Sensor external parameter calibration method and device, vehicle and storage medium

Abstract

The embodiment of the invention provides a sensor external parameter calibration method and device, a vehicle and a storage medium, and relates to the technical field of automobile electronic offline detection. Before the intelligent driving domain controller is replaced, a parameter file is uploaded to a cloud end, and the parameter file comprises real-time external parameters of a plurality of sensors hung under the intelligent driving domain controller; after the intelligent driving domain controller is replaced, downloading the parameter file from the cloud; and when the plurality of sensors are not replaced by new parts, synchronizing the parameter file to the replaced intelligent driving domain controller. After the intelligent driving domain controller is replaced, parameter synchronization between the intelligent driving domain controller and the sensor hung below the intelligent driving domain controller can be automatically completed without manual dynamic calibration, external parameter non-inductive calibration of the sensor hung below the intelligent driving domain sensor is achieved, the calibration time and the vehicle maintenance time are saved, the calibration success rate is increased, and the vehicle after-sales experience of a user is improved.

Description

Technical Field

[0001] The present application relates to the technical field of automotive electronic end-of-line detection, and more specifically, to a sensor external parameter calibration method, device, vehicle and storage medium. Background Art

[0002] With the rapid development of automobile intelligence, intelligent driving functions are constantly being innovated, and more and more sensors are being installed under the intelligent driving domain controller, such as smart cameras, millimeter wave radars, laser radars, and full-vehicle cameras.

[0003] In the vehicle after-sales field, after replacing the intelligent driving domain controller, a person (such as a 4S store employee) drives the car on a road with good road conditions for a period of time to complete the parameter synchronization between the intelligent driving domain controller and its mounted sensors, realize the dynamic calibration of the sensor external parameters, and then deliver the vehicle to the customer for use. The manual driving dynamic calibration method takes a long time to calibrate and has a low calibration success rate, resulting in a poor after-sales experience for users. Summary of the invention

[0004] The embodiments of the present application propose a sensor extrinsic parameter calibration method, device, vehicle and storage medium to solve the above-mentioned technical problems.

[0005] In a first aspect, an embodiment of the present application provides a sensor external parameter calibration method, the method comprising: before replacing the intelligent driving domain controller, uploading a parameter file to the cloud, the parameter file including the real-time external parameters of multiple sensors hung under the intelligent driving domain controller; after replacing the intelligent driving domain controller, downloading the parameter file from the cloud; when none of the multiple sensors have been replaced with new ones, synchronizing the parameter file to the replaced intelligent driving domain controller.

[0006] In the second aspect, an embodiment of the present application provides a sensor external parameter calibration device, which includes: a data upload module, used to upload a parameter file to the cloud before replacing the intelligent driving domain controller, the parameter file including the real-time external parameters of multiple sensors hung under the intelligent driving domain controller; a data download module, used to download the parameter file from the cloud after replacing the intelligent driving domain controller; a parameter synchronization module, used to synchronize the parameter file to the replaced intelligent driving domain controller when none of the multiple sensors have been replaced with new ones.

[0007] In a third aspect, an embodiment of the present application provides a vehicle, comprising: a memory and a processor, wherein an application is stored in the memory, and the application is used to enable the vehicle to execute the method provided by the embodiment of the present application when called by the processor.

[0008] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a program code stored thereon, wherein the program code is used to enable the processor to execute the method provided by the embodiment of the present application when called by the processor.

[0009] The sensor external parameter calibration method provided in the embodiment of the present application has the following technical effects: before replacing the intelligent driving domain controller, the real-time external parameters of the sensor are stored in the cloud. When only the intelligent driving domain controller is replaced but the sensors mounted under the intelligent driving domain controller are not replaced, the real-time external parameters of the sensor downloaded from the cloud are synchronized to the replaced intelligent driving domain controller. Therefore, after the intelligent driving domain controller is replaced, the parameter synchronization between the intelligent driving domain controller and the sensors mounted under it can be automatically completed without manual dynamic calibration, thereby realizing the non-sensing calibration of the external parameters of the sensors mounted under the intelligent driving domain sensors, saving calibration time and vehicle maintenance time, improving the calibration success rate, and enhancing the user's vehicle after-sales experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, not all embodiments. Based on the embodiments of the present application, all other embodiments and drawings obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0011] Figure 1 A schematic diagram of the structure of a sensor external parameter calibration system provided in an embodiment of the present application is shown;

[0012] Figure 2 A schematic diagram of an intelligent driving domain controller and sensors mounted thereunder provided in an embodiment of the present application is shown;

[0013] Figure 3 A schematic diagram of a flow chart of a sensor extrinsic parameter calibration method provided in an embodiment of the present application is shown;

[0014] Figure 4 A schematic diagram of a flow chart of a sensor extrinsic parameter calibration method provided in another embodiment of the present application is shown;

[0015] Figure 5 A schematic diagram of a flow chart of a sensor external parameter calibration method provided by an exemplary embodiment of the present application is shown;

[0016] Figure 6 A schematic diagram of the structure of a sensor external parameter calibration device provided in an embodiment of the present application is shown;

[0017] Figure 7 A schematic structural diagram of a vehicle provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0019] See also Figure 1 , Figure 1 A schematic diagram of the structure of a sensor external parameter calibration system provided in an embodiment of the present application is shown. The sensor external parameter calibration system 100 may include a diagnostic device 110, a vehicle 120, and a server 130. The diagnostic device 110 may be connected to the vehicle 120 in a wireless or wired communication manner. The vehicle 120 may be wirelessly connected to the server 130. The diagnostic device 110 may be a computer. The vehicle 120 may include, but is not limited to, a gasoline vehicle or an electric vehicle, etc., and the electric vehicle may include, but is not limited to, a pure electric vehicle, a hybrid vehicle, or a fuel cell vehicle, etc. The server 130 may be a cloud server (also referred to as a cloud platform).

[0020] The vehicle 120 has an intelligent driving function. The vehicle 120 integrates an intelligent driving domain controller and a sensor mounted below the intelligent driving domain controller. The sensor mounted below the intelligent driving domain controller may refer to a sensor connected to the intelligent driving domain controller, and the sensor mounted below the intelligent driving domain controller may be mounted on the intelligent driving domain controller by wire or wirelessly. The intelligent driving domain controller may manage and control its sensors mounted below.

[0021] As an example, see Figure 2 , Figure 2 A schematic diagram of an intelligent driving domain controller and its hanging sensors provided in an embodiment of the present application is shown. The vehicle 120 may be integrated with an intelligent driving domain controller 121 and an ultrasonic radar 122, a satellite-inertial navigation combined positioning module (referred to as combined inertial navigation) 123, a millimeter wave radar 124, an angular millimeter wave radar 125, a surrounding camera 126, a panoramic camera 127 and a laser radar 128. Among them, the millimeter wave radar 124 may include a front millimeter wave radar and a rear millimeter wave radar. There are 7 surrounding cameras 126. In Figure 2 In the scene shown, there are four panoramic cameras 127 . Figure 2 The ultrasonic radar 122, satellite-inertial navigation combined positioning module (referred to as combined inertial navigation) 123, millimeter wave radar 124, angular millimeter wave radar 125, perimeter camera 126, panoramic camera 127 and laser radar 128 are all sensors mounted under the intelligent driving domain controller 121. It can be understood that Figure 2 This is only an example. In actual application, the number and type of sensors mounted under the intelligent driving domain controller are determined according to the actual vehicle configuration. This application does not limit the number and type of sensors mounted under the intelligent driving domain controller.

[0022] The sensor external parameter calibration method in the embodiment of the present application can be applied to a sensor external parameter calibration device or a vehicle. The sensor external parameter calibration device can be integrated in a vehicle. Next, the sensor external parameter calibration method of the present application will be described in detail.

[0023] See also Figure 3 , Figure 3 The schematic diagram of the flow chart of the sensor external parameter calibration method provided by an embodiment of the present application is shown. The sensor external parameter calibration method may include steps S110 to S130.

[0024] Step S110: Before replacing the intelligent driving domain controller, upload the parameter file to the cloud, where the parameter file includes real-time external parameters of multiple sensors mounted under the intelligent driving domain controller.

[0025] Among them, real-time external parameters refer to the current external parameter calibration parameters of multiple sensors. It should be noted that the calibration parameters of the sensor external parameters when the vehicle leaves the factory are initial values. During the use of the vehicle, the actual calibration parameters of the external parameters will change according to the use of the vehicle (for example, collisions with the vehicle will change the actual calibration parameters of the external parameters). Therefore, in actual vehicle use, the calibration parameters of the sensor external parameters are dynamically changed. This application obtains the real-time external parameters of multiple sensors, which are different from the calibration parameters (initial values) of the sensor external parameters when the vehicle leaves the factory. This application uses the real-time external parameters of multiple sensors for subsequent parameter synchronization to ensure the accuracy of the sensor external parameter calibration and ensure that the intelligent driving domain controller can accurately control multiple sensors. If the external parameter calibration parameters when the vehicle leaves the factory are used for subsequent parameter synchronization, the control of the intelligent driving domain controller will be deviated.

[0026] Before replacing the intelligent driving domain controller, activate the vehicle maintenance mode through an external device; obtain the current real-time external parameters of the multiple sensors; generate a parameter file based on the current real-time external parameters of the multiple sensors; and upload the parameter file to the cloud.

[0027] The external device may refer to the above-mentioned diagnostic device. The external device may send a diagnostic instruction to the vehicle, and the vehicle may modify the value of the maintenance mode identifier (e.g., DID5001) to 01, thereby controlling the vehicle to enter the maintenance mode. The identifier (Data Identifier, referred to as DID) is an identifier used for vehicle diagnosis, which is used to identify and obtain specific parameter data.

[0028] The external device sends a diagnostic command (such as 3101BED1) to the vehicle, triggering the vehicle to upload a parameter file to the cloud. The vehicle can actively read the real-time external parameters of multiple sensors under the intelligent driving domain controller, generate parameter files based on the real-time external parameters of multiple sensors, and upload the parameter files to the cloud.

[0029] The parameter file may include vehicle identification information, sensor identification information, sensor external parameters and other data. The vehicle identification information may be a vehicle identification number (VIN), which is used to uniquely identify the vehicle. The sensor identification information may be a sensor number, which is used to uniquely identify the sensor on the vehicle.

[0030] As an example, assuming that the lower-mounted sensors of the intelligent driving domain controller include sensor 1 and sensor 2, the parameter file may include the following parameters: VIN=LNAFLAB38R5S00291; sensor 1: pitch angle=0.51, roll angle=0.38, yaw angle=0.85; sensor 2: pitch angle=0.51, roll angle=0.38, yaw angle=0.85.

[0031] When the cloud receives the parameter file, the parameter file can be dynamically stored by the timestamp. The timestamp of the cloud storage parameter file can be stored in the parameter file file name as a suffix of the file name. The timestamp can include the date and specific time. As an example, the parameter file file name can be CalibrationParameter20240603123056.ini, where the numbers represent the date and specific time when the cloud storage parameter file is stored.

[0032] After the parameter file is stored in the cloud, the storage result can be sent to the vehicle. The storage result can be a successful storage or a failed storage. When the vehicle fails to store the parameter file in the cloud, it can repeatedly upload the parameter file to the cloud and count the number of uploads. When the number of uploads reaches a preset threshold, the result of the failed parameter file upload is fed back to the external device and a manual processing prompt is given. After the vehicle successfully stores the parameter file in the cloud, the result of successful storage can be fed back to the external device.

[0033] As an example, the storage result in the cloud may be: StorageStatus=01 (success). When the vehicle receives the storage result, it may reply 7101BED100 to the external device to notify the external device that the parameter file has been successfully stored in the cloud.

[0034] Step S120: After replacing the intelligent driving domain controller, download the parameter file from the cloud.

[0035] After the external device receives the result of successful cloud storage, relevant personnel can replace the intelligent driving domain controller on the vehicle and notify the vehicle through the external device to download the parameter file from the cloud.

[0036] In some embodiments, basic parameters can be written to the vehicle through an external device, thereby triggering the vehicle to send a download instruction to the cloud, requesting to download the parameter file from the cloud. Among them, the basic parameters may include VIN and sensor configuration information (such as a configuration code). Among them, the sensor configuration information is used to distinguish the sensors and sensor types hanging under the vehicle's intelligent driving domain controller. The sensor configuration information can also indicate the number of sensors hanging under the vehicle's intelligent driving domain controller.

[0037] As an example, as shown in Table 1, the external device can write basic parameters to the vehicle through the diagnostic instruction 2E.

[0038] Table 1

[0039]

[0040]

[0041] The cloud can search for the parameter file corresponding to the vehicle based on the VIN, and send the found parameter file (e.g., CalibrationParameter20240603123056.ini) to the vehicle. In some embodiments, in the scenario where the vehicle is repaired multiple times, there may be multiple parameter files corresponding to the vehicle. The latest parameter file can be selected from multiple parameter files based on the storage time of the parameter file (i.e., the timestamp in the file name), and the latest parameter file can be sent to the vehicle.

[0042] Step S130: When the multiple sensors have not been replaced with new ones, the parameter file is synchronized to the replaced intelligent driving domain controller.

[0043] In some embodiments, the vehicle determines whether the multiple sensors have not been replaced with new ones based on the sensor configuration information (such as the configuration code) written by the external device. Please refer to step S240 for details. When it is determined that the multiple sensors have not been replaced with new ones, the parameter file is synchronized to the replaced intelligent driving domain controller.

[0044] In other embodiments, information that multiple sensors have not been replaced with new ones can be manually input to the vehicle through an external device. When the vehicle receives the information, it can determine that multiple sensors have not been replaced with new ones. At this time, the vehicle can synchronize the parameter file to the replaced intelligent driving domain controller.

[0045] After the vehicle synchronizes the parameter file to the replaced intelligent driving domain controller, it can feedback the calibration success to the external device, and the external device can send a diagnostic instruction to the vehicle to modify the value of DID 5001 of the vehicle's maintenance mode to 00, thereby exiting the maintenance mode.

[0046] Steps S110 to S130 have the following technical effects: before replacing the intelligent driving domain controller, the real-time external parameters of the sensor are stored in the cloud. When only the intelligent driving domain controller is replaced but the sensors mounted under the intelligent driving domain controller are not replaced, the real-time external parameters of the sensor downloaded from the cloud are synchronized to the replaced intelligent driving domain controller. Therefore, after the intelligent driving domain controller is replaced, the parameter synchronization between the intelligent driving domain controller and the sensors mounted under it can be automatically completed without manual dynamic calibration, thereby realizing the senseless calibration of the external parameters of the sensors mounted under the intelligent driving domain sensors, saving calibration time and vehicle maintenance time, improving the calibration success rate, and enhancing the user's vehicle after-sales experience.

[0047] See also Figure 4 , Figure 4 A schematic flow chart of a sensor external parameter calibration method provided by another embodiment of the present application is shown. The sensor external parameter calibration method may include steps S210 to S260.

[0048] Step S210: Before replacing the intelligent driving domain controller, upload the parameter file to the cloud, where the parameter file includes real-time external parameters of multiple sensors mounted under the intelligent driving domain controller.

[0049] For a detailed description of step S210 , please refer to step S110 .

[0050] Step S220: After replacing the intelligent driving domain controller, download the parameter file from the cloud.

[0051] For a detailed description of step S220 , please refer to step S120 .

[0052] Step S230: Verify the parameter file according to the blank file stored in the replaced intelligent driving domain controller itself.

[0053] The file name of the parameter file carries the storage time of the parameter file (ie, the timestamp in the file name). The replaced intelligent driving domain controller may be a brand new intelligent driving domain controller or a repaired intelligent driving domain controller.

[0054] In some embodiments, the replaced intelligent driving domain controller is a brand new intelligent driving domain controller, and the file used by the brand new intelligent driving domain controller to store the external parameters of the hanging sensor is a blank file, and the storage time of the blank file is earlier than the storage time of the parameter file stored in the cloud. The vehicle can obtain the storage time of the parameter file from the file name of the parameter file, and the storage time of the parameter file is the time when the parameter file is stored in the cloud; if the storage time of the parameter file is greater than the storage time of the blank file, it is determined that the parameter file has passed the verification; if the storage time of the parameter file is greater than the storage time of the blank file, it is determined that the parameter file has not passed the verification. It can be understood that although the time for storing parameter files in the cloud is generally greater than the storage time of the blank file of the replaced intelligent driving domain controller, it does not rule out very extreme situations caused by manual operation errors, for example, manual replacement of intelligent driving domain controllers for multiple times. Therefore, the present application determines that the parameter file has passed the verification when the storage time of the parameter file is greater than the storage time of the blank file, which can improve the accuracy and success rate of sensor external parameter calibration and exclude the failure of sensor external parameter calibration caused by the above-mentioned very extreme situations.

[0055] In some embodiments, the replaced intelligent driving domain controller is an intelligent driving domain controller obtained after repairing the old intelligent driving domain controller. It can be defined that the file used by the repaired intelligent driving domain controller to store the external parameters of the hanging sensor is the original parameter file (not a blank file), and the storage time of the original parameter file is earlier than the storage time of the cloud storage parameter file. The vehicle can obtain the storage time of the parameter file from the file name of the parameter file, and the storage time of the parameter file is the time when the parameter file is stored in the cloud; if the storage time of the parameter file is greater than the storage time of the original parameter file, it is determined that the parameter file has passed the verification; if the storage time of the parameter file is greater than the storage time of the original parameter file, it is determined that the parameter file has not passed the verification. It can be understood that although the time for cloud storage of parameter files is generally greater than the storage time of the original parameter files, it does not rule out very extreme situations caused by manual operation errors, for example, manual replacement of intelligent driving domain controllers for multiple times. Therefore, the present application determines that the parameter file passes the verification when the storage time of the parameter file is greater than the storage time of the original parameter file, which can improve the accuracy and success rate of sensor external parameter calibration and exclude the failure of sensor external parameter calibration caused by the above-mentioned very extreme situations.

[0056] If the parameter file passes the verification, the process proceeds to step S240 to detect whether the multiple sensors have not been replaced with new ones according to the sensor configuration information written by the external device. If the parameter file fails the verification, the sensor external parameter calibration is terminated and a manual processing is prompted.

[0057] Step S240: According to the sensor configuration information written by the external device, it is detected whether the multiple sensors have not been replaced with new ones.

[0058] The sensor configuration information may be a configuration code. The calibration status of the multiple sensors may be obtained according to the sensor configuration information; if the calibration status of the multiple sensors are all calibrated, it is determined that the multiple sensors have not been replaced with new ones; if the calibration status of at least one sensor among the multiple sensors is uncalibrated, it is determined that at least one sensor among the multiple sensors has been replaced with a new one.

[0059] As an example, the calibration status of each sensor can be actively polled and read through the multiple sensors defined in DID 0105 in Table 1 to determine whether the multiple sensors have not been replaced with new ones. As shown in Table 2, taking the front laser radar as an example, the value of DID 9A36 can be read to obtain the calibration status of the front laser radar.

[0060] Table 2

[0061]

[0062] If none of the multiple sensors have been replaced with new ones, the process proceeds to step S250 to synchronize the parameter file with the replaced intelligent driving domain controller. If at least one of the multiple sensors has been replaced with a new one, the process proceeds to step S260 to issue a prompt message to prompt the manual driver to synchronize the parameters of the intelligent driving domain controller and the multiple sensors when at least one of the multiple sensors has been replaced with a new one.

[0063] Step S250: When the multiple sensors have not been replaced with new ones, the parameter file is synchronized to the replaced intelligent driving domain controller.

[0064] The parameter file can be used to replace the blank file or the original parameter file of the replaced intelligent driving domain controller, so as to achieve parameter synchronization between the intelligent driving domain controller and its downstream sensors. For example, the parameter file CalibrationParameter20240603123056.ini can be replaced to the vehicle-side storage and take effect, and then the cloud storage success result is replied. After receiving the successful storage result, the cloud deletes the parameter file CalibrationParameter20240603123056.ini. If there are multiple parameter files of the vehicle stored in the cloud, the cloud deletes all parameter files of the vehicle after receiving the successful storage result, thereby reducing the load on the cloud.

[0065] Step S260: When at least one of the multiple sensors is replaced with a new one, a prompt message is issued to prompt the manual driver to synchronize parameters of the intelligent driving domain controller and the multiple sensors.

[0066] In other embodiments, information that at least one of the multiple sensors has been replaced with a new one can be manually input to the vehicle through an external device. When the vehicle receives this information, it can determine that at least one of the multiple sensors has been replaced with a new one. At this time, the vehicle sends a prompt message to prompt the manual driver to synchronize and calibrate the external parameters of the multiple sensors mounted under the intelligent driving domain controller. In this case, the parameter files stored in the cloud are not deleted. Manual driving dynamic calibration, that is, by manually driving on a road with good road conditions for a period of time, the parameter synchronization between the intelligent driving domain controller and the sensors mounted thereon is completed, thereby realizing the dynamic calibration of the sensor external parameters.

[0067] Compared with steps S110 to S130, steps S210 to S260 also have the following additional technical effects: verifying the parameter file can ensure the effective replacement of the blank files of the intelligent driving domain controller and improve the success rate and accuracy of the sensor external parameter calibration.

[0068] See also Figure 5 , Figure 5 A schematic flow chart of a sensor external parameter calibration method provided by an exemplary embodiment of the present application is shown. The sensor external parameter calibration method may include steps S1 to S14.

[0069] Step S1: An external device activates the vehicle to enter maintenance mode.

[0070] Step S2: The vehicle collects real-time external parameters of the sensors mounted on the intelligent driving domain controller and uploads the real-time external parameters to the cloud in the form of parameter files.

[0071] Step S3: The parameter file is stored in the cloud, and the file name of the parameter file includes the storage timestamp of the parameter file.

[0072] Step S4: The cloud sends the storage results to the vehicle.

[0073] Step S5: When the parameter file is successfully stored in the cloud, the vehicle feeds back the result of successful upload of the parameter file to the external device.

[0074] It is understandable that when the vehicle fails to store the parameter file in the cloud, the parameter file can be repeatedly uploaded to the cloud and the total number of uploads can be counted. When the total number of uploads reaches the number threshold, the manual dynamic calibration is notified.

[0075] Step S6: After replacing the intelligent driving domain sensor, the external device writes the vehicle identification number (VIN) and configuration code to the vehicle.

[0076] Step S7: The vehicle requests the cloud to download the parameter file.

[0077] Step S8: The cloud selects the latest parameter file corresponding to the vehicle identification code.

[0078] Step S9: The cloud sends the latest parameter file to the vehicle.

[0079] Step S10: The vehicle verifies the parameter file.

[0080] If the verification passes, proceed to step S11, and the vehicle reads the calibration status of the sensor mounted under the intelligent driving domain controller through the configuration code.

[0081] If the verification fails, the process goes to step S15, and the vehicle feeds back a calibration failure result to the external device.

[0082] Step S11: The vehicle reads the calibration status of the sensor mounted under the intelligent driving domain controller through the configuration code.

[0083] Step S12: The vehicle detects whether the sensors mounted below the intelligent driving domain controller have not been replaced with new ones based on the calibration status.

[0084] If yes, the process goes to step S13, where the vehicle replaces the blank file of the replaced intelligent driving domain controller with the parameter file. If no, the vehicle feeds back the calibration failure result to the external device, and the external device controls the vehicle to exit the maintenance mode.

[0085] Step S13: The vehicle parameter file replaces the blank file of the replaced intelligent driving domain controller.

[0086] Step S14: After the replaced intelligent driving domain controller stores the parameter file, the vehicle notifies the cloud to delete the parameter file.

[0087] Steps S1 to S14 have the following technical effects: before replacing the intelligent driving domain controller, the real-time external parameters of the sensor are stored in the cloud. When only the intelligent driving domain controller is replaced but the sensors hanging under the intelligent driving domain controller are not replaced, the real-time external parameters of the sensor downloaded from the cloud are synchronized to the replaced intelligent driving domain controller. Therefore, after the intelligent driving domain controller is replaced, the parameter synchronization between the intelligent driving domain controller and the sensors hanging under it can be automatically completed without manual dynamic calibration, and the external parameter calibration of the sensors hanging under the intelligent driving domain sensors can be realized without the need for manual dynamic calibration, thus saving calibration time and vehicle maintenance time, improving the calibration success rate, and enhancing the user's vehicle after-sales experience. In addition, verifying the parameter file can ensure the effective replacement of the blank file of the intelligent driving domain controller and improve the success rate and accuracy of the sensor external parameter calibration.

[0088] It can be understood that in the embodiment of the present application, before replacing the intelligent driving domain controller, the method steps on the vehicle side can be executed by the intelligent driving domain controller, and after replacing the intelligent driving domain controller, the method steps on the vehicle side can be executed by the replaced intelligent driving domain controller.

[0089] See also Figure 6 , Figure 6A structural schematic diagram of a sensor external parameter calibration device provided in an embodiment of the present application is shown. The sensor external parameter calibration device 200 can be integrated in a vehicle. The sensor external parameter calibration device 200 may include a data upload module 210, a data download module 220, and a parameter synchronization module 230. Among them: the data upload module 210 is used to upload a parameter file to the cloud before replacing the intelligent driving domain controller, and the parameter file includes the real-time external parameters of multiple sensors hung under the intelligent driving domain controller. The data download module 220 is used to download the parameter file from the cloud after replacing the intelligent driving domain controller. The parameter synchronization module 230 is used to synchronize the parameter file to the replaced intelligent driving domain controller when none of the multiple sensors have been replaced with new parts.

[0090] In some embodiments, the parameter synchronization module 230 is also used to verify the parameter file according to a blank file stored in the replaced intelligent driving domain controller itself before synchronizing the parameter file to the replaced intelligent driving domain controller when none of the multiple sensors have been replaced with new ones; if the parameter file passes the verification, it is detected whether none of the multiple sensors have been replaced with new ones.

[0091] In some embodiments, the sensor external parameter calibration device 200 further includes a data receiving module, which is used to receive information written by an external device (for example, various diagnostic or maintenance instructions, vehicle identification codes, and sensor configuration information). The parameter synchronization module 230 is also used to determine whether the multiple sensors have not been replaced with new ones based on the sensor configuration information.

[0092] In some embodiments, the parameter synchronization module 230 is also used to obtain the calibration status of the multiple sensors according to the sensor configuration information; if the calibration status of the multiple sensors are all calibrated, it is determined that the multiple sensors have not been replaced with new ones; if the calibration status of at least one sensor among the multiple sensors is uncalibrated, it is determined that at least one sensor among the multiple sensors has been replaced with a new one.

[0093] In some embodiments, the parameter synchronization module 230 is also used to obtain the storage time of the parameter file from the file name of the parameter file, and the storage time of the parameter file is the time when the parameter file is stored in the cloud; if the storage time of the parameter file is greater than the storage time of the blank file, it is determined that the parameter file has passed the verification.

[0094] In some embodiments, the data upload module 210 is also used to activate the vehicle maintenance mode through an external device before replacing the intelligent driving domain controller; obtain the current real-time external parameters of the multiple sensors; generate a parameter file based on the current real-time external parameters of the multiple sensors; and upload the parameter file to the cloud.

[0095] In some embodiments, the parameter synchronization module 230 is also used to issue a prompt message when at least one of the multiple sensors is replaced with a new one, prompting the manual driver to synchronize the parameters of the intelligent driving domain controller and multiple sensors.

[0096] Those skilled in the art can clearly understand that the above device provided in the embodiment of the present application can implement the method provided in the embodiment of the present application. The specific working process of the above-described device and module can refer to the corresponding process of the method in the embodiment of the present application, which will not be repeated here.

[0097] In the embodiments provided in the present application, the coupling, direct coupling or communication connection between the modules shown or discussed may be indirect coupling or communication coupling through some interfaces, devices or modules, and may be electrical, mechanical or other forms, and the embodiments of the present application do not impose specific limitations on this.

[0098] In addition, each functional module in the embodiment of the present application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0099] See also Figure 7 , Figure 7 The schematic diagram of the structure of the vehicle provided by the embodiment of the present application is shown. The vehicle 300 may include a memory 310 and a processor 320, wherein the memory 310 stores an application program, and the application program is configured to execute the method provided by the embodiment of the present application when called by the processor 320. The vehicle 300 may be the same as or different from the vehicle 120.

[0100] The processor 320 may include one or more processing cores. The processor 320 uses various interfaces and lines to connect various parts of the entire vehicle 300, and is used to run or execute instructions, programs, code sets or instruction sets stored in the memory 310, and call to run or execute data stored in the memory 310, perform various functions of the vehicle 300, and process data.

[0101] The processor 320 can be implemented in at least one of the following hardware forms: digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor 320 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor 320, but may be implemented separately through a communication chip.

[0102] The memory 310 may include a random access memory (RAM) or a read-only memory (ROM). The memory 310 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 310 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may store data created by the vehicle 300 during use, etc.

[0103] An embodiment of the present application also provides a computer-readable storage medium, on which a program code is stored. The program code is configured to execute the method provided in the embodiment of the present application when called by a processor.

[0104] The computer-readable storage medium may be an electronic memory such as a flash memory, an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a hard disk or a ROM.

[0105] In some embodiments, the computer readable storage medium includes a non-volatile computer readable medium (Non-Transitory Computer-Readable Storage Medium, referred to as Non-TCRSM). The computer readable storage medium has a storage space for the program code that executes any method step in the above method. These program codes can be read from or written into one or more computer program products. The program code can be compressed in an appropriate form.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A sensor external parameter calibration method, characterized in that: include: Before replacing the intelligent driving domain controller, upload the parameter file to the cloud. The parameter file includes the real-time external parameters of multiple sensors mounted under the intelligent driving domain controller. After replacing the intelligent driving domain controller, download the parameter file from the cloud; When the multiple sensors have not been replaced with new ones, the parameter file is synchronized to the replaced intelligent driving domain controller.

2. The method according to claim 1, characterized in that When none of the multiple sensors are replaced with new ones, before synchronizing the parameter file to the replaced intelligent driving domain controller, the method further includes: Verify the parameter file according to the blank file stored in the replaced intelligent driving domain controller itself; If the parameter file passes the verification, it is detected whether the multiple sensors are not replaced with new ones.

3. The method according to claim 2, characterized in that After replacing the intelligent driving domain controller and before downloading the parameter file from the cloud, the method further includes: Receive sensor configuration information written by external devices; The detecting whether the plurality of sensors have not been replaced with new ones comprises: It is determined whether all of the multiple sensors have not been replaced with new ones according to the sensor configuration information.

4. The method according to claim 3, characterized in that The determining, based on the sensor configuration information, whether the multiple sensors have not been replaced with new ones comprises: acquiring calibration states of the multiple sensors based on the sensor configuration information; If the calibration states of the multiple sensors are all in the calibrated state, it is determined that the multiple sensors have not been replaced with new ones; If the calibration state of at least one sensor among the multiple sensors is an uncalibrated state, it is determined that at least one sensor among the multiple sensors is replaced with a new one.

5. The method according to claim 2, characterized in that: The step of verifying the parameter file according to the blank file stored in the replaced intelligent driving domain controller itself includes: Obtain the storage time of the parameter file from the file name of the parameter file, where the storage time of the parameter file is the time when the parameter file is stored in the cloud; If the storage time of the parameter file is greater than the storage time of the blank file, it is determined that the parameter file passes the verification.

6. The method according to claim 1, characterized in that Before replacing the intelligent driving domain controller, the parameter file is uploaded to the cloud, including: Before replacing the intelligent driving domain controller, activate the vehicle maintenance mode through an external device; Obtaining current real-time external parameters of the multiple sensors; Generate a parameter file according to the current real-time external parameters of the multiple sensors; Upload the parameter file to the cloud.

7. The method according to claim 1, characterized in that The method further comprises: When at least one of the multiple sensors is replaced with a new one, a prompt message is issued to prompt the manual driver to synchronize parameters of the intelligent driving domain controller and the multiple sensors.

8. A sensor external parameter calibration device, characterized in that: include: A data upload module is used to upload a parameter file to the cloud before replacing the intelligent driving domain controller. The parameter file includes real-time external parameters of multiple sensors mounted under the intelligent driving domain controller; A data download module, used to download the parameter file from the cloud after replacing the intelligent driving domain controller; A parameter synchronization module is used to synchronize the parameter file to the replaced intelligent driving domain controller when the multiple sensors have not been replaced with new ones.

9. A vehicle, characterized in that: include: A memory and a processor, wherein an application is stored in the memory, and the application is configured to cause the vehicle to execute the method according to any one of claims 1 to 7 when called by the processor.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program codes, and the program codes are configured to, when called by a processor, cause the processor to execute the method according to any one of claims 1 to 7.

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