A vehicle calibration method, device, system and computer equipment

Abstract

The application discloses a kind of vehicle calibration method, device, system and computer equipment, the method comprises: obtaining the position information of multiple preset positions of the vehicle to be calibrated and the positioning information of the vehicle to be calibrated, wherein the positioning information can directly reflect the actual positioning information of the vehicle to be calibrated, and subsequent calibration of the vehicle to be calibrated can determine the data error value of actual positioning;Further, according to the position information and positioning information of each preset position, the offset data of the vehicle-mounted unit relative to the vehicle to be calibrated is determined, and the position information of multiple preset positions can accurately describe the size information of the vehicle to be calibrated, and the offset data of the vehicle to be calibrated is further improved by combining the positioning information of the vehicle to be calibrated.

Description

Technical Field

[0001] This invention relates to the field of vehicle networking technology, specifically to a vehicle calibration method, device, system, and computer equipment. Background Technology

[0002] In the current intelligent connected vehicle industry, vehicle location information is crucial for V2X (vehicle to everything) scenario calculations. However, the actual vehicle location data acquired is only a single coordinate point, while in reality, vehicles vary greatly in type and size. Therefore, accurate vehicle dimensions are required for V2X calculations.

[0003] In existing technologies, data is typically measured manually and then input into the V2X scenario through a configuration file. However, this method is cumbersome, inefficient, and prone to errors. Summary of the Invention

[0004] Therefore, in order to overcome the shortcomings of the prior art, embodiments of the present invention provide a vehicle calibration method, apparatus, system and computer equipment.

[0005] According to a first aspect, an embodiment of the present invention discloses a vehicle calibration method, the method comprising: acquiring position information of a vehicle to be calibrated at multiple preset locations and positioning information of the vehicle to be calibrated, wherein the positioning information is the position information of an on-board unit inside the vehicle to be calibrated; Based on the location information and positioning information of each preset position, the offset data of the vehicle unit relative to the vehicle to be calibrated is determined.

[0006] Optionally, the location information of the vehicle to be calibrated at multiple preset locations is obtained, specifically including: The sub-coordinate data of the first preset position are obtained according to the preset positioning device, where the first preset position is any one of multiple preset positions; Based on the sub-coordinate data, the preset meteorological platform, the pre-acquired second altitude value, and the pre-acquired air pressure value, the altitude value of the location of the vehicle to be calibrated is determined, where the second altitude value is the value obtained by the preset altitude device. Determine the coordinate data based on the sub-coordinate data and the height value.

[0007] Optionally, the altitude of the vehicle to be calibrated is determined based on sub-coordinate data, a preset meteorological platform, and pre-acquired air pressure values, specifically including: Based on the sub-coordinate data, the preset meteorological platform, and the pre-acquired air pressure value, the altitude value of the location of the vehicle to be calibrated is determined, specifically including: Based on the sub-coordinate data and the preset meteorological platform, determine the temperature value of the location of the vehicle to be calibrated; Based on the temperature value and the pre-acquired air pressure value, determine the first altitude value of the location of the vehicle to be calibrated; The height value is determined based on the second height value, the third height value, and the first height value, wherein the third height value is the height value corresponding to the sub-coordinate data.

[0008] Optionally, based on the location information and positioning information of each preset location, the offset data of the on-board unit relative to the vehicle to be calibrated is determined, specifically including: Determine the distance between any two preset locations based on their location information; Based on the location information of any two preset locations and the positioning information, determine the distance between the vehicle unit and the corresponding two preset locations; Based on the distance between two corresponding preset positions and the distance between the vehicle unit and the two corresponding preset positions, the offset data of the vehicle unit relative to the vehicle to be calibrated is determined.

[0009] Optionally, the location information includes first sub-coordinate data and second sub-coordinate data. Based on the location information of any two preset locations, the distance between the corresponding two preset locations is determined, specifically including: Based on the first sub-coordinate data and the second sub-coordinate data corresponding to each of any two preset positions, determine the sub-spherical distance between the two preset positions. Based on the sub-sphere distance and the pre-acquired Earth radius, determine the distance between the two corresponding preset positions.

[0010] Optionally, based on the distance between two corresponding preset positions and the distance between the vehicle-mounted unit and the two corresponding preset positions, the offset data of the vehicle-mounted unit relative to the vehicle to be calibrated is determined, specifically including: Based on the distance between two corresponding preset positions and the distance between the vehicle unit and the two corresponding preset positions, determine the angle between the vehicle unit and the horizontal direction of the boundary of the vehicle to be calibrated. The offset data of the vehicle to be calibrated is determined based on the included angle and the distance between the vehicle unit and the two corresponding preset positions.

[0011] According to a second aspect, embodiments of the present invention also disclose a vehicle calibration device, the device comprising: The acquisition module is used to acquire the location information of the vehicle to be calibrated at multiple preset locations and the positioning information of the vehicle to be calibrated, wherein the positioning information is the location information of the on-board unit inside the vehicle to be calibrated. The determination module is used to determine the offset data of the on-board unit relative to the vehicle to be calibrated based on the position information and positioning information of each preset position.

[0012] According to a third aspect, embodiments of the present invention also disclose a vehicle calibration system, the system including at least one positioning device, a data transmission device, and an on-board unit; Positioning equipment is used to acquire the location information of the vehicle to be calibrated at multiple preset locations; Data transmission equipment is used to transmit location information from multiple preset locations to the vehicle-mounted unit; The vehicle-mounted unit is used to acquire the positioning information of the vehicle-mounted unit and the position information of multiple preset positions transmitted by the data transmission device; based on the positioning information and the position information of multiple preset positions, the offset data of the vehicle-mounted unit relative to the vehicle to be calibrated is determined.

[0013] According to a fourth aspect, embodiments of the present invention also disclose a computer device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to cause the at least one processor to perform steps of a vehicle calibration method as described in the first aspect or any optional embodiment of the first aspect.

[0014] According to a fifth aspect, embodiments of the present invention also disclose a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the vehicle calibration method as described in the first aspect or any optional embodiment of the first aspect.

[0015] The technical solution of this invention has the following advantages: The vehicle calibration method, apparatus, system, and computer equipment provided by this invention include: acquiring position information of a vehicle to be calibrated at multiple preset locations and positioning information of the vehicle to be calibrated, wherein the positioning information can directly reflect the actual positioning information of the vehicle to be calibrated, and the actual positioning data error value can be determined when calibrating the vehicle to be calibrated subsequently; further, determining the offset data of the on-board unit relative to the vehicle to be calibrated based on the position information of each preset location and the positioning information, wherein the position information of multiple preset locations can accurately describe the size information of the vehicle to be calibrated, and the combination with the positioning information of the vehicle to be calibrated further improves the accuracy of the calculation of the offset data of the vehicle to be calibrated. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating a specific example of the vehicle calibration method in an embodiment of the present invention; Figure 2 This is a flowchart illustrating a specific example of the vehicle calibration method in an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating a specific example of the vehicle calibration method in an embodiment of the present invention; Figure 4 This is a flowchart illustrating a specific example of the vehicle calibration method in an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating a specific example of the vehicle calibration method in an embodiment of the present invention; Figure 6 This is a schematic diagram illustrating a specific example of the vehicle calibration method in an embodiment of the present invention; Figure 7 This is a schematic diagram illustrating a specific example of the vehicle calibration method in an embodiment of the present invention; Figure 8 This is a schematic diagram illustrating a specific example of the vehicle calibration method in an embodiment of the present invention; Figure 9 This is a flowchart illustrating a specific example of the vehicle calibration method in an embodiment of the present invention; Figure 10 This is a flowchart illustrating a specific example of the vehicle calibration method in an embodiment of the present invention; Figure 11 This is a schematic diagram illustrating a specific example of a vehicle calibration system in an embodiment of the present invention; Figure 12 This is a schematic diagram illustrating a specific example of a vehicle calibration system in an embodiment of the present invention; Figure 13 This is a schematic block diagram illustrating a specific example of a vehicle calibration device in an embodiment of the present invention. Figure 14 This is a specific example diagram of a computer device in an embodiment of the present invention. Detailed Implementation

[0018] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can also refer to the internal connection of two components; and they can refer to a wireless connection or a wired connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0022] To address the technical problems mentioned in the background section, this application provides a vehicle calibration method, as detailed below. Figure 1 As shown, the method includes the following steps: Step 101: Obtain the location information of the vehicle to be calibrated at multiple preset locations and the positioning information of the vehicle to be calibrated. The positioning information is the actual location information of the on-board unit inside the vehicle to be calibrated.

[0023] For example, the vehicle to be calibrated can be a vehicle used for computation in a V2X (vehicle to everything, vehicle-to-everything wireless communication technology, or V2X for short) scenario. Since the actual positioning of the vehicle is only a coordinate point, the size of the vehicle needs to be taken into account during the actual V2X scenario computation to avoid collisions with other vehicles or obstacles.

[0024] Multiple preset positions can be determined according to the actual situation of the vehicle to be calibrated. Taking a sedan as an example, the preset positions can be the four corners of the vehicle to be calibrated, as well as the positions of the four wheels of the vehicle to be calibrated. Of course, if the height information of the vehicle is needed in the actual calculation process, the positions of the top and bottom of the vehicle to be calibrated can also be obtained.

[0025] When acquiring the location information of the corresponding preset positions, any means in the existing technology can be used. However, to improve the efficiency and accuracy of vehicle calibration, this embodiment of the invention employs a dedicated V2X vehicle body data calibration device to acquire the location information of each preset position. Specifically, in a preferred embodiment, the location information of the vehicle to be calibrated at multiple preset positions is acquired, such as... Figure 2 As shown, it specifically includes: Step 1011: Obtain sub-coordinate data of the first preset position according to the preset positioning device.

[0026] The first preset position can be any one of multiple preset positions.

[0027] For example, the preset positioning device is a V2X vehicle body data calibration device. In the actual acquisition process, the V2X vehicle body data calibration device can be installed at multiple preset locations of the vehicle to be calibrated to obtain the corresponding location data. Alternatively, the location information of each preset location can be obtained in advance according to the V2X vehicle body data calibration device.

[0028] Sub-coordinate data can be the location information for each preset position, specifically, the coordinate information in the coordinate system corresponding to the V2X application scenario. Preferably, the coordinate information of the preset position can be the corresponding latitude and longitude information. Specifically, sub-coordinate data can be obtained through a high-precision positioning GNSS (Global Navigation Satellite System) module. When the high-precision positioning GNSS module enters the RTK fixed solution state, it outputs high-precision longitude and latitude values.

[0029] Step 1012: Determine the altitude of the vehicle to be calibrated based on the sub-coordinate data, the preset meteorological platform, the pre-acquired second altitude value, and the pre-acquired air pressure value.

[0030] The second height value is the value obtained by the preset height device.

[0031] For example, in actual V2X scenario calculations, it's not a simple two-dimensional calculation, but rather requires considering the vehicle's height to prevent collisions between the vehicle being calibrated and surrounding obstacles. Therefore, it's also necessary to obtain the height values ​​of preset points. Specifically, the corresponding height values ​​can be obtained using height measurement equipment.

[0032] In practical applications, the altitude value of the preset location is closely related to the actual geographical location, and therefore cannot be simply replaced by information such as the vehicle's altitude. In a preferred embodiment, the altitude value of the location of the vehicle to be calibrated is determined based on sub-coordinate data, a preset weather platform, and pre-acquired air pressure values, specifically including: Based on the sub-coordinate data and the preset meteorological platform, the temperature value of the location of the vehicle to be calibrated is determined; based on the temperature value and the pre-acquired air pressure value, the first altitude value of the location of the vehicle to be calibrated is determined; based on the second altitude value, the third altitude value and the first altitude value, the altitude value is determined, and the third altitude value is the altitude value corresponding to the sub-coordinate data.

[0033] For example, such as Figure 3 As shown, based on sub-coordinate data (latitude and longitude values) and a preset weather platform, the temperature value at the corresponding latitude and longitude is determined. In practical applications, both temperature and air pressure affect the actual altitude value of the preset location. The first altitude value is determined based on the current temperature value and the pre-acquired air pressure value at the preset location. The second and third altitude values ​​are obtained by the altimeter and GNSS module, respectively.

[0034] The altitude value H1 is calculated by combining the current temperature value with data from the barometric pressure sensor, using the following formula: Where 1≤n≤50, n is the number of collected air pressure values; P is the atmospheric pressure measurement value in kPa; P0 is the standard atmospheric pressure of 101.325 kPa; 1≤m≤20, m is the number of temperature measurements, and T is the temperature value in °C.

[0035] The height value is calculated using the following formula: in, H1 weighting coefficient; H2 weighting coefficient; These are the H3 weighting coefficients, and all weighting coefficients are in the range of 0 <= <=1, and + + =1, H2 is the second altitude value, and H3 is the third altitude value.

[0036] Step 1013: Determine the coordinate data based on the sub-coordinate data and the height value.

[0037] Step 102: Determine the offset data of the vehicle unit relative to the vehicle to be calibrated based on the location information and positioning information of each preset position.

[0038] For example, after determining the location information of each preset location and the positioning information of the vehicle to be calibrated, the offset data of the positioning information during the actual application of the vehicle to be calibrated can be determined.

[0039] To suit practical application scenarios, in a preferred embodiment, the offset data of the on-board unit relative to the vehicle to be calibrated is determined based on the location information and positioning information of each preset position, such as... Figure 4 As shown, it specifically includes: Step 1021: Determine the distance between two preset locations based on their location information. For example, such as Figure 5 and Figure 6 As shown, P1-P10 are preset positions, where (latn, longn, altn) are the corresponding position information, n is an integer from 1 to 10, and P0 is the position of the vehicle-mounted unit. The distance between any two preset positions can be determined by directly calculating the distance between the two points using their coordinates.

[0040] In a preferred embodiment, the location information includes first sub-coordinate data and second sub-coordinate data. Based on the location information of any two preset locations, the distance between the corresponding two preset locations is determined, specifically including: Based on the first and second sub-coordinate data corresponding to each of any two preset positions, determine the sub-spherical distance between the two preset positions; based on the sub-spherical distance and the pre-acquired Earth radius, determine the distance between the two preset positions.

[0041] For example, to better reflect real-world application scenarios, calculating the spherical distance between any two preset positions can more accurately represent the offset data of the vehicle to be calibrated. The spherical distance between two points P1(long1,lat1) and P2(long2,lat2) is calculated using the position information of the two preset positions, and the derived formula is as follows: L=r∗arccos(sin(lat1)sin(lat2)+cos(lat1)cos(lat2)cos(long1-long2)) Where r is the Earth's radius and L is the spherical distance between P1 and P2.

[0042] In addition, to facilitate subsequent applications in V2X scenarios, the angle between the two points and due north can also be calculated: cosθ=1-L^2 / (2r^2)=cos(lat1)*cos(lat2)*cos(long1-long2)+sin(lat1)*sin(lat2).

[0043] Step 1022: Based on the location information of any two preset locations and the positioning information, determine the distance between the vehicle unit and the corresponding two preset locations.

[0044] For example, in order to determine the offset data of the vehicle to be calibrated, it is also necessary to calculate the distance between the positioning data and the corresponding preset position, which can also be calculated by the corresponding spherical distance.

[0045] Step 1023: Determine the offset data of the vehicle unit relative to the vehicle to be calibrated based on the distance between the two corresponding preset positions and the distance between the vehicle unit and the two corresponding preset positions.

[0046] For example, the offset data can be determined based on a triangle formed by the vehicle unit and any two preset positions, such as... Figure 7 As shown, A= Let A represent ∠A, and a, b, and c be the side lengths of the corresponding triangles.

[0047] In a preferred embodiment, the offset data of the vehicle unit relative to the vehicle to be calibrated is determined based on the distance between two corresponding preset positions and the distance between the vehicle unit and the two corresponding preset positions. Specifically, this includes: Based on the distance between two corresponding preset positions and the distance between the vehicle unit and the two corresponding preset positions, determine the angle between the vehicle unit and the horizontal direction of the boundary of the vehicle to be calibrated. The offset data of the vehicle to be calibrated is determined based on the included angle and the distance between the vehicle unit and the two corresponding preset positions.

[0048] For example, with Figure 3 and Figure 4 For example, the offset data of the OBU device (vehicle unit) from the left vehicle boundary: OBU device coordinate point offset from the right vehicle boundary data: OBU device coordinate point offset data from the front vehicle boundary: OBU device coordinate point offset from the rear vehicle boundary data: Offset data of OBU device coordinate points from the bottom (ground) boundary of the vehicle wheels: OBU device coordinate point offset from the highest point of the vehicle: Vehicle track width: Front wheel offset data from the front vehicle boundary: Rear wheel offset data from the vehicle's rear edge: Train Length: Vehicle width: Vehicle height: .

[0049] Based on the above method embodiments, various data of the vehicle to be calibrated can be applied in V2X scenarios, such as... Figure 8 As shown, d1, d2, α, All of these can be derived from the methods in the above embodiments, where heading1 and heading2 are the heading angles of the two vehicles, and thus β = |heading1 - heading2|.

[0050] The azimuth angle between the two points and true north can be obtained using the formula cosθ. Therefore, we can obtain θ = |heading2- along the route. |. Further, the shortest distance between the two workshops is obtained as Dmin = Dmin represents the shortest distance between vehicles, and this distance is the best for assessing the risk of a collision between two vehicles.

[0051] like Figure 9 and Figure 10 The diagram shown is a schematic representation of the specific implementation process in the above method embodiment.

[0052] By executing this method, the position information of the vehicle to be calibrated at multiple preset locations and the positioning information of the vehicle to be calibrated are obtained. The positioning information can directly reflect the actual positioning information of the vehicle to be calibrated. When calibrating the vehicle to be calibrated later, the actual positioning data error value can be determined. Furthermore, based on the position information of each preset location and the positioning information, the offset data of the on-board unit relative to the vehicle to be calibrated is determined. The position information of multiple preset locations can accurately describe the size information of the vehicle to be calibrated, and the combination with the positioning information of the vehicle to be calibrated further improves the accuracy of the offset data calculation of the vehicle to be calibrated.

[0053] The above are embodiments of the vehicle calibration method provided in this application. Other embodiments of the vehicle calibration method provided in this application will be described below. Please refer to the following for details.

[0054] This application provides a vehicle calibration system, see details below. Figure 11 As shown, the system includes at least one positioning device, a data transmission device, and an on-board unit; Positioning device 1101 is used to acquire the location information of the vehicle to be calibrated at multiple preset locations; Data transmission device 1102 is used to transmit location information of multiple preset locations to the vehicle-mounted unit; The vehicle-mounted unit 1103 is used to acquire the positioning information of the vehicle-mounted unit and the position information of multiple preset positions transmitted by the data transmission device; and to determine the offset data of the vehicle-mounted unit relative to the vehicle to be calibrated based on the positioning information and the position information of multiple preset positions.

[0055] For example, such as Figure 12 The diagram illustrates a specific embodiment of a vehicle calibration system. After acquiring the location information of a preset position using a high-precision positioning module, the data is transmitted to the CPU (on-board unit) via a PC5 communication interface directly connected to V2X. The CPU determines the altitude value based on data obtained from a barometer and altimeter. Finally, the calculated offset data can be applied to V2X scenarios. Using high-precision positioning and point marking, the coordinates of key vehicle positions can be quickly recorded. This point information is then wirelessly transmitted to the on-board V2X OBU device via the PC5 air interface. The device automatically calculates relevant boundary values, eliminating the need for manual measurement. This is an efficient, convenient, and accurate method or device for vehicle data calibration.

[0056] This invention also discloses a vehicle calibration device, such as... Figure 13 As shown, the device includes: The acquisition module 1301 is used to acquire the location information of the vehicle to be calibrated at multiple preset locations and the positioning information of the vehicle to be calibrated, wherein the positioning information is the location information of the on-board unit inside the vehicle to be calibrated. The determination module 1302 is used to determine the offset data of the vehicle unit relative to the vehicle to be calibrated based on the position information and positioning information of each preset position.

[0057] In an optional embodiment of the present invention, the acquisition module 1301 is specifically used for: The sub-coordinate data of the first preset position are obtained according to the preset positioning device, where the first preset position is any one of multiple preset positions; Based on the sub-coordinate data, the preset meteorological platform, the pre-acquired second altitude value, and the pre-acquired air pressure value, the altitude value of the location of the vehicle to be calibrated is determined, where the second altitude value is the value obtained by the preset altitude device. Determine the coordinate data based on the sub-coordinate data and the height value.

[0058] In an optional embodiment of the present invention, the acquisition module 1301 is further configured to: Based on the sub-coordinate data and the preset meteorological platform, determine the temperature value of the location of the vehicle to be calibrated; Based on the temperature value and the pre-acquired air pressure value, determine the first altitude value of the location of the vehicle to be calibrated; The height value is determined based on the second height value, the third height value, and the first height value, wherein the third height value is the height value corresponding to the sub-coordinate data.

[0059] In an optional embodiment of the present invention, the determining module 1302 is specifically used for: Determine the distance between any two preset locations based on their location information; Based on the location information of any two preset locations and the positioning information, determine the distance between the vehicle unit and the corresponding two preset locations; Based on the distance between two corresponding preset positions and the distance between the vehicle unit and the two corresponding preset positions, the offset data of the vehicle unit relative to the vehicle to be calibrated is determined.

[0060] In an optional embodiment of the present invention, the location information includes first sub-coordinate data and second sub-coordinate data, and the determining module 1302 is further configured to: Based on the first sub-coordinate data and the second sub-coordinate data corresponding to each of any two preset positions, determine the sub-spherical distance between the two preset positions. Based on the sub-sphere distance and the pre-acquired Earth radius, determine the distance between the two corresponding preset positions.

[0061] In an optional embodiment of the present invention, the determining module 1302 is further configured to: Based on the distance between two corresponding preset positions and the distance between the vehicle unit and the two corresponding preset positions, determine the angle between the vehicle unit and the horizontal direction of the boundary of the vehicle to be calibrated. The offset data of the vehicle to be calibrated is determined based on the included angle and the distance between the vehicle unit and the two corresponding preset positions.

[0062] The functions performed by each component in the vehicle calibration device provided in this embodiment have been described in detail in any of the above method embodiments, and therefore will not be repeated here.

[0063] By executing this device, the position information of the vehicle to be calibrated at multiple preset locations and the positioning information of the vehicle to be calibrated are obtained. The positioning information can directly reflect the actual positioning information of the vehicle to be calibrated. When calibrating the vehicle to be calibrated later, the data error value of the actual positioning can be determined. Furthermore, based on the position information of each preset location and the positioning information, the offset data of the on-board unit relative to the vehicle to be calibrated is determined. The position information of multiple preset locations can accurately describe the size information of the vehicle to be calibrated, and the combination with the positioning information of the vehicle to be calibrated further improves the accuracy of the offset data calculation of the vehicle to be calibrated.

[0064] This invention also provides a computer device, such as... Figure 14 As shown, the computer device may include a processor 1401 and a memory 1402, wherein the processor 1401 and the memory 1402 may be connected via a bus or other means. Figure 14 Taking the example of a connection between China and Israel via a bus.

[0065] Processor 1401 may be a central processing unit (CPU). Processor 1401 may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof.

[0066] The memory 1402, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the vehicle calibration method in the embodiments of the present invention. The processor 1401 executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions, and modules stored in the memory 1402, thereby implementing the vehicle calibration method in the above method embodiments.

[0067] The memory 1402 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor 1401, etc. Furthermore, the memory 1402 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 1402 may optionally include memory remotely located relative to the processor 1401, and these remote memories may be connected to the processor 1401 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0068] One or more modules are stored in memory 1402, and when executed by processor 1401, they perform actions such as... Figure 1 The vehicle calibration method in the illustrated embodiment.

[0069] For specific details regarding the aforementioned computer equipment, please refer to the relevant documentation. Figure 1The relevant descriptions and effects in the illustrated embodiments are for understanding purposes only and will not be repeated here.

[0070] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0071] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A vehicle calibration method, characterized in that, The method includes: Acquire the location information of the vehicle to be calibrated at multiple preset locations and the positioning information of the vehicle to be calibrated, wherein the positioning information is the location information of the on-board unit inside the vehicle to be calibrated; wherein, acquiring the location information of the vehicle to be calibrated at multiple preset locations specifically includes: The sub-coordinate data of a first preset position are obtained from a preset positioning device, wherein the first preset position is any one of a plurality of preset positions; Based on the sub-coordinate data, the preset meteorological platform, the pre-acquired second altitude value, and the pre-acquired air pressure value, the altitude value of the location of the vehicle to be calibrated is determined, where the second altitude value is the value obtained by the preset altitude device. Based on the sub-coordinate data and the height value, determine the coordinate data; Based on the location information of each preset location and the positioning information, the offset data of the vehicle-mounted unit relative to the vehicle to be calibrated is determined, wherein the location information includes first sub-coordinate data and second sub-coordinate data. The step of determining the offset data of the vehicle-mounted unit relative to the vehicle to be calibrated based on the location information of each preset location and the positioning information includes: Based on the location information of any two preset locations, determine the distance between the corresponding two preset locations, including: Based on the first sub-coordinate data and the second sub-coordinate data corresponding to each of any two preset positions, determine the sub-spherical distance between the two preset positions; Based on the sub-spherical distance and the pre-acquired Earth radius, determine the distance between two corresponding preset positions; Based on the location information of any two preset locations and the positioning information, determine the distance between the vehicle unit and the corresponding two preset locations; Based on the distance between the two corresponding preset positions and the distance between the vehicle-mounted unit and the two corresponding preset positions, the offset data of the vehicle-mounted unit relative to the vehicle to be calibrated is determined, including: Based on the distance between the two corresponding preset positions and the distance between the vehicle unit and the two corresponding preset positions, the angle between the vehicle unit and the horizontal direction of the boundary of the vehicle to be calibrated is determined. The offset data of the vehicle to be calibrated is determined based on the included angle and the distance between the vehicle-mounted unit and the two corresponding preset positions.

2. The method according to claim 1, characterized in that, The step of determining the altitude of the vehicle to be calibrated based on the sub-coordinate data, the preset meteorological platform, and the pre-acquired air pressure value specifically includes: Based on the sub-coordinate data and the preset meteorological platform, determine the temperature value of the location of the vehicle to be calibrated; Based on the temperature value and the pre-acquired air pressure value, determine the first altitude value of the location of the vehicle to be calibrated; The height value is determined based on the second height value, the third height value, and the first height value, wherein the third height value is the height value corresponding to the sub-coordinate data.

3. A vehicle calibration device, characterized in that, The apparatus is used to implement the method as described in any one of claims 1-2, the apparatus comprising: The acquisition module is used to acquire the location information of the vehicle to be calibrated at multiple preset locations and the positioning information of the vehicle to be calibrated, wherein the positioning information is the location information of the on-board unit inside the vehicle to be calibrated. The determination module is used to determine the offset data of the vehicle unit relative to the vehicle to be calibrated based on the location information of each preset position and the positioning information.

4. A vehicle calibration system, characterized in that, The system is used to implement the method as described in any one of claims 1-2, and the system includes at least one positioning device, a data transmission device, and a vehicle-mounted unit; The positioning device is used to acquire the location information of the vehicle to be calibrated at multiple preset locations; The data transmission device is used to transmit location information of multiple preset locations to the vehicle-mounted unit; The vehicle-mounted unit is used to acquire the positioning information of the vehicle-mounted unit and the position information of multiple preset locations transmitted by the data transmission device; Based on the positioning information and the position information of multiple preset locations, the offset data of the vehicle-mounted unit relative to the vehicle to be calibrated is determined.

5. A computer device, characterized in that, include: At least one processor; The system also includes a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the vehicle calibration method as described in any one of claims 1-2.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the server, it implements the vehicle calibration method as described in any one of claims 1-2.

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