Vehicle-mounted sensor calibration system, calibration method, vehicle controller, vehicle and medium

Abstract

The invention discloses a vehicle-mounted sensor calibration system, and the system comprises a calibration algorithm module which is used for generating calibration algorithms of vehicle-mounted sensors in different calibration scenes according to the performance parameters of the vehicle-mounted sensor of each identifier for the vehicle-mounted sensors of different identifiers, therefore, calibration algorithms of the vehicle-mounted sensors with different identifiers in different calibration scenes are obtained, different calibration algorithm dynamic libraries are compiled, and a unified interface is provided for the calibration algorithm dynamic libraries of the vehicle-mounted sensors with the same type; the calibration management module is used for loading a target calibration algorithm dynamic library corresponding to the registration calibration information according to the calibration information of the sensor to be calibrated and the first configuration file; and the calibration service module is used for analyzing and processing the sensor data of the to-be-calibrated sensor through the interface corresponding to the type of the to-be-calibrated sensor and the target calibration algorithm dynamic library to obtain a calibration result of the to-be-calibrated sensor.

Description

Technical Field

[0001] The present application relates to, but is not limited to, the field of automotive electronic technology, and in particular to a vehicle-mounted sensor calibration system, a calibration method, a vehicle controller, a vehicle, and a medium. Background Art

[0002] With the development of self-driving cars, the types of sensors on smart cars are becoming more and more diverse. Sensor calibration is one of the most basic and core modules of self-driving. The quality and accuracy of sensor calibration directly affects the processing of sensor fusion, perception, regulation and control modules, thereby affecting the user's driving experience and feelings.

[0003] The related art provides a vehicle sensor calibration system, which solves the problem of deviation in the calibration results of driving sensors and parking sensors obtained by the existing sensor calibration system by setting the calibration vehicle, driving calibration reference object, and parking calibration reference object in the same calibration site, thereby reducing the errors of various functional tests of driving and parking sensors in different sites. However, the above calibration system mainly provides optimization based on the calibration site, and then realizes the calibration of vehicle-mounted sensors, and does not propose how to design and implement the vehicle-mounted sensor calibration system when different models use different types of sensors from different manufacturers. Therefore, there is an urgent need to provide a new vehicle-mounted sensor calibration system. Summary of the invention

[0004] The present application provides a vehicle-mounted sensor calibration system, a calibration method, a vehicle controller, a vehicle and a medium.

[0005] The technical solution of the embodiment of the present application is implemented as follows:

[0006] In a first aspect, the present application provides a vehicle-mounted sensor calibration system, including: a calibration algorithm module, a calibration management module and a calibration service module, wherein:

[0007] The calibration algorithm module is used to generate calibration algorithms for vehicle sensors with different identifications in different calibration scenarios according to the performance parameters of the vehicle sensors with each identification, thereby obtaining calibration algorithms for vehicle sensors with different identifications in different calibration scenarios and compiling different calibration algorithm dynamic libraries;

[0008] The calibration algorithm module is also used to provide a unified interface for the calibration algorithm dynamic library of vehicle-mounted sensors of the same type;

[0009] The calibration management module is used to load and register a target calibration algorithm dynamic library corresponding to the calibration information of the sensor to be calibrated according to the calibration information of the sensor to be calibrated and the first configuration file; the calibration information includes the calibration scene and sensor identification of the sensor to be calibrated;

[0010] The calibration service module is used to obtain the calibration result of the sensor to be calibrated by analyzing and processing the sensor data of the sensor to be calibrated through the target calibration algorithm dynamic library through the interface corresponding to the type of the sensor to be calibrated; wherein the calibration information includes the sensor data.

[0011] According to the above technical means, the calibration algorithm module can generate calibration algorithms corresponding to different calibration scenarios based on the performance parameters of vehicle sensors with different identifications, and compile them into corresponding dynamic libraries, taking into full consideration the characteristics of each sensor and the differences in specific usage scenarios, so that the calibration algorithm is highly adapted to the actual situation, thereby calibrating the sensor more accurately, effectively reducing the calibration error caused by the use of general and inadequately fitted algorithms, and improving the final measurement accuracy. The calibration algorithm module provides a unified interface for the calibration algorithm dynamic library of the same type of vehicle sensors. For the same type of vehicle sensors produced by different models and / or different manufacturers, the calibration system can be conveniently connected to the calibration system through this unified interface for calibration operations, avoiding compatibility problems caused by inconsistent interfaces, and improving the system's compatibility with multiple sensors of the same type. The calibration management module can accurately load and register the corresponding target calibration algorithm dynamic library according to the calibration information of the sensor to be calibrated (including calibration scenarios and sensor identification) and the first configuration file. The flexible loading mechanism enables the system to cope with the calibration requirements of different vehicle sensors in different scenarios, further expanding the versatility of the system. The calibration service module obtains the data of the sensor to be calibrated through the corresponding interface, and uses the target calibration algorithm dynamic library loaded into the memory to complete the data analysis and processing, and finally obtains the calibration result. The entire calibration process is completed in one stop in the integrated calibration system, without the need for users to manually switch between multiple different software or tools to perform operations such as data transfer and algorithm call, which greatly simplifies the calibration process and improves the efficiency of calibration.

[0012] Furthermore, the first configuration file includes the dynamic library identifier and path information of the calibration algorithm dynamic library, wherein the calibration management module is further used to determine the target calibration algorithm dynamic library corresponding to the sensor to be calibrated according to the calibration scene and sensor identifier of the sensor to be calibrated, and load and register the target calibration algorithm dynamic library according to the dynamic library identifier of the target calibration algorithm dynamic library and the path information corresponding to the dynamic library identifier of the target calibration algorithm dynamic library.

[0013] According to the above technical means, blind searching in numerous algorithm dynamic libraries is avoided, the time for system searching and loading resources is effectively saved, and the operating efficiency of the entire calibration system is improved. Especially when facing a large number of sensors of different types and identifications that need frequent calibration operations, the advantages are more significant.

[0014] Furthermore, the calibration management module is also used to determine, if the calibration scenario is a factory calibration scenario, a factory calibration algorithm dynamic library corresponding to the sensor identifier and the factory calibration scenario according to the sensor identifier; and load and register the factory calibration algorithm dynamic library according to the dynamic library identifier of the factory calibration algorithm dynamic library and the path information corresponding to the dynamic library identifier of the factory calibration algorithm dynamic library; wherein the first configuration file includes the dynamic library identifier and path information of the factory calibration algorithm dynamic library.

[0015] According to the above-mentioned technical means, the calibration management module can accurately load and register the factory calibration algorithm dynamic library corresponding to the factory calibration scenario based on the calibration information of the sensor to be calibrated (including the factory calibration scenario and sensor identification) and the first configuration file. The flexible loading mechanism enables the system to cope with the calibration requirements of different vehicle-mounted sensors in the factory calibration scenario, further expanding the versatility of the system.

[0016] Furthermore, there are multiple sensors to be calibrated, wherein the calibration management module is further used to determine, if the calibration scenario is an online calibration scenario, an online calibration algorithm dynamic library corresponding to each sensor to be calibrated according to the sensor identification of each sensor to be calibrated and the online calibration scenario; determine the calibration order of all sensors to be calibrated according to the obtained second configuration file; and after the calibration of each sensor to be calibrated is completed, load and register the online calibration algorithm dynamic library corresponding to the next sensor to be calibrated in sequence according to the calibration order and the first configuration file.

[0017] According to the above technical means, the calibration management module determines the online calibration algorithm dynamic library corresponding to the online calibration scenario according to the calibration information of the sensor to be calibrated (including the online calibration scenario and sensor identification), and based on the calibration order between the sensors to be calibrated in the second configuration file, loads and registers the online calibration algorithm dynamic library of the next sensor to be calibrated according to the path information corresponding to the dynamic library identification of the online calibration algorithm dynamic library corresponding to the next sensor to be calibrated in the first configuration file. The flexible loading mechanism enables the system to cope with the calibration requirements of different vehicle-mounted sensors in online calibration scenarios, further expanding the versatility of the system.

[0018] Furthermore, the calibration service module is further used to obtain the calibration status of the sensor to be calibrated according to the sensor identification of the sensor to be calibrated.

[0019] According to the above technical means, the calibration status of the sensor to be calibrated can be obtained in real time.

[0020] Furthermore, the calibration framework further includes a diagnosis module, wherein the diagnosis module is used to determine the diagnosis information of the sensor to be calibrated during the calibration process according to the sensor identification of the sensor to be calibrated.

[0021] According to the above technical means, the processing of each process / thread of the calibration system and the processing of sensor data of the sensor to be calibrated can be diagnosed in real time, and corresponding diagnostic information can be output to facilitate the analysis and location of the problem.

[0022] Furthermore, the system also includes a calibration basic component, which includes one or more of a timer module, a system time module, a log module and a communication module; wherein the timer module is used to perform timed processing on at least part of the calibration services of all vehicle-mounted sensors; the system time module is used to provide unified timestamp information for the calibration services of all vehicle-mounted sensors; the log module is used to record log records of the calibration services of the vehicle-mounted sensors; and the communication module is used to provide a communication service interface for the calibration services of different vehicle-mounted sensors, and to perform data communication with other services or across domains.

[0023] Furthermore, the calibration system also includes: a platform adaptation layer; the platform adaptation layer is used to perform unified abstraction on the used system interfaces so as to enable the calibration system to be transplanted across platforms.

[0024] According to the above technical means, the platform adaptation layer can uniformly abstract the system interfaces used, so that the calibration system can be compatible with different vehicle operating system platforms and can be quickly transplanted across platforms.

[0025] In a second aspect, the present application provides a calibration method, which is applied to the vehicle-mounted sensor calibration system as described in any one of the first aspects, and the method includes:

[0026] Through the calibration algorithm module, for vehicle sensors with different identifications, according to the performance parameters of the vehicle sensors with each identification, the calibration algorithms of the vehicle sensors in different calibration scenarios are generated, so as to obtain the calibration algorithms of the vehicle sensors with different identifications in different calibration scenarios, and compile different calibration algorithm dynamic libraries;

[0027] Through the calibration algorithm module, a unified interface is provided for the calibration algorithm dynamic library of vehicle-mounted sensors of the same type;

[0028] Through the calibration management module, according to the calibration information of the sensor to be calibrated and the first configuration file, the target calibration algorithm dynamic library corresponding to the calibration information is loaded and registered; the calibration information includes the calibration scene and sensor identification of the sensor to be calibrated;

[0029] The calibration service module is used to obtain the calibration result of the sensor to be calibrated by analyzing and processing the sensor data of the sensor to be calibrated through the target calibration algorithm dynamic library through the interface corresponding to the type of the sensor to be calibrated; wherein the calibration information includes the sensor data.

[0030] In a third aspect, the present application provides a vehicle controller, comprising: the vehicle-mounted sensor calibration system described in any one of the first aspects above.

[0031] In a fourth aspect, the present application provides a vehicle, comprising the vehicle controller described in the third aspect and a plurality of different types of vehicle-mounted sensors, wherein the vehicle controller is communicatively connected to the vehicle-mounted sensors respectively.

[0032] In a fifth aspect, the present application provides a storage medium, characterized in that the storage medium stores one or more computer programs, and the one or more computer programs can be executed by one or more processors to implement the calibration method as described in the second aspect.

[0033] Beneficial effects of the embodiments of the present application:

[0034] 1) The calibration algorithm is registered in the calibration framework in the form of a dynamic library. The calibration algorithms of different types of vehicle sensors can be registered in the system and managed and scheduled by the calibration management module, thus realizing the scalability of the calibration system;

[0035] 2) The calibration system standardizes the interface provided by the calibration algorithms of the same type of vehicle-mounted sensors. The calibration algorithms of different types of vehicle-mounted sensors may be different. The calibration system standardizes the interface of the dynamic library of the calibration algorithms of the same type of vehicle-mounted sensors, and provides a unified interface for the calibration algorithms of different types of vehicle-mounted sensors. Therefore, for the calibration system, the processing logic of loading and processing the calibration algorithms of sensors of the same type but different models is the same, realizing the universality of the calibration system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0037] Figure 1 A schematic diagram of an optional vehicle sensor calibration system provided in an embodiment of the present application Figure 1;

[0038] Figure 2 A schematic diagram of an optional vehicle sensor calibration system provided in an embodiment of the present application Figure 2 ;

[0039] Figure 3 A schematic diagram of an optional vehicle sensor calibration system provided in an embodiment of the present application Figure 3 ;

[0040] Figure 4 A schematic diagram of a flow chart of an optional calibration method provided in an embodiment of the present application;

[0041] Figure 5 A structural block diagram of the functional modules of an optional vehicle-mounted sensor calibration system provided in an embodiment of the present application;

[0042] Figure 6 A schematic diagram of a flow chart of an optional vehicle sensor calibration system startup method provided in an embodiment of the present application;

[0043] Figure 7 A timing diagram of sensor data processing of a single vehicle-mounted sensor of an optional vehicle-mounted sensor calibration system provided in an embodiment of the present application;

[0044] Figure 8 A schematic diagram of the structure of an optional vehicle controller provided in an embodiment of the present application;

[0045] Fig. 9 A schematic diagram of the structure of an optional vehicle provided in an embodiment of the present application;

[0046] Fig.10 A schematic diagram of the structure of factory calibration of a vehicle-mounted sensor calibration system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further elaborated in detail below in conjunction with the drawings and embodiments. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0048] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. The terms "first / second / third" involved are merely used to distinguish similar objects and do not represent a specific order for the objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing this application and are not intended to limit this application.

[0050] Reference Figure 1 , Figure 1 The schematic diagram of the structure of a vehicle sensor calibration system provided in an embodiment of the present application is shown in FIG. 1 , and the vehicle sensor calibration system can be installed on a vehicle. Here, the vehicle sensor calibration system 100 includes a calibration algorithm module 1, a calibration management module 2, and a calibration service module 3, wherein:

[0051] The calibration algorithm module 1 is used to generate the calibration algorithms of the vehicle sensors under different calibration scenarios according to the performance parameters of the vehicle sensors of each identification, thereby obtaining the calibration algorithms of the vehicle sensors of different identifications under different calibration scenarios and compiling different calibration algorithm dynamic libraries;

[0052] The calibration algorithm module 1 is also used to provide a unified interface for the calibration algorithm dynamic library of vehicle-mounted sensors of the same type;

[0053] The calibration management module 2 is used to load the target calibration algorithm dynamic library corresponding to the registered calibration information according to the calibration information of the sensor to be calibrated and the first configuration file, wherein the calibration information includes the calibration scene and sensor identification of the sensor to be calibrated;

[0054] The calibration service module 3 is used to analyze and process the sensor data of the sensor to be calibrated through the target calibration algorithm dynamic library through the interface corresponding to the type of the sensor to be calibrated, and obtain the calibration result of the sensor to be calibrated; wherein the calibration information includes the sensor data.

[0055] In the embodiments of the present application, the identification includes but is not limited to the manufacturer of the vehicle-mounted sensor, the type of the vehicle-mounted sensor and the model of the vehicle-mounted sensor. Different identifications can be understood as one or more differences in the manufacturer of the vehicle-mounted sensor, the type of the vehicle-mounted sensor and the model of the vehicle-mounted sensor. Among them, the manufacturer of the vehicle-mounted sensor refers to an enterprise that specializes in the design, development, production and sales of vehicle-mounted sensors. The type of vehicle-mounted sensor is a category divided according to factors such as the functional use of the sensor in the car, the measured physical quantity or the working principle. The type of vehicle-mounted sensor includes but is not limited to corner radar sensors, front radar sensors, ultrasonic sensors, visual sensors and lidar sensors. The model of the vehicle-mounted sensor is a number given by the manufacturer to distinguish sensors with different specifications, performance parameters, accuracy levels, external dimensions and other detailed features.

[0056] In the embodiment of the present application, the performance parameters of the vehicle-mounted sensor include but are not limited to one or more of the measurement accuracy, measurement range, data output format and response time of the vehicle-mounted sensor.

[0057] In the embodiment of the present application, the calibration scenario may be a factory calibration scenario and an online calibration scenario.

[0058] In the embodiment of the present application, the calibration algorithm module generates the calibration algorithm of the vehicle-mounted sensor in different calibration scenarios according to the performance parameters of the vehicle-mounted sensor of each identification, so as to obtain the calibration algorithm of the vehicle-mounted sensor of different identification in different calibration scenarios, and compile different calibration algorithm dynamic libraries; that is, the calibration algorithm module generates the calibration algorithm in different calibration scenarios according to the characteristics of vehicle-mounted sensors of different manufacturers, different brands, different types, and different models, and compiles the generated calibration algorithm. It should be noted that the calibration algorithm module can exist in the form of a process or a thread, so that the calibration management module uniformly deploys and schedules it through a configuration file. In this way, the calibration algorithm module generates the calibration algorithm corresponding to different calibration scenarios according to the performance parameters of the vehicle-mounted sensors of different identifications, and compiles it into the corresponding dynamic library, fully considering the characteristics of each sensor itself and the differences in specific usage scenarios, so that the calibration algorithm is highly adapted to the actual situation, so as to calibrate the sensor more accurately, effectively reduce the calibration error caused by the use of a general and insufficiently fitting algorithm, and improve the final measurement accuracy. In addition, since vehicle-mounted sensors may come from different manufacturers and have different models, their performance parameters and optimal calibration methods are different. The system can realize personalized algorithm customization to ensure that each sensor can undergo the calibration process that best suits itself, further ensuring the accuracy of the calibration results.

[0059] For example, refer to Figure 2As shown, different types of vehicle-mounted sensors include: a front-view camera, a surround-view camera, and different types of laser radars 1, 2, and 3; based on the performance parameters of the front-view camera, a front-view calibration algorithm for the front-view camera in different calibration scenarios is generated; based on the performance parameters of the surround-view camera, a surround-view calibration algorithm for the surround-view camera in different calibration scenarios is generated; based on the performance parameters of the laser radar 1, a laser radar 1 calibration algorithm for laser radar 1 in different calibration scenarios is generated; based on the performance parameters of the laser radar 2, a laser radar 2 calibration algorithm for laser radar 2 in different calibration scenarios is generated; based on the performance parameters of the laser radar 3, a laser radar 3 calibration algorithm for laser radar 3 in different calibration scenarios is generated, thereby obtaining calibration algorithms for various different vehicle-mounted sensors in different calibration scenarios. Furthermore, the calibration algorithms of different vehicle-mounted sensors are compiled to obtain a dynamic library of calibration algorithms for the corresponding vehicle-mounted sensors. In this way, the system supports the use of various different types of sensor calibration algorithms, realizing the scalability of the vehicle-mounted sensor calibration system.

[0060] In the embodiment of the present application, vehicle-mounted sensors of the same type may be understood as vehicle-mounted sensors of the same type but of different manufacturers and / or different models.

[0061] In the embodiment of the present application, the calibration algorithm module can provide a unified development method and process for the calibration business of vehicle-mounted sensors. The calibration algorithm module can provide a unified interface to the calibration algorithm dynamic library corresponding to the same type of vehicle-mounted sensors, thereby obtaining a unified interface provided to the calibration algorithm dynamic library corresponding to multiple different types of vehicle-mounted sensors; that is, the calibration algorithm module provides different unified interfaces to the calibration algorithm dynamic library of different types of vehicle-mounted sensors, and provides a unified interface to the calibration algorithm dynamic library of the same type of vehicle-mounted sensors, thereby adapting to the calibration business requirements of different sensors, avoiding a lot of duplication of work, avoiding compatibility issues caused by inconsistent interfaces, improving the system's compatibility with multiple sensors of the same type, and facilitating application in a wider range of vehicle-mounted equipment environments.

[0062] For example, continue to refer to Figure 2 , laser radars include laser radar 1, 2 and 3. The models of these three laser radars are different, and the corresponding calibration algorithms may be different. The calibration framework standardizes the interface of the laser radar calibration algorithm dynamic library, and supports the rapid adaptation of vehicle-mounted sensors of the same type and different models. That is, the calibration algorithm module provides a unified interface for the calibration algorithm dynamic library of different models of laser radars. Therefore, for the calibration system, the processing logic of loading and processing the calibration algorithms of sensors of the same type and different models is the same. In this way, there is no need for excessive business development, and the universality of the calibration system is achieved.

[0063] In practical applications, the calibration algorithm module standardizes the unified calibration algorithm interface of the vehicle sensor calibration business, that is, the calibration algorithm of the same type of vehicle sensors provides a unified interface to the outside. For example, the lidar sensor provides Init (calibration initialization), AddPointCloud (add point cloud data), GetCaliRunningState (query calibration running status), GetCaliResult (get calibration results), etc.

[0064] In the embodiment of the present application, the calibration information of the sensor to be calibrated includes the calibration scene in the vehicle where the sensor to be calibrated is located, and the sensor identification of the sensor to be calibrated. Of course, the calibration information may also include sensor data of the sensor to be calibrated. Here, the calibration scene may be a factory calibration scene and an online calibration scene; the sensor identification includes the type of the sensor to be calibrated, and of course, the sensor identification may also include the manufacturer and model of the sensor to be calibrated; the sensor data is the data of the sensor in the current calibration scene collected by the sensor to be calibrated.

[0065] In an embodiment of the present application, the first configuration file may be a pre-configured file, which includes a dynamic library identifier of a calibration algorithm dynamic library of each vehicle-mounted sensor (or an algorithm identifier of the calibration algorithm), and path information for storing the calibration algorithm dynamic library.

[0066] In the embodiment of the present application, the calibration management module can uniformly deploy and schedule the calibration algorithm module through a preset configuration file. The calibration management module can load the target calibration algorithm dynamic library corresponding to the registered calibration information into the memory according to the calibration scene, sensor identification and first configuration file of the sensor to be calibrated.

[0067] It should be noted that the calibration algorithm of the vehicle-mounted sensor is dynamically loaded and registered in the form of a dynamic library, and the calibration management module uniformly manages and schedules the calibration algorithms of each vehicle-mounted sensor. Here, the calibration algorithm is registered and loaded into the memory in the form of a dynamic library, and the methods provided by the operating system such as dynamic library open (dynamic library open, dlopen) and load library (LoadLibrary) can be used, and the configuration file specifies the loaded so and library file path to realize dynamic loading, including but not limited to this method. In this way, it supports registering a variety of different types of sensor calibration algorithms to the calibration system, and the calibration management module manages and schedules each calibration algorithm, realizing the scalability of the vehicle-mounted sensor calibration system. In addition, the calibration management module can accurately load and register the corresponding target calibration algorithm dynamic library according to the calibration information of the sensor to be calibrated (including the calibration scene and sensor identification) and the first configuration file. The flexible loading mechanism enables the system to cope with the calibration requirements of different vehicle-mounted sensors in different scenarios, further expanding the versatility of the system, so that it can adapt to different usage scenarios and diversified sensor configurations.

[0068] In the embodiment of the present application, the calibration service module includes a data receiving service module, a data processing service module and a data publishing service module. The calibration service module can call the interface corresponding to the type of sensor to be calibrated, and analyze and process the sensor data of the sensor to be calibrated through the target calibration algorithm dynamic library to obtain the calibration result of the sensor to be calibrated. In this way, the calibration service module obtains the data of the sensor to be calibrated through the corresponding interface, and uses the target calibration algorithm dynamic library loaded into the memory to complete the analysis and processing of the data, and finally obtains the calibration result. The entire calibration process is completed in one stop in the integrated calibration system, without the need for the user to manually switch between multiple different software or tools to perform operations such as data transfer and algorithm call, which greatly simplifies the calibration process and improves the efficiency of the calibration work.

[0069] In some embodiments, the first configuration file includes a dynamic library identifier and path information of a calibration algorithm dynamic library, wherein:

[0070] The calibration management module is also used to determine the target calibration algorithm dynamic library corresponding to the sensor to be calibrated according to the calibration scene and sensor identification of the sensor to be calibrated, and load the registered target calibration algorithm dynamic library according to the dynamic library identification of the target calibration algorithm dynamic library and the path information corresponding to the dynamic library identification of the target calibration algorithm dynamic library.

[0071] In the embodiment of the present application, the calibration management module flexibly matches the corresponding target calibration algorithm dynamic library according to the calibration scenario in which the sensor to be calibrated is located and its own sensor identification, so as to ensure that the corresponding target calibration algorithm dynamic library is determined for each vehicle-mounted sensor to be calibrated in a specific scenario, so that each sensor can be calibrated based on its own target calibration algorithm dynamic library, optimize its performance to the greatest extent, and ensure that the measurement accuracy in actual vehicle-mounted applications meets the corresponding requirements; at the same time, the corresponding dynamic library is flexibly matched according to different calibration scenarios and sensor identifications, so that when the system needs to calibrate a variety of different types of vehicle-mounted sensors, it can accurately find the adaptive calibration algorithm dynamic library through this mechanism to perform effective calibration work, which has strong flexibility.

[0072] In the embodiment of the present application, the calibration management module loads and registers the dynamic library according to the path information corresponding to the dynamic library identifier of the target calibration algorithm dynamic library, so that the system can quickly and accurately locate the location of the required calibration algorithm resources; in this way, blind searches in many algorithm dynamic libraries are avoided, effectively saving the time for the system to search and load resources, and improving the operating efficiency of the entire calibration system, especially when facing a large number of sensors of different types and identifiers that need frequent calibration operations, the advantages are more significant. At the same time, through the correspondence between the dynamic library identifier and the path information, orderly management of many calibration algorithm dynamic libraries is achieved, which facilitates the classified storage, update and maintenance of these resources.

[0073] In some embodiments, the calibration management module is also used to determine the factory calibration algorithm dynamic library corresponding to the sensor identifier and the factory calibration scenario according to the sensor identifier if the calibration scenario is a factory calibration scenario; and load and register the factory calibration algorithm dynamic library according to the dynamic library identifier of the factory calibration algorithm dynamic library and the path information corresponding to the dynamic library identifier of the factory calibration algorithm dynamic library; wherein the first configuration file includes the dynamic library identifier and path information of the factory calibration algorithm dynamic library.

[0074] The calibration management module is also used for multiple sensors to be calibrated. If the calibration scenario is an online calibration scenario, the online calibration algorithm dynamic library corresponding to each sensor to be calibrated is determined according to the sensor identification of each sensor to be calibrated and the online calibration scenario; the calibration order of all sensors to be calibrated is determined according to the obtained second configuration file; after the calibration of each sensor to be calibrated is completed, the online calibration algorithm dynamic library corresponding to the next sensor to be calibrated is loaded and registered in sequence according to the calibration order and the first configuration file.

[0075] In the embodiment of the present application, the calibration algorithms for different calibration scenarios include an online calibration algorithm and a factory calibration algorithm.

[0076] In the embodiment of the present application, the second configuration file includes but is not limited to the calibration sequence between all on-board sensors on the vehicle.

[0077] In the embodiment of the present application, the calibration management module receives the calibration information of the sensor to be calibrated sent by the host computer, namely, the sensor identification, sensor data and calibration scene; further, the calibration management module determines that the calibration scene of the sensor to be calibrated is the factory calibration scene, and determines the factory calibration algorithm dynamic library corresponding to the sensor identification and the factory calibration scene according to the sensor identification and the factory calibration scene; according to the dynamic library identification of the factory calibration algorithm dynamic library, according to the path information corresponding to the dynamic library identification of the factory calibration algorithm dynamic library, the factory calibration algorithm dynamic library is loaded and registered, so that the calibration service module processes the sensor data of the sensor to be calibrated by calling the type corresponding interface of the sensor to be calibrated, and obtains the calibration result of the sensor to be calibrated. In this way, the calibration management module can accurately load and register the factory calibration algorithm dynamic library corresponding to the factory calibration scene according to the calibration information of the sensor to be calibrated (including the factory calibration scene and the sensor identification) and the first configuration file, and the flexible loading mechanism enables the system to cope with the calibration requirements of different vehicle-mounted sensors in the factory calibration scene, further expanding the versatility of the system.

[0078] In the embodiment of the present application, there may be multiple sensors to be calibrated, and the calibration management module obtains the calibration information of the multiple sensors to be calibrated, namely, sensor identification, sensor data and calibration scene, and determines that the calibration scene of the sensors to be calibrated is an online calibration scene; further, the calibration management module determines the online calibration algorithm dynamic library corresponding to each sensor to be calibrated according to the sensor identification and online calibration scene of the multiple sensors to be calibrated; then, according to the second configuration file, determines the calibration order between all the sensors to be calibrated; thereafter, after the calibration of each sensor to be calibrated is completed, the online calibration algorithm of the sensor to be calibrated in the memory can be cleared. algorithm dynamic library; thus, memory and CPU resources are saved; then, the calibration management module determines the next sensor to be calibrated according to the calibration order, and loads and registers the online calibration algorithm dynamic library of the next sensor to be calibrated according to the path information corresponding to the dynamic library identifier of the online calibration algorithm dynamic library corresponding to the next sensor to be calibrated in the first configuration file, so that the calibration service module can process the sensor data of the current sensor to be calibrated by calling the type corresponding interface of the sensor to be calibrated and using the online calibration algorithm dynamic library to obtain the calibration result of the sensor to be calibrated, thereby obtaining the calibration result of all sensors to be calibrated. In this way, the calibration management module can flexibly manage and schedule the calibration order and process of different sensors in different ways according to the needs of the calibration business.

[0079] In actual applications, the calibration management module can freely switch between online calibration algorithms and factory calibration algorithms according to the calibration scenario, and make corresponding calibration management according to the calibration status and calibration results. In addition, the calibration algorithm module can exist in the form of a process or a thread, and the calibration management module can uniformly deploy and schedule it through a configuration file or an external input method. It should be noted that the external input method can be applied to factory calibration. The calibration information of the sensor to be calibrated is given by the host computer. After the calibration management module receives it, it schedules the corresponding calibration algorithm for loading and registration; the configuration file method is that the calibration system itself manages the calibration order of the sensor to be calibrated, and the calibration management module uniformly manages the calibration order and process of different sensors. In this way, the calibration management module can flexibly manage and schedule the order and process of each sensor algorithm through a preset configuration file or an external input signal, or, according to the external input signal, freely switch between online calibration algorithms and factory calibration algorithms.

[0080] In some embodiments, the calibration service module is further used to obtain the calibration status of the sensor to be calibrated according to the sensor identification of the sensor to be calibrated.

[0081] In the embodiment of the present application, the calibration status includes a sensor calibration processing status, a calibration completion status, and a calibration waiting status.

[0082] In the embodiment of the present application, the calibration service module can also obtain the calibration status of the sensor to be calibrated according to the sensor identification of the sensor to be calibrated. In this way, the calibration status of the sensor to be calibrated can be obtained in real time.

[0083] In some embodiments, reference Figure 3 As shown, the calibration system 100 further includes a diagnostic module 4 and / or a calibration basic component 5, wherein the calibration basic component 5 includes one or more of a timer module, a system time module, a log module, and a communication module, wherein:

[0084] The diagnosis module 4 is used to determine the diagnosis information of the sensor to be calibrated during the calibration process according to the sensor identification of the sensor to be calibrated.

[0085] A timer module, used for timing processing of at least part of the calibration service of the vehicle-mounted sensor;

[0086] System time module, used to provide unified timestamp information for the calibration services of all vehicle-mounted sensors;

[0087] The log module is used to record the log records of the calibration business of the vehicle-mounted sensor;

[0088] The communication module is used to provide a communication service interface for the calibration services of different vehicle-mounted sensors, as well as to perform data communication with other services or across domains.

[0089] In the embodiment of the present application, the diagnostic module is used to diagnose the processing of each process / thread of the calibration system and the processing of sensor data of the sensor to be calibrated, and output corresponding diagnostic information to facilitate the analysis and location of the problem. The diagnostic module can determine the diagnostic information of the sensor to be calibrated during the calibration process according to the second identifier of the sensor to be calibrated.

[0090] In the embodiments of the present application, the calibration service of the vehicle-mounted sensors can be understood as the calibration and parameter determination of the vehicle-mounted sensors installed on the car. The calibration service of the vehicle-mounted sensors can ensure that the vehicle-mounted sensors can accurately perceive the vehicle status and surrounding environment information, and provide reliable data support for the vehicle's control system.

[0091] In an embodiment of the present application, a calibration basic component is used to provide a common functional component for the calibration service of the vehicle-mounted sensor. The calibration basic component includes but is not limited to a timer module, a system time module, a log module and a communication module.

[0092] Among them, the timer module can meet the relevant business needs of calibration business timing processing.

[0093] Among them, the system time module provides a unified timestamp information interface for calibration services.

[0094] Among them, the log module provides a unified log interface for the calibration business, which is used for logging the calibration business.

[0095] Among them, the communication module provides the calibration service with an inter-process or inter-thread communication service interface and related functions for data communication with other services or across domains. The communication module includes but is not limited to controller area network (CAN), zero message queue (Zero Message Queue, ZMQ), data distribution service (DDS), transmission control protocol (TCP), user datagram protocol (UDP), shared memory and other communication methods.

[0096] In some embodiments, continue to refer to Figure 3 The calibration system 100 further includes: a platform adaptation layer 6; the platform adaptation layer 6 is used to perform a unified abstraction on the used system interfaces so as to enable the calibration system to be transplanted across platforms.

[0097] In the embodiment of the present application, the platform adaptation layer can perform a unified abstraction of the system interfaces used, so that the calibration system can be compatible with different vehicle operating system platforms and can be quickly transplanted across platforms, and then the system platform needs to be abstracted, that is, the interface for calling system resources is uniformly encapsulated for use by the vehicle sensor calibration system. The vehicle operating system includes but is not limited to the Linux operating system, the real-time operating system (QNX), and the Android operating system (Android).

[0098] Reference Figure 4 , Figure 4 A schematic diagram of a calibration method provided in an embodiment of the present application, the calibration method can be applied to a vehicle-mounted sensor calibration system, and the method includes the following steps:

[0099] S401, generating calibration algorithms for vehicle sensors with different identifications in different calibration scenarios according to the performance parameters of the vehicle sensors with each identification through the calibration algorithm module, thereby obtaining calibration algorithms for vehicle sensors with different identifications in different calibration scenarios, and compiling different calibration algorithm dynamic libraries;

[0100] S402, providing a unified interface for a calibration algorithm dynamic library of vehicle-mounted sensors of the same type through a calibration algorithm module;

[0101] S403, through the calibration management module, according to the calibration information of the sensor to be calibrated and the first configuration file, load the target calibration algorithm dynamic library corresponding to the registered calibration information; the calibration information includes the calibration scene and sensor identification of the sensor to be calibrated;

[0102] S404. The calibration service module is used to analyze and process the sensor data of the sensor to be calibrated through the target calibration algorithm dynamic library through the interface corresponding to the type of the sensor to be calibrated, so as to obtain the calibration result of the sensor to be calibrated; wherein the calibration information includes the sensor data.

[0103] The calibration information includes the calibration scene where the sensor to be calibrated is located, the sensor identification and sensor data of the sensor to be calibrated.

[0104] As can be seen from the above, the calibration algorithm module can generate calibration algorithms corresponding to different calibration scenarios based on the performance parameters of vehicle sensors with different identifications, and compile them into corresponding dynamic libraries. In this way, the characteristics of each sensor and the differences in specific usage scenarios are fully considered, so that the calibration algorithm is highly adapted to the actual situation, so that the sensor can be calibrated more accurately, effectively reducing the calibration error caused by the use of general and inadequate algorithms, and improving the final measurement accuracy. In addition, since vehicle sensors may come from different manufacturers and have different models, their performance parameters and optimal calibration methods are different. The system can realize personalized algorithm customization to ensure that each sensor can go through the calibration process that best suits itself, further ensuring the accuracy of the calibration results. The calibration algorithm module provides a unified interface for the calibration algorithm dynamic library of the same type of vehicle sensors. For the same type of vehicle sensors produced by different models and / or different manufacturers, they can all be easily connected to the calibration system through this unified interface for calibration operations, avoiding compatibility issues caused by inconsistent interfaces, improving the system's compatibility with multiple sensors of the same type, and facilitating application in a wider range of vehicle equipment environments. The calibration management module can accurately load and register the corresponding target calibration algorithm dynamic library according to the calibration information of the sensor to be calibrated (including the calibration scenario and sensor identification) and the first configuration file. The flexible loading mechanism enables the system to cope with the calibration requirements of different vehicle-mounted sensors in different scenarios, further expanding the versatility of the system so that it can adapt to different usage scenarios and diverse sensor configurations. The calibration service module obtains the data of the sensor to be calibrated through the corresponding interface, and uses the target calibration algorithm dynamic library loaded into the memory to complete the data analysis and processing, and finally obtains the calibration result. The entire calibration process is completed in one stop within the integrated calibration system, without the need for users to manually switch between multiple different software or tools to perform operations such as data transfer and algorithm call, which greatly simplifies the calibration process and improves the efficiency of calibration.

[0105] It should be noted that, for the description of the same steps and the same contents in this embodiment as those in other embodiments, reference can be made to the description in other embodiments and will not be repeated here.

[0106] In one possible scenario, refer to Figure 5As shown, the functional modules of the vehicle sensor calibration system include calibration service Calibration Server, configuration file Configuration, data receiving service RecvServer, data publishing service PubServer, data processing service ProcServer, sensor data receiving module Receiver, calibration result publishing module Publisher, sensor data processing module Processer, sensor data recording module Recorder, sensor data playback module Player, calibration basic component module Common, calibration algorithm module SensorModule1-N, diagnosis module Diag, calibration management module CalManagement and platform adaptation layer Platform Adapter.

[0107] Among them, the calibration service is used to implement the data flow management of a sensor calibration and process the data flow from receiving data to publishing results.

[0108] The configuration file is used for configuration parameter management and provides necessary parameters for the calibration system, including but not limited to configuring the calibration sequence of the sensor.

[0109] Among them, the data receiving service is a background service used to receive data operations.

[0110] Among them, the data publishing service is used to publish data.

[0111] Among them, data processing services are services used to perform data processing.

[0112] The sensor data receiving module is used to receive sensor data of the sensor to be calibrated.

[0113] Among them, the calibration result publishing module is used to publish the calibration results.

[0114] Among them, the sensor data processing module is used to call the relevant interface of the calibration algorithm module of the vehicle-mounted sensor.

[0115] Among them, the sensor data recording module is used to record the sensor data of the sensor to be calibrated, which is convenient for the functional verification and development of the calibration business in the bench mode, as well as the analysis and troubleshooting of problems.

[0116] Among them, the playback sensor data module is used to re-inject the sensor data of the sensor to be calibrated, which is convenient for the functional verification and development of the calibration business in the bench mode, as well as the analysis and troubleshooting of problems.

[0117] Among them, the calibration basic components include but are not limited to timers, system time, logs, and various communication function modules.

[0118] Among them, the calibration algorithm module is used to register with a unified interface and is uniformly managed and scheduled by the calibration management module.

[0119] The diagnostic module is used to diagnose the processing of each process / thread of the calibration system and the processing of calibration data, and output corresponding diagnostic information to facilitate the analysis and location of the problem.

[0120] Among them, the calibration management module is used to flexibly schedule the processing order or calibration process of each sensor through configuration files or external input information.

[0121] Among them, the platform adaptation layer is used to unify the abstraction of the system interfaces used, which greatly facilitates the cross-platform porting of the calibration system.

[0122] In practical applications, a scalable and universal vehicle-mounted sensor calibration system can be realized through the implementation of the above functional modules. It should be noted that different types of vehicle-mounted sensors have different calibration services. Therefore, different types of vehicle-mounted sensors must implement their corresponding sensor data receiving module Receiver, sensor data processing module Processer, and calibration result publishing module Publisher. The same type of vehicle-mounted sensors can use the same sensor data receiving module Receiver, sensor data processing module Processer, and calibration result publishing module Publisher to achieve the scalability and universality of vehicle-mounted sensors. In addition, the calibration service CALServer is managed according to the configuration file Configuration using the data receiving service RecvServer, the data processing service ProcServer, and the data publishing service PubServer to realize a vehicle-mounted sensor calibration system.

[0123] In some embodiments, reference Figure 5 and Figure 6 As shown, Figure 6 The schematic diagram of the startup method of the vehicle sensor calibration system is as follows:

[0124] S601, the calibration system starts, and the configuration file is read and parsed;

[0125] The configuration file corresponds to the first configuration file mentioned above, and the first configuration file includes but is not limited to the dynamic library identifier and dynamic library path information of the calibration algorithm dynamic library of different types of vehicle-mounted sensors.

[0126] S602: Determine whether the configuration file is parsed successfully.

[0127] Here, the process of judging whether the configuration file is parsed successfully is: reading the configuration file normally, whether the dynamic library identifier and dynamic library path information of the calibration algorithm dynamic library can be obtained, etc.

[0128] Here, if the configuration file data is parsed successfully, step S603 is executed, otherwise, the calibration service ends and the program exits.

[0129] S603, start the calibration service;

[0130] S604, the calibration algorithm module loads and registers the calibration algorithms of each vehicle-mounted sensor in different scenarios;

[0131] S605, waiting for the calibration service to end;

[0132] Here, the calibration service ends and the program exits.

[0133] In some embodiments, reference Figure 5 and Figure 7 As shown, Figure 7 The timing diagram for processing sensor data of a single sensor to be calibrated in a vehicle-mounted sensor calibration system includes the following steps:

[0134] S701. The data receiving service calls a sensor data receiving module to receive sensor data of a sensor to be calibrated.

[0135] Here, the sensor to be calibrated collects sensor data, and the data receiving service RecvServer thread calls the sensor data receiving module Receiver to receive the sensor data of the sensor to be calibrated. It should be noted that the RecvServer thread calls Receiver to block the reception until the complete sensor data is received or timeout returns.

[0136] S702: When the data is received successfully, parse the sensor data.

[0137] Here, it is necessary to determine whether the sensor data is received successfully. If the sensor data is received successfully, the sensor data is parsed; if the sensor data reception fails or times out, the data reception service ends and the next cycle reception is performed.

[0138] S703, storing the parsed sensor data into a processing queue;

[0139] S704, looping and reading the processing queue until the processing queue is found to be a non-empty queue;

[0140] Here, when the data in the processing queue is not empty, the data in the processing queue is read cyclically until the processing queue becomes a non-empty queue.

[0141] S705. The sensor data processing module calls the calibration algorithm related interface function to obtain the calibration result.

[0142] Here, the sensor data processing module Processer calls the calibration algorithm related interface function to perform calibration processing and obtain the calibration result and calibration status.

[0143] S706: The calibration result publishing module publishes the calibration result and calibration status to the data bus.

[0144] Here, after the calibration data processing is completed, the calibration result publishing module Publisher can write the calibration parameters obtained during the calibration process into the configuration file, and publish the calibration results and calibration status to the data bus DataBus for other modules to read.

[0145] Here, the calibration parameter is the final calibration result processed by the calibration algorithm, and the calibration parameter may be a coordinate transformation relationship between the sensor coordinate system and the vehicle coordinate system.

[0146] Reference Figure 8 , Figure 8 A schematic diagram of the structure of a vehicle controller provided in an embodiment of the present application, wherein the vehicle controller 8 can be installed on a vehicle, and the vehicle controller 8 includes the vehicle-mounted sensor calibration system 100 in any of the above embodiments.

[0147] Reference Fig. 9 , Fig. 9 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application, wherein the vehicle controller 8 includes the vehicle controller 8 in any of the above embodiments and a plurality of different types of vehicle-mounted sensors, and the vehicle controller is communicatively connected with the vehicle-mounted sensors respectively.

[0148] In one possible scenario, refer to Fig.10 As shown, an embodiment of the present application provides a structural diagram of factory calibration of a vehicle-mounted sensor calibration system, wherein the vehicle-mounted sensor includes N different types of vehicle-mounted sensors, and the vehicle-mounted sensor calibration system is mainly embedded in the vehicle controller in the form of a library, and the vehicle controller is connected to the host computer through a diagnostic port. During the factory calibration process, the calibration personnel need to input the calibration information through the host computer, and then send the calibration information to the vehicle controller through the diagnostic port; similarly, the vehicle controller also transmits the calibration results to the host computer for display through the diagnostic port. Here, the communication method between the diagnostic port and the host computer and the vehicle controller includes but is not limited to CAN bus, Ethernet and other communication methods.

[0149] The embodiment of the present application provides a storage medium, which stores one or more computer programs, and the one or more computer programs can be executed by one or more processors to implement some or all of the steps in the above method. The storage medium can be transient or non-transient.

[0150] An embodiment of the present application provides a computer program, including a computer-readable code. When the computer-readable code is run in a computer device, a processor in the computer device executes some or all of the steps for implementing the above method.

[0151] The embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, some or all of the steps in the above method are implemented. The computer program product can be implemented specifically by hardware, software or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium, and in other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (SDK) and the like.

[0152] It should be noted here that the description of the various embodiments above tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. The description of the above device, storage medium, computer program and computer program product embodiments is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the embodiments of the device, storage medium, computer program and computer program product of this application, please refer to the description of the method embodiment of this application for understanding.

[0153] It should be noted here that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0154] It should be noted here that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0155] The processor may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Central Processing Unit (CPU), a controller, a microcontroller, and a microprocessor. It is understandable that the electronic device that implements the functions of the processor may also be other, and the embodiments of the present application are not specifically limited.

[0156] The above-mentioned computer storage medium / memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory (Flash Memory), a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM) and the like; it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0157] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the serial number of each step / process mentioned above does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The serial numbers of the embodiments of the present application mentioned above are for description only and do not represent the advantages and disadvantages of the embodiments.

[0158] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0159] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0160] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; 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 present embodiment.

[0161] In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be a separate unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0162] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0163] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a vehicle-mounted terminal (which can be a personal computer, server, or network device, etc.) to execute all or part 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 mobile storage devices, ROMs, magnetic disks, or optical disks.

[0164] The above is only an implementation method of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A vehicle-mounted sensor calibration system, characterized in that: include: Calibration algorithm module, calibration management module and calibration service module, among which, The calibration algorithm module is used to generate calibration algorithms for vehicle sensors with different identifications in different calibration scenarios according to the performance parameters of the vehicle sensors with each identification, thereby obtaining calibration algorithms for vehicle sensors with different identifications in different calibration scenarios and compiling different calibration algorithm dynamic libraries; The calibration algorithm module is also used to provide a unified interface for the calibration algorithm dynamic library of vehicle-mounted sensors of the same type; The calibration management module is used to load and register a target calibration algorithm dynamic library corresponding to the calibration information of the sensor to be calibrated according to the calibration information of the sensor to be calibrated and the first configuration file; the calibration information includes the calibration scene and sensor identification of the sensor to be calibrated; The calibration service module is used to obtain the calibration result of the sensor to be calibrated by analyzing and processing the sensor data of the sensor to be calibrated through the target calibration algorithm dynamic library through the interface corresponding to the type of the sensor to be calibrated; wherein the calibration information includes the sensor data.

2. The system according to claim 1, characterized in that The first configuration file includes the dynamic library identifier and path information of the calibration algorithm dynamic library, wherein: The calibration management module is also used to determine the target calibration algorithm dynamic library corresponding to the sensor to be calibrated according to the calibration scene and sensor identifier of the sensor to be calibrated, and load and register the target calibration algorithm dynamic library according to the dynamic library identifier of the target calibration algorithm dynamic library and the path information corresponding to the dynamic library identifier of the target calibration algorithm dynamic library.

3. The system according to claim 1, characterized in that The calibration management module is also used to determine, if the calibration scenario is a factory calibration scenario, the factory calibration algorithm dynamic library corresponding to the sensor identifier and the factory calibration scenario according to the sensor identifier, and load and register the factory calibration algorithm dynamic library according to the dynamic library identifier of the factory calibration algorithm dynamic library and the path information corresponding to the dynamic library identifier of the factory calibration algorithm dynamic library; wherein the first configuration file includes the dynamic library identifier and path information of the factory calibration algorithm dynamic library.

4. The system according to claim 1, characterized in that There are multiple sensors to be calibrated, among which: The calibration management module is also used to determine, if the calibration scenario is an online calibration scenario, the online calibration algorithm dynamic library corresponding to each sensor to be calibrated according to the sensor identification of each sensor to be calibrated and the online calibration scenario; determine the calibration order of all sensors to be calibrated according to the obtained second configuration file; after the calibration of each sensor to be calibrated is completed, load and register the online calibration algorithm dynamic library corresponding to the next sensor to be calibrated in sequence according to the calibration order and the first configuration file.

5. The system according to any one of claims 1 to 4, characterized in that: The calibration service module is further used to obtain the calibration status of the sensor to be calibrated according to the sensor identification of the sensor to be calibrated.

6. The system according to any one of claims 1 to 4, characterized in that: The system also includes a diagnostic module, wherein: The diagnostic module is used to determine the diagnostic information of the sensor to be calibrated during the calibration process according to the sensor identification of the sensor to be calibrated.

7. The system according to any one of claims 1 to 4, characterized in that: The system further includes a calibration basic component, which includes one or more of a timer module, a system time module, a log module, and a communication module; wherein, The timer module is used to perform timed processing on at least part of the calibration services of all vehicle-mounted sensors; The system time module is used to provide unified timestamp information for the calibration services of all vehicle-mounted sensors; The log module is used to record the log records of the calibration business of the vehicle-mounted sensor; The communication module is used to provide a communication service interface for the calibration services of different vehicle-mounted sensors, and to perform data communication with other services or across domains.

8. The system according to any one of claims 1 to 4, characterized in that: The system further comprises: a platform adaptation layer; the platform adaptation layer is used to perform a unified abstraction on the used system interfaces so as to enable the calibration system to be transplanted across platforms.

9. A calibration method, characterized in that: Applied to the vehicle sensor calibration system according to any one of claims 1 to 8, the method comprises: Through the calibration algorithm module, for vehicle sensors with different identifications, according to the performance parameters of the vehicle sensors with each identification, the calibration algorithms of the vehicle sensors in different calibration scenarios are generated, so as to obtain the calibration algorithms of the vehicle sensors with different identifications in different calibration scenarios, and compile different calibration algorithm dynamic libraries; Through the calibration algorithm module, a unified interface is provided for the calibration algorithm dynamic library of vehicle-mounted sensors of the same type; Through the calibration management module, according to the calibration information of the sensor to be calibrated and the first configuration file, the target calibration algorithm dynamic library corresponding to the calibration information is loaded and registered; the calibration information includes the calibration scene and sensor identification of the sensor to be calibrated; The calibration service module is used to obtain the calibration result of the sensor to be calibrated by analyzing and processing the sensor data of the sensor to be calibrated through the target calibration algorithm dynamic library through the interface corresponding to the type of the sensor to be calibrated; wherein the calibration information includes the sensor data.

10. A vehicle controller, characterized in that: The vehicle controller comprises the vehicle-mounted sensor calibration system according to any one of claims 1 to 8.

11. A vehicle, characterized in that: The vehicle comprises the vehicle controller as claimed in claim 10 and a plurality of different types of vehicle-mounted sensors, and the vehicle controller is communicatively connected with the vehicle-mounted sensors respectively.

12. A storage medium, characterized in that: The storage medium stores one or more computer programs, and the one or more computer programs can be executed by one or more processors to implement the calibration method as claimed in claim 9.

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