Calibration method and device of roadside unit, storage medium and electronic device

Abstract

The application discloses a method and device for calibrating a roadside unit, a storage medium and an electronic device, wherein the method comprises: in the process of calibrating the roadside unit, acquiring first short-range data information sent by a target vehicle-mounted unit, wherein the target vehicle-mounted unit is a vehicle-mounted unit located in the communication range of the roadside unit and used for assisting the roadside unit in calibration; determining a first channel delay parameter of the roadside unit according to the first short-range data information; in the case that the first channel delay parameter is valid, determining a first parameter difference between the first channel delay parameter and a second channel delay parameter saved by the roadside unit; and in the case that the first parameter difference is located outside a first threshold range, updating the saved second channel delay parameter to the first channel delay parameter. Through the application, the problem of low calibration efficiency caused by manual calibration and calibration in the related art calibration method of the roadside unit is solved.

Description

Technical Field

[0001] This application relates to the field of intelligent transportation technology, and more specifically, to a calibration method and apparatus for roadside units, a storage medium, and an electronic device. Background Technology

[0002] The ETC (Electronic Toll Collection) industry is developing rapidly. By using Roadside Units (RSUs) to obtain the location of on-board electronic tags in real time and controlling microwave beams to track the on-board electronic tags, it is possible to effectively solve problems such as adjacent lane interference and following vehicle interference, thereby improving the transaction success rate of the ETC system.

[0003] However, the positioning function of the current ETC roadside unit requires manual calibration of the delay parameters of each channel of the positioning module before it can be used normally. Moreover, after running for a period of time, due to the aging of equipment components and changes in the external environment, the positioning system also needs to be manually calibrated.

[0004] It is evident that the calibration methods for roadside units in related technologies suffer from low calibration efficiency due to the need for manual calibration and adjustment. Summary of the Invention

[0005] This application provides a calibration method and apparatus, storage medium and electronic device for roadside units, to at least solve the problem of low calibration efficiency caused by the need for manual calibration and adjustment in the calibration methods of roadside units in the related art.

[0006] According to one aspect of the embodiments of this application, a calibration method for a roadside unit is provided, comprising: during the calibration of the roadside unit, acquiring first short-range data information sent by a target vehicle-mounted unit, wherein the target vehicle-mounted unit is a vehicle-mounted unit located within the communication range of the roadside unit and used to assist the roadside unit in calibration; determining a first channel delay parameter of the roadside unit based on the first short-range data information; if the first channel delay parameter is valid, determining a first parameter difference between the first channel delay parameter and a second channel delay parameter stored by the roadside unit; if the first parameter difference is outside a first threshold range, updating the stored second channel delay parameter to the first channel delay parameter.

[0007] According to another aspect of the embodiments of this application, a calibration device for a roadside unit is also provided, comprising: an acquisition unit, configured to acquire first short-range data information sent by a target vehicle-mounted unit during the calibration of the roadside unit, wherein the target vehicle-mounted unit is a vehicle-mounted unit located within the communication range of the roadside unit and used to assist the roadside unit in calibration; a first determination unit, configured to determine a first channel delay parameter of the roadside unit based on the first short-range data information; a second determination unit, configured to determine a first parameter difference between the first channel delay parameter and a second channel delay parameter stored by the roadside unit when the first channel delay parameter is valid; and an update unit, configured to update the stored second channel delay parameter to the first channel delay parameter when the first parameter difference is outside a first threshold range.

[0008] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer program, and the computer program is configured to execute the above-described calibration method for the roadside unit when it is run.

[0009] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the above-described roadside unit calibration method through the computer program.

[0010] In this embodiment, a method combining data calibration sent by the vehicle-mounted unit and calibration of the roadside unit's channel delay parameters is adopted. During the calibration of the roadside unit, first short-range data information sent by the target vehicle-mounted unit is obtained. The target vehicle-mounted unit is a vehicle-mounted unit located within the communication range of the roadside unit and used to assist in the calibration of the roadside unit. Based on the first short-range data information, a first channel delay parameter of the roadside unit is determined. If the first channel delay parameter is valid, a first parameter difference is determined between the first channel delay parameter and the second channel delay parameter stored by the roadside unit. If the first parameter difference is outside a first threshold range, the stored second channel delay parameter is updated to the first channel delay parameter. The roadside unit (LSU) can calculate the corresponding channel delay parameters based on the short-range data information received from the onboard unit. When the calculated channel delay parameters are determined to be valid (i.e., consistent with the current situation), they can be used as the calibration result of the LSU. Furthermore, if the LSU already has a channel delay parameter, the calculated parameter can be compared with the existing parameter to complete the calibration. This allows for automatic calibration and adjustment of the equipment, improving calibration efficiency and solving the problem of low calibration efficiency caused by manual calibration and adjustment in related technologies. Attached Figure Description

[0011] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the hardware environment for an optional roadside unit calibration method according to an embodiment of this application;

[0014] Figure 2 This is a schematic flowchart of an optional roadside unit calibration method according to an embodiment of this application;

[0015] Figure 3 This is a schematic diagram of an optional roadside unit calibration method according to an embodiment of this application;

[0016] Figure 4 This is a structural block diagram of an optional text data transmission device according to an embodiment of this application;

[0017] Figure 5 This is a structural block diagram of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0019] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0020] According to one aspect of the embodiments of this application, a calibration method for roadside units is provided. Optionally, in this embodiment, the above-described calibration method for roadside units can be applied to, for example... Figure 1 The hardware environment shown includes the vehicle networking unit 102 and the server 104. For example... Figure 1 As shown, server 104 connects to vehicle networking unit 102 via a network and can set up a database on the server or independently to provide data storage services for server 104. Here, vehicle networking unit 102 includes roadside units and vehicle-mounted units.

[0021] The aforementioned network may include, but is not limited to, at least one of the following: wired network, wireless network. The aforementioned wired network may include, but is not limited to, at least one of the following: wide area network, metropolitan area network, local area network. The aforementioned wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity), Bluetooth.

[0022] The roadside unit calibration method of this application embodiment can be executed by the roadside unit in the vehicle-to-everything (V2X) unit 102, by the server 104, or by both the server 104 and the V2X unit 102. Taking the execution of the roadside unit calibration method of this embodiment by a roadside unit (one type of V2X unit 102) as an example... Figure 2 This is a schematic flowchart of an optional roadside unit calibration method according to an embodiment of this application, as shown below. Figure 2 As shown, the process of this method may include the following steps:

[0023] Step S202: During the calibration of the roadside unit, the first short-range data information sent by the target vehicle-mounted unit is obtained, wherein the target vehicle-mounted unit is a vehicle-mounted unit located within the communication range of the roadside unit and used to assist the roadside unit in calibration.

[0024] The roadside unit calibration method in this embodiment can be applied to scenarios involving the calibration of the positioning module of roadside units in an ETC system. The aforementioned ETC system may include modules such as transaction process, toll calculation, vehicle queue management, vehicle information management, and vehicle-to-machine interaction management. Through microwave communication between the roadside unit (RSU) installed at the toll station and the onboard unit (OBU) in the vehicle, it enables verification of the toll payer's identity and automatic toll payment. The onboard unit (OBU) can be an onboard electronic tag installed on the vehicle's windshield, serving as an electronic communication device between the vehicle and the roadside unit. The roadside unit (RSU) may have positioning capabilities, enabling it to acquire the real-time location of the onboard unit and control microwave beam tracking of the onboard unit.

[0025] Currently, Electronic Toll Collection (ETC) systems are widely used in tollbooth systems at highways and parking lots, replacing manual toll collection, improving the driving experience, reducing the workload of toll collectors, and effectively alleviating congestion at toll booths. However, the most significant challenge facing ETC systems is transaction success rate, and issues such as adjacent lane interference and following vehicle interference are currently the primary factors affecting this success rate.

[0026] Roadside units (RSUs) with positioning capabilities can effectively address issues such as adjacent lane interference and following interference by acquiring the real-time location of onboard units, thus improving the transaction success rate of the ETC system. However, the positioning function of current ETC RSUs requires manual pre-calibration of each channel of the positioning module to ensure normal operation. Furthermore, due to long-term operation, aging of equipment components and changes in the external environment can alter the delay parameters of each channel of the positioning module, affecting the DOA (Direction of Arrival) angle calculation and ultimately degrading the positioning performance of the ETC RSU. Therefore, regular manual calibration is necessary during the use of RSUs to ensure that positioning performance meets application requirements. Consequently, existing ETC RSUs require significant manpower and time investment before and after use for calibration. Moreover, manual calibration cannot guarantee accuracy, potentially leading to calibration errors, equipment instability, and ETC toll transaction failures.

[0027] Considering that the location calculation of ETC can be achieved by combining channel delay parameters with the DOA algorithm to determine the position of the on-board unit, in order to at least solve some of the above problems, this embodiment can achieve the calibration and standardization of the roadside unit based on the determination and correction of the initial channel delay parameters of the roadside unit. The roadside unit may include a positioning module, an angular motion detection module, and a central control module. The current channel delay parameters of the roadside unit are determined based on the short-range data received from the on-board unit to complete the calibration of the roadside unit. Simultaneously, by determining the difference between the calculated channel delay parameters and the channel delay parameters already saved by the roadside unit, it can be determined whether the channel delay parameters need to be updated, thereby completing the calibration of the roadside unit and realizing the self-calibration function of the roadside unit positioning system. This improves the stability of equipment operation, thereby increasing the transaction success rate and reducing labor and time costs. It should be noted that in this embodiment, the calibration and standardization of the roadside unit are uniformly referred to as calibration.

[0028] In this embodiment, during the calibration of the roadside unit, first short-range data information transmitted by the target vehicle-mounted unit can be acquired. Here, the target vehicle-mounted unit is a vehicle-mounted unit located within the communication range of the roadside unit and used to assist the roadside unit in calibration. The first short-range data information can be DSRC (Dedicated Short Range Communication) data information transmitted by the target vehicle-mounted unit. The first short-range data information transmitted by the target vehicle-mounted unit can be acquired by receiving the first short-range data information transmitted by the target vehicle-mounted unit through the antenna array in the positioning module of the roadside unit. The roadside unit can have multiple antenna arrays.

[0029] Step S204: Determine the first channel delay parameter of the roadside unit based on the first short-range data information.

[0030] In this embodiment, the first channel delay parameter of the roadside unit can be determined based on the first short-range data information. Here, the first channel delay parameter can be the channel delay parameter of the roadside unit in the current state, or it can be determined based on the short-range data information received by each antenna array of the roadside unit. Optionally, the first channel delay parameter can be determined based on the difference in amplitude and phase characteristic parameters of the short-range data information received by each antenna array of the roadside unit. The first short-range data information can include the short-range data information received by each antenna array.

[0031] Step S206: If the first channel delay parameter is valid, determine the first parameter difference between the first channel delay parameter and the second channel delay parameter stored in the roadside unit.

[0032] To avoid errors in the calibration or adjustment of roadside units due to incorrect calculation of the first channel delay parameter, the validity of the first channel delay parameter can be verified after it is determined.

[0033] Optionally, the validity of the first channel delay parameter can be verified by using the first channel delay parameter to calculate the position of the target vehicle unit, and comparing the calculation result with the position of the target vehicle unit determined by other means. If the two positions are not significantly different, the first channel delay parameter can be considered valid.

[0034] If the first channel delay parameter is valid, and the roadside unit is being calibrated for the first time, the first channel delay parameter can be directly used as the initial channel delay parameter of the roadside unit to assist the roadside unit in locating the vehicle-mounted equipment within the communication range during actual operation.

[0035] In this embodiment, if the roadside unit is not being calibrated for the first time and the roadside unit has already stored the second channel delay parameter before the first channel delay parameter is determined, then, if the first channel delay parameter is valid, the first parameter difference between the first channel delay parameter and the second channel delay parameter stored by the roadside unit can be determined.

[0036] Optionally, the channel delay parameter of the roadside unit can be determined based on the difference of the first parameter to determine whether it needs to be updated to the first channel delay parameter, thereby completing the calibration of the roadside unit.

[0037] Step S208: If the difference in the first parameter is outside the range of the first threshold, update the saved second channel delay parameter to the first channel delay parameter.

[0038] In this embodiment, a first threshold range can be preset to determine whether the channel delay parameters of the roadside unit need to be updated. If the difference between the first parameters is outside the first threshold range, the saved second channel delay parameters can be updated to the first channel delay parameters.

[0039] Through steps S202 to S208 above, during the calibration of the roadside unit, first short-range data information sent by the target vehicle-mounted unit is acquired. The target vehicle-mounted unit is a vehicle-mounted unit located within the communication range of the roadside unit and used to assist in the calibration of the roadside unit. Based on the first short-range data information, a first channel delay parameter of the roadside unit is determined. If the first channel delay parameter is valid, a first parameter difference is determined between the first channel delay parameter and the second channel delay parameter stored by the roadside unit. If the first parameter difference is outside a first threshold range, the stored second channel delay parameter is updated to the first channel delay parameter. This solves the problem of low calibration efficiency caused by the need for manual calibration and adjustment in the calibration methods of roadside units in related technologies, and improves calibration efficiency.

[0040] In one exemplary embodiment, before acquiring the first short-range data information transmitted by the target vehicle unit, the method further includes:

[0041] S11. Based on the installation height of the roadside unit relative to the candidate vehicle-mounted unit and the installation angle of the roadside unit, determine the straight-line distance between the roadside unit and the candidate vehicle-mounted unit to obtain the first reference distance;

[0042] S12, send the second short-range data information to the candidate vehicle unit, wherein the second short-range data information is used to trigger the ranging module on the candidate vehicle unit to measure the straight-line distance between the candidate vehicle unit and the roadside unit;

[0043] S13, receive the second reference distance sent by the candidate vehicle unit in response to the received second short-range data information;

[0044] S14, if the distance difference between the first reference distance and the second reference distance is within the range of the second threshold, the candidate vehicle unit is determined as the target vehicle unit.

[0045] To ensure that the received first short-range data information from the target vehicle-mounted unit is complete and accurate, thereby improving the accuracy of the first channel delay parameter calculation, in this embodiment, the selection of the target vehicle-mounted unit can be determined based on whether the straight-line distance between the roadside unit and the vehicle-mounted unit calculated by the roadside unit is consistent with the straight-line distance between the roadside unit and the vehicle-mounted unit calculated by the target vehicle-mounted unit.

[0046] In this embodiment, the straight-line distance between the roadside unit and the candidate vehicle-mounted unit can be determined based on the installation height of the roadside unit relative to the candidate vehicle-mounted unit and the installation angle of the roadside unit, thus obtaining a first reference distance. Simultaneously, a second short-range data message can be sent to the candidate vehicle-mounted unit. Here, the second short-range data message can be used to trigger the ranging module on the candidate vehicle-mounted unit to measure the straight-line distance between the candidate vehicle-mounted unit and the roadside unit; it can be DSRC data message.

[0047] Optionally, the candidate vehicle-mounted unit may be equipped with a ranging module, which can calculate the straight-line distance to the roadside unit in real time and feed it back to the roadside unit.

[0048] In this embodiment, the roadside unit can receive a second reference distance sent by the candidate vehicle-mounted unit in response to the received second short-range data information. Here, the second reference distance can be sent by the vehicle-mounted unit to the roadside unit in the form of sending DSRC information.

[0049] By using a pre-defined second threshold range, it can be determined whether the first reference distance and the second reference distance are consistent (i.e., the distance difference between the first reference distance and the second reference distance is within the second threshold range). If the distance difference between the first reference distance and the second reference distance is within the second threshold range, the candidate vehicle unit can be identified as the target vehicle unit. Here, the second threshold range can be a pre-defined threshold range, and may differ from the value of the aforementioned first threshold range.

[0050] For example, such as Figure 3As shown, a coordinate system is established with the projection of the roadside unit onto the lane as point O, and the Y-axis as the direction opposite to the vehicle's travel direction, the X-axis as the direction perpendicular to the vehicle's travel direction on the horizontal plane, and the Z-axis as the direction projected onto the roadside unit. The point on the Z-axis corresponding to the vehicle-mounted unit in the above coordinate system is designated as point O1. Using point O1 as the origin, X' and Y' axes parallel to the X and Y axes are drawn to establish another coordinate system similar to the above coordinate system. The main control module of the roadside unit can calculate the straight-line distance from the roadside unit to the vehicle-mounted unit OBU based on the installation angle α of the roadside unit and the installation height h1 of the roadside unit's antenna relative to the vehicle-mounted unit (distance from the antenna center to O1), denoted as the first distance H1 (distance from the antenna center to the OBU), and simultaneously send DSRC information to the vehicle-mounted unit OBU. After receiving the DSRC information, the On-Board Unit (OBU) activates its own ranging module to calculate the straight-line distance from the OBU to the roadside unit in real time, denoted as the second distance H2. The OBU then sends the acquired second distance H2 to the roadside unit's central control module via the DSRC information. The central control module of the roadside unit compares the second distance H2 with its own first distance H1 and a preset second threshold range. If the distance matches the second threshold range, it indicates that this OBU is the only calibrated vehicle for the roadside unit. If not, it selects another OBU and repeats the above steps until the roadside unit can no longer receive DSRC information from any OBU.

[0051] In this embodiment, the target vehicle unit is determined by comparing the straight-line distances between the roadside unit and the vehicle unit measured by the roadside unit and the vehicle unit. This ensures the uniqueness of the target vehicle unit and improves the accuracy of calibration.

[0052] In an exemplary embodiment, determining the first channel delay parameter of the roadside unit based on first short-range data information includes:

[0053] S21. Based on the short-range data information received by each of the transverse antenna arrays in a set of transverse antenna arrays of the roadside unit, obtain the amplitude and phase characteristic parameters of each transverse antenna array.

[0054] S22, based on the short-range data information received by each longitudinal antenna array in a set of longitudinal antenna arrays of the roadside unit, obtain the amplitude and phase characteristic parameters of each longitudinal antenna array;

[0055] S23, Based on the short-range data information received by the auxiliary antenna array, obtain the reference amplitude and phase characteristic parameters of the auxiliary antenna array;

[0056] S24. Determine the lateral channel delay parameters of the roadside unit based on the amplitude and phase characteristic parameters of each lateral antenna array and the reference amplitude and phase characteristic parameters.

[0057] S25. Determine the longitudinal channel delay parameters of the roadside unit based on the amplitude and phase characteristic parameters of each longitudinal antenna array and the reference amplitude and phase characteristic parameters.

[0058] The first channel delay parameters include horizontal channel delay parameters and vertical channel delay parameters.

[0059] When determining the first channel delay parameter, since the first channel delay parameter can include the horizontal channel delay parameter and the vertical channel delay parameter, the horizontal channel delay parameter and the vertical channel delay parameter can be determined separately, and then the horizontal channel delay parameter and the vertical channel delay parameter can be combined into the first channel delay parameter.

[0060] In this embodiment, the antenna array of the roadside unit can consist of a set of lateral antenna arrays, a set of longitudinal antenna arrays, and a set of auxiliary antenna arrays. Here, the values ​​received by the auxiliary antenna arrays can be used to assist in obtaining the lateral channel delay parameters and the longitudinal channel delay parameters.

[0061] Based on the short-range data received by each of the transverse antenna arrays in a roadside unit, the amplitude and phase characteristic parameters of each transverse antenna array can be obtained. Similarly, based on the short-range data received by each of the longitudinal antenna arrays in a roadside unit, the amplitude and phase characteristic parameters of each longitudinal antenna array can be obtained. Finally, based on the short-range data received by the auxiliary antenna array, the reference amplitude and phase characteristic parameters of the auxiliary antenna array can be obtained.

[0062] Once the above amplitude and phase characteristic parameters are obtained, the lateral channel delay parameters of the roadside unit can be determined based on the amplitude and phase characteristic parameters of each lateral antenna array and the reference amplitude and phase characteristic parameters. At the same time, the longitudinal channel delay parameters of the roadside unit can be determined based on the amplitude and phase characteristic parameters of each longitudinal antenna array and the reference amplitude and phase characteristic parameters.

[0063] For example, the main control module of the roadside unit, based on the DSRC information received from the on-board unit (OBU), instructs the positioning module to calculate the channel delay parameters according to the DSRC information. After receiving the DSRC information, each lateral antenna array in the roadside unit's positioning module obtains its first phase characteristic parameter. Similarly, each longitudinal antenna array in the roadside unit obtains its second phase characteristic parameter, and the auxiliary antenna array in the roadside unit obtains its third phase characteristic parameter. Comparing the first and third phase characteristic parameters of each lateral antenna array yields the lateral channel delay parameter R_Rsu1_X, and comparing the second and third phase characteristic parameters of each longitudinal antenna array yields the longitudinal channel delay parameter R_Rsu1_Y. R_Rsu1_X and R_Rsu1_Y together constitute the channel delay parameter R_Rsu1.

[0064] By determining the lateral channel delay parameters and the longitudinal channel delay parameters separately in this embodiment, the accuracy of the channel delay parameters can be improved, thereby improving the accuracy of roadside unit positioning.

[0065] In an exemplary embodiment, after determining the first channel delay parameter of the roadside unit based on the first short-range data information, the above method further includes:

[0066] S31, locate the target vehicle unit according to the first channel delay parameter to obtain the first target position of the target vehicle unit;

[0067] S32, determine the second target position of the target vehicle unit based on the installation height of the roadside unit relative to the target vehicle unit and the installation angle of the roadside unit;

[0068] S33, if the position difference between the first target position and the second target position is within the range of the third threshold, the first channel delay parameter is determined to be valid;

[0069] S34, if the position difference between the first target position and the second target position is outside the range of the third threshold, determine that the first channel delay parameter is invalid.

[0070] The validity of the first channel delay parameter of the roadside unit can be determined by comparing the position of the target vehicle unit measured by the roadside unit with the position of the target vehicle unit calculated using the first channel delay parameter.

[0071] In this embodiment, the target vehicle-mounted unit can be located based on the first channel delay parameter to obtain the first target position of the target vehicle-mounted unit. Simultaneously, the second target position of the target vehicle-mounted unit can be determined based on the installation height of the roadside unit relative to the target vehicle-mounted unit and the installation angle of the roadside unit. Here, the first target position and the second target position can both be the positions of the target vehicle-mounted unit relative to the roadside unit.

[0072] The position difference between the first target position and the second target position is calculated. If the position difference between the first target position and the second target position is within a third threshold range, the first channel delay parameter can be determined to be valid. If the position difference between the first target position and the second target position is outside the third threshold range, the first channel delay parameter can be determined to be invalid. Here, the third threshold range can be a pre-set threshold range, and can be different from the values ​​of the aforementioned first threshold range and second threshold range.

[0073] In this embodiment, the position of the target vehicle-mounted unit measured by the roadside unit and the position of the target vehicle-mounted unit calculated using the first channel delay parameter are used to determine whether the first channel delay parameter is effective, which can improve the accuracy of the calibration of the first channel delay parameter.

[0074] In an exemplary embodiment, the first target position includes a first lateral position and a first longitudinal position; determining the second target position of the target vehicle-mounted unit based on the installation height of the roadside unit relative to the target vehicle-mounted unit and the installation angle of the roadside unit includes:

[0075] S41, determine the second longitudinal position of the target vehicle unit based on the third reference distance and the installation angle of the roadside unit, wherein the third reference distance is the straight-line distance between the roadside unit and the target vehicle unit, determined based on the installation height of the roadside unit relative to the target vehicle unit and the installation angle of the roadside unit;

[0076] The second target position includes a pre-defined second horizontal coordinate and a second vertical position.

[0077] Since the line connecting the target vehicle-mounted unit and the roadside unit on the horizontal plane may not be parallel to the lane direction, in this embodiment, the first target position may include a first lateral position and a first longitudinal position, and the second target position may include a pre-set second lateral coordinate and a second longitudinal position. Here, the second longitudinal position may be calculated by the roadside unit, and the second lateral coordinate may be pre-set according to the lane width.

[0078] Optionally, considering that roadside units are generally located above the middle of the lane, in order to avoid the calibrated vehicle corresponding to the target vehicle unit being a vehicle in the adjacent lane at the same longitudinal position, the first lateral coordinate can be set to any value less than half the actual lane width.

[0079] When calculating the second longitudinal position, the second longitudinal position of the target vehicle-mounted unit can be determined based on the third reference distance and the installation angle of the roadside unit. Here, the third reference distance can be the straight-line distance between the roadside unit and the target vehicle-mounted unit (i.e., the aforementioned first reference distance), determined based on the installation height of the roadside unit relative to the target vehicle-mounted unit and the installation angle of the roadside unit.

[0080] For example, such as Figure 3 As shown, the roadside unit calculates the straight-line distance (i.e., the first distance H1) from the roadside unit to the on-board unit (OBU) based on the installation height of the roadside unit's antenna relative to the on-board unit and the installation angle α detected by the angular motion detection module. Based on the first distance H1 and the installation angle α detected by the angular motion detection module, the actual longitudinal position Y'1 of the OBU is calculated as H1*Sin(α). Simultaneously, based on the determined channel delay parameters and the DOA algorithm, the current actual position (X'2, Y'2) of the OBU is calculated. The longitudinal positions Y'1 and Y'2 are compared with a preset third threshold. If the preset threshold range is met, the longitudinal position meets the requirements. Simultaneously, the lateral position X'2 is compared with the lateral parameter X1 pre-set in the roadside unit (this parameter is set according to the actual lane width and can be any value less than half the actual lane width). If the preset threshold range is met, the lateral position meets the requirements. If both the longitudinal and lateral requirements are met, the calculated channel delay parameters are considered valid; otherwise, other on-board units are selected, and the above steps are repeated.

[0081] By dividing the target position of the target vehicle unit into longitudinal position and lateral position in this embodiment, the accuracy of determining the effective delay parameters of the first channel can be improved.

[0082] In an exemplary embodiment, after determining the first parameter difference between the first channel delay parameter and the second channel delay parameter stored in the roadside unit, the method further includes:

[0083] S51, if the difference in the first parameter is within the range of the first threshold, retain the saved second channel delay parameter and end the calibration process of the roadside unit.

[0084] In this embodiment, after determining the first parameter difference between the first channel delay parameter and the second channel delay parameter stored in the roadside unit, if the first parameter difference is within the range of the first threshold, the stored second channel delay parameter can be maintained and the calibration process of the roadside unit can be ended.

[0085] For example, taking the first channel delay parameter as the corrected channel delay parameter and the second channel delay parameter as the initial channel delay parameter, the difference between the corrected channel delay parameter obtained from the self-calibration calculation and the initial channel delay parameter is calculated and compared with a preset first threshold range. If it meets the preset first threshold range, it indicates that the positioning module is in the optimal state and there is no need to update the channel delay parameter. If it does not meet the preset first threshold range, the corrected channel delay parameter is updated in the positioning module in real time.

[0086] In this embodiment, when the difference of the first parameter is within the range of the first threshold, the saved second channel delay parameter can be maintained, which can reduce resource consumption.

[0087] In one exemplary embodiment, after updating the saved second channel delay parameter to the first channel delay parameter, the above method further includes:

[0088] S61, End the calibration process of the roadside unit;

[0089] S62, if the preset calibration conditions are met, the roadside unit is triggered to perform calibration again;

[0090] The preset calibration conditions include at least one of the following: the next calibration cycle arrives; a change in the installation angle of the roadside unit is detected; or the number of transaction failures due to the illegal positioning of the roadside unit to the vehicle-mounted unit reaches a preset threshold.

[0091] For the recalibration of roadside units, a calibration cycle can be set to perform the calibration periodically. Furthermore, considering that roadside units are prone to changes in channel parameters due to component aging or external environmental changes after long-term use, in this embodiment, calibration conditions can be preset. After the roadside unit calibration process ends, if the preset calibration conditions are met, the roadside unit is triggered to be calibrated again. Correspondingly, the preset calibration conditions may include at least one of the following: the next calibration cycle arrives; a change in the installation angle of the roadside unit is detected; the number of transaction failures due to the roadside unit's illegal positioning of the vehicle-mounted unit reaches a preset threshold.

[0092] For example, the self-calibration process of the roadside unit can be initiated at regular intervals, or when the angular motion detection module detects a change in the installation angle in real time. Furthermore, if multiple instances of invalid on-board unit positioning prevent transactions during actual operation, the self-calibration process can also be initiated.

[0093] By setting various preset conditions to trigger the self-calibration process of the roadside unit in this embodiment, the intelligence of the roadside unit's self-calibration can be improved, thereby improving the accuracy of the roadside unit's real-time positioning.

[0094] The calibration method for roadside units in this application embodiment will be explained below with reference to optional examples. In this optional example, the target vehicle-mounted unit is the calibration vehicle-mounted unit, the first channel delay parameter is the corrected channel delay parameter, and the second channel delay parameter is the initial channel delay parameter.

[0095] This optional example provides a self-calibration and positioning system for roadside units. By determining the current channel delay parameters through the reception of data sent by the vehicle-mounted unit, the system can achieve real-time self-calibration of the roadside units without the need for manual calibration, thereby reducing manpower and time costs and improving calibration efficiency.

[0096] The calibration method for roadside units in this optional example may include the following steps:

[0097] Step 1: By comparing the straight-line distances between the roadside unit and the vehicle-mounted unit measured by the roadside unit and the vehicle-mounted unit, determine the calibration vehicle-mounted unit that will participate in the roadside unit calibration.

[0098] Step 2: Calculate the corrected channel delay parameters based on the DSRC information sent by the vehicle unit.

[0099] Step 3: By comparing the calibrated on-board unit position measured by the roadside unit with the calibrated on-board unit position calculated using the corrected channel delay parameter, the validity of the corrected channel delay parameter is determined.

[0100] Step 4: When the corrected channel delay parameter is effective, determine whether the channel delay parameter needs to be updated based on the difference between the corrected channel delay parameter and the initial channel delay parameter, and end the self-calibration.

[0101] Step 5: If the next calibration cycle arrives, the installation angle of the roadside unit is detected to have changed, or multiple instances of invalid positioning of the vehicle-mounted unit lead to transaction failure, self-calibration is restarted.

[0102] This optional example enables real-time self-calibration of roadside units, eliminating the need for extensive manpower for calibration and expedition, and avoiding poor calibration efficiency due to human error.

[0103] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0104] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.

[0105] According to another aspect of the embodiments of this application, a calibration device for a roadside unit for implementing the above-described calibration method for roadside units is also provided. Figure 4 This is a structural block diagram of an optional text data transmission device according to an embodiment of this application, such as... Figure 4 As shown, the calibration device for the roadside unit may include:

[0106] The acquisition unit 402 is used to acquire the first short-range data information sent by the target vehicle unit during the calibration of the roadside unit, wherein the target vehicle unit is a vehicle unit located within the communication range of the roadside unit and used to assist the roadside unit in calibration.

[0107] The first determining unit 404 is connected to the acquiring unit 402 and is used to determine the first channel delay parameter of the roadside unit based on the first short-range data information.

[0108] The second determining unit 406, connected to the first determining unit 404, is used to determine the first parameter difference between the first channel delay parameter and the second channel delay parameter stored in the roadside unit when the first channel delay parameter is valid.

[0109] The update unit 408, connected to the second determination unit 406, is used to update the saved second channel delay parameter to the first channel delay parameter when the first parameter difference is outside the range of the first threshold.

[0110] It should be noted that the acquisition unit 402 in this embodiment can be used to execute the above-described step S202, the first determination unit 404 in this embodiment can be used to execute the above-described step S204, the second determination unit 406 in this embodiment can be used to execute the above-described step S206, and the update unit 408 in this embodiment can be used to execute the above-described step S208.

[0111] Through the above modules, during the calibration of roadside units, the first short-range data information sent by the target vehicle-mounted unit is acquired. The target vehicle-mounted unit is a vehicle-mounted unit located within the communication range of the roadside unit and used to assist in the calibration of the roadside unit. Based on the first short-range data information, the first channel delay parameter of the roadside unit is determined. If the first channel delay parameter is valid, the first parameter difference between the first channel delay parameter and the second channel delay parameter stored by the roadside unit is determined. If the first parameter difference is outside a first threshold range, the stored second channel delay parameter is updated to the first channel delay parameter. This solves the problem of low calibration efficiency caused by the need for manual calibration and adjustment in related technologies for roadside unit calibration methods, thus improving calibration efficiency.

[0112] In one exemplary embodiment, the above-described apparatus further includes:

[0113] The third determining unit is used to determine the straight-line distance between the roadside unit and the candidate vehicle-mounted unit based on the installation height of the roadside unit relative to the candidate vehicle-mounted unit and the installation angle of the roadside unit before acquiring the first short-range data information sent by the target vehicle-mounted unit, and to obtain the first reference distance.

[0114] The transmitting unit is used to send second short-range data information to the candidate vehicle-mounted unit, wherein the second short-range data information is used to trigger the ranging module on the candidate vehicle-mounted unit to measure the straight-line distance between the candidate vehicle-mounted unit and the roadside unit;

[0115] The receiving unit is configured to receive the second reference distance sent by the candidate vehicle-mounted unit in response to the received second short-range data information;

[0116] The fourth determining unit is used to determine the candidate vehicle unit as the target vehicle unit when the distance difference between the first reference distance and the second reference distance is within the range of the second threshold.

[0117] In one exemplary embodiment, the first determining unit includes:

[0118] The first acquisition module is used to acquire the amplitude and phase characteristic parameters of each transverse antenna array based on the short-range data information received by each transverse antenna array in a set of transverse antenna arrays of the roadside unit.

[0119] The second acquisition module is used to acquire the amplitude and phase characteristic parameters of each longitudinal antenna array based on the short-range data information received by each longitudinal antenna array in a set of longitudinal antenna arrays of the roadside unit.

[0120] The third acquisition module is used to acquire the reference amplitude and phase characteristic parameters of the auxiliary antenna array based on the short-range data information received by the auxiliary antenna array.

[0121] The first determining module is used to determine the lateral channel delay parameters of the roadside unit based on the amplitude and phase characteristic parameters of each lateral antenna array and the reference amplitude and phase characteristic parameters.

[0122] The second determining module is used to determine the longitudinal channel delay parameters of the roadside unit based on the amplitude and phase characteristic parameters of each longitudinal antenna array and the reference amplitude and phase characteristic parameters.

[0123] The first channel delay parameters include horizontal channel delay parameters and vertical channel delay parameters.

[0124] In one exemplary embodiment, the above-described apparatus further includes:

[0125] The positioning unit is used to determine the first channel delay parameter of the roadside unit based on the first short-range data information, and then locate the target vehicle unit based on the first channel delay parameter to obtain the first target position of the target vehicle unit.

[0126] The fifth determining unit is used to determine the second target position of the target vehicle unit based on the installation height of the roadside unit relative to the target vehicle unit and the installation angle of the roadside unit;

[0127] The sixth determining unit is used to determine that the first channel delay parameter is valid when the position difference between the first target position and the second target position is within the range of the third threshold.

[0128] The seventh determining unit is used to determine that the first channel delay parameter is invalid when the position difference between the first target position and the second target position is outside the range of the third threshold.

[0129] In an exemplary embodiment, the first target position includes a first lateral position and a first longitudinal position; the fifth determining unit includes:

[0130] The third determining module is used to determine the second longitudinal position of the target vehicle unit based on the third reference distance and the installation angle of the roadside unit. The third reference distance is the straight-line distance between the roadside unit and the target vehicle unit, which is determined based on the installation height of the roadside unit relative to the target vehicle unit and the installation angle of the roadside unit.

[0131] The second target position includes a pre-defined second horizontal coordinate and a second vertical position.

[0132] In one exemplary embodiment, the above-described apparatus further includes:

[0133] The execution unit is configured to, after determining the first parameter difference between the first channel delay parameter and the second channel delay parameter stored in the roadside unit, maintain the stored second channel delay parameter and end the calibration process of the roadside unit if the first parameter difference is within a first threshold range.

[0134] In one exemplary embodiment, the above-described apparatus further includes:

[0135] The termination unit is used to end the calibration process of the roadside unit after updating the saved second channel delay parameters to the first channel delay parameters;

[0136] The triggering unit is used to trigger the roadside unit to perform calibration again when the preset calibration conditions are met.

[0137] The preset calibration conditions include at least one of the following: the next calibration cycle arrives; a change in the installation angle of the roadside unit is detected; or the number of transaction failures due to the illegal positioning of the roadside unit to the vehicle-mounted unit reaches a preset threshold.

[0138] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should also be noted that the above modules, as part of the system, can run in environments such as... Figure 1 The hardware environment shown can be implemented through software or hardware, and the hardware environment includes the network environment.

[0139] According to another aspect of the embodiments of this application, a storage medium is also provided. Optionally, in this embodiment, the storage medium can be used to execute program code for the calibration method of any of the roadside units described above in the embodiments of this application.

[0140] Optionally, in this embodiment, the storage medium may be located on at least one of the network devices in the network shown in the above embodiment.

[0141] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps:

[0142] S1, during the calibration of the roadside unit, the first short-range data information sent by the target vehicle unit is obtained, wherein the target vehicle unit is a vehicle unit located within the communication range of the roadside unit and used to assist the roadside unit in calibration.

[0143] S2, based on the first short-range data information, determine the first channel delay parameter of the roadside unit;

[0144] S3, if the first channel delay parameter is valid, determine the first parameter difference between the first channel delay parameter and the second channel delay parameter stored in the roadside unit;

[0145] S4, if the difference of the first parameter is outside the range of the first threshold, update the saved second channel delay parameter to the first channel delay parameter.

[0146] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated in this embodiment.

[0147] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0148] According to another aspect of the embodiments of this application, an electronic device for implementing the above-described calibration method for roadside units is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0149] Figure 5 This is a structural block diagram of an optional electronic device according to an embodiment of this application, such as... Figure 5 As shown, it includes a processor 502, a communication interface 504, a memory 506, and a communication bus 508. The processor 502, communication interface 504, and memory 506 communicate with each other via the communication bus 508.

[0150] Memory 506 is used to store computer programs;

[0151] When processor 502 executes a computer program stored in memory 506, it performs the following steps:

[0152] S1, during the calibration of the roadside unit, the first short-range data information sent by the target vehicle unit is obtained, wherein the target vehicle unit is a vehicle unit located within the communication range of the roadside unit and used to assist the roadside unit in calibration.

[0153] S2, based on the first short-range data information, determine the first channel delay parameter of the roadside unit;

[0154] S3, if the first channel delay parameter is valid, determine the first parameter difference between the first channel delay parameter and the second channel delay parameter stored in the roadside unit;

[0155] S4, if the difference of the first parameter is outside the range of the first threshold, update the saved second channel delay parameter to the first channel delay parameter.

[0156] Optionally, the communication bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 The symbol is represented by a single thick line, but this does not indicate that there is only one bus or one type of bus. The communication interface is used for communication between the aforementioned electronic device and other devices.

[0157] The memory may include RAM, or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0158] As an example, the memory 506 described above may include, but is not limited to, the acquisition unit 402, the first determination unit 404, the second determination unit 406, and the update unit 408 from the calibration device for the roadside unit. Furthermore, it may include, but is not limited to, other module units from the calibration device for the roadside unit, which will not be elaborated upon in this example.

[0159] The processors mentioned above can be general-purpose processors, including but not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; they can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0160] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0161] Those skilled in the art will understand that Figure 5 The structure shown is for illustrative purposes only. The device that implements the above-mentioned roadside unit calibration method can be a terminal device, such as a smartphone (e.g., Android phone, iOS phone), tablet computer, handheld computer, mobile internet device (MID), PAD, etc. Figure 5 This does not limit the structure of the aforementioned electronic device. For example, the electronic device may also include components that are more... Figure 5 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same Figure 5 The different configurations shown.

[0162] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, ROM, RAM, disk or optical disk, etc.

[0163] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0164] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0165] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0166] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0167] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the solution provided in this embodiment, depending on actual needs.

[0168] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or at least two units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0169] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A calibration method for roadside units, characterized in that, include: During the calibration of the roadside unit, the first short-range data information sent by the target vehicle-mounted unit is acquired, wherein the target vehicle-mounted unit is a vehicle-mounted unit located within the communication range of the roadside unit and used to assist the roadside unit in calibration. Based on the first short-range data information, the first channel delay parameter of the roadside unit is determined; If the first channel delay parameter is valid, determine the first parameter difference between the first channel delay parameter and the second channel delay parameter stored by the roadside unit; If the difference between the first parameters is outside the range of the first threshold, the saved second channel delay parameter will be updated to the first channel delay parameter.

2. The method according to claim 1, characterized in that, Before acquiring the first short-range data information sent by the target vehicle unit, the method further includes: Based on the installation height of the roadside unit relative to the candidate vehicle-mounted unit and the installation angle of the roadside unit, the straight-line distance between the roadside unit and the candidate vehicle-mounted unit is determined to obtain the first reference distance; Send a second short-range data message to the candidate vehicle-mounted unit, wherein the second short-range data message is used to trigger the ranging module on the candidate vehicle-mounted unit to measure the straight-line distance between the candidate vehicle-mounted unit and the roadside unit; Receive the second reference distance sent by the candidate vehicle unit in response to the received second short-range data information; If the distance difference between the first reference distance and the second reference distance is within the range of the second threshold, the candidate vehicle unit is determined as the target vehicle unit.

3. The method according to claim 1, characterized in that, The step of determining the first channel delay parameter of the roadside unit based on the first short-range data information includes: Based on the short-range data information received by each of the transverse antenna arrays in the roadside unit, the amplitude and phase characteristic parameters of each transverse antenna array are obtained. Based on the short-range data information received by each longitudinal antenna array in a set of longitudinal antenna arrays of the roadside unit, the amplitude and phase characteristic parameters of each longitudinal antenna array are obtained. Based on the short-range data information received by the auxiliary antenna array of the roadside unit, the reference amplitude and phase characteristic parameters of the auxiliary antenna array are obtained; The lateral channel delay parameters of the roadside unit are determined based on the amplitude and phase characteristic parameters of each lateral antenna array and the reference amplitude and phase characteristic parameters. Based on the amplitude and phase characteristic parameters of each longitudinal antenna array and the reference amplitude and phase characteristic parameters, the longitudinal channel delay parameters of the roadside unit are determined. The first channel delay parameter includes the horizontal channel delay parameter and the vertical channel delay parameter.

4. The method according to claim 1, characterized in that, After determining the first channel delay parameter of the roadside unit based on the first short-range data information, the method further includes: The target vehicle unit is located based on the first channel delay parameter to obtain the first target position of the target vehicle unit; The second target position of the target vehicle unit is determined based on the installation height of the roadside unit relative to the target vehicle unit and the installation angle of the roadside unit. If the position difference between the first target position and the second target position is within the range of the third threshold, the first channel delay parameter is determined to be valid; If the position difference between the first target position and the second target position is outside the range of the third threshold, the first channel delay parameter is determined to be invalid.

5. The method according to claim 4, characterized in that, The first target position includes a first lateral position and a first longitudinal position; determining the second target position of the target vehicle-mounted unit based on the installation height of the roadside unit relative to the target vehicle-mounted unit and the installation angle of the roadside unit includes: The second longitudinal position of the target vehicle-mounted unit is determined based on the third reference distance and the installation angle of the roadside unit. The third reference distance is the straight-line distance between the roadside unit and the target vehicle-mounted unit, determined based on the installation height of the roadside unit relative to the target vehicle-mounted unit and the installation angle of the roadside unit. The second target position includes a pre-set second horizontal coordinate and a second vertical position.

6. The method according to claim 1, characterized in that, After determining the first parameter difference between the first channel delay parameter and the second channel delay parameter stored by the roadside unit, the method further includes: If the difference in the first parameter is within the range of the first threshold, the saved second channel delay parameter is retained, and the calibration process of the roadside unit is terminated.

7. The method according to any one of claims 1 to 6, characterized in that, After updating the saved second channel delay parameter to the first channel delay parameter, the method further includes: The calibration process of the roadside unit is now complete. If the preset calibration conditions are met, the roadside unit is triggered to perform calibration again; The preset calibration conditions include at least one of the following: the next calibration cycle arrives; a change in the installation angle of the roadside unit is detected; or the number of times a transaction fails due to the roadside unit's illegal positioning of the vehicle-mounted unit reaches a preset threshold.

8. A calibration device for a roadside unit, characterized in that, include: The acquisition unit is used to acquire first short-range data information sent by the target vehicle unit during the calibration process of the roadside unit, wherein the target vehicle unit is a vehicle unit located within the communication range of the roadside unit and used to assist the roadside unit in calibration. The first determining unit is used to determine the first channel delay parameter of the roadside unit based on the first short-range data information; The second determining unit is used to determine a first parameter difference between the first channel delay parameter and the second channel delay parameter stored by the roadside unit when the first channel delay parameter is valid; The update unit is used to update the saved second channel delay parameter to the first channel delay parameter when the first parameter difference is outside the first threshold range.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the method of any one of claims 1 to 7.

10. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method of any one of claims 1 to 7 through the computer program.

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