Data management method, to-be-calibrated vehicle calibration method and related components

Abstract

The invention discloses a data management method, a to-be-calibrated vehicle calibration method and related components, relates to the field of vehicle calibration, and is used for solving the problems of heavy calibration work and sharp increase of calibration workload after large-scale mass production of unmanned vehicles in the prior art. The specific format of the priori information of the calibration system can realize automatic matching and automatic calibration of the to-be-calibrated vehicle, the data type contained in the calibration data packet can record the calibration process and result for subsequent calibration verification and analysis, the automatic acquisition and storage of the calibration data can improve the efficiency and accuracy, and the calibration accuracy is improved. According to the calibration system, subsequent data management and analysis are facilitated, and an automatic calibration process can be realized by transmitting priori information of the calibration system, determining calibration parameters and acquiring and storing calibration data packets, so that intervention of manual operation can be reduced, the calibration accuracy and reliability are improved, and the calibration efficiency is improved. And meanwhile, management of calibration data and subsequent data analysis are also facilitated.

Description

Technical Field

[0001] The present application relates to the field of vehicle calibration, and in particular to a data management method, a calibration method for a vehicle to be calibrated, and related components. Background Art

[0002] The perception module is an important part of the unmanned driving system. It is mainly responsible for identifying the state of the vehicle's surrounding environment and providing information support to modules such as positioning, planning and control. Due to the different performances of different sensors, the perception system usually uses a combination of multiple sensors and uses redundant information to improve the accuracy of environmental recognition. With the deepening of roadside applications and the complexity of test scenarios, the number of sensors is gradually increasing in order to improve vehicle driving safety.

[0003] After completing the installation and debugging of the sensor, it is necessary to calibrate the relative position and posture relationship of the sensor, and calibrate the calibration parameters regularly to cope with the impact of factors such as road bumps and vehicle collisions on the sensor posture. With the increase in the number and types of multi-source sensors on vehicles, the calibration work becomes more arduous. When unmanned vehicles are mass-produced, the calibration workload is bound to increase dramatically. Therefore, a data management method is urgently needed to efficiently manage various data in the calibration process, laying the foundation for realizing mass production of automated calibration tasks. Summary of the invention

[0004] The purpose of this application is to provide a data management method, a vehicle calibration method to be calibrated, and related components, which can realize the automation process of calibration, thereby reducing the intervention of manual operations, improving the accuracy and reliability of calibration, and also facilitating the management of calibration data and subsequent data analysis.

[0005] To solve the above technical problems, in a first aspect, the present application provides a data management method, which is applied to a cloud server, comprising:

[0006] When calibrating the vehicle to be calibrated, if the number and applicable scope of the calibration system match the vehicle to be calibrated, the calibration system prior information is sent to the computing device, the calibration prior information including the number and applicable scope of the calibration system and prior information of each calibration device in the calibration system;

[0007] Triggering the calculation device to determine calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated, wherein the calibration parameters are used to characterize the coordinate transformation relationship between each sensor or between the sensor and the total station;

[0008] Acquire and store a calibration data packet, wherein the calibration data packet includes at least vehicle information of the vehicle to be calibrated, a calibration system number, a timestamp of a current calibration, sensor information on the vehicle to be calibrated, each sensor data, and calibration parameters.

[0009] In one embodiment, the calibration device includes a plurality of calibration plates, and the prior information of the calibration device includes the serial number and quantity of each calibration plate and the installation position of each calibration plate in the calibration system;

[0010] Triggering the computing device to determine calibration parameters based on the prior information of each calibration device and sensor data collected by each sensor on the vehicle to be calibrated includes:

[0011] The calculation device is triggered to determine calibration parameters based on the serial number of each calibration plate and the installation position in the calibration system and the calibration plate data collected by each sensor on the vehicle to be calibrated.

[0012] In one embodiment, the calibration plate includes a plurality of marking codes and a plurality of key points, and the prior information of the calibration device also includes the number, ID information, three-dimensional coordinates of the calibration codes on each of the calibration plates and the three-dimensional coordinates of the key points;

[0013] Triggering the calculation device to determine calibration parameters based on the serial number of each calibration plate and the installation position in the calibration system and the calibration plate data collected by each sensor on the vehicle to be calibrated, including:

[0014] Triggering the sensor to collect data from each calibration plate in the calibration system to obtain the collected calibration plate data;

[0015] Determine the calibration plate number, the installation position of the calibration plate, the ID information of the calibration code, the three-dimensional coordinates and the three-dimensional coordinates of the key point included in the calibration plate data collected by the sensor according to the calibration plate data and the prior information of the calibration device;

[0016] The calibration parameters of each sensor are determined according to the number of the calibration plate, the installation position of the calibration plate, the ID information of the calibration code, the three-dimensional coordinates and the three-dimensional coordinates of the key points included in the calibration plate data.

[0017] In one embodiment, before sending the calibration system prior information to the computing device, the method further includes:

[0018] Receiving vehicle identity information sent by the vehicle to be calibrated;

[0019] Determining whether the vehicle to be calibrated matches the calibration system according to the vehicle identity information and the number and applicable scope of the calibration system;

[0020] If they match, the step of sending the calibration system prior information to the computing device is entered.

[0021] In one embodiment, the applicable scope of the calibration system includes applicable sensor types, and the vehicle identity information includes the number, type, quantity and installation position of the sensor on the vehicle to be calibrated;

[0022] Determining whether the vehicle to be calibrated matches the calibration system according to the vehicle identity information and the serial number and applicable scope of the calibration system includes:

[0023] Determining whether the vehicle to be calibrated matches the calibration system according to the type of sensor on the vehicle to be calibrated and the applicable sensor type corresponding to the number of the calibration system;

[0024] If the applicable sensor type corresponding to the number of the calibration system includes the type of the sensor on the vehicle to be calibrated, it is determined that the vehicle to be calibrated matches the calibration system.

[0025] In one embodiment, after determining that the serial number and the applicable scope of the calibration system match the vehicle to be calibrated, the method further includes:

[0026] Determine whether the calibration data packet corresponding to the vehicle to be calibrated is stored in the device;

[0027] If no calibration data packet corresponding to the vehicle to be calibrated is stored, it is determined that the vehicle to be calibrated is being calibrated for the first time, and the step of triggering the computing device to determine calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated is entered.

[0028] In one embodiment, a verification device is provided in the calibration system, and the calibration system prior information also includes prior information of each of the verification devices;

[0029] After determining whether the calibration data packet corresponding to the vehicle to be calibrated is stored in the system, the method further includes:

[0030] If the calibration data packet corresponding to the vehicle to be calibrated is stored in the device, it is determined that the vehicle to be calibrated is not being calibrated for the first time;

[0031] Verifying the historical calibration parameters of the vehicle to be calibrated according to the prior information of each verification device to obtain a verification result;

[0032] Determine whether the verification result meets the preset accuracy requirement according to the verification result;

[0033] If so, the calibration is terminated, otherwise, the step of triggering the computing device to determine calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated is reentered.

[0034] In one embodiment, the historical calibration parameters of the vehicle to be calibrated are verified according to the prior information of each of the verification devices, and before the verification result is obtained, the method further includes:

[0035] A calibration file stored in the vehicle to be calibrated is obtained, and the historical calibration parameters are obtained according to the calibration file.

[0036] In one embodiment, after obtaining the calibration file in the vehicle to be calibrated, the method further includes:

[0037] Determining whether the calibration file is abnormal;

[0038] If the calibration file is normal, entering the step of obtaining the historical calibration parameters according to the calibration file;

[0039] If the calibration file is abnormal, the calibration parameters with the latest timestamp stored in the system and corresponding to the vehicle to be calibrated are used as the historical calibration parameters.

[0040] In one embodiment, after the calibration parameters corresponding to the vehicle to be calibrated are stored in the system and it is determined that the verification result meets the preset accuracy requirement, the system further includes:

[0041] The timestamp of the calibration parameters corresponding to the vehicle to be calibrated stored in the self-stored state is updated to be the current calibration time.

[0042] In one embodiment, after the verification is completed, the method further includes: displaying the verification result and the determination result of whether the preset accuracy requirement is met through a display device.

[0043] In one embodiment, during the calibration process of the vehicle to be calibrated, the method further includes: displaying the calibration progress via a display device.

[0044] In one embodiment, after the computing device is triggered to determine the calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated, the method further includes:

[0045] The calibration parameters of each of the sensors are displayed on the image model of the vehicle to be calibrated through the display device.

[0046] In one embodiment, it also includes:

[0047] Determining whether the installation position of each calibration device in the calibration system has changed;

[0048] If there is a change, the total station is triggered to re-acquire the information of each calibration device in the calibration system, and the prior information of the calibration device is updated according to the information output by the total station.

[0049] In one embodiment, when the vehicle to be calibrated includes several cameras, obtaining and storing the calibration data packet includes:

[0050] Obtain and store camera calibration data packets;

[0051] The camera calibration data packet includes vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, image data collected by each camera, ID information of the marker code included in the image data, the three-dimensional coordinates of the marker code, the three-dimensional coordinates of the key points, and calibration parameters of each camera;

[0052] The calibration parameters of the camera include camera intrinsic parameters and camera extrinsic parameters. The camera intrinsic parameters include focal length, principal point coordinates and distortion parameters. The camera extrinsic parameters include the transformation relationship between each camera coordinate system and the total station coordinate system.

[0053] In one embodiment, when the vehicle to be calibrated includes a main laser radar, obtaining and storing a calibration data packet includes:

[0054] Obtain and store the main lidar calibration data packet;

[0055] The main laser radar calibration data packet includes the vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, the point cloud data collected by the main laser radar, and the calibration parameters of the main laser radar;

[0056] The calibration parameters of the main laser radar include the transformation relationship between the main laser radar coordinate system and the total station coordinate system.

[0057] In one embodiment, when the vehicle to be calibrated includes a plurality of auxiliary laser radars, obtaining and storing a calibration data packet includes:

[0058] Acquire and store auxiliary lidar calibration data packets;

[0059] The auxiliary laser radar calibration data packet includes the vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, the point cloud data collected by each of the auxiliary laser radars, and the calibration parameters of each of the auxiliary laser radars;

[0060] The calibration parameters of the auxiliary laser radar include the transformation relationship between the auxiliary laser radar coordinate system and the main laser radar coordinate system.

[0061] In one embodiment, when the vehicle to be calibrated includes a millimeter wave radar, obtaining and storing a calibration data packet includes:

[0062] Acquire and store millimeter wave radar calibration data packets;

[0063] The millimeter-wave radar calibration data packet includes vehicle information of the vehicle to be calibrated, the number of the calibration system, a timestamp of the current calibration, a data frame collected by the millimeter-wave radar, and a calibration parameter of the millimeter-wave radar;

[0064] The calibration parameters of the millimeter wave radar include the transformation relationship between the millimeter wave radar coordinate system and the main laser radar coordinate system.

[0065] In order to solve the above technical problems, the present application also provides a method for calibrating a vehicle to be calibrated, which is applied to a computing device in the vehicle to be calibrated, comprising:

[0066] Acquire the calibration system prior information sent by the cloud server, wherein the calibration system prior information includes the number and applicable scope of the calibration system and the prior information of each calibration device in the calibration system;

[0067] Determining whether the calibration system matches the vehicle to be calibrated according to the number and applicable scope of the calibration system;

[0068] If they match, trigger each sensor to collect data from each calibration device in the calibration system to obtain sensor data;

[0069] Determining calibration parameters of each of the sensors according to the prior information of each of the calibration devices and the sensor data, wherein the calibration parameters are used to characterize the coordinate transformation relationship between each of the sensors or between each of the sensors and the total station;

[0070] The sensor data and the calibration parameters are sent to the cloud server to generate a calibration data packet on the cloud server, wherein the calibration data packet includes at least vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, sensor information on the vehicle to be calibrated, each of the sensor data and the calibration parameters.

[0071] In one embodiment, the calibration device includes a plurality of calibration plates, and the prior information of the calibration device includes the serial number and quantity of each calibration plate and the installation position of each calibration plate in the calibration system;

[0072] Triggering each sensor to collect data from each calibration device in the calibration system to obtain sensor data, including: triggering each sensor to collect data from the calibration board in the calibration system to obtain calibration board data;

[0073] Determining calibration parameters of each of the sensors according to the prior information of each calibration device and the sensor data includes:

[0074] Determining calibration parameters of each of the sensors based on the collected numbers of each of the calibration plates, the installation positions in the calibration system, and the calibration plate data;

[0075] Sending the sensor data and the calibration parameters to the cloud server to generate a calibration data packet includes:

[0076] The collected calibration board data, number, installation position in the calibration system and determined calibration parameters are sent to the cloud server to generate the calibration data packet.

[0077] In one embodiment, the calibration plate includes a plurality of marking codes and a plurality of key points, and the prior information of the calibration device also includes the number, ID information, three-dimensional coordinates of the calibration codes on each of the calibration plates and the three-dimensional coordinates of the key points;

[0078] Triggering each of the sensors to collect data from the calibration plate in the calibration system to obtain calibration plate data, including:

[0079] Triggering the sensor to collect data from each calibration plate in the calibration system, and determining the calibration plate number, the installation position of the calibration plate, the ID information of the calibration code, the three-dimensional coordinates, and the three-dimensional coordinates of the key point included in the calibration plate data collected by the sensor according to the collected calibration plate data and the prior information of the calibration device;

[0080] Determining calibration parameters of each sensor based on the collected serial number of each calibration plate, the installation position in the calibration system and the calibration plate data, including:

[0081] The calibration parameters of each sensor are determined according to the number of the calibration plate, the installation position of the calibration plate, the ID information of the calibration code, the three-dimensional coordinates and the three-dimensional coordinates of the key points included in the calibration plate data.

[0082] In order to solve the above technical problems, the present application also provides a data management system, which is applied to a cloud server and includes:

[0083] A sending unit, configured to send the calibration system prior information to the computing device when calibrating the vehicle to be calibrated, if the number and applicable scope of the calibration system match the vehicle to be calibrated, wherein the calibration prior information includes the number and applicable scope of the calibration system and prior information of each calibration device in the calibration system;

[0084] A parameter determination unit, used to trigger the calculation device to determine calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated, wherein the calibration parameters are used to characterize the coordinate transformation relationship between each sensor or between the sensor and the total station;

[0085] The data packet processing unit is used to obtain and store a calibration data packet, wherein the calibration data packet at least includes vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, sensor information on the vehicle to be calibrated, each of the sensor data and calibration parameters.

[0086] In order to solve the above technical problems, the present application also provides a vehicle calibration system to be calibrated, which is applied to a computing device in the vehicle to be calibrated, including:

[0087] An acquisition unit, used to acquire the calibration system prior information sent by the cloud server, wherein the calibration system prior information includes the number and applicable scope of the calibration system and the prior information of each calibration device in the calibration system;

[0088] A judging unit, used for judging whether the calibration system matches the vehicle to be calibrated according to the number and applicable scope of the calibration system;

[0089] A triggering collection unit, used for triggering each sensor to collect data from each calibration device in the calibration system to obtain sensor data when the calibration system matches the vehicle to be calibrated;

[0090] A calibration parameter determination unit, used to determine the calibration parameters of each of the sensors according to the prior information of each of the calibration devices and the sensor data, wherein the calibration parameters are used to characterize the coordinate transformation relationship between each of the sensors or between each of the sensors and the total station;

[0091] A data sending unit is used to send the sensor data and the calibration parameters to the cloud server to generate a calibration data packet on the cloud server, wherein the calibration data packet at least includes vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, sensor information on the vehicle to be calibrated, each of the sensor data and the calibration parameters.

[0092] In order to solve the above technical problems, the present application also provides an electronic device, including:

[0093] Memory for storing computer programs;

[0094] The processor is used to implement the steps of the data management method as described above or the method for calibrating a vehicle to be calibrated as described above when storing a computer program.

[0095] In order to solve the above technical problems, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of the data management method as described above or the vehicle calibration method to be calibrated as described above.

[0096] The present application provides a data management method, a calibration method for a vehicle to be calibrated, and related components, which relate to the field of vehicle calibration and are used to solve the current problem of heavy calibration work and the sharp increase in calibration workload after large-scale mass production of driverless vehicles. The specific format of the calibration system prior information can realize automatic matching and automatic calibration of the vehicle to be calibrated, and the data type contained in the calibration data packet can record the calibration process and results for subsequent calibration verification and analysis. The automatic acquisition and storage of calibration data can improve efficiency and accuracy, and facilitate subsequent data management and analysis. The calibration automation process can be realized by sending the calibration system prior information, determining the calibration parameters, and acquiring and storing the calibration data packet, which can reduce the intervention of manual operation, improve the accuracy and reliability of calibration, and also facilitate the management of calibration data and subsequent data analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0097] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the prior art and the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0098] Figure 1 A flowchart of a data management method provided for this application;

[0099] Figure 2 A schematic diagram of the layout of a calibration ball provided in this application;

[0100] Figure 3 A schematic diagram of projecting a point cloud onto a camera image provided by the present application;

[0101] Figure 4 A schematic diagram of point cloud point extraction provided in this application;

[0102] Figure 5 A schematic diagram of a point cloud point fitting circle provided in this application;

[0103] Figure 6 A schematic diagram of the structure of a calibration board provided for this application;

[0104] Figure 7 A flow chart of prior information management of a calibration system provided for this application;

[0105] Figure 8 A structural block diagram of a calibration system provided for this application;

[0106] Fig. 9 A control flow chart of a calibration system provided for this application;

[0107] Fig.10 A schematic diagram of a specific embodiment of the present invention;

[0108] Fig.11 A flow chart of a method for calibrating a vehicle to be calibrated provided in this application;

[0109] Fig.12 A structural block diagram of a data management system provided for this application;

[0110] Fig.13 A structural block diagram of a vehicle calibration system to be calibrated provided in this application;

[0111] Fig.14 A structural block diagram of a data management device provided by this application;

[0112] Fig.15 A structural block diagram of a computer-readable storage medium provided for this application. DETAILED DESCRIPTION

[0113] The core of this application is to provide a data management method, a vehicle calibration method to be calibrated and related components, which can realize the automation process of calibration, thereby reducing the intervention of manual operations, improving the accuracy and reliability of calibration, and also facilitating the management of calibration data and subsequent data analysis.

[0114] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, 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. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0115] In a first aspect, the present application provides a data management method, such as Figure 1 As shown, the method is applied to a cloud server and includes:

[0116] S11: When calibrating the vehicle to be calibrated, if the number and applicable scope of the calibration system match the vehicle to be calibrated, send the calibration system prior information to the computing device, the calibration prior information including the number and applicable scope of the calibration system and prior information of each calibration device in the calibration system;

[0117] In this embodiment, the vehicle to be calibrated needs to be calibrated first. The calibration system prior information refers to some knowledge and parameters about the vehicle and sensor obtained in advance. This information may include the number, type, location, identity information, etc. of the calibration system recalibration device. When calibrating, the calibration system needs to be matched for the vehicle to be calibrated first. When the vehicle to be calibrated enters the calibration system, the calibration system will match its own number and applicable scope with the vehicle to be calibrated to determine whether to calibrate the vehicle. Once the number and applicable scope of the calibration system are successfully matched with the vehicle to be calibrated, the calibration system will send its prior information to the computing device. The computing device is a device that can process and calculate data, which may be a computer or a server. The computing device can be set on the vehicle side or in the cloud. When the calibration system prior information is sent to the computing device, it can be the pre-stored calibration system prior information sent to the computing device, or it can be the calibration site dense point cloud data obtained by repeatedly scanning the calibration system by the total station. These point cloud data contain specific information of the calibration device and can be used to determine the data information of the calibration device, namely, calibration prior information.

[0118] In addition, when calibrating a vehicle to be calibrated, it is necessary to determine whether the vehicle to be calibrated is parked in a preset area; if it is parked in the preset area, it can be calibrated, otherwise it will not be calibrated. By determining whether the vehicle to be calibrated is parked in the preset area, it can be ensured that the vehicle is in a stable state during calibration. This is because in the preset area, the vehicle is stationary and is not subject to external interference, which can avoid errors in sensor data.

[0119] S12: triggering the calculation device to determine calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated, where the calibration parameters are used to characterize the coordinate transformation relationship between each sensor or between the sensor and the total station;

[0120] The computing device uses the calibration system prior information and the sensor data collected by each sensor on the vehicle to be calibrated to determine the calibration parameters. The calibration parameters are used to characterize the coordinate transformation relationship between each sensor or between the sensor and the total station. The relative position and posture relationship of the sensors refers to the relative position and posture relationship between the sensors, and the relationship between the sensor and the total station. The calibration parameters can include rotation matrices, translation vectors, etc., which are used to describe these coordinate transformation relationships.

[0121] By determining the calibration parameters, the position and attitude relationship between sensors can be accurately described, so that the data collected by the sensors can be effectively fused and processed. This is critical for realizing autonomous driving and other related applications.

[0122] S13: Acquire and store a calibration data packet, wherein the calibration data packet at least includes vehicle information of the vehicle to be calibrated, a calibration system number, a timestamp of the current calibration, sensor information on the vehicle to be calibrated, data of each sensor, and calibration parameters.

[0123] This step is intended to illustrate how to process the data during the calibration process. First, the calibration data packet includes the following information: Vehicle information of the vehicle to be calibrated: including the vehicle's unique identifier, vehicle model, vehicle manufacturer, and vehicle attributes. Calibration system number: used to identify the unique number of the system to be calibrated to distinguish different calibration systems. Current calibration timestamp: marks the time of the calibration data packet and records the specific date and time of the calibration process. Sensor information on the vehicle to be calibrated: including detailed information on various sensors installed on the vehicle to be calibrated, such as the type, model, and installation location of the sensor. Each sensor data: refers to the raw data collected by each sensor on the vehicle to be calibrated, such as images captured by the camera, point cloud data measured by the lidar, and attitude information collected by the inertial measurement unit. Calibration parameters: are determined by a computing device based on the prior information of each calibration device and the data of each sensor on the vehicle to be calibrated, and are used to characterize the coordinate transformation relationship between each sensor or between the sensor and the total station to achieve accurate alignment of sensor data and a unified coordinate system.

[0124] By acquiring and storing the calibration data package, the calibration process can be easily traced back and verified, and provide a basis for subsequent data analysis and application. In addition, based on the calibration data package, further optimization and improvement can be performed to improve the accuracy and reliability of the calibration process, thereby improving the performance of the entire system.

[0125] By acquiring and storing these calibration data packets, it is possible to manage and save various data during the calibration process. These data can be used to evaluate calibration accuracy, verify calibration results, and perform future calibration and correction to adapt to changes in sensor posture caused by factors such as road bumps and vehicle collisions. At the same time, as the number and types of multi-source sensors on vehicles increase, acquiring and storing these data can also meet the needs of large-scale increases in calibration workload and lay the foundation for realizing mass production of automated calibration tasks.

[0126] The data management method provided by the present application mainly includes the following parts: (1) Sending the prior information of the calibration system: By matching the number and applicable scope of the calibration system with the vehicle to be calibrated, it is possible to determine which calibration system is applicable to the calibration of the current vehicle. Sending the prior information of the calibration system to the computing device can provide the computing device with necessary prior information to facilitate the subsequent calculation of calibration parameters. (2) Determination of calibration parameters: The computing device can determine the calibration parameters based on the prior information of each calibration device and the sensor data on the vehicle to be calibrated. The calibration parameters are used to characterize the coordinate transformation relationship between each sensor or between the sensor and the total station. By automatically calculating the calibration parameters, manual intervention and subjective errors can be avoided, and the accuracy and stability of the calibration can be improved. (3) Acquisition and storage of calibration data packets: The calibration data packet contains the vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, the sensor information on the vehicle to be calibrated, the data of each sensor and the calibration parameters. By acquiring and storing the calibration data packet, the calibration process and results can be recorded for subsequent calibration verification and analysis. At the same time, the automatic acquisition and storage of calibration data can improve efficiency and accuracy and facilitate subsequent data management and analysis.

[0127] In summary, the calibration process can be automated by sending the calibration system prior information, determining the calibration parameters, and acquiring and storing the calibration data packets. This can reduce the intervention of manual operations, improve the accuracy and reliability of calibration, and also facilitate the management of calibration data and subsequent data analysis.

[0128] Based on the above embodiments:

[0129] In one embodiment, before calibrating the vehicle to be calibrated, the method further includes:

[0130] Receive a connection request sent by the vehicle to be calibrated;

[0131] Establish a communication connection with the vehicle to be calibrated according to the connection request.

[0132] This embodiment mainly describes a specific implementation method for establishing a communication connection before calibrating the vehicle to be calibrated. Specifically, this embodiment includes the following steps: receiving a connection request sent by the vehicle to be calibrated: before the vehicle calibration is performed, the vehicle to be calibrated will send a connection request to establish a communication connection with the computing device. The connection request may include identification information of the vehicle to be calibrated. Establishing a communication connection with the vehicle to be calibrated according to the connection request: after receiving the connection request, the computing device will establish a communication connection with the vehicle to be calibrated according to the request. This can be achieved through network communication, such as establishing a network connection. The purpose of establishing a communication connection is to enable the computing device to exchange data and communicate with the vehicle to be calibrated. By establishing a connection, the computing device can receive data sent by the vehicle to be calibrated, and send relevant instructions or requests to the vehicle to be calibrated. For example, during the calibration process, the computing device can send calibration system prior information to the vehicle to be calibrated to help the computing device determine the calibration parameters.

[0133] Assuming that the method in the present application is applied to a cloud server, in this embodiment, after the vehicle to be calibrated is parked at the designated location of the calibration site, a connection request can be sent to the cloud server through the 5G router / wifi router on the vehicle.

[0134] In this method, the step of establishing a communication connection can ensure that effective data exchange and communication can be carried out between the computing device and the vehicle to be calibrated to support the subsequent calibration process, which can improve the accuracy and efficiency of the calibration and ensure the correctness and reliability of the calibration parameters.

[0135] In one embodiment, the calibration device includes a plurality of calibration plates, and the prior information of the calibration device includes the serial number and quantity of each calibration plate and the installation position of each calibration plate in the calibration system;

[0136] The trigger calculation device determines the calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated, including:

[0137] The trigger calculation device determines the calibration parameters based on the serial number of each calibration plate and the installation position in the calibration system and the calibration plate data collected by each sensor on the vehicle to be calibrated.

[0138] In this embodiment, the calibration device is composed of a plurality of calibration plates. In the calibration system, each calibration plate has a unique number and is installed at a specific position. The prior information of the calibration device includes the number and quantity of each calibration plate and the installation position of each calibration plate in the calibration system. This means that before calibration, the calibration system needs to record and store the relevant information of the calibration device in advance so that the subsequent calibration process can correctly use and identify each calibration plate.

[0139] In addition, the trigger calculation device needs to determine the calibration parameters based on the number and installation position of each calibration plate and the calibration plate data collected by each sensor on the vehicle to be calibrated. This means that the trigger calculation device will use the number and position information associated with the calibration plate, combined with the sensor collection data on the vehicle to be calibrated, to calculate and determine the calibration parameters.

[0140] In one embodiment, the calibration plate includes a plurality of marking codes and a plurality of key points, and the prior information of the calibration device also includes the number, ID information, three-dimensional coordinates and three-dimensional coordinates of the key points of the calibration codes on each calibration plate;

[0141] The trigger calculation device determines the calibration parameters based on the number of each calibration plate and the installation position in the calibration system and the calibration plate data collected by each sensor on the vehicle to be calibrated, including:

[0142] The sensor is triggered to collect data from each calibration board in the calibration system to obtain the collected calibration board data;

[0143] Determine the calibration plate number, the installation position of the calibration plate, the ID information of the calibration code, the three-dimensional coordinates and the three-dimensional coordinates of the key points included in the calibration plate data collected by the sensor according to the calibration plate data and the prior information of the calibration device;

[0144] The calibration parameters of each sensor are determined according to the calibration plate number, the installation position of the calibration plate, the ID information of the calibration code, the three-dimensional coordinates and the three-dimensional coordinates of the key points included in the calibration plate data.

[0145] In this embodiment, the calibration plate includes several marking codes and several key points. The prior information of the calibration device includes the following: the number of calibration codes on each calibration plate, ID information, three-dimensional coordinates, and three-dimensional coordinates of key points. The trigger calculation device determines the calibration parameters based on the prior information and the calibration plate data collected by each sensor on the vehicle to be calibrated. The specific steps are as follows:

[0146] The sensor is triggered to collect data from each calibration plate in the calibration system to obtain the collected calibration plate data. According to the prior information of the calibration device, the calibration plate number, the installation position of the calibration plate, the ID information of the calibration code, the three-dimensional coordinates, and the three-dimensional coordinates of the key points included in the calibration plate data collected by the sensor are determined. According to the calibration plate number, the installation position of the calibration plate, the ID information of the calibration code, the three-dimensional coordinates, and the three-dimensional coordinates of the key points contained in the collected calibration plate data, the calibration parameters of each sensor are calculated and determined.

[0147] This embodiment can utilize the information of the mark code and key points on the calibration plate, and process the calibration plate data collected by the sensor through a computing device, so as to determine the coordinate transformation relationship between each sensor or between the sensor and the total station. In this way, the accuracy and stability of the data management method on the cloud server can be improved, making the calibration process of the calibration vehicle more accurate and reliable.

[0148] In one embodiment, before sending the calibration system prior information to the computing device, the method further includes:

[0149] Receiving vehicle identity information sent by the vehicle to be calibrated;

[0150] Determine whether the vehicle to be calibrated matches the calibration system according to the vehicle identity information and the number and applicable scope of the calibration system;

[0151] If they match, the step of sending the calibration system prior information to the computing device is entered.

[0152] In this embodiment, it is first necessary to receive the vehicle identity information sent by the vehicle to be calibrated, and determine whether the vehicle to be calibrated matches the calibration system based on the vehicle identity information and the number and applicable scope of the calibration system. Only when the vehicle to be calibrated matches the calibration system, the step of sending the calibration system prior information to the computing device is performed.

[0153] The vehicle identity information sent by the vehicle to be calibrated is used to identify the vehicle, and may include information such as the vehicle identification code and vehicle model. The number and applicable scope of the calibration system determine the type and scope of vehicles to which the calibration system is applicable. By comparing the identity information of the vehicle to be calibrated with the number and applicable scope of the calibration system, it can be determined whether the vehicle to be calibrated meets the requirements of the calibration system.

[0154] If the vehicle to be calibrated matches the calibration system, the next step is to send the calibration system prior information to the computing device. The calibration system prior information includes the calibration system number, applicable scope, and prior information of each calibration device in the calibration system. This information can be used by the computing device to determine the calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated. Once the vehicle to be calibrated does not match the calibration system, corresponding measures can be taken, such as refusing to calibrate or reminding the vehicle to be calibrated to make necessary adjustments and preparations.

[0155] After determining a match, a start calibration instruction may be sent to enter relevant calibration steps.

[0156] The entire data management method also includes the step of acquiring and storing a calibration data packet. The calibration data packet includes at least vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, sensor information on the vehicle to be calibrated, data of each sensor, and calibration parameters. By storing the calibration data packet, subsequent data analysis and processing can be facilitated.

[0157] In general, this embodiment describes a method for determining whether a match is made based on the identity information of the vehicle to be calibrated and the number and applicable scope of the calibration system when performing data management, and sending the calibration system prior information to the computing device if a match is made. This ensures that the calibration system prior information is only sent to suitable vehicles for calibration, thereby improving the accuracy and efficiency of data management.

[0158] In one embodiment, the vehicle identity information includes at least the vehicle number, the type and number of sensors included in the vehicle to be calibrated, the number, quantity and installation position of each sensor on the vehicle to be calibrated, and fault data of each sensor.

[0159] This embodiment describes the vehicle identity information content in an embodiment. The vehicle identity information includes at least the following contents: Vehicle number: used to uniquely identify the vehicle to be calibrated. Sensor types and number of sensors included in the vehicle to be calibrated: describe the types and number of sensors carried by the vehicle to be calibrated, such as cameras, radars, etc. The number of each sensor: used to uniquely identify each sensor, and associate the calibration data with the corresponding sensor during the calibration process. Quantity and installation position on the vehicle to be calibrated: describe the quantity and installation position of each type of sensor on the vehicle to be calibrated, so as to accurately calculate the coordinate transformation relationship during the calibration process. Fault data of each sensor: record the fault information of each sensor to determine whether the sensor is working properly. In addition, the fault data may include current fault data and historical fault data. The current fault data is used to reflect the fault condition of the current sensor, and the historical fault data is used to facilitate tracing when there is a problem with the sensor.

[0160] As shown in Table 1, Table 1 provides a schematic diagram of the data structure of vehicle identity information.

[0161] Table 1

[0162]

[0163] By recording and using the above information, it is possible to accurately obtain the sensor information and status of the vehicle to be calibrated during the vehicle calibration process, and then determine the calibration parameters. This data management method can improve the accuracy and efficiency of calibration and ensure the traceability of the sensor data and calibration parameters used in the calibration process.

[0164] In one embodiment, when the vehicle identity information includes fault data of a sensor, determining whether the vehicle to be calibrated meets the calibration conditions according to the vehicle identity information includes:

[0165] Determine whether the sensor fault is repairable based on the sensor fault data;

[0166] If the fault is repairable, the vehicle to be calibrated is determined to meet the calibration conditions; otherwise, it is determined to not meet the calibration conditions.

[0167] In this embodiment, when the vehicle identity information includes the fault data of the sensor, it can be determined whether the fault of the sensor is repairable based on the fault data. If the fault is repairable, the vehicle to be calibrated meets the calibration conditions and the calibration operation can be performed. If the fault is not repairable, the vehicle to be calibrated does not meet the calibration conditions and the calibration operation cannot be performed.

[0168] Specifically, the fault data may be an error code, and the fault type of the sensor is determined based on the code, such as the sensor is not powered on or the communication is not connected, etc. For faults that can be repaired within a preset time by refreshing or human intervention, a prompt message can be output so that the staff can handle the fault and implement calibration. However, if it is a fault that requires human intervention and cannot be repaired within the preset time (such as sensor damage, etc.), the calibration conditions are not met. At this time, the calibration of the vehicle to be calibrated is stopped, and a prompt message is output. In the specific implementation, factors such as the sensor fault type, fault degree, and repair cost can be considered in the judgment process.

[0169] This design ensures that the sensor status of the vehicle to be calibrated is normal during the calibration process. If the sensor is faulty, it may affect the accuracy and reliability of the calibration. By determining whether the fault is repairable, calibration operations can be avoided when there is a fault, thereby improving the credibility of the calibration.

[0170] In one embodiment, when the vehicle identity information includes fault data of a sensor, before receiving the vehicle identity information sent by the vehicle to be calibrated, the method further includes:

[0171] The vehicle to be calibrated is triggered to perform a self-check on all sensors included in the vehicle, so as to receive fault data of the sensors sent by the vehicle to be calibrated when a sensor fails.

[0172] In this embodiment, before receiving the vehicle identity information sent by the vehicle to be calibrated, the calibration system first triggers the vehicle to be calibrated to perform a self-test on all the sensors it contains. This self-test process is intended to check whether the sensor is faulty. If the self-test finds that any sensor is faulty, the vehicle to be calibrated will send the fault data of the sensor to the processor. After receiving the fault data, the processor will determine the fault condition of the sensor based on the data. If the fault is determined to be repairable, the vehicle to be calibrated will be considered to meet the calibration conditions. On the contrary, if the fault is determined to be unrepairable, the vehicle to be calibrated will be considered to not meet the calibration conditions.

[0173] Through this self-check and processing of sensor fault data, the present embodiment can evaluate and determine the sensor status of the vehicle to be calibrated before calibration to ensure the certainty and accuracy of the calibration parameters, which helps to improve the efficiency of the calibration system and the safety of the vehicle.

[0174] In one embodiment, the applicable scope of the calibration system includes applicable sensor types, and the vehicle identity information includes the number, type, quantity and installation position of the sensors on the vehicle to be calibrated;

[0175] Determine whether the vehicle to be calibrated matches the calibration system based on the vehicle identity information and the number and applicable scope of the calibration system, including:

[0176] Determine whether the vehicle to be calibrated matches the calibration system according to the type of sensor on the vehicle to be calibrated and the applicable sensor type corresponding to the number of the calibration system;

[0177] If the applicable sensor type corresponding to the number of the calibration system includes the type of the sensor on the vehicle to be calibrated, it is determined that the vehicle to be calibrated matches the calibration system.

[0178] In an embodiment, it is necessary to determine whether the vehicle to be calibrated matches the calibration system, which includes the following steps: First, the scope of application of the calibration system needs to be considered. The scope of application refers to the sensor types that the calibration system can be applied to. In this embodiment, the vehicle identity information includes the number, type, quantity and installation location of the sensor on the vehicle to be calibrated. By comparing the type of sensor on the vehicle to be calibrated and the applicable sensor type corresponding to the calibration system number, it can be determined whether the vehicle to be calibrated matches the calibration system. If the applicable sensor type of the calibration system includes the type of sensor on the vehicle to be calibrated, then it can be determined that the vehicle to be calibrated matches the calibration system.

[0179] In summary, this embodiment determines whether the type of sensor on the vehicle to be calibrated matches the type of sensor applicable to the calibration system by comparing the type of sensor on the vehicle to be calibrated, which ensures that the applicable calibration system is selected during calibration, thereby improving the accuracy and efficiency of calibration.

[0180] In one embodiment, after determining that the number and applicable scope of the calibration system match the vehicle to be calibrated, the method further includes:

[0181] Determine whether the calibration data packet corresponding to the vehicle to be calibrated is stored in the system;

[0182] If no calibration data packet corresponding to the vehicle to be calibrated is stored, it is determined that the vehicle to be calibrated is being calibrated for the first time, and the step of triggering the computing device to determine the calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated is entered.

[0183] In this embodiment, after determining that the number and applicable scope of the calibration system match the vehicle to be calibrated, it is necessary to determine whether the calibration system has stored a calibration record corresponding to the vehicle to be calibrated. This means whether the vehicle has been calibrated in the previous calibration process. The specific steps are as follows:

[0184] Determine whether the system has stored a calibration data package corresponding to the vehicle to be calibrated: This step is used to determine whether the system already has a calibration data package that matches the vehicle to be calibrated. These calibration data packages store relevant information obtained when the vehicle to be calibrated was previously calibrated.

[0185] If there is no calibration data package corresponding to the vehicle to be calibrated stored, it is determined that the vehicle to be calibrated is being calibrated for the first time: If there is no calibration data package matching the vehicle to be calibrated in the system, it can be determined that the vehicle to be calibrated is being calibrated for the first time. This means that the system needs to perform a new calibration process.

[0186] Enter the step of triggering the calculation device to determine the calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated: After determining that the vehicle to be calibrated is calibrated for the first time, the system will enter the next step, that is, determining the calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated. These calibration parameters are used to describe the coordinate transformation relationship between each sensor or between the sensor and the total station.

[0187] It can be seen that this embodiment refines the further processing steps after determining that the calibration system matches the vehicle to be calibrated, including determining whether a calibration data packet corresponding to the vehicle to be calibrated already exists in the system, and performing subsequent processing based on the determination result.

[0188] In one embodiment, a verification device is provided in the calibration system, and the calibration system prior information also includes prior information of each verification device;

[0189] After determining whether the calibration data packet corresponding to the vehicle to be calibrated is stored in the system, the method further includes:

[0190] If the calibration data package corresponding to the vehicle to be calibrated is stored in the vehicle, it is determined that the vehicle to be calibrated is not calibrated for the first time;

[0191] Verifying the historical calibration parameters of the vehicle to be calibrated according to the prior information of each verification device to obtain a verification result;

[0192] Determine whether the verification result meets the preset accuracy requirement according to the verification result;

[0193] If so, the calibration is completed. Otherwise, the step of triggering the computing device to determine the calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated is entered again.

[0194] In this embodiment, a verification device is provided in the calibration system, and its function is to verify the calibration parameters of each vehicle to determine whether the calibration parameters meet the preset accuracy requirements. First, after the vehicle to be calibrated determines whether it has a calibration record corresponding to it, it is judged whether the vehicle to be calibrated is not calibrated for the first time based on whether there is a calibration record. For vehicles to be calibrated that are not calibrated for the first time, their historical calibration parameters are verified by the verification device to obtain the verification result. The verification result will be used to determine whether the calibration parameters of the vehicle meet the preset accuracy requirements. If the verification result meets the preset accuracy requirements, it means that the calibration is completed and no further calibration is required. Otherwise, the calibration process needs to be repeated.

[0195] The recalibration step includes sending the prior information of the calibration system to the computing device, and the computing device determines new calibration parameters based on the prior information of the calibration system and the sensor data collected by each sensor on the vehicle to be calibrated. This process will be repeated until the calibration parameters meet the preset accuracy requirements. The calibration end process can be, but is not limited to, sending a calibration end instruction to the system (vehicle end).

[0196] By setting up the verification device, the present embodiment can verify the vehicle to be calibrated according to the historical calibration parameters to ensure the accuracy and precision of the calibration parameters. This can improve the reliability and precision of the calibration system, while also reducing the error and uncertainty in the calibration process and improving the accuracy of the calibration results. Therefore, the present invention has high practicality and economy.

[0197] In addition, by judging whether the vehicle to be calibrated is being calibrated for the first time, unnecessary repeated calibration operations can be avoided. Only during the first calibration, the total station needs to scan the calibration device, which can reduce the need for multiple calibrations of the vehicle. For vehicles that have been calibrated, the previous calibration parameters can be directly used and verified, which greatly speeds up the sensor calibration process.

[0198] The calibration device may be some fixed calibration balls, such as Figure 2 As shown, the circle is the calibration ball, and the square in the middle is the vehicle to be calibrated. The requirements for the color, size, quantity and installation position of the sphere are as follows: the color of the calibration ball needs to have a clear color contrast with the calibration plate and its auxiliary bracket (such as green); the size of the sphere is required to be easy to identify on the camera, lidar point cloud, and millimeter-wave radar point cloud, and is usually not less than 20cm; for the camera, it is necessary to ensure that there are no less than three calibration calibration balls within the field of view of each camera, and the spheres are not blocked within the field of view of the camera; for the lidar point cloud, it is required that there are no less than three calibration calibration balls in the overlapping field of view of the main lidar and the auxiliary lidar, and the spheres are not blocked within the range of each lidar point cloud; for each millimeter-wave radar, it is required that there are no less than three metal calibration calibration balls in the overlapping market area of ​​the main lidar and the millimeter-wave radar, and the spheres are not blocked within the range of each point cloud.

[0199] In one embodiment, the historical calibration parameters of the vehicle to be calibrated are verified according to the prior information of each verification device, and before the verification result is obtained, the method further includes:

[0200] Obtain the calibration file stored in the vehicle to be calibrated, and obtain historical calibration parameters based on the calibration file.

[0201] The present embodiment aims to provide a method for obtaining historical calibration parameters. Specifically, before calibration, it is necessary to obtain the calibration file in the vehicle to be calibrated, and obtain the historical calibration parameters based on the calibration file. A calibration file refers to a file that stores vehicle calibration information, which contains the parameters used when the vehicle was previously calibrated. These parameters can be calibration parameters of sensors, transformation relationships of coordinate systems, and so on. By obtaining the calibration file in the vehicle to be calibrated, the historical calibration parameters of the vehicle can be obtained. Then, these historical calibration parameters are input into a verification device for verification to obtain a verification result. Among them, the calibration file can refer to a file stored inside the vehicle. Under normal circumstances, the historical calibration parameters of the vehicle can be determined through this calibration file. If the calibration file stores historical calibration parameters of multiple times, the historical calibration parameters in this embodiment are the calibration parameters with the latest timestamp.

[0202] In one embodiment, after obtaining the calibration file in the vehicle to be calibrated, the method further includes:

[0203] Determine whether the calibration file is abnormal;

[0204] If the calibration file is normal, the process proceeds to the step of obtaining historical calibration parameters according to the calibration file;

[0205] If the calibration file is abnormal, the calibration parameters with the latest timestamp stored in the system corresponding to the vehicle to be calibrated will be used as historical calibration parameters.

[0206] This embodiment describes the processing flow after obtaining the calibration file in the vehicle to be calibrated. First, it is necessary to determine whether the calibration file is abnormal. The calibration file may contain various data collected by the sensors of the vehicle to be calibrated, which are used to determine the historical calibration parameters. An abnormal calibration file may refer to a situation where the file has errors, damage or incompleteness in content or format, so that reliable historical calibration parameters cannot be effectively provided. If the calibration file is judged to be normal, then the historical calibration parameters can be further obtained according to the calibration file. Specifically, by parsing and analyzing the data in the calibration file, the previous calibration parameters can be obtained, and these parameters may be used to characterize the coordinate transformation relationship between each sensor or between the sensor and the total station. However, if the calibration file is judged to be abnormal, then alternative measures need to be taken to determine the historical calibration parameters. In this case, the processor can choose to use the calibration parameters with the latest timestamp corresponding to the vehicle to be calibrated stored in itself as the historical calibration parameters (wherein, the relevant data of the vehicle to be calibrated that has been calibrated and stored in the processor is mainly for backup, and traceability when the data is subsequently processed). The timestamp is the time mark when the calibration parameters are generated or updated. The latest timestamp indicates that the calibration parameters are generated or updated recently, so they may be relatively accurate and reliable historical calibration parameters. In this way, even if the calibration file is abnormal, it will not have much impact on the calibration process of the entire data management method, and the latest calibration parameters can still be used for subsequent operations.

[0207] In one embodiment, after the calibration parameters corresponding to the vehicle to be calibrated are stored in the system and it is determined that the verification result meets the preset accuracy requirement, the system further includes:

[0208] The timestamp of the calibration parameters corresponding to the vehicle to be calibrated stored in the system is updated to the current calibration time.

[0209] In this embodiment, it is assumed that the calibration parameters of the vehicle to be calibrated have been determined, and these parameters have been verified to ensure that they meet the preset accuracy requirements. Then, in this case, the further step is to update the timestamp of the calibration parameters corresponding to the vehicle to be calibrated stored in itself to the current calibration time.

[0210] This means that after each calibration is completed, the system will update the timestamp of the calibration parameters to the current time to reflect the latest calibration information. In this way, it can be ensured that when these calibration parameters are used for data processing or other operations in the future, the latest and most accurate calibration parameters are used.

[0211] The purpose of this step is to maintain the integrity and accuracy of data management. By updating the timestamp, the calibration parameters are synchronized with the corresponding vehicles to be calibrated and their data, thus providing an accurate reference for historical calibrations and subsequent processing. In this way, users and staff can track and understand the calibration process and results performed at different time points, and ensure that the latest calibration parameters are used to obtain the best performance and accuracy, laying the foundation for automated calibration.

[0212] In one embodiment, after the verification is completed, the method further includes: displaying the verification result and the determination result of whether the preset accuracy requirement is met through a display device.

[0213] This embodiment involves displaying the verification results and the determination results of whether the preset accuracy requirements are met. In this embodiment, the display device is used to display the verification results to the user, and also to make a judgment to determine whether the preset accuracy requirements are met. In this method, the verification device will verify the historical calibration parameters of the vehicle to be calibrated and obtain the verification results. This verification result will be sent to the display device, and then the display device will display the verification result to the user. In addition, the display device will also determine whether the verification result meets the preset accuracy requirements. If it does, it means that the calibration is completed. If it does not, it means that the calibration parameters need to be re-determined.

[0214] For example, when the sensor includes a camera, the steps for verifying the calibration error of the camera's internal and external parameters are as follows: for the calibrated binocular intersection camera C i and C j , respectively capture the image I collected by the camera i and I j The two images are calibrated using the internal parameters of each camera to obtain the calibrated image I i ′ and I j ′ ; Using camera C j To Camera C i The external parameter of image I j ′ Transform and get For image I i ′ and images Extract the coordinates of the center of the calibration ball in the image, denoted as p∈M i (M i For camera C i Extract the total number of calibration balls from q∈M j (M j For camera C jThe total number of calibration balls is extracted from the calibration spheres); the optimal matching relationship is obtained through spatial short distance, the Euclidean distance is calculated, and the calibration error is evaluated.

[0215] The steps to check the calibration parameter error between the camera and the main lidar are: capture the image data collected by the camera and the point cloud data of the main lidar respectively. According to the calibration parameter between the camera coordinate system and the main lidar coordinate system - the external parameter R cl (rotation matrix), t cl (translation vector), back-project the main lidar point cloud data onto each camera image; back-project the spherical area point cloud in each camera as follows Figure 3 As shown in the figure, the sphere is a gray prototype on the image, and the black dotted line represents the back projection of the laser radar point cloud. Through grayscale and binarization processing, all circular edges in the image are extracted, and the circular fitting equation O is obtained. i (i∈n, n is the number of circular regions in the image); according to the spatial distance difference, the point cloud data inside the sphere is obtained by clustering, and the endpoints of each horizontal line are obtained, such as Figure 4 As shown, the horizontal line is broken and fits the circle Q i (like Figure 5 Calculate O i With Q i The distance between the camera and the main lidar is further determined by the camera internal parameters and the external parameters R cl ,t cl In addition, you can also Figure 3-Figure 5 It is displayed on a display device so that the staff can see the verification results intuitively.

[0216] The display device may be a display screen, which may be arranged at the vehicle end and / or the calibration site end.

[0217] The display device displays the verification results and the judgment results of whether the preset accuracy requirements are met, which can facilitate users and staff to understand the calibration effect and accuracy, and confirm whether recalibration is needed. In addition, the display results are relatively simple and intuitive, so that most staff can intuitively feel the calibration results, avoid judging the calibration accuracy based on obscure calibration values, and generally adapt better.

[0218] Furthermore, the calibration process for the calibration parameters between the auxiliary laser radar l2 and the main laser radar l1 is as follows: for the point clouds of the two laser radars, the spherical point clouds within their respective fields of view are extracted, and the three-dimensional coordinates of the center of the sphere are obtained by fitting the sphere, which are recorded as j∈N (N is the total number of auxiliary laser radar identification verification balls) and i∈M (M is the number of spheres recognized by the main laser radar). and translation vector The three-dimensional coordinates of the center of the sphere in l2 Transformed into the l1 coordinate system, recorded as calculate and The Euclidean distance between them is used to determine the accuracy of the calibration parameters.

[0219] The calibration parameter verification process between the millimeter-wave radar and the main lidar is as follows: for the metal sphere in the calibration system, extract the millimeter-wave radar coordinates and yaw angle, and the three-dimensional coordinates of the sphere center in the main lidar coordinate system respectively; project the sphere center coordinates in the millimeter-wave data onto the XY plane of the main lidar coordinate system through external parameters; calculate the Euclidean distance to determine the calibration accuracy.

[0220] In one embodiment, during the calibration process of the vehicle to be calibrated, the method further includes: displaying the calibration progress via a display device.

[0221] In this embodiment, when the calibration process of the calibrated vehicle is being carried out, the display device can be used to display the progress of the calibration. In this way, the operator can understand the progress of the calibration in real time and ensure the accuracy and smooth progress of the calibration process. The display device can display the various stages of the calibration process in the form of graphics, flow charts, numbers, etc. For example, the display device can display the calibration system prior information, the data collected by the sensor, and the determined calibration parameters. The operator can judge whether the calibration process is normal and whether further operations are required based on the information on the display device.

[0222] The calibration process is displayed on the display device, so that the operator can understand the progress of the calibration in real time, so as to quickly locate and solve problems in the calibration process. The display device can display the prior information of the calibration system, the data collected by the sensor, and the determined calibration parameters. The operator can ensure the accuracy of the calibration results by comparing the actual values ​​with the expected values. The display device can provide guidance information for the calibration process, such as displaying the calibration steps, operation prompts, etc., to facilitate the operator to perform the correct calibration operation. The calibration results can be verified by the display device, and the operator can check and compare the calibration results to ensure the traceability of the calibration process and the reliability of the results.

[0223] In summary, this embodiment displays the calibration process through a display device, thereby improving the accuracy of the calibration process and the controllability of the operation.

[0224] In one embodiment, after the triggering computing device determines the calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated, the method further includes:

[0225] The calibration parameters of each sensor are displayed on the image model of the vehicle to be calibrated through a display device.

[0226] In this embodiment, the calibration parameters of each sensor are displayed on the image model of the vehicle to be calibrated through the display device. This means that the image model of the vehicle to be calibrated will display the calibration parameters of each sensor through the display device. In this way, the user can intuitively understand the calibration parameters of each sensor and accurately calibrate the vehicle to be calibrated.

[0227] The image model allows the staff to more intuitively see which sensor corresponds to which calibration parameter, and more intuitively determine whether there is an error in the calibration process. For example, a sensor originally located on the left front of the vehicle obtains the same calibration parameters as the sensor on the right front, which may be due to a wiring error. If the calibration parameters and image models are not matched, this correspondence cannot be intuitively seen.

[0228] In summary, in this embodiment, calibration parameters are determined by prior information and sensor data, and these parameters are displayed on the image model of the vehicle to be calibrated. This allows the user to accurately understand the calibration parameters of the sensor, thereby ensuring accurate calibration of the vehicle to be calibrated.

[0229] In one embodiment, it also includes:

[0230] Determine whether the installation position of each calibration device in the calibration system has changed;

[0231] If there is a change, the total station is triggered to re-acquire the information of each calibration device in the calibration system, and the prior information of the calibration device is updated according to the information output by the total station.

[0232] In this embodiment, when the calibration system includes a calibration device, the calibration system prior information in this embodiment will include the identity information and coordinate information of the calibration device. The identity information is used to identify the uniqueness of each calibration device, and the coordinate information is used to determine the exact position of each calibration device in space. In the implementation process, the position change is first determined. If it is determined that the position of any calibration device in the calibration system has changed, it means that the coordinates of the calibration device relative to other devices or relative to the total station have changed. Next, once the position change is found, the total station will be triggered to re-acquire the information of each calibration device in the calibration system. The total station is a measuring device that can be used to obtain accurate three-dimensional coordinate information. By re-acquiring the information of the calibration device, their new coordinates in the actual space can be determined. Finally, the calibration system prior information will be updated based on the information output by the total station. Specifically, the update will involve updating the coordinate information of the calibration device according to the new coordinates measured by the total station to ensure that the calibration system prior information is consistent with the actual calibration device position.

[0233] In addition, further, when the calibration system includes a verification device, the calibration system prior information also includes identity information and three-dimensional coordinates of each verification device.

[0234] Among them, the specific method of determining whether the position of the calibration device has changed can be: when the user moves the calibration position, the position change information is sent to the processor to trigger the total station to re-collect the information of the calibration device; or during the calibration process, when it is determined through process data that the position of a calibration device has changed, the total station is triggered to re-collect the information of the calibration device.

[0235] This embodiment ensures that the position change of the calibration device in the calibration system can be detected and processed, and can timely update the prior information of the system, thereby improving the accuracy and reliability of data management.

[0236] In one embodiment, the calibration device includes at least a plurality of calibration boards, and the calibration system prior information includes at least the system number and applicable scope of the calibration system, the number of each calibration board, the number of calibration boards and the installation position of each calibration board in the calibration system.

[0237] In this embodiment, the calibration device includes several calibration plates. The calibration system prior information includes at least the following: the system number and applicable scope of the calibration system: the calibration system may have different system numbers for calibrating different vehicles or equipment. At the same time, the applicable scope indicates which specific types of vehicles or equipment the calibration system is applicable to. Numbering of each calibration plate: each calibration plate has a unique number used to distinguish different calibration plates. Number of calibration plates: indicates the number of calibration plates used in the calibration system. The number of calibration plates may vary due to different calibration requirements. The installation position of each calibration plate in the calibration system: indicates the specific installation position (three-dimensional coordinates) of each calibration plate in the calibration system. This information can ensure the correct position and layout of the calibration device during the calibration process.

[0238] In this embodiment, by accurately describing the number, quantity and installation position of the calibration plates, it is possible to ensure that the calibration system correctly identifies and uses each calibration plate during the calibration process, thereby improving the accuracy and reliability of the calibration results.

[0239] Further, such as Figure 7 As shown, when the calibration device includes multiple calibration plates, it is determined whether the positions of each calibration device in the calibration system have changed, including: determining whether the position of the calibration plate has changed, and if so, re-acquiring the calibration system prior information, including all calibration code ID information, three-dimensional coordinates of key points of the marker code, and calibration plate number, adding the calibration system number and timestamp information; and then updating the calibration site prior information in the field server.

[0240] In one embodiment, when the calibration plate includes a plurality of marking codes and a plurality of key points, the calibration system prior information further includes the number of calibration codes, ID information of each calibration code, and the three-dimensional coordinates of each key point.

[0241] In order to achieve the requirements of rapid calibration in mass production, that is, to automate the calibration process, it is necessary to select a calibration code that can encode ID information to build a calibration board, such as Figure 6 As shown. The calibration code is Figure 6 The black QR code can encode ID information (such as ArUco code). Install multiple calibration plates at the calibration site. All calibration plates must not be parallel or coplanar, and all calibration codes must not be repeated (each calibration code ID is unique). The key points of the calibration code are the four corner points of each calibration code. Furthermore, when a metal block is provided on the calibration plate, the prior information may also include the three-dimensional coordinates of the metal block and the metal block ID information.

[0242] On this basis, the calibration board contains several marking codes and several key points. In addition to the system number and applicable scope of the calibration system mentioned above, the number of each calibration board, the number of calibration boards and the installation position of each calibration board in the calibration system, the calibration system prior information also includes the following: Number of calibration codes: The calibration code is used to identify the identity information of the calibration board. The identity information and location information of the calibration board can be determined by identifying the calibration code. The calibration system prior information includes the number of calibration codes, that is, how many calibration codes exist on the calibration board. ID information of each calibration code: Each calibration code has its own unique ID information to distinguish different calibration codes. The calibration system prior information includes the ID information of each calibration code for identification and matching during the calibration process. Three-dimensional coordinates of each key point: The key point refers to a specific point on the calibration board, and its position can be determined by three-dimensional coordinates. By measuring and calculating multiple key points on the calibration board, the coordinate transformation relationship between sensors or between sensors and total stations can be determined. The calibration system prior information includes the three-dimensional coordinates of each key point for use by the computing device when determining the calibration parameters.

[0243] As shown in Table 2, Table 2 is a schematic diagram of the design of the prior information structure of the calibration system.

[0244] Table 2

[0245]

[0246]

[0247] In one embodiment, when the vehicle to be calibrated includes several cameras, obtaining and storing a calibration data packet includes:

[0248] Obtain and store camera calibration data packets;

[0249] The camera calibration data package includes the vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, the image data collected by each camera, the ID information of the marker code included in the image data, the three-dimensional coordinates of the marker code, the three-dimensional coordinates of the key points, and the calibration parameters of each camera;

[0250] The calibration parameters of the camera include camera intrinsic parameters and camera extrinsic parameters. The camera intrinsic parameters include focal length, principal point coordinates and distortion parameters. The camera extrinsic parameters include the transformation relationship between each camera coordinate system and the total station coordinate system.

[0251] In this embodiment, when there are multiple cameras on the vehicle to be calibrated, the method further obtains and stores a camera calibration data packet. The camera calibration data packet includes the following contents:

[0252] Vehicle information of the vehicle to be calibrated: including relevant information of the vehicle to be calibrated, such as vehicle model, license plate number, etc. Calibration system number: unique identifier of the calibration system in the entire cloud server. Timestamp of current calibration: indicates the time of the current calibration, used to record the moment of calibration. Image data collected by each camera: image data collected by each camera on the vehicle to be calibrated. ID information of the marker code included in the image data: unique identifier of the marker code appearing in the image. Three-dimensional coordinates of the marker code: position coordinates of the marker code in three-dimensional space. Three-dimensional coordinates of key points: position coordinates of key points in the identified image in three-dimensional space. Calibration parameters of each camera: intrinsic and extrinsic information of the camera. Camera intrinsic parameters include focal length, principal point coordinates and distortion parameters, which are used to describe the characteristics of the camera itself. Camera extrinsics describe the coordinate transformation relationship between the camera coordinate system and the total station coordinate system.

[0253] By acquiring and storing camera calibration data packets, the method can record the calibration information of each camera on the vehicle to be calibrated, including the camera's internal parameters, external parameters, and collected image data, thereby helping the computing device determine the calibration parameters and characterize the coordinate transformation relationship between each sensor or between the sensor and the total station. This can improve the accuracy and reliability of data management, thereby improving the performance and efficiency of the calibration system.

[0254] In one embodiment, when the vehicle to be calibrated includes a main laser radar, obtaining and storing a calibration data packet includes:

[0255] Obtain and store the main lidar calibration data packet;

[0256] The main laser radar calibration data package includes the vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, the point cloud data collected by the main laser radar, and the calibration parameters of the main laser radar;

[0257] The calibration parameters of the main lidar include the transformation relationship between the main lidar coordinate system and the total station coordinate system.

[0258] In this embodiment, when the vehicle to be calibrated includes a main laser radar, a calibration data packet is obtained and stored. The calibration data packet includes the following contents:

[0259] Vehicle information of the vehicle to be calibrated: including the model, license plate number and other related information of the vehicle to be calibrated. Number of the calibration system: represents the unique identifier of the calibration system used. Timestamp of the current calibration: represents the time of calibration, used to record the timing information of the calibration data. Point cloud data collected by the main laser radar: represents the three-dimensional point cloud data about the surrounding environment collected by the main laser radar. Calibration parameters of the main laser radar: represents the transformation relationship between the main laser radar coordinate system and the total station coordinate system. These parameters are used to convert the point cloud data collected by the main laser radar into the total station coordinate system for processing and analysis.

[0260] By acquiring and storing the main lidar calibration data package, including the above information, it is possible to accurately calibrate the vehicle to be calibrated and its main lidar, as well as the accuracy and consistency of subsequent data processing. Such calibration data can be managed and analyzed on the cloud server to provide more accurate perception and positioning functions.

[0261] In one embodiment, when the vehicle to be calibrated includes several auxiliary laser radars, obtaining and storing a calibration data packet includes:

[0262] Acquire and store auxiliary lidar calibration data packets;

[0263] The auxiliary laser radar calibration data package includes the vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, the point cloud data collected by each auxiliary laser radar, and the calibration parameters of each auxiliary laser radar;

[0264] The calibration parameters of the auxiliary lidar include the transformation relationship between the auxiliary lidar coordinate system and the main lidar coordinate system.

[0265] This embodiment is applicable to the case where a plurality of auxiliary laser radars are equipped on the vehicle to be calibrated. This embodiment aims to obtain and store calibration data packets to achieve calibration of the auxiliary laser radars.

[0266] In this embodiment, the auxiliary laser radar calibration data packet is obtained and stored, which includes independent calibration for each auxiliary laser radar. The auxiliary laser radar calibration data packet includes the following information: vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, the point cloud data collected by each auxiliary laser radar, and the calibration parameters of each auxiliary laser radar.

[0267] The calibration parameters of the auxiliary laser radar are an important component, which is used to characterize the transformation relationship between the auxiliary laser radar coordinate system and the main laser radar coordinate system. The auxiliary laser radar collects point cloud data and calibrates it with the total station to obtain calibration parameters. The calibration parameters of the auxiliary laser radar can describe the coordinate transformation relationship between the auxiliary laser radar coordinate system and the main laser radar coordinate system.

[0268] Through this data management method, the calibration data of several auxiliary laser radars on the vehicle to be calibrated can be effectively acquired and stored, and the calibration of these auxiliary laser radars can be realized. In this way, in the subsequent use process, the coordinate transformation between the auxiliary laser radar and the main laser radar can be realized according to the calibration parameters, so as to accurately acquire and analyze data. This is very important for achieving accurate measurement and positioning, and improves the accuracy and efficiency of data processing.

[0269] In one embodiment, when the vehicle to be calibrated includes a millimeter wave radar, obtaining and storing a calibration data packet includes:

[0270] Acquire and store millimeter wave radar calibration data packets;

[0271] The millimeter wave radar calibration data packet includes the vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, the data frame collected by the millimeter wave radar, and the calibration parameters of the millimeter wave radar;

[0272] The calibration parameters of the millimeter-wave radar include the transformation relationship between the millimeter-wave radar coordinate system and the main lidar coordinate system.

[0273] This embodiment is described based on the case where the vehicle to be calibrated includes a millimeter wave radar. In this embodiment, the data management method is used to obtain and store a millimeter wave radar calibration data packet. Specifically, the data management method obtains and stores a calibration data packet with millimeter wave radar calibration data. This calibration data packet includes the following contents:

[0274] Vehicle information of the vehicle to be calibrated: information used to identify the vehicle to be calibrated, such as vehicle model, vehicle identification code, etc. Calibration system number: used to identify the number of the calibration system applied to the vehicle to be calibrated to ensure that it matches the vehicle to be calibrated. Timestamp of the current calibration: used to identify the specific time of calibration for subsequent data management and analysis. Data frames collected by the millimeter-wave radar: The millimeter-wave radar on the vehicle to be calibrated collects the perceived environmental data in the form of data frames and stores these data frames in the calibration data packet. Calibration parameters of the millimeter-wave radar: The calibration parameters are used to characterize the transformation relationship between the millimeter-wave radar coordinate system and the main lidar coordinate system to achieve accurate coordinate data conversion. These calibration parameters will be stored in the calibration data packet.

[0275] Through this data management method, the calibration data packets of the millimeter-wave radar can be effectively acquired and stored. In this way, when the calibration parameters of the millimeter-wave radar on the vehicle to be calibrated are subsequently analyzed and applied, these calibration data packets can be relied on to obtain relevant vehicle and sensor information, and the calibration parameters therein can be used to perform accurate coordinate transformation relationship calculations. This is very important for achieving accurate sensor data fusion and map construction and other applications.

[0276] As shown in Table 3, Table 3 provides a schematic diagram of the data structure of a calibration data packet.

[0277] Table 3

[0278]

[0279]

[0280] In order to solve the above technical problems, the present application also provides a method for calibrating a vehicle to be calibrated, such as Fig.11 As shown, the method is applied to a computing device in a vehicle to be calibrated, comprising:

[0281] S21: Acquire the calibration system prior information sent by the cloud server, where the calibration system prior information includes the calibration system number, applicable scope, and prior information of each calibration device in the calibration system;

[0282] S22: judging whether the calibration system matches the vehicle to be calibrated according to the number and applicable scope of the calibration system;

[0283] S23: If they match, trigger each sensor to collect data from each calibration device in the calibration system to obtain sensor data;

[0284] S24: determining calibration parameters of each sensor according to the prior information of each calibration device and the sensor data, wherein the calibration parameters are used to characterize the coordinate transformation relationship between each sensor or between each sensor and the total station;

[0285] S25: Send the sensor data and calibration parameters to the cloud server to generate a calibration data packet on the cloud server, where the calibration data packet includes at least the vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, the sensor information on the vehicle to be calibrated, the data of each sensor and the calibration parameters.

[0286] This embodiment provides a method for calibrating a vehicle to be calibrated, which is applied to a computing device in the vehicle to be calibrated. The method includes the following steps:

[0287] Obtaining the calibration system prior information sent by the cloud server: The computing device of the vehicle to be calibrated receives and obtains the calibration system prior information by communicating with the cloud server. The prior information includes the calibration system number, applicable scope, and prior information of each calibration device in the calibration system.

[0288] Determine whether the calibration system matches the vehicle to be calibrated: the computing device determines whether the calibration system matches the vehicle to be calibrated based on the calibration system number and applicable scope in the received calibration system prior information.

[0289] If they match, the sensors are triggered to collect data from the calibration devices in the calibration system: If the calibration system matches the vehicle to be calibrated, the computing device triggers the sensors to collect data from the calibration devices in the calibration system. This means that the sensors record the data required by the calibration devices.

[0290] Determine the calibration parameters of each sensor based on the prior information of each calibration device and the sensor data: Using the prior information of each calibration device of the calibration system and the data collected by the sensor, the computing device can determine the calibration parameters of each sensor. The calibration parameters are used to describe the coordinate transformation relationship between each sensor, or the coordinate transformation relationship between the sensor and the total station.

[0291] Send sensor data and calibration parameters to the cloud server: The computing device sends the data collected by the sensor and the determined calibration parameters to the cloud server. This step is to generate a calibration data packet, which at least includes the vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, the sensor information on the vehicle to be calibrated, the data of each sensor, and the calibration parameters.

[0292] The calibration method in this embodiment has the following beneficial effects: (1) The calibration system prior information includes the calibration system number, applicable scope and prior information of each calibration device in the calibration system. By obtaining the calibration system prior information sent by the cloud server, the calibration system required for the vehicle to be calibrated can be determined, and it can be judged whether the calibration system is applicable to the vehicle to be calibrated. This method can automatically select the calibration scheme according to the vehicle characteristics, avoid the tedious operation of manually selecting the calibration system, and realize the automation of the calibration process. (2) According to the calibration system number and applicable scope, it is judged whether the calibration system matches the vehicle to be calibrated. By matching the calibration system number and applicable scope, it can be ensured that the calibration system used by the vehicle to be calibrated meets the requirements and avoids erroneous calibration results. This is also part of the automation, which can reduce the possibility of manual intervention and improve the accuracy and efficiency of calibration. (3) The sensor collects data from each calibration device in the calibration system to obtain sensor data. By triggering the sensor to collect data from the calibration device, the sensor data can be automatically obtained, avoiding the complicated process of manual collection and entry. This automated method can improve the efficiency and accuracy of calibration. (4) Determine the calibration parameters of each sensor based on the prior information of each calibration device and the sensor data. By comparing and processing the sensor data and the prior information of the calibration device, the calibration parameters of each sensor can be automatically calculated. This can reduce the errors and time consumption of manual calculations and realize the automatic acquisition of calibration parameters. (5) Send the sensor data and calibration parameters to the cloud server to generate a calibration data packet. By sending the sensor data and calibration parameters to the cloud server, a calibration data packet can be automatically generated on the server side, which is convenient for calling this calibration data packet for verification or other processing in the future. This method can avoid the problems of manual data processing and data transmission, and reduce manual operations and errors in the calibration process. In summary, the calibration system prior information and calibration data packet in this format acquire, process and generate data in an automated manner, realize the automation of the calibration process, and improve the accuracy and efficiency of calibration.

[0293] In one embodiment, the calibration device includes a plurality of calibration plates, and the prior information of the calibration device includes the serial number and quantity of each calibration plate and the installation position of each calibration plate in the calibration system;

[0294] Triggering each sensor to collect data from each calibration device in the calibration system to obtain sensor data, including: triggering each sensor to collect data from the calibration board in the calibration system to obtain calibration board data;

[0295] The calibration parameters of each sensor are determined based on the prior information of each calibration device and the sensor data, including:

[0296] Determine the calibration parameters of each sensor based on the collected numbers of each calibration plate, the installation position in the calibration system and the calibration plate data;

[0297] Send sensor data and calibration parameters to the cloud server to generate a calibration data package, including:

[0298] The collected calibration board data, number, installation position in the calibration system and determined calibration parameters are sent to the cloud server to generate a calibration data package.

[0299] Specifically, this embodiment describes that the calibration device includes several calibration plates, and the prior information of the calibration device includes the number, quantity and installation position of each calibration plate in the calibration system. In this embodiment, when the sensor in the vehicle to be calibrated collects data from each calibration device in the calibration system, in addition to collecting sensor data, it is also necessary to trigger the sensor to collect data from the calibration plate. The data collected by the sensor can determine the calibration parameters of each sensor by comparing the number, installation position and data of each calibration plate. Further, it is also described that the collected calibration plate data, number, installation position and determined calibration parameters are sent to the cloud server to generate a calibration data packet. In this way, a calibration data packet including the vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, the sensor information on the vehicle to be calibrated, the data of each sensor and the calibration parameters can be generated on the cloud server side based on these data.

[0300] In one embodiment, the calibration plate includes a plurality of marking codes and a plurality of key points, and the prior information of the calibration device also includes the number, ID information, three-dimensional coordinates and three-dimensional coordinates of the key points of the calibration codes on each calibration plate;

[0301] Trigger each sensor to collect the calibration board in the calibration system to obtain the calibration board data, including:

[0302] The sensor is triggered to collect data from each calibration plate in the calibration system, and the calibration plate number, installation position of the calibration plate, ID information of the calibration code, three-dimensional coordinates and three-dimensional coordinates of key points included in the calibration plate data collected by the sensor are determined according to the collected calibration plate data and the prior information of the calibration device;

[0303] Based on the collected numbers of the calibration plates, the installation positions in the calibration system and the calibration plate data, the calibration parameters of each sensor are determined, including:

[0304] The calibration parameters of each sensor are determined according to the calibration plate number, the installation position of the calibration plate, the ID information of the calibration code, the three-dimensional coordinates and the three-dimensional coordinates of the key points included in the calibration plate data.

[0305] In this embodiment, the calibration device includes a plurality of calibration plates, each of which includes a plurality of marking codes and a plurality of key points. In addition to the number, quantity and installation position of each calibration plate, the prior information of the calibration device also includes the quantity, ID information, three-dimensional coordinates of the calibration codes on each calibration plate and the three-dimensional coordinates of the key points.

[0306] In this embodiment, each sensor is triggered to collect data from the calibration plate in the calibration system to obtain calibration plate data. The collected calibration plate data includes the result of triggering the sensor to collect data from each calibration plate in the calibration system, as well as the number of the calibration plate, the installation position of the calibration plate, the ID information of the calibration code, the three-dimensional coordinates, and the three-dimensional coordinates of the key points determined according to the collected data and the prior information of the calibration device.

[0307] Based on the numbers of the calibration plates, the installation positions in the calibration system, and the calibration plate data, the calibration parameters of each sensor can be determined. These calibration parameters can be used to characterize the coordinate transformation relationship between each sensor, or to characterize the coordinate transformation relationship between each sensor and the total station.

[0308] Finally, the collected calibration board data, number, installation position in the calibration system, and determined calibration parameters are sent to the cloud server to generate a calibration data packet. This calibration data packet at least includes the vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, the sensor information on the vehicle to be calibrated, the data of each sensor, and the calibration parameters.

[0309] This embodiment provides a more specific method for calibrating a vehicle to be calibrated, which can effectively determine the calibration parameters of the sensor, thereby improving the accuracy and stability of the calibration. This method can also conveniently transmit the calibration data to the cloud server for processing and storage, and realize real-time monitoring and management of the calibration process.

[0310] For ease of understanding, the present application provides a specific embodiment:

[0311] like Figure 8 and Fig. 9 As shown in the figure, the calibration system includes a cloud server, a vehicle to be calibrated, and a field display screen. The workflow is as follows:

[0312] 1. After the vehicle to be calibrated is parked at the designated location of the calibration site, the vehicle-side 5G router / wifi router sends a "connection request" to the cloud server, and after establishing a communication connection, sends the vehicle identity information. 2. After the server obtains the "connection request", it connects with the vehicle and verifies the vehicle identity. After the verification is passed, the server sends the "start calibration" command. 3. After the vehicle receives the "start calibration" command, it starts to self-check the sensor. If there is a problem, send the corresponding error code to troubleshoot; if there is no problem, start collecting sensor data. 4. After obtaining the data of each sensor and verifying the validity, start the calibration parameter solution. 5. After the calibration parameters are solved, the validity of the calibration parameters is verified by the verification device. 6. After the calibration parameters are verified, the original sensor data, process data, calibration results, etc. are packaged and uploaded to the server. 7. After receiving the calibration data packet, the server verifies the integrity. After the verification is completed, send the "calibration end" command; 8. After receiving the "calibration end" command, the vehicle exits the calibration state and disconnects from the server.

[0313] Fig.10 The data processing flow in the present application is further illustrated. Specifically, first, the basic information of the vehicle is obtained, and the prior information of the calibration system is obtained; it is verified whether the basic information of the vehicle matches the calibration system. If it matches, it is determined whether it is the first calibration on the vehicle to be calibrated. If it is the first calibration, the start calibration instruction is sent to perform the relevant steps of calibration. If it is not the first calibration, the latest calibration parameters of the historical timestamp are obtained according to the vehicle number, and the calibration parameters are verified by the verification device to see whether they meet the preset accuracy requirements. If they do, the calibration parameters are qualified, the calibration timestamp is updated and saved to the calibration parameter database (that is, the cloud server), and the calibration is completed. If the calibration parameters are unqualified, recalibration is required, that is, the start calibration instruction is sent to perform the relevant steps of calibration.

[0314] Specifically, the calibration steps are as follows: first, the sensor self-checks. If the self-check is abnormal, an error code is sent to remind the staff to troubleshoot the fault and record the fault information (i.e., fault data, including fault code, fault sensor ID, etc.). If the self-check is normal, the computing device loads the calibration system prior information, collects sensor data, and verifies the data validity of the sensor data. If the sensor includes a camera, all calibration code ID information in the image data acquired by the camera is identified and the image coordinates of the key points and the image coordinates of the four corners of the calibration plate are extracted; the camera internal parameters are solved; according to the calibration code ID information, the spatial correspondence between the same-name points of different cameras is established, and the external parameters between the cameras are solved. If the sensor includes a laser radar, the laser radar point cloud is filtered and pre-processed to remove interference point clouds such as the ground; the local point clouds of each calibration plate are obtained by plane fitting of the point cloud, and the coordinates of the four corner points of the calibration plate are extracted. According to the calibration code ID information and the relationship with the calibration plate, the correspondence between the calibration plate in the image and the point cloud is established, and the external parameters of each camera and the laser radar are solved according to the internal and external parameters of the camera. In addition, when there is more than one laser radar, the external parameters of multiple laser radars can also be solved. If the sensor also includes a millimeter-wave radar, the millimeter-wave radar point cloud is filtered and preprocessed to remove the interference point cloud, extract the coordinates of the metal block in the center of the calibration plate, and obtain the center coordinates of each calibration plate in the laser radar point cloud data. Through the optimal matching relationship of the center of the calibration plate, the laser radar and millimeter-wave radar calibration parameters are solved. In the process of calculating external and internal parameters, the calibration parameters are visualized through the display screen so that the staff can intuitively see the calibration results. Furthermore, after obtaining the calibration parameters, the calibration parameters are verified for validity using a verification device. If the verification is passed, the vehicle number, basic sensor information, original sensor data, calibration results, etc. are packaged and uploaded to the cloud server.

[0315] Data management method in this application. First, an integrated design is carried out from "cloud-edge-field". Through the combination of calibration board and calibration check ball, the calibration task is ensured to be completed automatically throughout the whole process; through 5G router or wifi router, it is wirelessly connected to the cloud server and the field display screen, reducing unnecessary preparation work in the calibration process; through the structured design of calibration scene, vehicle information, sensor data, calibration result data (calibration parameters), sensor fault data, etc., it effectively guarantees the standardized management of tasks for the first calibration or regular calibration of large quantities of vehicles after mass production, and provides data support for the re-examination of perception system problems; through sensor self-test and data management mechanism, the vehicle sensor status, connection status, etc. are effectively monitored for a long time, and further provides data support for the host factory to troubleshoot software and hardware problems. The present invention proposes a method with good engineering feasibility for different sensor calibration parameters to ensure the validity of all calibration parameters.

[0316] To solve the above technical problems, the present application also provides a data management system, such as Fig.12 As shown, the system is applied to a cloud server and includes:

[0317] The sending unit 121 is used to send the calibration system prior information to the computing device when calibrating the vehicle to be calibrated, if the number and applicable scope of the calibration system match the vehicle to be calibrated, the calibration prior information includes the number and applicable scope of the calibration system and prior information of each calibration device in the calibration system;

[0318] A parameter determination unit 122, used to trigger the calculation device to determine calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated, wherein the calibration parameters are used to characterize the coordinate transformation relationship between each sensor or between the sensor and the total station;

[0319] The data packet processing unit 123 is used to obtain and store a calibration data packet, which includes at least the vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, the sensor information on the vehicle to be calibrated, the data of each sensor and the calibration parameters. For the introduction of the data management system, please refer to the above embodiment, and this application will not repeat it here.

[0320] In order to solve the above technical problems, the present application also provides a vehicle calibration system to be calibrated, such as Fig.13 As shown, the system is applied to a computing device in a vehicle to be calibrated, including:

[0321] The acquisition unit 131 is used to acquire the calibration system prior information sent by the cloud server, where the calibration system prior information includes the number of the calibration system, the applicable scope, and the prior information of each calibration device in the calibration system;

[0322] A judging unit 132, used to judge whether the calibration system matches the vehicle to be calibrated according to the number and applicable scope of the calibration system;

[0323] The triggering collection unit 133 is used to trigger each sensor to collect data from each calibration device in the calibration system to obtain sensor data when the calibration system matches the vehicle to be calibrated;

[0324] A calibration parameter determination unit 134, used to determine the calibration parameters of each sensor according to the prior information of each calibration device and the sensor data, the calibration parameters are used to characterize the coordinate transformation relationship between each sensor or between each sensor and the total station;

[0325] The data sending unit 135 is used to send the sensor data and calibration parameters to the cloud server to generate a calibration data packet on the cloud server, and the calibration data packet at least includes the vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, the sensor information on the vehicle to be calibrated, each sensor data and the calibration parameters. For the introduction of the calibration system of the vehicle to be calibrated, please refer to the above embodiment, and this application will not repeat it here.

[0326] To solve the above technical problems, the present application also provides an electronic device, such as Fig.14 As shown, including:

[0327] A memory 141, used for storing computer programs;

[0328] The processor 142 is used to implement the steps of the above-mentioned data management method or the above-mentioned vehicle calibration method when storing the computer program. Please refer to the above-mentioned embodiments for the introduction of the electronic device, and this application will not repeat them here.

[0329] To solve the above technical problems, the present application also provides a computer-readable storage medium 150, such as Fig.15 As shown, the computer readable storage medium 150 stores a computer program 151, and when the computer program 151 is executed by the processor, the steps of the above-mentioned data management method or the above-mentioned vehicle calibration method to be calibrated are implemented. For the introduction of the computer readable storage medium 150, please refer to the above-mentioned embodiment, and this application will not repeat it here.

[0330] It should also be noted that, in this specification, 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 "comprises", "comprising" 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, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0331] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A data management method, characterized in that: Applied to cloud servers, including: When calibrating the vehicle to be calibrated, if the number and applicable scope of the calibration system match the vehicle to be calibrated, the calibration system prior information is sent to the computing device, the calibration prior information including the number and applicable scope of the calibration system and prior information of each calibration device in the calibration system; Triggering the calculation device to determine calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated, wherein the calibration parameters are used to characterize the coordinate transformation relationship between each sensor or between the sensor and the total station; Acquire and store a calibration data packet, wherein the calibration data packet includes at least vehicle information of the vehicle to be calibrated, a calibration system number, a timestamp of a current calibration, sensor information on the vehicle to be calibrated, each sensor data and calibration parameters.

2. The data management method according to claim 1, characterized in that: The calibration device includes a plurality of calibration plates, and the prior information of the calibration device includes the serial number and quantity of each calibration plate and the installation position of each calibration plate in the calibration system; Triggering the computing device to determine calibration parameters based on the prior information of each calibration device and sensor data collected by each sensor on the vehicle to be calibrated includes: The calculation device is triggered to determine calibration parameters based on the serial number of each calibration plate and the installation position in the calibration system and the calibration plate data collected by each sensor on the vehicle to be calibrated.

3. The data management method according to claim 2, characterized in that: The calibration plate includes a plurality of marking codes and a plurality of key points, and the prior information of the calibration device also includes the number, ID information, three-dimensional coordinates of the calibration codes on each of the calibration plates and the three-dimensional coordinates of the key points; Triggering the calculation device to determine calibration parameters based on the serial number of each calibration plate and the installation position in the calibration system and the calibration plate data collected by each sensor on the vehicle to be calibrated, including: Triggering the sensor to collect data from each calibration plate in the calibration system to obtain the collected calibration plate data; Determine the calibration plate number, the installation position of the calibration plate, the ID information of the calibration code, the three-dimensional coordinates and the three-dimensional coordinates of the key point included in the calibration plate data collected by the sensor according to the calibration plate data and the prior information of the calibration device; The calibration parameters of each sensor are determined according to the number of the calibration plate, the installation position of the calibration plate, the ID information of the calibration code, the three-dimensional coordinates and the three-dimensional coordinates of the key points included in the calibration plate data.

4. The data management method according to claim 1, characterized in that: Before sending the calibration system prior information to the computing device, the method further includes: Receiving vehicle identity information sent by the vehicle to be calibrated; Determining whether the vehicle to be calibrated matches the calibration system according to the vehicle identity information and the number and applicable scope of the calibration system; If they match, the step of sending the calibration system prior information to the computing device is entered.

5. The data management method according to claim 4, characterized in that: The applicable scope of the calibration system includes applicable sensor types, and the vehicle identity information includes the number, type, quantity and installation position of the sensor on the vehicle to be calibrated; Determining whether the vehicle to be calibrated matches the calibration system according to the vehicle identity information and the serial number and applicable scope of the calibration system includes: Determining whether the vehicle to be calibrated matches the calibration system according to the type of sensor on the vehicle to be calibrated and the applicable sensor type corresponding to the number of the calibration system; If the applicable sensor type corresponding to the number of the calibration system includes the type of the sensor on the vehicle to be calibrated, it is determined that the vehicle to be calibrated matches the calibration system.

6. The data management method according to claim 1, characterized in that: After determining that the serial number and the applicable scope of the calibration system match the vehicle to be calibrated, the method further includes: Determine whether the calibration data packet corresponding to the vehicle to be calibrated is stored in the device; If no calibration data packet corresponding to the vehicle to be calibrated is stored, it is determined that the vehicle to be calibrated is being calibrated for the first time, and the step of triggering the computing device to determine calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated is entered.

7. The data management method according to claim 6, characterized in that: The calibration system is provided with a verification device, and the calibration system prior information also includes prior information of each of the verification devices; After determining whether the calibration data packet corresponding to the vehicle to be calibrated is stored in the system, the method further includes: If the calibration data packet corresponding to the vehicle to be calibrated is stored in the device, it is determined that the vehicle to be calibrated is not being calibrated for the first time; Verifying the historical calibration parameters of the vehicle to be calibrated according to the prior information of each verification device to obtain a verification result; Determine whether the verification result meets the preset accuracy requirement according to the verification result; If so, the calibration is terminated, otherwise, the step of triggering the computing device to determine calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated is reentered.

8. The data management method according to claim 7, characterized in that: Verifying the historical calibration parameters of the vehicle to be calibrated according to the prior information of each verification device before obtaining the verification result also includes: A calibration file stored in the vehicle to be calibrated is obtained, and the historical calibration parameters are obtained according to the calibration file.

9. The data management method according to claim 8, characterized in that: After obtaining the calibration file stored in the vehicle to be calibrated, the method further includes: Determining whether the calibration file is abnormal; If the calibration file is normal, entering the step of obtaining the historical calibration parameters according to the calibration file; If the calibration file is abnormal, the calibration parameters with the latest timestamp stored in the system and corresponding to the vehicle to be calibrated are used as the historical calibration parameters.

10. The data management method according to claim 9, characterized in that: After the calibration parameters corresponding to the vehicle to be calibrated are stored in the system and it is determined that the verification result meets the preset accuracy requirement, the system further includes: The timestamp of the calibration parameters corresponding to the vehicle to be calibrated stored in the self-stored state is updated to be the current calibration time.

11. The data management method according to claim 7, characterized in that: After the verification is completed, the method further includes: displaying the verification result and the determination result of whether the preset accuracy requirement is met through a display device.

12. The data management method according to claim 1, characterized in that: During the calibration process of the vehicle to be calibrated, the method further includes: displaying the calibration progress through a display device.

13. The data management method according to claim 1, characterized in that: After the calculation device is triggered to determine the calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated, the method further includes: The calibration parameters of each sensor are displayed on the image model of the vehicle to be calibrated through a display device.

14. The data management method according to claim 1, characterized in that: Also includes: Determining whether the installation position of each calibration device in the calibration system has changed; If there is a change, the total station is triggered to re-acquire the information of each calibration device in the calibration system, and the prior information of the calibration device is updated according to the information output by the total station.

15. The data management method according to any one of claims 3 to 14, characterized in that: When the vehicle to be calibrated includes several cameras, obtaining and storing a calibration data packet includes: Obtain and store camera calibration data packets; The camera calibration data packet includes vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, image data collected by each camera, ID information of the marker code included in the image data, the three-dimensional coordinates of the marker code, the three-dimensional coordinates of the key points, and calibration parameters of each camera; The calibration parameters of the camera include camera intrinsic parameters and camera extrinsic parameters. The camera intrinsic parameters include focal length, principal point coordinates and distortion parameters. The camera extrinsic parameters include the transformation relationship between each camera coordinate system and the total station coordinate system.

16. The data management method according to any one of claims 3 to 14, characterized in that: When the vehicle to be calibrated includes a main laser radar, obtaining and storing a calibration data packet includes: Obtain and store the main lidar calibration data packet; The main laser radar calibration data packet includes the vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, the point cloud data collected by the main laser radar, and the calibration parameters of the main laser radar; The calibration parameters of the main laser radar include the transformation relationship between the main laser radar coordinate system and the total station coordinate system.

17. The data management method according to claim 16, characterized in that: When the vehicle to be calibrated includes several auxiliary laser radars, obtaining and storing a calibration data packet includes: Acquire and store auxiliary lidar calibration data packets; The auxiliary laser radar calibration data packet includes the vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, the point cloud data collected by each of the auxiliary laser radars, and the calibration parameters of each of the auxiliary laser radars; The calibration parameters of the auxiliary laser radar include the transformation relationship between the auxiliary laser radar coordinate system and the main laser radar coordinate system.

18. The data management method according to claim 16, characterized in that: When the vehicle to be calibrated includes a millimeter wave radar, obtaining and storing a calibration data packet includes: Acquire and store millimeter wave radar calibration data packets; The millimeter-wave radar calibration data packet includes vehicle information of the vehicle to be calibrated, the number of the calibration system, a timestamp of the current calibration, a data frame collected by the millimeter-wave radar, and a calibration parameter of the millimeter-wave radar; The calibration parameters of the millimeter wave radar include the transformation relationship between the millimeter wave radar coordinate system and the main laser radar coordinate system.

19. A method for calibrating a vehicle to be calibrated, characterized in that: The computing device used in the vehicle to be calibrated includes: Acquire the calibration system prior information sent by the cloud server, wherein the calibration system prior information includes the number and applicable scope of the calibration system and the prior information of each calibration device in the calibration system; Determining whether the calibration system matches the vehicle to be calibrated according to the number and applicable scope of the calibration system; If they match, trigger each sensor to collect data from each calibration device in the calibration system to obtain sensor data; Determining calibration parameters of each of the sensors according to the prior information of each of the calibration devices and the sensor data, wherein the calibration parameters are used to characterize the coordinate transformation relationship between each of the sensors or between each of the sensors and the total station; The sensor data and the calibration parameters are sent to the cloud server to generate a calibration data packet on the cloud server, wherein the calibration data packet includes at least vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, sensor information on the vehicle to be calibrated, each of the sensor data and the calibration parameters.

20. The method for calibrating a vehicle to be calibrated according to claim 19, characterized in that: The calibration device includes a plurality of calibration plates, and the prior information of the calibration device includes the serial number and quantity of each calibration plate and the installation position of each calibration plate in the calibration system; Triggering each sensor to collect data from each calibration device in the calibration system to obtain sensor data, including: triggering each sensor to collect data from the calibration board in the calibration system to obtain calibration board data; Determining calibration parameters of each of the sensors according to the prior information of each calibration device and the sensor data includes: Determining calibration parameters of each of the sensors based on the collected numbers of each of the calibration plates, the installation positions in the calibration system, and the calibration plate data; Sending the sensor data and the calibration parameters to the cloud server to generate a calibration data packet includes: The collected calibration board data, number, installation position in the calibration system and determined calibration parameters are sent to the cloud server to generate the calibration data packet.

21. The vehicle calibration method to be calibrated as claimed in claim 19, characterized in that: The calibration plate includes a plurality of marking codes and a plurality of key points, and the prior information of the calibration device also includes the number, ID information, three-dimensional coordinates of the calibration codes on each of the calibration plates and the three-dimensional coordinates of the key points; Triggering each of the sensors to collect data from the calibration plate in the calibration system to obtain calibration plate data, including: Triggering the sensor to collect data from each calibration plate in the calibration system, and determining the calibration plate number, the installation position of the calibration plate, the ID information of the calibration code, the three-dimensional coordinates, and the three-dimensional coordinates of the key point included in the calibration plate data collected by the sensor according to the collected calibration plate data and the prior information of the calibration device; Determining calibration parameters of each sensor based on the collected serial number of each calibration plate, the installation position in the calibration system and the calibration plate data, including: The calibration parameters of each sensor are determined according to the number of the calibration plate, the installation position of the calibration plate, the ID information of the calibration code, the three-dimensional coordinates and the three-dimensional coordinates of the key points included in the calibration plate data.

22. A data management system, characterized in that: Applied to cloud servers, including: A sending unit, configured to send the calibration system prior information to the computing device when calibrating the vehicle to be calibrated, if the number and applicable scope of the calibration system match the vehicle to be calibrated, wherein the calibration prior information includes the number and applicable scope of the calibration system and prior information of each calibration device in the calibration system; A parameter determination unit, used to trigger the calculation device to determine calibration parameters based on the prior information of each calibration device and the sensor data collected by each sensor on the vehicle to be calibrated, wherein the calibration parameters are used to characterize the coordinate transformation relationship between each sensor or between the sensor and the total station; The data packet processing unit is used to obtain and store a calibration data packet, wherein the calibration data packet at least includes vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, sensor information on the vehicle to be calibrated, each of the sensor data and calibration parameters.

23. A vehicle calibration system to be calibrated, characterized in that: The computing device used in the vehicle to be calibrated includes: An acquisition unit, used to acquire the calibration system prior information sent by the cloud server, wherein the calibration system prior information includes the number and applicable scope of the calibration system and the prior information of each calibration device in the calibration system; A judging unit, used for judging whether the calibration system matches the vehicle to be calibrated according to the number and applicable scope of the calibration system; A triggering collection unit, used for triggering each sensor to collect data from each calibration device in the calibration system to obtain sensor data when the calibration system matches the vehicle to be calibrated; A calibration parameter determination unit, used to determine the calibration parameters of each of the sensors according to the prior information of each of the calibration devices and the sensor data, wherein the calibration parameters are used to characterize the coordinate transformation relationship between each of the sensors or between each of the sensors and the total station; A data sending unit is used to send the sensor data and the calibration parameters to the cloud server to generate a calibration data packet on the cloud server, wherein the calibration data packet at least includes vehicle information of the vehicle to be calibrated, the number of the calibration system, the timestamp of the current calibration, sensor information on the vehicle to be calibrated, each of the sensor data and the calibration parameters.

24. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, used to implement the steps of the data management method as described in any one of claims 1 to 18 or the method for calibrating a vehicle to be calibrated as described in any one of claims 19 to 21 when storing a computer program.

25. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the data management method according to any one of claims 1 to 18 or the method for calibrating a vehicle to be calibrated according to any one of claims 19 to 21 are implemented.

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