Calibration method, domain controller and storage medium

Abstract

The invention provides a calibration method, a domain controller and a storage medium. Target vehicle data needs to be collected in advance, and to-be-calibrated parameters are determined; the calibration method comprises the following steps: loading target vehicle data to a corresponding calibration module based on to-be-calibrated parameters to obtain an optimal calibration parameter combination; further inputting the optimal calibration parameter combination into a preset application algorithm to output a calibration error report; and judging whether the calibration work is ended or not by using the calibration error report. According to the method, calibration can be ensured to be based on real and reliable information, so that the accuracy of track plotting in subsequent application is improved, and the positioning error is reduced; and whether the calibration work is ended or not can be flexibly judged, so that the user can timely obtain feedback and timely adjust in the calibration process, and the calibration accuracy is further improved.

Description

Technical Field

[0001] The present application relates to the field of calibration technology, and in particular to a calibration method, a domain controller and a storage medium. Background Art

[0002] The domain controller is the core component used to implement advanced driver assistance systems in automobiles. It is responsible for handling key tasks such as perception, decision-making, execution, safety and communication by integrating multiple sensors, actuators and control algorithms.

[0003] Dead reckoning is a method of calculating the next position of an object by measuring the distance and direction it has moved, given the current position of the object. The domain controller's dead reckoning algorithm calculates the vehicle's position in real time by collecting data such as wheel speed pulses, angular velocity, and inertial measurement units.

[0004] Therefore, in order to accurately calculate the vehicle position, calibration is a very important step; however, the existing manual calibration methods have low accuracy. Summary of the invention

[0005] In order to solve the above technical problems, the present application provides a calibration method, a domain controller and a storage medium with high accuracy that can reduce positioning errors.

[0006] Specifically, the present application provides a calibration method, which collects target vehicle data in advance and determines parameters to be calibrated; the calibration method comprises the following steps:

[0007] The target vehicle data is loaded into a corresponding calibration module based on the parameters to be calibrated to obtain an optimal calibration parameter combination.

[0008] The optimal calibration parameter combination is input into a preset application algorithm to output a calibration error report.

[0009] And, the calibration error report is used to determine whether to end the calibration work.

[0010] In the above technical solution, by pre-collecting the target vehicle data, it can be ensured that the calibration is based on real and reliable information, thereby improving the accuracy of track calculation in subsequent applications and reducing positioning errors; outputting a calibration error report, flexibly judging whether to continue or end the calibration work, ensuring that users can get timely feedback and make timely adjustments during the calibration process, and further improving the accuracy of the calibration.

[0011] Furthermore, the target vehicle data at least includes vehicle body data and position data; and the calibration module at least includes a first calibration module and a second calibration module.

[0012] In the above technical solution, comprehensive vehicle information is provided based on vehicle body data and position data, which fully reflects the dynamic characteristics and spatial position information of the vehicle and ensures the accuracy of calibration; by dividing the calibration module into multiple different modules, specialized data processing can be performed for different data types and processing requirements, thereby improving the focus and accuracy of calibration.

[0013] In addition, the design of multiple calibration modules allows the calibration process to be carried out in parallel, thereby shortening the calibration time, accelerating the development cycle, and improving the response speed.

[0014] It should be noted that those skilled in the art can flexibly adjust and expand the calibration module according to different vehicle models or application requirements to cope with new challenges and changes and improve the adaptability of the domain controller.

[0015] Furthermore, before the target vehicle data is loaded into the calibration module, it includes:

[0016] The parameter upper limit and parameter lower limit of the parameter to be calibrated are set, and the parameter step length is set, so as to obtain a calibration parameter series based on the parameter upper limit, parameter lower limit and parameter step length; wherein the calibration parameter series includes multiple parameters to be calibrated of the same type.

[0017] In the above technical scheme, setting the upper and lower limits of the parameters can effectively control the range of the parameters to be calibrated, thereby avoiding the emergence of unreasonable parameters and ensuring that the calibration process is safer and more effective; by setting the parameter step to obtain the calibration parameter series, a series of parameters can be systematically generated to ensure that these parameters have a certain regularity, which is convenient for subsequent optimization; based on the generation of parameter series, the optimal parameter combination can be quickly and automatically searched, reducing manual intervention and improving calibration efficiency.

[0018] Furthermore, the obtaining of the optimal calibration parameter combination includes:

[0019] Any parameter to be calibrated in the calibration parameter sequence is used as a parameter to be calculated.

[0020] The parameters to be calculated and the vehicle body data are input into a first calibration module to obtain a first coordinate set.

[0021] And, the parameters to be calculated and the position data are input into a second calibration module to obtain a second coordinate set.

[0022] In the above technical solution, the parameters to be calculated are input into the first calibration module and the second calibration module respectively, which can focus on processing different types of data (body data and position data), ensure maximum correlation, and reduce data cross-interference; by independently obtaining the first coordinate set and the second coordinate set, the relationship between the parameters to be calculated and the vehicle performance can be analyzed from multiple dimensions to improve the comprehensiveness of the analysis; each parameter to be calculated is input separately into the corresponding calibration module, making the calibration process more efficient, reducing unnecessary calculations, and avoiding increased complexity and calculation time.

[0023] Furthermore, the obtaining of the optimal calibration parameter combination includes:

[0024] Based on the first coordinate set and the second coordinate set, a plurality of relative errors of the parameter to be calculated in the target vehicle data are obtained, and a comprehensive error is obtained according to each relative error.

[0025] In the above technical scheme, by obtaining multiple relative errors, the performance and adaptability of the parameters to be calculated can be comprehensively analyzed from multiple aspects, thereby enhancing the reliability of the calibration results; the calculated comprehensive error provides an empirical basis for the subsequent adjustment and optimization of the calibration parameters, promotes reasonable decision-making based on data, and improves calibration efficiency.

[0026] Furthermore, the obtaining of the optimal calibration parameter combination includes:

[0027] Acquire multiple comprehensive errors corresponding to the calibration parameter series to obtain the minimum comprehensive error as the optimal calibration parameter; and obtain the optimal calibration parameters corresponding to each type of parameters to be calibrated to obtain the optimal calibration parameter combination.

[0028] In the above technical solution, by obtaining the optimal values ​​of various types of parameters to be calibrated, a comprehensive optimal calibration parameter combination can be formed, so that different parameters can be coordinated and consistent, thereby optimizing the overall system performance.

[0029] Further, the calibration error report at least includes calibration errors corresponding to multiple vehicle states; and the use of the calibration error report to determine whether to end the calibration work includes:

[0030] Based on the calibration error report, it is determined whether each calibration error is within a preset error range. If so, the calibration work is terminated; otherwise, a calibration error report is obtained according to the calibration error report and sent to the user end.

[0031] In the above technical solution, judgment is made based on the preset error range to ensure that all calibration errors are within the allowable range, thereby ensuring the quality and stability of the calibration work and reducing potential safety hazards; if a calibration error exceeds the range, a calibration error report is obtained in time and sent to the user end, so that the problem can be responded to quickly and long-term invalid calibration work can be avoided, thereby improving efficiency; processing the calibration error report separately from the error report can more clearly identify the problem, reduce the complexity of data analysis, and enable technicians to solve the problem more quickly.

[0032] In addition, after each calibration work is completed, a review analysis can be performed in combination with the calibration error report to provide experience accumulation for subsequent calibration work, which helps to continuously improve calibration accuracy and efficiency.

[0033] Based on the same concept, the present application also provides a domain controller, which at least includes:

[0034] The calculation module is used to load the target vehicle data into the corresponding calibration module based on the parameters to be calibrated to obtain the optimal calibration parameter combination, and input the optimal calibration parameter combination into the preset application algorithm.

[0035] The report output module is used to obtain the running result of the preset application algorithm and output a calibration error report so that the calculation module can determine whether to end the calibration work based on the calibration error report.

[0036] In the above technical solution, the domain controller can significantly improve the calibration work efficiency, reliability and user experience through centralized computing, automated processes and real-time feedback mechanisms, providing strong support for advanced driver assistance systems.

[0037] The calculation module is further configured to output a calibration error report to a user terminal based on the calibration error report when any calibration error obtained according to the calibration error report is not within a preset error range.

[0038] In the above technical solution, when any calibration error exceeds the preset range, the system can quickly identify and respond to avoid the potential impact of erroneous parameters on vehicle performance and safety; the technical team can conduct in-depth analysis based on the calibration error report, continuously improve the calibration algorithm and process, and improve the accuracy and efficiency of calibration.

[0039] Based on the same concept, the present application also provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the calibration method when running.

[0040] Compared with the prior art, the beneficial effects of this application are:

[0041] This application requires pre-collecting target vehicle data and determining the parameters to be calibrated; then, based on the parameters to be calibrated, loading the target vehicle data into a corresponding calibration module to obtain an optimal calibration parameter combination; further inputting the optimal calibration parameter combination into a preset application algorithm to output a calibration error report; and, using the calibration error report to determine whether to end the calibration work.

[0042] This application can ensure that the calibration is based on real and reliable information, thereby improving the accuracy of track calculation in subsequent applications and reducing positioning errors; and can flexibly determine whether to end the calibration work, ensuring that users can get timely feedback and make timely adjustments during the calibration process, further improving the accuracy of the calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a flow chart of the calibration method described in an embodiment of the present application.

[0044] Figure 2 This is a schematic diagram of the calibration error in the calibration error report described in the embodiment of the present application.

[0045] Figure 3 This is a comparison chart between the simulated DR and the device true value in the calibration error report described in the embodiment of the present application.

[0046] Figure 4 This is a schematic diagram of the domain controller described in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The following is a further detailed description of a calibration method, domain controller and storage medium of the present application in conjunction with specific embodiments and drawings.

[0048] See also Figure 1 The present application provides a calibration method, which collects target vehicle data in advance and determines the parameters to be calibrated; the calibration method comprises the following steps:

[0049] The target vehicle data is loaded into a corresponding calibration module based on the parameters to be calibrated to obtain an optimal calibration parameter combination.

[0050] Furthermore, the target vehicle data at least includes vehicle body data and position data; and the calibration module at least includes a first calibration module and a second calibration module.

[0051] In some embodiments, optionally, the vehicle body data includes at least wheel speed pulse, vehicle gear, yaw angular velocity, and steering wheel angle; the position data is the latitude and longitude coordinates output by the vehicle-mounted integrated navigation device collected from the actual vehicle.

[0052] Assume that the target vehicle data S collected by the real vehicle is S = {s1, s2, s3…, sn}

[0053] Each data i ,(1≤i≤n,i∈Z) includes the vehicle body data and position data.

[0054] The first calibration module may be set as a recharging module, and the second calibration module may be set as a true value calculation module.

[0055] In other embodiments, the vehicle body data may also include acceleration, etc.; the latitude and longitude coordinates may be obtained through a global positioning system (GPS), an inertial measurement unit, a radar system positioning, etc.

[0056] Furthermore, the parameters to be calibrated include at least wheelbase, steering ratio, IMU zero drift value, and weight coefficient.

[0057] Among them, the wheelbase includes the front wheel base and the rear wheel base; the steering ratio refers to the ratio of the steering wheel rotation angle to the wheel rotation angle; the IMU zero drift value refers to the non-zero value displayed by the IMU sensor (such as accelerometer and gyroscope) when there is no movement (in a static state); in multi-sensor fusion algorithms (such as Kalman filtering or other filtering algorithms), the weight coefficient is used to balance the influence of different sensor inputs on the final positioning result.

[0058] It should be noted that calibrating these parameters helps to improve the dynamic response, stability and positioning accuracy of the vehicle under various driving conditions, thereby ensuring safe and efficient navigation and control; technical personnel in this field can set more parameters to be calibrated according to actual application requirements. The calibration method described in this application is applicable to any vehicle parameters and is not limited to the above parameters to be calibrated.

[0059] In the above technical solution, comprehensive vehicle information is provided based on vehicle body data and position data, which fully reflects the dynamic characteristics and spatial position information of the vehicle and ensures the accuracy of calibration; by dividing the calibration module into multiple different modules, specialized data processing can be performed for different data types and processing requirements, thereby improving the focus and accuracy of calibration.

[0060] In addition, the design of multiple calibration modules allows the calibration process to be carried out in parallel, thereby shortening the calibration time, accelerating the development cycle, and improving the response speed.

[0061] It should be noted that those skilled in the art can flexibly adjust and expand the calibration module according to different vehicle models or application requirements to cope with new challenges and changes and improve the adaptability of the domain controller.

[0062] Furthermore, before the target vehicle data is loaded into the calibration module, it includes:

[0063] The parameter upper limit and parameter lower limit of the parameter to be calibrated are set, and the parameter step length is set, so as to obtain a calibration parameter series based on the parameter upper limit, parameter lower limit and parameter step length; wherein the calibration parameter series includes multiple parameters to be calibrated of the same type.

[0064] In some embodiments, taking wheelbase calibration as an example, an upper wheelbase limit (i.e., the upper parameter limit) and a lower wheelbase limit (i.e., the lower parameter limit) are set, denoted as l max and l min , set the parameter step size step, use the parameter step size as the arithmetic progression, and get the calibration parameter series:

[0065] L={l1,l2,l3…,l m}

[0066] Where l1 = l min , l m = l max .

[0067] In the above technical scheme, setting the upper and lower limits of the parameters can effectively control the range of the parameters to be calibrated, thereby avoiding the emergence of unreasonable parameters and ensuring that the calibration process is safer and more effective; by setting the parameter step to obtain the calibration parameter series, a series of parameters can be systematically generated to ensure that these parameters have a certain regularity, which is convenient for subsequent optimization; based on the generation of parameter series, the optimal parameter combination can be quickly and automatically searched, reducing manual intervention and improving calibration efficiency.

[0068] Furthermore, the obtaining of the optimal calibration parameter combination includes:

[0069] Any parameter to be calibrated in the calibration parameter sequence is used as a parameter to be calculated.

[0070] The parameters to be calculated and the vehicle body data are input into a first calibration module to obtain a first coordinate set.

[0071] And, the parameters to be calculated and the position data are input into a second calibration module to obtain a second coordinate set.

[0072] In some embodiments, l1 in the calibration parameter sequence is used as the parameter to be calculated, and l1 is used as the wheelbase parameter of the dead reckoning algorithm to be input into the re-injection module, and {s1, s2, s3…, s n} are sequentially input into the recharging module to obtain n recharging results, which are recorded as the first coordinate set P = {p1, p2, p3…, p n}.

[0073] Where each point p i =(x i ,y i ,yaw i), corresponding to data s i The coordinate point of the vehicle's end point output by the dead reckoning algorithm under the current wheelbase parameter l1.

[0074] Furthermore, l1 is used as the wheelbase parameter of the dead reckoning algorithm and input into the true value calculation module, and {s1,s2,s3…,s n} are sequentially input into the truth value calculation module to obtain the actual moving end point coordinates of n vehicles, which are recorded as the second coordinate set P'={p ' 1,p ' 2,p ' 3…,p ' n}.

[0077] Among them, each point p' i =(x' i ,y' i ,yaw' i ) Corresponding data s i The true value of the device.

[0078] It should be noted that, in the above, x is the longitudinal distance, y is the lateral distance, yaw is the heading angle, and the coordinates of the first coordinate set and the second coordinate set are in the same coordinate system, which is not limited here; and the second coordinate set is mainly obtained through UTM projection (Universal Transverse Mercator) conversion.

[0079] Further, the basic principles of UTM projection are as follows:

[0080] UTM divides the earth's surface into multiple zones, each of which is 6 degrees longitude wide, forming numerous longitudinal geographic regions so that each region can be projected separately; the world is divided into 60 zones, covering positions from 180 degrees east longitude to 180 degrees east longitude, and each zone has a number (1 to 60) and a corresponding projection plane coordinate system.

[0081] UTM uses the Transverse Mercator Projection, which means that it has minimal distortion at the equator and gradually increases with the distance from the equator; each zone has its own origin (usually the central meridian), and the coordinates of adjacent points are determined based on the longitude of this meridian and a reference line at 0 degrees north latitude.

[0082] The UTM projection system uses meters (m) as units and provides two coordinate values, namely Easting and Northing; the Easting coordinate increases from the central meridian to the east, and the Northing coordinate increases from the equator to the north. The Northing coordinate of each zone near the equator is 0, and the value gradually increases as it increases to the north; in addition, in order to avoid negative coordinate values, the UTM system usually adds an offset of 10,000,000 meters to the Northing coordinate value in the southern hemisphere.

[0083] In the above technical solution, the parameters to be calculated are input into the first calibration module and the second calibration module respectively, which can focus on processing different types of data (body data and position data), ensure maximum correlation, and reduce data cross-interference; by independently obtaining the first coordinate set and the second coordinate set, the relationship between the parameters to be calculated and the vehicle performance can be analyzed from multiple dimensions to improve the comprehensiveness of the analysis; each parameter to be calculated is input separately into the corresponding calibration module, making the calibration process more efficient, reducing unnecessary calculations, and avoiding increased complexity and calculation time.

[0084] Furthermore, the obtaining of the optimal calibration parameter combination includes:

[0085] Based on the first coordinate set and the second coordinate set, a plurality of relative errors of the parameter to be calculated in the target vehicle data are obtained, and a comprehensive error is obtained according to each relative error.

[0086] In some embodiments, the relative error includes at least an average longitudinal relative error, an average lateral relative error, and an average heading relative error.

[0087] Among them, the average longitudinal relative error of l1 in S is calculated:

[0088]

[0089] Calculate the average lateral relative error of l1 within S:

[0090]

[0091] Calculate the average relative heading error of l1 within S:

[0092]

[0093] In this way, the average comprehensive error of parameter l1 in S (i.e., the comprehensive error) is obtained, which is recorded as:

[0094]

[0095] Repeat the above steps to calculate {l1,l2,l3…,l m}, and the error series is obtained: {e1,e2,e3…,e m}.

[0096] In the above technical scheme, by obtaining multiple relative errors, the performance and adaptability of the parameters to be calculated can be comprehensively analyzed from multiple aspects, thereby enhancing the reliability of the calibration results; the calculated comprehensive error provides an empirical basis for the subsequent adjustment and optimization of the calibration parameters, promotes reasonable decision-making based on data, and improves calibration efficiency.

[0097] Furthermore, the obtaining of the optimal calibration parameter combination includes:

[0098] Acquire multiple comprehensive errors corresponding to the calibration parameter series to obtain the minimum comprehensive error as the optimal calibration parameter; and obtain the optimal calibration parameters corresponding to each type of parameters to be calibrated to obtain the optimal calibration parameter combination.

[0099] In some embodiments, the smallest value in the error series is recorded as e j (1≤j≤m,j∈Z), the e j The corresponding parameter l j is the optimal wheelbase parameter (i.e. the optimal calibration parameter), thus completing the calibration of the wheelbase.

[0100] In the same way, the steering ratio, IMU zero drift value, and weight coefficient are calibrated to obtain the optimal steering ratio, optimal IMU zero drift value, and optimal weight coefficient, and then the optimal calibration parameter combination is obtained. The optimal calibration parameter combination at least includes the optimal wheelbase parameter, the optimal steering ratio, the optimal IMU zero drift value, and the optimal weight coefficient.

[0101] In addition, it should be noted that, depending on the different parameters selected to be calibrated, the optimal calibration parameter combination is also different.

[0102] In the above technical solution, by obtaining the optimal values ​​of various types of parameters to be calibrated, a comprehensive optimal calibration parameter combination can be formed, so that different parameters can be coordinated and consistent, thereby optimizing the overall system performance.

[0103] The optimal calibration parameter combination is input into a preset application algorithm to output a calibration error report.

[0104] In some embodiments, the preset application algorithm is, for example, a DR algorithm (ie, a dead reckoning algorithm) to output a calibration error report based on an optimal calibration parameter combination.

[0105] Optionally, the calibration error report includes a calibration error table (eg Figure 2 As shown in the figure), and the comparison chart between the simulated DR and the real value of the device (as shown in the figure Figure 3 shown).

[0106] And, the calibration error report is used to determine whether to end the calibration work.

[0107] Further, the calibration error report at least includes calibration errors corresponding to multiple vehicle states; and the use of the calibration error report to determine whether to end the calibration work includes:

[0108] Based on the calibration error report, it is determined whether each calibration error is within a preset error range. If so, the calibration work is terminated; otherwise, a calibration error report is obtained according to the calibration error report and sent to the user end.

[0109] In some embodiments, during the calibration process, calibration errors of the vehicle in different states are continuously collected and updated, and each error value in the report is compared with a preset error range.

[0110] If all calibration errors are within the corresponding preset error range, record the successful calibration process, change the domain controller status to "calibrated", end the calibration work, and notify the calibration staff through the display interface and other means.

[0111] If any calibration error is not within the corresponding preset error range, the calibration error is recorded and the following processing is performed:

[0112] A calibration error report is generated for calibration errors that do not meet the standards. The specific content of the calibration error report may include detailed information on the calibration error that does not meet the standards (such as numerical value, vehicle status, cause analysis, etc.), a brief review of the calibration steps and processes that have been performed, possible solutions or suggestions for improvement measures, etc.

[0113] Furthermore, the calibration error report is sent to the user end via email, display interface or message push, etc., so that the calibration staff can further analyze and correct it; the staff can troubleshoot the problem, adjust the calibration settings, re-perform relevant tests, etc. based on the report.

[0114] In the above technical solution, judgment is made based on the preset error range to ensure that all calibration errors are within the allowable range, thereby ensuring the quality and stability of the calibration work and reducing potential safety hazards; if a calibration error exceeds the range, a calibration error report is obtained in time and sent to the user end, so that the problem can be responded to quickly and long-term invalid calibration work can be avoided, thereby improving efficiency; processing the calibration error report separately from the error report can more clearly identify the problem, reduce the complexity of data analysis, and enable technicians to solve the problem more quickly.

[0115] In addition, after each calibration work is completed, a review analysis can be performed in combination with the calibration error report to provide experience accumulation for subsequent calibration work, which helps to continuously improve calibration accuracy and efficiency.

[0116] Further, referring to the figure, the present application also provides a domain controller, which at least includes:

[0117] The calculation module is used to load the target vehicle data into the corresponding calibration module based on the parameters to be calibrated to obtain the optimal calibration parameter combination, and input the optimal calibration parameter combination into the preset application algorithm.

[0118] In some embodiments, the target vehicle data includes at least vehicle body data and position data; and the calibration module includes at least a first calibration module and a second calibration module.

[0119] Before loading the target vehicle data into the calibration module, it includes: setting the parameter upper limit and parameter lower limit of the parameter to be calibrated, and setting the parameter step size, so as to obtain a calibration parameter series based on the parameter upper limit, parameter lower limit and parameter step size; wherein the calibration parameter series includes multiple parameters to be calibrated of the same type.

[0120] Among them, obtaining the optimal calibration parameter combination specifically includes: taking any parameter to be calibrated in the calibration parameter series as a parameter to be calculated; inputting the parameter to be calculated and the vehicle body data into a first calibration module to obtain a first coordinate set; and inputting the parameter to be calculated and the position data into a second calibration module to obtain a second coordinate set.

[0121] Further, based on the first coordinate set and the second coordinate set, multiple relative errors of the parameters to be calculated in the target vehicle data are obtained, and a comprehensive error is obtained according to each relative error; then, multiple comprehensive errors corresponding to the calibration parameter series are obtained to obtain the minimum comprehensive error as the optimal calibration parameter; and, optimal calibration parameters corresponding to each type of parameters to be calibrated are obtained to obtain an optimal calibration parameter combination.

[0122] The report output module is used to obtain the running result of the preset application algorithm and output a calibration error report so that the calculation module can determine whether to end the calibration work based on the calibration error report.

[0123] In the above technical solution, the domain controller can significantly improve the calibration work efficiency, reliability and user experience through centralized computing, automated processes and real-time feedback mechanisms, providing strong support for advanced driver assistance systems.

[0124] The calculation module is further configured to output a calibration error report to a user terminal based on the calibration error report when any calibration error obtained according to the calibration error report is not within a preset error range.

[0125] In some embodiments, if each calibration error in the calibration error report is within the corresponding preset error range, the calibration work is terminated.

[0126] In the above technical solution, when any calibration error exceeds the preset range, the system can quickly identify and respond to avoid the potential impact of erroneous parameters on vehicle performance and safety; the technical team can conduct in-depth analysis based on the calibration error report, continuously improve the calibration algorithm and process, and improve the accuracy and efficiency of calibration.

[0127] Furthermore, the present application also provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the calibration method when running.

[0128] In some embodiments, the storage medium stores several computer programs for enabling the domain controller to execute all or part of the steps of the method described in various embodiments of the present application.

[0129] The storage medium may include a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk, and other media that can store program codes.

[0130] In summary, the present application provides a calibration method, a domain controller and a storage medium; it is necessary to collect the target vehicle data in advance and determine the parameters to be calibrated; then the target vehicle data is loaded into the corresponding calibration module based on the parameters to be calibrated to obtain the optimal calibration parameter combination; the optimal calibration parameter combination is further input into the preset application algorithm to output a calibration error report; and the calibration error report is used to determine whether to end the calibration work. The present application can ensure that the calibration is based on real and reliable information, thereby improving the accuracy of track calculation in subsequent applications and reducing positioning errors; and can flexibly determine whether to end the calibration work, ensuring that users can get timely feedback and make timely adjustments during the calibration process, further improving the accuracy of the calibration.

[0131] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0132] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0133] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0134] The various component embodiments of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The application can also be implemented as a device program (e.g., computer program and computer program product) for executing a part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0135] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0136] Although the description of the present application is carried out in conjunction with the above specific embodiments, it is obvious that those skilled in the art can make many substitutions, modifications and changes based on the above content. Therefore, all such substitutions, improvements and changes are included in the spirit and scope of the appended claims.

Claims

1. A calibration method, characterized in that: Collect target vehicle data in advance and determine the parameters to be calibrated; The calibration method comprises the following steps: Based on the parameters to be calibrated, the target vehicle data is loaded into a corresponding calibration module to obtain an optimal calibration parameter combination; the optimal calibration parameter combination is input into a preset application algorithm to output a calibration error report; And, the calibration error report is used to determine whether to end the calibration work.

2. The calibration method according to claim 1, characterized in that: The target vehicle data at least includes vehicle body data and position data; the calibration module at least includes a first calibration module and a second calibration module.

3. The calibration method according to claim 2, characterized in that: Before loading the target vehicle data into the calibration module, include: The parameter upper limit and parameter lower limit of the parameter to be calibrated are set, and the parameter step length is set, so as to obtain a calibration parameter series based on the parameter upper limit, parameter lower limit and parameter step length; wherein the calibration parameter series includes multiple parameters to be calibrated of the same type.

4. The calibration method according to claim 3, characterized in that: The obtaining of the optimal calibration parameter combination comprises: Taking any parameter to be calibrated in the calibration parameter sequence as a parameter to be calculated; Inputting the parameters to be calculated and the vehicle body data into a first calibration module to obtain a first coordinate set; And, the parameters to be calculated and the position data are input into a second calibration module to obtain a second coordinate set.

5. The calibration method according to claim 4, characterized in that: The obtaining of the optimal calibration parameter combination comprises: Based on the first coordinate set and the second coordinate set, a plurality of relative errors of the parameter to be calculated in the target vehicle data are obtained, and a comprehensive error is obtained according to each relative error.

6. The calibration method according to claim 5, characterized in that: The obtaining of the optimal calibration parameter combination comprises: Obtaining multiple comprehensive errors corresponding to the calibration parameter sequence to obtain the minimum comprehensive error as the optimal calibration parameter; And, obtaining the optimal calibration parameters corresponding to each type of parameters to be calibrated, so as to obtain the optimal calibration parameter combination.

7. The calibration method according to claim 1, characterized in that: The calibration error report at least includes calibration errors corresponding to multiple vehicle states; and the use of the calibration error report to determine whether to end the calibration work includes: Based on the calibration error report, it is determined whether each calibration error is within a preset error range. If so, the calibration work is terminated; otherwise, a calibration error report is obtained according to the calibration error report and sent to the user end.

8. A domain controller, characterized in that: The domain controller at least includes: A calculation module, used for loading the target vehicle data into the corresponding calibration module based on the parameters to be calibrated to obtain an optimal calibration parameter combination, and inputting the optimal calibration parameter combination into a preset application algorithm; The report output module is used to obtain the running result of the preset application algorithm and output a calibration error report so that the calculation module can determine whether to end the calibration work based on the calibration error report.

9. The domain controller according to claim 8, characterized in that: The calculation module is further configured to output a calibration error report to a user terminal based on the calibration error report when any calibration error obtained according to the calibration error report is not within a preset error range.

10. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the calibration method according to any one of claims 1 to 7 when running.

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