Vehicle-mounted sensor calibration method and device

Abstract

The invention relates to the technical field of sensor calibration, and provides a calibration method and device for a vehicle-mounted sensor. The method comprises the steps that according to state parameters of all opening and closing pieces and all lighting assemblies of a vehicle in a target time period, the opening and closing states of all the opening and closing pieces and all the lighting assemblies in the target time period are determined; according to the opening and closing state, the credibility of calibration data of the vehicle-mounted sensor of the vehicle in the target time period is obtained; and calibrating the external parameters of the vehicle-mounted sensor according to the credible calibration data. According to the calibration method of the vehicle-mounted sensor provided by the embodiment of the invention, the accuracy of external parameter calibration of the vehicle-mounted sensor can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of sensor calibration, and in particular to a calibration method and device for a vehicle-mounted sensor. Background Art

[0002] Vehicles are usually equipped with on-board sensors such as cameras, lidar, and millimeter-wave radar for road detection to improve vehicle driving safety. The reliability of road detection depends on the perception results of each on-board sensor on the vehicle, so the on-board sensors need to be calibrated before use.

[0003] In the related art, when calibrating the vehicle-mounted sensor, the external parameters of the vehicle-mounted sensor are calibrated according to the calibration data collected by the vehicle-mounted sensor. However, this calibration method cannot determine whether the calibration process of the vehicle-mounted sensor is affected by the operating environment of the calibration operation, which may result in the use of unreliable calibration data to calibrate the external parameters of the vehicle-mounted sensor, affecting the accuracy of the external parameter calibration of the vehicle-mounted sensor. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application proposes a calibration method for a vehicle-mounted sensor to improve the accuracy of the external parameter calibration of the vehicle-mounted sensor.

[0005] According to the first aspect of the present application, a method for calibrating a vehicle-mounted sensor includes:

[0006] Determining the opening and closing states of each opening and closing member and each lighting assembly in the target time period according to the state parameters of each opening and closing member and each lighting assembly in the target time period;

[0007] According to the opening and closing states, the credibility of calibration data of the vehicle-mounted sensor in the target time period is obtained;

[0008] Calibrate the external parameters of the vehicle-mounted sensor according to the reliable calibration data;

[0009] The calibration data includes data collected by the vehicle-mounted sensor from a calibration reference object.

[0010] By determining the opening and closing states of the opening and closing parts and the lighting components of the vehicle in the target period according to the state parameters of the opening and closing parts and the lighting components in the target period, and obtaining the credibility of the calibration data of the vehicle-mounted sensors in the target period according to the opening and closing states, the external parameters of the vehicle-mounted sensors are calibrated according to the reliable calibration data, so as to timely judge whether the calibration process of the vehicle-mounted sensors is affected by the operating environment of the calibration operation, and calibrate the external parameters of the vehicle-mounted sensors through the calibration data that is not affected, thereby reducing the reliability of calibrating the external parameters of the vehicle-mounted sensors with unreliable calibration data, and thus improving the accuracy of the external parameter calibration of the vehicle-mounted sensors.

[0011] According to an embodiment of the present application, obtaining the credibility of calibration data of the vehicle-mounted sensor in the target period according to the open and closed state includes:

[0012] Determining that the opening and closing states of the lighting assembly and each of the opening and closing members located on the same side of the vehicle-mounted sensor during the target period are closed, and obtaining calibration data of the vehicle-mounted sensor during the target period;

[0013] According to the comparison result between the calibration data and the target data, the credibility of the calibration data is obtained;

[0014] Wherein, the target data is determined according to the calibration reference object.

[0015] According to an embodiment of the present application, obtaining the credibility of the calibration data according to the comparison result between the calibration data and the target data includes:

[0016] Determining that the calibration data does not match the target data, and obtaining the credibility of the calibration data according to a comparison result between reference calibration data collected by the vehicle-mounted sensor from the candidate reference object and the target data;

[0017] The alternative reference object and the calibration reference object are the same reference object, and the alternative reference object and the calibration reference object are located within the detection range of the vehicle-mounted sensor.

[0018] According to an embodiment of the present application, obtaining the credibility of the calibration data according to the comparison result between the reference calibration data and the target data includes:

[0019] In the case where the reference calibration data matches the target data, it is determined that the calibration data is credible, and prompt information indicating that the calibration reference object is abnormal is generated.

[0020] According to an embodiment of the present application, obtaining the credibility of calibration data of the vehicle-mounted sensor in the target period according to the open and closed state includes:

[0021] It is determined that the opening and closing state of the lighting assembly or any of the opening and closing members located on the same side of the vehicle-mounted sensor during the target time period is an open state, and the credibility of the calibration data is obtained to be unreliable.

[0022] According to one embodiment of the present application, it also includes:

[0023] Detecting the OBD interface of the vehicle;

[0024] Determine that the OBD interface is normal, and obtain the status parameters of the opening and closing member and the lighting assembly in the target time period through the OBD interface.

[0025] According to one embodiment of the present application, the detection of the OBD interface includes at least one of communication detection or interface voltage detection.

[0026] According to the second aspect of the present application, a calibration device for a vehicle-mounted sensor includes:

[0027] A state detection module, used to determine the opening and closing states of each opening and closing member and each lighting assembly of the vehicle in the target time period according to the state parameters of each opening and closing member and each lighting assembly in the target time period;

[0028] A data detection module, used to obtain the credibility of calibration data of the vehicle-mounted sensor in the target period according to the opening and closing state;

[0029] An external parameter calibration module, used to calibrate the external parameters of the vehicle-mounted sensor according to the reliable calibration data;

[0030] The calibration data includes data collected by the vehicle-mounted sensor from a calibration reference object.

[0031] According to an electronic device of an embodiment of the third aspect of the present application, the electronic device includes a processor and a memory storing a computer program, and when the processor executes the computer program, the calibration method of the vehicle-mounted sensor described in any of the above embodiments is implemented.

[0032] According to the computer-readable storage medium of the fourth aspect of the present application, a computer program is stored thereon, and when the computer program is executed by a processor, the calibration method of the vehicle-mounted sensor described in any of the above embodiments is implemented.

[0033] The vehicle according to the fifth embodiment of the present application includes the electronic device described in the above embodiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application 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.

[0035] Figure 1 A schematic diagram of a first process flow of a method for calibrating a vehicle-mounted sensor provided in an embodiment of the present application;

[0036] Figure 2 is a schematic diagram of the positional relationship between a vehicle and a reference object provided in an embodiment of the present application;

[0037] Figure 3 is another schematic diagram of the position relationship between a vehicle and a reference object provided in an embodiment of the present application;

[0038] Figure 4 It is a structural schematic diagram of a calibration device for a vehicle-mounted sensor provided in an embodiment of the present application;

[0039] Figure 5 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] Below, the calibration method and device of the vehicle-mounted sensor provided in the embodiments of the present application will be introduced and explained in detail through several specific embodiments.

[0042] Vehicles are usually equipped with on-board sensors such as cameras, lidar, and millimeter-wave radar for road detection to improve vehicle driving safety. The reliability of road detection depends on the perception results of each on-board sensor on the vehicle, so the on-board sensors need to be calibrated before use.

[0043] In the related art, when calibrating the vehicle-mounted sensor, the external parameters of the vehicle-mounted sensor are calibrated according to the calibration data collected by the vehicle-mounted sensor. However, this calibration method cannot determine whether the calibration process of the vehicle-mounted sensor is affected by the operating environment of the calibration operation, which may result in the use of unreliable calibration data to calibrate the external parameters of the vehicle-mounted sensor. For example, during the calibration operation, the vehicle-mounted sensor collects data from a reference object, such as a target, as calibration data. If the headlights are on at this time, the target may reflect light, making the collected calibration data inaccurate. At this time, if the external parameters of the vehicle-mounted sensor are calibrated using the calibration data, the calibration of the external parameters of the vehicle-mounted sensor will be incorrect, affecting the accuracy of the calibration of the external parameters of the vehicle-mounted sensor.

[0044] To this end, in one embodiment, a calibration method for a vehicle-mounted sensor is provided, which is applied to a terminal device and is used to calibrate the vehicle-mounted sensor. The terminal device may include a mobile terminal, a desktop terminal or a vehicle-mounted terminal, and the vehicle-mounted terminal may be a vehicle controller (VCU) or a microcontroller unit (MCU) of the vehicle.

[0045] like Figure 1 As shown, a calibration method for a vehicle-mounted sensor provided in this embodiment includes:

[0046] Step 101, determining the opening and closing states of each opening and closing member and each lighting assembly of the vehicle in the target time period according to the state parameters of each opening and closing member and each lighting assembly in the target time period;

[0047] Step 102, obtaining the credibility of calibration data of the vehicle-mounted sensor in the target period according to the open and closed state;

[0048] Step 103, calibrating the external parameters of the vehicle-mounted sensor according to the credible calibration data;

[0049] The calibration data includes data collected by the vehicle-mounted sensor from a calibration reference object.

[0050] In some embodiments, the vehicle-mounted sensor may be a laser radar, a millimeter wave radar, an ultrasonic radar, or a camera. A vehicle may be equipped with multiple vehicle-mounted sensors, and each vehicle-mounted sensor may be mounted at a different position of the vehicle, such as the front, rear, or side of the vehicle. The vehicle may be any vehicle, such as a motor vehicle.

[0051] like Figure 2As shown, when calibrating the external parameters of a certain vehicle-mounted sensor A, a reference object, such as a target, is set within the detection range of the vehicle-mounted sensor A as a calibration reference object A', and the vehicle-mounted sensor collects data of the calibration reference object during the target period, such as a point cloud of the calibration reference object or a reference object image, as the calibration data of the vehicle-mounted sensor during the target period. The target period can be any period of the calibration process.

[0052] Considering that the vehicle-mounted sensor is mounted on the vehicle, when calibrating the external parameters of the vehicle-mounted sensor during the target period, if the vehicle's lights are turned on, the calibration reference object may be reflected due to the illumination of the lights, affecting the calibration data collected by the vehicle-mounted sensor during the target period. Alternatively, if the door, engine cover or trunk lid on the side where the vehicle-mounted sensor is mounted is opened, the position of the vehicle-mounted sensor may deviate or be blocked. For example, if the vehicle-mounted sensor is mounted on the exterior rearview mirror, if the door on the side of the exterior rearview mirror is opened, the position of the vehicle-mounted sensor may deviate, which may also affect the calibration data collected by the vehicle-mounted sensor during the target period.

[0053] To this end, in the process of calibrating the vehicle-mounted sensors, the terminal device can obtain the state parameters of each opening and closing part and each lighting component of the vehicle during the target period, such as through the vehicle's OBD interface, to collect the state parameters of each opening and closing part and each lighting component of the vehicle during the target period. Among them, the opening and closing parts include vehicle doors, engine hoods or trunk lids, and the lighting components include external lighting components such as vehicle headlights, taillights or position marker lights. For any opening and closing part or lighting component, the opening and closing state during the target period can be detected based on its state parameters during the target period. If the state parameter of a certain opening and closing part is 0, it can be determined that its opening and closing state is closed, and if the state parameter is 1, it can be determined that its opening and closing state is open.

[0054] For the calibration data of the vehicle-mounted sensors in the target time period, if the opening and closing states of each opening and closing member and each lighting component in the target time period are all closed, it means that the calibration data will not be affected by the lighting and the position deviation of the vehicle-mounted sensors, and therefore the credibility of the calibration data can be determined to be reliable; if the opening and closing state of at least one opening and closing member or at least one lighting component in the target time period is open, it means that the calibration data may be affected by lighting, position deviation or occlusion of the opening and closing members, and at this time the credibility of the calibration data can be determined to be unreliable.

[0055] Considering that if the vehicle-mounted sensor of the external parameter to be calibrated is inconsistent with the installation area of ​​a certain opening and closing component, the opening of the opening and closing component will not cause the displacement or obstruction of the vehicle-mounted sensor. For example, if the vehicle-mounted sensor is installed on the front of the vehicle, the opening of the trunk or the door will not cause the displacement or obstruction of the vehicle-mounted sensor. Therefore, in order to reduce the possibility of misjudging reliable calibration data as unreliable, in some embodiments, if the lighting assembly and the opening and closing components located on the same side of the vehicle-mounted sensor are in the closed state during the target time period, the credibility of the calibration data can be determined to be reliable. For example, if the vehicle-mounted sensor is installed on the left exterior rearview mirror, if the lighting components and the left door of the vehicle are in the closed state during the target period, then the credibility of the calibration data during the target period can be determined to be credible; alternatively, the vehicle-mounted sensor is installed on the front of the vehicle, if the lighting components and the engine cover of the vehicle are in the closed state during the target period, then the credibility of the calibration data during the target period can be determined to be credible; alternatively, the vehicle-mounted sensor is installed on the rear of the vehicle, if the lighting components and the trunk of the vehicle are in the closed state during the target period, then the credibility of the calibration data during the target period can be determined to be credible.

[0056] If the credibility of the calibration data is credible, the external parameters of the vehicle-mounted sensor can be calibrated according to the calibration data. This embodiment does not limit the specific method of using the calibration data to calibrate the external parameters of the vehicle-mounted sensor, as long as the external parameters of the vehicle-mounted sensor can be calibrated.

[0057] If the credibility of the calibration data is unreliable, the calibration data can be ignored during the external parameter calibration, and the calibration data can be marked as abnormal, and a corresponding alarm message can be generated to prompt the calibration staff to adjust the opening and closing states of the vehicle's various opening and closing parts and lighting components in a timely manner. For example, based on the position information of the opening and closing parts and / or lighting components in the open state, an alarm message with the position information can be generated to prompt the staff to close the opening and closing parts and / or lighting components in the corresponding position, so that the staff can correct the abnormal calibration environment in a timely manner.

[0058] By determining the opening and closing states of the opening and closing parts and the lighting components of the vehicle in the target period according to the state parameters of the opening and closing parts and the lighting components in the target period, and obtaining the credibility of the calibration data of the vehicle-mounted sensors in the target period according to the opening and closing states, the external parameters of the vehicle-mounted sensors are calibrated according to the reliable calibration data, so as to timely judge whether the calibration process of the vehicle-mounted sensors is affected by the operating environment of the calibration operation, and calibrate the external parameters of the vehicle-mounted sensors through the calibration data that is not affected, thereby reducing the reliability of calibrating the external parameters of the vehicle-mounted sensors with unreliable calibration data, and thus improving the accuracy of the external parameter calibration of the vehicle-mounted sensors.

[0059] Considering that in addition to the influence of the vehicle's own state, the calibration process of the vehicle-mounted sensor may also be affected by other external obstacles. For example, if there is an obstacle between the vehicle-mounted sensor and the target during the calibration process, this will also affect the accuracy of the external parameter calibration of the vehicle-mounted sensor. To this end, in some embodiments, according to the open and closed state, the credibility of the calibration data of the vehicle-mounted sensor in the target period is obtained, including:

[0060] Determining that the opening and closing states of the lighting assembly and each of the opening and closing members located on the same side of the vehicle-mounted sensor during the target period are closed, and obtaining calibration data of the vehicle-mounted sensor during the target period;

[0061] According to the comparison result between the calibration data and the target data, the credibility of the calibration data is obtained;

[0062] Wherein, the target data is determined according to the calibration reference object.

[0063] In some embodiments, if it is detected that the lighting assembly and the opening and closing parts on the same side of the vehicle-mounted sensor are in the closed state during the target period, it means that the calibration data of the target period is not affected by the lighting, position offset or occlusion of the opening and closing parts. At this time, it means that the vehicle-mounted sensor will not be affected by the vehicle's own state when collecting the data of the calibration reference object, so the calibration data of the vehicle-mounted sensor during the target period can be obtained. If the vehicle-mounted sensor is a camera, the image collected by the vehicle-mounted sensor during the target period is obtained; or, if the vehicle-mounted sensor is a laser radar, the point cloud image collected by the vehicle-mounted sensor during the target period is obtained.

[0064] For the calibration data of the vehicle-mounted sensor in the target time period, the calibration data can be matched with the target data determined by the calibration reference. Among them, the target data can be the characteristic information of the calibration reference that can be collected by the vehicle-mounted sensor, such as the number of pixels of the calibration reference, or the preset number of calibration points that the sensor can collect from the calibration reference. Exemplarily, assuming that the target data is the preset number of calibration points, the calibration points of the calibration reference can be extracted from the calibration data, and the number of calibration points of the calibration reference in the calibration data is matched with the preset number of calibration points. If the two are the same, it means that the vehicle-mounted sensor can normally collect the data of the calibration reference, and the calibration data can be determined to be credible; otherwise, it means that the vehicle-mounted sensor cannot normally collect the data of the calibration reference, and the sensing part of the vehicle-mounted sensor may be blocked by obstacles, so it can be determined that the calibration data is unreliable. For example, if the target data has 10 calibration points, and the calibration points of the calibration reference collected in the calibration data are 8, then it can be determined that the calibration data is unreliable; if the calibration points of the calibration reference collected in the calibration data are also 10, then it can be determined that the calibration data is reliable. In this way, when it is determined that the calibration of the vehicle sensor is not affected by the state of the vehicle itself during the target period, it can be further determined whether the calibration process of the vehicle sensor during the target period will be affected by obstacles, thereby further improving the accuracy of the subsequent calibration of the vehicle sensor using reliable calibration data.

[0065] Considering that the calibration data does not match the target data, it may be due to the lack of the calibration reference itself, rather than being blocked by obstacles. If the calibration reference itself is missing, then although the calibration data does not match the target data, the calibration data is actually accurate and can be used to calibrate the external parameters of the vehicle-mounted sensor. Therefore, in order to reduce the possibility of misjudging the calibration data as unreliable, in some embodiments, the credibility of the calibration data is obtained based on the comparison results of the calibration data and the target data, including:

[0066] Determining that the calibration data does not match the target data, and obtaining the credibility of the calibration data according to a comparison result between reference calibration data collected by the vehicle-mounted sensor from the candidate reference object and the target data;

[0067] The alternative reference object and the calibration reference object are the same reference object, and the alternative reference object and the calibration reference object are located within the detection range of the vehicle-mounted sensor.

[0068] In some embodiments, Figure 3As shown, there may be a calibration reference object A' and an alternative reference object B' within the detection range of the vehicle-mounted sensor A. The calibration reference object A' and the alternative reference object B' are located in different areas within the detection range, and there is no overlapping area between the two. The calibration reference object A' and the alternative reference object B' are reference objects with the same initial state, such as targets of the same specifications. The vehicle-mounted sensor can simultaneously collect the data of the calibration reference object A' and the data of the alternative reference object B', and upload them to the terminal device through the vehicle-mounted OBD interface.

[0069] After receiving the data of the calibration reference object A' and the data of the alternative reference object B', the terminal device can determine the data of the calibration reference object A' as the calibration data and the data of the alternative reference object B' as the reference calibration data according to the area, because the calibration reference object A' and the alternative reference object B' are in different areas, and compare the calibration data and the reference calibration data with the target data respectively. If the vehicle-mounted sensor is a camera, the terminal device will receive an image including the calibration reference object A' and the alternative reference object B', and then extract the image of the area where the calibration reference object A' is located from the image according to the area of ​​the calibration reference object A' and the alternative reference object B' as the calibration data, and extract the image of the area where the alternative reference object B' is located from the image as the reference calibration data.

[0070] If the calibration data does not match the target data, check whether the reference calibration data matches the target data. If the reference calibration data matches the target data, it means that the sensing part of the vehicle-mounted sensor is most likely not blocked at this time, and the calibration data obtained is most likely due to the defects of the calibration reference A' itself, which causes it to not match the target data. At this time, it can be determined that the calibration data is credible; if the reference calibration data does not match the target data, it means that the sensing part of the vehicle-mounted sensor is most likely blocked. At this time, it can be determined that the calibration data is unreliable. This makes it possible to more accurately judge the credibility of the calibration data, thereby further improving the accuracy of the subsequent use of the calibration data to calibrate the external parameters of the vehicle-mounted sensor.

[0071] Taking into account that long-term abnormalities of the calibration reference object may also affect the external parameter calibration, in some embodiments, when the reference calibration data matches the target data, it can be determined that the calibration data is credible, and the vehicle-mounted sensor can be calibrated for external parameters through the calibration data. At the same time, a prompt message indicating that the calibration reference object is abnormal can be generated to prompt the staff to replace the calibration reference object, so as to avoid affecting the accuracy of the external parameter calibration due to long-term defects in the calibration reference object.

[0072] In order to reduce the misjudgment of the credibility of the calibration data, in some embodiments, the credibility of the calibration data of the vehicle-mounted sensor in the target period is obtained according to the open and closed state, including:

[0073] It is determined that the opening and closing state of the lighting assembly or any of the opening and closing members located on the same side of the vehicle-mounted sensor during the target time period is an open state, and the credibility of the calibration data is obtained to be unreliable.

[0074] Exemplarily, the vehicle-mounted sensor is installed on the left side exterior rearview mirror. If the opening and closing state of the vehicle's lighting component or the left door during the target time period is in the open state, it means that the calibration data of the vehicle-mounted sensor may be affected by lighting, position offset or obstruction of the opening and closing parts. At this time, it can be determined that the credibility of the calibration data during the target time period is unreliable; alternatively, the vehicle-mounted sensor is installed on the front of the vehicle. If the opening and closing state of the vehicle's lighting component or the engine cover during the target time period is in the open state, it can be determined that the credibility of the calibration data during the target time period is unreliable; alternatively, the vehicle-mounted sensor is installed on the rear of the vehicle. If the opening and closing state of the vehicle's lighting component or the trunk during the target time period is in the open state, it can be determined that the credibility of the calibration data during the target time period is unreliable.

[0075] Since the status parameters of the opening and closing parts and lighting components are collected through the OBD interface, one method of determining the status parameters of the opening and closing parts and lighting components is to determine that the status parameter of the corresponding opening and closing parts or lighting components is 1 when receiving a signal sent by the OBD interface indicating that a certain opening and closing part or lighting component is turned on, that is, the opening and closing state of the corresponding opening and closing part or lighting component is turned on; if the signal sent by the OBD interface is not received, the status parameter of the corresponding opening and closing part or lighting component is 0 by default, that is, the opening and closing state of the corresponding opening and closing part or lighting component is turned off. If this method is used to determine the opening and closing state of the opening and closing part or lighting component, when the OBD interface is abnormal, such as being unable to connect to the OBD interface normally, it will result in the inability to receive the signal sent by the OBD interface, resulting in the opening and closing part or lighting component being misjudged as being in a closed state. To this end, in some embodiments, the OBD interface of the vehicle can be detected first; if it is determined that the OBD interface is normal, the state parameters of the opening and closing parts and the lighting assembly in the target time period are obtained through the OBD interface; if the OBD interface is abnormal, an alarm message indicating the abnormality of the OBD interface is generated, and the external parameter calibration of the vehicle-mounted sensors is suspended.

[0076] In some embodiments, the detection of the OBD interface may be a communication detection of the OBD interface and / or an interface voltage detection of the OBD interface.

[0077] For example, a verification signal is sent to the vehicle's ECU through the OBD interface, and a response signal fed back by the ECU based on the verification signal is detected from the OBD interface; if so, it means that normal communication can be carried out through the OBD interface, and at this time, the OBD interface can be determined to be normal; otherwise, the OBD interface can be determined to be abnormal. Alternatively, it can be detected whether the pin voltage of the OBD interface is 12V; if so, the OBD interface can be determined to be normal; otherwise, the OBD interface can be determined to be abnormal. Alternatively, the OBD interface can be simultaneously tested for communication and interface voltage. If both the communication and interface voltage tests of the OBD interface are normal, the OBD interface can be determined to be normal; otherwise, the OBD interface can be determined to be abnormal.

[0078] When it is determined that the OBD interface is normal, the state parameters of the switch and the lighting assembly in the target time period are obtained through the OBD interface to reduce the possibility of misjudging the opening and closing state of the switch or the lighting assembly in the target time period due to abnormality of the OBD interface.

[0079] The calibration device of the vehicle-mounted sensor provided in the present application is described below. The calibration device of the vehicle-mounted sensor described below and the calibration method of the vehicle-mounted sensor described above can be referred to each other.

[0080] In one embodiment, if Figure 4 As shown, a calibration device for a vehicle-mounted sensor is provided, comprising:

[0081] The state detection module 210 is used to determine the opening and closing states of each opening and closing member and each lighting assembly of the vehicle in the target period according to the state parameters of each opening and closing member and each lighting assembly in the target period;

[0082] A data detection module 220, for obtaining the credibility of calibration data of the vehicle-mounted sensor in a target period according to the opening and closing state;

[0083] An external parameter calibration module 230, used to calibrate the external parameters of the vehicle-mounted sensor according to the reliable calibration data;

[0084] The calibration data includes data collected by the vehicle-mounted sensor from a calibration reference object.

[0085] By determining the opening and closing states of the opening and closing parts and the lighting components of the vehicle in the target period according to the state parameters of the opening and closing parts and the lighting components in the target period, and obtaining the credibility of the calibration data of the vehicle-mounted sensors in the target period according to the opening and closing states, the external parameters of the vehicle-mounted sensors are calibrated according to the reliable calibration data, so as to timely judge whether the calibration process of the vehicle-mounted sensors is affected by the operating environment of the calibration operation, and calibrate the external parameters of the vehicle-mounted sensors through the calibration data that is not affected, thereby reducing the reliability of calibrating the external parameters of the vehicle-mounted sensors with unreliable calibration data, and thus improving the accuracy of the external parameter calibration of the vehicle-mounted sensors.

[0086] In one embodiment, the data detection module 220 is specifically used for:

[0087] Determining that the opening and closing states of the lighting assembly and each of the opening and closing members located on the same side of the vehicle-mounted sensor during the target period are closed, and obtaining calibration data of the vehicle-mounted sensor during the target period;

[0088] According to the comparison result between the calibration data and the target data, the credibility of the calibration data is obtained;

[0089] Wherein, the target data is determined according to the calibration reference object.

[0090] In one embodiment, the data detection module 220 is specifically used for:

[0091] Determining that the calibration data does not match the target data, and obtaining the credibility of the calibration data according to a comparison result between reference calibration data collected by the vehicle-mounted sensor from the candidate reference object and the target data;

[0092] The alternative reference object and the calibration reference object are the same reference object, and the alternative reference object and the calibration reference object are located within the detection range of the vehicle-mounted sensor.

[0093] In one embodiment, the data detection module 220 is specifically used for:

[0094] In the case where the reference calibration data matches the target data, it is determined that the calibration data is credible, and prompt information indicating that the calibration reference object is abnormal is generated.

[0095] In one embodiment, the data detection module 220 is specifically used for:

[0096] It is determined that the opening and closing state of the lighting assembly or any of the opening and closing members located on the same side of the vehicle-mounted sensor during the target time period is an open state, and the credibility of the calibration data is obtained to be unreliable.

[0097] In one embodiment, the state detection module 210 is further used to:

[0098] Detecting the OBD interface of the vehicle;

[0099] Determine that the OBD interface is normal, and obtain the status parameters of the opening and closing member and the lighting assembly in the target time period through the OBD interface.

[0100] In one embodiment, the detection of the OBD interface includes at least one of communication detection or interface voltage detection.

[0101] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call a computer program in the memory 830 to execute a calibration method for a vehicle-mounted sensor, for example, including:

[0102] Determining the opening and closing states of each opening and closing member and each lighting assembly in the target time period according to the state parameters of each opening and closing member and each lighting assembly in the target time period;

[0103] According to the opening and closing states, the credibility of calibration data of the vehicle-mounted sensor in the target time period is obtained;

[0104] Calibrate the external parameters of the vehicle-mounted sensor according to the reliable calibration data;

[0105] The calibration data includes data collected by the vehicle-mounted sensor from a calibration reference object.

[0106] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. 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, and the computer software product is stored in a storage medium, including several instructions to enable 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 various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0107] On the other hand, an embodiment of the present application further provides a storage medium, the storage medium includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the calibration method of the vehicle-mounted sensor provided in the above embodiments, for example, including:

[0108] Determining the opening and closing states of each opening and closing member and each lighting assembly in the target time period according to the state parameters of each opening and closing member and each lighting assembly in the target time period;

[0109] According to the open and closed states, the credibility of calibration data of the vehicle-mounted sensor in the target time period is obtained;

[0110] Calibrate the external parameters of the vehicle-mounted sensor according to the reliable calibration data;

[0111] The calibration data includes data collected by the vehicle-mounted sensor from a calibration reference object.

[0112] On the other hand, an embodiment of the present application further provides a vehicle, which includes the electronic device as in the above embodiment.

[0113] The device embodiments described above are merely illustrative, wherein 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, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0114] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A calibration method for a vehicle-mounted sensor, characterized in that: include: Determining the opening and closing states of each opening and closing member and each lighting assembly in the target time period according to the state parameters of each opening and closing member and each lighting assembly in the target time period; According to the open and closed states, the credibility of calibration data of the vehicle-mounted sensor in the target time period is obtained; Calibrate the external parameters of the vehicle-mounted sensor according to the reliable calibration data; The calibration data includes data collected by the vehicle-mounted sensor from a calibration reference object.

2. The calibration method of the vehicle-mounted sensor according to claim 1, characterized in that: According to the open and closed states, the credibility of calibration data of the vehicle-mounted sensor in the target time period is obtained, including: Determining that the opening and closing states of the lighting assembly and each of the opening and closing members located on the same side of the vehicle-mounted sensor during the target period are closed, and obtaining calibration data of the vehicle-mounted sensor during the target period; According to the comparison result between the calibration data and the target data, the credibility of the calibration data is obtained; Wherein, the target data is determined according to the calibration reference object.

3. The calibration method of the vehicle-mounted sensor according to claim 2, characterized in that: According to the comparison result between the calibration data and the target data, the credibility of the calibration data is obtained, including: Determining that the calibration data does not match the target data, and obtaining the credibility of the calibration data according to a comparison result between reference calibration data collected by the vehicle-mounted sensor from the candidate reference object and the target data; The alternative reference object and the calibration reference object are the same reference object, and the alternative reference object and the calibration reference object are located within the detection range of the vehicle-mounted sensor.

4. The calibration method of the vehicle-mounted sensor according to claim 3, characterized in that: According to the comparison result between the reference calibration data and the target data, the credibility of the calibration data is obtained, including: In the case where the reference calibration data matches the target data, it is determined that the calibration data is credible, and prompt information indicating that the calibration reference object is abnormal is generated.

5. The method for calibrating a vehicle-mounted sensor according to any one of claims 1 to 4, characterized in that: According to the open and closed states, the credibility of calibration data of the vehicle-mounted sensor in the target time period is obtained, including: It is determined that the opening and closing state of the lighting assembly or any of the opening and closing members located on the same side of the vehicle-mounted sensor during the target time period is an open state, and the credibility of the calibration data is obtained to be unreliable.

6. The method for calibrating a vehicle-mounted sensor according to any one of claims 1 to 4, characterized in that: Also includes: Detecting the OBD interface of the vehicle; Determine that the OBD interface is normal, and obtain the status parameters of the opening and closing member and the lighting assembly in the target time period through the OBD interface.

7. The calibration method of the vehicle-mounted sensor according to claim 6, characterized in that: The detection of the OBD interface includes at least one of communication detection and interface voltage detection.

8. A calibration device for a vehicle-mounted sensor, characterized in that: include: A state detection module, used to determine the opening and closing states of each opening and closing member and each lighting assembly of the vehicle in the target time period according to the state parameters of each opening and closing member and each lighting assembly in the target time period; A data detection module, used to obtain the credibility of calibration data of the vehicle-mounted sensor in the target period according to the opening and closing state; An external parameter calibration module, used to calibrate the external parameters of the vehicle-mounted sensor according to the reliable calibration data; The calibration data includes data collected by the vehicle-mounted sensor from a calibration reference object.

9. An electronic device comprising a processor and a memory storing a computer program, characterized in that: When the processor executes the computer program, the calibration method of the vehicle-mounted sensor according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 9.

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