordinate offset range upper limit value, and the absolute value of the difference between the slope of the actual driving trajectory equation and the starting direction slope is less than the deviation range, it is judged that the zero bias calibration of the steering wheel meets the first preset accuracy.

5. The method according to claim 4, wherein Before judging whether the zero bias calibration of the steering wheel meets the first preset accuracy based on the ordinate offset variance, the ordinate offset range, and the starting direction slope, the method further includes: Determining a straight-line travel distance of the AGV from the pose dataset; A deviation range of the starting direction slope within a first preset accuracy is determined based on the straight-line driving distance.

6. The method according to claim 2, wherein The actual driving trajectory equation of the AGV is fitted according to the posture data set, including: Establishing a least squares function of the actual driving trajectory of the AGV based on the posture data set and the fitting straight line of the actual driving trajectory of the AGV; Based on the least squares function of the actual driving trajectory of the AGV, the slope and intercept of the fitting line of the actual driving trajectory of the AGV are determined, thereby fitting the actual driving trajectory equation of the AGV.

7. A device for verifying the accuracy of steering wheel and radar zero bias calibration, characterized in that: include: Fitting module, used to fit the actual driving trajectory equation of AGV; A determination module, configured to determine a reference vertical coordinate of the AGV based on the global horizontal coordinate of the AGV and the actual driving trajectory equation; The determining module is used to determine the vertical coordinate offset variance and the vertical coordinate offset range according to the reference vertical coordinate and the global vertical coordinate; a judgment module, configured to judge whether the zero bias calibration of the steering wheel meets a first preset accuracy based on the longitudinal coordinate offset variance and the longitudinal coordinate offset range; The judgment module is further configured to determine the heading angle offset variance and the heading angle offset range based on the global heading angle of the AGV and the slope of the actual driving trajectory equation when the zero bias calibration of the steering wheel meets a first preset accuracy; The judging module is further configured to judge whether a second preset accuracy is satisfied based on the heading angle offset variance and the heading angle offset range; The judgment module is further configured to determine that the zero bias calibration of the steering wheel and the radar is accurate if the zero bias calibration of the radar meets a second preset accuracy, and output an accuracy verification result; The judgment module is further configured to: Determine the global pose data of the first five reference points in the pose dataset; Determine a starting direction slope based on the global pose data of the first five reference points, wherein the starting direction slope is the slope of a fitted straight line of the AGV starting direction; Based on the longitudinal coordinate offset variance, the longitudinal coordinate offset range, the slope of the actual driving trajectory equation and the starting direction slope, it is determined whether the zero bias calibration of the steering wheel meets the first preset accuracy.

8. A precision verification device for steering wheel and radar zero bias calibration, characterized in that: The device includes: a memory, a processor, and an accuracy verification program for steering wheel and radar zero bias calibration stored in the memory and runnable on the processor. The accuracy verification program for steering wheel and radar zero bias calibration is configured to implement the steps of the accuracy verification method for steering wheel and radar zero bias calibration as described in any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores an accuracy verification program for the steering wheel and radar zero bias calibration. When the accuracy verification program for the steering wheel and radar zero bias calibration is executed by the processor, the steps of the accuracy verification method for the steering wheel and radar zero bias calibration as described in any one of claims 1 to 6 are implemented.

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