Tractor off-line calibration method, system and device and computer equipment

Abstract

The invention relates to a tractor off-line calibration method, system and device and computer equipment. The method comprises the following steps: performing static calibration operation on a tractor according to a static calibration scheme and to-be-calibrated vehicle model parameters to obtain a static calibration result; under the condition that the static calibration result is that static calibration is completed, the tractor is transferred to a dynamic calibration site; performing dynamic calibration on the tractor according to the dynamic calibration scheme to obtain a dynamic calibration result; and when the dynamic calibration result is that the dynamic calibration is not completed, generating a re-detection dynamic calibration scheme, and performing dynamic re-calibration on the tractor according to the re-detection dynamic calibration scheme to obtain a dynamic re-calibration result. By the adoption of the method, it can be guaranteed that the tractor can fully meet the technical requirements in the static state and the dynamic state through multi-wheel calibration, so that the safety and stability of the tractor are improved, the service life of the tractor is prolonged, the fault occurrence rate is reduced, and high efficiency of the operation process is guaranteed.

Description

Technical Field

[0001] This application relates to the technical field of vehicle detection, and particularly to a calibration method, system, device and computer equipment for a tractor at the end of the production line. Background Art

[0002] With the continuous progress of intelligent network connection technology, the application potential of autonomous driving technology has become increasingly apparent in various fields. In the commercial vehicle field, especially in the cargo transportation link, the application of autonomous driving technology can not only significantly improve transportation safety, but also achieve energy conservation, environmental protection and improve transportation efficiency. The application of autonomous driving technology in commercial vehicles, especially in L3-level intelligent tractors, as a high-level autonomous driving technology, can effectively reduce manual intervention and reduce the risks of driver fatigue and human errors. Especially in the context of continuous economic development and population aging, the rising labor cost and manpower shortage problems are more prominent, further exacerbating the demand for efficient and low-cost transportation methods. As an important autonomous driving application product, the development and application of the calibration at the end of the production line for L3-level intelligent tractors will greatly enhance the market competitiveness of autonomous driving trucks and promote the automation upgrade of the commercial vehicle field.

[0003] In the prior art, L3-level intelligent tractors usually adopt multi-sensor fusion technology, including lidar, cameras, ultrasonic sensors and radars, etc., to realize the perception and understanding of the surrounding environment. The vehicle uses advanced algorithms for decision-making and control to ensure a certain level of autonomous driving ability in complex road environments.

[0004] However, in the prior art, since the perception and understanding of the road environment by the autonomous driving system rely on the fusion of multiple sensors, the perception ability in specific complex scenarios of the prior art still needs to be improved. Moreover, the universality of the existing calibration methods is poor, and the adaptability of the calibration schemes for the requirements of different vehicle models or different application scenarios is weak, often requiring a large amount of manual intervention and tests, and the calibration process is complex and time-consuming. Summary of the Invention

[0005] Based on this, in view of the above technical problems, it is necessary to provide a calibration method, system, system, computer equipment, computer-readable storage medium and computer program product for a tractor at the end of the production line, which can improve the production efficiency, quality and system reliability of the tractor through static and dynamic calibration methods.

[0006] In a first aspect, this application provides a calibration method for a tractor at the end of the production line. The method includes:

[0007] Performing a static calibration operation on the tractor according to a static calibration scheme and the parameters of the vehicle model to be calibrated, and obtaining a static calibration result;

[0008] In the case where the static calibration result indicates that the static calibration is completed, transfer the tractor to the dynamic calibration site;

[0009] Perform the dynamic calibration plan on the tractor according to the dynamic calibration plan to obtain the dynamic calibration result;

[0010] In the case where the dynamic calibration result indicates that the dynamic calibration is not completed, generate a re-detection dynamic calibration plan, and perform dynamic re-calibration on the tractor according to the re-detection dynamic calibration plan to obtain the dynamic re-calibration result.

[0011] In one embodiment, perform static calibration operations on the tractor according to the static calibration plan and the parameters of the vehicle model to be calibrated, and the obtained static calibration result includes:

[0012] Perform pre-static detection settings on the tractor according to the tractor setting plan to obtain the tractor after setting;

[0013] Determine the current static plan based on the parameters of the vehicle model to be calibrated and the static detection plan;

[0014] Perform static calibration on the tractor after setting according to the current static plan to obtain the static calibration result.

[0015] In one embodiment, perform static calibration on the tractor after setting according to the current static plan to obtain the static calibration result, including:

[0016] Perform initial detection on the target to obtain the initial calibration data;

[0017] Adjust the target according to the target setting plan to obtain the adjusted target and adjustment data;

[0018] Perform detection on the adjusted target to obtain the adjusted calibration data;

[0019] Perform static calibration based on the initial calibration data, adjustment data, and adjusted calibration data to obtain the static calibration result.

[0020] In one embodiment, the method further includes:

[0021] In the case where the static calibration result indicates that the static calibration is not completed, generate a detection signal;

[0022] Perform data detection on the sensors of the tractor according to the detection signal to obtain the sensors with calibration failures.

[0023] In one embodiment, perform the dynamic calibration plan on the tractor according to the dynamic calibration plan to obtain the dynamic calibration result, including:

[0024] Perform plan screening according to the vehicle model parameters of the tractor and the vehicle driving plan to obtain the current driving plan;

[0025] While driving the tractor according to the current driving plan, obtain dynamic calibration data;

[0026] Analyze and judge the dynamic calibration data to obtain a dynamic calibration result.

[0027] In one embodiment, when the dynamic calibration result is that the dynamic calibration is not completed, generate a re-detection dynamic calibration plan, and perform dynamic re-calibration on the tractor according to the re-detection dynamic calibration plan to obtain a dynamic re-calibration result, including:

[0028] When the dynamic calibration result is that the dynamic calibration is not completed, determine the sensor with calibration failure;

[0029] Generate a re-detection dynamic calibration plan based on the sensor with calibration failure;

[0030] Perform re-calibration according to the re-detection dynamic calibration plan to obtain re-calibration data;

[0031] Analyze and judge the re-calibration data to obtain a dynamic re-calibration result.

[0032] In a second aspect, the present application also provides a tractor off-line calibration system, which is applicable to the tractor off-line calibration method described in any one of the above. The system includes a dynamic calibration subsystem and a static calibration subsystem;

[0033] The dynamic calibration subsystem includes a communication module and a dynamic storage module, and the dynamic storage module stores vehicle model parameters and their corresponding dynamic calibration plans;

[0034] The static calibration subsystem includes a positioning module and an automatic target module. The positioning module is used to fix the vehicle position. The positioning module abuts against the tractor, and the sensors of the tractor collect data from the automatic target module.

[0035] In one embodiment, the positioning module includes a first-direction positioning component and a second-direction positioning component, and the first direction is perpendicular to the second direction.

[0036] In a third aspect, the present application also provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0037] Perform static calibration operation on the tractor according to the static calibration plan and the vehicle model parameters to be calibrated to obtain a static calibration result;

[0038] When the static calibration result is that the static calibration is completed, transfer the tractor to the dynamic calibration site;

[0039] Perform dynamic calibration on the tractor according to the dynamic calibration scheme to obtain the dynamic calibration result;

[0040] In the case where the dynamic calibration result is that the dynamic calibration is not completed, generate a re-detection dynamic calibration scheme, and perform dynamic re-calibration on the tractor according to the re-detection dynamic calibration scheme to obtain the dynamic re-calibration result.

[0041] Fourthly, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, and when the computer program is executed by a processor, the following steps are implemented:

[0042] Perform static calibration operation on the tractor according to the static calibration scheme and the parameters of the vehicle model to be calibrated to obtain the static calibration result;

[0043] In the case where the static calibration result is that the static calibration is completed, transfer the tractor to the dynamic calibration site;

[0044] Perform dynamic calibration on the tractor according to the dynamic calibration scheme to obtain the dynamic calibration result;

[0045] In the case where the dynamic calibration result is that the dynamic calibration is not completed, generate a re-detection dynamic calibration scheme, and perform dynamic re-calibration on the tractor according to the re-detection dynamic calibration scheme to obtain the dynamic re-calibration result.

[0046] Fifthly, the present application also provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0047] Perform static calibration operation on the tractor according to the static calibration scheme and the parameters of the vehicle model to be calibrated to obtain the static calibration result;

[0048] In the case where the static calibration result is that the static calibration is completed, transfer the tractor to the dynamic calibration site;

[0049] Perform dynamic calibration on the tractor according to the dynamic calibration scheme to obtain the dynamic calibration result;

[0050] In the case where the dynamic calibration result is that the dynamic calibration is not completed, generate a re-detection dynamic calibration scheme, and perform dynamic re-calibration on the tractor according to the re-detection dynamic calibration scheme to obtain the dynamic re-calibration result.

[0051] The above-mentioned calibration method, system, computer device, storage medium, and computer program product for the tow truck during off-line calibration determine the static calibration plan for the tow truck to be calibrated based on the vehicle type parameters of the tow truck to be calibrated, and then perform static calibration on the tow truck according to the static calibration plan, that is, by accurately measuring and adjusting the working parameters of each sensor of the tow truck, ensuring that the basic performance of each sensor meets the standards; after completing the static calibration, the tow truck is transferred to the dynamic calibration site for further testing, that is, the operator drives the tow truck according to the dynamic calibration plan, and then performs dynamic calibration on each sensor during actual operation, and can generate and execute a re-test dynamic calibration plan when the expected results are not fully achieved during the dynamic calibration stage to re-calibrate the sensors that have not been calibrated. Through multiple rounds of calibration, it is ensured that the tow truck can fully meet the technical requirements in both static and dynamic states, thereby improving the safety, stability, and service life of the vehicle, reducing the failure rate, and ensuring the efficiency of the operation process. Description of the Drawings

[0052] Figure 1 It is a schematic flowchart of the calibration method for the tow truck during off-line calibration in an embodiment;

[0053] Figure 2 It is a schematic flowchart of executing the static calibration plan in an embodiment;

[0054] Figure 3 It is one of the schematic structural diagrams of the calibration system for the tow truck during off-line calibration in an embodiment;

[0055] Figure 4 It is the other schematic structural diagram of the calibration system for the tow truck during off-line calibration in an embodiment;

[0056] Figure 5 It is the internal structure diagram of a computer device in an embodiment.

[0057] Description of the Reference Numerals:

[0058] 1 - First direction positioning component, 2 - Second direction positioning component, 3 - Automatic target for the first forward vision perception sensor, 4 - Automatic target for the forward radar, 5 - Automatic target for the first side-rear radar, 6 - Automatic target for the second side-rear radar, 7 - Automatic target for the first side-forward radar, 8 - Automatic target for the second side-forward radar, 9 - Automatic target for the second forward vision perception sensor. Detailed Embodiments

[0059] In order to make the objectives, technical solutions, and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0060] In an embodiment, asFigure 1 As shown in the figure, a calibration method for the off-line tractor is provided. In this embodiment, it is exemplified that this method is applied to the terminal. It can be understood that this method can also be applied to the server, and can also be applied to a system including the terminal and the server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0061] Step 102, perform a static calibration operation on the tractor according to the static calibration scheme and the parameters of the vehicle model to be calibrated, and obtain a static calibration result.

[0062] Among them, the parameters of the vehicle model to be calibrated are the vehicle model parameters of the tractor to be calibrated.

[0063] Exemplarily, before performing the static calibration operation, determine the vehicle model parameters of the tractor to be calibrated. Then, determine the static calibration scheme to be executed according to the vehicle model parameters, and based on the static scheme to be executed, control the movement of the automatic target, and detect the automatic target through the sensors of the tractor to obtain the target acquisition data. Compare the target acquisition data collected by the sensors with the preset parameters to obtain the static calibration result.

[0064] Step 104, in the case where the static calibration result is that the static calibration is completed, transfer the tractor to the dynamic calibration site.

[0065] Exemplarily, after the static calibration is completed, transfer the tractor to the designated calibration area to prepare for the start of the dynamic calibration.

[0066] Step 106, perform a dynamic calibration scheme on the tractor according to the dynamic calibration scheme to obtain a dynamic calibration result.

[0067] Exemplarily, the operator manually starts the dynamic calibration process, and the tractor receives the specified driving route and speed information sent by the off-line detection system through the in-vehicle display system. Among them, the driving route and speed information are extracted from the pre-stored information corresponding to the vehicle model parameters of the tractor in the system. The vehicle will perform specific actions according to the system instructions during the calibration process to complete the calibration of sensors such as the antenna position and angle, and the line detection system monitors the progress of the calibration in real time.

[0068] If all sensors have been successfully calibrated after the dynamic calibration operation, the off-line detection system sends a signal of successful calibration to the vehicle to prompt the driver that all sensors have been successfully calibrated and the dynamic calibration is over.

[0069] Step 108, in the case where the dynamic calibration result is that the dynamic calibration is not completed, generate a re-detection dynamic calibration scheme, and perform a dynamic re-calibration on the tractor according to the re-detection dynamic calibration scheme to obtain a dynamic re-calibration result.

[0070] Among them, the re-detection dynamic calibration scheme is a specific action that needs to be completed, such as adjusting the driving route or speed, etc.

[0071] Exemplarily, if after the dynamic calibration operation is completed, the off-line detection system sends a signal indicating that the calibration is not completed to the vehicle, it means that the relevant parameters have not been successfully collected during the calibration process. At this time, the uncalibrated sensors can be pointed out on the vehicle display screen, and then a re-detection dynamic calibration scheme for the corresponding uncalibrated sensors can be generated, and the calibration can be carried out according to the re-detection dynamic calibration scheme until the calibration task is successfully completed.

[0072] In the above-mentioned off-line calibration method for tractors, the static calibration scheme for the to-be-calibrated tractor is determined through the model parameters of the to-be-calibrated tractor, and then the tractor is statically calibrated according to the static calibration scheme, that is, by accurately measuring and adjusting the working parameters of each sensor of the tractor, ensuring that the basic performance of each sensor meets the standard; after the static calibration is completed, the tractor is transferred to the dynamic calibration site for further testing, that is, the operator drives the tractor according to the dynamic calibration scheme, and then dynamically calibrates each sensor during the actual operation process, and if the expected results are not fully achieved during the dynamic calibration stage, a re-detection dynamic calibration scheme can be generated and executed to re-calibrate the sensors that have not completed the calibration. Through multiple rounds of calibration, it is ensured that the tractor can fully meet the technical requirements in both static and dynamic states, thereby improving the safety, stability and service life of the vehicle, reducing the failure rate, and ensuring the efficiency of the operation process.

[0073] In an exemplary embodiment, as Figure 2 shown, the static calibration operation is performed on the tractor according to the static calibration scheme and the to-be-calibrated model parameters, and the obtained static calibration results include:

[0074] Step 202, perform pre-setting before static detection on the tractor according to the tractor setting scheme to obtain the tractor after setting.

[0075] Among them, the static calibration scheme includes a tractor setting scheme and a static detection scheme.

[0076] Exemplarily, after the tractor is off-line, it is moved to the designated static calibration location, and the tractor is fixed according to the tractor setting scheme by using the positioning module, and then the spatial positions of the tractor and each sensor on the vehicle are determined.

[0077] Step 204, determine the current static scheme based on the to-be-calibrated model parameters and the static detection scheme.

[0078] Exemplarily, after determining the model parameters of the tractor, obtain the relevant parameters of the to-be-calibrated model, such as the front axle position, sensor type, and the spatial position of each sensor relative to the center point of the front wheel, and calculate and set a suitable static detection scheme based on the static detection scheme.

[0079] Step 206: Perform static calibration on the set tractor according to the current static scheme to obtain a static calibration result.

[0080] Exemplarily, before the completion of static calibration and after adjustment, the target continuously moves to the set position. After the target moves to the set position each time, the sensors of the tractor detect the target, and then adjust the detection range and angle to ensure accurate measurement of the distance and speed of the front obstacle. By scanning the surrounding environment, the automatic target mechanism of all sensors works together to ensure the perception accuracy and safety of the vehicle in various complex driving scenarios.

[0081] In an exemplary embodiment, performing static calibration on the set tractor according to the current static scheme to obtain a static calibration result includes:

[0082] Perform initial detection on the target to obtain initial calibration data; adjust the target according to the target setting scheme to obtain the adjusted target and adjustment data; detect the adjusted target to obtain adjusted calibration data; perform static calibration based on the initial calibration data, adjustment data, and adjusted calibration data to obtain a static calibration result.

[0083] Among them, the static calibration scheme includes the target setting scheme.

[0084] Exemplarily, set targets beside the tractor, such as forward targets, front-side targets, and rear-side targets, etc., and the target can move automatically. During the static calibration process, the target moves automatically in the first direction, second direction, and third direction, and the sensors and radars detect the position of the target. Based on the detected target position data, the detection range and angle of the sensors and radars are adjusted. Among them, the first direction, second direction, and third direction are perpendicular to each other, such as the X direction, Y direction, and Z direction.

[0085] After the calibration process ends, the display system of the vehicle will display "Static calibration successful" or "Static calibration not completed". If "Static calibration successful" is displayed, a calibration end signal is sent to the offline calibration system, and each automatic target returns to the initial position respectively; if "Static calibration not completed" is displayed, a signal is sent to the offline detection system to feedback which sensors or radars have failed in calibration.

[0086] In an exemplary embodiment, the method further includes:

[0087] Generate a detection signal in the case that the static calibration result is that the static calibration is not completed; perform data detection on the sensors of the tractor according to the detection signal to obtain the sensors that have failed in calibration.

[0088] Exemplarily, if the vehicle's display system shows "Static calibration not completed", the target position data detected by the sensors and radar are analyzed to determine the sensors or radar for which the calibration has failed, and a signal is sent to the offline detection system to feedback which sensors or radar have failed in calibration.

[0089] In an exemplary embodiment, the tractor is dynamically calibrated according to a dynamic calibration scheme to obtain a dynamic calibration result, including:

[0090] The current driving scheme is obtained by screening the driving scheme according to the vehicle type parameters of the tractor and the vehicle driving scheme; when the tractor is driven based on the current driving scheme, dynamic calibration data is obtained; the dynamic calibration data is analyzed and judged to obtain a dynamic calibration result.

[0091] Among them, the dynamic calibration scheme includes a vehicle driving scheme, and the vehicle driving scheme includes speed and driving route.

[0092] Exemplarily, after the static calibration is completed, the tractor is transferred to the dynamic calibration site. The dynamic calibration requirements corresponding to the vehicle type are obtained from the system through the vehicle type parameters of the tractor, and then the driving actions that the operator needs to perform, that is, the vehicle driving scheme, are determined. During the process of the operator driving the tractor, the offline detection system collects data on the position and angle of the antenna. If after all the information is collected, a signal of successful dynamic calibration is sent to the vehicle, and the vehicle shows "All sensors have been successfully calibrated, dynamic calibration ended", then the vehicle completes the dynamic calibration and drives away from the dynamic calibration site; if the system fails to successfully collect the parameters, a signal of incomplete dynamic calibration is sent to the vehicle, the vehicle shows "Sensor dynamic calibration not completed", and the uncalibrated sensors are shown in a diagram, then the offline detection system sends the actions that need to be completed to the vehicle, such as the driving route or driving speed, etc.

[0093] In the case where the dynamic calibration result is that the dynamic calibration is not completed, a re-detection dynamic calibration scheme is generated, and the tractor is dynamically re-calibrated according to the re-detection dynamic calibration scheme to obtain a dynamic re-calibration result, including:

[0094] In the case where the dynamic calibration result is that the dynamic calibration is not completed, the sensors for which the calibration has failed are determined; a re-detection dynamic calibration scheme is generated based on the sensors for which the calibration has failed; re-calibration is performed according to the re-detection dynamic calibration scheme to obtain re-calibration data; the re-calibration data is analyzed and judged to obtain a dynamic re-calibration result.

[0095] Exemplarily, in the case where the dynamic calibration result shows "dynamic calibration not completed", it is necessary to further determine which sensors have not successfully completed calibration, that is, to identify and locate the sensors with calibration failures. Then, a re-detection dynamic calibration scheme is generated based on these sensors. The re-detection scheme usually includes conditions such as specific driving routes, driving speeds, road conditions, etc. The vehicle performs re-calibration according to the new dynamic calibration scheme and collects calibration data. These data will be transmitted to the offline detection system after completion for further analysis and judgment.

[0096] In an exemplary embodiment, a method for off-line calibration of a tractor is provided, including:

[0097] Perform pre-setting for static detection of the tractor according to the tractor setting scheme to obtain the tractor after setting.

[0098] Determine the current static scheme based on the parameters of the vehicle model to be calibrated and the static detection scheme.

[0099] Perform initial detection on the target to obtain initial calibration data.

[0100] Adjust the target according to the target setting scheme to obtain the adjusted target and adjustment data.

[0101] Detect the adjusted target to obtain the adjusted calibration data.

[0102] Perform static calibration based on the initial calibration data, adjustment data, and adjusted calibration data to obtain a static calibration result.

[0103] Generate a detection signal in the case where the static calibration result is that static calibration is not completed.

[0104] Perform data detection on the sensors of the tractor according to the detection signal to obtain the sensors with calibration failures.

[0105] In the case where the static calibration result is that static calibration is completed, transfer the tractor to the dynamic calibration site.

[0106] Perform scheme screening according to the vehicle model parameters of the tractor and the vehicle driving scheme to obtain the current driving scheme.

[0107] Obtain dynamic calibration data when driving the tractor based on the current driving scheme.

[0108] Analyze and judge the dynamic calibration data to obtain a dynamic calibration result.

[0109] In the case where the dynamic calibration result is that dynamic calibration is not completed, determine the sensors with calibration failures in the case where the dynamic calibration result is that dynamic calibration is not completed.

[0110] Generate a re-detection dynamic calibration scheme based on sensors with calibration failures.

[0111] Perform re-calibration according to the re-detection dynamic calibration scheme to obtain re-calibration data.

[0112] Analyze and judge the re-calibration data to obtain the dynamic re-calibration result.

[0113] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps or stages in other steps.

[0114] Based on the same inventive concept, the embodiments of the present application also provide a tractor off-line calibration system for implementing the tractor off-line calibration method described above. The solution provided by this device for solving problems is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the tractor off-line calibration system provided below can refer to the limitations on the tractor off-line calibration method in the above text, and will not be repeated here.

[0115] In one embodiment, as Figure 3 and Figure 4 shown, a tractor off-line calibration system is provided, which is applicable to the tractor off-line calibration method described in any of the above. The system includes a dynamic calibration subsystem and a static calibration subsystem.

[0116] The dynamic calibration subsystem includes a communication module and a dynamic storage module. The dynamic storage module stores vehicle model parameters and their corresponding dynamic calibration schemes. The static calibration subsystem includes a positioning module and an automatic target module. The positioning module is used to fix the vehicle position. The positioning module abuts against the tractor, and the sensors of the tractor collect data from the automatic target module.

[0117] The positioning module includes a first-direction positioning component 1 and a second-direction positioning component 2, and the first direction is perpendicular to the second direction.

[0118] After the vehicle is transferred to the static calibration site, the first direction positioning component 1 is closely attached to the front wheels of the tractor, and the second direction positioning component 2 clamps the front wheels. And since the spatial positions of the sensors in the system are set relative to the center point position of the front wheels, the targets included in the automatic target module can move automatically along the first direction, the second direction, and the third direction. Among them, the first direction, the second direction, and the third direction are perpendicular to each other.

[0119] According to the preset positions re-queried by the system, and determining the relative position in the first direction based on the first direction positioning component and the radius of 1 / 2 of the front wheel tire, determining the relative position in the second direction by the second direction positioning component, and determining the tire position in the third direction by the radius of the front wheel tire, automatically move to the corresponding positions respectively, and send a static calibration start signal to the vehicle to start the static calibration of the sensors. Among them, the first direction, the second direction, and the third direction can be respectively set as the X direction, the Y direction, and the Z direction.

[0120] For example, the targets respectively include the first forward vision perception sensor automatic target, the forward radar automatic target, the first side rear radar automatic target, the second side rear radar automatic target, the first side front radar automatic target, the second side front radar automatic target, and the second forward vision perception sensor automatic target, and the specific installation positions are as Figure 4 shown.

[0121] In one embodiment, a computer device is provided. The computer device can be a terminal, and its internal structure diagram can be as Figure 5As shown in the figure. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (Near Field Communication), or other technologies. The computer program, when executed by the processor, implements a calibration method for a tractor off-line. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the housing of the computer device, or an external keyboard, a touchpad, or a mouse, etc.

[0122] Those skilled in the art can understand that Figure 5 the structure shown in the figure is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0123] In one embodiment, a computer device is further provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0124] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0125] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0126] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with the relevant laws, regulations, and standards of relevant countries and regions.

[0127] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., and are not limited thereto. The processors involved in the embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., and are not limited thereto.

[0128] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0129] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A tractor off-line calibration method, characterized in that: The method comprises: Perform static calibration operation on the tractor according to the static calibration scheme and the parameters of the vehicle model to be calibrated to obtain a static calibration result; When the static calibration result is that the static calibration is completed, the tractor is transferred to a dynamic calibration site; Performing a dynamic calibration on the tractor according to the dynamic calibration scheme to obtain a dynamic calibration result; In the case that the dynamic calibration result is an incomplete dynamic calibration, a re-detection dynamic calibration scheme is generated, and the tractor is dynamically re-calibrated according to the re-detection dynamic calibration scheme to obtain a dynamic re-calibration result.

2. The method according to claim 1, characterized in that: The static calibration scheme includes a tractor setting scheme and a static detection scheme; the static calibration operation is performed on the tractor according to the static calibration scheme and the parameters of the vehicle model to be calibrated to obtain the static calibration result, which includes: According to the tractor setting plan, the tractor is set before static detection to obtain the tractor after setting; Determine the current static solution based on the parameters of the vehicle model to be calibrated and the static detection solution; The set rear tractor is statically calibrated according to the current static solution to obtain a static calibration result.

3. The method according to claim 2, characterized in that The static calibration scheme includes a target setting scheme; the static calibration of the set tractor according to the current static scheme to obtain a static calibration result includes: Perform initial detection on the target to obtain initial calibration data; Adjust the target according to the target setting plan to obtain the adjusted target and adjustment data; Detecting the adjusted target to obtain adjusted calibration data; Static calibration is performed according to the initial calibration data, the adjustment data and the adjusted calibration data to obtain a static calibration result.

4. The method according to claim 1, characterized in that: The method further comprises: If the static calibration result is that the static calibration is not completed, generating a detection signal; Data detection is performed on the sensor of the tractor according to the detection signal to obtain the sensor that fails calibration.

5. The method according to claim 1, characterized in that The dynamic calibration scheme includes a vehicle driving scheme; the dynamic calibration scheme is performed on the tractor according to the dynamic calibration scheme to obtain a dynamic calibration result, including: Screen the schemes according to the model parameters of the tractor and the vehicle driving scheme to obtain the current driving scheme; obtaining dynamic calibration data while driving the tractor vehicle based on the current driving plan; Analyze and judge the dynamic calibration data to obtain the dynamic calibration results.

6. The method according to claim 1, characterized in that When the dynamic calibration result indicates that the dynamic calibration is not completed, a re-test dynamic calibration scheme is generated, and the tractor is dynamically re-calibrated according to the re-test dynamic calibration scheme to obtain a dynamic re-calibration result, including: When the dynamic calibration result is that the dynamic calibration is not completed, determining the sensor that failed the calibration; Generate a re-test dynamic calibration scheme based on sensors that failed calibration; Recalibrating according to the re-detection dynamic calibration scheme to obtain re-calibration data; Analyze and judge the recalibration data to obtain dynamic recalibration results.

7. A tractor off-line calibration system, applicable to the tractor off-line calibration method according to any one of claims 1 to 6, characterized in that: The system includes a dynamic calibration subsystem and a static calibration subsystem; The dynamic calibration subsystem includes a communication module and a dynamic storage module, wherein the dynamic storage module stores vehicle model parameters and their corresponding dynamic calibration schemes; The static calibration subsystem includes a positioning module and an automatic target module. The positioning module is used to fix the vehicle position. The positioning module is in contact with the tractor. The sensor of the tractor collects data from the automatic target module.

8. The system according to claim 7, characterized in that The positioning module comprises a first direction positioning component and a second direction positioning component, and the first direction and the second direction are perpendicular to each other.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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