A calibration method, domain controller and storage medium

Abstract

The application provides a calibration method, a domain controller and a storage medium; target vehicle data needs to be collected in advance, and a to-be-calibrated parameter is determined; the calibration method comprises the following steps: loading the target vehicle data to a corresponding calibration module based on the to-be-calibrated parameter, so as to obtain an optimal calibration parameter combination; further inputting the optimal calibration parameter combination into a preset application algorithm, so as to output a calibration error report; and determining whether to end the calibration work by using the calibration error report. The application can ensure that the calibration is based on real and reliable information, thereby improving the accuracy of subsequent application of the dead reckoning and reducing the positioning error; and whether to end the calibration work can be flexibly determined, so that the user can obtain feedback in time and make timely adjustment in the calibration process, and the accuracy of the calibration is further improved.

Description

Technical Field

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

[0002] Domain controllers are core components in automobiles used to implement advanced driver assistance systems. They integrate various sensors, actuators, and control algorithms to handle critical tasks such as perception, decision-making, execution, safety, and communication.

[0003] Track estimation is a method of calculating the next position of an object by measuring the distance and direction of its movement, given its current position. The domain controller's track estimation algorithm calculates the vehicle's position in real time by collecting data such as wheel speed pulses, angular velocity, and inertial measurement unit readings.

[0004] Therefore, calibration is a crucial step in accurately calculating the vehicle's position; however, existing manual calibration methods have low accuracy. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides a calibration method, domain controller, and storage medium with high accuracy that can reduce positioning errors.

[0006] Specifically, this application provides a calibration method that pre-collects target vehicle data and determines the parameters to be calibrated; the calibration method includes the following steps:

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

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

[0009] In addition, the calibration error report is used to determine whether the calibration work should be ended.

[0010] In the above technical solution, by collecting target vehicle data in advance, it can be ensured that the calibration is based on real and reliable information, thereby improving the accuracy of trajectory estimation in subsequent applications and reducing positioning errors; outputting calibration error reports allows for flexible judgment on whether to continue or end the calibration work, ensuring that users can receive timely feedback and make timely adjustments during the calibration process, further improving the accuracy of calibration.

[0011] Furthermore, the target vehicle data includes at least vehicle body data and location data; the calibration module includes at least 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 location data, which fully reflects the vehicle's dynamic characteristics and spatial location information, ensuring 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 needs, improving the focus and accuracy of calibration.

[0013] Furthermore, the design of multiple calibration modules allows the calibration process to be performed 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 loading the target vehicle data into the calibration module, the following steps are included:

[0016] Set the upper and lower limits of the parameters to be calibrated, and set the parameter step size, so as to obtain a calibration parameter sequence based on the upper, lower, and step sizes; wherein the calibration parameter sequence includes multiple parameters of the same type to be calibrated.

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

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

[0019] Take any parameter to be calibrated from the calibration parameter sequence as the parameter to be calculated.

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

[0021] In addition, the parameters to be calculated and the position data are input into the second calibration module to obtain the 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 (vehicle data and position data), ensuring maximum correlation and reducing data cross-interference; by independently obtaining the first coordinate set and the second coordinate set, the relationship between the parameters to be calculated and vehicle performance can be analyzed from multiple dimensions, improving the comprehensiveness of the analysis; inputting each parameter to be calculated into the corresponding calibration module separately makes the calibration process more efficient, reduces unnecessary calculations, and avoids the increase in complexity and calculation time.

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

[0024] Based on the first coordinate set and the second coordinate set, obtain multiple relative errors of the parameter to be calculated in the target vehicle data, and obtain a comprehensive error based on each relative error.

[0025] In the above technical solution, by acquiring 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 empirical evidence for the subsequent adjustment and optimization of calibration parameters, promotes reasonable decision-making based on data, and improves calibration efficiency.

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

[0027] The system obtains multiple comprehensive errors corresponding to the calibration parameter sequence, and selects the smallest comprehensive error as the optimal calibration parameter; and obtains the optimal calibration parameters corresponding to each type of parameter to be calibrated, and obtains the optimal combination of calibration parameters.

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

[0029] Furthermore, the calibration error report includes at least multiple calibration errors corresponding to different vehicle states; the step of using the calibration error report to determine whether to end the calibration process includes:

[0030] Based on the calibration error report, determine whether each calibration error is within the preset error range. If so, end the calibration work; otherwise, obtain the calibration error report based on the calibration error report and send it to the user terminal.

[0031] In the above technical solution, judgment is made based on a preset error range to ensure that all calibration errors are within the allowable range, thereby guaranteeing 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 a timely manner and sent to the user terminal, which can quickly respond to the problem and avoid long-term invalid calibration work, thereby improving efficiency. Processing calibration error reports and error reports separately can more clearly identify the problem, reduce the complexity of data analysis, and enable technicians to solve problems more quickly.

[0032] In addition, after each calibration operation, a review and analysis can be conducted based on the calibration error report, which provides experience for subsequent calibration work and helps to continuously improve calibration accuracy and efficiency.

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

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

[0035] The report output module is used to obtain the running results 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 calibration 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 also used to output a calibration error report to the user terminal based on the calibration error report when any calibration error obtained according to the calibration error report is not within the preset error range.

[0038] In the above technical solution, when any calibration error exceeds the preset range, the system can quickly identify and react 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, this application also provides a storage medium storing a computer program, wherein the computer program is configured to execute the calibration method at runtime.

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

[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 the corresponding calibration module to obtain the optimal combination of calibration parameters; further, inputting the optimal combination of calibration parameters 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 ensures that the calibration is based on real and reliable information, thereby improving the accuracy of track estimation in subsequent applications and reducing positioning errors; it also allows for flexible determination of whether to end the calibration work, ensuring that users can receive timely feedback and make timely adjustments during the calibration process, further improving the accuracy of the calibration. Attached Figure Description

[0043] Figure 1 This is a flowchart of the calibration method described in the embodiments of this application.

[0044] Figure 2 This is a schematic representation of the calibration error in the calibration error report described in the embodiments of this application.

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

[0046] Figure 4 This is a schematic diagram of a domain controller as described in an embodiment of this application. Detailed Implementation

[0047] The calibration method, domain controller, and storage medium of this application will be described in further detail below with reference to specific embodiments and accompanying drawings.

[0048] Please see Figure 1 This application provides a calibration method that pre-collects target vehicle data and determines the parameters to be calibrated; the calibration method includes the following steps:

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

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

[0051] In some embodiments, the vehicle body data may optionally include at least wheel speed pulses, vehicle gear position, yaw rate, and steering wheel angle; the location data is the latitude and longitude coordinates output by the in-vehicle integrated navigation device collected from the actual vehicle.

[0052] Let the target vehicle data collected from the actual vehicle be S = {s1, s2, s3, ..., s}.n}

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

[0054] The first calibration module can be set as a recharge module, and the second calibration module can be set as a truth calculation module.

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

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

[0057] Among them, track width includes front track width and rear track width; steering ratio refers to the ratio of steering wheel rotation angle to wheel rotation angle; IMU zero drift value refers to the non-zero value displayed by IMU sensors (such as accelerometers and gyroscopes) when there is no movement (static state); in multi-sensor fusion algorithms (such as Kalman filtering or other filtering algorithms), weighting coefficients are used to balance the degree of influence of different sensor inputs on the final positioning result.

[0058] It should be noted that calibrating these parameters helps improve the vehicle's dynamic response, stability, and positioning accuracy under various driving conditions, thereby ensuring safe and efficient navigation and control. Those skilled in the art can set more parameters to be calibrated according to actual application needs. The calibration method described in this application is applicable to any vehicle parameters and is not limited to the above-mentioned parameters to be calibrated.

[0059] In the above technical solution, comprehensive vehicle information is provided based on vehicle body data and location data, which fully reflects the vehicle's dynamic characteristics and spatial location information, ensuring 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 needs, improving the focus and accuracy of calibration.

[0060] Furthermore, the design of multiple calibration modules allows the calibration process to be performed 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 loading the target vehicle data into the calibration module, the following steps are included:

[0063] Set the upper and lower limits of the parameters to be calibrated, and set the parameter step size, so as to obtain a calibration parameter sequence based on the upper, lower, and step sizes; wherein the calibration parameter sequence includes multiple parameters of the same type to be calibrated.

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

[0065] L = {l1, l2, l3, ..., l m}

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

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

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

[0069] Take any parameter to be calibrated from the calibration parameter sequence as the parameter to be calculated.

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

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

[0072] In some embodiments, l1 in the calibration parameter sequence is used as the parameter to be calculated, and l1 is input to the feedback module as the wheel distance parameter of the trajectory estimation algorithm, and {s1,s2,s3…,s…} n The data is sequentially input into the recharge module, resulting in n recharge results, denoted as the first coordinate set P = {p1, p2, p3, ..., p...}. n}

[0073] Each point p i =(x i ,y i ,yaw i), corresponding data s i The coordinates of the vehicle's final movement point output by the trajectory estimation algorithm under the current wheel track parameter l1.

[0074] Furthermore, l1 is input as the wheelbase parameter for the trajectory estimation algorithm into the truth calculation module, and {s1,s2,s3…,s n The data is sequentially input into the truth value calculation module to obtain the actual endpoint coordinates of n vehicles, denoted as the second coordinate set P' = {p'1, p'2, p'3, ..., p' n}

[0075] Where each point p' i =(x' i ,y' i ,yaw' i Corresponding data s i The true value of the equipment.

[0076] It should be noted that x represents the longitudinal distance, y represents the lateral distance, and yaw represents the heading angle. The coordinates of the first and second coordinate sets are in the same coordinate system, and this coordinate system is not limited here. Furthermore, the second coordinate set is mainly obtained through UTM projection (Universal Transverse Mercator) transformation.

[0077] Furthermore, the basic principle of UTM projection is as follows:

[0078] The UTM divides the Earth's surface into multiple zones, each 6 degrees wide in longitude, which creates numerous longitudinal geographical regions, each of which can be projected individually. The globe is divided into 60 zones, covering locations from 180 degrees east longitude to 180 degrees east longitude, each zone having a number (1 to 60) and a corresponding projection plane coordinate system.

[0079] UTM uses the Transverse Mercator Projection, which means it has minimal distortion at the equator, and the distortion gradually increases with 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 that meridian and the baseline of 0 degrees north latitude.

[0080] The UTM projection system uses meters (m) as its unit and provides two coordinate values: Easting and Northing. The Easting coordinate increases eastward from the central meridian, while the Northing coordinate increases northward from the equator. For each zone, the Northing coordinate is 0 near the equator, gradually increasing northward. Furthermore, to avoid negative coordinate values, the UTM system typically adds a 10,000,000-meter offset to the Northing coordinate values ​​in the Southern Hemisphere.

[0081] 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 (vehicle data and position data), ensuring maximum correlation and reducing data cross-interference; by independently obtaining the first coordinate set and the second coordinate set, the relationship between the parameters to be calculated and vehicle performance can be analyzed from multiple dimensions, improving the comprehensiveness of the analysis; inputting each parameter to be calculated into the corresponding calibration module separately makes the calibration process more efficient, reduces unnecessary calculations, and avoids the increase in complexity and calculation time.

[0082] Furthermore, obtaining the optimal combination of calibration parameters includes:

[0083] Based on the first coordinate set and the second coordinate set, obtain multiple relative errors of the parameter to be calculated in the target vehicle data, and obtain a comprehensive error based on each relative error.

[0084] In some embodiments, the relative error includes at least the average longitudinal relative error, the average lateral relative error, and the average heading relative error.

[0085] Specifically, the average longitudinal relative error of l1 within S is calculated:

[0086]

[0087] Calculate the average lateral relative error of l1 within S:

[0088]

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

[0090]

[0091] This yields the average comprehensive error of parameter l1 within S (i.e., the comprehensive error itself), denoted as:

[0092]

[0093] Repeat the above steps to calculate {l1,l2,l3…,l mThe average comprehensive error of each parameter within} yields the error sequence: {e1,e2,e3…,e m}

[0094] In the above technical solution, by acquiring 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 empirical evidence for the subsequent adjustment and optimization of calibration parameters, promotes reasonable decision-making based on data, and improves calibration efficiency.

[0095] Furthermore, obtaining the optimal combination of calibration parameters includes:

[0096] The system obtains multiple comprehensive errors corresponding to the calibration parameter sequence, and selects the smallest comprehensive error as the optimal calibration parameter; and obtains the optimal calibration parameters corresponding to each type of parameter to be calibrated, and obtains the optimal combination of calibration parameters.

[0097] In some embodiments, the smallest value in the error sequence is denoted as e. j (1≤j≤m,j∈Z), the e j The corresponding parameter l j The optimal wheelbase parameter (i.e., the optimal calibration parameter) is then determined, thus completing the wheelbase calibration.

[0098] In the same way, the steering ratio, IMU zero drift value, and weighting coefficient are calibrated to obtain the optimal steering ratio, optimal IMU zero drift value, and optimal weighting coefficient, thereby obtaining the optimal calibration parameter combination. The optimal calibration parameter combination includes at least the optimal wheel track parameter, the optimal steering ratio, the optimal IMU zero drift value, and the optimal weighting coefficient.

[0099] Furthermore, it should be noted that the optimal combination of calibration parameters varies depending on the selected parameters to be calibrated.

[0100] In the above technical solution, by obtaining the optimal values ​​of various types of parameters to be calibrated, a comprehensive optimal combination of calibration parameters can be formed, so that different parameters can be coordinated and consistent, thereby optimizing the overall system performance.

[0101] The optimal calibration parameter combination is input into a preset application algorithm to output a calibration error report.

[0102] In some embodiments, the preset application algorithm, such as the DR algorithm (i.e., the trajectory estimation algorithm), outputs a calibration error report based on the optimal combination of calibration parameters.

[0103] Optionally, the calibration error report includes a calibration error table (such as...). Figure 2 As shown), and a comparison chart of the simulation DR and the actual device values ​​(as shown). Figure 3 (As shown).

[0104] In addition, the calibration error report is used to determine whether the calibration work should be ended.

[0105] Furthermore, the calibration error report includes at least multiple calibration errors corresponding to different vehicle states; the step of using the calibration error report to determine whether to end the calibration process includes:

[0106] Based on the calibration error report, determine whether each calibration error is within the preset error range. If so, end the calibration work; otherwise, obtain the calibration error report based on the calibration error report and send it to the user terminal.

[0107] In some embodiments, during the calibration process, the calibration error of the vehicle under different conditions is continuously collected and updated, and for each error value in the report, it is compared with a preset error range.

[0108] If all calibration errors are within the corresponding preset error range, record this successful calibration process, change the domain controller status to "calibrated", end the calibration work, and notify the calibration personnel through the display interface or other means.

[0109] If any calibration error is outside the corresponding preset error range, record the calibration error and perform the following processing:

[0110] 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 about 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 performed, and possible solutions or improvement measures suggestions.

[0111] Furthermore, calibration error reports can be sent to users via email, display interface, or push notifications to facilitate further analysis and correction by calibration staff. Staff can use the reports to troubleshoot problems, adjust calibration settings, and retest relevant parameters.

[0112] In the above technical solution, judgment is made based on a preset error range to ensure that all calibration errors are within the allowable range, thereby guaranteeing 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 a timely manner and sent to the user terminal, which can quickly respond to the problem and avoid long-term invalid calibration work, thereby improving efficiency. Processing calibration error reports and error reports separately can more clearly identify the problem, reduce the complexity of data analysis, and enable technicians to solve problems more quickly.

[0113] In addition, after each calibration operation, a review and analysis can be conducted based on the calibration error report, which provides experience for subsequent calibration work and helps to continuously improve calibration accuracy and efficiency.

[0114] Furthermore, referring to the figure, this application also provides a domain controller, which includes at least:

[0115] The calculation module is used to load the target vehicle data into the corresponding calibration module based on the parameters to be calibrated, so as to obtain the optimal combination of calibration parameters, and input the optimal combination of calibration parameters into the preset application algorithm.

[0116] In some embodiments, the target vehicle data includes at least vehicle body data and location data; the calibration module includes at least a first calibration module and a second calibration module.

[0117] Before loading the target vehicle data into the calibration module, the process includes: setting an upper limit and a lower limit for the parameters to be calibrated, and setting a parameter step size, so as to obtain a calibration parameter sequence based on the upper limit, lower limit and parameter step size; wherein the calibration parameter sequence includes multiple parameters of the same type to be calibrated.

[0118] Specifically, obtaining the optimal calibration parameter combination includes: taking any parameter to be calibrated from the calibration parameter sequence as a parameter to be calculated; inputting the parameter to be calculated and vehicle body data into the first calibration module to obtain a first coordinate set; and inputting the parameter to be calculated and position data into the second calibration module to obtain a second coordinate set.

[0119] Furthermore, based on the first coordinate set and the second coordinate set, multiple relative errors of the parameter to be calculated within 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 sequence are obtained, and the smallest comprehensive error is obtained as the optimal calibration parameter; and, the optimal calibration parameters corresponding to each type of parameter to be calibrated are obtained, so as to obtain the optimal combination of calibration parameters.

[0120] The report output module is used to obtain the running results 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.

[0121] In the above technical solution, the domain controller can significantly improve calibration efficiency, reliability, and user experience through centralized computing, automated processes, and real-time feedback mechanisms, providing strong support for advanced driver assistance systems.

[0122] The calculation module is also used to output a calibration error report to the user terminal based on the calibration error report when any calibration error obtained according to the calibration error report is not within the preset error range.

[0123] In some embodiments, if all calibration errors in the calibration error report are within the corresponding preset error range, the calibration process ends.

[0124] In the above technical solution, when any calibration error exceeds the preset range, the system can quickly identify and react 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.

[0125] Furthermore, this application also provides a storage medium storing a computer program, wherein the computer program is configured to execute the calibration method at runtime.

[0126] In some embodiments, the storage medium stores several computer programs to cause the domain controller to perform all or part of the steps of the methods described in various embodiments of this application.

[0127] The storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, or optical disks.

[0128] In summary, this application provides a calibration method, a domain controller, and a storage medium. It requires pre-collecting target vehicle data and determining the parameters to be calibrated. Then, based on the parameters to be calibrated, the target vehicle data is loaded into the corresponding calibration module to obtain the optimal combination of calibration parameters. Furthermore, the optimal combination of calibration parameters is input into a preset application algorithm to output a calibration error report. Finally, the calibration error report is used to determine whether to end the calibration process. This application ensures that the calibration is based on reliable information, thereby improving the accuracy of trajectory estimation in subsequent applications and reducing positioning errors. It also allows for flexible determination of whether to end the calibration process, ensuring that users receive timely feedback and adjustments during the calibration process, further improving calibration accuracy.

[0129] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of this application. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of this application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

[0130] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0131] 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 merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0132] The various component embodiments of this application can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some modules according to the embodiments of this application. This application can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such an implementation of this application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0133] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0134] Although the description of this application has been made in conjunction with the specific embodiments described above, it will be apparent to those skilled in the art that many substitutions, modifications, and variations can be made based on the foregoing. Therefore, all such substitutions, modifications, and variations are included within the spirit and scope of the appended claims.

Claims

1. A calibration method, characterized in that, Data on the target vehicle is collected in advance, and the parameters to be calibrated are determined. The calibration method includes the following steps: Set an upper limit and a lower limit for the parameters to be calibrated, and set a parameter step size to obtain a calibration parameter sequence based on the upper limit, lower limit, and step size; wherein the calibration parameter sequence includes multiple parameters of the same type to be calibrated; The target vehicle data is loaded into the corresponding calibration module based on the parameters to be calibrated to obtain the optimal combination of calibration parameters; the target vehicle data includes at least vehicle body data and position data; the calibration module includes at least a first calibration module and a second calibration module; The step of obtaining the optimal calibration parameter combination includes: taking any parameter to be calibrated from the calibration parameter sequence as a parameter to be calculated; inputting the parameter to be calculated and vehicle body data into a first calibration module to obtain a first coordinate set; and inputting the parameter to be calculated and position data into a second calibration module to obtain a second coordinate set; obtaining multiple relative errors of the parameter to be calculated within the target vehicle data based on the first coordinate set and the second coordinate set, and obtaining a comprehensive error based on each relative error; The optimal calibration parameter combination is input into a preset application algorithm to output a calibration error report; In addition, the calibration error report is used to determine whether the calibration work should be ended.

2. The calibration method according to claim 1, characterized in that, The process of obtaining the optimal calibration parameter combination includes: obtaining multiple comprehensive errors corresponding to the calibration parameter sequence, and obtaining the minimum comprehensive error as the optimal calibration parameter; In addition, the optimal calibration parameters corresponding to each type of parameter to be calibrated are obtained to obtain the optimal combination of calibration parameters.

3. The calibration method according to claim 1, characterized in that, The calibration error report includes at least multiple calibration errors corresponding to different vehicle states; the step of using the calibration error report to determine whether to end the calibration work includes: determining whether each calibration error is within a preset error range based on the calibration error report; if so, ending the calibration work; otherwise, obtaining a calibration error report based on the calibration error report and sending it to the user terminal.

4. A domain controller, characterized in that, The domain controller includes at least: A calculation module is used to set the upper and lower limits of the parameters to be calibrated, and to set the parameter step size, so as to obtain a calibration parameter sequence based on the upper, lower, and step sizes; wherein, the calibration parameter sequence includes multiple parameters of the same type to be calibrated; and to load 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 a preset application algorithm; the target vehicle data includes at least vehicle body data and location data; the calibration module includes at least a first calibration module and a second calibration module; The step of obtaining the optimal calibration parameter combination includes: taking any parameter to be calibrated from the calibration parameter sequence as a parameter to be calculated; inputting the parameter to be calculated and vehicle body data into a first calibration module to obtain a first coordinate set; and inputting the parameter to be calculated and position data into a second calibration module to obtain a second coordinate set; obtaining multiple relative errors of the parameter to be calculated within the target vehicle data based on the first coordinate set and the second coordinate set, and obtaining a comprehensive error based on each relative error; The report output module is used to obtain the running results 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.

5. The domain controller according to claim 4, characterized in that, The calculation module is also used to output a calibration error report to the user terminal based on the calibration error report when any calibration error obtained according to the calibration error report is not within the preset error range.

6. A storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the calibration method as described in any one of claims 1-3 when it is run.

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