Steering angle sensor calibration method, device and equipment and storage medium

Abstract

The invention provides a calibration method, device and equipment for a steering angle sensor and a storage medium, and the calibration method comprises the steps: determining the corresponding first position information of the center line of a target front vehicle body part under a first coordinate system according to the laser positioning data of each point on a target vehicle; under a second coordinate system corresponding to a vehicle body steering shaft provided with a steering angle sensor, second position information corresponding to the center line of the target front vehicle body part under the second coordinate system is determined; the position deviation between the first position information and the second position information under the same coordinate system is adjusted by adjusting a target parameter in a coordinate transformation matrix between the first coordinate system and the second coordinate system, and when the adjusted position deviation is smaller than or equal to a preset threshold value, the position of the first position information and the position of the second position information are adjusted according to the target parameter at the current moment. And the reading of the steering angle sensor is calibrated. Therefore, automatic calibration and error detection of the steering angle sensor can be realized.

Description

Technical Field

[0001] The present application relates to the field of automation control technology, and in particular to a calibration method, device, equipment and storage medium for a steering angle sensor. Background Art

[0002] The steering angle sensor is generally installed on the steering shaft of the vehicle body to sense the angle between the front and rear bodies of the vehicle. It plays an important role in vehicle automation control and is a prerequisite for the accuracy of automatic navigation control. Mechanical wear may cause errors in the readings of the steering angle sensor. Therefore, the steering angle sensor needs to be calibrated regularly to ensure that the readings of the calibrated steering angle sensor can represent the actual angle between the front and rear bodies of the vehicle.

[0003] At present, the existing calibration method usually requires the operator to manually straighten the front of the vehicle as much as possible. Based on the reading of the steering angle sensor when the front of the vehicle is straightened, it corresponds to the actual steering angle (i.e., the angle between the front body and the rear body of the vehicle) being 0, and the linear relationship between the reading of the steering angle sensor and the actual steering angle, the linear relationship parameters between the reading of the steering angle sensor and the actual steering angle can be calculated, and then the reading of the steering angle sensor is calibrated according to the calculated linear relationship parameters, so that the reading of the calibrated steering angle sensor can represent the actual steering angle. However, the above-mentioned existing calibration method requires the operator to manually straighten the front of the vehicle, and manual operation usually has large operating errors, so it is impossible to automatically complete the calibration of the steering angle sensor. Summary of the invention

[0004] In view of this, the present application provides a calibration method, device, equipment and storage medium for a steering angle sensor, which realizes automatic calibration and error detection of the steering angle sensor based on a laser positioning device installed on the target vehicle without human intervention, which is beneficial to improving the automatic navigation control accuracy of the target vehicle and the vehicle operation safety.

[0005] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings.

[0006] In a first aspect, an embodiment of the present application provides a calibration method for a steering angle sensor, the calibration method comprising:

[0007] The laser positioning data of each point on the target vehicle are collected by a laser positioning device installed on the target vehicle, and the first position information corresponding to the center line of the target front body part in the first coordinate system is determined according to the collected laser positioning data; wherein the laser positioning device is installed at any central position on the top of the rear body of the target vehicle, the target front body part represents any centrally symmetrical front body part on the target vehicle, and the first coordinate system represents the coordinate system corresponding to the laser positioning data;

[0008] In a second coordinate system corresponding to the steering shaft of the vehicle body on which the steering angle sensor is installed, determining second position information corresponding to the center line of the target front vehicle body component in the second coordinate system;

[0009] Performing coordinate transformation on the first position information or the second position information according to a coordinate transformation matrix between the first coordinate system and the second coordinate system to obtain the first position information and the second position information in the same target coordinate system; wherein the target coordinate system represents the first coordinate system or the second coordinate system;

[0010] The position deviation between the first position information and the second position information in the target coordinate system is adjusted by adjusting the target parameters in the coordinate transformation matrix, and when the adjusted position deviation is less than or equal to a preset threshold, the reading of the steering angle sensor is calibrated according to the target parameters at the current moment; wherein the target parameters represent the assumed result of the steering angle.

[0011] In a second aspect, an embodiment of the present application provides a calibration device for a steering angle sensor, the calibration device comprising:

[0012] A first positioning module is used to collect laser positioning data of various points on the target vehicle through a laser positioning device installed on the target vehicle, and determine first position information corresponding to the center line of the target front body part in a first coordinate system according to the collected laser positioning data; wherein the laser positioning device is installed at any central position on the top of the rear body of the target vehicle, the target front body part represents any centrally symmetrical front body part on the target vehicle, and the first coordinate system represents the coordinate system corresponding to the laser positioning data;

[0013] A second positioning module is used to determine the second position information corresponding to the center line of the target front vehicle body component in a second coordinate system corresponding to the steering shaft of the vehicle body on which the steering angle sensor is installed;

[0014] a coordinate conversion module, configured to perform coordinate conversion on the first position information or the second position information according to a coordinate conversion matrix between the first coordinate system and the second coordinate system, so as to obtain the first position information and the second position information in the same target coordinate system; wherein the target coordinate system represents the first coordinate system or the second coordinate system;

[0015] An angle calibration module is used to adjust the position deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameters in the coordinate transformation matrix, and when the adjusted position deviation is less than or equal to a preset threshold, calibrate the reading of the steering angle sensor according to the target parameters at the current moment; wherein the target parameters represent the assumed result of the steering angle.

[0016] In a third aspect, an embodiment of the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned steering angle sensor calibration method when executing the computer program.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned steering angle sensor calibration method are executed.

[0018] The technical solution provided by the embodiments of the present application may have the following beneficial effects:

[0019] The present application provides a calibration method, device, equipment and storage medium for a steering angle sensor. The laser positioning device installed on the target vehicle collects laser positioning data of each point on the target vehicle, and determines the first position information corresponding to the center line of the target front body component in the first coordinate system according to the collected laser positioning data; determines the second position information corresponding to the center line of the target front body component in the second coordinate system in the second coordinate system corresponding to the steering axis of the vehicle body on which the steering angle sensor is installed; performs coordinate conversion on the first position information or the second position information according to the coordinate conversion matrix between the first coordinate system and the second coordinate system to obtain the first position information and the second position information in the same target coordinate system; adjusts the position deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameter in the coordinate conversion matrix, and calibrates the reading of the steering angle sensor according to the target parameter at the current moment when the adjusted position deviation is less than or equal to the preset threshold. In this way, the present application realizes the automatic calibration and error detection of the steering angle sensor based on the laser positioning device installed on the target vehicle, without manual participation, which is conducive to improving the automatic navigation control accuracy and vehicle operation safety of the target vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A schematic diagram showing a flow chart of a calibration method for a steering angle sensor provided in an embodiment of the present application is shown;

[0022] Figure 2a A side view of a target vehicle provided in an embodiment of the present application is shown;

[0023] Figure 2b A top view of a target vehicle provided in an embodiment of the present application is shown;

[0024] Figure 3 A schematic diagram showing a comparison between a target front vehicle body component provided by an embodiment of the present application in laser positioning data and a real vehicle body structure is shown;

[0025] Figure 4 A schematic flow chart of a method for calibrating a reading of a steering angle sensor provided in an embodiment of the present application is shown;

[0026] Figure 5A schematic structural diagram of a calibration device for a steering angle sensor provided in an embodiment of the present application is shown;

[0027] Figure 6 A schematic diagram of the structure of an electronic device 600 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme 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. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of order, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0029] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0030] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0031] At present, the existing calibration method usually requires the operator to manually straighten the front of the vehicle as much as possible. Based on the fact that the reading of the steering angle sensor when the front of the vehicle is straightened corresponds to the actual steering angle of 0 and the linear relationship between the reading of the steering angle sensor and the actual steering angle, the linear relationship parameters between the reading of the steering angle sensor and the actual steering angle can be calculated, and then the reading of the steering angle sensor is calibrated according to the calculated linear relationship parameters, so that the reading of the calibrated steering angle sensor can represent the actual steering angle. However, the above existing calibration method requires the operator to manually straighten the front of the vehicle, and manual operation usually has large operating errors, so it is impossible to automatically complete the calibration of the steering angle sensor.

[0032] Based on this, the embodiments of the present application provide a calibration method, device, equipment and storage medium for a steering angle sensor, which realizes automatic calibration and error detection of the steering angle sensor based on a laser positioning device installed on the target vehicle without the need for human intervention, and is conducive to improving the automatic navigation control accuracy of the target vehicle and the safety of vehicle operation.

[0033] In one embodiment of the present application, a calibration method for a steering angle sensor can be run in a vehicle control unit of a target vehicle, thereby realizing automatic control of the target vehicle through the above-mentioned vehicle control unit, and controlling the target vehicle to realize automatic calibration of the steering angle sensor.

[0034] To facilitate understanding of the embodiments of the present application, an interactive method, device, equipment and storage medium in a game provided by the embodiments of the present application are introduced in detail below.

[0035] Reference Figure 1 As shown, Figure 1 A schematic flow chart of a calibration method for a steering angle sensor provided in an embodiment of the present application is shown, wherein the calibration method comprises steps S101-S104; specifically:

[0036] S101, collecting laser positioning data of various points on the target vehicle through a laser positioning device installed on the target vehicle, and determining first position information corresponding to the center line of the target front body component in the first coordinate system based on the collected laser positioning data.

[0037] S102, determining second position information corresponding to the center line of the target front vehicle body component in a second coordinate system corresponding to the steering shaft of the vehicle body on which the steering angle sensor is installed.

[0038] S103: Perform coordinate transformation on the first position information or the second position information according to a coordinate transformation matrix between the first coordinate system and the second coordinate system to obtain the first position information and the second position information in the same target coordinate system.

[0039] S104, adjusting the position deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameters in the coordinate transformation matrix, and when the adjusted position deviation is less than or equal to a preset threshold, calibrating the reading of the steering angle sensor according to the target parameters at the current moment.

[0040] The calibration method of the steering angle sensor provided in the embodiment of the present application is to collect laser positioning data of each point on the target vehicle through a laser positioning device installed on the target vehicle, and determine the first position information corresponding to the center line of the target front body component in the first coordinate system according to the collected laser positioning data; determine the second position information corresponding to the center line of the target front body component in the second coordinate system in the second coordinate system corresponding to the steering axis of the vehicle body on which the steering angle sensor is installed; perform coordinate conversion on the first position information or the second position information according to the coordinate conversion matrix between the first coordinate system and the second coordinate system to obtain the first position information and the second position information in the same target coordinate system; adjust the position deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameter in the coordinate conversion matrix, and calibrate the reading of the steering angle sensor according to the target parameter at the current moment when the adjusted position deviation is less than or equal to the preset threshold. In this way, the present application realizes the automatic calibration and error detection of the steering angle sensor based on the laser positioning device installed on the target vehicle, without manual participation, which is conducive to improving the automatic navigation control accuracy and vehicle operation safety of the target vehicle.

[0041] The following is an exemplary description of each step in the calibration method of the steering angle sensor provided in the embodiment of the present application:

[0042] S101, collecting laser positioning data of various points on the target vehicle through a laser positioning device installed on the target vehicle, and determining first position information corresponding to the center line of the target front body component in the first coordinate system based on the collected laser positioning data.

[0043] Here, the target vehicle can be a loader, an articulated vehicle (such as an articulated truck, a forklift, etc.) or other vehicles with steering angle calibration requirements. The embodiment of the present application does not impose any limitation on the specific vehicle type to which the target vehicle belongs.

[0044] Here, the above-mentioned laser positioning device can be a three-dimensional laser radar, or it can be a laser locator or other device that can be used to collect laser positioning data of various points on the target vehicle. The embodiment of this application does not impose any limitation on the specific device type to which the above-mentioned laser positioning device belongs.

[0045] Specifically, the above-mentioned laser positioning device can be installed at any central position on the top of the rear body of the target vehicle, wherein the front and rear bodies of the target vehicle can be divided by the steering axis of the body on which the steering angle sensor is installed as the center line, and the body part of the target vehicle located before the steering axis of the body is taken as the front body of the target vehicle, and the body part of the target vehicle located behind the steering axis of the body is taken as the rear body of the target vehicle.

[0046] Here, the target front body component represents any centrally symmetrical front body component on the target vehicle, that is, the target front body component may be a vehicle component located at the front body part of the target vehicle and having a centrally symmetrical structure. For example, taking the target vehicle as a loader, the target front body component may be a bucket on the loader.

[0047] Specifically, the laser positioning data of each point on the target vehicle (that is, laser point cloud information) is collected by the above-mentioned laser positioning device, and the laser positioning data located in the first coordinate system L is obtained, that is, the first coordinate system L represents the coordinate system corresponding to the above-mentioned laser positioning data; wherein, the first coordinate system L can be a coordinate system established with the installation position of the above-mentioned laser positioning device as the origin.

[0048] For example, the target vehicle is a loader and the target front vehicle body part is a bucket on the loader. Figure 2a A side view of a target vehicle provided in an embodiment of the present application is shown. Figure 2b A top view of a target vehicle provided by an embodiment of the present application is shown, wherein: Figure 2a as well as Figure 2b The target vehicle (i.e., loader) shown in the figure shows the relevant parameters in the first coordinate system L, specifically:

[0049] The body steering shaft is a component connecting the steering wheel and the steering gear in the target vehicle. Its main function is to transmit the steering torque applied on the steering wheel to the steering gear to control the steering of the target vehicle. The projection point of the body steering shaft on the ground is recorded as point R. At this time, the above-mentioned laser positioning device can be installed at the center position L on the top of the loader. The installation position L of the above-mentioned laser positioning device is used as the origin to establish the following Figure 2a as well as Figure 2b The first coordinate system L is shown.

[0050] Specifically, Figure 2b Taking the target front vehicle body component (bucket) as an example, the left and right edge positions of the target front vehicle body component (i.e. Figure 2bThe position coordinates of point A and point B shown in the first coordinate system are the position coordinates of the target front body component in the first coordinate system. Since the target front body component has a centrally symmetrical structure, the position coordinates of the center point T of the target front body component in the first coordinate system can be calculated according to the position coordinates of the left and right edge positions of the target front body component in the first coordinate system (the center point T of the target front body component is equivalent to the midpoint of the line segment AB). The center line of the target front body component is perpendicular to the straight line where the above-mentioned left and right edge positions are located (that is, perpendicular to the straight line where the line segment AB is located). That is, the slope of the center line of the target front body component can be determined according to the slope corresponding to the straight line where the above-mentioned left and right edge positions are located. Therefore, based on the slope of the center line of the target front body component and the coordinates of a point on the center line of the target front body component (that is, the position coordinates of the center point T of the target front body component in the first coordinate system), the first position information corresponding to the center line of the target front body component (that is, the center line passes through point T and is perpendicular to the straight line where the line segment AB is located) in the first coordinate system can be calculated.

[0051] S102, determining second position information corresponding to the center line of the target front vehicle body component in a second coordinate system corresponding to the steering shaft of the vehicle body on which the steering angle sensor is installed.

[0052] Here, the steering angle sensor is installed on the steering shaft of the target vehicle to sense the angle between the front and rear bodies of the target vehicle. That is, the reading of the steering angle sensor is used to represent the angle between the front and rear bodies of the target vehicle (i.e., the steering angle).

[0053] Specifically, refer to Figure 2a as well as Figure 2b As shown, with the projection point R of the vehicle body steering axis on the ground as the origin, the direction of the vehicle body steering axis as the z-axis direction, the direction parallel to the horizontal distance mx from the vehicle body steering axis to the arm root M as the x-axis direction, and the direction perpendicular to the horizontal distance mx from the vehicle body steering axis to the arm root M as the y-axis direction, a vehicle body steering axis coordinate system is established and recorded as R (i.e., the above-mentioned arm root M refers to the connection between the arm and the vehicle body of the target vehicle (i.e., the root position of the arm away from the bucket side), the horizontal distance between the first coordinate system L and the second coordinate system R is lx, the vertical distance is lz, the width of the target front body part (i.e., the bucket width) is wk, and the steering angle is recorded as ω.

[0054] Specifically, Figure 2b Taking the target front vehicle body component (bucket) as an example, in the second coordinate system R, the left and right edge positions of the target front vehicle body component (i.e. Figure 2bThe position coordinates of point A and point B shown in the second coordinate system are the position coordinates of the target front body component in the second coordinate system. Since the target front body component has a centrally symmetrical structure, the position coordinates of the center point T of the target front body component in the second coordinate system can be calculated according to the position coordinates of the left and right edge positions of the target front body component in the second coordinate system (the center point T of the target front body component is equivalent to the midpoint of the line segment AB). The center line of the target front body component is perpendicular to the straight line where the above-mentioned left and right edge positions are located (that is, perpendicular to the straight line where the line segment AB is located). That is, the slope of the center line of the target front body component can be determined according to the slope corresponding to the straight line where the above-mentioned left and right edge positions are located. Therefore, based on the slope of the center line of the target front body component and the coordinates of a point on the center line of the target front body component (that is, the position coordinates of the center point T of the target front body component in the second coordinate system), the second position information corresponding to the center line of the target front body component (that is, the center line passes through point T and is perpendicular to the straight line where the line segment AB is located) in the second coordinate system can be calculated.

[0055] S103: Perform coordinate transformation on the first position information or the second position information according to a coordinate transformation matrix between the first coordinate system and the second coordinate system to obtain the first position information and the second position information in the same target coordinate system.

[0056] Here, in combination with the above steps S101-S102, it can be known that the first coordinate system and the second coordinate system belong to different coordinate systems. Therefore, in order to measure the deviation between the position information of the center line of the above-mentioned target front body component in different coordinate systems (that is, the above-mentioned first position information and the above-mentioned second position information), it is necessary to convert the above-mentioned first position information and the above-mentioned second position information into the same target coordinate system for comparison through coordinate transformation.

[0057] Here, the target coordinate system represents the first coordinate system or the second coordinate system, that is, when executing step S103, the second position information can be converted from the second coordinate system to the first coordinate system; or the first position information can be converted from the first coordinate system to the second coordinate system; this embodiment of the present application does not impose any limitation on this.

[0058] Specifically, in Figure 2a as well as Figure 2b Based on the first coordinate system L and the second coordinate system R shown in the figure, the 4x4 space coordinate transformation matrix composed of the displacement vector (x, y, z) and the three-axis Euler angle (roll, pitch, yaw) is defined as T(x, y, z, roll, pitch, yaw); where the coordinate transformation matrix between the first coordinate system L and the second coordinate system R is It can be expressed as follows:

[0059]

[0060] Among them, Figure 2a as well as Figure 2b As shown, the horizontal distance between the first coordinate system L and the second coordinate system R is lx, the vertical distance is lz, and ω represents the steering angle (ie, the angle between the front body and the rear body of the target vehicle).

[0061] For example, the coordinates of the center point T of the front vehicle body part of the target in the first coordinate system L are T1. calculate The value of the position coordinate T1 in the second coordinate system R can be obtained; where T1 T Indicates the transpose of position coordinate T1.

[0062] For example, the center point T of the target front vehicle body component in the second coordinate system R is T1. calculate The value of the position coordinate T2 in the first coordinate system L can be obtained by taking the value of T Indicates the transpose of position coordinate T2.

[0063] S104, adjusting the position deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameters in the coordinate transformation matrix, and when the adjusted position deviation is less than or equal to a preset threshold, calibrating the reading of the steering angle sensor according to the target parameters at the current moment.

[0064] Here, the above target parameter represents the assumed result of the steering angle ω, that is, the above target parameter is equivalent to the assumed value of the steering angle ω, where, due to the coordinate transformation matrix The only unknown variable in the formula is the steering angle ω. Therefore, by changing the assumed value of the steering angle ω (i.e., adjusting the target parameter), the value of the first position information in the target coordinate system can be changed (which is equivalent to changing the coordinate transformation matrix The first position information is converted from the first coordinate system to the second coordinate system) or the value of the second position information in the target coordinate system (equivalent to the coordinate conversion matrix at this time). The second position information is converted from the second coordinate system to the first coordinate system), thereby achieving an effect of indirectly changing the position deviation between the first position information and the second position information in the target coordinate system.

[0065] Specifically, when the above-mentioned adjusted position deviation is less than or equal to the preset threshold value, it can be considered that the assumed value of the steering angle ω at the current moment (that is, the target parameter at the current moment) is equal to the actual steering angle θ of the target vehicle at the current moment, and when calibrating the steering angle sensor, according to the linear relationship between the actual steering angle θ at the current moment and the reading α of the steering angle sensor at the current moment, the linear relationship parameters between the reading α of the steering angle sensor and the actual steering angle θ are calculated to complete the calibration of the steering angle sensor. After completing the calibration of the steering angle sensor, the calibrated steering angle sensor can use the reading α of the steering angle sensor as input, and output the calibration result of the reading α of the steering angle sensor as the actual steering angle θ according to the linear relationship parameters calculated above (equivalent to the steering angle reading actually output by the calibrated steering angle sensor).

[0066] It should be noted that the above-mentioned preset threshold can be 0, or a positive number approximately equal to 0 (such as 0.1, etc.), wherein the specific value of the above-mentioned preset threshold can be adjusted according to actual calibration requirements, and the embodiments of the present application do not impose any limitation on this.

[0067] Specifically, the first position information in the target coordinate system and the second position information in the target coordinate system can respectively represent, in the same target coordinate system, the center line of the target front body part detected in the laser positioning data (determined according to the first position information) and the center line of the target front body part detected in the actual vehicle body (determined according to the second position information). Therefore, as an optional embodiment, the difference between the first position information in the target coordinate system and the second position information in the target coordinate system can be directly calculated as the above-mentioned position deviation, that is, the position deviation at this time can be quantitatively expressed as the deviation between the center line of the target front body part detected in the laser positioning data and the center line of the target front body part detected in the actual vehicle body.

[0068] In addition, as another optional embodiment, the projection error of the positioning laser of the laser positioning device on the target front vehicle body component can be calculated as the above-mentioned position deviation according to the first position information in the target coordinate system and the second position information in the target coordinate system according to the method shown in the following steps a1-a3, specifically:

[0069] Step a1: determining the left edge position coordinates and the right edge position coordinates of the target front body component respectively corresponding to the target front body component in the target coordinate system according to the first position information in the target coordinate system.

[0070] Here, taking the target coordinate system as the second coordinate system corresponding to the steering axis of the vehicle body as an example, referring to the coordinate conversion method shown in step S103 above, it can be known that according to the adjusted target parameter (i.e., the assumed value of the steering angle ω), the coordinate conversion matrix The left edge position coordinates and the right edge position coordinates of the target front body part are converted from the first coordinate system corresponding to the laser positioning data to the second coordinate system corresponding to the vehicle body steering axis, and the left edge position coordinates and the right edge position coordinates corresponding to the target front body part in the second coordinate system (i.e., the target coordinate system at this time) are obtained.

[0071] It should be noted that if the target coordinate system is the first coordinate system corresponding to the laser positioning data, the left edge position coordinates and the right edge position coordinates of the target front body component in the first coordinate system can be directly obtained as the left edge position coordinates and the right edge position coordinates corresponding to the target front body component in the target coordinate system respectively.

[0072] For example, the target front vehicle body component is still taken as an example of a bucket. Figure 3 FIG. 1 shows a schematic diagram of a comparison between a target front vehicle body component provided by an embodiment of the present application in laser positioning data and a real vehicle body structure, such as Figure 3 As shown in FIG. 1 , the left edge position of the target front body component (i.e., bucket) in the laser positioning data (corresponding to the first coordinate system) is recorded as point A, the right edge position point is recorded as point B, and the center point of the target front body component in the real body structure (corresponding to the second coordinate system) is recorded as point T. If the target coordinate system is the second coordinate system corresponding to the steering axis of the vehicle body, then according to the adjusted target parameters (i.e., the assumed value of the steering angle ω), the coordinate transformation matrix The coordinates of the left edge position point A and the right edge position point B of the target front body part are converted from the first coordinate system to the second coordinate system to obtain the corresponding position coordinates of the left edge position point A and the right edge position point B in the second coordinate system (i.e., the target coordinate system at this time).

[0073] Step a2: determine the center position coordinates corresponding to the center point of the target front body component in the target coordinate system from the second position information in the target coordinate system, and determine a straight line passing through the center position coordinates and perpendicular to the target front body component as the target center line.

[0074] Here, since the second position information under the above-mentioned target coordinate system represents: the position information of the center line (determined according to the second position information) of the target front body part detected in the actual vehicle body under the target coordinate system, therefore, from the second position information under the above-mentioned target coordinate system, the center position coordinates corresponding to the center point (that is, the center point of the target front body part) in the real vehicle body structure (corresponding to the second coordinate system) under the target coordinate system can be determined, and then the straight line passing through the center position coordinates and perpendicular to the target front body part can also be determined as the above-mentioned target center line.

[0075] Specifically, still taking the target coordinate system as the second coordinate system as an example, Figure 3 As shown, the center point of the target front body component in the real body structure (corresponding to the second coordinate system) is recorded as point T, and the straight line from the turning point R to the center point T of the target front body component can represent the above-mentioned target center line passing through the center point T of the target front body component and perpendicular to the target front body component.

[0076] Step a3: Calculate the difference between the first line segment and the second line segment according to the intersection point between the target center line and the target line segment, and use the absolute value of the difference as the position deviation.

[0077] Here, the target line segment represents the line segment between the above-mentioned left edge position coordinates and the above-mentioned right edge position coordinates, such as Figure 3 As shown, the target line segment is equivalent to the line segment AB between the coordinates of the left edge position point A and the coordinates of the right edge position point B of the target front vehicle body component.

[0078] Here, the first line segment represents the line segment between the left edge position coordinates and the intersection point, such as Figure 3 As shown, the intersection point between the target center line RT and the target line segment AB is recorded as point C. At this time, the first line segment is the line segment AC between the coordinates of the left edge position point A and the intersection point C.

[0079] Here, the second line segment represents the line segment between the above right edge position coordinates and the above intersection point, such as Figure 3 As shown, the intersection point between the target center line RT and the target line segment AB is recorded as point C. At this time, the second line segment is the line segment BC between the coordinates of the right edge position point B and the intersection point C.

[0080] Specifically, Figure 3 As shown, the difference between line segment AC (i.e., the first line segment) and line segment BC (i.e., the second line segment) is the projection error e of the positioning laser of the laser positioning device on the target front vehicle body component (i.e., e=AC-BC). At this time, the absolute value of the projection error e can be used as the above-mentioned position deviation, so as to judge the size relationship between the position deviation and the preset threshold.

[0081] On the basis of determining the above position deviation according to the method shown in the above steps a1-a3, according to different values ​​of the target parameter (i.e., the assumed value of the steering angle ω), in the actual adjustment process, there may be two different situations: the existence of an intersection point between the target center line and the target line segment and the non-existence of an intersection point. For different situations, the target parameter can be adjusted in different ways shown in the following steps b1-b2 (i.e., how to select the target parameter at the next moment is determined in different ways), specifically:

[0082] Step b1: when there is no intersection between the target center line and the target line segment, adjust the target center line and the target line segment by coarse-grained adjustment of the target parameters until there is an intersection between the adjusted target center line and the target line segment.

[0083] Here, when there is no intersection between the target center line and the target line segment, it means that the positioning laser of the laser positioning device does not produce a projection on the target front body part. Therefore, the target parameters need to be adjusted to a large extent, so that the above-mentioned position deviation (that is, the absolute value of the projection error e) calculated according to the adjusted target parameters can meet the adjustment target of being less than or equal to the preset threshold.

[0084] Specifically, the target parameters can be adjusted successively according to a certain adjustment step size, which is equivalent to each adjustment increasing or decreasing an adjustment step size on the basis of the current target parameters to obtain the adjusted target parameters. Based on this, if there is no intersection between the target center line and the target line segment, the target parameters can be greatly increased or decreased according to the adjustment step size corresponding to the coarse granularity (that is, the target parameters are adjusted in a coarse granular manner) until the positioning laser of the laser positioning device produces a projection on the target front body part (that is, there is an intersection between the adjusted target center line and the target line segment). Based on the projection error e, the above-mentioned position deviation can be calculated, and then the target parameters are slightly adjusted (that is, the above-mentioned adjustment step size is reduced) to improve the adjustment efficiency of the target parameters.

[0085] Exemplary descriptions, such as Figure 3 As shown in the figure, when the target line segment AB is located on the right side of the target center line RT, the target parameter can be reduced according to the adjustment step size corresponding to the coarse-grainedness (equivalent to the assumed value of the steering angle ω being biased to the left at this time, and the assumed value of the steering angle ω needs to be reduced); when the target line segment AB is located on the left side of the target center line RT, the target parameter can be increased according to the adjustment step size corresponding to the coarse-grainedness (equivalent to the assumed value of the steering angle ω being biased to the right at this time, and the assumed value of the steering angle ω needs to be increased).

[0086] Step b2: When there is an intersection between the target center line and the target line segment, adjust the target center line and the target line segment by fine-grained adjustment of the target parameters until the adjusted position deviation is less than or equal to the preset threshold.

[0087] Here, when there is an intersection between the target center line and the target line segment, it means that the positioning laser of the laser positioning device produces a projection on the target front body part. Therefore, the target parameters need to be adjusted to a small extent to accurately ensure that the above-mentioned position deviation (that is, the absolute value of the projection error e) calculated according to the adjusted target parameters meets the adjustment target of being less than or equal to the preset threshold.

[0088] Exemplary descriptions, such as Figure 3 As shown, when the projection error e (i.e., e=AC-BC, and e is equivalent to the difference in step a3) is a negative number (i.e., e is less than 0), the target parameter can be reduced according to the adjustment step corresponding to the fine granularity; when the projection error e (i.e., the difference in step a3) is a positive number (i.e., e is greater than 0), the target parameter can be increased according to the adjustment step corresponding to the fine granularity.

[0089] It should be noted that in the embodiment of the present application, it is only necessary to ensure that the adjustment step size corresponding to the fine granularity is smaller than the adjustment step size corresponding to the coarse granularity. The embodiment of the present application does not impose any limitation on the specific adjustment step size corresponding to the fine granularity and the specific adjustment step size corresponding to the coarse granularity.

[0090] Specifically, when executing the fine-grained adjustment method shown in step b2, as an optional embodiment, the vehicle control unit of the target vehicle can also adjust the target parameter in response to the change of the position deviation according to the target adjustment step size that matches the changed position deviation.

[0091] Here, there is a positive correlation between the position deviation and the target adjustment step, that is, when adjusting the target parameter (i.e., the assumed value of the steering angle ω) in a fine-grained manner, the adjustment step of the target parameter (i.e., the adjustment step corresponding to the above-mentioned fine-grainedness) can be gradually reduced as the absolute value of the projection error e (i.e., the above-mentioned position deviation) decreases, so that the smaller the value of the above-mentioned position deviation, the smaller the target adjustment step matched, thereby achieving the effect of fine-tuning the target parameter.

[0092] Based on the target parameter adjustment methods shown in the above steps, combined with the relevant instructions at the above step S104, it can be seen that when the above adjusted position deviation is less than or equal to the preset threshold, it can be considered that the assumed value of the steering angle ω at the current moment (that is, the target parameter at the current moment) is equal to the actual steering angle θ of the target vehicle at the current moment, and the actual steering angle θ at the current moment is linearly related to the reading α of the steering angle sensor at the current moment. On this basis, as an optional embodiment, Figure 4 A schematic diagram of a process for calibrating a reading of a steering angle sensor provided in an embodiment of the present application is shown, such as Figure 4 As shown, when executing step S104, the method includes steps S401-S402, specifically:

[0093] S401, respectively acquiring target parameters and steering angle sensor readings at multiple target moments to obtain multiple sets of matching target parameters and steering angle sensor readings.

[0094] Here, the target moment represents the moment when the adjusted position deviation is less than or equal to the preset threshold; that is, only the assumed value of the steering angle ω at the target moment (i.e., the target parameter) is the actual steering angle θ that has a linear relationship with the reading α of the steering angle sensor.

[0095] Specifically, as an optional embodiment, the target parameters and steering angle sensor readings at the above-mentioned multiple target moments can be obtained by repeatedly adjusting the above-mentioned target parameters without changing the arm posture of the target vehicle, wherein the target parameters and steering angle sensor readings at each target moment represent a set of matching target parameters and steering angle sensor readings.

[0096] Specifically, as another optional embodiment, the arm posture of the target vehicle can be changed multiple times. Under each arm posture, the target parameters and the readings of the steering angle sensor at a target moment are obtained by adjusting the above-mentioned target parameters, thereby obtaining multiple sets of matching target parameters and steering angle sensor readings corresponding to multiple different arm postures.

[0097] S402, taking the target parameters in each group as dependent variables and the readings of the steering angle sensor in each group as independent variables, and determining calibration parameters for calibrating the readings of the steering angle sensor according to the linear relationship between the target parameters of each group and the readings of the steering angle sensor.

[0098] Specifically, the linear relationship between the actual steering angle θ and the reading α of the steering angle sensor is as shown in the following formula 2:

[0099] θ=k×α+m Formula 2;

[0100] Among them, k and m are the above calibration parameters that need to be calibrated.

[0101] Here, each set of matched target parameters (i.e., assumed values ​​of the steering angle ω) and the readings of the steering angle sensor corresponds to a set of matched actual steering angles θ and steering angle sensor readings α in the above formula 2. Therefore, based on multiple sets of matched target parameters and steering angle sensor readings, the optimal solutions for the above calibration parameters k and m can be calculated according to the least squares method.

[0102] Based on the calibration method of the steering angle sensor provided in the embodiment of the present application, the laser positioning data of each point on the target vehicle is collected by the laser positioning device installed on the target vehicle, and the first position information corresponding to the center line of the target front body component in the first coordinate system is determined according to the collected laser positioning data; in the second coordinate system corresponding to the steering axis of the vehicle body on which the steering angle sensor is installed, the second position information corresponding to the center line of the target front body component in the second coordinate system is determined; according to the coordinate conversion matrix between the first coordinate system and the second coordinate system, the first position information or the second position information is converted to obtain the first position information and the second position information in the same target coordinate system; by adjusting the target parameters in the coordinate conversion matrix, the position deviation between the first position information and the second position information in the target coordinate system is adjusted, and when the adjusted position deviation is less than or equal to the preset threshold, the reading of the steering angle sensor is calibrated according to the target parameters at the current moment. In this way, the present application realizes the automatic calibration and error detection of the steering angle sensor based on the laser positioning device installed on the target vehicle, without manual participation, which is conducive to improving the automatic navigation control accuracy and vehicle operation safety of the target vehicle.

[0103] Based on the same inventive concept, the present application also provides a calibration device for a steering angle sensor corresponding to the calibration method for the above-mentioned steering angle sensor. Since the principle of solving the problem by the calibration device for the steering angle sensor in the embodiment of the present application is similar to the calibration method for the above-mentioned steering angle sensor in the embodiment of the present application, the implementation of the calibration device for the steering angle sensor can refer to the implementation of the calibration method for the above-mentioned steering angle sensor, and the repeated parts will not be repeated.

[0104] Reference Figure 5 As shown, Figure 5 A schematic diagram of the structure of a calibration device for a steering angle sensor provided in an embodiment of the present application is shown, wherein the calibration device for the steering angle sensor comprises:

[0105] The first positioning module 501 is used to collect laser positioning data of various points on the target vehicle through a laser positioning device installed on the target vehicle, and determine the first position information corresponding to the center line of the target front body part in the first coordinate system according to the collected laser positioning data; wherein the laser positioning device is installed at any central position on the top of the rear body of the target vehicle, the target front body part represents any centrally symmetrical front body part on the target vehicle, and the first coordinate system represents the coordinate system corresponding to the laser positioning data;

[0106] A second positioning module 502 is used to determine second position information corresponding to the center line of the target front vehicle body component in a second coordinate system corresponding to the steering shaft of the vehicle body on which the steering angle sensor is installed;

[0107] A coordinate conversion module 503 is used to perform coordinate conversion on the first position information or the second position information according to a coordinate conversion matrix between the first coordinate system and the second coordinate system to obtain the first position information and the second position information in the same target coordinate system; wherein the target coordinate system represents the first coordinate system or the second coordinate system;

[0108] The angle calibration module 504 is used to adjust the position deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameters in the coordinate transformation matrix, and when the adjusted position deviation is less than or equal to a preset threshold, calibrate the reading of the steering angle sensor according to the target parameters at the current moment; wherein the target parameters represent the assumed result of the steering angle.

[0109] In an optional implementation, the angle calibration module 504 is used to determine the position deviation between the first position information and the second position information in the target coordinate system by the following method:

[0110] Determine, according to the first position information in the target coordinate system, the left edge position coordinates and the right edge position coordinates corresponding to the target front vehicle body component in the target coordinate system;

[0111] Determine the center position coordinates corresponding to the center point of the target front vehicle body component in the target coordinate system from the second position information in the target coordinate system, and determine a straight line passing through the center position coordinates and perpendicular to the target front vehicle body component as the target center line;

[0112] According to the intersection between the target center line and the target line segment, the difference between the first line segment and the second line segment is calculated, and the absolute value of the difference is used as the position deviation; wherein the target line segment represents the line segment between the left edge position coordinates and the right edge position coordinates, the first line segment represents the line segment between the left edge position coordinates and the intersection, and the second line segment represents the line segment between the right edge position coordinates and the intersection.

[0113] In an optional implementation, when adjusting the position deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameters in the coordinate transformation matrix, the angle calibration module 504 is used to:

[0114] When there is no intersection between the target center line and the target line segment, adjusting the target center line and the target line segment by coarse-grained adjustment of the target parameter until there is an intersection between the adjusted target center line and the target line segment;

[0115] or,

[0116] When there is an intersection between the target center line and the target line segment, the target center line and the target line segment are adjusted by fine-grained adjustment of the target parameters until the adjusted position deviation is less than or equal to the preset threshold.

[0117] In an optional implementation, when adjusting the target center line and the target line segment by coarse-grained adjustment of the target parameter, the angle calibration module 504 is used to:

[0118] When the target line segment is located on the right side of the target center line, reducing the target parameter according to the adjustment step size corresponding to the coarse granularity;

[0119] or,

[0120] When the target line segment is located on the left side of the target center line, the target parameter is increased according to the adjustment step corresponding to the coarse granularity.

[0121] In an optional implementation, when adjusting the target center line and the target line segment by fine-grained adjustment of the target parameter, the angle calibration module 504 is used to:

[0122] When the difference is a negative number, reducing the target parameter according to the adjustment step corresponding to the fine granularity;

[0123] or,

[0124] When the difference is a positive number, the target parameter is increased according to the adjustment step corresponding to the fine granularity.

[0125] In an optional implementation, when adjusting the target center line and the target line segment by fine-grained adjustment of the target parameters, the angle calibration module 504 is further configured to:

[0126] In response to the change of the position deviation, the target parameter is adjusted according to a target adjustment step length that matches the changed position deviation; wherein the position deviation and the target adjustment step length are in a positively correlated relationship.

[0127] In an optional implementation, when calibrating the reading of the steering angle sensor according to the target parameter at the current moment, the angle calibration module 504 is used to:

[0128] Respectively acquiring target parameters and steering angle sensor readings at a plurality of target moments to obtain a plurality of sets of matching target parameters and steering angle sensor readings; wherein the target moment represents a moment when the adjusted position deviation is less than or equal to the preset threshold;

[0129] The target parameters in each group are used as dependent variables, and the readings of the steering angle sensor in each group are used as independent variables. According to the linear relationship between the target parameters of each group and the readings of the steering angle sensor, the calibration parameters used to calibrate the readings of the steering angle sensor are determined.

[0130] Based on the interactive device in the above game provided by the embodiment of the present application, the laser positioning data of each point on the target vehicle is collected through the laser positioning device installed on the target vehicle, and the first position information corresponding to the center line of the target front body part in the first coordinate system is determined according to the collected laser positioning data; in the second coordinate system corresponding to the steering shaft of the vehicle body installed with the steering angle sensor, the second position information corresponding to the center line of the target front body part in the second coordinate system is determined; according to the coordinate conversion matrix between the first coordinate system and the second coordinate system, the first position information or the second position information is converted to obtain the first position information and the second position information in the same target coordinate system; by adjusting the target parameters in the coordinate conversion matrix, the position deviation between the first position information and the second position information in the target coordinate system is adjusted, and when the adjusted position deviation is less than or equal to the preset threshold, the reading of the steering angle sensor is calibrated according to the target parameters at the current moment. In this way, the present application realizes the automatic calibration and error detection of the steering angle sensor based on the laser positioning device installed on the target vehicle, without manual participation, which is conducive to improving the automatic navigation control accuracy and vehicle operation safety of the target vehicle.

[0131] Based on the same inventive concept, the present application also provides an electronic device corresponding to the calibration method of the above-mentioned steering angle sensor. Since the principle of solving the problem by the electronic device in the embodiment of the present application is similar to the calibration method of the above-mentioned steering angle sensor in the embodiment of the present application, the implementation of the electronic device can refer to the implementation of the calibration method of the above-mentioned steering angle sensor, and the repeated parts will not be repeated.

[0132] Figure 6 A schematic diagram of the structure of an electronic device 600 provided in an embodiment of the present application includes: a processor 601, a memory 602 and a bus 603, wherein the memory 602 stores machine-readable instructions executable by the processor 601. When the electronic device runs a calibration method for a steering angle sensor in an embodiment, the processor 601 communicates with the memory 602 via the bus 603, and the processor 601 executes the machine-readable instructions. When the processor 601 executes the machine-readable instructions, the following steps are implemented, specifically:

[0133] The laser positioning data of each point on the target vehicle are collected by a laser positioning device installed on the target vehicle, and the first position information corresponding to the center line of the target front body part in the first coordinate system is determined according to the collected laser positioning data; wherein the laser positioning device is installed at any central position on the top of the rear body of the target vehicle, the target front body part represents any centrally symmetrical front body part on the target vehicle, and the first coordinate system represents the coordinate system corresponding to the laser positioning data;

[0134] In a second coordinate system corresponding to the steering shaft of the vehicle body on which the steering angle sensor is installed, determining second position information corresponding to the center line of the target front vehicle body component in the second coordinate system;

[0135] Performing coordinate transformation on the first position information or the second position information according to a coordinate transformation matrix between the first coordinate system and the second coordinate system to obtain the first position information and the second position information in the same target coordinate system; wherein the target coordinate system represents the first coordinate system or the second coordinate system;

[0136] The position deviation between the first position information and the second position information in the target coordinate system is adjusted by adjusting the target parameters in the coordinate transformation matrix, and when the adjusted position deviation is less than or equal to a preset threshold, the reading of the steering angle sensor is calibrated according to the target parameters at the current moment; wherein the target parameters represent the assumed result of the steering angle.

[0137] In an optional implementation, after obtaining the first position information and the second position information in the same target coordinate system, the processor 601 is configured to determine a position deviation between the first position information and the second position information in the target coordinate system by the following method:

[0138] Determine, according to the first position information in the target coordinate system, the left edge position coordinates and the right edge position coordinates corresponding to the target front vehicle body component in the target coordinate system;

[0139] Determine the center position coordinates corresponding to the center point of the target front vehicle body component in the target coordinate system from the second position information in the target coordinate system, and determine a straight line passing through the center position coordinates and perpendicular to the target front vehicle body component as the target center line;

[0140] According to the intersection between the target center line and the target line segment, the difference between the first line segment and the second line segment is calculated, and the absolute value of the difference is used as the position deviation; wherein the target line segment represents the line segment between the left edge position coordinates and the right edge position coordinates, the first line segment represents the line segment between the left edge position coordinates and the intersection, and the second line segment represents the line segment between the right edge position coordinates and the intersection.

[0141] In an optional implementation, when adjusting the position deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameters in the coordinate transformation matrix, the processor 601 is configured to:

[0142] When there is no intersection between the target center line and the target line segment, adjusting the target center line and the target line segment by coarse-grained adjustment of the target parameter until there is an intersection between the adjusted target center line and the target line segment;

[0143] or,

[0144] When there is an intersection between the target center line and the target line segment, the target center line and the target line segment are adjusted by fine-grained adjustment of the target parameters until the adjusted position deviation is less than or equal to the preset threshold.

[0145] In an optional implementation, when adjusting the target center line and the target line segment by coarse-grained adjustment of the target parameter, the processor 601 is configured to:

[0146] When the target line segment is located on the right side of the target center line, reducing the target parameter according to the adjustment step size corresponding to the coarse granularity;

[0147] or,

[0148] When the target line segment is located on the left side of the target center line, the target parameter is increased according to the adjustment step corresponding to the coarse granularity.

[0149] In an optional implementation, when adjusting the target center line and the target line segment by fine-grained adjustment of the target parameter, the processor 601 is configured to:

[0150] When the difference is a negative number, reducing the target parameter according to the adjustment step corresponding to the fine granularity;

[0151] or,

[0152] When the difference is a positive number, the target parameter is increased according to the adjustment step corresponding to the fine granularity.

[0153] In an optional implementation, when adjusting the target center line and the target line segment by fine-grained adjustment of the target parameter, the processor 601 is further configured to:

[0154] In response to the change of the position deviation, the target parameter is adjusted according to a target adjustment step length that matches the changed position deviation; wherein the position deviation and the target adjustment step length are in a positively correlated relationship.

[0155] In an optional implementation, when calibrating the reading of the steering angle sensor according to the target parameter at the current moment, the processor 601 is used to:

[0156] Respectively acquiring target parameters and steering angle sensor readings at a plurality of target moments to obtain a plurality of sets of matching target parameters and steering angle sensor readings; wherein the target moment represents a moment when the adjusted position deviation is less than or equal to the preset threshold;

[0157] The target parameters in each group are used as dependent variables, and the readings of the steering angle sensor in each group are used as independent variables. According to the linear relationship between the target parameters of each group and the readings of the steering angle sensor, the calibration parameters used to calibrate the readings of the steering angle sensor are determined.

[0158] Through the electronic device provided by the embodiment of the present application, the laser positioning device installed on the target vehicle collects the laser positioning data of each point on the target vehicle, and according to the collected laser positioning data, determines the first position information corresponding to the center line of the target front body part in the first coordinate system; in the second coordinate system corresponding to the steering shaft of the vehicle body installed with the steering angle sensor, determines the second position information corresponding to the center line of the target front body part in the second coordinate system; according to the coordinate conversion matrix between the first coordinate system and the second coordinate system, the first position information or the second position information is converted to obtain the first position information and the second position information in the same target coordinate system; by adjusting the target parameter in the coordinate conversion matrix, the position deviation between the first position information and the second position information in the target coordinate system is adjusted, and when the adjusted position deviation is less than or equal to the preset threshold, the reading of the steering angle sensor is calibrated according to the target parameter at the current moment. In this way, the present application realizes the automatic calibration and error detection of the steering angle sensor based on the laser positioning device installed on the target vehicle, without manual participation, which is conducive to improving the automatic navigation control accuracy and vehicle operation safety of the target vehicle.

[0159] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program is executed when a processor is running, and the processor performs the following steps:

[0160] The laser positioning data of each point on the target vehicle are collected by a laser positioning device installed on the target vehicle, and the first position information corresponding to the center line of the target front body part in the first coordinate system is determined according to the collected laser positioning data; wherein the laser positioning device is installed at any central position on the top of the rear body of the target vehicle, the target front body part represents any centrally symmetrical front body part on the target vehicle, and the first coordinate system represents the coordinate system corresponding to the laser positioning data;

[0161] In a second coordinate system corresponding to the steering shaft of the vehicle body on which the steering angle sensor is installed, determining second position information corresponding to the center line of the target front vehicle body component in the second coordinate system;

[0162] Performing coordinate transformation on the first position information or the second position information according to a coordinate transformation matrix between the first coordinate system and the second coordinate system to obtain the first position information and the second position information in the same target coordinate system; wherein the target coordinate system represents the first coordinate system or the second coordinate system;

[0163] The position deviation between the first position information and the second position information in the target coordinate system is adjusted by adjusting the target parameters in the coordinate transformation matrix, and when the adjusted position deviation is less than or equal to a preset threshold, the reading of the steering angle sensor is calibrated according to the target parameters at the current moment; wherein the target parameters represent the assumed result of the steering angle.

[0164] In an optional implementation, after obtaining the first position information and the second position information in the same target coordinate system, the processor is used to determine the position deviation between the first position information and the second position information in the target coordinate system by the following method:

[0165] Determine, according to the first position information in the target coordinate system, the left edge position coordinates and the right edge position coordinates corresponding to the target front vehicle body component in the target coordinate system;

[0166] Determine the center position coordinates corresponding to the center point of the target front vehicle body component in the target coordinate system from the second position information in the target coordinate system, and determine a straight line passing through the center position coordinates and perpendicular to the target front vehicle body component as the target center line;

[0167] According to the intersection between the target center line and the target line segment, the difference between the first line segment and the second line segment is calculated, and the absolute value of the difference is used as the position deviation; wherein the target line segment represents the line segment between the left edge position coordinates and the right edge position coordinates, the first line segment represents the line segment between the left edge position coordinates and the intersection, and the second line segment represents the line segment between the right edge position coordinates and the intersection.

[0168] In an optional implementation, when adjusting the position deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameters in the coordinate transformation matrix, the processor is configured to:

[0169] When there is no intersection between the target center line and the target line segment, adjusting the target center line and the target line segment by coarse-grained adjustment of the target parameter until there is an intersection between the adjusted target center line and the target line segment;

[0170] or,

[0171] When there is an intersection between the target center line and the target line segment, the target center line and the target line segment are adjusted by fine-grained adjustment of the target parameters until the adjusted position deviation is less than or equal to the preset threshold.

[0172] In an optional implementation, when adjusting the target center line and the target line segment by coarse-grained adjustment of the target parameter, the processor is configured to:

[0173] When the target line segment is located on the right side of the target center line, reducing the target parameter according to the adjustment step size corresponding to the coarse granularity;

[0174] or,

[0175] When the target line segment is located on the left side of the target center line, the target parameter is increased according to the adjustment step corresponding to the coarse granularity.

[0176] In an optional implementation, when adjusting the target center line and the target line segment by fine-grained adjustment of the target parameter, the processor is configured to:

[0177] When the difference is a negative number, reducing the target parameter according to the adjustment step corresponding to the fine granularity;

[0178] or,

[0179] When the difference is a positive number, the target parameter is increased according to the adjustment step corresponding to the fine granularity.

[0180] In an optional implementation, when adjusting the target center line and the target line segment by fine-grained adjustment of the target parameter, the processor is further configured to:

[0181] In response to the change of the position deviation, the target parameter is adjusted according to a target adjustment step length that matches the changed position deviation; wherein the position deviation and the target adjustment step length are in a positively correlated relationship.

[0182] In an optional implementation, when calibrating the reading of the steering angle sensor according to the target parameter at the current moment, the processor is used to:

[0183] Respectively acquiring target parameters and steering angle sensor readings at a plurality of target moments to obtain a plurality of sets of matching target parameters and steering angle sensor readings; wherein the target moment represents a moment when the adjusted position deviation is less than or equal to the preset threshold;

[0184] The target parameters in each group are used as dependent variables, and the readings of the steering angle sensor in each group are used as independent variables. According to the linear relationship between the target parameters of each group and the readings of the steering angle sensor, the calibration parameters used to calibrate the readings of the steering angle sensor are determined.

[0185] Through the above-mentioned computer-readable storage medium provided by the embodiment of the present application, the laser positioning device installed on the target vehicle collects the laser positioning data of each point on the target vehicle, and according to the collected laser positioning data, determines the first position information corresponding to the center line of the target front body part in the first coordinate system; in the second coordinate system corresponding to the steering shaft of the vehicle body installed with the steering angle sensor, determines the second position information corresponding to the center line of the target front body part in the second coordinate system; according to the coordinate conversion matrix between the first coordinate system and the second coordinate system, the first position information or the second position information is converted to obtain the first position information and the second position information in the same target coordinate system; by adjusting the target parameter in the coordinate conversion matrix, the position deviation between the first position information and the second position information in the target coordinate system is adjusted, and when the adjusted position deviation is less than or equal to the preset threshold, the reading of the steering angle sensor is calibrated according to the target parameter at the current moment. In this way, the present application realizes the automatic calibration and error detection of the steering angle sensor based on the laser positioning device installed on the target vehicle, without manual participation, which is conducive to improving the automatic navigation control accuracy and vehicle operation safety of the target vehicle.

[0186] In an embodiment of the present application, the computer-readable storage medium can also execute other machine-readable instructions when run by the processor to execute the calibration method of the steering angle sensor as described in other embodiments. For the specific steps and principles of the calibration method of the steering angle sensor, please refer to the description of the method side embodiment, which will not be repeated here.

[0187] In the embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. The system embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0188] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0189] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0190] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0191] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.

[0192] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application. They should all be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A calibration method for a steering angle sensor, characterized in that: The calibration method comprises: The laser positioning data of each point on the target vehicle are collected by a laser positioning device installed on the target vehicle, and the first position information corresponding to the center line of the target front body part in the first coordinate system is determined according to the collected laser positioning data; wherein the laser positioning device is installed at any central position on the top of the rear body of the target vehicle, the target front body part represents any centrally symmetrical front body part on the target vehicle, and the first coordinate system represents the coordinate system corresponding to the laser positioning data; In a second coordinate system corresponding to the steering shaft of the vehicle body on which the steering angle sensor is installed, determining second position information corresponding to the center line of the target front vehicle body component in the second coordinate system; Performing coordinate transformation on the first position information or the second position information according to a coordinate transformation matrix between the first coordinate system and the second coordinate system to obtain the first position information and the second position information in the same target coordinate system; wherein the target coordinate system represents the first coordinate system or the second coordinate system; The position deviation between the first position information and the second position information in the target coordinate system is adjusted by adjusting the target parameters in the coordinate transformation matrix, and when the adjusted position deviation is less than or equal to a preset threshold, the reading of the steering angle sensor is calibrated according to the target parameters at the current moment; wherein the target parameters represent the assumed result of the steering angle.

2. The calibration method according to claim 1, characterized in that: After obtaining the first position information and the second position information in the same target coordinate system, the position deviation between the first position information and the second position information in the target coordinate system is determined by the following method: Determine, according to the first position information in the target coordinate system, the left edge position coordinates and the right edge position coordinates corresponding to the target front vehicle body component in the target coordinate system; Determine the center position coordinates corresponding to the center point of the target front vehicle body component in the target coordinate system from the second position information in the target coordinate system, and determine a straight line passing through the center position coordinates and perpendicular to the target front vehicle body component as the target center line; According to the intersection between the target center line and the target line segment, the difference between the first line segment and the second line segment is calculated, and the absolute value of the difference is used as the position deviation; wherein the target line segment represents the line segment between the left edge position coordinates and the right edge position coordinates, the first line segment represents the line segment between the left edge position coordinates and the intersection, and the second line segment represents the line segment between the right edge position coordinates and the intersection.

3. The calibration method according to claim 2, characterized in that: The adjusting the position deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameters in the coordinate conversion matrix includes: When there is no intersection between the target center line and the target line segment, adjusting the target center line and the target line segment by coarse-grained adjustment of the target parameter until there is an intersection between the adjusted target center line and the target line segment; or, When there is an intersection between the target center line and the target line segment, the target center line and the target line segment are adjusted by fine-grained adjustment of the target parameters until the adjusted position deviation is less than or equal to the preset threshold.

4. The calibration method according to claim 3, characterized in that: The method of coarse-grained adjustment of the target parameter includes: When the target line segment is located on the right side of the target center line, reducing the target parameter according to the adjustment step corresponding to the coarse granularity; or, When the target line segment is located on the left side of the target center line, the target parameter is increased according to the adjustment step corresponding to the coarse granularity.

5. The calibration method according to claim 3, characterized in that: The method of fine-grained adjustment of the target parameter includes: When the difference is a negative number, reducing the target parameter according to the adjustment step corresponding to the fine granularity; or, When the difference is a positive number, the target parameter is increased according to the adjustment step corresponding to the fine granularity.

6. The calibration method according to claim 3, characterized in that: The method of fine-grained adjustment of the target parameter further includes: In response to the change of the position deviation, the target parameter is adjusted according to a target adjustment step length that matches the changed position deviation; wherein the position deviation and the target adjustment step length are in a positively correlated relationship.

7. The calibration method according to claim 1, characterized in that: The step of calibrating the reading of the steering angle sensor according to the target parameter at the current moment includes: Respectively acquiring target parameters and steering angle sensor readings at a plurality of target moments to obtain a plurality of sets of matching target parameters and steering angle sensor readings; wherein the target moment represents a moment when the adjusted position deviation is less than or equal to the preset threshold; The target parameters in each group are used as dependent variables, and the readings of the steering angle sensor in each group are used as independent variables. According to the linear relationship between the target parameters of each group and the readings of the steering angle sensor, the calibration parameters used to calibrate the readings of the steering angle sensor are determined.

8. A calibration device for a steering angle sensor, characterized in that: The calibration device comprises: A first positioning module is used to collect laser positioning data of various points on the target vehicle through a laser positioning device installed on the target vehicle, and determine first position information corresponding to the center line of the target front body part in a first coordinate system according to the collected laser positioning data; wherein the laser positioning device is installed at any central position on the top of the rear body of the target vehicle, the target front body part represents any centrally symmetrical front body part on the target vehicle, and the first coordinate system represents the coordinate system corresponding to the laser positioning data; A second positioning module is used to determine the second position information corresponding to the center line of the target front vehicle body component in a second coordinate system corresponding to the steering shaft of the vehicle body on which the steering angle sensor is installed; a coordinate conversion module, configured to perform coordinate conversion on the first position information or the second position information according to a coordinate conversion matrix between the first coordinate system and the second coordinate system, so as to obtain the first position information and the second position information in the same target coordinate system; wherein the target coordinate system represents the first coordinate system or the second coordinate system; An angle calibration module is used to adjust the position deviation between the first position information and the second position information in the target coordinate system by adjusting the target parameters in the coordinate transformation matrix, and when the adjusted position deviation is less than or equal to a preset threshold, calibrate the reading of the steering angle sensor according to the target parameters at the current moment; wherein the target parameters represent the assumed result of the steering angle.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the steering angle sensor calibration method as described in any one of claims 1 to 7 are performed.

10. 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 steering angle sensor calibration method according to any one of claims 1 to 7 are executed.

Images