Autopilot Positioning and Calibration Method, Device, System, Vehicle, and Storage Medium

Abstract

The present invention relates to an automatic driving positioning calibration method, device, system, vehicle and storage medium. The automatic driving positioning calibration method comprises: when the vehicle is at the starting point of a first trip, obtaining first position information of a first speed bump relative to the starting point of the first trip of the vehicle through a perception sensor; controlling the vehicle to automatically drive through the first speed bump from the starting point of the first trip, obtaining second position information of the first speed bump relative to the starting point of the first trip through a tire pressure sensor; and calibrating the perception sensor based on the second position information and the first position information. By obtaining the first position information at the starting point of the first trip of the vehicle through the perception sensor, the vehicle is then controlled to automatically drive to the first speed bump, and the actual second position information is obtained by the tire pressure sensor. The perception sensor is calibrated based on the second position information and the first position information, thereby reducing errors caused by factors such as light and network, and improving the positioning effect of the automatic driving method.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to an automatic driving positioning calibration method, device, system, vehicle and storage medium. Background Art

[0002] The Automated Valet Parking System (AVPS) is a specific application of autonomous driving technology for vehicle parking. It is also the driving technology that is closest to the Level 4 highly automated driving standard in the SAE J3016 standard. As the autonomous driving application technology with the greatest potential for commercialization and integration into public life, AVPS lacks versatility in complex scenarios. In parking lots with poor lighting and network conditions, AVPS positioning based solely on sensors such as cameras can lead to positioning errors. Automatic parking based on this inaccurate positioning can prevent the vehicle from parking in the user's pre-set parking space, impacting the user experience and, in severe cases, causing financial loss to the user. Summary of the Invention

[0003] One of the purposes of the present invention is to provide an autonomous driving positioning calibration method to solve the problem caused by positioning deviation in the existing technology that only uses cameras for positioning; the second purpose is to provide an autonomous driving positioning calibration device; the third purpose is to provide an autonomous driving positioning calibration system; the fourth purpose is to provide a vehicle that applies the autonomous driving positioning calibration method provided by the present invention; the fifth purpose is to provide a storage medium that applies the autonomous driving positioning calibration method provided by the present invention.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] The present invention provides an automatic driving positioning calibration method, comprising:

[0006] When the vehicle is at the first starting point of the trip, first position information of the first speed bump relative to the first starting point of the trip of the vehicle is obtained through the sensing sensor;

[0007] Controlling the vehicle to automatically drive from a first trip starting point to pass through a first speed bump, and obtaining second position information of the first speed bump relative to the first trip starting point through a tire pressure sensor;

[0008] The perception sensor is calibrated according to the second position information and the first position information.

[0009] According to the above technical means, the existing autonomous driving method relies on perception sensors to obtain parking space information and obstacle information. Positioning deviations are prone to occur in scenes with poor lighting or network conditions, thereby affecting the normal execution of autonomous valet parking. Because the first position information of the first speed bump at the starting point of the vehicle's first trip is located and obtained by a perception sensor based on ultrasonic, light, and other principles, errors may occur when environmental conditions such as lighting and network conditions are poor. The vehicle is then controlled to automatically drive to the first speed bump, and the tire pressure sensor obtains the actual second position information of the first speed bump. The perception sensor is calibrated based on the difference between the second position information and the first position information. This reduces errors caused by factors such as lighting and network conditions, improves the positioning effect of the autonomous driving method, and thus ensures the accuracy of autonomous driving.

[0010] Furthermore, the autonomous driving positioning calibration method adopted by the present invention also includes:

[0011] Acquire the vehicle's location information in real time and control the vehicle to automatically drive from the starting point of the first trip to pass through the first speed bump, and detect the vehicle's tire pressure in real time through a tire pressure sensor;

[0012] When a tire pressure change of the vehicle is detected by the tire pressure sensor, the real-time position information of the vehicle is recorded and the relative position information of the first speed bump and the vehicle wheel is calculated;

[0013] Second position information of the first speed bump relative to the first travel starting point is obtained based on the real-time position information and the relative position information.

[0014] According to the above-mentioned technical means, since the automatic driving positioning calibration method adopted by the present invention utilizes a tire pressure sensor to detect the tire pressure of the vehicle in real time, when the tire pressure changes, it can be determined that the vehicle has traveled to the first speed bump. The second position information is obtained by combining the real-time position information of the vehicle at this time and the relative position information between the vehicle wheels and the speed bump, eliminating environmental interference such as light. The perception sensor is calibrated based on the second position information obtained by the tire pressure sensor and the first position information measured by the perception sensor itself, thereby improving the accuracy of the perception sensor and ensuring the accuracy of the automatic driving positioning results.

[0015] Furthermore, the autonomous driving positioning calibration method adopted by the present invention also includes:

[0016] Performing a traffic judgment on the tire pressure of the vehicle according to a preset tire pressure data change judgment condition to obtain a first judgment result;

[0017] When the first judgment result is that the vehicle passes through the first speed bump, recording the real-time position information of the vehicle;

[0018] When the first judgment result is that the vehicle passes through the first speed bump, relative position information between the first speed bump and the vehicle wheels is calculated.

[0019] According to the above technical means, since the present invention obtains the second position information based on the tire pressure sensor by detecting changes in tire pressure data, interference from factors such as light and network is eliminated, thereby ensuring the accuracy of the second position information judgment.

[0020] Furthermore, the autonomous driving positioning calibration method adopted by the present invention also includes:

[0021] The tire pressure of the vehicle is compared with a preset tire pressure data threshold to generate a first judgment result.

[0022] According to the above-mentioned technical means, since the present invention compares the tire pressure data detected in real time by the tire pressure sensor with the preset tire pressure threshold, it avoids the problem of incorrect judgment of the second position information due to factors such as road conditions during driving, improves the accuracy of the second position information judgment, and thus improves the calibration effect of the automatic driving positioning calibration method.

[0023] Furthermore, the autonomous driving positioning calibration method adopted by the present invention also includes:

[0024] When the first judgment result is that the tire pressure of the vehicle is greater than the tire pressure data threshold, the tire pressure of the vehicle is judged to have a fluctuation regularity change according to a preset fluctuation regularity change judgment condition to obtain a second judgment result;

[0025] When the second judgment result is that the vehicle passes through the first speed bump, recording the real-time position information of the vehicle;

[0026] When the second judgment result is that the vehicle passes through the first speed bump, relative position information between the first speed bump and the vehicle wheels is calculated.

[0027] According to the above-mentioned technical means, since the present invention also judges the tire pressure change pattern after detecting that the tire pressure change is greater than the preset tire pressure threshold, it avoids the tire pressure interference of the vehicle's tires caused by other obstacles on the road and other factors, and avoids the problem of misjudging that the vehicle has traveled to the first speed bump and causing inaccurate second position information. It improves the accuracy of the second position information judgment, and thereby improves the calibration effect of the autonomous driving positioning calibration method.

[0028] Furthermore, the autonomous driving positioning calibration method adopted by the present invention also includes:

[0029] Acquiring third position information of the second speed bump relative to the starting point of the second trip of the vehicle through a perception sensor;

[0030] controlling the vehicle to automatically drive from the second trip starting point through the second speed bump, and obtaining fourth position information of the second speed bump relative to the second trip starting point through the tire pressure sensor;

[0031] The perception sensor is calibrated according to the third position information and the fourth position information.

[0032] According to the above technical means, since the autonomous driving positioning calibration method provided by the present invention re-calibrates the second speed bump as a reference object after positioning and calibrating the perception sensor, the interference of occasional errors of the tire pressure sensor on the accuracy of the perception sensor is eliminated, thereby improving the accuracy of autonomous driving positioning.

[0033] The present invention also provides an automatic driving positioning calibration method and apparatus, comprising:

[0034] A first position information acquisition module is configured to acquire, when the vehicle is at a first trip starting point, first position information of a first speed bump relative to the first trip starting point through a sensing sensor;

[0035] a second position information acquisition module, configured to control the vehicle to automatically drive from the first trip starting point to pass through the first speed bump, and acquire second position information of the first speed bump relative to the first trip starting point through the tire pressure sensor;

[0036] The first calibration module is used to calibrate the perception sensor according to the second position information and the first position information.

[0037] The present invention also provides an automatic driving positioning calibration system, comprising:

[0038] A sensing sensor is used to obtain first position information of a first speed bump relative to the first starting point of the first trip when the vehicle is at the first starting point of the trip and send the first position information to the vehicle control terminal;

[0039] The vehicle control terminal is configured to receive the first position information and control the vehicle to automatically drive from the first starting point of the first trip to pass through the first speed bump, receive second position information of the first speed bump relative to the first starting point of the first trip returned by the tire pressure sensor, and calibrate the perception sensor based on the second position information and the first position information;

[0040] The tire pressure sensor is used to obtain the second position information and send the second position information to the vehicle control terminal.

[0041] The present invention also provides a vehicle, comprising:

[0042] at least one processor; and,

[0043] a memory communicatively connected to at least one processor; wherein,

[0044] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor to enable the at least one processor to implement the autonomous driving positioning calibration method described above.

[0045] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the above-mentioned autonomous driving positioning calibration method.

[0046] Beneficial effects of the present invention:

[0047] The autonomous valet parking method in the prior art relies on perception sensors to obtain parking space information and obstacle information. Positioning deviations are prone to occur in scenes with poor lighting or network conditions, thereby affecting the normal execution of the autonomous valet parking action. Since the first position information of the first speed bump at the starting point of the vehicle's first trip is located and obtained by a perception sensor based on ultrasonic, light, and other principles, errors will occur when environmental conditions such as light and network are poor. The vehicle is then controlled to automatically drive to the first speed bump, and the tire pressure sensor obtains the actual second position information of the first speed bump. The perception sensor is calibrated based on the difference between the second position information and the first position information. Compared with the first position information, the second position information eliminates the influence of environmental factors such as light and network on positioning. The method of calibrating the perception sensor with reference to the second position information reduces the errors caused by factors such as light and network, improves the positioning effect of the autonomous driving method, and thus ensures the accuracy of autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0049] Figure 1 This is one of the schematic diagrams of the autonomous driving positioning calibration method provided in an embodiment of the present application;

[0050] Figure 2 This is the second schematic diagram of the autonomous driving positioning calibration method provided in an embodiment of the present application;

[0051] Figure 3 This is the third schematic diagram of the autonomous driving positioning calibration method provided in an embodiment of the present application;

[0052] Figure 4 This is the fourth schematic diagram of the autonomous driving positioning calibration method provided in an embodiment of the present application;

[0053] Figure 5 This is the fifth schematic diagram of the autonomous driving positioning calibration method provided in an embodiment of the present application;

[0054] Figure 6 This is the sixth schematic diagram of the autonomous driving positioning calibration method provided in an embodiment of the present application;

[0055] Figure 7 This is a schematic diagram of the autonomous driving positioning calibration system provided by an embodiment of the present application;

[0056] Figure 8 This is a schematic diagram of the autonomous driving positioning calibration process provided by an embodiment of the present application;

[0057] Figure 9 This is one of the schematic diagrams of the autonomous driving positioning calibration device provided in the embodiment of the present application;

[0058] Figure 10 This is the second schematic diagram of the autonomous driving positioning calibration device provided in an embodiment of the present application;

[0059] Figure 11 This is the third schematic diagram of the autonomous driving positioning calibration device provided in an embodiment of the present application;

[0060] Figure 12 This is the fourth schematic diagram of the autonomous driving positioning calibration device provided in an embodiment of the present application;

[0061] Figure 13 This is the fifth schematic diagram of the autonomous driving positioning calibration device provided in an embodiment of the present application;

[0062] Figure 14 This is the sixth schematic diagram of the autonomous driving positioning calibration device provided in an embodiment of the present application;

[0063] Figure 15 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0065] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0066] This application relates to an autonomous driving positioning calibration method, apparatus, system, vehicle, and storage medium for calibrating the perception errors present in existing autonomous driving methods that use sensor positioning. AVPS is a specific application based on autonomous driving technology, and the autonomous driving positioning calibration method provided in this application can also be applied to AVPS. The following describes the autonomous driving positioning calibration method, apparatus, system, vehicle, and storage medium provided in this application in conjunction with existing AVPS methods and hardware configurations.

[0067] The first embodiment of the present application relates to an automatic driving positioning calibration method, such as Figure 1 Shown, including:

[0068] Step 101: When the vehicle is at the starting point of a first trip, first position information of a first speed bump relative to the starting point of the first trip of the vehicle is obtained through a sensing sensor;

[0069] Step 102: Control the vehicle to automatically drive from the first trip starting point to pass through a first speed bump, and obtain second position information of the first speed bump relative to the first trip starting point through a tire pressure sensor;

[0070] Step 103: Calibrate the perception sensor according to the second position information and the first position information.

[0071] Specifically, when the vehicle is at the starting point of the first trip, the distance between the first speed bump and the starting point of the first trip is obtained through perception sensors such as ultrasonic radar and high-definition cameras, thereby obtaining first position information of the first speed bump relative to the starting point of the first trip. The vehicle is then controlled to depart from the first trip starting point and automatically drive over the first speed bump. Since the first speed bump deforms the tires when the vehicle passes over it, causing changes in tire pressure data, the tire pressure sensor can be used to determine whether the vehicle has passed the first speed bump. Based on the automatic driving path at this time, second position information of the first speed bump relative to the starting point of the first trip is obtained. The perception sensor is calibrated based on the difference between the second position information and the first position information, achieving the effect of automatic driving positioning calibration.

[0072] When the autonomous driving positioning calibration method provided in this application is applied to an AVPS, the parking function in the system is activated. The system controls the vehicle to cruise in a parking lot, using the AVPS sensor system, such as ultrasonic radar and high-definition cameras, to scan and identify environmental objects on the road during the cruise. If no speed bump is detected, the vehicle is controlled to continue cruising in the parking lot and identify environmental objects on the road. When a speed bump is detected, the system processes the position of the current speed bump relative to the vehicle's system to obtain first position information. Subsequently, when the system controls the vehicle to approach the identified speed bump, it collects tire pressure data transmitted by the tire pressure sensors on all four wheels to determine whether the vehicle has passed over the speed bump. If fluctuations in tire pressure data are detected, the system determines that the vehicle has passed over the speed bump. Using existing functions in the AVPS system, the system calculates the actual relative position of the speed bump and the vehicle as second position information. This second position information is compared with the first position information. If the deviation between the second position information and the first position information exceeds a preset tolerance, the first position information is updated and calibrated based on the second position information, and the AVPS sensor system is updated.

[0073] Since the implementation method provided in the present application obtains the first position information of the first speed bump at the starting point of the first trip of the vehicle through a perception sensor, and is located and obtained according to principles such as ultrasound and light, errors will occur when environmental conditions such as light and network are poor. The vehicle is then controlled to automatically drive to the first speed bump, and the tire pressure sensor obtains the actual second position information of the first speed bump, and the perception sensor is calibrated according to the difference between the second position information and the first position information. Compared with the first position information, the second position information eliminates the influence of environmental factors such as light and network on positioning. The method of calibrating the perception sensor with reference to the second position information reduces the error caused by factors such as light and network, improves the positioning effect of the automatic driving method, and thus ensures the accuracy of automatic driving.

[0074] On the basis of the above implementation mode, Figure 2 As shown, the automatic driving positioning calibration method also includes:

[0075] Step 201: Acquire the vehicle's position information in real time and control the vehicle to automatically drive from the starting point of a first trip through a first speed bump, and detect the vehicle's tire pressure in real time using a tire pressure sensor;

[0076] Step 202: When a tire pressure change of the vehicle is detected by the tire pressure sensor, the real-time position information of the vehicle is recorded and the relative position information of the first speed bump and the vehicle wheel is calculated;

[0077] Step 203: Obtain second position information of the first speed bump relative to the first travel starting point based on the real-time position information and the relative position information.

[0078] Specifically, the second position information can be obtained through the tire pressure sensor by the following method: the tire pressure sensor detects changes in the vehicle's tire pressure. When the tire pressure sensor detects a change in the vehicle's tire pressure, it records the vehicle's position information and the relative position information of the vehicle's wheels and the first speed bump at that time, and obtains the second position information relative to the starting point of the first trip. The specific position of the first speed bump can be obtained through, but is not limited to, the following method: when all four tire pressure sensors of the vehicle detect data fluctuations, the relative positions of the four wheels and the first speed bump are calculated using wheel pulses or other methods, and the second position information of the first speed bump is generated based on the relative positions of the four wheels and the first speed bump and the real-time position of the vehicle.

[0079] On the basis of the above-mentioned embodiments, since the automatic driving positioning calibration method adopted in the embodiment provided in this application uses a tire pressure sensor to detect the tire pressure of the vehicle in real time, when the tire pressure changes, it can be determined that the vehicle has traveled to the first speed bump. The second position information of the first speed bump relative to the starting point of the first trip is obtained based on the path information from the starting point of the first trip to the point where the tire pressure changes. The result only relies on the information of the electrical connection and eliminates environmental interference. The perception sensor is calibrated based on the second position information obtained by the tire pressure sensor and the first position information obtained by the perception sensor itself, thereby improving the accuracy of the perception sensor and ensuring the accuracy of the automatic driving positioning results.

[0080] Based on the above implementation, Figure 3 As shown, the automatic driving positioning calibration method also includes:

[0081] Step 221: Perform a traffic judgment on the tire pressure of the vehicle according to a preset tire pressure data change judgment condition to obtain a first judgment result;

[0082] Step 222: When the first judgment result is that the vehicle passes through the first speed bump, record the real-time position information of the vehicle;

[0083] Step 223: When the first judgment result is that the vehicle passes through the first speed bump, calculate the relative position information between the first speed bump and the vehicle wheels.

[0084] Specifically, the system judges the fluctuations in tire pressure data detected by the tire pressure sensor. When it is determined that the tire pressure sensor detects fluctuations in tire pressure, it is determined that the vehicle has passed through the first speed bump, and the position at this time is used as the end point of the path information. The path information from the first trip starting point to the first speed bump is obtained based on the first trip starting point and the end point of the path information, and the second position information of the first speed bump relative to the first trip starting point is obtained.

[0085] On the basis of the above-mentioned implementation manner, since the implementation manner provided in this application obtains the second position information based on the tire pressure sensor by detecting changes in tire pressure data, interference from factors such as light and network is eliminated, thereby ensuring the accuracy of the second position information judgment.

[0086] On the basis of the above implementation mode, Figure 4 As shown, the automatic driving positioning calibration method also includes:

[0087] Step 224: Compare the tire pressure of the vehicle with a preset tire pressure data threshold to generate a first judgment result.

[0088] Specifically, the system can determine whether the vehicle has passed over the first speed bump by comparing the tire pressure with a preset tire pressure threshold. If the tire pressure remains stable and is below the preset tire pressure threshold, the path information at that time is not processed. If significant tire pressure changes are detected on all four wheels, such as when the tire pressure exceeds the tire pressure threshold, the vehicle is determined to have passed over the first speed bump. The path information at that time is then processed to generate second position information for use in calibrating the perception sensor.

[0089] On the basis of the above-mentioned implementation manner, since the implementation manner provided in this application compares the tire pressure data detected in real time by the tire pressure sensor with the preset tire pressure threshold value, it avoids the problem of incorrect judgment of the second position information due to factors such as road conditions during driving of the vehicle, improves the accuracy of the judgment of the second position information, and thereby improves the calibration effect of the autonomous driving positioning calibration method.

[0090] On the basis of the above implementation mode, Figure 5 As shown, the automatic driving positioning calibration method also includes:

[0091] Step 225: When the first judgment result is that the tire pressure of the vehicle is greater than the tire pressure data threshold, the tire pressure of the vehicle is judged to have a fluctuation pattern change according to the preset fluctuation pattern change judgment condition to obtain a second judgment result;

[0092] Step 226: When the second judgment result is that the vehicle passes through the first speed bump, record the real-time position information of the vehicle;

[0093] Step 227: When the second judgment result is that the vehicle passes through the first speed bump, calculate the relative position information between the first speed bump and the vehicle wheels.

[0094] Specifically, when the tire pressure exceeds a preset pressure data threshold, a pre-set fluctuation pattern can be used to determine whether the vehicle has encountered the first speed bump. For example, the system detects changes in the tire pressure data of all four tires. If the fluctuation pattern does not conform to the pre-set fluctuation pattern, such as when only one or two tire pressure sensors detect fluctuations, the fluctuation is considered invalid and excluded from the positioning calibration and update application. If the pre-set fluctuation pattern is met, such as when all four tires experience fluctuations, with the two front tires fluctuating first and the two rear tires fluctuating later, the system determines that the vehicle has encountered a speed bump, thereby obtaining path information for obtaining the second position information of the speed bump relative to the starting point of the first journey.

[0095] On the basis of the above-mentioned implementation manner, since the implementation manner provided by the present application also judges the tire pressure change pattern after detecting that the tire pressure change is greater than the preset tire pressure threshold, it avoids the tire pressure interference of the vehicle's tires caused by other obstacles on the road and other factors, and avoids the problem of inaccurate second position information caused by misjudging that the vehicle has reached the first speed bump, thereby improving the accuracy of the second position information judgment, and thereby improving the calibration effect of the autonomous driving positioning calibration method.

[0096] On the basis of the above implementation mode, Figure 6 As shown, the automatic driving positioning calibration method also includes:

[0097] Step 104: Acquire third position information of the second speed bump relative to the starting point of the second trip of the vehicle through a sensing sensor;

[0098] Step 105: Control the vehicle to automatically drive from the second trip starting point to pass through the second speed bump, and obtain fourth position information of the second speed bump relative to the second trip starting point through the tire pressure sensor;

[0099] Step 106: Calibrate the perception sensor according to the third position information and the fourth position information.

[0100] Specifically, when the automatic driving positioning calibration method provided in this application is applied to AVPS, after completing the positioning calibration, the automatic driving positioning calibration can be continued. The system controls the vehicle to continue automatic driving, cruise in the parking lot and identify the second speed bump, and compares the third position information detected by the AVPS sensing system and the fourth position information generated according to the tire pressure sensor results again. When the deviation is greater than the preset fault tolerance, positioning calibration is performed again. After repeated positioning calibration, the accuracy of AVPS positioning is ensured by identifying multiple different speed bumps on the road where the AVPS controls the vehicle to cruise and performing positioning calibration.

[0101] On the basis of the above-mentioned embodiments, since the autonomous driving positioning calibration method provided in the embodiment provided in this application re-calibrates the second speed bump as a reference object after positioning and calibrating the perception sensor, the interference of occasional errors of the tire pressure sensor on the accuracy of the perception sensor is eliminated, thereby improving the accuracy of autonomous driving positioning.

[0102] Based on the above embodiments, the present application also provides an example of an automatic valet parking system using the automatic valet parking method, such as Figure 7 As shown, including:

[0103] Figure 1 represents the AVPS automatic valet parking system, 2 represents the AVPS controller, 3 represents the AVPS ultrasonic radar, 4 represents the AVPS high-definition camera, 5 represents the AVPS switch, 6 represents the gateway, 7 represents the smart key, 8 represents the intelligent vehicle body controller, 9 represents the instrument cluster, 10 represents the onboard display, 11 represents the electric power steering system, 12 represents the electronic shift system, 13 represents the engine management system, 14 represents the vehicle stability system, 15 represents the transmission system, and 16 represents the steering angle sensor. The AVPS automatic valet parking system is connected to other autonomous driving systems via gateway 6. The AVPS automatic valet parking system 1 is electrically connected to the AVPS switch and receives start / stop signals from the AVPS switch to activate or deactivate the AVPS function. The AVPS automatic valet parking system 1 includes the AVPS controller 2, the AVPS ultrasonic radar 3, and the AVPS high-definition camera 4. The AVPS controller 2 receives signals from the AVPS ultrasonic radar 3 and the AVPS high-definition camera 4 and feeds them back to the gateway 6. The smart key 7 sends a signal to the smart body controller 8 via radio frequency, and the smart body controller 8 feeds the result back to the gateway 6. The instrument panel 9, the vehicle display 10, the electric power steering system 11, the electronic shift system 12, the engine management system 13, the vehicle stability system 14, the transmission system 15, and the steering angle sensor 16 are also electrically connected to the gateway 6 to receive information from the gateway 6 and send information to the gateway 6. When the user uses the automatic valet parking system, the user inputs whether to start the automatic valet parking system through the AVPS switch 5, and the automatic driving positioning calibration method provided in this application is used to complete the process.

[0104] On the basis of the above implementation, a process diagram of an AVPS-based autonomous driving positioning calibration method is also provided. Figure 8 As shown, including:

[0105] The driver drives the vehicle to the target parking lot and activates the AVP system upon arrival. It then receives GPS positioning information. If positioning information cannot be obtained, is incorrect, or the positioning signal is poor, a prompt is sent to the user, prompting them to restart the AVP system. Once the GPS positioning information is successfully obtained, the AVP function is activated. The AVPS then performs a self-check and obtains environmental information, entering the AVP automatic cruise phase. If the AVP system fails to obtain environmental information, a prompt is sent to the user, prompting them to restart the AVP system. The AVP system uses components in the high-definition camera and other sensor systems to visually identify speed bumps. If the speed bump is not recognized, the vehicle continues to cruise. Once the speed bump is recognized, the AVP system uses the sensor system or visual system to obtain the speed bump's coordinates relative to the starting point of the first trip. The DR system then outputs the speed bump's relative position to the vehicle in real time. When the DR system determines that the vehicle has reached the speed bump, it uses tire pressure sensors to determine whether there are significant fluctuations in the pressure data of all four tires. If the vehicle's tire pressures are determined to have no significant fluctuations, no positioning update or calibration is performed. If the tire pressures still do not fluctuate significantly when real-time position information arrives, a speed bump recognition error is reported to the AVP system, and speed bump rendering in the AVP system ceases. If significant tire pressure fluctuations are detected, the system then determines the timing and specific changes in the tire pressures. If the tire pressure fluctuation pattern does not meet pre-set criteria, the AVP system controls the vehicle to resume automatic cruising and search for additional speed bumps. If the tire pressure fluctuation pattern is consistent, the vehicle is determined to be passing over a speed bump. The relative positions of the four wheels and the speed bump are calculated, and the real-time position information is updated based on these relative positions to obtain a second position. Finally, based on this second position information, the first position information obtained by the AVP system's perception or vision system is updated and calibrated, and the calibration results are fed back to the AVP system to complete the positioning calibration.

[0106] The second embodiment of the present application relates to an automatic driving positioning calibration device, such as Figure 9 Shown, including:

[0107] A first position information acquisition module 107 is configured to acquire, when the vehicle is at the first starting point of a first trip, first position information of the first speed bump relative to the first starting point of the vehicle through a sensing sensor;

[0108] The second position information acquisition module 108 is configured to control the vehicle to automatically drive from the first trip starting point to pass through the first speed bump, and obtain second position information of the first speed bump relative to the first trip starting point through the tire pressure sensor;

[0109] The first calibration module 109 is configured to calibrate the perception sensor according to the second position information and the first position information.

[0110] On the basis of the above implementation mode, Figure 10 As shown, the second location information acquisition module 108 includes:

[0111] The tire pressure detection submodule 110 is configured to obtain the vehicle's position information in real time and control the vehicle to automatically drive from the starting point of the first trip to the first speed bump, and detect the vehicle's tire pressure in real time through the tire pressure sensor;

[0112] The path recording submodule 111 is configured to record the real-time position information of the vehicle and calculate the relative position information between the first speed bump and the vehicle wheels when a tire pressure change of the vehicle is detected by the tire pressure sensor;

[0113] The position information acquisition submodule 112 is configured to acquire second position information of the first speed bump relative to the first travel starting point based on the real-time position information and the relative position information.

[0114] On the basis of the above implementation mode, Figure 11 As shown, the path recording submodule 111 includes:

[0115] A first judgment unit 113 is configured to perform a traffic judgment on the tire pressure of the vehicle according to a preset tire pressure data change judgment condition and obtain a first judgment result;

[0116] A first real-time location acquisition unit 114 is configured to record the real-time location information of the vehicle when the first judgment result is that the vehicle passes through the first speed bump;

[0117] The first relative position acquisition unit 115 is configured to calculate relative position information between the first speed bump and the vehicle wheels when the first judgment result is that the vehicle passes through the first speed bump.

[0118] On the basis of the above implementation mode, Figure 12 As shown, the first judgment unit 113 includes:

[0119] The size comparison subunit 116 is used to compare the tire pressure of the vehicle with a preset tire pressure data threshold to generate a first judgment result.

[0120] On the basis of the above implementation mode, Figure 13 As shown, the first judgment unit 113 further includes:

[0121] The second judgment subunit 117 is configured to, when the first judgment result is that the tire pressure of the vehicle is greater than the tire pressure data threshold, perform a fluctuation regularity change judgment on the tire pressure of the vehicle according to a preset fluctuation regularity change judgment condition to obtain a second judgment result;

[0122] The second real-time location acquisition subunit 118 is configured to record the real-time location information of the vehicle when the second judgment result is that the vehicle passes through the first speed bump;

[0123] The second relative position acquisition subunit 119 is configured to calculate relative position information between the first speed bump and the vehicle wheels when the second judgment result is that the vehicle passes through the first speed bump.

[0124] On the basis of the above implementation mode, Figure 14 As shown, the automatic driving positioning calibration device also includes:

[0125] A third position information acquisition module 131 is configured to acquire third position information of the second speed bump relative to the starting point of the second trip of the vehicle through a sensing sensor;

[0126] A fourth position information acquisition module 132 is configured to control the vehicle to automatically drive from the second trip starting point through the second speed bump, and acquire fourth position information of the second speed bump relative to the second trip starting point through the tire pressure sensor;

[0127] The second calibration module 133 is configured to calibrate the perception sensor according to the third position information and the fourth position information.

[0128] A third embodiment of the present application relates to an autonomous driving positioning calibration system, comprising:

[0129] a sensing sensor connected to the vehicle control terminal, configured to obtain first position information of the first speed bump relative to the first starting point of the first trip when the vehicle is at the first starting point of the trip and send the first position information to the vehicle control terminal;

[0130] a vehicle control terminal connected to the tire pressure sensor, configured to receive first position information and control the vehicle to automatically drive from a first trip starting point to a first speed bump, receive second position information of the first speed bump relative to the first trip starting point returned by the tire pressure sensor, and calibrate the perception sensor based on the second position information and the first position information;

[0131] The tire pressure sensor is used to obtain the second position information and send the second position information to the vehicle control terminal.

[0132] A fourth embodiment of the present application relates to a vehicle, such as Figure 15 Shown, including:

[0133] at least one processor 141; and,

[0134] A memory 142 in communication with the at least one processor 141; wherein,

[0135] The memory 142 stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor 141 so that the at least one processor 141 can implement the autonomous driving positioning calibration method described in the first embodiment of the present application.

[0136] The memory and processor are connected using a bus, which can include any number of interconnected buses and bridges. The bus connects various circuits of one or more processors and memories. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits. These are all well known in the art and are therefore not described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single component or multiple components, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over a wireless medium via an antenna. Furthermore, the antenna receives data and transmits it to the processor.

[0137] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0138] The fifth embodiment of the present application relates to a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the automatic driving positioning calibration method described in the first embodiment of the present application is implemented.

[0139] That is, those skilled in the art will understand that all or part of the steps in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a program, which is stored in a storage medium and includes a number of instructions for causing a device (which may be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., various media that can store program code.

[0140] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0141] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for positioning and calibration of an autonomous driving vehicle, characterized in that: The method comprises: When the vehicle is at a first trip starting point, obtaining first position information of a first speed bump relative to the first trip starting point through a sensing sensor; Controlling the vehicle to automatically drive from the first trip starting point to pass through the first speed bump, and obtaining second position information of the first speed bump relative to the first trip starting point through a tire pressure sensor, including: obtaining the position information of the vehicle in real time and controlling the vehicle to automatically drive from the first trip starting point to pass through the first speed bump, detecting the tire pressure of the vehicle in real time through the tire pressure sensor; when a change in the tire pressure of the vehicle is detected through the tire pressure sensor, recording the real-time position information of the vehicle and calculating relative position information between the first speed bump and the wheels of the vehicle; and obtaining second position information of the first speed bump relative to the first trip starting point based on the real-time position information and the relative position information; The perception sensor is calibrated according to the second position information and the first position information.

2. The method according to claim 1, characterized in that When the tire pressure sensor detects a change in the tire pressure of the vehicle, recording the real-time position information of the vehicle and calculating the relative position information between the first speed bump and the wheel of the vehicle includes: Performing a traffic judgment on the tire pressure of the vehicle according to a preset tire pressure data change judgment condition to obtain a first judgment result; When the first judgment result is that the vehicle passes through the first speed bump, recording the real-time position information of the vehicle; When the first judgment result is that the vehicle passes through the first speed bump, relative position information between the first speed bump and the vehicle wheels is calculated.

3. The method according to claim 2, characterized in that The step of performing a traffic judgment on the tire pressure of the vehicle according to the preset tire pressure data change judgment condition and obtaining a first judgment result includes: The tire pressure of the vehicle is compared with a preset tire pressure data threshold to generate a first judgment result.

4. The method according to claim 3, characterized in that After comparing the tire pressure of the vehicle with a preset tire pressure data threshold to generate a first judgment result, and before obtaining second position information of the first speed bump relative to the first trip starting point based on the real-time position information and the relative position information, the method further includes: When the first judgment result is that the tire pressure of the vehicle is greater than the tire pressure data threshold, performing a fluctuation regularity change judgment on the tire pressure of the vehicle according to a preset fluctuation regularity change judgment condition to obtain a second judgment result; When the second judgment result is that the vehicle passes through the first speed bump, recording the real-time position information of the vehicle; When the second judgment result is that the vehicle passes through the first speed bump, relative position information between the first speed bump and the vehicle wheels is calculated.

5. The method according to claim 1, wherein After calibrating the perception sensor according to the second position information and the first position information, the method further includes: Acquiring third position information of the second speed bump relative to the starting point of the second trip of the vehicle by the perception sensor; controlling the vehicle to automatically drive through the second speed bump from a second trip starting point, and obtaining fourth position information of the second speed bump relative to the second trip starting point through the tire pressure sensor; The perception sensor is calibrated according to the third position information and the fourth position information.

6. An automatic driving positioning calibration device, characterized in that: include: A first position information acquisition module is configured to acquire, when the vehicle is at a first trip starting point, first position information of a first speed bump relative to the first trip starting point through a sensing sensor; a second position information acquisition module, configured to control the vehicle to automatically drive from the first trip starting point to pass through the first speed bump, and to acquire second position information of the first speed bump relative to the first trip starting point via a tire pressure sensor, comprising: acquiring the vehicle's position information in real time and controlling the vehicle to automatically drive from the first trip starting point to pass through the first speed bump, and detecting the vehicle's tire pressure in real time via the tire pressure sensor; recording the vehicle's real-time position information and calculating relative position information between the first speed bump and the vehicle's wheels when a change in the vehicle's tire pressure is detected via the tire pressure sensor; and acquiring second position information of the first speed bump relative to the first trip starting point based on the real-time position information and the relative position information; A first calibration module is configured to calibrate the perception sensor according to the second position information and the first position information.

7. An autonomous driving positioning calibration system, characterized in that: include: A sensing sensor is configured to obtain first position information of a first speed bump relative to a first starting point of a first trip when the vehicle is at the first starting point of the trip and transmit the first position information to a vehicle computer control terminal; The vehicle control terminal is configured to receive the first position information and control the vehicle to automatically drive from the first trip starting point to pass through the first speed bump, and receive second position information of the first speed bump relative to the first trip starting point returned by the tire pressure sensor, including: acquiring the vehicle's position information in real time and controlling the vehicle to automatically drive from the first trip starting point to pass through the first speed bump, detecting the vehicle's tire pressure in real time through the tire pressure sensor; when a change in the vehicle's tire pressure is detected by the tire pressure sensor, recording the vehicle's real-time position information and calculating relative position information between the first speed bump and the vehicle's wheels; acquiring the second position information of the first speed bump relative to the first trip starting point based on the real-time position information and the relative position information, and calibrating the perception sensor based on the second position information and the first position information; The tire pressure sensor is used to obtain the second position information and send the second position information to the vehicle control terminal.

8. A vehicle, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can implement the autonomous driving positioning calibration method described in any one of claims 1-5.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the automatic driving positioning calibration method described in any one of claims 1 to 5 is implemented.

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